CN104362925B - Method for structuring simplified active disturbance rejection controllers with bearingless asynchronous motor radial position system - Google Patents
Method for structuring simplified active disturbance rejection controllers with bearingless asynchronous motor radial position system Download PDFInfo
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Abstract
The invention discloses a method for structuring simplified active disturbance rejection controllers with bearingless asynchronous motor radial position system. The method includes constructing x-direction and y-direction extended state observers according to input and output of compound controlled objects; comparing given displacement signals x<*> and y<*> to output signals of the x-direction and y-direction extended state observers; determining errors e<x> and e<y>; respectively utilizing the errors e<x> and e<y> as input signals of x and y error root extraction controllers; subtracting respective system disturbance compensation quantities from output of the x and y error root extraction controllers and forming x-direction and y-direction compound controllers; forming the x-direction and y-direction simplified active disturbance rejection controllers by the x-direction and y-direction extended state observers and the x-direction and y-direction compound controllers. The method has the advantages that shortcomings of the traditional PID (proportion, integration and differentiation) control can be overcome by the aid of means for estimating, optimally tracing and effectively compensating internal and external system disturbance and the like, accordingly, nonlinear feedback operation can be effectively reduced, and the system parameter setting difficulty can be greatly lowered.
Description
Technical field
The present invention relates to a kind of induction-type bearingless motor radial position simplifies the building method of automatic disturbance rejection controller, belong to special
Plant electric drive technology field.
Background technology
The characteristics of induction-type bearingless motor integrates magnetic suspension bearing with conventional asynchronous motor, can simultaneously produce suspension and turn
The radial force of son, and the electromagnetic torque of rotor rotation is driven, in compressor, vortex molecular pump, high-speed machine tool electro spindle, aviation
The special occasions such as space flight, computer hard drive and extreme environment are with a wide range of applications.However, these special applications
The requirement more and more higher of occasion and extreme operating environments to induction-type bearingless motor service behaviour, particularly to the asynchronous electricity of bearing-free
The requirement of the radial position system of machine is even more harshness, because radial position system is to ensure that induction-type bearingless motor realizes that its nothing is rubbed
Scouring damage, pollution-free, high speed, the most important condition of ultrahigh speed operation characteristic, therefore induction-type bearingless motor is studied and improves, especially
It is safety and the control strategy of robustness of its radial position system, with highly important theoretical and realistic meaning.
Comprehensive classical control and the automatic disturbance rejection controller of modern control theory advantage, are to utilize to disturb internal system and outside
Dynamic effective observation and compensation, solve well the uncertain and nonlinear problem of controlled device, while substantially increasing
The dynamic characteristic of system.Automatic disturbance rejection controller is mainly anti-by Nonlinear Tracking Differentiator, extended mode observer and nonlinear state error
Feedback control law composition, simplifies the Nonlinear Tracking Differentiator that automatic disturbance rejection controller eliminates automatic disturbance rejection controller, simplifies controller architecture；
Extended state observer utilizes Systems with Linear Observation device, and complicated nonlinear function is realized with simple linear function, can be effective
Nonlinear feedback computing is reduced, systematic parameter difficulty of adjusting is greatly lowered, is conducive to Project Realization.
The content of the invention
The invention aims to realize the high performance control of induction-type bearingless motor radial position system, there is provided a kind of
Building method based on the induction-type bearingless motor radial position system controller for simplifying the control of active disturbance rejection device.
The technical solution used in the present invention is：By Park inverse transformations, Clark inverse transformations, current track inverter and nothing
Bearing asynchronous machine radial position system is sequentially connected in series and is monolithically fabricated composite controlled object as one, composite controlled object 1
Input is two current signals, output is rotor radial displacementx、y, it is further comprising the steps of：
A, x direction extended state observers and y directions expansion state are built according to the input and output of composite controlled object see
Device is surveyed, the input of x directions extended state observer is rotor radial displacementx, output is for tracking rotor radial displacementxLetter
NumberWith for tracking the signal of x directions unknown disturbance；The input of y directions extended state observer is rotor radial position
Movey, output is for tracking rotor radial displacementySignalWith for tracking the signal of y directions unknown disturbance；X side
Mathematical model to extended state observer and y directions extended state observer is respectively：
。
B, by given displacement signalWith for tracking rotor radial displacementxSignalIt is compared, determines mistake
Difference, input signal of the error as x deflection error square root control devices；By given displacement signalBe used for
The signal of tracking rotor radial displacement yIt is compared, determines error, the error is used as y deflection errors
The input signal of square root control device.
C, by the output of x deflection error square root control devicesDeduct system disturbance compensation dosageConstitute x directions to answer
Hop controller, x directions composite controller is output as；By the output of y deflection error square root control devicesDeduct system disturbance compensation dosageY directions composite controller is constituted, y directions composite controller is output as。
D, x directions extended state observer and x directions composite controller are monolithically fabricated into x directions as one simplify from anti-
Disturb controller；Y directions extended state observer and y directions composite controller are monolithically fabricated into y directions as one and simplify certainly anti-
Disturb controller；X directions are simplified into automatic disturbance rejection controller and y directions simplify automatic disturbance rejection controller and collectively form simplified Active Disturbance Rejection Control
Device, controls together composite controlled object.
The invention has the beneficial effects as follows：
1st, the induction-type bearingless motor radial position of present invention design simplifies construction method for active-disturbance-rcontroller controller, by being
System is internal, external disturbance is estimated, optimize the means such as tracking and effective compensation, overcomes the deficiency of traditional PID control,
It is highly suitable for the high performance control of this nonlinear system of induction-type bearingless motor.
2nd, it is the complexity of reduction Controlling model, the induction-type bearingless motor radial position simplification of present invention design resists certainly
Controller is disturbed, the single order Active Disturbance Rejection Control model simplified using structure, simple structure can effectively reduce nonlinear feedback computing,
Systematic parameter difficulty of adjusting is greatly lowered, is conducive to Project Realization.
Description of the drawings
Fig. 1 is the composition figure of composite controlled object；
Fig. 2 is the theory diagram that induction-type bearingless motor radial position system simplifies automatic disturbance rejection controller;
In figure：1. composite controlled object；2. x directions simplify automatic disturbance rejection controller；3. y directions simplify Active Disturbance Rejection Control
Device；11.Park inverse transformations；12.Clark inverse transformations；13. current track inverters；14. induction-type bearingless motor radial positions
System；21.x deflection error square root control devices；22. x directions extended state observers；23. x directions composite controllers；31. y
Deflection error square root control device；32. y directions extended state observers；33. y directions composite controllers.
Specific embodiment
5 steps below specific enforcement point of the invention：
1st, as shown in figure 1, Park inverse transformations 11, Clark inverse transformations 12, current track inverter 13 is different with bearing-free
Step motor radial position system 14 is sequentially connected in series, and as one composite controlled object 1 is monolithically fabricated, the composite controlled object 1 withTwo current signals as input, with the rotor radial displacement of induction-type bearingless motorx、yAs output.
2nd, as shown in Fig. 2 building x directions extended state observer 22 according to the input/output signal of composite controlled object 1
With y directions extended state observer 32；Wherein, the input signal of x directions extended state observer 22 is composite controlled object 1
Output displacement signalx, output signal isWith,For tracking the output displacement signal of composite controlled object 1x,For tracking the unknown disturbance in x directions；The input signal of y directions extended state observer 32 is composite controlled object 1
Output displacement signaly, output signal isWith,For tracking the output displacement signal of composite controlled object 1y,For tracking the unknown disturbance in y directions；The number of x directions extended state observer 22 and y directions extended state observer 32
Learn model to be respectively：
Wherein,For adjustable parameter, its value is according to the asynchronous electricity of bearing-free
The actual condition of machine radial position system 14 is chosen；Wherein,For adjustable ginseng
Number, its value is according to induction-type bearingless motor own structural characteristics and the actual work of induction-type bearingless motor radial position system 14
Condition is chosen.Induction-type bearingless motor simple structure, air gap is symmetrical, and can adopt common cage type rotor, high mechanical strength,
Typically take in actual condition、、。WithRespectively
For radial displacementxWithyThe differential of estimation；WithThe differential that respectively unknown disturbance is estimated.
3rd, by given displacement signalWith the output signal of x directions extended state observer 22It is compared, it is determined that
Go out error, input signal of the error as x deflection error square root controls device 21；By given displacement signal
With the output signal of y directions extended state observer 32It is compared, determines error, the error conduct
The input signal of y deflection error square root controls device 31.
4th, x directions composite controller 23 and y directions composite controller 33 are constructed；By x deflection error square root controls device 21
OutputDeduct system disturbance compensation dosage, constitute x directions composite controller 23, x directions composite controller 23 it is defeated
Go out for；By the output of y deflection error square root controls device 31Deduct system disturbance compensation
Amount, y directions composite controller 33 is constituted, y directions composite controller 33 is output as
；The output of x deflection error square root controls device 21 and y deflection error square root controls device 31 is respectively：
Wherein,WithFor proportional control factor, its value is according to induction-type bearingless motor radial position system reality
Operating mode is chosen；Displacement error is represented respectivelySymbol, when
Displacement error is otherwise taken as -1 just or when zero to be taken as 1.
5th, as shown in Fig. 2 using x directions extended state observer 22 and x directions composite controller 23 as an overall structure
Simplify automatic disturbance rejection controller 2 into x directions；Y directions extended state observer 32 and y directions composite controller 33 as is whole
Body constitutes y directions and simplifies automatic disturbance rejection controller 3；X directions are simplified into automatic disturbance rejection controller 2 and y directions simplify automatic disturbance rejection controller 3
Simplified automatic disturbance rejection controller 4 is collectively formed, composite controlled object 1 is controlled together.
In accordance with the above, the present invention can just be realized.
Claims (3)
1. a kind of induction-type bearingless motor radial position simplifies the building method of automatic disturbance rejection controller, by Park inverse transformations, Clark
Inverse transformation, current track inverter and induction-type bearingless motor radial position system are sequentially connected in series and are monolithically fabricated again as one
Controlled device is closed, the input of composite controlled object is two current signals、, output is rotor radial displacementx、y, its feature
It is further comprising the steps of：
A, build x directions extended state observer according to the input and output of composite controlled object（22）See with y directions expansion state
Survey device（32）, x directions extended state observer（22）Input be rotor radial displacementx, output is for tracking rotor radial
DisplacementxSignalWith for tracking the signal of x directions unknown disturbance；Y directions extended state observer（32）Input
It is rotor radial displacementy, output is for tracking rotor radial displacementySignalWith for tracking y directions unknown disturbance
Signal；X directions extended state observer（22）With y directions extended state observer（32）Mathematical model be respectively：
；WithIt is two electricity for being input into composite controlled object
Stream signal；
B, by given displacement signalWith for tracking rotor radial displacementxSignalIt is compared, determines error, the error is used as x deflection error square root control devices（21）Input signal；By given displacement signalWith with
To track rotor radial displacementySignalIt is compared, determines error, the error is used as y deflection errors
Square root control device（31）Input signal；
C, by x deflection error square root control devices（21）OutputDeduct system disturbance compensation dosageConstitute x directions to be combined
Controller（23）, x directions composite controller（23）It is output as；By y deflection error square root control devices
（31）OutputDeduct system disturbance compensation dosageConstitute y directions composite controller（33）, y directions composite controller
（33）It is output as；
D, by x directions extended state observer（22）With x directions composite controller（23）X directions are monolithically fabricated as one to simplify
Automatic disturbance rejection controller（2）；By y directions extended state observer（32）With y directions composite controller（33）As an overall structure
Simplify automatic disturbance rejection controller into y directions（3）；X directions are simplified into automatic disturbance rejection controller（2）Simplify automatic disturbance rejection controller with y directions
（3）Collectively form simplified automatic disturbance rejection controller（4）, composite controlled object is controlled together.
2. induction-type bearingless motor radial position according to claim 1 simplifies the building method of automatic disturbance rejection controller, its
It is characterized in that：Step C）In, x deflection error square root control devices（21）With y deflection error square root control devices（31）Output be respectively：
WithFor proportional control factor；、Displacement error is represented respectively、Symbol.
3. induction-type bearingless motor radial position according to claim 2 simplifies the building method of automatic disturbance rejection controller, its
It is characterized in that：Proportional control factorWithChosen according to the actual condition of induction-type bearingless motor radial position system, work as position
Shift error、Just or when zero to be taken as 1, -1 is otherwise taken as.
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| CN106208879A (en) * | 2016-08-30 | 2016-12-07 | 天津理工大学 | A kind of method controlling asynchronous motor frequency-changing speed-regulating system based on automatic disturbance rejection controller |
| CN112462599B (en) * | 2020-11-30 | 2022-02-25 | 东北大学 | High-performance PID control parameter setting method, device and system |
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| CN1967414A (en) * | 2006-10-13 | 2007-05-23 | 东南大学 | Method for building simplified self interference rejection controller of permanent magnet synchronous machine |
| CN102790577A (en) * | 2012-08-06 | 2012-11-21 | 江苏大学 | Constructing method for suspended subsystem controller of bearingless permanent magnet synchronous motor |
| CN102983797A (en) * | 2012-11-07 | 2013-03-20 | 天津大学 | Coarse spinner synchronization control method based on linear active-disturbance-rejection controllers |
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2013
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| CN1967414A (en) * | 2006-10-13 | 2007-05-23 | 东南大学 | Method for building simplified self interference rejection controller of permanent magnet synchronous machine |
| CN102790577A (en) * | 2012-08-06 | 2012-11-21 | 江苏大学 | Constructing method for suspended subsystem controller of bearingless permanent magnet synchronous motor |
| CN102983797A (en) * | 2012-11-07 | 2013-03-20 | 天津大学 | Coarse spinner synchronization control method based on linear active-disturbance-rejection controllers |
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