Research On Active Disturbance Rejection Control For Speed Regulation System Of Permanent Magnet Synchronous Motor And On The Initial Rotor Position Detection

Permanent magnet synchronous motor(PMSM)has the advantages of high power density,high efficiency,convenient maintenance,etc.,and it is widely used in aviation,aerospace,numerical control machine tools,robots and other industrial fields.Permanent magnet synchronous motor speed regulation system in the industrial field is usually required to work under the influence of internal and external disturbances such as model parameter changes,load and moment of inertia variation,so its control algorithm should have strong anti-disturbance ability.The active disturbance rejection control algorithm has the advantages of strong robustness to the model parameters,strong anti-disturbance ability and no overshoot.In this paper,the model parameter changes,load and moment of inertia variation are studied for the PMSM speed regulation system based on linear active disturbance rejection controller(LADRC)theory.In addition,the detection method of the initial position of PMSM is explored.The specific content is listed as follows:1.Design a LADRC for the model parameter changes.The principle of LADRC is introduced,and LADRC for first order object is analyzed in the frequency domain,some important remarks obtained;For the problem of model parameter changes of speed regulation system in complex environment,an LADRC is designed,and the parameters are determined.The simulation results show that the designed controller has strong robustness to the model parameters.2.Study on the estimation and compensation of load disturbance.Based on the disturbance observer designed due to the load variation,an adaptive disturbance observer(ADOB)is proposed;The model compensation for load disturbance is carried out by using ADOB;Combined with forgetting factor recursive least square algorithm(FF-RLS),under no load condition,the successive approximation algorithm is used to identify the two initial parameter of ADOB;The simulation results prove the validity of this model compensation method.3.Study on the parameter self-tuning of the speed regulation system when the moment of inertia is varying with the load.the influence of the inertia variation on the speed regulation system is analyzed,and two methods to overcome the influence are design of the anti-saturation scheme and adaptive adjustment of the LADRC parameter;Two kinds of anti-saturation schemes are designed respectively based on observer and error compensation;LADRC parameter is identified by FF-RLS as a whole,and the result of the identification is used to update the parameter of the speed controller and the ADOB,combined with anti-saturation scheme,the speed performance of the system is improved,and the validity of the method is verified by the simulation.4.Study on the initial position detection of the motor rotor,and the voltage pulse vector method is improved.The basic principle of voltage pulse vector method is introduced,and the shortcomings of traditional voltage pulse vector method is also analyzed,then the improved voltage pulse vector method is put forward.The experimental results show the effectiveness of the improved method.