CN113809965A - Synchronous motor robust control device and method based on switching structure and controller - Google Patents

Synchronous motor robust control device and method based on switching structure and controller Download PDF

Info

Publication number
CN113809965A
CN113809965A CN202110940381.1A CN202110940381A CN113809965A CN 113809965 A CN113809965 A CN 113809965A CN 202110940381 A CN202110940381 A CN 202110940381A CN 113809965 A CN113809965 A CN 113809965A
Authority
CN
China
Prior art keywords
linear
nonlinear
reference value
voltage reference
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110940381.1A
Other languages
Chinese (zh)
Other versions
CN113809965B (en
Inventor
郑欢
李千里
王世武
邵锦敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Zhouju Electronic Technological Co ltd
Original Assignee
Hangzhou Zhouju Electronic Technological Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Zhouju Electronic Technological Co ltd filed Critical Hangzhou Zhouju Electronic Technological Co ltd
Priority to CN202110940381.1A priority Critical patent/CN113809965B/en
Publication of CN113809965A publication Critical patent/CN113809965A/en
Application granted granted Critical
Publication of CN113809965B publication Critical patent/CN113809965B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P21/22—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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a synchronous motor robust control device, a method and a controller based on a switching structure, wherein the synchronous motor robust control device comprises the following steps: the linear nonlinear switching active-disturbance-rejection control module is used for generating a cross-axis voltage reference value; the current regulator is used for regulating the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value; the first Park inverter is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and used for converting the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system; and the SVPWM module is connected with the first Park inverter and is used for modulating the two-phase voltage reference value to generate a three-phase switching signal. The invention has higher control precision and stronger anti-interference capability, can realize the smooth switching of linear nonlinear active anti-interference control, prevents the phenomenon of control oscillation, and can realize the quick response, no overshoot, high precision and strong robust control of the output torque of the motor.

Description

Synchronous motor robust control device and method based on switching structure and controller
Technical Field
The invention relates to the technical field of motor control, in particular to a synchronous motor robust control device and method based on a switching structure and a controller.
Background
The permanent magnet synchronous motor has the advantages of small volume, simple structure, high power density, high reliability, easy maintenance and the like, is widely applied to modern alternating current servo systems, and especially receives more and more attention in the fields of robots, aerospace, numerical control machines and the like with high requirements on motor performance and control precision. At present, a permanent magnet synchronous motor generally adopts linear control, but the permanent magnet synchronous motor is a typical nonlinear multivariable coupling system, and particularly, when the permanent magnet synchronous motor is applied as a servo motor, the permanent magnet synchronous motor is influenced by unknown load, time-varying parameters and a nonlinear magnetic field, and the linear control cannot meet the requirement of high control performance easily. Therefore, the research on the control strategy of the permanent magnet synchronous motor has important significance for the development of the application of the permanent magnet synchronous motor.
With the rapid development of power electronic technology, microelectronic technology, especially digital signal processing technology, a foundation is established for the realization of modern control theory and novel motor control technology. The active disturbance rejection control is a robust control technology based on an extended state observer, can effectively observe and compensate unmodeled dynamics of a system, uncertain factors of a controlled object and external unknown disturbance, and is particularly suitable for permanent magnet synchronous motor control.
The related patents for robust control of the domestic permanent magnet synchronous motor are as follows: the name of a permanent magnet synchronous motor robust fault-tolerant control method adopting sliding mode estimation is as follows: CN201910898880.1, which provides a robust fault-tolerant control method for a permanent magnet synchronous motor using sliding mode estimation, wherein two high-order sliding mode observers and one dimension reduction observer are respectively designed to estimate voltage, rotor angular velocity and stator current, and a fault is detected by presetting a threshold; the name of a permanent magnet synchronous motor robust speed control method adopting a cascade structure is as follows: CN201911327065.6, which discloses a robust speed control method of a permanent magnet synchronous motor adopting a cascade structure, based on the design structure of a cascade controller of a speed current loop, an inner mode controller is designed aiming at the speed loop, and a PI controller is designed aiming at the current loop, thereby solving the problems of complex interference and motor parameter perturbation influence on tracking performance in actual control, and having good speed tracking performance; the name of a permanent magnet synchronous motor cascade type robust prediction current control method is as follows: CN201910499568.5, the method provides a permanent magnet synchronous motor cascade type robust prediction current control method, the model prediction current control and the disturbance compensation controller are connected in series, the method is a cascade type composite control method, the disturbance compensation controller is used for replacing a traditional disturbance observer/parameter estimator, and the influence of disturbance observation/parameter estimation inaccuracy on a control system is eliminated. The prior art applies robust control to the permanent magnet synchronous motor, but the adopted robust control cannot realize optimal control in a full working range, because the robust control is realized by adopting a linear method or a nonlinear method, only a local optimal solution can be obtained, and the anti-disturbance capability of the robust control is weak, so that the control performance of the permanent magnet synchronous motor can be influenced.
Disclosure of Invention
In view of the above problems, the present invention provides a robust control apparatus, method and controller for a synchronous motor based on a switching structure, which are used to solve the technical problems of high precision and robust control of the rotation speed of a permanent magnet synchronous motor, which have disadvantages in the prior art.
The invention provides a switching structure-based robust control device for a synchronous motor, wherein the synchronous motor is a permanent magnet synchronous motor, the device is connected with the permanent magnet synchronous motor, and the device comprises:
the linear nonlinear switching active-disturbance-rejection control module is used for generating a cross-axis voltage reference value;
the current regulator is used for regulating the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
the first Park inverter is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and used for converting the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system;
the SVPWM module is connected with the first Park inverter and is used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
the voltage type inverter is connected with the SVPWM module and is used for generating three-phase current control signals from the three-phase switching signals;
and the input end of the photoelectric encoder is connected with the permanent magnet synchronous machine, and the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for collecting the rotor angle of the permanent magnet synchronous motor and converting the rotor angle into a rotating speed to be input into the linear nonlinear switching active disturbance rejection control module.
In this scheme, the linear nonlinear switching active disturbance rejection control module includes:
the tracking differentiator is used for obtaining a rotating speed tracking value and a rotating speed differential value;
the linear extended state observer is used for outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
the nonlinear extended state observer is used for outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
the linear state feedback controller is connected with the tracking differentiator and the linear extended state observer and used for outputting a linear quadrature axis voltage reference value;
the nonlinear state feedback controller is connected with the tracking differentiator and the nonlinear extended state observer and used for outputting a nonlinear quadrature axis voltage reference value;
and the input end of the output weighting function unit is connected with the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and the output end of the output weighting function unit is connected with the linear extended state observer and the nonlinear extended state observer and is used for outputting the quadrature axis voltage reference value as the output of the linear nonlinear switching active disturbance rejection control module.
In this scheme, the device further includes a Clark converter connected to the voltage-type inverter, and configured to convert the three-phase current control signal generated by the voltage-type inverter into two-phase current in the stationary coordinate system.
In the scheme, the device further comprises a second Park converter, wherein the input end of the second Park converter is connected with the Clark converter, the output end of the second Park converter is connected with the current regulator, and the second Park converter is used for converting the two-phase current generated by the Clark converter into the direct-axis current, comparing the direct-axis current with a direct-axis current reference value, and taking the comparison value as the input of the current regulator.
The second aspect of the present invention further provides a switching structure-based robust control method for a synchronous motor, which is applied to any one of the switching structure-based robust control devices for a synchronous motor, and is characterized by comprising the following steps:
generating a quadrature axis voltage reference value;
adjusting the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
converting the direct axis voltage reference value and the quadrature axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system;
modulating the two-phase voltage reference value to generate a three-phase switching signal;
generating a three-phase current control signal by the three-phase switching signal;
and acquiring the rotor angle of the permanent magnet synchronous motor.
In this scheme, the generating the quadrature axis voltage reference value specifically includes:
obtaining a rotating speed tracking value and a rotating speed differential value;
outputting a linear rotating speed observed value, a linear rotating speed differential observed value, a linear disturbance observed value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
In the scheme, the method further comprises the step of obtaining a rotating speed set value, a speed factor and a controller step length, as well as a control gain, a linear differential gain, a linear output voltage and a linear quadrature axis voltage reference value, a feedback proportional power, a feedback differential power, a feedback proportional linear interval and a feedback differential linear interval.
In this scheme, the method further includes converting the three-phase current control signal to generate a two-phase current in the stationary coordinate system.
In this scheme, the method further includes converting the two-phase current to generate the direct-axis current, comparing the direct-axis current with a direct-axis current reference value, and using the comparison value as the direct-axis voltage reference value.
A third aspect of the present invention provides a robust controller for a synchronous motor based on a switching structure, including: the synchronous motor robust control device based on the switching structure is characterized by comprising the switching structure.
The invention discloses a synchronous motor robust control device, a method and a controller based on a switching structure, which have the following beneficial effects:
1. the method is based on the active disturbance rejection control, compared with the traditional PI control, the active disturbance rejection control has higher control precision and stronger disturbance rejection capability, and is insensitive to the parameter of the permanent magnet synchronous motor;
2. in the control process, the linear quadrature axis voltage reference value and the nonlinear quadrature axis voltage reference value are distributed with weight values on the basis of errors and disturbances so as to obtain the quadrature axis voltage reference value, thereby realizing the smooth switching of the linear nonlinear auto-disturbance rejection control and preventing the phenomenon of control oscillation;
3. the invention adopts linear nonlinear switching active-disturbance-rejection control, combines the advantages of the linear active-disturbance-rejection control and the nonlinear active-disturbance-rejection control, namely the characteristics of large error, fast response, small error and large gain, and avoids the defects of the linear active-disturbance-rejection control and the nonlinear active-disturbance-rejection control, thereby achieving the optimal control of the full working range and realizing the fast response, no overshoot, high precision and strong robust control of the output torque of the motor.
Drawings
Fig. 1 shows a schematic structural diagram of a synchronous motor robust control device based on a switching structure according to the present application;
FIG. 2 is a schematic diagram showing a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure;
FIG. 3 is a schematic diagram of a tracking differentiator in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure according to the present invention;
FIG. 4 is a structural schematic diagram of a linear extended state observer in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure according to the invention;
FIG. 5 is a schematic diagram of a nonlinear extended state observer in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure according to the present invention;
FIG. 6 is a schematic diagram of a linear state feedback controller in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure according to the present invention;
FIG. 7 is a schematic diagram of a nonlinear state feedback controller in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure according to the present invention;
FIG. 8 is a schematic diagram of the construction of an output weighting function unit in the linear nonlinear switching active disturbance rejection control module of the synchronous motor robust control device based on the switching structure according to the present invention;
fig. 9 is a flow chart of steps of a synchronous motor robust control method based on a switching structure.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a structural schematic diagram of a synchronous motor robust control device based on a switching structure according to the present application.
Referring to fig. 1, in an embodiment of the present invention, a robust control apparatus for a synchronous motor based on a switching structure includes:
the linear nonlinear switching active disturbance rejection control module 1 is used for generating a cross-axis voltage reference value;
the current regulator 2 is used for regulating the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
the first Park inverse transformer 3 is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and used for transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system;
the SVPWM module 4 is connected with the first Park inverter and is used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
the voltage type inverter 5 is connected with the SVPWM module and is used for generating three-phase current control signals from the three-phase switching signals;
and the input end of the photoelectric encoder 7 is connected with the permanent magnet synchronous machine, and the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for collecting the rotor angle of the permanent magnet synchronous motor and converting the rotor angle into a rotating speed to be input into the linear nonlinear switching active disturbance rejection control module.
According to the embodiment of the invention, the switching structure based robust control device for the synchronous motor further comprises a Clark converter 8 connected with the voltage-type inverter and used for converting the three-phase current control signals generated by the voltage-type inverter into two-phase currents in the static coordinate system.
It should be noted that the Clark converter 8 is used to convert the three-phase current ia，ib，icTransformation to generate a two-phase current i in a stationary coordinate systemαAnd iβAnd converting the two-phase current i in the static coordinate systemαAnd iβAs input to said second Park transformer 9.
According to the embodiment of the invention, the switching structure based robust control device for the synchronous motor further comprises a second Park converter 9, wherein the input end of the second Park converter is connected with the Clark converter, the output end of the second Park converter is connected with the current regulator, and the second Park converter is used for converting the two-phase current generated by the Clark converter to generate the direct-axis current, comparing the direct-axis current with a direct-axis current reference value, and taking the comparison value as the input of the current regulator.
It should be noted that the second Park transformer 9 is used for transforming the two-phase current i in the stationary coordinate systemαAnd iβTransforming to generate the direct axis current idThen applying the direct axis current idAnd the direct-axis current reference value idrefThe compared comparison value is used as an input for the current regulator 2.
It should be noted that, as shown in fig. 1, the linear nonlinear switching active disturbance rejection control module 1, the current regulator 2, the first Park inverter 3, the SVPWM module 4, the voltage-type inverter 5, the photoelectric encoder 7, the Clark converter 8, and the second Park converter 9 together form a complete synchronous motor robust control apparatus based on the switching structure; the permanent magnet synchronous motor 6 converts the angular position theta of the motor rotormInputting the rotation speed omega into the photoelectric encoder 7mAs the linear nonlinear switching active disturbance rejection control module1, and simultaneously inputting the given rotating speed value omegarefOutputting the cross-axis voltage reference value u to the linear nonlinear switching active disturbance rejection control module 1qForming a rotating speed closed loop; sampling the three-phase current ia，ib，icAs an input to the Clark converter 8, the Clark converter 8 outputs a two-phase current i in a stationary coordinate systemαAnd iβAs an input of the second Park converter 9, the second Park converter 9 outputs a direct-axis current idAnd applying the direct axis current idAnd the given value i of the direct-axis currentdrefThe direct axis current difference value Δ idAs an input of the current regulator 2, the current regulator 2 outputs the direct-axis voltage reference value udForming a current closed loop, wherein the invention employs idControl mode 0, so idref0; the quadrature axis voltage reference value uqAnd the direct axis voltage reference value udAs an input of the first Park inverse transformer 3, the first Park inverse transformer 3 outputs a two-phase voltage reference value u in a stationary coordinate systemαAnd uβAs an input of the SVPWM module 4, the SVPWM module 4 outputs the three-phase switching signal SabcThe voltage source inverter 5 outputs the three-phase current i as an input of the voltage source inverter 5a，ib，icThe permanent magnet synchronous motor 6 is controlled, and the input end of the permanent magnet synchronous motor 6 is connected with the voltage type inverter 5 and used for receiving the three-phase current control signals and working according to the three-phase current control signals.
According to the embodiment of the present invention, as shown in fig. 2, the linear nonlinear switching active disturbance rejection control module 1 includes:
a tracking differentiator 11 for obtaining a tracking value and a differential value of the rotation speed;
the linear extended state observer 12 is used for outputting a linear rotating speed observed value, a linear rotating speed differential observed value, a linear disturbance observed value and a linear observation error to form a linear active disturbance rejection control closed loop;
the nonlinear extended state observer 13 is used for outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
a linear state feedback controller 14, connected to the tracking differentiator and the linear extended state observer, for outputting a linear quadrature axis voltage reference value;
the nonlinear state feedback controller 15 is connected with the tracking differentiator and the nonlinear extended state observer and used for outputting a nonlinear quadrature axis voltage reference value;
and an output weighting function unit 16, having an input end connected to the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and an output end connected to the linear extended state observer and the nonlinear extended state observer, and configured to output the quadrature axis voltage reference value as an output of the linear and nonlinear switching active-disturbance-rejection control module.
It should be noted that, as shown in fig. 3, a schematic diagram of the structure of the tracking differentiator 11 is shown, and the given value ω of the rotation speed is shownrefArranging a transition to follow the actual behavior of the device to achieve the control objective, while giving the given value of the speed ωrefApproximate differential signal, thereby solving the problem that the device is impacted by the overlarge control quantity caused by the overlarge error in the initial state of the device, and the tracking differentiator 11 is constructed according to the following conditions:
Figure BDA0003214615040000091
the tracking differentiator 11 adopts a fhan function form, and the expression of the fhan function form is as follows:
Figure BDA0003214615040000092
wherein x is1、x2、d、a0、y、a1、a2、a3、a4And a5Setting the given value omega of the rotating speed as an intermediate variable of the fhan functionrefThe tracking differentiator 11 is input to obtain the tracking value v of the rotating speed1And the differential value v of the rotation speed2The linear speed observed value z is used as the input of the linear state feedback controller 14l1The linear rotational speed differential observed value zl2And the linear disturbance observation zl3To the linear state feedback controller 14.
It should be noted that, as shown in fig. 4, the linear extended state observer 12 is a schematic structural diagram, and the linear rotation speed observed value z is observed by a linear mechanisml1The linear rotational speed differential observed value zl2The linear disturbance observed value zl3The disturbance tracking performance of the linear extended state observer does not change along with the disturbance amplitude, and accordingly the linear extended state observer 12 is constructed:
Figure BDA0003214615040000093
wherein, ω ismIs the rotational speed, elFor linear observation error, betal1、βl2、βl3As the gain of the linear observer, b0To control the gain, the linear extended state observer 12 outputs the linear rotational speed observed value zl1The linear rotational speed differential observed value zl2The linear disturbance observed value zl3And the linear observation error elForming a linear active disturbance rejection control closed loop; tracking the rotating speed by a value v1The differential value v of the rotational speed2The observed nonlinear rotational speed zn1The linear rotational speed differential observed value zn2And the linear disturbance observation zn3Is input to the nonlinear state feedback controller 15.
It should be noted that, as shown in fig. 5, the structural schematic diagram of the nonlinear extended state observer 13 is obtained by observing the nonlinear rotational speed observed value z through a nonlinear mechanismn1The nonlinear rotational speed differential observed value zn2The non-linear disturbance observed value zn3The tracking performance of the method is related to the disturbance amplitude, the method has the characteristics of large error and small gain and small error and large gain, the nonlinear function adopts the fal function, and the nonlinear expansion is constructed according to the fal functionThe tensile state observer 13:
Figure BDA0003214615040000101
wherein, ω ismIs the rotational speed, enFor non-linear observation errors, betan1、βn2、βn3For the gain of the non-linear observer, b0To control the gain, uqFor quadrature-axis voltage reference, alphae1Is the power of rotation speed, alpha, of a non-linear observere2Is the differential power of the rotation speed of the nonlinear observer, alphae3Is the disturbance power, delta, of a non-linear observere1For the linear interval of the rotation speed of the non-linear observer, deltae2Is a linear interval of rotational speed differential of a non-linear observer, deltae3The nonlinear extended state observer 13 outputs the nonlinear rotational speed observed value z for the nonlinear observer to disturb the linear intervaln1Nonlinear rotational speed differential observed value zn2Non-linear disturbance observed value zn3And non-linear observation error enForming a nonlinear active disturbance rejection control closed loop; linear quadrature axis voltage reference value ulqNon-linear quadrature axis voltage reference unqLinear observation error elNon-linear observation error enLinear disturbance observed value zl3And a non-linear disturbance observed value zn3To the output weighting function unit 16.
As shown in fig. 6, the rotational speed tracking value v is a schematic diagram of the structure of the linear state feedback controller 141And said linear rotational speed observation zl1Differential value v of deviation ratio and rotation speed2And the linear rotational speed differential observation zl2The proportion of the deviation is combined linearly to form a linear output voltage ul0Adding the linear disturbance observed value zl3To obtain the reference value u of the linear quadrature axis voltagelqThe linear state feedback control 14 is constructed accordingly:
Figure BDA0003214615040000102
wherein k isl1Is linear proportional gain, kl2Is a linear differential gain, b0To control the gain, soThe linear state feedback controller 14 outputs the linear quadrature axis voltage reference value ulqThe rotational speed ω is setmAnd the quadrature voltage reference value uqInto the linear extended state observer 12.
As shown in fig. 7, the rotational speed tracking value v is a schematic diagram of the structure of the nonlinear state feedback controller 151And said non-linear rotational speed observation zn1Deviation, said differential value v of the rotational speed2And the non-linear rotational speed differential observed value zn2The deviation constitutes the nonlinear output voltage u by a proportional-linear combination of nonlinear fal functionsn0Adding the observed value z of the nonlinear disturbancen3To obtain the non-linear quadrature axis voltage reference value unqThe nonlinear state feedback controller 15 is constructed accordingly:
Figure BDA0003214615040000111
wherein, the expression of the fal function is as follows:
Figure BDA0003214615040000112
wherein e is the deviation, αiIs power of as1Is a proportional power of feedback, alphas2Is the feedback differential power, delta is the linear interval, deltas1For feedback proportional linear interval, deltas2Is a feedback differential linear interval, b0For controlling the gain, the nonlinear state feedback controller 15 outputs the nonlinear quadrature axis voltage reference value unqThe rotational speed ω is setmAnd the quadrature voltage reference value uqIs input into the nonlinear extended state observer 13.
As shown in fig. 8, a linear quadrature axis voltage reference value u is used as a schematic diagram of the structure of the output weighting function unit 16lqAnd a non-linear quadrature axis voltage reference unqDistributing weight value based on error and disturbance to obtain quadrature axis voltage reference value uqTherefore, the smooth switching of the linear nonlinear active disturbance rejection control is realized, and the phenomenon of control oscillation is prevented; when the error maximum e or the interference maximum z3When it is largerReference value u of linear quadrature axis voltagelqThe occupied weight is larger, the control characteristic of large error and fast response of linear active disturbance rejection control at the moment is more in line with the control requirement, and when the error maximum value e or the interference maximum value z3When smaller, the reference value u of the nonlinear quadrature axis voltagenqThe occupied weight is larger, and the control characteristics of the small error and the large gain of the nonlinear active disturbance rejection control at the moment are more in line with the control requirements; the output weighting function module 16 is constructed accordingly, and the formula is as follows:
Figure BDA0003214615040000121
wherein, λ is total weight, α is error weight, β is disturbance weight, e1Is the lower limit of error, e2Is the upper limit of error, D1Is the lower limit of disturbance, D2Is the upper limit of the disturbance, elIs a linear observation error, enFor non-linear observation error, zl3For linearly perturbing the observed value, zn3Is a non-linear perturbed observation.
Fig. 9 shows a flow chart of a synchronous motor robust control method based on a switching structure.
As shown in fig. 9, the invention discloses a synchronous motor robust control method based on a switching structure, which comprises the following steps:
s902, generating a quadrature axis voltage reference value;
s904, adjusting the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
s906, converting the direct axis voltage reference value and the quadrature axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
s908, modulating the two-phase voltage reference value to generate a three-phase switching signal;
s910, generating a three-phase current control signal from the three-phase switching signal;
s912, collecting the rotor angle of the permanent magnet synchronous motor.
It should be noted that the method for generating the quadrature axis voltage reference value in step S302 specifically includes the steps of:
obtaining a rotating speed tracking value and a rotating speed differential value;
outputting a linear rotating speed observed value, a linear rotating speed differential observed value, a linear disturbance observed value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
Since the specific implementation manner of this embodiment corresponds to the foregoing device embodiment, repeated description of the same details is omitted here.
A third aspect of the present invention provides a robust controller for a synchronous motor based on a switching structure, including: the synchronous motor robust control device based on the switching structure is characterized by comprising the switching structure.
The invention discloses a synchronous motor robust control device, a method and a controller based on a switching structure, which have the following beneficial effects:
1. the method is based on the active disturbance rejection control, compared with the traditional PI control, the active disturbance rejection control has higher control precision and stronger disturbance rejection capability, and is insensitive to the parameter of the permanent magnet synchronous motor;
2. in the control process, the linear quadrature axis voltage reference value and the nonlinear quadrature axis voltage reference value are distributed with weight values on the basis of errors and disturbances so as to obtain the quadrature axis voltage reference value, thereby realizing the smooth switching of the linear nonlinear auto-disturbance rejection control and preventing the phenomenon of control oscillation;
3. the invention adopts linear nonlinear switching active-disturbance-rejection control, combines the advantages of the linear active-disturbance-rejection control and the nonlinear active-disturbance-rejection control, namely the characteristics of large error, fast response, small error and large gain, and avoids the defects of the linear active-disturbance-rejection control and the nonlinear active-disturbance-rejection control, thereby achieving the optimal control of the full working range and realizing the fast response, no overshoot and high-precision control of the output torque of the motor.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.

Claims (10)

1. A synchronous motor robust control device based on a switching structure is characterized in that the synchronous motor is a permanent magnet synchronous motor, the device is connected with the permanent magnet synchronous motor, and the device comprises:
the linear nonlinear switching active-disturbance-rejection control module is used for generating a cross-axis voltage reference value;
the current regulator is used for regulating the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
the first Park inverter is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and used for converting the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system;
the SVPWM module is connected with the first Park inverter and is used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
the voltage type inverter is connected with the SVPWM module and is used for generating three-phase current control signals from the three-phase switching signals;
and the input end of the photoelectric encoder is connected with the permanent magnet synchronous machine, and the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for collecting the rotor angle of the permanent magnet synchronous motor and converting the rotor angle into a rotating speed to be input into the linear nonlinear switching active disturbance rejection control module.
2. The switching architecture based robust control of synchronous machines of claim 1, wherein said linear nonlinear switching active-disturbance-rejection control module comprises:
the tracking differentiator is used for obtaining a rotating speed tracking value and a rotating speed differential value;
the linear extended state observer is used for outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
the nonlinear extended state observer is used for outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
the linear state feedback controller is connected with the tracking differentiator and the linear extended state observer and used for outputting a linear quadrature axis voltage reference value;
the nonlinear state feedback controller is connected with the tracking differentiator and the nonlinear extended state observer and used for outputting a nonlinear quadrature axis voltage reference value;
and the input end of the output weighting function unit is connected with the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and the output end of the output weighting function unit is connected with the linear extended state observer and the nonlinear extended state observer and is used for outputting the quadrature axis voltage reference value as the output of the linear nonlinear switching active disturbance rejection control module.
3. The switching architecture based robust control apparatus for synchronous motors of claim 1, further comprising a Clark converter connected to said voltage source inverter for converting said three phase current control signals generated by said voltage source inverter to generate two phase currents in said stationary reference frame.
4. The switching architecture based robust control apparatus for synchronous motors of claim 3 further comprising a second Park inverter having an input connected to said Clark inverter and an output connected to said current regulator for converting said two phase currents generated by said Clark inverter to generate said direct axis current and comparing said direct axis current to a direct axis current reference value, with the comparison value as an input to said current regulator.
5. A switching structure-based robust control method of a synchronous motor is applied to the switching structure-based robust control device of the synchronous motor, which is characterized by comprising the following steps of:
generating a quadrature axis voltage reference value;
adjusting the difference value of the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
converting the direct axis voltage reference value and the quadrature axis voltage reference value to generate a two-phase voltage reference value in a static coordinate system;
modulating the two-phase voltage reference value to generate a three-phase switching signal;
generating a three-phase current control signal by the three-phase switching signal;
and acquiring the rotor angle of the permanent magnet synchronous motor.
6. The switching structure-based robust control method for the synchronous motor according to claim 5, wherein the generating of the quadrature voltage reference specifically comprises:
obtaining a rotating speed tracking value and a rotating speed differential value;
outputting a linear rotating speed observed value, a linear rotating speed differential observed value, a linear disturbance observed value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observed value, a nonlinear rotating speed differential observed value, a nonlinear disturbance observed value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
7. The switching architecture based synchronous machine robust control method of claim 6, further comprising obtaining a rotation speed set value, a speed factor and a controller step size, and a control gain, a linear differential gain, a linear output voltage and a linear quadrature axis voltage reference value, and a feedback proportional power, a feedback differential power, a feedback proportional linear interval and a feedback differential linear interval.
8. The switching architecture based synchronous machine robust control method of claim 6, further comprising transforming the three phase current control signals to generate two phase currents in the stationary frame.
9. The switching architecture based robust control method for a synchronous machine according to claim 8, further comprising transforming the two phase currents to generate the direct axis current, and comparing the direct axis current with a direct axis current reference value, the comparison value being used as the direct axis voltage reference value.
10. A robust controller of a synchronous motor based on a switching structure, comprising: the switching structure based synchronous motor robust control device according to any one of claims 1 to 4.
CN202110940381.1A 2021-08-17 2021-08-17 Synchronous motor robust control device and method based on switching structure and controller Active CN113809965B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110940381.1A CN113809965B (en) 2021-08-17 2021-08-17 Synchronous motor robust control device and method based on switching structure and controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110940381.1A CN113809965B (en) 2021-08-17 2021-08-17 Synchronous motor robust control device and method based on switching structure and controller

Publications (2)

Publication Number Publication Date
CN113809965A true CN113809965A (en) 2021-12-17
CN113809965B CN113809965B (en) 2023-09-01

Family

ID=78893807

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110940381.1A Active CN113809965B (en) 2021-08-17 2021-08-17 Synchronous motor robust control device and method based on switching structure and controller

Country Status (1)

Country Link
CN (1) CN113809965B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2566035A2 (en) * 2011-08-30 2013-03-06 Rolls-Royce plc Robust control of a grid connected inverter also during grid distortion and faults
CN103312255A (en) * 2013-06-18 2013-09-18 山东大学（威海） Method and device for controlling speed of permanent-magnet synchronous motor
CN105182750A (en) * 2015-09-02 2015-12-23 中国人民解放军军械工程学院 Switching control method of linear/nonlinear active disturbance rejection control system
CN105227035A (en) * 2015-10-27 2016-01-06 东南大学 A kind of permanent-magnetism linear motor control method
JP2018085840A (en) * 2016-11-24 2018-05-31 アイシン精機株式会社 Motor controller

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2566035A2 (en) * 2011-08-30 2013-03-06 Rolls-Royce plc Robust control of a grid connected inverter also during grid distortion and faults
CN103312255A (en) * 2013-06-18 2013-09-18 山东大学（威海） Method and device for controlling speed of permanent-magnet synchronous motor
CN105182750A (en) * 2015-09-02 2015-12-23 中国人民解放军军械工程学院 Switching control method of linear/nonlinear active disturbance rejection control system
CN105227035A (en) * 2015-10-27 2016-01-06 东南大学 A kind of permanent-magnetism linear motor control method
JP2018085840A (en) * 2016-11-24 2018-05-31 アイシン精機株式会社 Motor controller

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
侯利民等: "基于自抗扰控制的永磁同步电动机滑模控制调速***", 微特电机, no. 04, pages 50 - 52 *

Also Published As

Publication number Publication date
CN113809965B (en) 2023-09-01

Similar Documents

Publication Publication Date Title
CN111600523B (en) Model prediction current control method of permanent magnet synchronous motor
CN103401501B (en) A kind of PMSM servo system control method based on fuzzy active disturbance rejection
CN113364377B (en) Permanent magnet synchronous motor active disturbance rejection position servo control method
CN110165953B (en) PMSM speed regulation control method based on approximation law
CN105577058A (en) Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method
Chen et al. Nonlinear adaptive speed control of a permanent magnet synchronous motor: A perturbation estimation approach
CN114123916B (en) Double-three-phase permanent magnet synchronous motor open-phase fault tolerance control method and system
Meng et al. Speed control of PMSM based on an optimized ADRC controller
CN110943657A (en) Model-free self-adaptive rotating speed control method and system for permanent magnet synchronous motor
CN113258833A (en) Dead-beat direct torque control and realization method based on sliding mode strategy
CN110557069B (en) Rotor operation parameter estimation method, motor control system and active disturbance rejection controller
CN116526919A (en) Permanent magnet synchronous motor servo system and current prediction control method and device thereof
CN113992098A (en) Method and system for improving steady-state performance of permanent magnet synchronous motor
Liu et al. Internal model control of induction motors based on extended state observer
Wang et al. A second-order sliding mode observer optimized by neural network for speed and position estimation of PMSMs
Guo et al. Direct voltage control of stand‐alone DFIG under asymmetric loads based on non‐singular terminal sliding mode control and improved extended state observer
Liu et al. SMO-based sensorless control of a permanent magnet synchronous motor
CN113809965B (en) Synchronous motor robust control device and method based on switching structure and controller
Li et al. Incremental Model Predictive Current Control for PMSM With Online Compensation for Parameter Mismatch
CN114294461B (en) Construction method of control system of intelligent valve electric actuating mechanism
Wang ADRC and feedforward hybrid control system of PMSM
Jiang et al. Speed regulation method using genetic algorithm for dual three-phase permanent magnet synchronous motors
CN110943666A (en) Constraint control system for composite current of permanent magnet synchronous motor and construction method thereof
Zhao et al. Disturbance rejection enhancement of vector controlled PMSM using second-order nonlinear ADRC
CN113394806B (en) Wind power grid-connected linear active disturbance rejection control system based on neural network

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant