电机与控制应用2026，Vol.53Issue(5)：477-488,12.DOI:10.12177/emca.2026.160
基于自抗扰重复控制器的永磁同步电机转速波动抑制策略
Speed Fluctuations Suppression Strategy for Permanent Magnet Synchronous Motor Based on Active Disturbance Rejection Repetitive Controller
摘要
Abstract
[Objective]In practical applications,the speed of permanent magnet synchronous motor(PMSM)is susceptible to multi-source coupled disturbances,rendering traditional motor control inadequate for meeting the control requirements of PMSM in certain high-precision applications.Therefore,it is of great significance to study anti-disturbance control strategies for PMSM against periodic and aperiodic disturbances to suppress speed fluctuations and enhance the control accuracy of the motor system.[Methods]Addressing the speed fluctuation issue of permanent magnet synchronous motors under the influence of periodic and non-periodic disturbances,a speed fluctuation suppression strategy for PMSM based on active disturbance rejection repetitive controller was proposed to achieve speed fluctuation suppression.Firstly,the error-based active disturbance rejection controller(EBADRC)was improved by replacing the integrator in the extended state observer(ESO)with a low-pass filter to enhance its anti-disturbance capability.Secondly,a repetitive controller was used to improve the control law of EBADRC,thereby achieving suppression of periodic fluctuations caused by various disturbance frequencies.Finally,experimental comparisons were conducted on a prototype test platform between the control strategy proposed in this paper,EBADRC,improved EBADRC,and PI control.[Results]Under the conditions of sudden 50％and 100％load increases,the proposed control strategy was able to better suppress periodic and aperiodic disturbances.Under the condition of a sudden 100％load increase at rated speed of 2 000 r/min,the speed drop when using the proposed control method was reduced by 65,78,and 85 r/min compared to when using a PI controller,EBADRC,and improved EBADRC,respectively.The periodic speed fluctuations were reduced by 7,12,and 26 r/min,respectively.The steady-state speed test of the proposed method under b0 mismatch conditions showed that the PMSM still operated stably when the parameter b0 was doubled or halved,thus demonstrating the good parameter robustness of the proposed method.[Conclusion]The speed fluctuation suppression strategy for PMSM based on active disturbance rejection repetitive controller proposed in this paper can effectively suppress both periodic and aperiodic disturbances and exhibits good robustness.关键词
永磁同步电机/自抗扰控制/重复控制/转速波动抑制Key words
permanent magnet synchronous motor/active disturbance rejection control/repetitive control/speed fluctuation suppression分类
信息技术与安全科学引用本文复制引用
郝正杰,刘田震,崔泰赟,雷龙..基于自抗扰重复控制器的永磁同步电机转速波动抑制策略[J].电机与控制应用,2026,53(5):477-488,12.基金项目
中国博士后科学基金面上资助(2024MD763933) （2024MD763933）
黑龙江省优秀青年教师基础研究支持计划(YQJH2024043)General Funding of the China Postdoctoral Science Foundation(2024MD763933) （YQJH2024043）
Basic Research Support Program for Excellent Young Teachers in Heilongjiang Province(YQJH2024043) （YQJH2024043）
