A design method of fopd-geso controller

Abstract

The invention belongs to the related technical field of controller design, and discloses a design method of a FOPD-GESO controller. The design method includes the following steps: S1 selects the fractional-order PD controller and the generalized extended state observer to control the motor speed loop, and designs the fractional-order PD controller and the generalized extended state observer; S2 uses the total disturbance estimated by the generalized extended state observer, Compensate and simplify the speed loop control object to obtain the compensated speed loop control model. The compensated speed loop control model reflects that the tracking performance is only related to the fractional order PD controller, and the anti-disturbance performance is only related to the bandwidth ω of GESO o Relevant properties; S3 solves for the unknown parameters in the fractional-order PD controller and the generalized extended state observer, respectively. Through the invention, the non-overshoot tracking of the speed of the permanent magnet synchronous motor is realized, and the invention has superior anti-disturbance performance, and resists external loads, model changes, 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 in 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 bee...

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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