基于自抗扰控制器的永磁同步电主轴速度扰动控制研究∗

摘要

The control performance of traditional drive system of the permanent magnet synchronous spindle ( PMSS) is poor when there is an external disturbance or an uncertain parameters changing, so the control strategy of speed-loop ADRC regulator is proposed. In this method, the total disturbance of the system is es-timated and compensated by using ESO; and nonlinear combination of the errors is done by NLSEF. The simulation results show that the PMSS has good dynamic performance and strong robustness by this control strategy.%针对传统永磁同步电主轴( PMSS)调速系统在外部扰动或不确定参数变化等状况下的速度控制性能不佳的问题，提出了速度环ADRC调节器的控制策略，该方法利用扩张状态观测器( ESO)对系统中的内外部“总扰动”进行估计及补偿，并利用非线性状态误差反馈控制器( NLSEF)对跟踪微分器( TD)的过渡过程与ESO产生的状态估计的误差进行非线性组合，实现优于经典PI调节器的线性组合的控制效果。仿真结果表明：在该控制策略下， PMSS具有良好的动态响应性能以及较强鲁棒性。