CN109194224B - Permanent magnet synchronous motor sensorless control method based on extended state observer - Google Patents

Permanent magnet synchronous motor sensorless control method based on extended state observer Download PDF

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CN109194224B
CN109194224B CN201810998283.1A CN201810998283A CN109194224B CN 109194224 B CN109194224 B CN 109194224B CN 201810998283 A CN201810998283 A CN 201810998283A CN 109194224 B CN109194224 B CN 109194224B
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permanent magnet
extended state
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胡健
董浩
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Nanjing University of Science and Technology
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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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Abstract

The invention provides a permanent magnet synchronous motor sensorless control method based on an extended state observer, which comprises the following steps: step 1, establishing a current state equation and a mechanical motion equation of a permanent magnet synchronous motor in a static coordinate system; step 2, designing a continuous sliding mode observer; and 3, designing a motor disturbance compensation controller based on the extended state observer.

Description

Permanent magnet synchronous motor sensorless control method based on extended state observer
Technical Field
The invention relates to a control method, in particular to a permanent magnet synchronous motor sensorless control method based on an extended state observer.
Background
The permanent magnet synchronous motor serving as a common driving device has the advantages of simple structure, low noise, high energy density, high efficiency and the like, and is more and more widely applied to the industrial field. With the development of control technology, higher requirements are put on the control level of the permanent magnet synchronous motor. However, as a complicated strongly coupled nonlinear system, the permanent magnet synchronous motor is affected by external interference, so that the precise control of the permanent magnet synchronous motor becomes more difficult.
The sensor is a common auxiliary device, can provide an accurate feedback signal, and significantly improves the control precision of the permanent magnet synchronous motor, but also brings cost rise, equipment volume increase and mechanical reliability reduction risk, so that the sensorless control of the permanent magnet synchronous motor is greatly developed. The current common sensorless control of the permanent magnet synchronous motor is mainly divided into two types: the control based on the fundamental wave mathematical model at middle and high speed and the control based on the high-frequency signal injection at low speed. In the control method based on the fundamental wave mathematical model, the sliding mode control has low requirement on the precision of the system model and is insensitive to parameter interference, so that the method is widely applied. However, the conventional sliding mode control adopts a sudden change sign function as a control rate, and inevitably causes the problem of motor jitter. In addition, in practical industrial applications, external disturbances are inevitable, which have a great influence on the motion accuracy of the motor.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor sensorless control method based on an extended state observer, so as to improve the control precision of a permanent magnet synchronous motor.
The technical scheme for realizing the purpose of the invention is as follows: a permanent magnet synchronous motor sensorless control method based on an extended state observer comprises the following steps:
step 1, establishing a current state equation and a mechanical motion equation of a permanent magnet synchronous motor in a static coordinate system;
step 2, designing a continuous sliding mode observer;
and 3, designing a motor disturbance compensation controller based on the extended state observer.
By adopting the method, the specific process of the step 1 is as follows:
step 1.1, establishing a current state equation under a static coordinate system of the permanent magnet synchronous motor:
Figure BDA0001782370290000021
where R is stator resistance, L is stator inductance, ω is electrical angular velocity,. psifIs the permanent magnet flux linkage, θ is the rotor position, iαAnd iβStator currents, u, representing the alpha and beta axes, respectivelyαAnd uβStator voltages representing the alpha and beta axes, respectively, eαAnd eβExtended back emf representing the alpha and beta axes, respectively;
step 1.2, establishing a mechanical motion equation of the permanent magnet synchronous motor:
Figure BDA0001782370290000022
where J is the moment of inertia, B is the damping coefficient, ωmIs the mechanical angular velocity, p is the number of pole pairs of the PMSM, iqIs the q-axis current, TLIs the load torque.
By adopting the method, the specific process in the step 2 is that the continuous sliding mode observer does not:
Figure BDA0001782370290000023
wherein,
Figure BDA0001782370290000024
and
Figure BDA0001782370290000025
respectively representing the estimated values of the alpha-axis current and the beta-axis current, k is a constant coefficient, H represents a continuous sigmoid equation and is expressed as
Figure BDA0001782370290000026
Where a is a constant coefficient.
By adopting the method, the specific design process of the extended state observer in the step 3 is as follows:
step 3.1.1, rewrite formula (2) to
Figure BDA0001782370290000027
Order to
Figure BDA0001782370290000028
Represents the error in the estimation of the mechanical angular velocity of the motor,
Figure BDA0001782370290000029
is an estimate of the mechanical angular velocity, then
Figure BDA0001782370290000031
Represents the total disturbance, including the disturbance due to the estimated mechanical angular velocity, the disturbance due to the load variation, and iqObservation error of (i)q *Is an ideal value of the q-axis current;
step 3.1.2, take d (t) as an expanded state and d (t) as a bounded, ordered state variable
Figure BDA0001782370290000032
x2D (t), then formula (10) may be represented as:
Figure BDA0001782370290000033
wherein
Figure BDA0001782370290000034
Step 3.1.3, designing the extended state observer according to equation (11)
Figure BDA0001782370290000035
Wherein z is1Is x1Estimate of (b), z2Is x2P is expressed as the bandwidth of the ESO;
step 3.1.4, let the estimation error
Figure BDA0001782370290000036
if i is 1,2, the observer estimation error of the extended state observer is derived from equations (11) and (12):
Figure BDA0001782370290000037
definition of
Figure BDA0001782370290000038
When i is 1,2, formula (13) can be expressed as:
Figure BDA0001782370290000039
wherein D is [0,1 ═ D]T，
Figure BDA00017823702900000310
Is a hervitz matrix.
By adopting the method, the motor disturbance compensation controller designed based on the extended state observer in the step 3 is as follows:
Figure BDA00017823702900000311
wherein k ispAnd kiProportional and integral coefficients, omega, of PI control, respectivelym *Is an ideal value of the mechanical angular speed of the motor.
The sensorless high-precision motion control method of the permanent magnet synchronous motor based on the extended state observer does not use a mechanical observer, has strong adaptability to uncertain external disturbance, and can ensure that the speed of the motor is well tracked.
The invention is further described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic structural diagram of the entire permanent magnet synchronous motor control system.
Fig. 2 is a graph showing the comparison curve of the speed of the permanent magnet synchronous motor with time under three control actions.
FIG. 3 is a schematic diagram of an estimate of disturbance by an ISMO + ESO controlled extended state observer.
FIG. 4 is a schematic of the estimate of speed for an ISMO + ESO controlled continuous sliding mode observer.
Detailed Description
With reference to fig. 1, a method for sensorless control of a permanent magnet synchronous motor based on an extended state observer includes the following steps:
step 1, establishing a current state equation and a mechanical motion equation of a permanent magnet synchronous motor in a static coordinate system;
step 2, designing a continuous sliding mode observer;
and 3, designing a motor disturbance compensation controller based on the extended state observer.
Step 1, establishing a current state equation and a mechanical motion equation under a static coordinate system of the permanent magnet synchronous motor:
step 1.1, for a surface-mounted three-phase permanent magnet synchronous motor, a current equation of the surface-mounted three-phase permanent magnet synchronous motor in a static coordinate system is as follows:
Figure BDA0001782370290000041
where R is the stator resistance, L is the stator inductance, ω is the electrical angular velocity,. psifIs the permanent magnet flux linkage, θ is the rotor position, iαAnd iβStator currents, u, representing the alpha and beta axes, respectivelyαAnd uβStator voltages representing the alpha and beta axes, respectively, eαAnd eβRepresenting the extended back emf of the alpha and beta axes, respectively.
Step 1.2, establishing a mechanical motion equation of the permanent magnet synchronous motor:
vector control can realize decoupling of magnetic field and torque, so that the alternating current motor has control performance similar to that of a direct current motor, and is widely applied. In the adoption of
Figure BDA0001782370290000042
In the control strategy of (1), the mechanical motion equation of the motor is as follows:
Figure BDA0001782370290000043
where J is the moment of inertia, B is the damping coefficient, ωmIs the mechanical angular velocity, p is the number of pole pairs of the PMSM, iqIs the q-axis current, TLIs the load torque.
Step 2, designing a continuous sliding mode observer:
step 2.1, in order to obtain an estimated value of the extended back electromotive force, designing a continuous sliding mode observer as follows:
Figure BDA0001782370290000051
wherein
Figure BDA0001782370290000052
And
Figure BDA0001782370290000053
respectively representing the estimated values of the alpha-axis and beta-axis currents, k being a constant coefficient, and H representing a continuous sigmoid equation expressed as:
Figure BDA0001782370290000054
where a is a constant coefficient.
Step 2.2, stability demonstration
Define a slip form surface of
Figure BDA0001782370290000055
Wherein
Figure BDA0001782370290000056
And
Figure BDA0001782370290000057
representing the current error. The Lyapunov function is designed as
Figure BDA0001782370290000058
(1) The difference between the formula (II) and the formula (3)
Figure BDA0001782370290000059
To make it possible to
Figure BDA00017823702900000510
Namely, it is
Figure BDA00017823702900000511
K > max (| e) can be obtainedα|,|eβI.e., when k is large enough, the sliding-mode observer is asymptotically stable. According to the equivalent control principle, the estimated value of the extended back electromotive force is
Figure BDA0001782370290000061
The rotor electrical angular velocity and position can be estimated from the resulting estimate of the extended back emf:
Figure BDA0001782370290000062
the mechanical angular velocity of the motor is estimated as:
Figure BDA0001782370290000063
and 3, designing a motor disturbance compensation controller based on an Extended State Observer (ESO):
step 3.1, design of extended State observer
Rewriting formula (2) to
Figure BDA0001782370290000064
Order to
Figure BDA0001782370290000065
An estimation error representing the mechanical angular velocity of the motor, then
Figure BDA0001782370290000066
Figure BDA0001782370290000067
Represents the total disturbance, including the disturbance due to the estimated mechanical angular velocity, the disturbance due to the load variation, and iqThe observation error of (2);
with d (t) as an expanded state and d (t) bounded, thenVariable in order state
Figure BDA0001782370290000068
x2D (t), then formula (10) may be represented as:
Figure BDA0001782370290000069
wherein
Figure BDA00017823702900000610
The ESO structure is designed according to the formula (11) as follows
Figure BDA00017823702900000611
Wherein z is1Is x1Estimate of (b), z2Is x2P is expressed as the bandwidth of the ESO;
let the estimation error
Figure BDA00017823702900000612
i is 1, 2; then from (11) (12) the estimated error of the ESO observer can be derived as:
Figure BDA0001782370290000071
definition of
Figure BDA0001782370290000072
i is 1, 2; equation (13) can be expressed as:
Figure BDA0001782370290000073
wherein D is [0,1 ═ D]TG is a Helverz matrix having GTF + FG is-I, the matrix F is a symmetric positive definite matrix, and the matrix I is an identity matrix. From the formula (13) can be derived
Figure BDA0001782370290000074
Introduction 1: assuming c (t) is bounded, the estimated state is always bounded, and there is a constant γi> 0 and finite time T1> 0, such that:
Figure BDA0001782370290000075
description 1: it can be seen from lemma 1 that the proposed extended state observer ESO has good observation performance. After a limited time, the estimation error can be reduced to a specified range by increasing the bandwidth P. This means that the estimated state z can be used in the controller design2To compensate for the total disturbance x2。
Step 3.2, designing a compensation controller based on the Extended State Observer (ESO)
The basic principle of disturbance observer control is: firstly, assuming that the disturbance is known, and designing a basic controller to meet the required control requirement; and secondly, designing a disturbance observer to estimate the disturbance, and adding the estimated disturbance into the basic controller to achieve the purposes of canceling the disturbance and improving the control precision. The PI control which has simple structure, high efficiency and easy realization is used as a basic controller, and the disturbance estimation z obtained in the last step is used2Added to the base controller to counteract the effects of the disturbance.
The controller is designed as follows:
Figure BDA0001782370290000076
wherein k ispAnd kiProportional coefficient and integral coefficient of PI control.
Performing MATLAB simulation on the controller with the design:
taking the expected rotating speed of the permanent magnet synchronous motor as omega m *1000; get external interference TLThe initial value is 0, and the mutation is 11 at 15 s; permanent magnet flux linkage psif0.175; moment of inertia J ═ 0.001; damping coefficient B is 0.01; the number of pole pairs p is 4; the motor speed initial value is taken as 0. The calculated parameters a 1050 and C10.
Comparing simulation results: the parameter of the extended state observer designed by the invention is selected as that the ESO bandwidth is taken as P-250; selecting a sensorless control parameter of the motor as 100, and selecting a parameter of K as 200; the parameter of the speed loop PI controller is selected as a proportionality coefficient k p1, integral coefficient ki＝0.01。
The velocity tracking curves for SMO control, ISMO control, and ISMO + ESO control are shown in FIG. 2. From fig. 2, it can be seen that the change of the ISMO + ESO control with time has a small tracking error to the rotation speed, and has a strong anti-interference capability when the external disturbance changes. The disturbance estimation curve of the extended state observer controlled by ISMO + ESO is shown in FIG. 3. The disturbance estimation curve of the extended state observer controlled by the ISMO + ESO is shown in FIG. 3, and it can be seen from FIG. 3 that the extended state observer has a better estimation on the external disturbance, and the estimation error is about 2%. The speed estimation curve of the ISMO + ESO controlled sliding-mode observer is shown in FIG. 4, and it can be seen from FIG. 4 that the continuous sliding-mode observer has a good estimation effect on the rotating speed of the motor, and the estimation error is within 1%.

Claims (2)

1. A permanent magnet synchronous motor sensorless control method based on an extended state observer is characterized by comprising the following steps:
step 1, establishing a current state equation and a mechanical motion equation of a permanent magnet synchronous motor in a static coordinate system;
step 2, designing a continuous sliding mode observer;
step 3, designing a motor disturbance compensation controller based on the extended state observer;
the specific process of the step 1 is as follows:
step 1.1, establishing a current state equation under a static coordinate system of the permanent magnet synchronous motor:
Figure FDA0003316802800000011
where R is stator resistance, L is stator inductance, ω is electrical angular velocity,. psifIs the permanent magnet flux linkage, θ is the rotor position, iαAnd iβStator currents, u, representing the alpha and beta axes, respectivelyαAnd uβStator voltages representing the alpha and beta axes, respectively, eαAnd eβExtended back emf representing the alpha and beta axes, respectively;
step 1.2, establishing a mechanical motion equation of the permanent magnet synchronous motor:
Figure FDA0003316802800000012
where J is the moment of inertia, B is the damping coefficient, ωmIs the mechanical angular velocity, p is the number of pole pairs of the PMSM, iqIs the q-axis current, TLIs the load torque;
the specific process in the step 2 is that the continuous sliding mode observer is as follows:
Figure FDA0003316802800000013
wherein,
Figure FDA0003316802800000014
and
Figure FDA0003316802800000015
respectively representing the estimated values of the alpha-axis current and the beta-axis current, k is a constant coefficient, H represents a continuous sigmoid equation and is expressed as
Figure FDA0003316802800000021
Wherein a is a constant coefficient;
the specific design process of the extended state observer in the step 3 is as follows:
step 3.1.1, rewrite formula (2) to
Figure FDA0003316802800000022
Order to
Figure FDA0003316802800000023
Represents the error in the estimation of the mechanical angular velocity of the motor,
Figure FDA0003316802800000024
is an estimate of the mechanical angular velocity, then
Figure FDA0003316802800000025
Represents the total disturbance, including the disturbance due to the estimated mechanical angular velocity, the disturbance due to the load variation, and iqObservation error of (i)q *Is an ideal value of the q-axis current;
step 3.1.2, take d (t) as an expanded state and d (t) as a bounded, ordered state variable
Figure FDA0003316802800000026
x2D (t), then formula (10) may be represented as:
Figure FDA0003316802800000027
wherein
Figure FDA0003316802800000028
Step 3.1.3, designing the extended state observer according to equation (11)
Figure FDA0003316802800000029
Wherein z is1Is x1Estimate of (b), z2Is x2P is expressed as the bandwidth of the ESO;
step 3.1.4, let the estimation error
Figure FDA00033168028000000210
The observer estimation error of the extended state observer is derived from equations (11), (12) as:
Figure FDA00033168028000000211
definition of
Figure FDA00033168028000000212
Equation (13) can be expressed as:
Figure FDA0003316802800000031
wherein D is [0,1 ═ D]TAnd G is a Helverz matrix.
2. The method according to claim 1, wherein the motor disturbance compensation controller designed based on the extended state observer in step 3 is:
Figure FDA0003316802800000032
wherein k ispAnd kiProportional and integral coefficients, omega, of PI control, respectivelym *Is an ideal value of the mechanical angular speed of the motor.
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CN109995289B (en) * 2019-05-13 2021-01-26 电子科技大学 Model reference self-adaption based active disturbance rejection control optimization method for permanent magnet synchronous motor
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