永磁同步电机伺服系统高精度自抗扰FCS-MPC

摘要

为了提高三相永磁同步电机伺服系统的控制精度,基于反双曲正弦函数的扩张状态观测器(ESO)技术,提出了一种有限状态控制集模型预测控制(FCS-MPC)策略.采用基于反双曲正弦函数的扩张状态观测器方法构造出自抗扰位置控制器,以提高伺服系统的控制精度和鲁棒性;利用ESO技术设计出PMSM伺服系统反电动势和不确定项观测器,以实现对反电动势项和系统不确定项进行快速准确的实时估计.与此同时,改进型的FCS-MPC策略,以达到减小电磁转矩脉动、减轻系统计算量和自抗扰观测器负担的目的.仿真结果表明,该控制策略具有较高的位置跟踪控制精度、良好的动态性能、较强的抗负载能力和鲁棒性.%In order to improve the control precision of three-phase permanent magnet synchronous motor ( PMSM) ser-vo system, a finite state control set model predictive control( FCS-MPC) method was proposed by using extend state ob-server( ESO) of arc-hyperbolic sine function. An auto-disturbance-rejection position controller ( ADRC) was constructed by applying the ESO method based on arc-hyperbolic sine function to enhance the control accuracy and robustness of the servo system. The back electromotive force and the uncertain term of the PMSM servo system were constructed by ESO tech-nique which realizes the fast and accurate real-time estimation of the counter electromotive force term and the system uncer-tainties, meanwhile, an improved FCS-MPC was designed in order to reduce the electromagnetic torque ripple, cripple the system calculation and the active disturbace rejection observer. The simulation results demonstrate that the improved control strategy made the PMSM servo system have high position tracking control precision, good dynamic performance, strong anti-load ability and strong robustness.