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自抗扰控制器(Active Disturbance Rejection Controller,ADRC)是在继承经典PID不依赖于对象模型优点的基础上,并改进PID控制器固有的缺陷而形成的新型控制器。将线性自抗扰控制技术应用于永磁同步电机(Permanent Magnet Synchronous Motors,PMSM)的伺服控制系统,并通过Matlab/Simulink进行仿真试验。通过仿真研究发现,线性自抗扰控制器的结构简单,且对永磁同步电机的控制效果明显,对于突加负载、粘性阻尼等不同因素均具有良好的控制效果,体现了超强的鲁棒特性,性能明显优于扩张卡尔曼滤波器;此外,控制器需要整定的参数只有一个,解决了传统自抗扰控制器参数整定复杂的问题。
Active Disturbance Rejection Controller (ADRC) is a new type of controller that inherits the advantages of classical PID without depending on the object model and improves the inherent defects of PID controller. The linear ADRC technology is applied to the servo control system of Permanent Magnet Synchronous Motors (PMSM), and the simulation experiment is carried out by Matlab / Simulink. The simulation results show that the structure of linear ADRC controller is simple, and the control effect of permanent magnet synchronous motor is obvious. It has a good control effect on different factors such as sudden load and viscous damping, which shows the super robust In addition, only one parameter needs to be set by the controller, which solves the problem of complex parameter tuning of the traditional auto-disturbance rejection controller.