Position Servo System Of Frameless Permanent Magnet Synchronous Motor Based On Improved Active Disturbance Rejection Control

Permanent magnet synchronous motors are used in servo control systems due to their high efficiency,good reliability,high power density,and easy control.They are widely used in various fields.In order to solve the problems of low tracking accuracy and poor anti-interference performance of the traditional permanent magnet synchronous motor position servo control system,this thesis takes a frameless permanent magnet synchronous motor as the research object,completes the electromagnetic design of the motor,establishes the mathematical model of the permanent magnet synchronous motor,and proposes an improved active disturbance rejection position servo control method based on a finite-time extended state observer.The following work was mainly carried out.First,a 39-slot/12-pole frameless permanent magnet synchronous motor is designed.In order to obtain a very short winding end,the three-phase windings are closer to symmetry.A four-layer three-phase two-layer distributed wave winding method is proposed.The phase separation method,connection law,electromotive force and magnetomotive force of the winding are analyzed in depth,and electromagnetic simulation and optimization design are carried out.The designed and manufactured frameless permanent magnet synchronous motor has been subjected to no-load experiments,and the experimental results are basically consistent with the simulation results.Secondly,the mathematical model of permanent magnet synchronous motor is established,and the vector control method and pulse width modulation strategy of permanent magnet synchronous motor are studied.Based on the in-depth study of the traditional ADRC position control strategy,an improved ADRC method based on the finite-time extended state observer is proposed to improve the position servo control performance of the permanent magnet synchronous motor.The new method obtains a better observation effect of second-order state variables by introducing the velocity variable into the extended state observer as the new input;and by introducing a finite-time state observer,the state observer has the advantage of converging in a finite time.Improve the tracking accuracy of the permanent magnet synchronous motor position servo system.Finally,an improved ADRC position servo system simulation model based on finite time extended state observer is built,and a simplified control parameter tuning method is proposed,and the new control method is simulated and analyzed.The simulation results show that compared with traditional PI control and traditional active disturbance rejection control,the control accuracy and anti-interference performance of the new control method have been further improved.