Research On Interior Permanent Magnet Synchronous Motor Servo System Based On Active Disturbance Rejection Control

With the rapid development of domestic manufacturing sector and industrial automation,the demand for high-performance servo products is also growing continuously.Due to the advantages of simple structure,high reliability,small size,light weight,high power density,low loss,high efficiency,wide speed range,the interior permanent magnet synchronous motor is widely used in field of servo system.However,the interior permanent magnet synchronous motor servo system is a nonlinear,strongly coupled,multi-variable,time-varying control system.This servo system is easily disturbed by external disturbances and the temperature-varying parameters.The improvement of dynamic response and satisfactory anti-disturbances capability has attracted sufficient attention from several research institutions recently.In this paper,the control of the interior permanent magnet synchronous motor servo system is studied for the anti-disturbance capability and good dynamic-static performance.Firstly,the development and research of the servo system are introduced.And the commonly used control methods of servo system and their advantages,disadvantages are analyzed.The mathematical model of the interior permanent magnet synchronous motor,vector control strategy with maximum torque per ampere and the active disturbance rejection control technology are introduced.Besides,the active disturbance rejection control technology consists of tracking differentiator,extended state observer and state error feedback control law.Secondly,considering the lumped disturbances of system uncertainties and external disturbances,a nonlinear extended state observer is presented based on exponential function.With the nonlinear extended state observer,the system states and total disturbance of the motor can be estimated quickly and accurately,where the total disturbance is extended as a new state.A state error feedback control law for speed control and a dynamic surface control based nonlinear state error feedback control law for servo system speed control and position control are designed respectively,which can compensate the total disturbance in real time.In succession,the stability of the controllers is analyzed with Lyapunov stability theory.Finally,the servo simulation system of the interior permanent magnet synchronous motor is built based on Matlab/simulink.Then the simulation results with the active disturbance rejection control are shown and analyzed,compared with PI control.In succession,the hardware experiment plant and the DSP software program are designed.And the experiment results are given in the last.Both the simulation and experiment results can verify the correctness of analysis and effectiveness of the proposed control method.