Research On High Performance Permanent Magnet AC Servo Control System Based On ADRC

With the “Made in China 2025” proposal,“high-end CNC machine tools and robots” were included in the first ten-year action plan and became one of the key areas for development and promotion.In recent years,robotic startup companies have sprung up and the market scale continues to expand,which industrial robots having the largest market share.At present,China’s robotics industry lacks core technologies,and one of its key components,high-performance servo systems basically relies on imports.By designing a permanent magnet AC servo system controller to improve the dynamic and anti-disturbance performance of the servo system,it has a certain significance for the development of industrial robot technology.This paper is based on the Guangdong Provincial Science and Technology Plan Project,and it designs the controller for the current loop and speed loop of the permanent magnet AC servo control system.At the same time,this paper analyzes the dynamic performance and anti-disturbance performance,and proposes an identification method based on the expansion inertial observer inertia moment,and improves the performance of the speed-loop ADRC controller.The specific content includes the following aspects:According to the analysis of the mathematical model of the permanent magnet synchronous motor,the design of the servo control system starts from the innermost current loop.First,a linearly extended state observer(LESO)of the current loop is designed to eliminate the effects of back-EMF.Based on this,the PI parameters are designed through a typical Type I system to form the PI+LESO auto-disturbance rejection controller structure.Then,Analyze current loop control system for dynamic performance.The sigma/delta ADC chip and PWM dual update technology are used to optimize the sampling feedback channel and reduce the time delay to increase the bandwidth of the system.This paper theoretically proves the stability and anti-disturbance performance of the self-disturbance-rejection controller for speed loops.Based on this,the method for identifying the moment of inertia of the base LESO is proposed.In the sudden load test,the parameter b of the auto-disturbance rejection controller is modified to improve speed loop controller performance.Finally,through MATLAB simulation,the system’s steady-state error,bandwidth,and overshoot were measured to verify the performance of the controller.Based on the current loop,a speed loop controller based on ADRC is designed.Firstly,the speed-loop’s LESO is designed and PI parameters are designed based on a typical Type II system to form the auto-disturbance rejection controller for PI+LESO and P+LESO structures.Then,dynamic analysis is performed on the speed control system,the feedback channel is optimized using the M/T algorithm,and the frequency bandwidth of the system is advanced by the feedforward control.Theoretically,the stability and anti-disturbance performance of the self-disturbance-rejection controller for the speed loop are proved.Based on this,a method for identifying inertia moment based on LESO is proposed.Through MATLAB simulation,dynamic and anti-disturbance performance under different control structures are compared.Finally,by designing a hardware platform based on DSP+FPGA,speed control loop algorithm is realized on DSP and current loop control algorithm is implemented on FPGA.The experimental results show that the designed servo control system has good dynamic performance and anti-disturbance performance.