CN106788031A - The Permanent-magnet Synchronous-motor Speed Servo System and method of a kind of Active Disturbance Rejection Control - Google Patents
The Permanent-magnet Synchronous-motor Speed Servo System and method of a kind of Active Disturbance Rejection Control Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The present invention provides a kind of Permanent-magnet Synchronous-motor Speed Servo System and method of Active Disturbance Rejection Control, including：PMSM Speed controller, PMSM Speed controller includes：LTD modules, LSEF modules, LESO units, controller gain module, Sat (iq*) unit, first node module, Section Point module, the 3rd node module；Feedback inhibition anti-windup saturation process is applied to automatic disturbance rejection controller by the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control, makes system that there is anti-windup to satisfy performance.System has the ability of anti-windup saturation relative to traditional automatic disturbance rejection controller, it is to avoid controller enters integration saturation and influences controller performance, and exits the controllable-rate of integration saturation, Application of Auto-Disturbance Rejection is further optimized.
Description
Technical field
The present invention relates to permagnetic synchronous motor field, more particularly to a kind of Active Disturbance Rejection Control PMSM Speed system
System and method.
Background technology
There is permagnetic synchronous motor (PMSM) power density high, dependable performance and simple structure to add recently as forever
The research and development of magnet cause that performance to greatly improve constantly decline with price and gradually instead of direct current generator and other asynchronous machines,
Increasingly consequence is occupied in high-precision servo-drive system.
High performance PMSM Servo System possesses has non-overshoot to start, dynamic response performance is superior, stability
Can be good, there is very strong Immunity Performance simultaneously for controlled system Parameter Perturbation and external loading disturbance.But servo-driver is controlled
Permagnetic synchronous motor be but a controlled device that there is non-linear, cross-couplings and multivariable, and in actual moving process
Middle to there is the not scarce influence for determining factor of external loading disturbance, these factors will be produced for the control performance and effect of servo-drive system
Directly influence.
Traditional PID control can produce integration saturated phenomenon due to containing integral element under unusual service condition, identical with this,
Linear active disturbance rejection controller with integral element will also result in integration saturation under unusual service condition and cause controller inefficiency.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the present invention to provide a kind of Active Disturbance Rejection Control is forever
Magnetic-synchro motor speed regulation system, including：PMSM Speed controller, PMSM Speed controller includes：LTD
Module, LSEF modules, LESO units, controller gain module, Sat (iq*) unit, first node module, Section Point module,
3rd node module；
The input of LTD modules is connected with the input of PMSM Speed controller, the output end of LTD modules with
The first input side connection of first node module, the first feedback output end of LESO units and the second input of first node module
Side connects, and the outlet side of first node module is connected with the input of LSEF modules, the output end of LSEF modules respectively with LESO
The first input side connection of the first input end of unit and Section Point module, the second input side of Section Point module with
The second feedback output end connection of LESO units, the outlet side of Section Point module connects with the input of controller gain module
Connect, the output end of controller gain module connects Sat (iq respectively*) unit input and the 3rd node module it is first defeated
Enter side, the second input side of the 3rd node module, Sat (iq*) unit output end, PMSM Speed controller it is defeated
Go out end to connect simultaneously, the outlet side of the 3rd node module connects the 3rd input of LESO units.
Preferably, LESO units include：First integrator, second integral device, the gain coefficient of the first anti-windup saturation, the
The gain coefficient of two anti-windup saturations, the first expansion state gain coefficient module, the second expansion state gain coefficient module, the 4th
Node module, the 5th node module, the 6th node module, the 7th node module；
First feedback output end of LESO units respectively with first integrator output end, the 7th the first input side of node module
Connection, first integrator input is connected with the outlet side of fourth node module, the first input side of fourth node module and the
Five node module outlet sides are connected, the output of the gain coefficient of the second input side of fourth node module and the first anti-windup saturation
End connection, the first input side of the 5th node module is connected with the first input end of LESO units, and the second of the 5th node module
Input side is connected with the output end of the first expansion state gain coefficient module；3rd input of LESO units is anti-with first respectively
The input connection of the gain coefficient of the input and the second anti-windup saturation of the gain coefficient of saturation is integrated, the second anti-windup is satisfied
The output end of the gain coefficient of sum connects the second input side of the 6th node module；The second input connection the 7th of LESO units
The input side of node module second, the outlet side of the 7th node module respectively with the input of the first expansion state gain coefficient module
Input with the second expansion state gain coefficient module is connected, the output end and the 6th of the second expansion state gain coefficient module
The first input side connection of node module, the outlet side of the 6th node module is connected with the input of second integral device, the second product
The output end of device is divided to be connected with the feedback output end of LESO units second.
Preferably, LTD modules are that first-order linear tracks derivative controller, for carrying out transition to Setting signal, are alleviated fast
Speed response produces the influence of overshoot to system, is excessively controlled using the following form of LTD modules：
ω*=-r (ω*-ωref)
In formula, r is the control gain of LTD modules, and this gain determines the accuracy and speed of tracking, the bigger tracking speed of yield value
Degree is faster, and tracking accuracy is lower, and the smaller tracking velocity of yield value is slower, and tracking accuracy is higher, the tracker in actual control system
Gain need to track speed and tracking accuracy weighed to set.
Preferably, LSEF modules are linear state error feedback control rate, and LSEF modules are by Setting signal ω*And feedback letter
Number w asks for state error, and controlled output amount u0 is formed by linear state error feedback control rate, in linear condition error feedback
In control rate, the uncertain disturbance of the output quantity compensation system of control rate makes controlled device be equivalent to pure integral element, for pure
Integral element, it is ratio control realization to Setting signal ω to use linear state error feedback control rate*Error free tracking, linearly
State error feedback rate control form is as follows：
In formula, z11It is the input signal of LSEF modules, z21、z22For not Wei controlled device output and comprehensive disturbance observation
Value, β11It is ratio control, b0It is control gain, u is exported for controller.
Preferably, LESO units are second-order linearity extended state observer, the comprehensive disturbance of LESO unit observation systems and
The effect of system state variables, to being estimated just as state variable and to the external operating environment of whole system disturbance and internal
Comprehensive disturbance produced by parameter change is observed, and the accuracy of observation of LESO units will directly affect the performance of controller；
The form of LESO units is as follows：
In formula, z21It is the observation of controlled device output variable, z22It is the observation of system synthesis disturbance, b0For control increases
Benefit, β21It is the expansion state gain coefficient of the first expansion state gain coefficient module, β22Second expansion state gain coefficient module
Expansion state gain coefficient, the gain selection determine observer accuracy of observation and observation speed；
Controller gain module is control gain b0Inverse be 1/b0。
Preferably, Sat (iq*) unit includes：Integral coefficient module, third integral device, anti-saturation suppresses gain module, u
(sat) module, the 8th node module, the 9th node module, protelum point module, the 11st node module；
First input side of the 8th node module is connected with the output end of controller gain module, and the of the 8th node module
Two input sides connection Sat (iq*) unit restriction amplitude input；The outlet side connection integral coefficient module of the 8th node module
Input, the output end of integral coefficient module connects the 9th the first input side of node module, and the 9th node module second is input into
Side connection anti-saturation suppresses the output end of gain module, and the outlet side of the 9th node module connects the input of third integral device,
The output end of third integral device connects the first input side of protelum point module, the second input side connection of protelum point module
Sat(iq*) unit controlled output amount u0Input, the outlet side of protelum point module connects the input of u (sat) module respectively
End and the first input side of the 11st node module, the second input side of the 11st node module connect the defeated of u (sat) module
Go out end, the outlet side connection anti-saturation of the 11st node module suppresses the input of gain module；The output end of u (sat) module
Connection Sat (iq*) unit output end；
Integral coefficient module is used for controlling the speed of score accumulation, and third integral device is integrated calculating, u to input signal
(sat) whether module is integration judgement output, for judging the integration output quantity of third integral device beyond amplitude limit value, beyond restriction
Amplitude when, be output as amplitude, during not less than the amplitude for limiting, exported according to actual output quantity, anti-saturation suppresses gain mould
Block is used for the speed for controlling to exit integration saturation.
A kind of PMSM Speed method of Active Disturbance Rejection Control, using Active Disturbance Rejection Control as claimed in claim 1
Permanent-magnet Synchronous-motor Speed Servo System, method includes：
The input of PMSM Speed controller receives input Setting signal ωref, input Setting signal ωrefThrough
Crossing LTD modules carries out transition, alleviates the influence that quick response produces overshoot to system；
Setting signal ω after the output transition of LTD modules*, Setting signal ω*Exported with the feedback output end of LESO units first
Feedback signal w enter LSEF modules；
LSEF modules are by Setting signal ω*State error is asked for feedback signal w, by linear state error feedback control
Rate forms controlled output amount u0, LSEF modules are by controlled output amount u0Export respectively to LESO units and controller gain module；
Controller gain module receives controlled output amount u0While also receive the feedback output end of LESO units second output
Second feedback signal, the second feedback signal and output quantity u0 form certainly anti-after controller gain module carries out output flow gain
Controller output signal Iq is disturbed, and enters Sat (iq*) unit；
Sat(iq*) unit judges automatic disturbance rejection controller output signal Iq whether beyond limit amplitude；
When controller output quantity exceedes controller output limits amplitude, the output signal of automatic disturbance rejection controller is controlled to be limited
Fixed amplitude, and will feed back to LESO units beyond amplitude parts；
When automatic disturbance rejection controller output signal Iq is not less than the amplitude for limiting, automatic disturbance rejection controller output letter is directly exported
Number Iq.
As can be seen from the above technical solutions, the present invention has advantages below：
Feedback inhibition anti-windup saturation process is applied to active disturbance rejection by the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control
Controller, makes system that there is anti-windup to satisfy performance.
System has the ability of anti-windup saturation relative to traditional automatic disturbance rejection controller, it is to avoid controller enters integration saturation
And controller performance is influenceed, and the controllable-rate of integration saturation is exited, Application of Auto-Disturbance Rejection is further optimized.
Brief description of the drawings
In order to illustrate more clearly of technical scheme, will make simple to the accompanying drawing to be used needed for description below
Introduce on ground, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill
For personnel, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the overall schematic of the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control；
Fig. 2 is LESO cell schematics.
Specific embodiment
To enable that goal of the invention of the invention, feature, advantage are more obvious and understandable, below will be with specific
Embodiment and accompanying drawing, the technical scheme to present invention protection are clearly and completely described, it is clear that implementation disclosed below
Example is only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in this patent, the common skill in this area
All other embodiment that art personnel are obtained under the premise of creative work is not made, belongs to the model of this patent protection
Enclose.
The present embodiment provides a kind of Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control, as depicted in figs. 1 and 2, including：
PMSM Speed controller, PMSM Speed controller includes：LTD modules 1, LSEF modules 2, LESO units
4th, controller gain module 3, Sat (iq*) unit 8, first node module 5, Section Point module 6, the 3rd node module 7；
The input of LTD modules 1 is connected with the input 9 of PMSM Speed controller, the output of LTD modules 1
End is connected with the first input side of first node module 5, first feedback output end 23 and first node module 5 of LESO units 4
The connection of the second input side, the outlet side of first node module 5 is connected with the input of LSEF modules 2, the output of LSEF modules 2
End is connected with the first input end 24 of LESO units 4 and the first input side of Section Point module 6 respectively, Section Point module
6 the second input side is connected with the second feedback output end 25 of LESO units 4, the outlet side and controller of Section Point module 6
The input connection of gain module 3, the output end of controller gain module 3 connects Sat (iq respectively*) unit 8 input with
And the 3rd node module 7 the first input side, the second input side of the 3rd node module 7, Sat (iq*) unit 8 output end,
The output end 10 of PMSM Speed controller is connected simultaneously, the outlet side connection LESO units 4 of the 3rd node module 7
3rd input 27.
The speed regulating method that the Permanent-magnet Synchronous-motor Speed Servo System of this Active Disturbance Rejection Control is realized is PMSM Speed
The input of controller receives input Setting signal ωref, input Setting signal ωrefTransition is carried out by LTD modules, is alleviated fast
Speed response produces the influence of overshoot to system；
Setting signal ω after the output transition of LTD modules*, Setting signal ω*Exported with the feedback output end of LESO units first
Feedback signal w enter LSEF modules；
LSEF modules are by Setting signal ω*State error is asked for feedback signal w, by linear state error feedback control
Rate forms controlled output amount u0, LSEF modules are by controlled output amount u0Export respectively to LESO units and controller gain module；
Controller gain module receives controlled output amount u0While also receive the feedback output end of LESO units second output
Second feedback signal, the second feedback signal and output quantity u0 form certainly anti-after controller gain module carries out output flow gain
Controller output signal Iq is disturbed, and enters Sat (iq*) unit；
Sat(iq*) unit judges automatic disturbance rejection controller output signal Iq whether beyond limit amplitude；
When controller output quantity exceedes controller output limits amplitude, the output signal of automatic disturbance rejection controller is controlled to be limited
Fixed amplitude, and will feed back to LESO units beyond amplitude parts；
When automatic disturbance rejection controller output signal Iq is not less than the amplitude for limiting, automatic disturbance rejection controller output letter is directly exported
Number Iq.
In the present embodiment, LESO units 4 include：First integrator 11, second integral device 12, the increasing of the first anti-windup saturation
Beneficial coefficient 18, the gain coefficient 19 of the second anti-windup saturation, the first expansion state gain coefficient module 21, the second expansion state increases
Beneficial coefficient module 22, fourth node module 14, the 5th node module 15, the 6th node module 16, the 7th node module 17；
First feedback output end 23 of LESO units respectively with the output end of first integrator 11, the 7th node module 17 first
Input side is connected, and the input of first integrator 11 is connected with the outlet side of fourth node module 14, and the of fourth node module 14
One input side is connected with the outlet side of the 5th node module 15, the second input side of fourth node module 14 and the first anti-windup saturation
Gain coefficient 18 output end connection, the first input side of the 5th node module 15 connects with the first input end of LESO units 4
Connect, the second input side of the 5th node module 15 is connected with the output end of the first expansion state gain coefficient module 21；LESO is mono-
The 3rd input input respectively with the gain coefficient of the first anti-windup saturation of unit and the gain system of the second anti-windup saturation
Several input connections, the output end of the gain coefficient 19 of the second anti-windup saturation connects the second input of the 6th node module 16
Side；Second input of LESO units connects the 7th the second input side of node module, the outlet side difference of the 7th node module 17
It is connected with the input of the first expansion state gain coefficient module and the input of the second expansion state gain coefficient module, second
The output end of expansion state gain coefficient module is connected with the first input side of the 6th node module, the output of the 6th node module
Side is connected with the input of second integral device, and the output end of second integral device is connected with the feedback output end of LESO units second.
LTD modules are that first-order linear tracks derivative controller, for carrying out transition to Setting signal, alleviate quick response pair
System produces the influence of overshoot, is excessively controlled using the following form of LTD modules：
ω*=-r (ω*-ωref)
In formula, r is the control gain of LTD modules, and this gain determines the accuracy and speed of tracking, the bigger tracking speed of yield value
Degree is faster, and tracking accuracy is lower, and the smaller tracking velocity of yield value is slower, and tracking accuracy is higher, the tracker in actual control system
Gain need to track speed and tracking accuracy weighed to set.
In the present embodiment, LSEF modules are linear state error feedback control rate, and LSEF modules are by Setting signal ω*With it is anti-
Feedback signal w asks for state error, controlled output amount u0 is formed by linear state error feedback control rate, in linear condition error
In feedback rate control, the uncertain disturbance of the output quantity compensation system of control rate makes controlled device be equivalent to pure integral element, right
In pure integral element, it is ratio control realization to the Setting signal ω error free tracking of * to use linear state error feedback control rate,
Linear state error feedback control rate form is as follows：
In formula, z11It is the input signal of LSEF modules, z21、z22For not Wei controlled device output and comprehensive disturbance observation
Value, β11It is ratio control, b0It is control gain, u is exported for controller.
In the present embodiment, LESO units are second-order linearity extended state observer, and the synthesis of LESO unit observation systems is disturbed
The effect of dynamic and system state variables, to estimated just as state variable and external operating environment disturbance to whole system and
Inner parameter changes produced comprehensive disturbance and is observed, and the accuracy of observation of LESO units will directly affect the property of controller
Energy；The form of LESO units is as follows：
In formula, z21It is the observation of controlled device output variable, z22It is the observation of system synthesis disturbance, b0For control increases
Benefit, β21It is the expansion state gain coefficient of the first expansion state gain coefficient module, β22Second expansion state gain system coefficient module
The expansion state gain coefficient of block, the selection of the gain determines the accuracy of observation and observation speed of observer；
Controller gain module is control gain b0Inverse be 1/b0。
In the present embodiment, Sat (iq*) unit includes：Integral coefficient module, third integral device, anti-saturation suppresses gain mould
Block, u (sat) module, the 8th node module, the 9th node module, protelum point module, the 11st node module；
First input side of the 8th node module is connected with the output end of controller gain module, and the of the 8th node module
Two input sides connection Sat (iq*) unit restriction amplitude input；The outlet side connection integral coefficient module of the 8th node module
Input, the output end of integral coefficient module connects the 9th the first input side of node module, and the 9th node module second is input into
Side connection anti-saturation suppresses the output end of gain module, and the outlet side of the 9th node module connects the input of third integral device,
The output end of third integral device connects the first input side of protelum point module, the second input side connection of protelum point module
Sat(iq*) unit controlled output amount u0Input, the outlet side of protelum point module connects the input of u (sat) module respectively
End and the first input side of the 11st node module, the second input side of the 11st node module connect the defeated of u (sat) module
Go out end, the outlet side connection anti-saturation of the 11st node module suppresses the input of gain module；The output end of u (sat) module
Connection Sat (iq*) unit output end；
Integral coefficient module is used for controlling the speed of score accumulation, and third integral device is integrated calculating, u to input signal
(sat) whether module is integration judgement output, for judging the integration output quantity of third integral device beyond amplitude limit value, beyond restriction
Amplitude when, be output as amplitude, during not less than the amplitude for limiting, exported according to actual output quantity, anti-saturation suppresses gain mould
Block is used for the speed for controlling to exit integration saturation.
Sat(iq*) unit has a summation, the principle of feedback inhibition anti-saturation algorithm is by controller output quantity and control
Device output quantity amplitude processed is compared, and the deviation that will be greater than output quantity amplitude parts introduces integrator by feeding back, by feedback
Control rate forces the output quantity of controller to return to rational output area.It can be seen that, the method for this anti-windup saturation is entering
Integration saturation when by anti-saturation algorithm introduce controller to integration saturation suppress, be introduced into integration saturation when controller just
Often operation does not carry out anti-saturation control.
In Disgrete Time Domain, feedback score restrainable algorithms control rate is：
U (k)=ui(k)+kz×esat(k-1)×Ts
ui(k)=u (k-1)+ki×e(k-1)×Ts
esat(k)=sat (u (k))-u (k)
In above formula, TsIt is sampling time, kiIt is used for controlling the speed of score accumulation, k for integral coefficient modulezIt is anti-saturation
Suppress the speed that gain module is used for controlling to exit integration saturation, uiK () is integration control rate, the principle of integration control is each
Area corresponding to the accumulated samples time, esatK () is the error of controller output quantity and controller output quantity amplitude, e (k) is
The given deviation with feedback, u (k) is exported for controller, and reality output is v=sat (u (k)).
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, identical similar portion reference mutually between each embodiment.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (7)
1. a kind of Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control, it is characterised in that including：PMSM Speed control
Device processed, PMSM Speed controller includes：LTD modules, LSEF modules, LESO units, controller gain module, Sat
(iq*) unit, first node module, Section Point module, the 3rd node module；
The input of LTD modules is connected with the input of PMSM Speed controller, the output end of LTD modules and first
The first input side connection of node module, the first feedback output end of LESO units connects with the second input side of first node module
Connect, the outlet side of first node module is connected with the input of LSEF modules, the output end of LSEF modules respectively with LESO units
First input end and Section Point module the connection of the first input side, the second input side of Section Point module is mono- with LESO
The second feedback output end connection of unit, the outlet side of Section Point module is connected with the input of controller gain module, controls
The output end of device gain module connects Sat (iq respectively*) unit input and the first input side of the 3rd node module,
Second input side of three node modules, Sat (iq*) unit output end, the output end of PMSM Speed controller is same
When connect, the outlet side of the 3rd node module connects the 3rd input of LESO units.
2. the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control according to claim 1, it is characterised in that
LESO units include：First integrator, second integral device, the gain coefficient of the first anti-windup saturation, the second anti-windup is satisfied
The gain coefficient of sum, the first expansion state gain coefficient module, the second expansion state gain coefficient module, fourth node module,
5th node module, the 6th node module, the 7th node module；
First feedback output end of LESO units respectively with first integrator output end, the 7th the first input side of node module connect
Connect, first integrator input is connected with the outlet side of fourth node module, the first input side of fourth node module and the 5th
Node module outlet side is connected, the output end of the gain coefficient of the second input side of fourth node module and the first anti-windup saturation
Connection, the first input side of the 5th node module is connected with the first input end of LESO units, and the second of the 5th node module is defeated
Enter side to be connected with the output end of the first expansion state gain coefficient module；3rd input of LESO units respectively with the first anti-product
Divide the input connection of the gain coefficient of the input and the second anti-windup saturation of the gain coefficient of saturation, the second anti-windup saturation
Gain coefficient output end connect the 6th node module the second input side；Second input of LESO units connects Section seven
The input side of point module second, the outlet side of the 7th node module respectively with the input of the first expansion state gain coefficient module and
Second expansion state gain coefficient module input connection, the output end of the second expansion state gain coefficient module with Section six
The first input side connection of point module, the outlet side of the 6th node module is connected with the input of second integral device, second integral
The output end of device is connected with the feedback output end of LESO units second.
3. the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control according to claim 1, it is characterised in that
LTD modules are that first-order linear tracks derivative controller, for carrying out transition to Setting signal, alleviate quick response to system
The influence of overshoot is produced, is excessively controlled using the following form of LTD modules：
ω*=-r (ω*-ωref)
In formula, r is the control gain of LTD modules, and this gain determines the accuracy and speed of tracking, and the bigger tracking velocity of yield value is more
Fast tracking accuracy is lower, and the smaller tracking velocity of yield value is slower, and tracking accuracy is higher, the increasing of tracker in actual control system
Benefit needs speed and tracking accuracy to tracking to be weighed to set.
4. the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control according to claim 1, it is characterised in that
LSEF modules are linear state error feedback control rate, and LSEF modules are by Setting signal ω*State is asked for feedback signal w
Error, controlled output amount u0 is formed by linear state error feedback control rate, in linear condition error feedback rate control, control
The uncertain disturbance of the output quantity compensation system of rate processed, makes controlled device be equivalent to pure integral element, for pure integral element, adopts
It is ratio control realization to Setting signal ω with linear state error feedback control rate*Error free tracking, linear condition error is anti-
Feedback control rate form is as follows：
In formula, z11It is the input signal of LSEF modules, z21、z22For not Wei controlled device output and comprehensive disturbance observation,
β11It is ratio control, b0It is control gain, u is exported for controller.
5. the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control according to claim 1, it is characterised in that
LESO units are second-order linearity extended state observer, the comprehensive disturbance of LESO unit observation systems and system state variables
Effect, produced to being estimated just as state variable and the disturbance of the external operating environment of whole system and inner parameter being changed
Raw comprehensive disturbance is observed, and the accuracy of observation of LESO units will directly affect the performance of controller；The shape of LESO units
Formula is as follows：
In formula, z21It is the observation of controlled device output variable, z22It is the observation of system synthesis disturbance, b0It is control gain,
β21It is the expansion state gain coefficient of the first expansion state gain coefficient module, β22Second expansion state gain coefficient module
Expansion state gain coefficient, the selection of the gain determines the accuracy of observation and observation speed of observer；
Controller gain module is control gain b0Inverse be
6. the Permanent-magnet Synchronous-motor Speed Servo System of Active Disturbance Rejection Control according to claim 1, it is characterised in that
Sat(iq*) unit includes：Integral coefficient module, third integral device, anti-saturation suppression gain module, u (sat) module, the
Eight node modules, the 9th node module, protelum point module, the 11st node module；
First input side of the 8th node module is connected with the output end of controller gain module, and the second of the 8th node module is defeated
Enter side and connect Sat (iq*) unit restriction amplitude input；The outlet side of the 8th node module connects the defeated of integral coefficient module
Enter end, the output end of integral coefficient module connects the 9th the first input side of node module, and the 9th the second input side of node module connects
The output end that anti-saturation suppresses gain module is connect, the outlet side of the 9th node module connects the input of third integral device, the 3rd
The output end of integrator connects the first input side of protelum point module, the second input side connection Sat of protelum point module
(iq*) unit controlled output amount u0Input, the outlet side of protelum point module connect respectively the input of u (sat) module with
And the 11st node module the first input side, the second input side of the 11st node module connects the output of u (sat) module
End, the outlet side connection anti-saturation of the 11st node module suppresses the input of gain module；The output end of u (sat) module connects
Meet Sat (iq*) unit output end；
Integral coefficient module is used for controlling the speed of score accumulation, and third integral device is integrated calculating, u to input signal
(sat) whether module is integration judgement output, for judging the integration output quantity of third integral device beyond amplitude limit value, beyond restriction
Amplitude when, be output as amplitude, during not less than the amplitude for limiting, exported according to actual output quantity, anti-saturation suppresses gain mould
Block is used for the speed for controlling to exit integration saturation.
7. a kind of PMSM Speed method of Active Disturbance Rejection Control, it is characterised in that using it is as claimed in claim 1 from
The Permanent-magnet Synchronous-motor Speed Servo System of disturbance rejection control, method includes：
The input of PMSM Speed controller receives input Setting signal ωref, input Setting signal ωrefBy
LTD modules carry out transition, alleviate the influence that quick response produces overshoot to system；
Setting signal ω after the output transition of LTD modules*, Setting signal ω*It is anti-with what the feedback output end of LESO units first was exported
Feedback signal w enters LSEF modules；
LSEF modules are by Setting signal ω*State error is asked for feedback signal w, by linear state error feedback control rate shape
Into controlled output amount u0, LSEF modules are by controlled output amount u0Export respectively to LESO units and controller gain module；
Controller gain module receives controlled output amount u0While also to receive the output of the feedback output end of LESO units second second anti-
Feedback signal, the second feedback signal and output quantity u0 form Active Disturbance Rejection Control after controller gain module carries out output flow gain
Device output signal Iq, and enter Sat (iq*) unit；
Sat(iq*) unit judges automatic disturbance rejection controller output signal Iq whether beyond limit amplitude；
When controller output quantity exceedes controller output limits amplitude, the output signal for controlling automatic disturbance rejection controller is what is limited
Amplitude, and will feed back to LESO units beyond amplitude parts；
When automatic disturbance rejection controller output signal Iq is not less than the amplitude for limiting, automatic disturbance rejection controller output signal is directly exported
Iq。
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| CN108227485A (en) * | 2017-12-01 | 2018-06-29 | 西北工业大学 | A kind of robot for space Auto-disturbance-rejection Control with actuator saturation |
| CN108490765A (en) * | 2018-01-27 | 2018-09-04 | 天津大学 | A kind of design method of the automatic disturbance rejection controller with anti-windup compensation |
| CN109116721A (en) * | 2018-08-23 | 2019-01-01 | 广东工业大学 | A kind of control method that time-varying system is changed into stational system |
| CN109889113A (en) * | 2019-03-11 | 2019-06-14 | 中国科学院上海技术物理研究所 | A kind of magneto parameter scanning control system based on Active Disturbance Rejection Control |
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| CN114257132A (en) * | 2021-12-27 | 2022-03-29 | 江苏大学 | Optimized anti-interference controller for permanent magnet synchronous motor of electric vehicle |
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| CN107425769B (en) * | 2017-08-10 | 2020-11-13 | 广东工业大学 | Active disturbance rejection control method and system for permanent magnet synchronous motor speed regulating system |
| CN108227485B (en) * | 2017-12-01 | 2020-11-24 | 西北工业大学 | Space robot active-disturbance-rejection control method with actuator saturation |
| CN108227485A (en) * | 2017-12-01 | 2018-06-29 | 西北工业大学 | A kind of robot for space Auto-disturbance-rejection Control with actuator saturation |
| CN108490765A (en) * | 2018-01-27 | 2018-09-04 | 天津大学 | A kind of design method of the automatic disturbance rejection controller with anti-windup compensation |
| CN108490765B (en) * | 2018-01-27 | 2020-12-11 | 天津大学 | Design method of active disturbance rejection controller with anti-integral compensation |
| CN109116721A (en) * | 2018-08-23 | 2019-01-01 | 广东工业大学 | A kind of control method that time-varying system is changed into stational system |
| CN109116721B (en) * | 2018-08-23 | 2021-10-19 | 广东工业大学 | Control method for converting time-varying system into steady system |
| CN109889113A (en) * | 2019-03-11 | 2019-06-14 | 中国科学院上海技术物理研究所 | A kind of magneto parameter scanning control system based on Active Disturbance Rejection Control |
| CN109889113B (en) * | 2019-03-11 | 2023-11-07 | 中国科学院上海技术物理研究所 | Permanent magnet motor variable speed scanning control system based on active disturbance rejection control |
| CN112398397A (en) * | 2020-11-27 | 2021-02-23 | 浙江工业大学 | Linear active disturbance rejection permanent magnet synchronous motor control method based on model assistance |
| CN112398397B (en) * | 2020-11-27 | 2022-06-10 | 浙江工业大学 | Linear active disturbance rejection permanent magnet synchronous motor control method based on model assistance |
| CN113765454A (en) * | 2021-07-30 | 2021-12-07 | 中国科学院电工研究所 | Active disturbance rejection control method, system and equipment for direct-drive permanent magnet synchronous generator |
| CN114257132A (en) * | 2021-12-27 | 2022-03-29 | 江苏大学 | Optimized anti-interference controller for permanent magnet synchronous motor of electric vehicle |
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