Permanent Magnet Synchronous Motor Based On Improved ESO Research On ADRC Sliding Mode Position Servo Control

Permanent magnet synchronous motor has the characteristics of simple structure,small size,high energy density,low loss and simple maintenance,which occupies a large proportion in the market.In modern high-performance servo control system,in order to achieve high-precision control effect,permanent magnet synchronous motor is taken as the control object.The application of advanced servo motor control technology and high precision and high performance digital signal processor plays an important role in PMSM servo control system.Active disturbance rejection control and sliding mode control have achieved good control effect in permanent magnet synchronous motor servo control system.On the basis of classical PID control,ADRC can effectively solve the nonlinear and uncertain problems of the system,and has the advantage of not depending on the specific mathematical model of the controlled object.The sliding mode of sliding mode control has invariance and good robustness,which has very good practicability in engineering application.Therefore,the improved ADRC and sliding mode control are combined to improve the performance of the closed-loop system and the control performance of PMSM servo system.Firstly,starting from the physical structure of the permanent magnet synchronous motor,certain assumptions and simplifications are made in order to reduce the difficulty of the permanent magnet synchronous motor when carrying out the model analysis.Three models of the permanent magnet synchronous motor in natural,stationary and rotating co-ordinate systems are analysed,as well as the phase principle of the co-ordinate transformation.By analysing the control principle of permanent magnet synchronous motors,vector control is used as a control strategy for permanent magnet synchronous motors.Finally,the principle of space vector pulse width modulation and the specific implementation method are analysed.Next,from the analysis of the conventional PID controller,the self-rejecting control is introduced,and the components and roles of each part are analysed in detail separately.To address the problem that the non-linear function in the self-adjoint controller is not derivable at the origin,a new non-linear function is constructed using the inverse hyperbolic sine function to replace the original non-linear function,making it continuously derivable near the origin and the dividing point with better continuity and smoothness,and an improved ESO is designed in this way,and its convergence is demonstrated.Then,a permanent magnet synchronous motor servo control system based on the improved self-rejecting sliding-mode controller is designed by combining the improved self-rejecting sliding-mode control and the sliding-mode control,integrating the position/velocity loop and the current loop to form a dual-loop controller,forming an overall control system to achieve effective control of the permanent magnet synchronous motor servo system.The simulation model of the permanent magnet synchronous motor control system with improved self-turbulent sliding mode controller is built in Matlab/Simulink environment to simulate and verify three indicators of the permanent magnet synchronous motor servo system,namely dynamic performance,tracking performance and immunity performance.Finally,the experimental platform of link-rt real-time simulation system is adopted.The experimental results show that the improved ADRC has good control performance,which makes the PMSM servo system achieve the control effect of high tracking accuracy,fast positioning speed and strong anti-interference ability.