Design method of FOPD-GESO controller

Abstract

The invention belongs to the related technical field of controller design, and discloses a design method of an FOPD-GESO controller. The design method comprises the following steps: S1, selecting a fractional order PD controller and a generalized extended state observer to control a motor speed loop, and designing the fractional order PD controller and the generalized extended state observer; S2,using the total disturbance estimated by the generalized extended state observer to compensate and simplify a speed loop control object to obtain a compensated speed loop control model, wherein the compensated speed loop control model reflects the characteristics that the tracking performance is only related to a fractional order PD controller and the anti-interference performance is only relatedto the bandwidth omega o of GESO; and S3, respectively solving unknown parameters in the fractional order PD controller and the generalized extended state observer. According to the invention, overshoot-free tracking of the speed of the permanent magnet synchronous motor is realized, and the method has excellent anti-interference performance and resists external load, model change and the like.

Description

technical field [0001] The invention belongs to the related technical field of controller design, and more specifically relates to a design method of a FOPD-GESO controller. Background technique [0002] Permanent magnet synchronous motors have the advantages of high power density, simple structure, high efficiency, and large torque-to-inertia ratio. They are widely used in aerospace, industrial robots, and CNC machine tools. However, since the control performance is affected by factors such as parameter changes, load torque and unmodeled dynamics, which controller to use and the design of the controller are particularly important. At present, PI controllers are mostly used for the speed loop of permanent magnet synchronous motors. Although they can meet the general control requirements, they cannot meet the increasing performance improvement requirements. [0003] The ADRC technology was proposed by Chinese scholar Han Jingqing, and its superior immunity performance has be...

AI Technical Summary

Problems solved by technology

At present, PI controllers are mostly used for the speed loop of permanent magnet synchronous motors. Although it can meet the general control requirements, it cannot meet the growing performance improvement requirements.

[0003] The ADRC technology was proposed by Chinese scholar Han Jingqing, and its superior immunity performance has been verified in many fields, but the parameter tuning of the ADRC has always troubled researchers and operators in the industrial field, making its application obtainable. some restrictions

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