基于改进型自抗扰控制的永磁同步电机伺服控制

目的 解决传统包装机械存在的包装速度慢、包装质量堪忧等问题，满足包装机械的高效率、高精度等要求，提高食品包装的自动化水平和包装企业的经济效益。方法 对具有较大潜力的永磁同步电机，进行控制器和控制方法的研究与改进，并最终选定自抗扰控制器，对自抗扰控制器中非光滑函数fal进行改进得到连续平滑的tal函数，使其减小在原点周围的颤振，并且基于tal函数重新设计非线性状态误差反馈率和扩张状态观测器，以取得对永磁同步电机更好的控制效果。结果 仿真表明，tal函数比fal函数具有更好的平滑性和连续性。基于改进型自抗扰控制的永磁同步电机具有更好的动态性能、稳态精度、抗扰能力和跟踪能力。结论 文中优化后的永磁同步电机伺服控制系统，适用于高精度、负载变动频繁的场合，能够有效地提高包装自动化水平，满足高效率、高精度的包装行业要求。

Servo Control of PMSM Based on Improved ADRC

The work aims to solve the problems of slow packaging speed and worrying packaging quality of traditional packaging machinery, so as to meet the requirements of high efficiency and high precision of packaging machinery, and improve the automation level of food packaging and the economic benefits of packaging enterprises.For the permanent magnet synchronous motor with great potential, the controller and control method were studied and improved, and finally the active disturbance rejection controller was selected. The non-smooth function fal in the active disturbance rejection controller was improved to obtain a continuous and smooth tal function to reduce the flutter around the origin, and the nonlinear state error feedback rate and extended state observer were redesigned based on the tal function to achieve better control effect of permanent magnet synchronous motor. From the simulation results, tal function had better smoothness and continuity than fal function. The permanent magnet synchronous motor based on improved ADRC had better dynamic performance, steady-state accuracy, anti-interference ability and tracking ability. The optimized permanent magnet synchronous motor servo control system is suitable for occasions with high precision and frequent load changes and can effectively improve the level of packaging automation and meet the requirements of packaging industry such as high efficiency and high precision.