CN104734591B - The tandem system stabilization speed regulating method of motorcar electric steering motor Field orientable control - Google Patents
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Abstract
A kind of tandem system stabilization speed regulating method of motorcar electric steering motor Field orientable control, it is theoretical based on Active Disturbance Rejection Control, to the Field orientable control of automobile electric power-assisted steering permagnetic synchronous motor, the strong tandem system stabilization method for controlling speed regulation of design robustness is specifically included：Design cascade control system and its input and output control variables；Design the outer shroud automatic disturbance rejection controller of cascade control system；Design the inner ring automatic disturbance rejection controller of cascade control system；Design the parameter of inner and outer ring automatic disturbance rejection controller；Finally obtain the tandem system stabilization speed regulating method of automobile electric power-assisted steering permagnetic synchronous motor Field orientable control.The present invention can eliminate unknown, the non-linear, uncertain factor in automobile electric power-assisted steering permagnetic synchronous motor Field orientable control tandem system, and the disturbance of shock load, make the tandem system of automobile electric power-assisted steering permagnetic synchronous motor Field orientable control, the stable speed governing effect under high-speed, high precision can be obtained.
Description
Technical Field
The invention belongs to the technical field of speed regulation control of a permanent magnet synchronous motor, and particularly relates to a cascade system stable speed regulation method for directional control of a magnetic field of an automobile electric steering motor.
Background
The control of the automobile electric power steering permanent magnet synchronous motor mostly adopts a magnetic field directional control method, which is a control problem of a nonlinear double-input double-output coupling system. The electric power-assisted system of the automobile requires the control to have the effects of rapidness, accuracy and stability. At present, the most difficult control method is needed to further improve the control effect, and the stability of the control method is the robustness control problem.
In the prior view, a permanent magnet synchronous motor of an automobile electric power steering system is regarded as a nonlinear coupling system for control, methods such as sliding mode control, multi-PID control and fuzzy neural network control are adopted, the control methods all deal with the problem of nonlinear multi-input multi-output coupling, and the stability and speed regulation effect of the control methods also improves the space. Through careful analysis and research on the magnetic field directional control of the automobile electric power steering permanent magnet synchronous motor, the actual situation is found that the decoupling process is actually executed by the vector control algorithm because the magnetic field directional control algorithm sets one of two input control variables to be zero; the other path of input control variable is a process of controlling a target current by comparing errors of the rotating speed values of the permanent magnet synchronous motor and controlling a target voltage by comparing errors of current values; in the process, unknown disturbance and uncertain factors exist, so that the stability of the speed regulating system of the permanent magnet synchronous motor is influenced, the speed regulating control problem of a cascade system is really solved, and the robustness of the cascade system is ensured.
When the function of each cascade system is known, the control can be good by using a simple compensation and simple error feedback method; the functions of each cascade system for the permanent magnet synchronous motor magnetic field directional control are unknown, and contain unknown disturbance and uncertain factors, so that an active disturbance rejection control theory is necessary to be adopted to self-adaptively eliminate the unknown disturbance and uncertain factors and the influence of various sudden loads, and the stable speed regulation requirement under high speed and high precision is met.
Disclosure of Invention
In order to overcome the defects and defects of the prior art, the invention provides a control method of an automobile electric power steering permanent magnet synchronous motor of a cascade system, which understands magnetic field directional control as control of a decoupled nonlinear double-input double-output coupling system, wherein a rotating speed adjusting part of the permanent magnet synchronous motor is controlled by adopting the method of the cascade system based on an active disturbance rejection control theory, so that unknown disturbance and uncertain factors existing in the system can be overcome, and the robustness of speed regulation control of the permanent magnet synchronous motor of the automobile electric power steering system is fundamentally improved.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a cascade system stable speed regulation method for the directional control of the magnetic field of an automobile electric power steering permanent magnet synchronous motor is based on the active disturbance rejection control theory and comprises the following specific steps:
(1) designing a cascade control system and input and output control variables thereof;
(2) designing an outer ring active disturbance rejection controller of a cascade control system;
(3) designing an inner ring active disturbance rejection controller of a cascade control system;
(4) designing parameters of the inner and outer ring active disturbance rejection controllers;
and obtaining the stable speed regulation effect of the cascade system of the magnetic field directional control of the automobile electric power steering permanent magnet synchronous motor.
Wherein:
(1) design cascade control system and input and output control variable thereof
According to the requirement of the directional control of the magnetic field of the automobile electric power steering permanent magnet synchronous motor, a control system of the automobile electric power steering permanent magnet synchronous motor mainly comprises two single-input single-output active disturbance rejection controllers in a cascade mode. According to the sequence of signal transmission, from left to right, the design is as follows: the control system comprises an outer ring active disturbance rejection controller, an inner ring active disturbance rejection controller, a control object of the inner ring active disturbance rejection controller and a control object of the outer ring active disturbance rejection controller.
The input variables of the outer loop active disturbance rejection controller are designed into two variables: the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor and the detected actual rotating speed value of the automobile electric power steering permanent magnet synchronous motor.
The output variable of the outer loop active disturbance rejection controller is designed as one: and the quadrature axis current control variable required to be output by the magnetic field directional control algorithm of the automobile electric power steering permanent magnet synchronous motor.
The input variables of the inner ring active disturbance rejection controller are designed into two variables: the motor vehicle electric power steering permanent magnet synchronous motor magnetic field directional control algorithm comprises a quadrature axis current control variable required to be output by the motor vehicle electric power steering permanent magnet synchronous motor magnetic field directional control algorithm and an actual quadrature axis current value of the motor vehicle electric power steering permanent magnet synchronous motor magnetic field directional control algorithm calculated according to actual detection.
The output variable of the inner ring active disturbance rejection controller is designed as one: and the quadrature axis voltage control variable required to be output by the magnetic field directional control algorithm of the automobile electric power steering permanent magnet synchronous motor.
(2) Outer loop active disturbance rejection controller for designing cascade control system
In order to obtain a good control effect of the outer-loop active disturbance rejection controller, the change of an output control variable of the outer-loop active disturbance rejection controller is required to be slow and smooth as much as possible, so that a transition process is required to be arranged;
firstly, in order to prevent overshoot of the control process, a transition process is arranged:
N1(t)＝(N(t)-n(t))trns(T0，t) (2)
N2(t)＝(N(t)-n(t))dtrns(T0，t) (4)
secondly, an extended state observer of the state variable is designed for estimating uncertain information of errors and disturbances generated by the system,
z11(t+1)＝z11(t)+h(z12(t)-β1e(t))
z12(t+1)＝z12(t)+h(z13(t)-β2fe(t)+Iq(t)) (5)
z13(t+1)＝z13(t)+h(-β3fe1)
wherein e: (t)＝z11(t)-n(t)，fe＝fal(e(t)，0.5，h)，fe1＝fal(e(t)，0.25，h) (6)
Thirdly, in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out:
e1(t)＝N1(t)-z11(t)
e2(t)＝N2(t)-z12(t) (8)
u0＝fhan(e1(t)，c1e2(t)，r1，h1)
wherein,
and finally, in order to enhance the anti-interference capability, compensating the control output variable for errors and disturbance according to the estimated errors and disturbance:
Iq(t)＝u0(t)-z13(t) (10)。
in the above calculation formula, n (t) and n (t) are input control variables of the outer loop active disturbance rejection controller; i isq(t) is the output control variable of the outer loop auto-disturbance rejection controller.
Wherein: n (t) is the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor; n (t) is the detected actual rotating speed value of the automobile electric power steering permanent magnet synchronous motor; n is a radical of1(t) is a transition process signal arranged by N (t); n is a radical of2(t) is the differentiated signal of the transition scheduled by n (t); t is a time variable; t is0Is the transition process time; i isq(t) quadrature axis current control of the magnetic field orientation control algorithm calculated by the outer loop auto-disturbance rejection controllerVariable, sign denotes sign function, h is sampling step size β1、β2、β3、r1、h1、c1Is the parameter of the outer ring active disturbance rejection controller to be designed; the rest are intermediate variables, and the initial values of the intermediate variables are 0.
(3) Inner ring active disturbance rejection controller for designing cascade control system
The purpose of designing the inner-loop active-disturbance-rejection controller is to make the intermediate control variables achieve the virtual control quantity given by the outer-loop active-disturbance-rejection controller as good as possible, so that the arrangement transition process part of the inner-loop active-disturbance-rejection controller can be eliminated for better control effect.
Firstly, in order to estimate uncertain information of errors and disturbances generated by a system, an extended state observer of a state variable is designed,
z21(t+1)＝z21(t)+h(z22(t)-β1e(t))
z22(t+1)＝z22(t)+h(z23(t)-β2fe(t)+Vq(t)) (11)
z23(t+1)＝z23(t)+h(-β3fe1)
wherein e (t) is z21(t)-Iq *(t)，fe＝fal(e(t)，0.5，h)，fe1＝fal(e(t)，0.25，h) (12)
Secondly, in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out:
e1(t)＝Iq(t)-z21(t)
e2(t)＝-z22(t) (14)
u0＝fhan(e1(t)，c2e2(t)，r2，h2)
wherein
And finally, in order to enhance the anti-interference capability, compensating the error and the disturbance of the output control variable according to the estimated error and disturbance:
Vq(t)＝u0(t)-z23(t) (16)
in the above calculation formula, Iq(t) and Iq *(t) is the input control variable of the outer loop active disturbance rejection controller; vq(t) is the output control variable of the outer loop auto-disturbance rejection controller.
Wherein, Vq(t) quadrature axis voltage control variables of the magnetic field orientation control algorithm calculated by the inner loop active disturbance rejection controller; i isq *(t) is the actual quadrature axis current value of the magnetic field orientation control algorithm calculated from actual detection; i isq(t) is the cross-axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller, t is the time variable, h is the sampling step length, β1、β2、β3、h2、r2、c2Is the parameter of the inner ring active disturbance rejection controller to be designed; the rest are intermediate variables, and the initial values of the intermediate variables are 0.
(4) Design parameters of inner and outer ring active disturbance rejection controller
Design extended state observer parameters β for outer and inner loop auto-disturbance rejection controllers1＝100、β2＝300、β31000; designing the sampling step length h of the outer ring active disturbance rejection controller to be 0.01 and the transition process time T00.5, controller parameter r1＝10、h1＝0.2、c10.3; designing sampling step length h ═ of inner ring active disturbance rejection controller0.005, controller parameter r2＝600、h2＝0.5、c2＝0.04。
The invention has the following beneficial effects:
the invention designs a stable speed regulation control method of the cascade system with strong robustness for the directional control of the magnetic field of the automobile electric power steering permanent magnet synchronous motor based on the active disturbance rejection control theory, and can eliminate unknown, nonlinear and uncertain factors in the cascade system and the disturbance of sudden load, so that the stable speed regulation effect under high speed and high precision can be obtained for the cascade system for the directional control of the magnetic field of the automobile electric power steering permanent magnet synchronous motor. In the process, only a controller of a first-order object is designed each time, namely the control problem of the N-order object is solved by converting the control problem of the N-order object into the control problem of N first-order objects, each step is a first-order active disturbance rejection control method, and the method is much simpler than the method for designing the controller by gradually recurrently constructing a complex Lyapunov function in the Back-steering method in the modern control theory.
Drawings
FIG. 1 is a flow chart of a steady speed control method of a cascade system according to the invention;
fig. 2 is a schematic structural principle diagram of the stable speed regulation control method of the cascade system of the invention.
In FIG. 2, 1-outer loop active disturbance rejection controller; 2-inner loop active disturbance rejection controller; a control variable error negative feedback calculation unit of the 3-PID controller; 4-a PID controller; 5-calculating the three-phase voltage pulse width of the driving permanent magnet synchronous motor according to the alternating-axis voltage and the direct-axis voltage of the magnetic field directional control algorithm; 6-three-phase inverter bridge; 7-an automotive electric power steering permanent magnet synchronous motor; 8-calculating the alternating current and the direct current of the magnetic field orientation control algorithm according to the three-phase driving current of the permanent magnet synchronous motor by the magnetic field orientation control algorithm.
N (t) -the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor; n (t)-a detected actual rotational speed value of the automotive electric power steering permanent magnet synchronous motor; i isq(t) -quadrature axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller; i isq *(t) -actual quadrature axis current values of the magnetic field orientation control algorithm calculated from actual detection; vq(t) -quadrature axis voltage control variables of the magnetic field orientation control algorithm calculated by the inner loop active disturbance rejection controller; 0 represents that the control target of the direct-axis current value of the set magnetic field orientation control algorithm is always 0; i isd *(t) -actual direct axis current value of the magnetic field orientation control algorithm calculated from actual detection; vd(t) -direct axis voltage control variable of the magnetic field orientation control algorithm calculated by the PID controller; i isu(t) -the detected actual value of the u-phase driving current of the automotive electric power steering permanent magnet synchronous motor; i isv(t) -the detected actual value of the v-phase driving current of the automotive electric power steering permanent magnet synchronous motor; theta (t) -the actual included angle of the orthogonal and the orthogonal axes in the magnetic field orientation control algorithm is calculated according to the detected motor coding signals.
Detailed Description
Specific embodiments of the invention are further described below with reference to the accompanying drawings:
as shown in fig. 1 and fig. 2, the method of the present invention comprises the following steps:
designing a cascade control system and input and output control variables thereof: for the control of the cascade system, a controller is generally used to generate a virtual control quantity in an outer ring of the cascade system according to a set regulation target, and then the virtual control quantity is used as a "target track" to be tracked by an inner ring state variable, so that the controller is used to generate an actual control quantity in an inner ring of the cascade system, which is a basic idea for solving a control problem of the cascade system.
According to the requirement of the directional control of the magnetic field of the automobile electric power steering permanent magnet synchronous motor, the rotating speed adjusting part of a control system of the automobile electric power steering permanent magnet synchronous motor is composed of two single-input single-output active disturbance rejection controllers in a cascade mode. According to the sequence of signal transmission, from left to right, the design is as follows: the system comprises an outer ring active disturbance rejection controller 1, an inner ring active disturbance rejection controller 2, a control object 5 of the inner ring active disturbance rejection controller and a control object 7 of the outer ring active disturbance rejection controller.
The input variables of the outer-loop active disturbance rejection controller 1 are two: the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor and the detected actual rotating speed value of the automobile electric power steering permanent magnet synchronous motor; the output variable of the outer loop active disturbance rejection controller 1 is designed as one: and the quadrature axis current control variable required to be output by the magnetic field directional control algorithm of the automobile electric power steering permanent magnet synchronous motor. The input variables of the inner loop active disturbance rejection controller 2 are designed to be two: the method comprises the following steps that quadrature axis current control variables required to be output by a magnetic field directional control algorithm of the automobile electric power steering permanent magnet synchronous motor are calculated according to actual detection, and the actual quadrature axis current value of the magnetic field directional control algorithm is calculated; the output variable of the inner loop active disturbance rejection controller 2 is designed as one: and the quadrature axis voltage control variable required to be output by the magnetic field directional control algorithm of the automobile electric power steering permanent magnet synchronous motor.
Outer loop active disturbance rejection controller for designing cascade control system
In order to achieve a good control effect of the outer-loop auto-disturbance-rejection controller 1, the change of the output control variable should be as slow and smooth as possible, so that a transition process needs to be arranged.
Firstly, in order to prevent overshoot of the control process, a transition process is arranged:
N1(t)＝(N(t)-n(t))trns(T0，t) (2)
N2(t)＝(N(t)-n(t))dtrns(T0，t) (4)
secondly, an extended state observer of the state variable is designed for estimating uncertain information of errors and disturbances generated by the system,
z11(t+1)＝z11(t)+h(z12(t)-β1e(t))
z12(t+1)＝z12(t)+h(z13(t)-β2fe(t)+Iq(t)) (5)
z13(t+1)＝z13(t)+h(-β3fe1)
wherein e (t) is z11(t)-n(t)，fe＝fal(e(t)，0.5，h)，fe1＝fal(e(t)，0.25，h) (6)
Thirdly, in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out:
e1(t)＝N1(t)-z11(t)
e2(t)＝N2(t)-z12(t) (8)
u0＝fhan(e1(t)，c1e2(t)，r1，h1)
wherein,
and finally, in order to enhance the anti-interference capability, compensating the error and the disturbance of the output control variable according to the estimated error and disturbance:
Iq(t)＝u0(t)-z13(t) (10)
in the above calculation formula, n (t) and n (t) are input control variables of the outer loop active disturbance rejection controller 1; i isq(t) is an output control variable of the outer loop active disturbance rejection controller 1.
Wherein: n (t) is the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor; n (t) is the detected actual rotating speed value of the automobile electric power steering permanent magnet synchronous motor; trns (T)0T) is a function of the scheduled transition; dtrns (T)0T) is a function of the derivative of the scheduled transition; n is a radical of1(t) is a transition process signal arranged by N (t); n is a radical of2(t) is the differentiated signal of the transition scheduled by n (t); t is a time variable; t is0Is the transition process time; i isq(t) is a quadrature axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller 1; sign represents a sign function; h is the sampling step length; z is a radical of11(t) is an observed value of a state variable; z is a radical of12(t) is an observed value of a state differential variable; z is a radical of13(t) is the observed value of error and disturbance β1Is a feedback coefficient of an observed state variable β2Is a feedback coefficient of a differential variable of the observed state β3Is a feedback coefficient of observation error and disturbance; e (t) is an intermediate error variable defined by the extended state observer; e.g. of the type1(t) a nonlinear feedback defined state error variable; e.g. of the type2(t) a state differential error variable defined by nonlinear feedback; r is1Is the velocity factor; h is1Is the sampling step size, c, of the defined nonlinear function fhan1Is the damping factor; fe and fe1Is an intermediate variable of the calculation result of the fal function; u. of0Is an intermediate variable of the result of the fhan function calculation; the internal variables of the fal and fhan functions are intermediate variables of the defined nonlinear function; these intermediate variables have no physical significance and are all 0 at their initial values.
Inner ring active disturbance rejection controller for designing cascade control system
The purpose of designing the inner-loop active-disturbance-rejection controller 2 is to make the intermediate control variables as good as possible to achieve the virtual control quantities given by the outer-loop active-disturbance-rejection controller 1, so that in order to obtain a better control effect, the arrangement transition process part of the inner-loop active-disturbance-rejection controller 2 is eliminated.
Firstly, in order to estimate uncertain information of errors and disturbances generated by a system, an extended state observer of a state variable is designed,
z21(t+1)＝z21(t)+h(z22(t)-β1e(t))
z22(t+1)＝z22(t)+h(z23(t)-β2fe(t)+Vq(t)) (11)
z23(t+1)＝z23(t)+h(-β3fe1)
wherein e (t) is z21(t)-Iq *(t)，fe＝fal(e(t)，0.5，h)，fe1＝fal(e(t)，0.25，h) (12)
Secondly, in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out:
e1(t)＝Iq(t)-z21(t)
e2(t)＝-z22(t) (14)
u0＝fhan(e1(t)，c2e2(t)，r2，h2)
wherein
And finally, in order to enhance the anti-interference capability, compensating the error and the disturbance of the output control variable according to the estimated error and disturbance:
Vq(t)＝u0(t)-z23(t) (16)
in the above calculation formula, Iq(t) and Iq *(t) is the input variable of the outer loop active disturbance rejection controller 2; vq(t) is an output control variable of the outer loop active disturbance rejection controller 2.
Wherein, Vq(t) is the quadrature axis voltage control variable of the magnetic field orientation control algorithm calculated by the inner loop active disturbance rejection controller 2; i isq *(t) is the actual quadrature axis current value of the magnetic field orientation control algorithm calculated from actual detection; i isq(t) is the quadrature axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller 2; t is a time variable; h is the sampling step length; z is a radical of21(t) is an observed value of a state variable; z is a radical of22(t) is an observed value of a state differential variable; z is a radical of23(t) is the observed value of error and disturbance β1Is a feedback coefficient of an observed state variable β2Is a feedback coefficient of a differential variable of the observed state β3Is a feedback coefficient of observation error and disturbance; e (t) is an intermediate error variable defined by the extended state observer; e.g. of the type1(t) a nonlinear feedback defined state error variable; e.g. of the type2(t) a state differential error variable defined by nonlinear feedback; r is2Is the velocity factor; h is2Is the sampling step size, c, of the defined nonlinear function fhan2Is the damping factor; fe and fe1Is an intermediate variable of the calculation result of the fal function; u. of0Is an intermediate variable of the result of the fhan function calculation; the internal variables of the fal and fhan functions are intermediate variables of the defined nonlinear function; these intermediate variables have no physical significance and are all 0 at their initial values.
Design parameters of inner and outer ring active disturbance rejection controller
For a controlled object of a cascade system, the motion change of an inner ring is generally faster than that of an outer ring, so that the sampling step length of an inner ring active-disturbance-rejection controller is smaller than that of the outer ring active-disturbance-rejection controller by integral multiple when digital calculation is carried out, and the phenomenon of high-frequency flutter can be avoided.
Design extended state observer parameters β for outer loop and inner loop ADCs 1 and 21＝100、β2＝300、β31000; the sampling step length h of the outer ring active disturbance rejection controller 1 is designed to be 0.01, and the transition process time T is designed00.5, controller parameter r1＝10、h1＝0.2、c10.3; the sampling step length h of the inner ring active disturbance rejection controller 2 is designed to be 0.005, and the controller parameter r2＝600、h2＝0.5、c2＝0.04。
The controller parameters can achieve the effect of stable speed regulation of a cascade system for directionally controlling the magnetic field of the electric power steering permanent magnet synchronous motor of the automobile at high speed and high precision. In actual control, on the basis of the controller parameters, online adjustment is carried out until a control system converges, and a stable speed regulation control effect is obtained.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (5)
1. A stable speed regulation method for a cascade system of magnetic field directional control of an automobile electric steering motor is characterized by comprising the following steps:
(1) design cascade control system and input and output control variable thereof
According to the requirement of the directional control of the magnetic field of the automobile electric power steering permanent magnet synchronous motor, a cascade control system is designed from left to right according to the sequence of signal transmission: the outer ring active disturbance rejection controller, the inner ring active disturbance rejection controller, a control object of the inner ring active disturbance rejection controller and a control object of the outer ring active disturbance rejection controller form a structure of an inner ring and outer ring series system;
(2) outer loop active disturbance rejection controller for designing cascade control system
The input of the outer ring active disturbance rejection controller is designed into two, the rotating speed set value and the actual rotating speed measured value of the permanent magnet synchronous motor terminal, and the output of the outer ring active disturbance rejection controller is designed into a virtual control intermediate variable Iq(t)；
In order to ensure the control effect of the outer ring active disturbance rejection controller and prevent the overshoot of the control process, the change of the output control variable of the outer ring active disturbance rejection controller needs to be slowly and smoothly changed, and a transition process needs to be arranged;
designing an extended state observer of a state variable for estimating uncertain information of errors and disturbances generated by a system;
in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out;
in order to enhance the anti-interference capability, compensating the error and the disturbance of the output control variable according to the estimated error and disturbance;
(3) inner ring active disturbance rejection controller for designing cascade control system
The input of the inner ring active disturbance rejection controller is designed into two, and the virtual control intermediate variable and the actual quadrature axis current I for driving the current rotating speed of the permanent magnet synchronous motorq(t) the output of the inner ring auto-disturbance rejection controller is designed as the quadrature axis voltage value V required for driving the target rotating speed of the permanent magnet synchronous motorq(t)；
Designing an extended state observer of a state variable for estimating uncertain information of errors and disturbances generated by a system;
in order to restrain the error of the system output control variable, nonlinear system feedback control is carried out;
in order to enhance the anti-interference capability, compensating the error and the disturbance of the output control variable according to the estimated error and disturbance;
the design of the controller is simplified without designing a transition process part of an inner ring active disturbance rejection controller, and the inner ring active disturbance rejection controller can enable the rotating speed of the permanent magnet synchronous motor to track the given rotating speed set value input by an outer ring active disturbance rejection controller as well as possible, so that a good cascade control effect is achieved;
(4) design parameters of inner and outer ring active disturbance rejection controller
Design extended state observer parameters β for outer and inner loop auto-disturbance rejection controllers1、β2、β3(ii) a Design sampling step length h of outer loop active disturbance rejection controller1Time of transition T0Controller parameter r1、h1、c1(ii) a Designing sampling step length h of inner ring active disturbance rejection controller2Controller parameter r2、h2、c2，β1Is a feedback coefficient of an observed state variable β2Is a feedback coefficient of a differential variable of the observed state β3Is a feedback coefficient of observation error and disturbance; r is1、r2Is the velocity factor; h is1、h2Is the sampling step size, c, of the defined nonlinear function fhan1、c2Is the damping factor.
2. The method for stably regulating the speed of the cascade system of the magnetic field directional control of the automobile electric steering motor according to the claim 1, wherein in the step (2), the transition process is arranged as follows:
N1(t)＝(N(t)-n(t))trns(T0,t) (2)
N2(t)＝(N(t)-n(t))dtrns(T0,t) (4)
the extended state observer for designing the state variables is:
wherein e (t) is z11(t)-n(t)，fe＝fal(e(t),0.5,h)，fe1＝fal(e(t),0.25,h) (6)
The nonlinear system feedback control is carried out as follows:
wherein,
the compensation of errors and disturbances on the output control variables is:
Tq(t)＝u0(t)-z13(t) (10)；
wherein: n (t) is the set rotating speed value of the automobile electric power steering permanent magnet synchronous motor; n (t) is the detected actual rotating speed value of the automobile electric power steering permanent magnet synchronous motor; trns (T)0T) is a function of the scheduled transition; dtrns (T)0T) is a function of the derivative of the scheduled transition; n is a radical of1(t) is a transition process signal arranged by N (t); n is a radical of2(t) is the differentiated signal of the transition scheduled by n (t); t is a time variable; t is0Is the transition process time; i isq(t) is a quadrature axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller (1); sign represents a sign function; h is the sampling step length; z is a radical of11(t) is an observed value of a state variable; z is a radical of12(t) is an observed value of a state differential variable; z is a radical of13(t) is the observed value of error and disturbance β1Is a feedback coefficient of an observed state variable β2Is a feedback coefficient of a differential variable of the observed state β3Is a feedback coefficient of observation error and disturbance; e (t) is an intermediate error variable defined by the extended state observer; e.g. of the type1(t) a nonlinear feedback defined state error variable; e.g. of the type2(t) nonlinear feedback defined state differential errorA variable; r is1Is the velocity factor; h is1Is the sampling step size, c, of the defined nonlinear function fhan1Is the damping factor; fe and fe1Is an intermediate variable of the calculation result of the fal function; u. of0Is an intermediate variable of the result of the fhan function calculation; the internal variables of the fal and fhan functions are intermediate variables of the defined nonlinear function; these intermediate variables have no physical significance and are all 0 at their initial values.
3. The method for stably regulating the speed of a cascade system of the magnetic field orientation control of the electric steering motor of the automobile according to claim 1, wherein in the step (3), the extended state observer of the state variable is designed as follows:
z21(t+1)＝z21(t)+h(z22(t)-β1e(t))
Z22(t+1)＝Z22(t)+h(Z23(t)-β2fe(t)+Vq(t))
z23(t+1)＝z23(t)+h(-β3fe1) (11)
wherein e (t) is z21(t)-Iq *(t)，fe＝fal(e(t)，0.5，h)，fe1＝fal(e(t)，0.25，h) (12)
The nonlinear system feedback control is carried out as follows:
e1(t)＝Iq(t)-z21(t)
e2(t)＝-z22(t)
u0＝fhan(e1(t)，c2e2(t)，r2，h2) (14)
wherein
The compensation of errors and disturbances on the output control variables is:
Vq(t)＝u0(t)-z23(t) (16)；
wherein, Vq(t) is a quadrature axis voltage control variable of the magnetic field orientation control algorithm calculated by the inner ring auto-disturbance rejection controller (2); i isq *(t) is the actual quadrature axis current value of the magnetic field orientation control algorithm calculated from actual detection; i isq(t) is a quadrature axis current control variable of the magnetic field orientation control algorithm calculated by the outer loop active disturbance rejection controller (2); t is a time variable; h is the sampling step length; z is a radical of21(t) is an observed value of a state variable; z is a radical of22(t) is an observed value of a state differential variable; z is a radical of23(t) is the observed value of error and disturbance β1Is a feedback coefficient of an observed state variable β2Is a feedback coefficient of a differential variable of the observed state β3Is a feedback coefficient of observation error and disturbance; e (t) is an intermediate error variable defined by the extended state observer; e.g. of the type1(t) a nonlinear feedback defined state error variable; e.g. of the type2(t) a state differential error variable defined by nonlinear feedback; r is2Is the velocity factor; h is2Is the sampling step size, c, of the defined nonlinear function fhan2Is the damping factor; fe and fe1Is an intermediate variable of the calculation result of the fal function; u. of0Is an intermediate variable of the result of the fhan function calculation; the internal variables of the fal and fhan functions are intermediate variables of the defined nonlinear function; these intermediate variables have no physical significance and are all 0 at their initial values.
4. The method for stably regulating the speed of a cascade system of an automobile electric steering motor through magnetic field orientation control according to claim 1, wherein in the step (4), in order to avoid high-frequency flutter, the sampling step length of the inner-ring auto-disturbance-rejection controller is smaller than that of the outer-ring auto-disturbance-rejection controller by an integral multiple.
5. The method for stably regulating the speed of a cascade system of a motor for electric steering of an automobile according to claim 1, wherein in the step (4), an outer ring active disturbance rejection controller and an inner ring active rejection controller are designedExtended state observer parameters β for disturbance controllers1＝100、β2＝300、β31000; designing the sampling step length h of the outer ring active disturbance rejection controller to be 0.01 and the transition process time T00.5, controller parameter r1＝10、h1＝0.2、c10.3; the sampling step length h of the inner ring active disturbance rejection controller is designed to be 0.005, and the controller parameter r2＝600、h2＝0.5、c2＝0.04。
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