Abstract
This paper deals with the robust control method for permanent magnet synchronous motor (PMSM) speed-regulation system based on active disturbance compensation. Different from the classical PMSM disturbance compensation scheme, a novel disturbance feed-forward compensation based on extended state observer (ESO) is designed for speed loop and q-axis current loop of PMSM. The disturbances of current loop include unmodeled dynamics of back electromotive force and parameters variations of stator are considered as lumped disturbance to compensate actively. In this way, the dynamic response of q-axis current loop can be improved to guarantee the anti-disturbance ability. A composite controller using sliding mode control and ESO is designed as speed loop controller, and an ESO-based proportional-integral controller is designed for q-axis current loop. Moreover, a transition process of reference signal is introduced to replace the step reference signal, which reduces the initial error and increases the range of feedback gain to improve system robustness. Finally, simulations and experiments are given to demonstrate the effectiveness of the proposed strategy.
Highlights
As an important power of mechanical system, permanent magnet synchronous motor (PMSM) is widely used because of the compact structure, high power density, and low noise
In [18], a nonlinear speed-control algorithm based on sliding mode reaching law (SMRL) is designed for PMSM system and this algorithm can dynamically adapt to the operation statues
Disturbance feed-forward compensation based on extended state observer (ESO) or active disturbance rejection control (ADRC) [27] has been widely applied in PMSM systems, power converter, robotic systems, etc., in [28], a second-order model of PMSM system is introduced to design a speed regulation controller; an active feed-forward compensation is designed to reduce chattering of the sliding mode speed controller and improve the robustness
Summary
As an important power of mechanical system, permanent magnet synchronous motor (PMSM) is widely used because of the compact structure, high power density, and low noise. Disturbance feed-forward compensation based on ESO or active disturbance rejection control (ADRC) [27] has been widely applied in PMSM systems, power converter, robotic systems, etc., in [28], a second-order model of PMSM system is introduced to design a speed regulation controller; an active feed-forward compensation is designed to reduce chattering of the sliding mode speed controller and improve the robustness. In [31], ESO is introduced to estimate the disturbance of q-axis current loop, and the disturbance is compensated by feed-forward. Simulation and experiment show that feed-forward compensation of current loop can effectively improve the anti-disturbance performance. By introducing sliding mode control and feed-forward compensation, a composite controller is designed for speed loop and q-axis current loop.
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