| With the continuous improvement of permanent magnet performance and the reduction of the price of permanent magnet materials,permanent magnet synchronous motor has gradually become the preferred motor in the field of high-performance servo systems such as numerical control machine tools,shipbuilding industry and national defense.Permanent magnet synchronous motor is a multi-variable system with strong coupling and non-linearity,it has high requirements for control algorithm.If the algorithm is not selected properly,the control performance of the system will be adversely affected.Active disturbance rejection control is a new intelligent control algorithm.It combines the advantages of PI control algorithm and does not depend on the specific model of the controlled object,which can effectively improve the control performance of the servo system.The structure type of permanent magnet synchronous motor and its mathematical models are discussed in this paper,the vector control strategy of id=0 control method is established and the space vector pulse width modulation technology is applied to the servo motor control system.The basic principle of three closed-loop servo control system for permanent magnet synchronous motor is introduced,PI control algorithm is used to establish the three closed-loop servo control system and the simulation analysis is carried out.Aiming at the shortcomings of PI control strategy in servo speed regulation system,a new model compensated Auto disturbance rejection controller which can reduce the observation burden of Auto disturbance rejection controller is designed and applied to speed loop control system.Through simulation and comparison with PI control algorithm,the feasibility and good speed performance of the new model compensated Auto disturbance rejection controller in PMSM servo speed regulation system are proved.Based on the double closed-loop speed control system,the position controller is designed by using Auto disturbance rejection control technology,and a complete three closed-loop position servo system is constructed.Aiming at the modeling error of the traditional Auto disturbance rejection controller when the time-varying signal is input,the input differential feedforward link is introduced into the Auto disturbance rejection controller structure to eliminate the modeling error and enhance the tracking ability of the system.Compared with PI control algorithm,the three closed-loop position servo system of permanent magnet synchronous motor with new control strategy has better tracking accuracy and response ability. |
