关键词: 永磁直驱伺服电机, 矢量控制, 自抗扰控制, 扰动抑制, 动态性能

Abstract: The speed loop ADRC was designed for the permanent magnet direct-drive servo motor system control. ESO could observe the system disturbance in real time and compensate in real time in the control quantity, which made the system have strong adaptability when the load changed, and improved the dynamic performance of the system. The current loop ADRC was further designed for the problem that the d,q axis coupling of the current loop in the PI regulator could not accurately track the current command, the output current command of the speed loop could be tracked quickly and accurately, so that the system response time could be shortened, and the response speed could be faster after the sudden change of load, so as to improve the system disturbance suppression capability. The experimental results show that the selfdisturbance rejection control strategy can effectively suppress the influence of torque disturbance and improve the control performance of permanent magnet-direct drive servo motor system.

Key words: permanent magnet direct-drive servo motor, vector control, active disturbance rejection control( ADRC), disturbance suppression,dynamic performance