Abstract
Fractional order integral is introduced into active disturbance rejection controller (ADRC) to establish the structure of fractional order proportional integral controller (FPI). Fractional order ADRC (FADRC) is designed by replacing the nonlinear state error feedback control law using nonlinear function combination in ADRC with FPI, which can combine the high performance of ADRC estimating disturbances with the characteristics of fractional order calculus more really describing the physical object and spreading the stable region of the system parameters. The proposed FADRC is applied to permanent magnet synchronous motor (PMSM) speed servo system in order to improve robustness of system against the disturbances. Compared with ADRC, simulation results verify that the proposed control method has given very good robust results and fast speed tracking performance.
Highlights
Permanent magnet synchronous motor (PMSM) is increasingly used in high precise AC servo driving control system due to its simple structures, high efficiency, low inertia, high power density and high torque-current ratio
This study introduces fractional order calculus into active disturbance rejection controller (ADRC) and establishes the structure of fractional order proportional integral controller
Nonsmooth feedback of nonlinear state error feedback control law (NLSEF) in ADRC is replaced with the nonlinear fractional order PI controller, which combines the high performance of ADRC estimating disturbances with the characteristics of fractional order calculus more really describing the physical object and spreading the stable region of the system parameters
Summary
Permanent magnet synchronous motor (PMSM) is increasingly used in high precise AC servo driving control system due to its simple structures, high efficiency, low inertia, high power density and high torque-current ratio. Chattering phenomenon can be caused in a conventional sliding mode control system Due to these questions, the fields of use with those control techniques were restrained. Active disturbance rejection control technique is applied in PMSM speed servo system [16,17,18], which can design the controller of controlled object by using order of model, but not becoming dependent. It improves the response of system by using extended state observer to estimate and compensate disturbances. Reference [19] proposed fractional order proportional integral differential controller by using tracking differentiator to obtain tracking signal of output and its differential signal
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