Active disturbance rejection control of permanent magnet synchronous motor based on improved particle swarm optimization
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摘要: 为解决永磁同步电机的高精度控制问题，提出了一种基于改进粒子群优化算法的离散型自抗扰控制方法。在建立永磁同步电机数学模型基础上，对粒子群优化算法进行改进，分别设计改进的二阶跟踪微分器、三阶扩展状态观测器和非线性状态误差反馈环节，构造新的非线性函数提高扩展状态观测器和非线性状态误差补偿的控制率。改进粒子群算法对状态观测器和非线性状态误差补偿进行参数整定。结果显示，与PI和传统自抗扰控制器相比较，改进粒子群优化自抗扰控制能够使永磁同步电机具有更快的响应速度、更好的跟踪精度和更强的抗干扰能力，显著提高了控制效果。Abstract: In order to solve the high-precision control problem of a permanent magnet synchronous motor (PMSM), a discrete type active disturbance rejection control (ADRC) method based on improved particle swarm optimization algorithm was proposed. On the basis of the mathematical model of PMSM, the conventional particle swarm optimization algorithm was ameliorated, the second-order tracking differentiator, the third-order extended state observer and the nonlinear state error feedback unit were designed and improved, and a new nonlinear function was designed and used to improve the control rate of the extended state observer and the nonlinear state error compensation. The improved particle swarm optimization algorithm was responsible for tuning the parameters of the state observer and the nonlinear state error compensation. The results show that compared with PI controller and the traditional ADRC, the improved ADRC based on particle swarm optimization made the PMSM have faster response speed, better tracking accuracy and stronger anti-interference ability, and significantly improve the control effect.
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表 1 IPSO-ADRC参数
单元结构 参数 含义 数值 TD r 速度因子 500 λF 滤波因子 0.01 h 积分步长 0.0001 ESO h0 采样步长 0.001 δ 滤波因子 0.05 α1 非线性因子 0.5 α2 非线性因子 0.5 β10 函数增益 30 β20 函数增益 300 β30 函数增益 1000 b 补偿因子 2 NLSEF δ1 滤波因子 0.05 α3 非线性因子 0.25 α4 非线性因子 0.25 β1 函数增益 4000 β2 函数增益 140 
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表 2 永磁电机主要参数
参数 意义 数值 R/Ω 电阻 2.875 L/H 电感 8.5×10−3 J/（kg·m2） 转动惯量 0.001 pn 极对数 4 ψf /Wb 永磁磁链 0.32
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表 3 主要性能指标
控制器 上升时间/s 调节时间/s 超调量/（%） 稳态误差/（%） PI 0.002 8 0.015 16.3 0.55 ADRC 0.010 6 0.014 0 0 IPSO-ADRC 0.003 1 0.005 0 0
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