Smooth Speed Control Of Permanent Magnet Synchronous Motor Using Active Disturbance Rejection Controller

In the field of new energy vehicles,the motor,as a key component of the drive system,directly affects the operational performance of the vehicle and the user’s experience.The permanent magnet synchronous motor(PMSM)has been widely used in the field of new energy vehicles because of its high reliability,high power density and high efficiency.However,due to the structural design deviation of the PMSM body,the nonlinear characteristics of the inverter and the measurement error of the sensor,the output torque of the PMSM has obvious ripple,resulting in a large speed ripple,which significantly reduces the control accuracy of the PMSM.To address this problem,this paper investigates and verifies the speed smoothing control strategy of the PMSM based on the traditional Active Disturbance Rejection Control(ADRC).This paper firstly introduces the research background and significance of the topic,the current status of domestic and international research,Then the mathematical model of permanent magnet synchronous motor in different coordinate systems and its coordinate transformation are derived,and the basic principle of vector control is introduced on this basis,while the Active Disturbance Rejection Control theory studied in this paper is introduced in detail.Secondly,the Linear Active Disturbance Rejection Controller(LADRC)is used in the motor speed loop,and both tracking performance and disturbance suppression performance are analyzed and simulated to compare with the conventional PI controller.The simulation results show that the adopted LADRC can suppress constant-value and low-frequency disturbances better than the PI controller,but there are some shortcomings in harmonic disturbance suppression.In order to further improve the ability of LADRC in suppressing harmonic disturbance,this paper proposes Generalized Integral Active Disturbance Rejection Controller(GIADRC)based on Generalized Integral Extended State Observer(GIESO),the dynamic performance analysis and stability analysis of the system under the GIADRC control are carried out to prove the superiority of GIADRC in harmonic disturbance suppression,at the same time,the effectiveness of the proposed schemes in speed smoothing control is verified by simulations and experiments.Finally,since the use of GIESO-based speed smoothing control scheme to add high harmonic disturbances suppression at high speed will generate the problem of system instability,this paper introduces the torque loop bandwidth for research,analyzes the influence of the torque loop bandwidth on the system in terms of speed output and stability,verifies that the bandwidth of the torque loop is an important factor that causes system instability,and an adaptive GIESO-based and a switching GIESO-based speed smoothing control scheme are proposed to solve the system stability problem,at the same time,the effectiveness of the proposed schemes is illustrated by experiments and simulations,respectively.