摘要
为增强永磁同步电机伺服系统对负载扰动、电机参数摄动等工况的鲁棒性,提出一种改进自抗扰速度环控制策略。设计级联非线性扩张状态观测器估计系统总扰动,NESO1观测系统扰动,NESO2将NESO1观测扰动作为已知部分观测剩余扰动,减小传统非线性扩张状态观测器对扰动的观测误差。针对传统非线性fal函数存在拐点不光滑连续,易导致系统震颤的问题,设计一种newfal非线性函数并应用到级联NESO的改进结构中。基于MATLAB/Simulink平台搭建模型,仿真结果表明改进自抗扰控制对速度变化、负载扰动、参数摄动等具有较强的鲁棒性。newfal-CADRC相较于传统ADRC速度稳态误差、负载突变变化值以及恢复时间分别减少约36%、59%、66%。最后在1 kW的实际系统平台上进行验证。综合仿真和实物实验,充分证明了改进的控制策略对负载扰动、斜坡负载扰动具有较好的鲁棒性,对参数摄动、噪声影响具有较好的抵抗能力。
In order to enhance the robustness of permanent magnet synchronous motor servo system to load disturbance,motor parameter perturbation and other working conditions,an improved active disturbance rejection speed loop control strategy is proposed.The cascaded nonlinear extended state observer is designed to estimate the total disturbance of the system,NESO1 observes the disturbance of the system,and NESO2 takes the NESO1 observation disturbance as the known part to observe the residual disturbance,which reduces the observation error of the traditional nonlinear extended state observer to the disturbance.Aiming at the problem that the traditional nonlinear fal function has a non-smooth and continuous inflection point,which is easy to cause system tremor,a newfal nonlinear function is designed and applied to the improved structure of cascaded NESO.The model is built based on MATLAB/Simulink platform.The simulation results show that the improved ADRC has strong robustness to speed change,load disturbance and parameter perturbation.Compared with the traditional ADRC,the speed steady-state error,load mutation change value and recovery time of the newfal-CADRC are reduced by about 36%,59%and 66%respectively.Finally,it is verified on the 1 kW actual system platform.The comprehensive simulation and physical experiment fully prove that the improved control strategy has good robustness to load disturbance and slope load disturbance,and has good resistance to parameter perturbation and noise influence.
作者
简炜
胡文涛
彭国生
朱敦滨
张金亮
JIAN Wei;HU Wentao;PENG Guosheng;ZHU Dunbin;ZHANG Jinliang(School of Electrical and Information Engineering,Hubei University of Automotive Technology,Shiyan 442002,China)
出处
《组合机床与自动化加工技术》
北大核心
2024年第11期142-146,151,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
湖北省教育厅科研技术研究项目(Q20221805)
湖北省揭榜制科技项目(2021BECO02)。
关键词
永磁同步电机
自抗扰控制
级联扩张状态观测器
非线性函数
permanent magnet synchronous motor
active disturbance rejection control
cascade extend state observe
nonlinear function
