Research on Servo Control System Based on Linear Active Disturbance Rejection Control Technology

doi:10.11985/2023.04.005

Abstract

Abstract:

Active disturbance rejection controller(ADRC) is a kind of controller which does not depend on the precise mathematical model of the control object. It has the characteristics of small overshoot and strong robustness. However, due to the introduction of nonlinear function, the parameters are difficult to be adjusted. The linearization of ADRC is called linear ADRC. Based on the theory of linear active disturbance rejection control for permanent magnet synchronous motor servo system, the current loop, speed loop and the position loop LADRC controller are designed and compared. The simulation results show that the servo system with LADRC controller has good dynamic performance and steady-state performance, strong anti-interference ability and easy tuning.

Key words: Linear active disturbance rejection controller(LADRC), Permanent magnet synchronous motor(PMSM), parameter tuning, robustness

CLC Number:

TN929

XIA Liang, SUN Tianfu, LI Xinyu, TAN Xianfeng, ZHENG Denghua. Research on Servo Control System Based on Linear Active Disturbance Rejection Control Technology[J]. Journal of Electrical Engineering, 2023, 18(4): 43-49.

Figures/Tables 6

References 20

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参数	参数值
额定功率/W	2 400
额定转速/(r/min)	3 000
额定电流/A	12
转矩系数/(N·m/A)	0.625
相电阻/Ω	0.145
永磁体磁链/Wb	0.171
相电感/mH	0.983
极对数	4
转动惯量/(kg·m²)	1.857×10^-4

参数	参数值
电流环系统增益b₀	1 017.3
电流环LESO观测器带宽ω₀/rad	2 500
电流环控制器K_P	500
速度环系统增益b₀	920.8
速度环LESO观测器带宽ω₀/rad	250
速度环控制器K_P	50
位置环系统增益b₀	1
位置环LESO观测器带宽ω₀/rad	50
位置环控制器K_P	10