基于IMESO的永磁同步电机控制方法

永磁同步电机作为执行机构中的执行单元，以其方便快捷的能量转换能力在农业自动化领域得到广泛应用。干扰往往是影响执行机构运行性能的主要因素，针对永磁同步电机系统中存在的慢变非正弦扰动和转矩扰动（正弦扰动），结合内模原理（IMP）和扩展状态观测器（ESO），提出一种永磁同步电机控制系统的基于复合扰动观测器（IMESO）的转速控制方案。提出的复合控制方法由比例反馈和扰动前馈补偿组成，对转速环进行控制，可以较好地抑制常值（或慢变扰动）以及含正弦项的转矩扰动，能够实现准确的目标转速跟踪。理论上对速度控制系统的渐进稳定性和扰动抑制能力进行证明和分析，最后进行MATLAB仿真和试验，并与抑制单一种类扰动的两种控制方法进行比较，对比结果表明，提出的复合控制方法可以有效抑制复杂的多重外部干扰，与PI控制相比，系统响应时间和调节时间分别提高6%和18%，抗干扰性能提升了7%，有效提升了控制精度和动态性能。

Control method of permanent magnet synchronous motor based on IMESO

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.