考虑转速滤波的永磁同步电动机转速伺服系统改进型自抗扰控制器  

A Modified Active Disturbance Rejection Controller Concerning Speed Filter for PMSM Speed Servo System

作　　者：左月飞[1] 符慧[1] 刘闯[1] 张捷[1] 胡烨[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《电工技术学报》2016年第9期137-145,共9页Transactions of China Electrotechnical Society

基　　金：国家自然科学基金(51377076);江苏省"六大人才高峰"项目(YPC13013);江苏省产学研资金(BY2014003-09)资助

摘　　要：在永磁同步电动机伺服系统中,通常根据位置信号采用M法计算转速。由于位置信号存在量化误差等原因,计算转速存在测量噪声,因此常将滤波后的转速作为反馈。在传统的转速一阶自抗扰控制系统中,自抗扰控制器的设计过程并未考虑转速滤波环节的影响,这将使系统性能受滤波时间常数的影响。提出一种考虑反馈转速滤波环节的改进型自抗扰控制器,将滤波后的转速扩张为一个新状态量,利用三阶线性扩张状态观测器估计滤波之前的转速量,并将其作为反馈。实验结果表明,改进型自抗扰控制系统具有较好的控制性能。In the permanent magnet synchronous motor（ PMSM） servo system,the M-method is usually used to calculate the speed based on the measured rotor angle. As the quantization error exists in the rotor angle,the method produces the measurement noise. As a solution,the filtered speed is taken as the feedback signal. In the conventional first order active disturbance rejection control（ ADRC） system,the filter is not concerned in the controller design process,which deteriorates the system performance because of the influence of the time constant of the first order circuit. In this paper,a modified ADRC controller concerning the speed filter is proposed to improve the control performance. The filtered speed is extended as the new state. Then the unfiltered speed is observed by a third order extended observer and taken as the feedback signal. The experiment results indicate that the proposed controller has a better control performance.

关 键 词：永磁同步电动机 自抗扰控制 转速计算 测量噪声 滤波器 扩张状态观测器 

分 类 号：TM351[电气工程—电机]