【摘要】 针对固定控制增益的扩张状态观测器(expansion state observer, ESO)无法实现电动机驱动系统响应速度和抗扰能力最优的问题，建立了基于变控制增益ESO的永磁轮毂电动机自抗扰控制.分析了控制增益对系统阶跃响应能力、抗扰能力的影响.推导了控制增益变化规律，将双曲正切非线性函数引入ESO实现其控制增益根据电动机转速误差自动调整.建立了变控制增益ESO,以此为基础设计了永磁轮毂电动机(permanent magnet hub motor, PMHM)控制系统.构建了试验平台，开展了复杂工况下的试验.结果表明：相较于传统ESO,所提出方法可将电动机在动态工况下的响应速度提升16.67%～25.00%,并将外部负载扰动下的抗扰能力提升33.33%,负载突变后的恢复时间缩短37.50%.更多还原

【Abstract】 To solve the problem that the extended state observer(ESO) with fixed control gain was failed to achieve optimal response speed and disturbance rejection in motor drive systems, the variable-gain ESO-based active disturbance rejection control(ADRC) system for permanent magnet hub motors(PMHM) was established. The effect of ESO control gain on the response speed and disturbance immunity of the drive system was analyzed, and the variation law of the control gain was derived. The hyperbolic tangent nonlinear function was introduced into ESO to realize that the control gain was automatically adjusted according to the motor speed error. The variable-gain ESO was established, and the control system of PMHM was designed. The test platform was constructed, and the tests under complex operating conditions were completed. The results show that compared with the conventional ESO, by the proposed method, the response speed of the motor under dynamic conditions is improved by 16.67% to 25.00%, and the disturbance rejection capability under external load disturbances is improved by 33%, while the recovery time after sudden load change is shortened by 37.50%.更多还原