基于TLESO/HLESO/RLESO的PMSM调速系统研究

为了提高永磁同步电机（permanent magnet synchronous motor，PMSM）调速系统的抗扰动和噪声抑制能力，针对PMSM转速环设计了3种线性自抗扰控制器（linear active disturbance rejection control，LADRC），即传统线性自抗扰控制器（traditional LADRC，TLADRC）、高阶线性自抗扰控制器（high-order LADRC，HLADRC）和降维线性自抗扰控制器（reduced-order LADRC，RLADRC）。各LADRC的区别在于线性扩张状态观测器（linear extended state observer，LESO）的不同，即传统线性扩张状态观测器（traditional LESO，TLESO）、高阶线性扩张状态观测器（high-order LESO，HLESO）和降维线性扩张状态观测器（reduced-order LESO，RLESO）。采用叠加原理对各LADRC控制转速环的稳定性进行了证明，同时对各LESO的收敛条件进行了分析。通过对各LESO的频域分析可得出：TLESO的相位滞后最大，其扰动估计能力最弱；HLESO在中高频段的幅值增益最大，其鲁棒性最差；RLESO相位滞后最小，扰动估计能力最强。最后，在MATLAB/Simulink环境下，对各LADRC控制的转速环进行仿真，仿真结果验证了频域分析的结论，即TLADRC在抗扰动时转速曲线有最大的转速降，HLADRC在抗扰动时转速曲线有振荡，而RLADRC同时具有优良的抗扰能力和抑制噪声能力。所得出的结论可为LADRC应用中LESO的选取提供有力的支持，为PMSM调速系统的优化设计提供理论依据。

Investigation on PMSM speed regulation system based on TLESO/HLESO/RLESO

In order to improve the ability of disturbance rejection and noise suppression of the permanent magnet synchronous motor (PMSM) speed regulation system, three kinds of linear active disturbance rejection control (LADRC) were designed for the PMSM speed loop such as the traditional LADRC (TLADRC), the high-order LADRC (HLADRC) and the reduced-order LADRC (RLADRC). The differences among the proposed LADRC were the linear extended state observer (LESO), such as the traditional LESO (TLESO), the high-order LESO (HLESO) and the reduced-order LESO (RLESO). The stabilities of the speed loop controlled by the three LADRC were demonstrated by employing the superposition principle, and the convergence conditions of the proposed LESO were analyzed at the same time. And then, through frequency domain analysis of the various LESO, it could be concluded that TLESO had the maximum phase lag, which resulted in the worst disturbance estimation ability. HLESO had the maximum amplitude gain in mid-high frequency areas, which made the robustness the worst, while RLESO had the minimum phase lag, which led to the best disturbance estimation ability. Finally, the simulation of the PMSM speed loop controlled by the various LADRC was carried out by using MATLAB/Simulink, and the simulation results verified the conclusion of the frequency domain analysis. The speed curve with TLADRC had the biggest speed dropped in resistance to disturbance, the speed curve with HLADRC had a little oscillation, and the RLADRC had both excellent resistance to disturbance and noise suppressing ability. The obtained conclusion can provide powerful support for selecting LESO in LADRC, and provide a theoretical basis for optimal design of PMSM speed control system.