An Anti-disturbance Control Algorithm for Permanent Magnet AC Servo System

Abstract

Permanent magnet AC servo system is widely used in aerospace, industrial robots, petrochemical equipment and so on. In order to improve the anti-interference control performance of the permanent magnet AC servo system, in this paper, a non-singular terminal sliding mode controller based on the extended state observer is designed for the permanent magnet synchronous motor control system using the resolver as the angle sensor. The proposed algorithm uses the extended state observer to observe disturbance while realizing demodulation, and then uses the non-singular terminal sliding mode controller to realize high-precision anti-interference speed control. The proportion of the symbol term in the sliding mode controller can be reduced by compensating the disturbance observation term, thereby effectively suppressing the sliding mode chattering and improving the anti-interference performance of the system. Simulation results show that the proposed method has better control performance than the traditional PID control method in both steady-state accuracy and dynamic performance.