永磁同步电机位置伺服系统改进变结构自抗扰控制

为进一步提高传统变结构自抗扰控制器的控制精度，增强永磁伺服驱动系统的抗干扰能力，提出一种改进变结构自抗扰控制策略。该方法在基于变结构原理设计的扩张状态观测器中引入位置、速度的观测误差以实现状态变量的无差估计，采用基于指数趋近律设计的非线性状态误差反馈控制律实现线性控制与非线性控制的平滑过渡，并在此基础上引入位置跟踪误差，提高伺服系统的跟踪性能。通过实验分析比较了改进变结构自抗扰控制与传统变结构自抗扰控制两种控制策略，结果显示改进控制策略较传统控制策略的位置跟踪误差减少了约30%。当负载突变时，传统控制策略的跟踪误差约为负载突变前最大跟踪误差的3.4倍，而改进变结构自抗扰控制策略仍能准确跟踪给定信号。

An improved variable structure active disturbance rejection control for thepermanent magnet synchronous motor position servo system

To further improve the control accuracy of the traditional variable structure active disturbance rejection control device andenhance the anti-interference ability of the permanent magnet servo drive system, an improved variable structure active disturbancerejection control strategy is proposed. This method introduces the observation errors of position and velocity into the extended stateobserver designed based on the variable structure principle to realize the error-free estimation of the state variables, adopts the nonlinearstate error feedback control law based on the exponential reaching law design to realize the smooth transition between linear control andnonlinear control, introduces position tracking error on this basis to improve the tracking performance of the servo system. Throughexperimental analysis, two control strategies of improved variable structure active disturbance rejection control and traditional variablestructure active disturbance rejection control are compared. Results show that the position tracking error of the improved control strategyis reduced by about 30% compared with the traditional control strategy. When the load changes suddenly, the tracking error of thetraditional control strategy is about 3. 4 times the maximum tracking error before the load change, while the improved variable structureADRC strategy can still track the given signal accurately.