CN113193809A - Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection - Google Patents

Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection Download PDF

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CN113193809A
CN113193809A CN202110487057.9A CN202110487057A CN113193809A CN 113193809 A CN113193809 A CN 113193809A CN 202110487057 A CN202110487057 A CN 202110487057A CN 113193809 A CN113193809 A CN 113193809A
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permanent magnet
disturbance rejection
order linear
synchronous motor
magnet synchronous
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康尔良
吴炳道
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Harbin University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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Abstract

The invention discloses a control method of a permanent magnet synchronous motor for improving second-order linear active disturbance rejection, which specifically comprises the following steps: step 1) establishing a mathematical model of the permanent magnet synchronous motor under an ABC natural coordinate system; step 2) providing a basic formula for coordinate transformation of the permanent magnet synchronous motor; step 3) deducing a motor mathematical model under a d-q axis coordinate system; step 4), designing a second-order linear active disturbance rejection controller of a rotating speed and a current loop; step 5), designing a first-order linear active disturbance rejection controller of a d-axis current loop; step 6) designing an improved second-order linear active disturbance rejection controller by adopting a model compensation method on the basis of the traditional second-order linear active disturbance rejection controller; step 7) carrying out comparison simulation experiments on the PMSM under the improved second-order linear active disturbance rejection control and the PMSM under the traditional PID control in MatLab/Simulink, and the result proves the correctness and feasibility of the algorithm; the embodiment of the invention reduces the setting number of the parameters of the controller in the practical process, improves the precision of the observer, enhances the robustness of the system and improves the control performance of the whole permanent magnet synchronous motor speed regulating system.

Description

Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection
Technical Field
The invention relates to the field of permanent magnet synchronous motor servo control, in particular to a permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection.
Background
In recent years, a permanent magnet synchronous motor is widely applied to the field of industrial servo transmission due to the advantages of high power density, high reliability, small volume, simple structure, easy maintenance and the like; the high-performance servo system is required to have the characteristics of high position resolution, high positioning precision, wide speed regulation range, low-speed stable operation, no creeping phenomenon, small torque pulsation and the like, so that the control system of the permanent magnet synchronous motor is more challenged; however, the permanent magnet synchronous motor is a multivariable, strong-coupling, nonlinear and variable-parameter complex control object, and in order to meet the above high-performance control requirements, a special control algorithm must be adopted for the permanent magnet synchronous motor to achieve the purpose.
The traditional vector control mainly takes PI control as a main control, and PI controllers are respectively applied to a rotating speed ring, a current ring and a position ring of a motor motion control system to realize high-precision control of the permanent magnet synchronous motor. However, as the PI control is 'eliminating errors based on error feedback', constant disturbance or slowly-varying disturbance can be restrained to a certain extent; however, the conventional PI controller has difficulty in meeting the control requirements for achieving accurate, fast and overshoot-free dynamic response of the entire system to sudden load and disturbance change.
In view of the drawbacks of the conventional PI controller, koro jingqing researchers proposed an Active Disturbance Rejection Controller (ADRC) in 1998 to combine the advantages of the classical control and the modern control theory. The active disturbance rejection controller is a nonlinear controller independent of a mathematical model of a control object; the method mainly observes the internal and external disturbances of the system in real time through an Extended State Observer (ESO) and performs feedforward compensation, has the advantages of strong robustness, high control precision and the like, and is widely applied to the field of servo control; the teaching of the strength of the high aspiration further provides a Linear Active Disturbance Rejection Controller (LADRC) on the basis of the active disturbance rejection idea, the linear active disturbance rejection controller has few adjusting parameters, simple structure and convenient parameter setting, and the parameters of the controller and the observer can be designed according to the bandwidths of the controller and the observer; meanwhile, in the design process, the known model object information can be integrated into the designed controller, so that the load of the observer is reduced, the accuracy of the observer is improved, and the anti-interference performance of the controller is improved.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention aims to provide a permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection; in the using process, the speed loop and the current loop are combined into one to form an improved second-order linear active disturbance rejection controller; however, the conventional second-order active disturbance rejection controller usually does not adopt current feedback, so that the system generates torque ripple and harmonic current; the model compensation method adopted by the invention designs the improved second-order linear active disturbance rejection controller, effectively utilizes current feedback, obviously reduces torque ripple and harmonic current, and simultaneously improves the stability and robustness of the system.
In order to solve the defects of the technology, the technical scheme of the invention is as follows:
a permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection is characterized by mainly comprising the following steps:
step 1) building a basic mathematical model of the permanent magnet synchronous motor.
The permanent magnet synchronous motor is a multivariable system with nonlinearity, strong coupling and more parameter perturbation, the power voltage and the bus current contain a large amount of harmonic components, and in addition, a servo control system of the permanent magnet synchronous motor is a transient process, so the differential equation of the permanent magnet synchronous motor is generally used in the process of analyzing the system.
Before establishing a basic mathematical model of the permanent magnet synchronous motor, the following assumptions are required:
(1) the three-phase stator windings of the permanent magnet synchronous motor are symmetrical and have an electrical angle of 120 degrees with each other.
(2) Neglecting the motor core saturation effect.
(3) The air gap magnetic field is distributed in a sine shape.
(4) The effects of hysteresis, eddy currents and skin effect of the conductive material are not counted.
(5) The air gap is uniformly distributed, and the hysteresis loop is independent of the position of the rotor.
The voltage vector equation of the permanent magnet synchronous motor under an ABC natural coordinate system is as follows:
Figure BDA0003050840280000021
wherein u issIs a stator voltage space vector; rsIs a stator phase resistance; psisAnd the flux linkage vector of the three-phase winding of the stator is shown.
The flux linkage vector equation of the permanent magnet synchronous motor under an ABC natural coordinate system is as follows:
ψs＝Lsis+ψff (θ), wherein LsIs an equivalent synchronous inductor; psifF (θ) is the flux linkage induced on the three-phase winding by the permanent magnet flux linkage.
The torque equation of the permanent magnet synchronous motor under an ABC natural coordinate system is as follows:
Figure BDA0003050840280000022
wherein p isnIs the number of pole pairs of the PMSM.
The mechanical equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003050840280000023
wherein ω ismIs the mechanical angular velocity of the PMSM; j is moment of inertia; b is a damping coefficient; t isLIs the load torque; t iseIs an electromagnetic torque.
The mathematical model of PMSM under ABC natural coordinate system is a multivariable, strong coupling, variable parameter nonlinear system, for the convenience of the controller design proposed by the invention, proper coordinate transformation must be selected to perform decoupling and order reduction transformation on the mathematical model, all coordinate transformation of the invention is performed by using amplitude invariant as constraint condition; in addition, since the PMSM is a three-phase symmetrical system, zero-sequence components can be ignored in the calculation.
The transformation from the ABC natural coordinate system to the alpha-beta static coordinate system is called Clark transformation, and the transformation formula is as follows:
Figure BDA0003050840280000031
the transformation from the alpha-beta stationary coordinate system to the d-q synchronous rotating coordinate system is called Park transformation, and the transformation formula is as follows:
Figure BDA0003050840280000032
the transformation from the d-q synchronous rotating coordinate system to the alpha-beta static coordinate system is called inverse Park transformation, and the coordinate transformation formula is as follows:
Figure BDA0003050840280000033
in order to facilitate the design of a permanent magnet synchronous motor controller, a mathematical model of the permanent magnet synchronous motor under a d-q synchronous rotation coordinate system is obtained by Clark conversion and Park conversion, so that the decoupling of the permanent magnet synchronous motor is realized.
The voltage equation of the permanent magnet synchronous motor under the d-q synchronous rotation coordinate system can be expressed as follows:
Figure BDA0003050840280000034
wherein u isd、uq、id、iqStator voltage and stator current components under a d-q synchronous rotation coordinate system respectively; rsIs the stator resistance; l isd、LqAre d-q axis inductance components, respectively, and satisfy Ld＝Lq＝Ls；ωeElectrical angular velocity; psifIs a permanent magnet flux linkage.
The stator flux linkage equation of the permanent magnet synchronous motor under a d-q synchronous rotating coordinate system is as follows:
Figure BDA0003050840280000041
wherein psid、ψqIs the d-q axis component of the stator flux linkage.
The electromagnetic torque equation of the permanent magnet synchronous motor under the d-q synchronous rotating coordinate system is as follows:
Figure BDA0003050840280000042
wherein p isnFor the pole pair number of PMSM, i is adopted in the inventiondWith a control method of 0, the electromagnetic torque equation can be simplified to the following form:
Figure BDA0003050840280000043
wherein k istIs a torque constant.
The mechanical equation of the permanent magnet synchronous motor under the d-q synchronous rotating coordinate system is as follows:
Figure BDA0003050840280000044
wherein ω ismIs the rotor angular velocity; thetamIs the rotor angle; t isLIs the load torque; b is a friction coefficient; j is moment of inertia.
And 2) deducing a mathematical expression of the improved second-order linear active disturbance rejection controller of the speed and current loop on the basis of the mathematical model of the permanent magnet synchronous motor.
The voltage equation under the d-q synchronous rotation coordinate system is deformed, and the following forms can be obtained:
Figure BDA0003050840280000045
the mechanical equation under the synchronous rotation coordinate system is transformed, and the following form can be obtained:
Figure BDA0003050840280000046
the improved second-order linear active disturbance rejection controller needs to calculate a second derivative of the rotating speed of the synchronous motor, and the specific form is as follows:
Figure BDA0003050840280000051
wherein
Figure BDA0003050840280000052
Is the rate of change of the electromagnetic torque;
Figure BDA0003050840280000053
is the rate of change of load torque.
The control target equation of the second-order linear ADRC can be obtained by a mechanical equation, a q-axis voltage equation and an electromagnetic torque equation of the permanent magnet synchronous motor, and is as follows:
Figure BDA0003050840280000054
let the known perturbations in the model be:
Figure BDA0003050840280000055
let the unknown perturbations in the model be:
Figure BDA0003050840280000056
the control objective equation for ADRC can be reduced to the following form:
Figure BDA0003050840280000057
wherein
Figure BDA0003050840280000058
The mathematical expression for the Tracking Differentiator (TD) of the second order linear active disturbance rejection controller can be written in the form:
Figure BDA0003050840280000059
wherein ω is*Is a reference value, x, of the velocity signal1Is to be transportedVelocity signal omega*Tracking value of x2Is an input speed signal omega*Of the differential signal, alpha1、α2It is the tracking speed factor that determines how fast the input speed signal is tracked.
The mathematical expression of the third order Linear Extended State Observer (LESO) can be written in the form:
Figure BDA00030508402800000510
wherein z is1For outputting a signal omegamTracking value of, z2For outputting a signal omegamA differential signal of z3As a total disturbance of the system, beta1、β2、β3The observer gain can be determined from the observer bandwidth.
From the observer bandwidth-shaping method, β can be determined1、β2、β3The specific parameters are as follows:
Figure BDA00030508402800000511
wherein ω is0Is the observer bandwidth.
The mathematical expression for the second order linear active disturbance rejection error state feedback control law (NLSEF) can be written in the form:
Figure BDA0003050840280000061
wherein k isp、kdThe gain of the controller may be selected based on the bandwidth of the controller.
K can be determined according to the controller bandwidth parameter setting methodp、kdThe specific parameters are as follows:
Figure BDA0003050840280000062
wherein ω iscIs the controller bandwidth.
For the second-order linear active disturbance rejection controller of the speed and current loop, the current feedback value i of the q axis is not usedqHowever, the q-axis current is fed back to be an important variable of the electromagnetic torque of the permanent magnet synchronous motor; book (I)The invention uses q-axis current iqThe error of the controller is subjected to feedback compensation, i.e. the q-axis current i can be madeqAnd the output torque is stable, and meanwhile, the load of observation disturbance of the observer can be reduced, and the observation precision is improved.
According to the expression of the unknown disturbance, the following expression is derived:
Figure BDA0003050840280000063
wherein
Figure BDA0003050840280000064
Is the rate of change of load torque, which can also be expressed herein as q-axis current; gamma ray1、γ2Is a compensation coefficient of the feedback system.
Obtaining a differential expression of the load torque according to a mechanical equation of the permanent magnet synchronous motor:
Figure BDA0003050840280000065
wherein k isTIs a torque constant.
From the previous analysis it can be seen that:
Figure BDA0003050840280000066
the q-axis current i can be obtainedqThe expressed load torque is expressed as a sub-expression:
Figure BDA0003050840280000067
wherein u is1Is the output value of the feedback section; z is a radical of2Is omegamTracking the differential signal.
Compensating the estimated value of the unknown disturbance into an observer (LESO) and a feedback control law (NLSEF), then
Figure BDA0003050840280000068
And the expression of the control amount u becomes the following form:
Figure BDA0003050840280000071
the system unknown disturbance compensation module is part of the linear active disturbance rejection controller because it uses part of the information in the control object model. Compared with the traditional second-order linear active disturbance rejection controller, the improved second-order linear active disturbance rejection controller increases the utilization of q-axis current, so that the q-axis current iqAnd the torque T of the outputeAnd (4) the stability is stable.
And 3) designing a first-order linear active disturbance rejection controller of the d-axis current loop.
According to the differential expression of d-axis current of the permanent magnet synchronous motor in a synchronous rotating coordinate system, i is adopteddA control variant of 0 can be obtained in the following form:
Figure BDA0003050840280000072
the influence of the q-axis current on the d-axis current is regarded as d-axis disturbance, and the part of the disturbance can be observed by an observer (LESO).
Order to
Figure BDA0003050840280000073
u＝uqThe above equation can be simplified to:
Figure BDA0003050840280000074
where f is taken as the total disturbance of the q-axis current to the d-axis current and b is the voltage control gain.
Designing a linear extended state observer aiming at a first-order system shown by a current loop, and enabling x1＝id，x2＝f，
Figure BDA0003050840280000075
The specific form of the Linear Extended State Observer (LESO) is therefore:
Figure BDA0003050840280000076
wherein beta is01、β02To gain the observer according to the observerThe bandwidth of the detector can be determined; z is a radical of1Is idOf the tracking signal z2Is idThe differential signal of (2).
Determining parameter beta according to bandwidth setting method01、β02The specific expression of (A) is as follows:
Figure BDA0003050840280000077
wherein ω is0The specific value of the observer bandwidth can be determined from the adjustment time of the current loop.
The first order linear error state feedback control law is:
Figure BDA0003050840280000078
wherein k isp、kdThe gain of the controller can also be determined based on the bandwidth of the controller.
Determining parameter k according to bandwidth setting methodp、kdThe specific expression of (A) is as follows:
Figure BDA0003050840280000081
wherein ω iscThe specific value of the controller bandwidth can likewise be determined from the control times of the current loops.
The invention has the beneficial effects that:
(1) because the nonlinear active disturbance rejection controller has more parameters and is difficult to set, the invention adopts the linear active disturbance rejection controller, thereby greatly reducing the setting number of the parameters; meanwhile, the invention can conveniently determine the specific parameters by utilizing the observer bandwidth and the control bandwidth and combining the system adjusting time of the motor controller, and is very suitable for being applied to a multivariable, strong-coupling and variable-parameter nonlinear control system such as a permanent magnet synchronous motor vector control system.
(2) The speed loop and the current loop are combined into one to form the improved second-order linear active disturbance rejection controller, and the traditional second-order active disturbance rejection controller usually does not adopt current feedback, so that a system generates torque pulsation and harmonic current; the invention adopts a model compensation method to design and improve a second-order linear active disturbance rejection controller, effectively utilizes current feedback, obviously reduces torque ripple and harmonic current, improves control precision and enhances the disturbance rejection capability of a system; therefore, the control precision and the system robustness of the whole control system are improved.
Drawings
Fig. 1 is a diagram showing a structure of a PMSM vector control system under PI control.
Fig. 2 is a diagram of an improved second-order linear active disturbance rejection control for a speed and current loop.
Fig. 3 is a diagram of a first order linear active disturbance rejection control for a d-axis electrical loop.
Fig. 4 is a structural diagram of a PMSM vector control system under improved second-order linear active disturbance rejection control.
FIG. 5 is a graph comparing PMSM no-load speed under improved second-order linear active disturbance rejection control and PI control.
FIG. 6 is a graph comparing PMSM load speed under improved second-order linear active disturbance rejection control and PI control.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 2 to 4, a method for controlling a permanent magnet synchronous motor with improved second-order linear active disturbance rejection includes the following steps:
step 1) setting a reference rotating speed for the system through a main control chip DSP28335, wherein the set reference rotating speed is required to be below the rated rotating speed of the PMSM, the setting precision of the reference rotating speed can be set according to a speed sensor and the sampling period of the speed sensor, and meanwhile, the control period of a speed loop and a current loop is set, and the control period of the speed loop is generally larger than that of the current loop.
Step 2) arranging a reasonable transition process for the set reference rotating speed so as to obtain a smooth reference input signal and extract a corresponding differential signal from the reference rotating speed; and the speed factor in the differential tracker is adjusted, so that the system can accurately and quickly track the reference input signal without overshoot, but the speed factor cannot be selected to be too large to exceed the bearing capacity of the system, so that the system is unstable.
Step 3) taking the set real-time speed value and the q-axis current feedback value acquired by the reference rotating speed and speed sensor as input signals of a second-order linear active disturbance rejection controller, wherein basic parameters of the permanent magnet synchronous motor are given before the system operates; setting a controller bandwidth and an observer bandwidth according to the period of a PMSM control system and the adjustment time of the system, respectively associating the controller gain and the observer gain with the controller bandwidth and the observer bandwidth, and reasonably determining a specific value of b according to a b value calculation formula; and finally, a plurality of key parameters of the system are finely adjusted to enable the system to achieve a satisfactory control effect.
Step 4) aiming at the d-axis current loop, i is adopteddSetting a current reference value through a main control chip DSP28335, taking the reference current and the feedback current of a d axis as input signals of a first-order linear active disturbance rejection controller, and using u as an input signal of the first-order linear active disturbance rejection controllerdIs an output signal; setting the bandwidth of the controller bandwidth observer according to the control period of the current loop, and associating the gain of the controller and the gain of the observer with the bandwidth of the controller and the bandwidth of the observer; reasonably determining specific values of the bandwidth of the controller and the bandwidth of the observer through an axis of a current loop and the adjusting time, and determining the specific value of b according to a b value calculation formula; and finally, through repeated debugging, each specific parameter of the fine tuning controller enables the system to achieve a satisfactory control effect.
Step 5) further as shown in fig. 5-6, the control system is a comparison graph of the rotating speed waveform when the control system is in idle load and the rotating speed waveform when the load is suddenly added at 0.3s and PI control, and the load of 5N.m is suddenly added at 0.3s when the given rotating speed is 2000 r/min; simulation results show that the improved second-order linear active disturbance rejection control method provided by the invention can be used for rapidly improving the rotating speed response speed and the running performance of the motor, has stronger inhibition capability on load disturbance, and ensures the high-precision running of the whole servo control system.
Compared with other traditional control methods, the permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection provided by the invention adopts an improved linear active disturbance rejection controller to replace a traditional PI controller; the rotating speed loop and the current loop are combined into a second-order linear active disturbance rejection controller, and finally the former second-order linear active disturbance rejection controller is improved by using a model compensation method, so that the load of the observer is reduced, the accuracy of the observer is improved, and the system performance is optimized; the robustness and the anti-interference capability of the whole control system are greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims (6)

1. A permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection is mainly characterized in that: a speed sensor module for detecting the rotation speed omega and the rotor position theta of the permanent magnet synchronous motor: the improved second-order linear active disturbance rejection controller is mainly used for receiving user reference given input omega and feedback rotating speed omega of a speed sensor and designing a speed and current loop, and carries out compensation calculation on load sudden change of a motor system and disturbance generated by an unmodeled part of the system by the improved second-order linear active disturbance rejection controller of the speed and current loop so as to output a voltage vector u of a q axis of the motorq(ii) a Meanwhile, various estimated disturbances are compensated to the input end of the controller so as to offset part of control quantity increment caused by the disturbances and improve the control precision of the whole control system.
2. The improved second-order linear active disturbance rejection controller according to claim 1 is characterized in that the first-order active disturbance rejection controllers adopted by the traditional rotating speed loop and the traditional current loop are combined into one to form a second-order linear active disturbance rejection controller with a model compensation function; the improved controller effectively utilizes the current feedback value iqThe torque ripple of the control system and the harmonic current in the bus are obviously reduced, and the stability and the robustness of the system are improved.
3. A permanent magnet synchronous motor instantaneous space vector control (SVPWM) pulse generation module: the basic flow of the SVPWM algorithm mainly comprises the following three steps: the judgment of a sector (N) value is used for determining which two sectors the current reference space voltage vector is positioned between; secondly, determining the action time (T) of adjacent space voltage vectors1T2) Calculating (1); thirdly, determining the turn-off sequence of the switches and the switching time (T) of the voltage space vectoraTbTc) The calculation of (3) reduces the switching times of the switching tube as much as possible, reduces the switching loss and prolongs the service life of the switching tube. And finally, driving a three-phase inverter to generate a voltage space vector required by the permanent magnet synchronous motor by sending six-Path (PWM) pulse signals, and finishing the vector control of the permanent magnet synchronous motor.
4. The method for controlling the permanent magnet synchronous motor with the improved second-order linear active disturbance rejection as claimed in claim 2, wherein: for three-phase current i of permanent magnet synchronous motor statorA、iB、iCA current sensor module for detecting; the current i under the natural coordinate system is converted through Clark conversion, Park conversion and reverse Park conversion modulesA、iB、iCConversion to current i in a stationary two-phase coordinate systemα、iβAnd current i under synchronous rotating coordinate systemd、iqDecoupling of the permanent magnet synchronous motor is realized, and a multivariable, strong coupling and variable parameter system of the permanent magnet synchronous motor is equivalent to a direct current motor control model; at a reference given current idA d-axis current loop first-order linear active disturbance rejection controller is designed in a 0 control mode, and the d-axis current is independently controlled.
5. The method for controlling the permanent magnet synchronous motor with the improved second-order linear active disturbance rejection as claimed in claim 1, wherein: the second order linear active disturbance rejection controller of the speed and current loop comprises: a third-order Linear Extended State Observer (LESO) is a core part of the controller, and is used for controlling the controlled quantity u of the controlled object and the output quantity omega of the controlled objectmAs input variable of (LESO), the output variable is z1、z2、z3Respectively representing output rotational speeds ωmTracking signal, differential signal and system disturbance quantity of; a Tracking Differentiator (TD) for providing a smooth transition for a given reference input signal and extracting therefrom a reasonable corresponding differentiated signal; the linear error state feedback control Law (LSEF) mainly performs simple PD combined control after the difference between the output signal of a Linear Extended State Observer (LESO) and the output signal of a TD, and finally outputs corresponding control quantity to control a controlled object.
6. The method for controlling the permanent magnet synchronous motor with the improved second-order linear active disturbance rejection as claimed in claim 1, wherein: the first order linear active disturbance rejection controller of the d-axis current loop comprises: the second-order Linear Extended State Observer (LESO) is mainly used for decoupling the coupling phenomenon of q-axis and d-axis currents, meanwhile, the influence of the q-axis current on the d-axis current is regarded as the disturbance of the d-axis current, and the disturbance is observed and compensated to the input end of the controller through the second-order Linear Extended State Observer (LESO); and finally realizing the stable control of the d-axis current through PD combination in a linear error state error feedback control Law (LSEF).
CN202110487057.9A 2021-05-04 2021-05-04 Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection Pending CN113193809A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
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CN113721453A (en) * 2021-09-03 2021-11-30 哈尔滨理工大学 Control system and method of low-voltage high-power rectification module based on nonlinear PID control
CN113839589A (en) * 2021-09-02 2021-12-24 浙江大学 Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor
CN113852310A (en) * 2021-08-12 2021-12-28 北京精密机电控制设备研究所 Active disturbance rejection control method of servo mechanism
CN116208035A (en) * 2023-04-28 2023-06-02 泉州装备制造研究所 Control method of brush direct current motor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113852310A (en) * 2021-08-12 2021-12-28 北京精密机电控制设备研究所 Active disturbance rejection control method of servo mechanism
CN113839589A (en) * 2021-09-02 2021-12-24 浙江大学 Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor
CN113839589B (en) * 2021-09-02 2023-09-01 浙江大学 Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor
CN113721453A (en) * 2021-09-03 2021-11-30 哈尔滨理工大学 Control system and method of low-voltage high-power rectification module based on nonlinear PID control
CN116208035A (en) * 2023-04-28 2023-06-02 泉州装备制造研究所 Control method of brush direct current motor

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