基于负载观测的永磁电机驱动系统自抗扰控制

摘要

As the speed will be greatly influenced by the variation of load in permanent magnet synchronous motor (PMSM) vehicle driving system, a two-order active disturbance rejection controller (ADRC) speed control system based on load observer is designed. The control system is combined with ADRC to observe and compensate load disturbance, which can suppress external disturbance. The control equation of ADRC governing system with load observer is deduced, and the load observe control volume is established as the compensation input of speed loop. Besides, it is compared with ADRC system without load disturbance. Simulation and experimental results show that ADRC governing system with load observer has stronger ability of anti-interference, and the dynamic performance and the response performance of PMSM frequency control system have improved. ADRC control system with load observer can better satisfy the control requirements of electric vehicle.%针对永磁同步电机（PMSM）的车辆驱动系统在负载变化过程中转速受到较大影响的问题，结合自抗扰控制器（ADRC），采用对负载扰动进行观测并补偿来抑制外部扰动的方法，设计了基于负载观测的二阶ADRC速度控制系统。对负载观测ADRC的控制方程进行了推导，并将负载观测控制量作为速度环的补偿控制输入。同时与未加入负载扰动的ADRC系统作对比研究。仿真与实验结果表明，带有负载观测的 ADRC 调速系统具有更强的抗扰动能力，提高了 PMSM变频调速系统的动态稳定性能和响应能力，证明了带有负载观测的ADRC控制系统能够更好地满足电传动履带车辆的控制系统要求。