Active Disturbance Rejection Control Of Servo System Of PMSM Based On Feedforward Compensation And Genetic Algorithm

With the development of controller technology,integrated circuit,high-performance motor and the development of control strategy,AC servo system is gradually replacing DC system,and it is applied more and more widely.Permanent magnet synchronous motor(PMSM)has many advantages,such as high energy utilization,large starting torque,strong reliability and simple structure.It has been widely used in high precision,high efficiency and energy saving.The most widely used method of servo system control is PID control.Therefore,it is of great practical value to design a good control scheme for articulation servo system of PMSM.In order to reduce the impact of the load and parameter changes and system disturbance of the servo system of PMSM on the performance of the control system,improve control precision and reliability.the dissertation put emphasis on the following aspect: Modeling and analysis of the motor,determining the control strategy of the system by the structure of the motor and the control requirements of the system;using ADRC position controller based on id=0 vector control strategy,designing of the tracking differentiator,extended state observer and nonlinear error feedback,and optimizing some important parameters of ADRC by genetic algorithm,feedforward compensation is used to further reduce the influence of load disturbance;the hardware and software of the servo system is designed and tested.Finally,the performance of ADRC is proved to be better than the PID control system under the condition of no load,load and interference.The system has better anti load interference ability after adding feedforward compensation.It shows that the control method can be used for nonlinear systems with high accuracy.