基于参数辨识与补偿的永磁伺服系统自校正ADRC  

Self⁃tuning ADRC of Permanent Magnet Servo System Based on Model Identification and Compensation

作　　者：张臻[1] 周扬忠 ZHANG Zhen;ZHOU Yang-zhong(Fujian Key Laboratory of New Energy Generation and Power Conversion,Fuzhou University,Fuzhou 350116,China)

机构地区：[1]福州大学福建省新能源发电与电能变换重点实验室,福州350116

出　　处：《微特电机》2021年第12期1-7,共7页Small & Special Electrical Machines

摘　　要：为减少参数变化及外界扰动对系统动态性能的影响,实现交流伺服系统的高性能控制,提出一种基于参数辨识与模型补偿的自校正位置伺服自抗扰控制(ADRC)方案;以系统机械运动方程为算法模型,设计了负载转矩观测器,并利用辨识的转动惯量对观测器参数进行整定;将转子位置变化量和负载转矩变化量作为基于模型参考自适应的转动惯量辨识器的输入,用辨识得到的转动惯量和负载转矩对自抗扰控制器进行参数校正和扰动补偿。通过仿真和实验结果表明,该转动惯量辨识算法有效,参数辨识收敛速度较快,辨识结果波动较小;校正后的负载转矩的观测精度得到改善;该参数辨识和自校正措施对扰动具有较强的鲁棒性。In order to reduce the influence of parameter variation and external disturbance on the dynamic performance of the system and realize the high performance control of AC servo system,a self⁃correcting active disturbance rejection control(ADRC)position servo control scheme based on parameter identification and model compensation was proposed.The load torque observer was designed based on the mechanical motion equation of the system,and the parameters of the observer were adjusted by using the identified moment of inertia.The variation of rotor position and load torque were taken as the input of the inertia identifiers based on the model reference adaptive.The identifiable moment of inertia and load torque were used to calibrate the parameters and compensate the disturbance of the ADRC.Simulation and experimental results show that the proposed moment of inertia identification algorithm is effective,the parameter identification has a faster convergence speed,and the identification result has less fluctuation;The accuracy of load torque observation is improved after correction;And the model compensation and self⁃correction measures adopted have strong robustness to disturbance.

关 键 词：自抗扰控制 转动惯量辨识 负载转矩观测器 模型补偿 参数自校正 

分 类 号：TM351[电气工程—电机]