关键词: 永磁同步电机, 变增益, 自抗扰控制器, PID控制器, 扩张状态观测器

Abstract: Aiming at the problem of initial peak in traditional linear ADRC control technology, a variable gain ADRC controller was designed and applied to the permanent magnet synchronous motor servo system. The speed and current controller were designed for the speed loop and current loop of the permanent magnet synchronous motor. The servo control scheme of the permanent magnet synchronous motor using the variable gain ADRC reduced the initial peak of the traditional system and greatly improved the anti-load disturbance ability, which improved the dynamic performance of the system. The simulation and experimental results show that the variable gain ADRC solves the peak problem of the traditional method, and compared with the traditional PID controller, the system has fast response speed, small overshoot, high control precision and strong robustness when the load torque changes.

Key words: permanent magnet synchronous motor (PMSM), variable gain, active disturbance rejection controller (ADRC), PID controller,extended state observer (ESO)