Permanent Magnet Synchronous Motor Speed Control Based on Improved Active Disturbance Rejection Control
<p>First-order ADRC control structure block diagram of a PMSM.</p> "> Figure 2
<p>Comparison of characteristic curves of functions <span class="html-italic">fal(</span><b><span class="html-italic">∙</span></b><span class="html-italic">)</span> and <span class="html-italic">newfal(<b>∙</b>)</span>. In (<b>a</b>), <span class="html-italic">α</span> takes different values and in (<b>b</b>), <span class="html-italic">δ</span> takes different values.</p> "> Figure 3
<p>Block diagram of the I-ADRC structure.</p> "> Figure 4
<p>I-ADRC simulation structure diagram: (<b>a</b>) overall simulation diagram; (<b>b</b>) I-ADRC module; (<b>c</b>) TD module; (<b>d</b>) ESO module; (<b>e</b>) NLSEF module and (<b>f</b>) ESO module.</p> "> Figure 4 Cont.
<p>I-ADRC simulation structure diagram: (<b>a</b>) overall simulation diagram; (<b>b</b>) I-ADRC module; (<b>c</b>) TD module; (<b>d</b>) ESO module; (<b>e</b>) NLSEF module and (<b>f</b>) ESO module.</p> "> Figure 5
<p>Speed simulation curve.</p> "> Figure 6
<p>Current simulation curve.</p> "> Figure 7
<p>Torque simulation curves: (<b>a</b>) complete torque simulation curve; (<b>b</b>) partial enlargement A and (<b>c</b>) partial enlargement B.</p> "> Figure 8
<p>LINKS RS PMSM console: (<b>a</b>) servo control platform; (<b>b</b>) load system and (<b>c</b>) controller and driver.</p> "> Figure 9
<p>No load speed regulation test curve.</p> "> Figure 10
<p>Load speed regulation test curve.</p> "> Figure 11
<p>Three phase current test curve: (<b>a</b>) complete current curve; (<b>b</b>) local current curve. The test results of speed and current are consistent with simulation results.</p> ">
Abstract
:1. Introduction
2. Mathematical Model of PMSM
- (1)
- The saturation of the iron in the stator of the motor is ignored;
- (2)
- The effects of the eddy current and hysteresis are ignored;
- (3)
- The three phase windings of the stator are symmetrical.
3. I-ADRC Design of PMSM
3.1. Improved Nonlinear Function Design
3.2. Improved TD Design and Stability Analysis
3.3. Improved Second Order ESO Design and Stability Analysis
3.4. Stability Analysis of I-ADRC
4. Simulation and Experimental Results Analysis
4.1. Analysis of Simulation Results
4.1.1. Speed Simulation Results Analysis
4.1.2. Analysis of Three Phase Current Simulation Results
4.1.3. Analysis of Torque Simulation Results
4.2. Analysis of Experimental Results
4.2.1. No Load Speed Regulation Result Analysis
4.2.2. Analysis of Load Speed Test Results
4.2.3. Analysis of 3 Phase Current Test Results
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameter | Value |
---|---|
Rated power (W) | 100 |
Pole pairs | 4 |
Rated voltage (V) | 36 |
Rated speed (rpm) | 3000 |
Instantaneous | 0.954 |
Rated current (A) | 4.6 |
Back EMF coefficient (mV/rpm) | 5.35 |
Line resistance (Ω) (25 °C) | 0.75 |
Line inductance (mH) | 2 |
Weight (kg) | 0.8 |
Rated torque (N·m) | 0.318 |
Encoder | 1250 |
I-ADRC Component | Symbol | Value |
---|---|---|
First order TD | 1.25 | |
0.01 | ||
500 | ||
450 | ||
Second order ESO | 30 | |
5 | ||
0.25 | ||
0.01 | ||
90 | ||
110 | ||
NLSEF | 1.1 | |
0.01 | ||
60 | ||
220 |
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Shi, Z.; Zhang, P.; Lin, J.; Ding, H. Permanent Magnet Synchronous Motor Speed Control Based on Improved Active Disturbance Rejection Control. Actuators 2021, 10, 147. https://doi.org/10.3390/act10070147
Shi Z, Zhang P, Lin J, Ding H. Permanent Magnet Synchronous Motor Speed Control Based on Improved Active Disturbance Rejection Control. Actuators. 2021; 10(7):147. https://doi.org/10.3390/act10070147
Chicago/Turabian StyleShi, Zhaoyao, Pan Zhang, Jiachun Lin, and Hongyu Ding. 2021. "Permanent Magnet Synchronous Motor Speed Control Based on Improved Active Disturbance Rejection Control" Actuators 10, no. 7: 147. https://doi.org/10.3390/act10070147