Application of active disturbance rejection control in gyro motor steady speed control
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摘要:
陀螺电机的转速稳定性影响着陀螺仪性能，为提高永磁同步陀螺电机(PMSGM)的稳速控制精度，提出速度环采用自抗扰控制(ADRC)，滤波环节采用基于模型自适应滤波算法的方法。将ADRC应用于陀螺电机矢量控制系统中，其速度环替代传统比例积分(PI)控制，减小速度环输出波动，从而提高陀螺电机的稳速精度；采用基于模型自适应滤波算法代替传统低通滤波算法，无需相位延时补偿并使估计得到的反电动势波形更为平滑，提高转子位置角估计的准确性和稳速控制精度。因此，设计开发PMSGM矢量控制器，仿真及实验结果表明：所提方法相较于传统控制方法，有效地提高了陀螺电机的稳速控制精度。
Abstract:The performance of the gyroscope is impacted by the steadiness of the gyro motor’s rotating speed. To improve the stability control precision of the permanent magnet synchronons gyro motor (PMSGM), propose the method use of the active disturbance rejection control (ADRC) in the speed loop and a model-based adptive filtering algorithm in the filtering process. the ADRC was proposed to replace the traditional proportional integral (PI) control in the speed loop of the gyro motor vector control system to reduce the output jitter of the speed loop and improve the stability precision of gyro motor. While this was going on, a model-based adaptive filtering algorithm was put out to take the place of the conventional low-pass filtering algorithm. This algorithm does away with phase delay correction and produces a smoother, more precise waveform for the predicted back electromotive force. So the accuracy of rotor position angle estimation and steady speed control were improved. Therefore, the PMSGM vector controller was designed. The simulation and experimental results showed that the proposed method was better than traditional control methods, and it could effectively improve the speed control precision of gyro motor.
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图 6 不同控制方法下速度环输出波动
Figure 6. Velocity loop output fluctuation under different control methods
图 8 基于模型自适应滤波算法仿真模型
Figure 8. Simulation model based on model adaptive filtering algorithm
图 14 不同控制方法下速度环输出波动
Figure 14. Velocity loop output fluctuation under different control methods
图 18 不同滤波算法下电机转速波形
Figure 18. Motor speed waveform under different filtering algorithms
表 1 陀螺电机参数
Table 1. Gyro motor parameters
额定
电压/v相电
阻/$\Omega $相电
感/${\text{μH}}$转动惯
量/（${\text{kg}} \cdot {{\text{m}}^{\text{2}}}$）反电动势常
数/（V·s·rad−1）极对数/对 24 3.56 360 0.000 02 0.01155 6 
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表 2 自抗扰控制器参数
Table 2. ADRC parameters
参数 数值 参数 数值 $h$ 0.000 05 ${\beta _1}$ 25 ${h_0}$ 0.000 05 ${\beta _2}$ 0.3 $r$ 100 000 ${\beta _{01}}$ 25 ${\alpha _1}$ 1.0 ${\beta _{02}}$ 3 000 ${\alpha _2}$ 0.5 ${\beta _{03}}$ 200
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表 3 转速测试结果对比
Table 3. Comparison of speed test results
转速/(r·min−1) $ {n_{\max }} $ $ {n_{\min }} $ $ {n_{{\text{avg}}}} $ $ \sigma $/‰ $ \eta $/‰ 本文方法 传统方法 本文方法 传统方法 本文方法 传统方法 本文方法 传统方法 本文方法 传统方法 6 000 6 001.62 6 001.62 6 001.62 5 999.76 6 000.84 6 001.08 0.14 0.22 0.14 0.18 8 000 8 002.45 8 003.41 7 999.79 7 999.04 8 001.24 8 001.48 0.17 0.27 0.16 0.19 10 000 10 003.50 10 005.67 9 999.83 9 999.67 10 001.68 10 002.38 0.18 0.3 0.17 0.24
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