CN104393808A - Active-disturbance-rejection controller for high-voltage circuit breaker linear motor operation mechanism - Google Patents

Abstract

The invention relates to an active-disturbance-rejection controller for a high-voltage circuit breaker linear motor operation mechanism. The active-disturbance-rejection controller is characterized in that the controller comprises an active-disturbance-rejection position module and an active-disturbance-rejection speed module. The active-disturbance-rejection position control module is connected in series with the active-disturbance-rejection speed control module; the output of the active-disturbance-rejection position control module serves as the input of a given speed of the active-disturbance-rejection speed control module; and the active-disturbance-rejection position control module and the active-disturbance-rejection speed control module are respectively formed by a tracking differentiator, a nonlinear extended state observer and a nonlinear error feedback control law. The nonlinear active-disturbance-rejection technology is applied to the control of the high-voltage circuit breaker operation mechanism, thereby improving response speed, reducing impact force and prolonging electrical life of contacts; the system is designed into a three-closed-loop system, wherein the position loop and the speed loop adopt the active-disturbance-rejection control technology, so that thrust ripple disturbance and friction disturbance can be suppressed in real time, the influence of end effect on motor output is reduced, and the conflict between the operation mechanism dynamic property and overshoot performance is solved.

Description

A kind of automatic disturbance rejection controller of linear motor operating mechanism of high-voltage breaker

Technical field:

The present invention proposes a kind of automatic disturbance rejection controller of primary cut-out linear electric motors, is applicable to the primary cut-out operation that dynamic property is good, reliability requirement is high and controls, belong to the technical field of High-Voltage Electrical Appliances.

Background technology:

The investigation of China Electric Power Research Institute shows, in 4632 faults that primary cut-out occurs between 1989-1997, the fault that operating mechanism (comprising mechanical part and electric control loop) causes is the topmost failure cause of primary cut-out.Wherein, mechanical breakdown (39.3%) accounts for major part again.Due to primary cut-out with protected equipment as its price compared with generator, transformer etc. is much lower, and the loss that fault causes, damages as caused other power equipment and electric power system has a power failure, but much bigger than circuit breaker value.Therefore, the reliability of circuit breaker should be placed in primary factor and pays attention in actual applications.Development of new operating mechanism, the theoretical foundation improving reliability should be simplification mechanical structure, reduces component number, improves its reliability.All corrective measure is proposed to the operating mechanism of primary cut-out both at home and abroad: ABB AB GIGRE international conference on large HV electric systems reported a kind of electric rotating machine operating mechanism in 2002, existing a small amount of trial run in Europe.Domestic, put down electric rotating machine operating mechanism that is electrically high and the positive joint study 126kV of Tsing-Hua University.And linear electric motor operation mechanism relates to some extent in the colleges and universities such as Shenyang University of Technology, Dalian University of Technology.

Permanent-magnetism linear motor is that permagnetic synchronous motor is radially cut open to stretch and is launched into form of straight lines, reducing transverse edge effect, linearly rolling again and making columnar linear electric motors to improve power density.Identical with permagnetic synchronous motor is that its control structure is complicated and non-linear, and in running, parameter can change.Also there is end effect in addition, cause its Parameters variation, particularly diverse location magnetic linkage changes in amplitude is considerably beyond permagnetic synchronous motor.

Traditional PID control method is difficult to overcome load disturbance and parameter wide variation brings the decline of performance to control system, although pid control algorithm simplicity of design, realization are conveniently, but be specifically applied to when primary cut-out actuating controls and be difficult to solve the contradiction between overshoot and high speed performance, this will bring a very thorny predicament to circuit breaker: or sacrifice high speed performance, Reducing overshoot, although the mechanical endurance of contact can be extended like this, but can the delay fault mute time, likely cause the heavy losses of the follow-up proterctive equipment of circuit breaker; Or reduce shutoff, service time to pursue, improve its response performance and cause overshoot, make contact closure like this and turn off still there is larger kinetic energy, " very stiff and demanding " in mechanical structure is needed to carry out reduction of speed on the one hand, larger kinetic energy can cause contact Port recall on the other hand, causes and closes a floodgate unsuccessfully.

Patent 200610096751.3 " building method of the simplification automatic disturbance rejection controller of permagnetic synchronous motor ", for permagnetic synchronous motor high performance servo system application Auto Disturbances Rejection Control Technique, proposes a kind of simple implementation method: 1 eliminates Nonlinear Tracking Differentiator; 2 utilize second-order linearity method to realize extended state observer; 3 adopt the exploitation of generalized velocity error to realize nonlinear state Error Feedback controls.Rate servo system with the present invention unlike this system, under different operating condition, given speed is different, its internal parameter control all needs to calculate in real time to be exported, and thus microprocessor amount of calculation is heavy, has to adopt simplification active disturbance rejection method can improve its real-time.And the present invention utilize to as if primary cut-out, each disjunction motion mode is determined substantially, significantly can be reduced the amount of calculation of nonlinear function in control procedure by the technological means such as to table look-up, and improves its real-time; And along with the progress of technology, with DSP for representing the calculated performance of microprocessor also according to Moore's Law development, if nonlinear function can be adopted in this case more can to improve controller performance.

Patent 201010548657.3 " the PMSM servo system control method based on friction and disturbance compensation "

For permanent magnetism synchronous electric machine position servo system, a kind of Auto-disturbance-rejection Control is proposed.It proposes first to servo system friction modeling, and as the Front Feed Compensation of system, uses the disturbance compensation feedfoward control of second-order active disturbance rejection controller simultaneously and realize high performance servo system with the nonlinear Feedback Control of Nonlinear Tracking Differentiator.In this system, carried out the predictive compensation of twice algorithms of different to frictional force, thus precise control precision is high.But need off-line to carry out in friction model parameter identification, situation is different from off-line operation during actual circuit breaker on-line operation, use off-line identification parameter can introduce inaccurate amount on the contrary; And under this specific application environment, do not need so high positioning precision yet.In addition, the present invention is directed to object primary cut-out permanent magnetic linear synchronous motor, adopt that this controller can change at motor magnetic linkage, spring load characteristic change, mover quality error greatly keep high reliability.

Summary of the invention

Technical problem: the present invention is the operation control problem for solving linear motor operating mechanism of high-voltage breaker, and a kind of new controller based on Auto-disturbance-rejection Control of design.This controller overcomes the contradiction between the response speed of primary cut-out linear electric motors and overshoot, has effectively processed circuit breaker optimal movement curve tracking problem, has fast response time, advantage that reliability is high.

Technical scheme: the present invention is achieved through the following technical solutions: a kind of automatic disturbance rejection controller of linear motor operating mechanism of high-voltage breaker, it comprises: active disturbance rejection position module, active disturbance rejection acceleration module, i _qcurrent regulator, i _dcurrent regulator, Park conversion module, Park ^-1conversion module, Clark conversion module, space vector pulse width modulation module, described active disturbance rejection position control module is connected with active disturbance rejection rate control module, the output of active disturbance rejection position control module inputs as the given speed of active disturbance rejection rate control module, and described active disturbance rejection position control module and active disturbance rejection rate control module are made up of Nonlinear Tracking Differentiator, nonlinear extension state observer and nonlinearity erron feedback rate control.

Active disturbance rejection position control module adopts nonlinear extension state observer, and its state model is

$\left\{\begin{array}{c}{\mathrm{\ϵ}}_1=z_{21}-x\\ \·\\ z_{21}=z_{22}-{\mathrm{\β}}_1*\mathrm{fal}\\ \·\\ z_{22}={-\mathrm{\β}}_2*\mathrm{fal}\left({\mathrm{\ϵ}}_{1,}{\mathrm{\α}}_{1,}{\mathrm{\δ}}_1\right)\end{array}\left({\mathrm{\ϵ}}_{1,}{\mathrm{\α}}_{1,}{\mathrm{\δ}}_1\right)+\mathrm{bu}\right.$

Wherein fal is nonlinear function, β ₁, β ₂be adjustable parameter, x is the position signalling of grating scale feedback, and b is control module parameter, z ₂₁the amount tracking of rotor position x, z ₂₂the amount tracking of system disturbance, α ₁nonlinear factor, δ ₁be filtering factor, all belong to constant collection, b=1, u=v* are the output speed signal of active disturbance rejection position control module, and the Setting signal as active disturbance rejection rate control module inputs, and the expression formula of fal is

$\mathrm{fal}(\mathrm{\&epsiv;},\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|\mathrm{\&epsiv;}\right|}^{\mathrm{\&alpha;}}\mathrm{sign}\left(\mathrm{\&epsiv;}\right)& \left|\mathrm{\&epsiv;}\right|>\mathrm{\&delta;}\\ \frac{\mathrm{\&epsiv;}}{{\mathrm{\&delta;}}^{1-\mathrm{\&alpha;}}}& \left|\mathrm{\&epsiv;}\right|<\mathrm{\&delta;}\end{array}\right..$

Active disturbance rejection rate control module is in employing nonlinear extension state observer, and its state model is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_0=z_1-v\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_{01}*\mathrm{fal}\\ \&CenterDot;\\ z_2={-\mathrm{\&beta;}}_{02}*\mathrm{fal}\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)\end{array}\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)+\mathrm{bu}\right.$

Wherein β ₀₁, β ₀₂be adjustable parameter, v is rate signal, and b is controller parameter, z ₁the amount tracking of mover speed, z ₂the amount tracking of system disturbance, α ₀nonlinear factor, δ ₀be filtering factor, all belong to constant collection. τ is permanent-magnetism linear motor pole span, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

Active disturbance rejection position control module and active disturbance rejection rate control module can be integrated into an integrated Active Disturbance Rejection Control module, and the nonlinear extension state observer model of described integrated Active Disturbance Rejection Control module is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_1=z_1-y\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_1*{\mathrm{\&epsiv;}}_1\\ \&CenterDot;\\ z_2=z_3-{\mathrm{\&beta;}}_2*\mathrm{fal}(\mathrm{\&epsiv;},{\mathrm{\&alpha;}}_{1,}\mathrm{\&delta;})+\mathrm{bu}\\ \&CenterDot;\\ z_3={-\mathrm{\&beta;}}_3*\mathrm{fal}\left(\mathrm{\&epsiv;}{,\mathrm{\&alpha;}}_{2,}\mathrm{\&delta;}\right)\end{array}\right.$

Wherein β ₁, β ₂, β ₃be adjustable parameter, x is the position signalling of grating scale feedback, and b is controller parameter, z ₁rotor position x amount tracking, z ₂z ₁differential signal, z ₃the tracking to systematic error, α ₁, α ₂be nonlinear factor, δ is filtering factor, all belongs to constant collection, for Active Disturbance Rejection Control module output current signal, τ is linear electric motors pole spans, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

The extended state observer of active disturbance rejection position control module and active disturbance rejection rate control module all adopts nonlinear function to build, and extended state observer is evolution function or saturation function

$\mathrm{fal}(\mathrm{\&epsiv;},\mathrm{\&alpha;})=\left\{\begin{array}{cc}\mathrm{\&epsiv;}& \left|\mathrm{\&epsiv;}\right|<\mathrm{\&alpha;}\\ \mathrm{\&alpha;}\&CenterDot;\mathrm{sign}\left(\mathrm{\&epsiv;}\right)& \left|\mathrm{\&epsiv;}\right|\&GreaterEqual;\mathrm{\&alpha;}\end{array}\right..$

Controller adopts dq decoupling control method, adopts i _dthe control technology of=0, active disturbance rejection position control module, active disturbance rejection rate control module and i _qcurrent regulator is connected in series successively, forms the i of uneoupled control _qbranch road, i _dcurrent regulator forms separately the i of uneoupled control _dbranch road, by the i of current signal gained after Park conversion module and the process of Clark conversion module that current sensor is sampled _q, i _dsignal, as in feedback signal access current regulator, is connected in series Park after two current regulators ^-1conversion module and space vector pulse width modulation module, produce IGBT and cut-off signal controlling inverter circuit break-make, realize the transformation of signal to controlled quentity controlled variable.

Beneficial effect: non-linear auto-disturbance rejection technology, by design automatic disturbance rejection controller, is applied in the control of high-voltage breaker operation mechanism by the present invention, improves response speed, reduces impulsive force, extends contact electrical endurance; System is designed to three closed-loop systems, and position ring and speed ring adopt Auto Disturbances Rejection Control Technique, can suppress thrust pad temperature disturbance, friction and disturbance in real time, reduces end effect and to exert oneself impact on motor, the contradiction between solution operating mechanism dynamic property and overshoot.

Accompanying drawing explanation

Fig. 1 is active disturbance rejection position module and active disturbance rejection acceleration module independently structure principle chart;

Fig. 2 is the integrated structure principle chart of active disturbance rejection position module and active disturbance rejection acceleration module;

Fig. 3 is active disturbance rejection position module and active disturbance rejection acceleration module structure chart;

Fig. 4 is active disturbance rejection position, acceleration module integrated module structure figure;

Fig. 5 is Control system architecture figure.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

The present invention relates to a kind of automatic disturbance rejection controller of linear motor operating mechanism of high-voltage breaker, comprise active disturbance rejection position control module, active disturbance rejection rate control module serial connection, the output of active disturbance rejection position control module inputs as the given speed of active disturbance rejection rate control module.Wherein, described active disturbance rejection position control module and active disturbance rejection rate control module are formed by Nonlinear Tracking Differentiator (TD), nonlinear extension state observer (ESO) and nonlinearity erron feedback rate control (NLSEF) and grating scale input position signal or position signalling differentiate gained rate signal.

The effect of Nonlinear Tracking Differentiator (TD) is, to the additional reasonably excessive link of given step signal, to increase reasonably excessively link and can effectively reduce the contradiction between dynamic characteristic and overshoot.And Nonlinear Tracking Differentiator (TD) has good filter effect.It has multiple framework function, and conventional has fal function and fast function, fast function expression:

$\left\{\begin{array}{c}d=\mathrm{rh}\\ d_0=\mathrm{hd}\\ y=x_1+{\mathrm{hx}}_2\\ a_0=\sqrt{d^2+8r\left|y\right|}\\ a=\left\{\begin{array}{cc}{x}_2+\frac{(a_0-d)}{2}& \mathrm{sign}\left(y\right)\left|y\right|>d_0\\ x_2+\frac{y}{h}& \left|y\right|\&le;d_0\end{array}\right.\\ \mathrm{fast}(x_1,x_2,r,h)=-\left\{\begin{array}{cc}r*\mathrm{sign}\left(a\right)& \left|a\right|>d\\ \frac{\mathrm{ra}}{d}& \left|a\right|\&le;d\end{array}\right.\end{array}\right.$

Nonlinearity erron feedback rates (NLSEF) replaces traditional PI D neutral line feedback form owing to adopting the non-smooth feedback form of error, achieve the control overflow of " the little gain of big error, the large gain of little error ", make system have larger acceleration when first motion to reduce the response time, and " the little gain of big error " make speed be unlikely to too fast so that increase the difficulty of accurately location; Larger gain controlled quentity controlled variable can be exported final close to when stopping, improve system accuracy, reduce the impulsive force to contact.Its conventional nonlinear function has multiple, as fal function, fast function etc.

The feature of active disturbance rejection position control module is to adopt nonlinear extension state observer, and its state model is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_1=z_{21}-x\\ \&CenterDot;\\ z_{21}=z_{22}-{\mathrm{\&beta;}}_1*\mathrm{fal}\\ \&CenterDot;\\ z_{22}={-\mathrm{\&beta;}}_2*\mathrm{fal}\left({\mathrm{\&epsiv;}}_{1,}{\mathrm{\&alpha;}}_{1,}{\mathrm{\&delta;}}_1\right)\end{array}\left({\mathrm{\&epsiv;}}_{1,}{\mathrm{\&alpha;}}_{1,}{\mathrm{\&delta;}}_1\right)+\mathrm{bu}\right.$

Wherein fal is nonlinear function, β ₁, β ₂be adjustable parameter, x is grating scale feedback position signal, and b is control module parameter, z ₂₁the amount tracking of rotor position x, z ₂₂the amount tracking of system disturbance, α ₁nonlinear factor, δ ₁be filtering factor, all belong to constant collection, b=1, u=v* are the output speed signal of active disturbance rejection position control module, and the Setting signal as active disturbance rejection rate control module inputs.

The feature of active disturbance rejection rate control module is to adopt nonlinear extension state observer, and its state model is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_0=z_1-v\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_{01}*\mathrm{fal}\\ \&CenterDot;\\ z_2={-\mathrm{\&beta;}}_{02}*\mathrm{fal}\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)\end{array},\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)+\mathrm{bu}\right.$

Wherein β ₀₁, β ₀₂be adjustable parameter, v is rate signal, and b is controller parameter, z ₁the amount tracking of mover speed, z ₂the amount tracking of system disturbance, α ₀nonlinear factor, δ ₀be filtering factor, all belong to constant collection, τ is permanent-magnetism linear motor pole span, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

Its extended state observer model of integrated Active Disturbance Rejection Control module is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_1=z_1-y\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_1*{\mathrm{\&epsiv;}}_1\\ \&CenterDot;\\ z_2=z_3-{\mathrm{\&beta;}}_2*\mathrm{fal}(\mathrm{\&epsiv;},{\mathrm{\&alpha;}}_{1,}\mathrm{\&delta;})+\mathrm{bu}\\ \&CenterDot;\\ z_3={-\mathrm{\&beta;}}_3*\mathrm{fal}\left(\mathrm{\&epsiv;}{,\mathrm{\&alpha;}}_{2,}\mathrm{\&delta;}\right)\end{array}\right.$

Wherein β ₁, β ₂, β ₃be adjustable parameter, x is grating scale feedback position signal, and b is controller parameter, z ₁rotor position x amount tracking, z ₂z ₁differential signal, z ₃the tracking to systematic error, α ₁, α ₂be nonlinear factor, δ is filtering factor, all belongs to constant collection, for Active Disturbance Rejection Control module output current signal, τ is linear electric motors pole spans, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

Adopt integrated Active Disturbance Rejection Control module compared with standalone module, need the parameter of adjustment few, control performance is higher; But employing integrated morphology, without the advantage that module controls parameter each in standalone module is independently selected, causes parameter to select difficulty higher.

The automatic disturbance rejection controller of described linear motor operating mechanism of high-voltage breaker, the extended state observer of active disturbance rejection position control module and active disturbance rejection rate control module all adopts nonlinear function to build, and except fal function, also can select evolution function or saturation function

$\mathrm{fal}(\mathrm{\&epsiv;},\mathrm{\&alpha;})=\left\{\begin{array}{cc}\mathrm{\&epsiv;}& \left|\mathrm{\&epsiv;}\right|<\mathrm{\&alpha;}\\ \mathrm{\&alpha;}\&CenterDot;\mathrm{sign}\left(\mathrm{\&epsiv;}\right)& \left|\mathrm{\&epsiv;}\right|\&GreaterEqual;\mathrm{\&alpha;}\end{array}\right..$

As shown in Figure 1, the automatic disturbance rejection controller of described linear motor operating mechanism of high-voltage breaker, its structure principle chart comprises active disturbance rejection position control module, active disturbance rejection rate control module, i _qcurrent regulator, i _dcurrent regulator, Park ^-1conversion, space vector pulse width modulation (SVPWM) module, inverter circuit, linear electric motors, feedback element comprises grating scale, three-phase current sensor, Clark conversion and Park conversion.Active disturbance rejection position control module, active disturbance rejection rate control module and i _qcurrent regulator is connected in series the i forming uneoupled control successively _qloop, i _dcurrent regulator forms separately the i of uneoupled control _dloop, i _q, i _dcurrent of electric component i is all introduced in current regulator _q, i _dreal-time Feedback, is connected in series Park after two current regulators ^-1conversion, space vector pulse width modulation (SVPWM) module, inverter circuit and linear electric motors.The scale grating of grating scale is fixed on linear motor stator electric, and grating reading head is arranged on mover, and rotor position reading feeds back in active disturbance rejection position control module and active disturbance rejection rate control module; The current sensor sensed current signal that motor three-phase windings is installed, and feed back to i after conversion process _q, i _din current regulator.

Fig. 2 compared to Figure 1, active disturbance rejection position control module and active disturbance rejection rate control module are integrated into integrated Active Disturbance Rejection Control module, integrated Active Disturbance Rejection Control is also be made up of Nonlinear Tracking Differentiator (TD), extended state observer (ESO) and nonlinearity erron feedback rates (NLSEF), and difference is the algorithm exponent number higher order more each than standalone module that three parts adopt.Adopt integrated Active Disturbance Rejection Control module compared with standalone module, need the parameter of adjustment few, control performance is higher; But employing integrated morphology, without the advantage that module controls parameter each in standalone module is independently selected, causes parameter to select difficulty higher.

Fig. 3 is the structure of active disturbance rejection position control module and active disturbance rejection acceleration module, both similar, comprises first-order tracking differentiator (TD), second nonlinear extended state observer (ESO) and first order nonlinear Error Feedback control rate (NLSEF).

The structure of integrated Active Disturbance Rejection Control module comprises second order Nonlinear Tracking Differentiator (TD), third-order non-linear extended state observer (ESO) and second nonlinear Error Feedback control rate (NLSEF) as shown in Figure 4.

Control system hardware configuration as shown in Figure 5, active disturbance rejection position control module, active disturbance rejection rate control module, i _qcurrent regulator, i _dcurrent regulator, Park ^-1conversion, space vector pulse width modulation (SVPWM) module, realized by high-performance microprocessor, this microprocessor comprises DSP, ARM or single-chip microcomputer etc.

Claims (6)

1. the automatic disturbance rejection controller of a linear motor operating mechanism of high-voltage breaker, it is characterized in that this controller comprises: active disturbance rejection position module, active disturbance rejection acceleration module, described active disturbance rejection position control module is connected with active disturbance rejection rate control module, the output of active disturbance rejection position control module inputs as the given speed of active disturbance rejection rate control module, and described active disturbance rejection position control module and active disturbance rejection rate control module are made up of Nonlinear Tracking Differentiator, nonlinear extension state observer and nonlinearity erron feedback rate control.

2. the automatic disturbance rejection controller of a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, is characterized in that: active disturbance rejection position control module adopts nonlinear extension state observer, and its state model is $\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_1=z_{21}-x\\ \&CenterDot;\\ z_{21}=z_{22}-{\mathrm{\&beta;}}_1*\mathrm{fal}\\ \&CenterDot;\\ z_{22}={-\mathrm{\&beta;}}_2*\mathrm{fal}\left({\mathrm{\&epsiv;}}_{1,}{\mathrm{\&alpha;}}_{1,}{\mathrm{\&delta;}}_1\right)\end{array}\left({\mathrm{\&epsiv;}}_{1,}{\mathrm{\&alpha;}}_{1,}{\mathrm{\&delta;}}_1\right)+\mathrm{bu}\right.$

Wherein fal is nonlinear function, β ₁, β ₂be adjustable parameter, x is the position signalling of grating scale feedback, and b is control module parameter, z ₂₁the amount tracking of rotor position x, z ₂₂the amount tracking of system disturbance, α ₁nonlinear factor, δ ₁be filtering factor, all belong to constant collection, b=1, u=v* are the output speed signal of active disturbance rejection position control module, and the Setting signal as active disturbance rejection rate control module inputs, and the expression formula of fal is

$\mathrm{fal}(\mathrm{\&epsiv;},\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|\mathrm{\&epsiv;}\right|}^{\mathrm{\&alpha;}}\mathrm{sign}\left(\mathrm{\&epsiv;}\right)& \left|\mathrm{\&epsiv;}\right|>\mathrm{\&delta;}\\ \frac{\mathrm{\&epsiv;}}{{\mathrm{\&delta;}}^{1-\mathrm{\&alpha;}}}& \left|\mathrm{\&epsiv;}\right|<\mathrm{\&delta;}\end{array}\right..$

3. the automatic disturbance rejection controller of a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, is characterized in that: active disturbance rejection rate control module is in employing nonlinear extension state observer, and its state model is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_0=z_1-v\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_{01}*\mathrm{fal}\\ \&CenterDot;\\ z_2={-\mathrm{\&beta;}}_{02}*\mathrm{fal}\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)\end{array}\left({\mathrm{\&epsiv;}}_{0,}{\mathrm{\&alpha;}}_{0,}{\mathrm{\&delta;}}_0\right)+\mathrm{bu}\right.$

Wherein β ₀₁, β ₀₂be adjustable parameter, v is rate signal, and b is controller parameter, z ₁the amount tracking of mover speed, z ₂the amount tracking of system disturbance, α ₀nonlinear factor, δ ₀be filtering factor, all belong to constant collection. τ is permanent-magnetism linear motor pole span, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

4. the automatic disturbance rejection controller of a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, it is characterized in that: active disturbance rejection position control module and active disturbance rejection rate control module can be integrated into an integrated Active Disturbance Rejection Control module, the nonlinear extension state observer model of described integrated Active Disturbance Rejection Control module is

$\left\{\begin{array}{c}{\mathrm{\&epsiv;}}_1=z_1-y\\ \&CenterDot;\\ z_1=z_2-{\mathrm{\&beta;}}_1*{\mathrm{\&epsiv;}}_1\\ \&CenterDot;\\ z_2=z_3-{\mathrm{\&beta;}}_2*\mathrm{fal}(\mathrm{\&epsiv;},{\mathrm{\&alpha;}}_{1,}\mathrm{\&delta;})+\mathrm{bu}\\ \&CenterDot;\\ z_3={-\mathrm{\&beta;}}_3*\mathrm{fal}\left(\mathrm{\&epsiv;}{,\mathrm{\&alpha;}}_{2,}\mathrm{\&delta;}\right)\end{array}\right.$

Wherein β ₁, β ₂, β ₃be adjustable parameter, x is the position signalling of grating scale feedback, and b is controller parameter, z ₁rotor position x amount tracking, z ₂z ₁differential signal, z ₃the tracking to systematic error, α ₁, α ₂be nonlinear factor, δ is filtering factor, all belongs to constant collection, for Active Disturbance Rejection Control module output current signal, τ is linear electric motors pole spans, and m is mover quality, n _pfor number of pole-pairs, Ψ _dit is permanent magnet flux linkage.

5. the automatic disturbance rejection controller of a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, it is characterized in that: the extended state observer of active disturbance rejection position control module and active disturbance rejection rate control module all adopts nonlinear function to build, and extended state observer is evolution function or saturation function

$\mathrm{fal}(\mathrm{\&epsiv;},\mathrm{\&alpha;})=\left\{\begin{array}{cc}\mathrm{\&epsiv;}& \left|\mathrm{\&epsiv;}\right|<\mathrm{\&alpha;}\\ \mathrm{\&alpha;}\&CenterDot;\mathrm{sign}\left(\mathrm{\&epsiv;}\right)& \left|\mathrm{\&epsiv;}\right|\&GreaterEqual;\mathrm{\&alpha;}\end{array}\right..$

6. the automatic disturbance rejection controller of a kind of linear motor operating mechanism of high-voltage breaker according to claim 1, is characterized in that: also comprise i _qcurrent regulator, i _dcurrent regulator, Park conversion module, Park ^-1conversion module, Clark conversion module, space vector pulse width modulation module, controller adopts dq decoupling control method, adopts i _dthe control technology of=0, active disturbance rejection position control module, active disturbance rejection rate control module and i _qcurrent regulator is connected in series successively, forms the i of uneoupled control _qbranch road, i _dcurrent regulator forms separately the i of uneoupled control _dbranch road, by the i of current signal gained after Park conversion module and the process of Clark conversion module that current sensor is sampled _q, i _dsignal, as in feedback signal access current regulator, is connected in series Park after two current regulators ^-1conversion module and space vector pulse width modulation module, produce IGBT and cut-off signal controlling inverter circuit break-make, realize the transformation of signal to controlled quentity controlled variable.