永磁直线电机基于ESO的速度辨识与控制

运用自抗扰控制技术，分别对永磁同步直线电机的直轴电流id和动子速度口设计了控制器．直轴电流的白抗扰控制器除完成对id控制外，还要借助于控制器中的扩张状态观测器(ESO)，完成对动子速度的辨识．速度的辨识信号作为速度环自抗扰控制器的反馈信号，从而可设计出一种新型的无速度传感器永磁直线电机的控制系统．由于采用基于过程误差的非线性控制律，观测器受电机参数的影响极小，具有算法简单、辨识精度高等优点。

Speed identification and control of PMSLM based on ESO

By using ADRC method, two controllers are designed for straight axis current loop and mover speed loop of PMSLM. The first controller controls straight axis current (i_d), and identifies the speed of mover by means of expanded state observer (ESO) in it. By taking this identified speed signal as the feedback signal of speed controller, a new control system of PMSLM without speed sensor is proposed. Because of the use of nonlinear control law based on process error, this observer is simple, effective and robust against the variety of motor parameters. The simulation results show that the identified speed error is mighty small, and the performance of this control system is much improved.