基于线性自抗扰的开关磁阻电机调速控制研究

开关磁阻电机调速系统是复杂的非线性时变系统，负载扰动大，变量之间耦合严重，针对上述系统的性能特点提出采用线性自抗扰控制策略对系统进行控制的方法。首先为克服负载扰动变化，电机磁链呈非线性以及电流、位置等参数耦合的内外部干扰问题，设计扩张状态观测器对系统内扰和外扰进行准确估计并实时补偿。然后设计PD（比例-微分）控制器抑制系统给定与扩张状态观测器反馈的观测对象状态变量之间的跟踪误差。最后在仿真平台上对设计的控制系统进行试验并与传统PID控制方案进行对比，结果显示，对于给定的阶跃信号线性自抗扰控制器只需0.09s即可达到稳态且无超调，而PID控制器需要3s才能实现稳定跟踪。因此相比于传统PID控制，线性自抗扰控制器拥有更优的动静态性能，并且系统在外部负载扰动和内部模型参数变化的情况下也有良好的控制效果，表现出了很好的鲁棒特性。

Research on Speed Regulating Control of Switched Reluctance Motor Based on Linear Active Disturbance Rejection Controller

Switched reluctance motor speed control system is a complex nonlinear time-varying system, with large load disturbances and severe coupling between variables. A method of using a linear auto disturbance rejection control strategy to control the system is proposed for the performance characteristics of the above systems. Firstly, in order to overcome the changes of load disturbances, the Nonlinear characteristics of motor flux linkage and the coupling of internal and external disturbances such as current and position parameters, an extended state observer is designed to accurately estimate the system internal disturbance and external disturbance and compensate in real time. Then A PD (proportional-derivative) controller is designed to suppress the tracking error between the system observer and the observation object state variable fed back by the extended state observer. Finally, the designed control system is tested on the simulation platform and compared with the traditional PID control scheme. The results show that the linear active disturbance rejection controller for a given step signal only needs 0.09s to reach steady state without overshoot, while PID control needs 3s to achieve stable tracking. Therefore, compared with the traditional PID control, the linear active disturbance rejection controller has better dynamic and static performance, and the system also has good control effect in the case of external load disturbance and internal model parameters change, showing a very good robustness.