永磁同步电机传动系统电流环非线性自抗扰控制器的设计与稳定性分析

高性能永磁同步电机伺服系统要求有快速响应的电流内环以保证系统的高动态性能,传统PI调节器容易出现超调及振荡调整过程。为实现对高性能永磁同步电机伺服系统电流环的精确控制,采用自抗扰控制器代替传统PI调节器,将电流环中电动势项和定子电阻压降项作为内部扰动量,其他未知扰动作为外部扰动量,设计了电流环非线性自抗扰控制器。与传统PI调节器相比,自抗扰控制器可以对系统内外部扰动量进行实时观测补偿,具有更好的系统抗扰动能力,可以更迅速、精确地跟随电流指令;为避免因控制器参数选取不合适而引起的电流环周期振荡,采用描述函数法对非线性自抗扰控制器取不同参数时电流环的稳定性进行了分析。通过仿真和实验验证了控制器设计的有效性。

Nonlinear Active Disturbance Rejection Controller Design for Current Loop of PMSM Drive System and Its Stability Analysis

In order to ensure high dynamic performance of whole system,high performance permanent magnet synchronous motor servo applications often require fast response current inner loop.However,conventional PI regulator is prone to overshoot and of poor dynamic characteristics.Take active disturbance rejection control technology replace the conventional PI control,more accurate control of current could be achieved.Based on regarding the electromotive force term and the voltage drop of stator resistance as internal disturbances,the other unknown factors as external disturbances,nonlinear active disturbance rejection controller (NLADRC) was designed.Compared with conventional PI regulator,NLADRC is able to compensate the disturbance in real time,so there is better disturbance rejection performance and current response.To avoid periodic oscillation of current loop,describing function method is used to analyze the stability for different NLADRC parameters.Finally,the validity of the proposed system are verified by simulation and experiments.