Implementação do controle ADRC (Active Disturbance Rejection Control) no acionamento de motores síncronos de imãs permanentes aplicados em máquinas de tração de elevadores

Abstract

This paper deals with the design and implementation of a discrete controller for reference tracking of elevators with permanent magnet synchronous motors. The proposed controller uses a technique called ADRC - Active Disturbance Rejection Control, implementing a linear extended state observer that estimates a generalized disturbance of the plant, which is then actively rejected by the controller. Simulations were performed in Simulink software, using the new control and PID control, widely used nowadays. To configure the parameters of the PID control three different methods were used: Ziegler-Nichols, CHR - Reference Response and CHR - Disturbance Response. The simulation results were compared to analyze the performance of the ADRC controller versus the PID controller. The controller was implemented in an inverter control board and the application was validated through an experimental setup based on an elevator traction machine with no load. Experimental results are presented to validate the proposed control strategy, showing that the proposed method simplifies the tuning of the control parameters by field technicians. As a result, an improved performance is expected while reducing the setup time.