【摘要】 为了提高EMB的安全性和可靠性，提高EMB驱动系统的容错性和抗扰能力，提出一种基于改进型高阶线性自抗扰控制器的串级矢量控制系统。首先，提出改进型高阶线性自抗扰控制器的设计方法，通过改进型高阶线性自抗扰控制器提高系统低频抗扰能力，同时降低对高频噪声的敏感度；其次，分析归纳EMB驱动系统内存在的扰动类型，并理论分析改进型高阶线性自抗扰控制器对电机参数摄动的鲁棒性。仿真和实验结果表明：该控制策略和控制算法可以实现对EMB驱动系统内电机参数变化、负载扰动、电流交叉耦合和宽频域扰动等多种扰动类型的抑制，验证了其有效性。最终，EMB驱动系统实现了5倍电机参数摄动下的抗扰控制。通过动态解耦，提高了EMB驱动系统在高速时的动态性能。该控制策略和控制算法显著提高了EMB驱动系统的容错性和鲁棒性。更多还原

【Abstract】 In order to improve the safety and reliability of the EMB and improve the fault tolerance and disturbance rejection ability of the EMB drive system, a cascade vector control system based on improved high-order linear active disturbance rejection controllers(HLADRC) is proposed. The design method for improved HLADRC controller is proposed, which improves the system’s low-frequency disturbance rejection ability and reduces the sensitivity to high-frequency noise. The types of disturbance in the motor drive system are analyzed and summarized, and the improved HLADRC controller’s robustness to the motor’s parameter perturbation is theoretically analyzed and derived. The simulation and experimental results show that the control strategy and control algorithm can suppress various types of disturbances in the motor drive system, including motor parameter changes, load disturbances, current cross-coupling, and wide frequency domain disturbances, verifying its effectiveness. Finally, the EMB drive system achieves disturbance rejection control under 5 times motor parameter perturbation. The dynamic performance of the EMB drive system at high speed is improved through dynamic decoupling. The control strategy and control algorithm significantly improve the fault tolerance and robustness of the EMB drive system.更多还原