Permanent Magnet Synchronous Motor Servo Control Research Since The Immunity

Permanent Magnet Synchronous Motor(PMSM)has the characteristics of simple structure,stable operation,high power factor,wide speed range,and is widely used in high-precision,high-performance control fields such as high-end numerical control technology,robotics,new energy vehicles and medical equipment.With the continuous improvement of control performance in modern industrial production,we need to ensure efficient operation under complex operating conditions.While permanent magnet synchronous motor is a high-order,nonlinear,strong coupling,time-varying object,and even still many uncertain internal and external disturbances in the industrial process,which will adversely affect the control effect of the PMSM,and restrict the development and application of high performance servo systems.In this paper,the auto-disturbance rejection control strategy is adopted to perform permanent-magnet synchronous motor servo control,and the speed loop and position loop in the control loop are designed to improve the performance of PMSM servo control.This paper introduced the research significance and background of the permanent magnet synchronous motor servo system firstly,described the control mechanism and research status of the auto-disturbance rejection control technology.Then,we introduced the mathematical model and vector of the permanent magnet synchronous motor in three coordinate systems and the principle of control lays the foundation for the design of the control loop algorithm.Considering the velocity signal can be measured by sensors and the observation pressure of the observer in the ADRC can be reduced.In this paper proposed the improvement of the extended state observer in the ADRC and designed the speed loop reduced order auto disturbance rejection controller,and then the performance of the speed loop controller is analyzed.After the theoretical analysis,the simulation experiment of the linear auto disturbance rejection control and the reduced order auto disturbance rejection control(RRC)algorithm for permanent magnet synchronous motor(PMSM)is established in Matlab,and the validity and rationality of the algorithm are verified.Considering velocity signal can be measured by the sensor and the observation pressure of the state observer in the auto-disturbance rejection controller,the dimensionality improvement of the extended state observer in the auto-disturbance rejection controller is proposed,and the velocity loop degradation ADRC is designed.The controller then performs the performance analysis on the speed loop controller and models the permanent magnet synchronous motor servo system in MATLAB,and compares and simulates the linear auto-interference rejection control and the reduced-order auto-disturbance rejection control algorithms.The effectiveness and rationality.When the servo system is actually running,the internal and external disturbances of the system will still affect the position loop control after passing through the speed loop control.To improve the position loop immunity performance,we use the lowering of the position loop of the servo system based on the second chapter.Order auto-disturbance controller,meanwhile,in order to improve the position loop following performance,add differential feed forward control to the position loop reduced order auto-disturbance rejection controller,then perform performance analysis on the position loop controller and compare the ratios in MATLAB.The reduced-order auto-disturbance rejection control algorithm for compound feed-forward control is compared with simulation experiments to verify the validity and rationality of the algorithm.In the end,paper introduces the hardware platform construction of the permanent magnet synchronous motor servo system and the design flow of the system control software module algorithm in detail by uses TI’s TMS320F28069 as the control core.Then we builds the speed loop and position loop for the experimental platform.The loop control algorithm performs excellent experimental analysis and lays a foundation for further research work in the future.