Active Disturbance Rejection Control for Sensorless PMSM Drive
Author
Mathiasen, Jakob Blåbjerg
Term
4. term
Education
Publication year
2024
Pages
65
Abstract
Denne afhandling undersøger, hvordan aktiv forstyrrelsesafvisningskontrol (AFAK/ADRC) kan forbedre hastighedsreguleringen af en overflademonteret permanentmagnet-synkronmotor (PMSM) i både sensoreret og sensorløst drift, sammenlignet med en traditionel proportional-integral (PI) hastighedskontroller. Et sensorløst drev er udformet med en glidende tilstandsobservatør baseret på en super twisting algoritme til at estimere motorens tilbage-EMF, hvorfra rotorpositionen beregnes; fase-låste sløjfer (PLL) bruges til at filtrere den estimerede position og hastighed, som indgår i feltorienteret kontrol og ADRC-strukturerne. Arbejdet omfatter modellering, analyse, tuning og simulering af ADRC-varianter samt blokdiagramanalyser af forstyrrelses- og støjafvisning, herunder effekten af en lavere hastigheds-PLL båndbredde ved sensorløst feedback, efterfulgt af eksperimenter på en testopstilling med belastningsmotor og encoder til validering. Resultaterne viser, at en ADRC-udformning med fase-låst sløjfe observatør (PLLO) giver den bedste ydeevne i både sensoreret og sensorløst feedback, at ADRC generelt kompenserer belastningsændringer bedre end PI-kontrol, og at sensorløst drift introducerer svingninger i transiente respons uden at ændre tiden fra belastningsændring til stationær tilstand.
This thesis examines how Active Disturbance Rejection Control (ADRC) can improve speed regulation of a surface-mounted permanent magnet synchronous machine (PMSM) in both sensored and sensorless operation, compared to a traditional proportional–integral (PI) speed controller. A sensorless drive is designed using a sliding mode observer with a super twisting algorithm to estimate the machine back-EMF, from which the rotor position is computed; phase-locked loops (PLLs) filter the estimated position and speed for use in field-oriented control and ADRC structures. The work includes modeling, analysis, tuning, and simulation of ADRC variants, along with block-diagram analyses of disturbance and noise rejection, including the impact of a lower velocity PLL bandwidth under sensorless feedback, followed by experiments on a test bench with a load motor and encoder for validation. Findings indicate that an ADRC configuration employing a phase-locked loop observer (PLLO) achieves the best performance with both sensored and sensorless feedback, that ADRC generally compensates load changes better than PI control, and that sensorless operation introduces oscillations in transient responses without changing the time from load change to steady state.
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