CN105680750B - PMSM servo system control methods based on improved model compensation ADRC - Google Patents
PMSM servo system control methods based on improved model compensation ADRC Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The invention discloses the PMSM servo system control methods based on improved model compensation ADRC.Excessive for the system disturbance item amplitude to be estimated of extended state observer, change is violent, it is difficult to ensures estimated accuracy, limits the problem of automatic disturbance rejection controller obtains more excellent control performance, it is proposed that a kind of improved model compensation Auto-disturbance-rejection Control.Total disturbance compensation model of system is first obtained using Second Order Eso (ESO) observation, then in speed ring ADRC design, using this disturbance compensation model, compensated in speed ring automatic disturbance rejection controller.This method makes full use of observing capacities of the ESO to system disturbance, so that the ESO in ADRC need not estimate whole disturbance quantities, alleviate the estimation burden of ESO in automatic disturbance rejection controller, improve system to the estimated capacity that always disturbs, compensation ability of the system to various disturbances is effectively increased, improves the robustness and Ability of Resisting Disturbance of system.
Description
Technical Field
The invention belongs to the technical field of high-precision servo control systems, and particularly relates to a PMSM servo system control method based on improved model compensation ADRC.
Background
In a high-precision servo system, a Permanent Magnet Synchronous Motor (PMSM) has excellent performance, and is widely applied to various industrial fields and high-performance servo systems, and gradually becomes the mainstream of a servo system execution motor. However, the permanent magnet synchronous motor is used as a controlled object with multivariable, nonlinear and strong coupling, in the actual operation process of a servo system, the parameters of the motor body can change, and meanwhile, the load object has uncertainty, mainly including moment of inertia change, load disturbance and the like; in addition, various disturbances often exist in the application environment of the servo system. These disturbance factors adversely affect the desired servo performance of the servo system, such as dynamic and static characteristics, control accuracy and stability, and sometimes even cause serious degradation of control quality, and robustness is not guaranteed. The traditional control theory has poor adaptability to the change of system parameters, is difficult to overcome the influence of disturbance factors such as system disturbance and large-range parameter change on the system performance, has poor anti-interference capability and is difficult to meet the requirement of high-precision servo control. With the development of control theory, many advanced algorithms are applied to the control research of the permanent magnet synchronous motor, such as inner membrane control, fuzzy control, neural network control, sliding mode variable structure control and the like. However, many of the methods involve more mathematical knowledge, are more complex to calculate and implement, are only stopped in a numerical simulation stage, and have limited disturbance resistance. Therefore, aiming at the problems faced in the current servo control system, a servo control strategy which has better performance, strong disturbance rejection and easy realization needs to be sought to meet the increasingly urgent high-performance servo control requirement, so that the servo system has stronger disturbance rejection.
The Active Disturbance Rejection Control (ADRC) technology does not depend on the internal mechanism and the external disturbance rule of a controlled object, and the real-time estimation and timely active compensation are carried out on the total disturbance quantity, so that the method has the characteristics of strong disturbance rejection capability, high precision, high response speed, simple structure and the like, meanwhile, the algorithm is simple and easy to realize, and the uncertainty of the controlled system is not strictly limited, so that the method has incomparable advantages of other control strategies in the disturbance rejection capability of the permanent magnet synchronous servo system, and becomes a research hotspot of the control strategy of the PMSM servo control system. In a PMSM servo system using active disturbance rejection control, in order to obtain a good control effect, it is only necessary that the tracking effect of an observer is good, that is, the estimation accuracy of an Extended State Observer (ESO) needs to be high, and if the estimation capability of the ESO cannot meet the requirement of the control accuracy of the system, the performance of the active disturbance rejection control system is adversely affected. The disturbance terms estimated by the ESO include changes in rotational speed, torque, and rotational inertia and damping coefficients. During the operation of the permanent magnet synchronous motor, the parameters and the disturbance quantity change, and particularly when the load disturbance is large, the amplitude of the disturbance item is large. If the total sum of the disturbances is changed too much and too fast, the observer is obviously burdened by directly estimating the disturbances by the ESO, and the estimation of the disturbances by the ESO is difficult to ensure high precision, so that the system disturbances are difficult to accurately compensate by the active disturbance rejection controller, and the active disturbance rejection controller is limited to obtain better disturbance rejection capability and control performance.
Aiming at the problem, a researcher provides an active disturbance rejection controller based on model identification and compensation, a first-order active disturbance rejection controller of a speed ring is designed, aiming at the influence of the change of disturbance items such as rotational inertia, external load and the like on the servo performance in the PMSM running process, the rotational inertia, the damping coefficient and the load moment are identified by adopting an identification algorithm, then the identification model information is utilized to combine into a part of disturbance items to be compensated into the active disturbance rejection controller, so that ESO does not need to estimate all disturbance items, only the disturbance items which are not compensated are estimated, the estimation burden of ESO on disturbance is reduced, the compensation component of the active disturbance rejection controller on the disturbance still exists, the purpose of model compensation is achieved, and the precision of the observer on the disturbance estimation is improved. Simulation results show that the model compensation active disturbance rejection controller has better capacity of resisting load disturbance. However, in the method, the motor and system parameters need to be identified by adopting an identification algorithm firstly for model compensation, partial disturbance items are obtained by calculation and combination, the model compensation precision depends on the parameter identification precision, however, the parameter identification precision is difficult to ensure, if the identification is not accurate, the total disturbance of the system is increased, and the observation burden of the ESO is increased. Meanwhile, the method can only obtain an identifiable disturbance model, other interferences in the system cannot be obtained, and the range of the disturbance compensation model is small.
Disclosure of Invention
The invention provides an improved model compensation active disturbance rejection controller, which aims at the problems that in a servo control system based on the active disturbance rejection controller, the amplitude of a disturbance term estimated by an extended state observer is too large and changes violently, the estimation precision is difficult to guarantee, and the active disturbance rejection controller is limited to obtain better control performance. The improved active disturbance rejection controller is used for a speed ring of a PMSM servo system, an ESO (electronic static optical inspection) is used for observing the system disturbance to obtain a total disturbance compensation item of the system, and then the total disturbance compensation item is used for compensating the total disturbance compensation item to the active disturbance rejection controller of the speed ring in the ADRC design of the speed ring, so that the ESO in the ADRC does not need to estimate all disturbance quantities, the estimation burden of the ESO in the active disturbance rejection controller is reduced, the estimation capability of the system on the total disturbance is improved, and the disturbance rejection capability of the system is improved.
In order to achieve the technical purpose, the invention adopts the following technical scheme: a PMSM servo system control method based on improved model compensation ADRC includes utilizing a second-order extended state observer to observe disturbance in a system in real time to obtain compensation item of total disturbance of the system, then compensating the disturbance compensation item to the extended state observer in a first-order active disturbance rejection controller of a speed loop, and removing model information of a known part from the disturbance compensation item, including the following steps:
step (1): and (5) building a closed loop of the speed loop active disturbance rejection controller.
Step (2): and obtaining the position and the rotating speed of the rotor of the permanent magnet synchronous motor, detecting the position of the rotor of the permanent magnet synchronous motor through a photoelectric encoder, and calculating the actual rotating speed.
And (3): the two-phase stator current sum of the permanent magnet synchronous motor is obtained through detection of a current sensor, and the direct-axis current and the quadrature-axis current of the permanent magnet synchronous motor are obtained through Clarke transformation and Park transformation.
And (4): and designing a second-order extended state observer according to the speed feedback value and the quadrature axis current value, and estimating the total disturbance of the system to obtain a compensation model of the total disturbance of the system. The second order extended state observer here can take two ways:
mode 1: and a second-order nonlinear Extended State Observer (ESO) is adopted, and the ESO parameters are consistent with those in ADRC, so that the adjustable parameters of the controller cannot be increased. The specific expression is as follows:
where ω is the actual speed of the motor, z 01 As an observed value of the actual rotational speed, e 0 As the difference between the observed and actual values of the actual rotational speed, z 02 For tracking changes in object modelsI.e. total interference of the systemDynamic compensation model f 0 ；b 01 Is an estimate of the controller coefficient b,determined by the motor model. Beta is a 01 、β 02 Is an adjustable parameter. Optimum control functionIs a power function with linear continuity near the origin, a being a nonlinear factor and δ being a filter factor.
Mode 2: using a second order linear extended State observer LESO, where the control parameter b of the LESO 0 The parameter is consistent with the parameter of ADRC, only one parameter p is added, and the specific expression is as follows:
where-p (p > 0) is the desired pole of the closed loop of the LESO, and the other parameters are defined the same as in mode 1.
And (5): compensation model f of total system disturbance obtained according to second-order ESO observation 0 And a speed feedback value, and designing a first-order model compensation active disturbance rejection controller of the speed loop.
The first-order model compensation active disturbance rejection controller comprises a tracking differentiator, a model compensation extended state observer and a nonlinear state error feedback control law, wherein the tracking differentiator arranges a transition signal for a given speed signal; and the model compensation extended state observer observes and compensates overcompensation or undercompensation of the second-order ESO to total disturbance in the servo system. And the nonlinear state error feedback control rate performs nonlinear processing on the deviation and performs disturbance compensation and model compensation.
The tracking differentiator arranges a transition signal reasonably for the speed set value, and the specific expression is as follows:
in the formula, v 1 Is a transition signal arranged for ω, e 1 Is the difference between the transition signal and the speed set point, r 0 Is constant, called the velocity factor, r 0 The larger the tracking effect, the better.
The model compensation extended state observer observes and compensates overcompensation or undercompensation of second-order ESO to total disturbance in the servo system to obtain an observed value z of the actual rotating speed 1 And an over-or under-compensated estimate z of the total disturbance by the second order ESO 2 The specific expression is as follows:
where ω is the actual rotational speed of the motor, z 1 As an observed value of the actual rotational speed, e 2 As the difference between the observed and actual values of the actual rotational speed, z 2 Is an estimate of the over-or under-compensation a (t) of the second-order ESO for the total disturbance of the system,b 0 is an estimate of the controller coefficient b,determined by the motor model. Beta is a 01 、β 02 Is an adjustable parameter.
Said non-linear state error feedback controlling a transition signal v to be arranged to a speed set point 1 And the observed value z of the actual rotational speed 1 The error e between the two is processed in a non-linear way to obtain the primary control action u 0 And then obtaining the control action of the active disturbance rejection controller through disturbance compensation and model compensation:
wherein beta is 1 To be a tunable parameter, i q * For optimizing the active disturbance rejection rateThe output of the controller, i.e. the current setpoint.
According to the technical scheme, the following beneficial effects can be realized:
compared with the prior art, the invention has the following advantages:
(1) Compared with the common model identification and compensation active disturbance rejection technology, the method adopts second-order ESO to estimate the compensation model of the total disturbance of the system, does not need to identify the motor parameters one by one compared with the common model which identifies the motor parameters firstly and then calculates the compensation model, reduces the design complexity of the controller, has simpler algorithm, high identification precision and larger identification range, can identify the internal disturbance of the system and can identify all the disturbances outside the system to form a total disturbance compensation item.
(2) The method has the advantages that all the advantages of the active disturbance rejection controller are inherited, and meanwhile compared with the unmodified active disturbance rejection controller, the observation burden of the ESO in the active disturbance rejection controller is obviously reduced, the amplitude of disturbance to be estimated by the extended state observer is reduced, and the estimation precision of the ESO on the system disturbance is obviously improved.
(3) The invention fully utilizes the advantages of the extended state observer, adopts the second-order ESO to observe the total disturbance of the system, and then observes the residual disturbance term in the system and the overcompensation or undercompensation of the second-order ESO by the model compensation ESO in the ADRC, basically ensures that all the disturbance terms in the system can be observed, performs feedforward compensation, and has stronger disturbance resistance.
Drawings
FIG. 1 is a schematic system structure diagram of a PMSM servo system control method based on improved model compensation ADRC according to the present invention;
fig. 2 is a schematic structural diagram of a model compensation active disturbance rejection control system of the PMSM servo system control method based on improved model compensation ADRC according to the present invention.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the accompanying drawings in combination with the embodiments.
The structural block diagram of the PMSM servo system control method based on the improved model compensation ADRC is that a second-order extended state observer of system disturbance is designed on the basis of active disturbance rejection control, and a disturbance term f observed by a second-order ESO is used as shown in figure 1 0 The model compensation ESO in the first-order active disturbance rejection controller for compensating the speed loop is compensated, and the known part of model information is removed from the disturbance compensation item, so that the ESO in the ADRC does not need to estimate all disturbance quantities, and only needs to estimate the disturbance quantity which is not compensated, thereby reducing the estimation burden of the ESO on the disturbance, and the compensation component of the active disturbance rejection controller on the disturbance still exists, thereby achieving the purpose of model compensation, improving the estimation precision of the ESO in the ADRC on the disturbance, and further improving the disturbance rejection capability of the whole system. Compensating the portion of the disturbance compensation term to the active disturbance rejection controller, comprising the steps of:
step (1): and (5) building a closed loop of the speed loop active disturbance rejection controller.
Step (2): and obtaining the position and the rotating speed of the rotor of the permanent magnet synchronous motor, detecting the position signal of the rotor of the permanent magnet synchronous motor through a photoelectric encoder, and calculating the actual rotating speed omega.
And (3): two-phase stator current i of the permanent magnet synchronous motor is obtained through detection of a current sensor U And i V According to the collected motor current signal and position signal, the direct-axis current i of the permanent magnet synchronous motor is obtained through Clarke transformation and Park change d And quadrature axis current i q 。
And (4): in the servo control system of permanent magnet synchronous motor, i is often adopted to decouple the rotating speed and the current d And (t.ident.0) vector control mode. The speed output equation of the PMSM can be obtained by a mathematical model of the PMSM is as follows:
in the formula: omega is the actual speed of the motor and the speed of the motor,
according to the velocity feedback value omega and the quadrature axis current i q Designing a second-order ESO, and obtaining a disturbance model f (omega, T) in the system through the second-order ESO L ) The observed values of (a), known disturbance component of the system, form a compensation term f for the total disturbance of the system 0 . There are two ways of second order ESO:
mode 1: and a second-order nonlinear Extended State Observer (ESO) is adopted, and the ESO parameters are consistent with those in ADRC, so that the adjustable parameters of the controller cannot be increased. The specific expression is as follows:
where ω is the actual rotational speed of the motor, z 01 For estimated tracking of actual speed, e 0 Is the difference between the estimated tracking value of the actual rotational speed and the actual rotational speed, z 02 Total disturbance to the system for second order ESOEstimated value of (i.e. the system total disturbance compensation model f) 0 ；b 01 Is an estimate of the controller coefficient b,determined by the motor model. Beta is a 01 、β 02 Is an adjustable parameter. Optimal control functionIs a power function with linear continuity near the origin, a being a nonlinear factor and δ being a filter factor.
Mode 2: using a second order linear extended State observer LESO, where the control parameter b of the LESO 0 And only one parameter p is added according to the parameter of ADRC, and the specific expression is as follows:
where-p (p > 0) is the desired pole of the closed loop of the LESO, and the other parameters are defined as in mode 1. The formula of the second-order ESO shows that the disturbance term with a larger amplitude in the system can be basically estimated, and even if the total disturbance inside and outside the system cannot be accurately observed by the second-order ESO, most of the disturbance in the system can be estimated to be used as a compensation model of the total disturbance of the system and compensated to the design of the speed loop model compensation ADRC.
And (5): the compensation term f of the total system disturbance is obtained according to the second-order ESO observation 0 And a speed feedback value, and designing a speed loop first-order model compensation active disturbance rejection controller according to the structure of the figure 2.
According to the output equation of the PMSM speed loop and the principle of first-order model compensation ADRC, the output equation of the PMSM speed loop can be changed into the following equation:
wherein f is 0 The total disturbance inside and outside the system observed for the second order ESO is a known part of the system model. In the design of speed ring model compensation ADRC, the known part f of the system is fully utilized 0 The structure of the improved model compensation ADRC is shown in the dashed box of fig. 2.
The first order model-compensated active disturbance rejection controller includes a tracking differentiator, a model-compensated extended state observer, and a nonlinear state error feedback control law, as shown in fig. 2.
1. Tracking differentiator
In the formula，v 1 Is a transition signal, e, arranged for a speed set value ω 1 Is the difference between the transition signal and the speed set point, r 0 Is a constant number r 0 The larger the tracking effect, the better.
2. Model compensation extended state observer
Where ω is the actual rotational speed of the motor, z 1 As an observed value of the actual rotational speed, e 2 Is the difference between the observed value of the actual rotational speed and the actual value of the rotational speed, z 2 Used to estimate the overcompensation or undercompensation a (t) of the second-order ESO to the total disturbance of the system,compared to previously observed f (ω, T) L )+(b-b 0 )i q The burden is reduced a lot. b 0 Is an estimate of the controller coefficient b,determined by the motor model. Beta is a 01 、β 02 Is an adjustable parameter.
Since the second-order ESO can basically observe the disturbance term with larger amplitude in the system in the fourth step, so that the expression shows that only z is required 1 The actual rotational speed ω, then z can be well estimated 2 The magnitude of the disturbance term a (t) to be estimated is small. At f 0 Accurate observation, b = b 0 When z is 2 The disturbance term to be estimated is substantially 0, even if f 0 Some slight deviation observed, b ≠ b 0 ，z 2 The disturbance item to be estimated is much smaller, and the ESO can estimate the disturbance with small amplitude, so that the estimation load of model compensation ESO in the ADRC is reduced, the estimation precision can be ensured, and the control performance of the controller is improved.
3. Nonlinear state error feedback control rate:
wherein beta is 1 To be a tunable parameter, i q * In order to optimize the output of the active disturbance rejection speed controller, namely the current set value. Transition signal v arranged to speed set point 1 And the observed value z of the actual rotational speed 1 The error e between the two is processed in a non-linear way to obtain the primary control action u 0 And obtaining the control action i of the active disturbance rejection controller through disturbance compensation and model compensation q *。
The above description is for illustrative purposes only and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention will be apparent to those skilled in the art.
Claims (4)
1. The PMSM servo system control method based on the improved model compensation ADRC is characterized by comprising the following steps:
step (1): building a closed loop of a speed loop active disturbance rejection controller;
step (2): obtaining the rotor position and the rotating speed of the permanent magnet synchronous motor, detecting the rotor position of the permanent magnet synchronous motor through a photoelectric encoder, and calculating the actual rotating speed omega;
and (3): detecting to obtain the stator current value of the permanent magnet synchronous motor;
and (4): designing a second-order extended state observer according to the actual rotating speed omega and the quadrature axis current value to obtain a compensation model f of the total disturbance of the system 0 ；
And (5): compensation model f of total system disturbance observed by second-order extended state observer 0 And an actual rotating speed omega, and designing a first-order model compensation active disturbance rejection controller of the speed loop.
2. The improved model compensation, ADRC, based PMSM servo system control method of claim 1, whereinThe compensation model in the step (4) is obtained by observation of a second-order extended state observer, and the compensation model is an estimation f of the total disturbance of the system 0 。
3. The improved model compensation, ADRC, based PMSM servo control method according to claim 1 or 2, characterized in that the second order extended state observer in said step (4) can select two forms, one is a second order non-linear extended state observer, and the other is a second order linear extended state observer, LESO.
4. The improved model compensation, ADRC, based PMSM servo system control method of claim 1, wherein the first order model compensation, active disturbance rejection controller in step (5) is as follows:
arrangement of transition signal v for velocity set-point ω by tracking differentiator 1 The specific expression is as follows:
in the formula, v 1 Is a transition signal arranged for ω, e 1 Is the difference between the transition signal and the speed set point, r 0 Is a constant, optimal control functionIs a linear continuous power function near the origin, alpha is a nonlinear factor, and delta is a filtering factor;
observing and compensating the over-compensation or under-compensation of the second-order extended state observer to the total disturbance in the servo system by the model compensation extended state observer to obtain an observed value z of the actual rotating speed 1 And an over-or under-compensated estimate z of the total disturbance by a second order extended state observer 2 The specific expression is as follows:
where ω is the actual rotational speed of the motor, z 1 As an observed value of the actual rotational speed, e 2 Is the difference between the observed value of the actual rotational speed and the actual rotational speed of the motor, z 2 Is an estimation value of a (t) of overcompensation or undercompensation of the second-order extended state observer to the total disturbance of the system,b 0 is an estimate of the controller coefficient b,determined by a motor model; beta is a 01 、β 02 Is an adjustable parameter;
nonlinear state error feedback control transition signal v to be arranged for speed set point 1 And the observed value z of the actual rotational speed 1 The error e between the two is processed in a non-linear way to obtain the primary control action u 0 And then obtaining the control action of the active disturbance rejection controller through disturbance compensation and model compensation:
in the formula beta 1 To be a tunable parameter, i q * The output of the auto-disturbance rejection controller, i.e. the current setpoint, is compensated for the first order model.
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| CN103138672A (en) * | 2013-03-13 | 2013-06-05 | 华北电力大学（保定） | Active disturbance rejection control method of direct-driven permanent magnet synchronization wind power system |
| CN103294073B (en) * | 2013-05-13 | 2016-04-27 | 广东电网公司电力科学研究院 | Single order true hysteresis link Active Disturbance Rejection Control system and control method thereof |
| CN103312255B (en) * | 2013-06-18 | 2015-06-03 | 山东大学（威海） | Method and device for controlling speed of permanent-magnet synchronous motor |
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