Dual Permanent Magnet Motor System Anti-disturbance Speed Synchronous Control

Dual permanent magnet motors(PMSM)system is widely used in industrial applications,it can output enough power and smooth transmission.When one of the motors is disturbed,both motors will produce tracking errors,which can lead to belt breakage or shaft breakage.Aiming at the decrease of the speed synchronization performance of the dual permanent magnet motors(PMSM)system caused by the uncertainty disturbance,an anti-disturbance speed synchronization control strategy based on the unified modeling of the dual motor speed loops is proposed.That is,a unified mathematical model of the speed loop is established for the two sets of permanent magnet synchronous motors in the system,and on the basis of using the ideas of auto-disturbance rejection control,mathematical model in unknown information and known information of two kinds of cases,the two cases of disturbance information are defined respectively,and two mathematical models with disturbances are obtained.Based on this,a model free linear extended state observer(LESO)and a model compensated linear extended state observer(MLESO)are designed respectively.The first case is based on the model-free situation,the internal and external disturbances of the system are summed up as total disturbances,and the model-free extended state observer is established.The disturbances are observed and offset in the control rate.The performance analysis of the control strategy shows that the strategy has good robustness.In addition,general rules for parameter tuning are provided.The simulation and experimental results show that the proposed control strategy has good anti-disturbance ability and can reduce the speed synchronization error.The second case is based on model compensation,where the model-free extended state observer has poor estimation performance when the system has load disturbances.In order to solve the problem that the load disturbance in the total disturbance has a large estimation pressure on the extended state observer,which will reduce the disturbance estimation accuracy of the system and increase the synchronization error,the Luenberger observer is used for the load disturbance.The load torque observation value and the known part of the mathematical model are compensated to the extended state observer to reduce the burden(bandwidth)of the observer,so as to establish a linear extended state observer with model compensation and improve the accuracy of the observer.At this time,it can not only improve the synchronization performance,but also reduce the hardware cost.The simulation results show that the proposed control strategy can achieve good synchronization performance with low observer bandwidth.Finally,the hardware experiment platform is built and the experiment programs are written.In the experiment,the traditional dual permanent magnet motor speed synchronization control experiment is carried out,and the control strategy in the first case is verified.The experimental results show that compared with the traditional control strategy,the proposed method improves the synchronization performance of the system,and effectively shortens the time of system recovery synchronization.