Research On Double Closed Loop PMSM Speed Control System Based On Active Disturbance Rejection

Compared with the traditional electric excitation motor,the permanent magnet synchronous motor(PMSM)has the advantages of light weight,energy saving and high efficiency,small temperature rise and strong blocking ability.It has been widely used in aerospace,ship dynamic positioning and locomotive traction.Because it is a time-varying parameter,high coupling strength,complex nonlinear system,it is susceptible to uncertain disturbances when used as an actuator for the speed control system.The traditional PID controller can meet the basic requirements of motor control,but it is a linear controller that cannot meet the high-performance control requirements of some fields.Active Disturbance Rejection Control(ADRC)is a new type of nonlinear control theory proposed by famous Chinese scholar Han Jingqing.It does not rely on accurate mathematical models,retains the advantages of PID control,by arranging the transition process,at the same time,estimate and compensate the state variables of the system,the uncertainties and nonlinear problems of the controlled system can be effectively solved.In this thesis,for the problem of overshoot and poor anti-interference ability of PMSM speed control system controlled by PID,Apply ADRC to speed and current links,to carry out double closed loop control,which improves the control performance of the speed control system.Firstly,expound the background and significance of the topic.introduce the development status of permanent magnet synchronous motor at home and abroad.compare and analyze the research status of the control strategy and control algorithm of the motor.Finally,determine the control algorithm and research content of this subject.Secondly,establish the mathematical model of permanent magnet synchronous motor in three different coordinate systems.analyze the implementation process of SVPWM technology.Establish the simulation model in Simulink.introduce the coordinate transformation and vector control.built the PMSM vector control system.The i_d=0 current control mode is used for decoupling control,which provides a simulation platform for system performance comparison under the ADRC and PI control modes below.Then,introduce the advantages of active disturbance rejection technology,solve the contradiction between overshoot and rapidity,and improve the anti-interference ability of the system.Through the introduction of the components of the active disturbance controller and its implementation principle,it is proved theoretically that it can improve the control performance of the PMSM speed control system.At the same time,the algorithm is discrete and realized by the ADRC mathematical model.The function realizes modular modeling.Based on a large number of simulation experiments,the ADRC parameter tuning method is given,which has reference significance for the actual tuning.Finally,the simulation verifies that the active disturbance control has strong robustness.Finally,combined with the mathematical model of motor in synchronous rotating coordinate system,design the ADRC controller of speed loop and current loop.In the Simulink environment,establish a double closed-loop PMSM speed control system model based on active disturbance rejection.A series of simulation experiments are carried out.Compared with the PI control system,it is verified that the ADRC controlled speed control system has strong anti-interference ability and no overshoot,it has a good control performance.