Research And Design Of PMSM Servo System Based On Sliding Mode Auto Disturbance Rejection Control Technology

Nowadays,the robot industry in China and abroad is progressing rapidly,and the robot products finally finish the action goal by controlling the position,speed,current and the combination of the three.The servo system controller is designed for improving the dynamic performance and anti-disturbance ability of permanent magnet synchronous motor(PMSM)servo system,which is of great significance to the development of industrial robot technology.Therefore,in order to popularize the application of active disturbance rejection control(ADRC)technology in PMSM servo system,the thesis has carried on the thorough research discussion.First,in order to solve the problem that the speed and stability of conventional control algorithm are difficult to coexist,active disturbance rejection controller was established for the speed loop of PMSM speed regulation system and the parameter tuning suggestion of controller was put forward.When the load disturbance was large,the ADRC was difficult to compensate the disturbance.Therefore,the identification ADRC was designed through the identification algorithm of Langdon discrete recursion.By selecting the appropriate adaptive gain,the moment of inertia of the system was accurately identified,and the load torque was calculated to compensate the load disturbance.In addition,the sliding mode algorithm was introduced into the extended state observer and nonlinear error feedback control law in the structure of the ADRC,for improving the speed response and reducing the parameter tuning complexity of the ADRC.The stability and rapidity of SM-ADRC of the sliding mode control were verified by Lyapunov theoretical method,which proved the feasibility of the theory.Second,the thesis also designed simulation experiments such as motor start-up,sudden load,sinusoidal signal tracking and stability verification.It was found that SM-ADRC speed regulation system can significantly reduce the difficulty of parameter tuning and increase the response speed,stability and robustness of the system while retaining the good characteristics of the traditional disturbance rejection controller.Based on the speed control system,the self-disturbance position controller was designed to form a three-loop position servo system.It was proved that the servo system has better positioning tracking accuracy and position response ability by comparing with the PI control algorithm.Finally,the thesis built a permanent magnet synchronous motor control experimental platform based on DSP TMS320F28335 chip from TI Company,and designed hardware circuit and software system.The experiments with load,variable speed and abrupt change were carried out,and the waveform obtained is analyzed by using the upper computer.