Design And Realization Of ADRC Parameter Self-tuning Of Permanent Magnet Synchronous Motor

Permanent magnet synchronous motor is widely used in the field of digital industrial control due to its advantages of simple structure,easy maintenance,and ability to adapt to harsh environment.However,it is nonlinear,multivariable,strong-coupling,time-varying system,so higher performance of controlling strategies is necessary.The active disturbance rejection control strategy simplifies controlled objects to integral series type systems based on the special combination of nonlinear functions,to suppress and compensate the disturbances,solve the contradiction between the response speed and overshoot in PID control strategy,and show greater robustness in the nonlinear control system.So,the active disturbance rejection control strategy is applied into the permanent magnet synchronous motor speed control system to promote the dynamic performance.In order to alleviate the high-frequency chattering phenomenon in the application of the active disturbance rejection controller,the components and control principle of the standard active disturbance rejection controller are analyzed,the continuous and smooth esctfal),,(??function around the origin is designed to replace the original nonlinear function and a new state observer is designed based on this function.The sufficient condition of the new type observer convergence is derived by Lyapunov theorem.The tracking value dynamic curve with better continuity and smoothness of the new observer is verified by simulation comparison of nonlinear systems.The first-order active disturbance rejection control systems of permanent magnet synchronous motor current,speed,and position loop are designed.After summarizing the advantages and disadvantages of the intelligent algorithm in active disturbance rejection controller parameter tuning,a double populations genetic algorithm(KFC-DPGA)with kernel fuzzy clustering to divide subpopulations is given,and the performance of KFC-DPGA is verified by multiple types of test functions.The off-line parameter self-tuning strategy of active disturbance rejection controller is designed based on KFC-DPGA,and the effectiveness of the ADRC off-line parameter tuning strategy design is verified by simulation comparison in the case of speed sudden changing and load sudden changing.The mathematical model of position and speed loop are integrated and PMSM double closed loop second-order active disturbance rejection control system is designed to promote the response speed of position loop active disturbance rejection control system.Aiming at the phenomenon of parameter time varying during the PMSM actual operation,a state observer based on RBF neural network on-line identification is designed in order to reduce the observed pressure.The suitability between the on-line parameter self-tuning strategy of active disturbance rejection controller and the nonlinear,time-varying PMSM position and speed loop control model isverified through simulation comparison in the case of load sudden changing and load fluctuation.In order to verify the simulation results in engineering application,combining high-performance digital integrated circuits and STM32 microprocessors,the servo system hardware experiment platform is built.The main program,interrupt subprograms and permanent magnet synchronous motor active disturbance rejection control subroutine are designed according to the mathematical model of permanent magnet synchronous motor active disturbance rejection control system.The strong robustness of the improved nonlinear function and the parameter self-tuning results of active disturbance rejection controller are verified,by the practical test of permanent magnet synchronous motor position and speed signals.