关键词: 永磁同步电机, 扰动抑制技术, 内部模型原理, 扩展状态观测器

Abstract: Permanent magnet synchronous motor, as the execution unit in the actuator, has been widely used in the field of agricultural automation because of its convenient and fast energy conversion capability. Disturbance is often the main factor affecting the performance of the actuator. In this paper, aiming at the slowvarying nonsinusoidal disturbance and torque disturbance (sinusoidal disturbance) existing in the permanent magnet synchronous motor system, combined with internal model principle (IMP) and extended state observer (ESO), and proposes a speed control scheme based on compound disturbance observer (IMESO) for permanent magnet synchronous motor control system. The proposed composite control law is composed of proportional feedback and disturbance feedforward compensation. It controls the speed loop, which can better suppress constant (or slowvarying disturbance) and torque disturbances with sinusoidal terms, and can achieve accurate target speed. track. The asymptotic stability and disturbance rejection capability of the speed control system are theoretically proved and analyzed. Finally, MATLAB simulation and experiments are carried out, and compared with the two control methods for suppressing a single type of disturbance, the comparison results show that the proposed composite control method can effectively suppress complex multiple external disturbances. The time and adjustment time are increased by 6% and 18% respectively, and the antiinterference performance is increased by 7%, which effectively improves the control accuracy and dynamic performance.

Key words: permanent magnet synchronous motor, disturbance suppression technique, internal model principle, extended state observer