- Detail

Application of ADRC in motor control

1. DC motor control

DC motor has the advantages of wide speed regulation range, high control precision and simple control, and is widely used in industrial production. In the traditional DC drive

dynamic control system, the control mode of speed loop and current loop is adopted. The double loop controller generally uses PI control. Although this method can meet the control requirements of general

, the PI control has an integral link, so it is inevitable that the motor will have overshoot during operation. In addition, due to the internal parameters of the motor and the external interference of the working environment

, Therefore, the use of PI control reduces the working performance of the speed control system due to the spontaneity and randomness of page writing. Using the working principle of ADRC,

according to the mathematical model of DC motor, an extended state observer is designed, whose outputs Z1 (T), z2t) are the given motor speed ω、ω Z3 (T) is the estimated value of the system disturbance term, which can be compared with the output of the speed regulator to provide more than 400 jobs for the society. Because Z3 (T) feedforward compensates the disturbance term of the system, it avoids the influence of uncertain parameters of the motor on the system, and improves the robustness of the system to external load disturbance and internal parameters of the system

AC motor control as a complex speed regulation system, AC motor control has a series of problems, such as nonlinearity, strong coupling, multivariable and so on. It has its advantages and disadvantages in many control methods, but it does not perfectly solve the control problems of complex nonlinear systems such as AC motor control. The ADRC can be applied to the vector control system of the asynchronous motor. The mutual coupling between the flux loop and the speed loop of the asynchronous motor and the disturbance caused by the change of the internal parameters of the motor are regarded as the "total disturbance" of the system. The ADRC is designed to realize the decoupling control. The idea of the ADRC is to design a second-order ADRC to control the rotor flux linkage system and two first-order ADRC in series to control the system speed and the system q-axis stator current respectively. By expanding the disturbance observed in real time by the state observer, the system becomes two completely independent subsystems: the flux linkage system and the speed system, so as to realize the decoupling control and linearization of the asynchronous motor, The robustness of the control system is improved, and the ADRC has good control performance for the nonlinear system of AC motor(3) permanent magnet brushless DC motor control

water magnetic brushless DC motor (PMBLDCM) is rapidly and widely used with the development of modern power electronic technology and computer technology. Brushless DC motor not only has the advantages of simple AC motor structure, reliable operation and convenient maintenance, but also has the advantages of high DC motor operation efficiency and good speed regulation performance, but BLDCM is also a multivariable and nonlinear system, It is difficult to get an accurate mathematical model. Although many control strategies such as adaptive control, fuzzy control and neural network control can be used in the control of Brushless DC motor, the fuzzy adaptive control is very sensitive to the change of load, and the control effect is not ideal; Neural network control requires a high-performance microprocessor, and it is difficult to implement the

response. According to the nonlinear control, overshoot, strong anti-interference ability and simple control algorithm of the active disturbance rejection controller, the brushless DC motor can be controlled. Taking the three-phase bridge Y-connected brushless DC motor as an example, the mathematical model of BLDCM is established. Since the speed and current speed regulation system of the motor

can be approximately simplified as a first-order linear object, two first-order ADRC controllers can be designed to control its speed and current respectively, The design of es0 in ADRC should be second-order. Z1 (T) is used to estimate the speed and current, and Z2 (T) is used to estimate the disturbance in the speed subsystem and current subsystem. The control scheme is shown in Figure 2

adrc has been certified by the National Institute of justice of the United States. 2 and Σ 1 form the inner loop of the system. Adrc1 and Σ 2 form the outer loop of the system. The inner loop is the current subsystem and the outer loop is the speed subsystem

after the speed given signal is compared with the speed feedback signal, it is sent to the speed regulator (ADR business communication exchange C1). After the speed regulator output I is compared with the current feedback signal

, it is sent to the current regulator (adrc2). The output duty cycle signal U controls the phase current of the stator winding. The inverter output current

follows the change of the given current, so as to control the motor speed. The experiment shows that the ADRC has good robustness to the parameter changes of the brushless DC motor, solves the nonlinear and multivariable control problems of the hydro magnetic brushless DC motor, and makes the system have better dynamic response performance

3, conclusion

this paper introduces the working principle of ADRC, and analyzes the related applications of ADRC in the field of common motor control.

experiments show that as long as the parameters of ADRC are set well, the control system can obtain better robustness and dynamic performance

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