Research On High Precision Position Servo Control System Of Permanent Magnet Synchronous Motor

Permanent Magnetic Synchronous Machine(PMSM)has the advantages of reliable operation,high power density,small torque pulsation and good dynamic performance,and has been widely used in precision machining,motion control and other fields.However,the precision of position control is affected when multiple parameters of the motor are disturbed due to the temperature rise and external interference.In order to improve the anti-interference ability and control accuracy of PMSM control system,this paper proposes an improved active disturbance rejection control method based on forgetting factor recursive least squares identification(FFRLS)and RBF neural network parameter tuning for PMSM,which is divided into the following aspects.Firstly,the basic mathematical model of PMSM is established,and the influence of main parameter changes in the model on the control system is simulated and analyzed,and the active disturbance rejection control(ADRC)theory is described,which provides a theoretical basis for the design of ADRC controller.Secondly,in view of the disturbance caused by the stator resistance,inductance and flux time-varying in the current equation,the current differential equation is analyzed to obtain the disturbance term,and a current improved ADRC controller based on FFRLS is proposed.Through the online identification of each parameter,the disturbance term is accurately compensated.And in MATLAB/Simulink environment to build the system simulation model and traditional PID simulation comparison.The simulation results show that compared with traditional PID,the current fluctuation error and electromagnetic torque error of the proposed improved strategy are reduced by 16.16% and 23.08% under the condition of rated torque,and the anti-disturbance ability of the current ring is improved.Thirdly,In order to solve the disturbance problem that the moment of inertia in the motion equation is changed by external action,the disturbance term is obtained by analyzing the position differential equation,and an improved position ADRC controller based on FFRLS is proposed.By online identification of the moment of inertia,the disturbance terms are compensated accurately,and the coefficients of position controller are optimized by radial basis neural network.The simulation model is built based on MATLAB/Simulink and compared with the traditional PID.The results show that,compared with traditional PID,the position errors of continuous sinusoidal signal and given signal are reduced from 4.0% and 3.0% to2.0% and 1.0% respectively under no-load condition.When the load torque is the rated torque,the position error decreases from 2.5% to 0.3%.When the load torque is3 times of the rated torque,the position error is reduced from 23.0% to 5.3%,and the anti-disturbance ability of the position ring is improved.Finally,in order to verify the correctness of each improvement strategy,PMSM position control system was built in this paper: control circuit design,rectifier circuit design,inverter circuit design,sampling circuit design,drive circuit design and anti-interference design,PCB control board drawing,production and software programming and debugging were completed,and relevant experiments were carried out.The experimental results show that compared with the traditional PID controller,the current error is reduced from 6.4% to 1.53% when the current loop improves the ADRC control.In the position control experiment,the position error of the improved ADRC is reduced from 0.56% to 0.15% by the given position signal,and the position error of the two controllers is reduced from 8.75% to 1.00% by the continuous sinusoidal position signal.Experimental results verify the effectiveness of the proposed improved method and improve the anti-interference capability of the system.