【目的】在实际应用中,永磁同步电机(PMSM)转速易受到多源耦合扰动的影响,导致传统电机控制无法满足PMSM在一些高精度应用领域中的控制要求。因此研究针对周期性和非周期性扰动的PMSM抗扰控制策略来抑制转速波动对提高电机系统控制精度具有重要意义。【方法】针对受周期性与非周期性扰动影响下永磁同步电机的转速波动问题,提出了一种基于自抗扰重复控制器的永磁同步电机转速波动抑制策略,来实现转速波动抑制。首先对基于误差的自抗扰控制器(EBADRC)进行改进,采用低通滤波器去替代ESO中的积分器,增强其抗干扰能力。其次使用重复控制器去改进EBADRC的控制律,从而实现对多种干扰频率造成的周期性波动的抑制。最后在样机试验平台上对本文所提控制策略以及EBADRC、改进EBADRC和PI控制进行试验对比。【结果】在突加50%负载与突加100%负载的工况下,所提控制策略可以更好地抑制周期性干扰与非周期性干扰。在额定转速2 000 r/min时,突加100%负载工况下,采用所提控制方法时的转速跌落比采用PI控制器、EBADRC、改进EBADRC时的转速跌落分别减小了65、78和85 r/min,周期性转速波动分别减小了7、12和26 r/min。所提方法在b0不匹配工况下的转速稳态试验表明,在参数b0增大一倍或减小一倍时,PMSM仍运行稳定,由此证明所提方法的参数鲁棒性能较好。【结论】本文所提的基于自抗扰重复控制器的永磁同步电机转速波动抑制策略可以有效抑制周期性与非周期性扰动,并具备良好的鲁棒性。

[Objective] In practical applications, the speed of permanent magnet synchronous motor (PMSM) is susceptible to multi-source coupled disturbances, rendering traditional motor control inadequate for meeting the control requirements of PMSM in certain high-precision applications. Therefore, it is of great significance to study anti-disturbance control strategies for PMSM against periodic and aperiodic disturbances to suppress speed fluctuations and enhance the control accuracy of the motor system. [Methods] Addressing the speed fluctuation issue of permanent magnet synchronous motors under the influence of periodic and non-periodic disturbances, a speed fluctuation suppression strategy for PMSM based on active disturbance rejection repetitive controller was proposed to achieve speed fluctuation suppression. Firstly, the error-based active disturbance rejection controller (EBADRC) was improved by replacing the integrator in the extended state observer (ESO) with a low-pass filter to enhance its anti-disturbance capability. Secondly, a repetitive controller was used to improve the control law of EBADRC, thereby achieving suppression of periodic fluctuations caused by various disturbance frequencies. Finally, experimental comparisons were conducted on a prototype test platform between the control strategy proposed in this paper, EBADRC, improved EBADRC, and PI control. [Results] Under the conditions of sudden 50% and 100% load increases, the proposed control strategy was able to better suppress periodic and aperiodic disturbances. Under the condition of a sudden 100% load increase at rated speed of 2 000 r/min, the speed drop when using the proposed control method was reduced by 65, 78, and 85 r/min compared to when using a PI controller, EBADRC, and improved EBADRC, respectively. The periodic speed fluctuations were reduced by 7, 12, and 26 r/min, respectively. The steady-state speed test of the proposed method under b0 mismatch conditions showed that the PMSM still operated stably when the parameter b0 was doubled or halved, thus demonstrating the good parameter robustness of the proposed method. [Conclusion] The speed fluctuation suppression strategy for PMSM based on active disturbance rejection repetitive controller proposed in this paper can effectively suppress both periodic and aperiodic disturbances and exhibits good robustness.

中国博士后科学基金面上资助(2024MD763933);黑龙江省优秀青年教师基础研究支持计划(YQJH2024043)