Research on ADRC strategy of permanent magnet synchronous motor for automated terminal AGV

Abstract

To overcome the large noise and harmonics in the current waveform of BLDC (Brushless Direct Current, BLDC) motor used in traditional automated guided vehicle (AGV), the permanent magnet synchronous motor(PMSM) is selected as drive motor to be introduced in the AGV. And an improved active disturbance rejection control (ADRC) algorithm are presented in the PMSM vector control. And three parts of ADRC, Tracking Differentiator (TD), Extended State Observer (ESO) and Nonlinear State Error Feedback (NLSEF), are designed in the controller to analyze and process the speed, voltage signal and state estimation values and control and compensate parameter errors. To show the control superiority of ADRC, the PI-based and ADRC-based simulation models are both built and simulated with the specific high and low speed, torque and speed suddenly change. Simulation results show that when the motor suddenly decelerates, PI is stable at 0.1s and ADRC was stable at 0.03s, and the overshoot of PI is higher than ADRC, which verifies that the response speed, anti-disturbance performance and robustness of the improved ADRC are significantly better than PI, which would be helpful to introduce the PMSM and ADRC based algorithm to the AGV and the automated container terminals.