Research Of Active Disturbance Rejection Based Iterative Learning Control For The Switched Reluctance Motor Drive

Switched reluctance motor drive system(SRD),composed of Switched Reluctance Motor(SRM),power converter,controller and detection device,is a new kind of speed control system which prevails after frequency conversion speed control system and non-commutator motor speed control system.The switched reluctance motor has the advantages including simple structure,low manufacturing cost,wide speed regulation range,high reliability,many control variables and high efficiency and so on.Its products are widely used in electric vehicle driving,household appliances,aviation industry,servo systems and other fields.However,due to the problem of severe torque ripple caused by the double salient pole structure of the switched reluctance motor and the nonlinearity of the magnetic circuit saturation,the application and promotion of the switched reluctance motor has been restricted.In this paper,a torque controller and a current controller based on Active Disturbance Rejection Based Iterative Learning Control(ADR-B-ILC)are designed.ADR-B-ILC has higher convergence rate than the traditional iterative learning control,and the control process does not require the prior knowledge of the accurate model and parameters of the controlled system.Thus,the application of ADR-B-ILC has obvious advantage in the switched reluctance motor control.In this paper,the STM32 micro-control chip is used as the core controller,and the switched reluctance motor speed control system based on ADR-B-ILC is built.The simulation and experimental research on torque ripple suppression and current tracking are carried out.The development of switched reluctance motors and analyzes their advantages and disadvantages were introduced firstly in the paper.Then the research and analysis of the structure,mathematical model and working principle of the motor are carried out.Two kinds of calculation methods of the nonlinear motor model are summarized,and three common control strategies of the switched reluctance motor are analyzed.Secondly,the principle and structure of iterative learning control are analyzed specificly.Based on the Extended State Observer(ESO)of time domain,the concept of Linear Iterative Expansion State Observer(LIESO)in iterative domain is introduced,and the core control algorithm(Active Disturbance Rejection Based Iterative Learning Control)of this paper is studied.Then,through MATLAB’s Simulink,a simulation platform is built,the current control and torque control of SRD based on ADR-B-ILC is simulated.Based on the torque distribution strategy,a currentcontroller and a torque controller based on ADR-B-ILC are designed.And verifying its superiority in SRD control through multiple sets of simulation comparison.The simulation results show that the current controller adopting the ADR-B-ILC algorithm gets better performance.The current tracking accuracy is 90% higher than the current chopper control(accuracy is 0.1A),and the current tracking speed is higher than the ADRC.Based on the control strategy of this paper,the nonlinear torque compensator with ADR-B-ILC algorithm reduces the moment pulsation coefficient by 61% compared with ADRC;compared with traditional iterative learning control(ILC)which needs more than twenty convergence cycles,its convergence speed is faster.It is shown that the torque control strategy based on ADR-B-ILC can effectively suppress the torque ripple of SRM.Finally,an experimental platform for the switched reluctance motor speed control system is designed.The controlled object is an existing 375 W 8/6 four-phase switched reluctance motor in the laboratory.The STM32 micro-control chip is used as the controller to design the upper computer and achieve the human interaction through LabVIEW.The hardware circuits of each part of the system are designed and explained in detail.The control flow of the software during the actual working of the motor is analyzed in the form of a flow chart.The motor monitoring and data acquisition are realized by designing the LabVIEW block diagram.On the basis of the actual system,the oscilloscope is used to measure and analyze the position signal,control signal and phase current waveform,and the interaction function between the upper computer and the lower computer is demonstrated through the LabVIEW interface.