Liu Chunqiang, Luo Guangzhao, Chen Zhe, Tu Wencong
School of Automation, Northwestern Polytechnical University, Xi'an, China.
ISA Trans. 2020 Jun;101:482-492. doi: 10.1016/j.isatra.2020.01.027. Epub 2020 Jan 30.
For permanent magnet synchronous motor drives, the difficulty of parameter tuning of nonlinear active disturbance rejection control (ADRC) current controller is the bottleneck for its application. This paper proposes a measurement delay compensated linear ADRC (LADRC), and a simple tuning method for LADRC's parameters is presented. Firstly, an ideal model without resistance is acquired, because the current coupling terms, dead-time effects, and motor parameter variations are estimated and canceled out by an linear extended state observer. Secondly, an improved LADRC considering time delay of current measurement is developed. It eliminates unmatched disturbance compensation caused by measurement delay. And frequency responses of current closed-loop gain and disturbance suppression are evaluated. Then, based upon the frequency characteristics of the LADRC controller, a simple tuning method founded on desired frequency bandwidth is presented. It is convenient to be implemented. Finally, experimental results demonstrate that the proposed method is effective.
对于永磁同步电机驱动器，非线性自抗扰控制（ADRC）电流控制器的参数整定困难是其应用的瓶颈。本文提出了一种测量延迟补偿线性自抗扰控制（LADRC），并给出了一种简单的LADRC参数整定方法。首先，通过线性扩张状态观测器估计并消除电流耦合项、死区效应和电机参数变化，从而得到一个无电阻的理想模型。其次，开发了一种考虑电流测量延迟的改进型LADRC。它消除了由测量延迟引起的不匹配干扰补偿。并评估了电流闭环增益和干扰抑制的频率响应。然后，基于LADRC控制器的频率特性，提出了一种基于期望频率带宽的简单整定方法。该方法便于实现。最后，实验结果表明所提方法是有效的。
