CN109217746B - Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression - Google Patents

Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression Download PDF

Info

Publication number
CN109217746B
CN109217746B CN201811056553.3A CN201811056553A CN109217746B CN 109217746 B CN109217746 B CN 109217746B CN 201811056553 A CN201811056553 A CN 201811056553A CN 109217746 B CN109217746 B CN 109217746B
Authority
CN
China
Prior art keywords
permanent magnet
direct current
time
magnet brushless
brushless direct
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811056553.3A
Other languages
Chinese (zh)
Other versions
CN109217746A (en
Inventor
王会明
张琪垚
王礼勃
郑帅
陈红
李清都
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing University of Post and Telecommunications
Original Assignee
Chongqing University of Post and Telecommunications
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing University of Post and Telecommunications filed Critical Chongqing University of Post and Telecommunications
Priority to CN201811056553.3A priority Critical patent/CN109217746B/en
Publication of CN109217746A publication Critical patent/CN109217746A/en
Application granted granted Critical
Publication of CN109217746B publication Critical patent/CN109217746B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a control method of a permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression, which mainly comprises the following three steps: firstly, obtaining a system second-order model on the basis of a permanent magnet brushless direct current motor system state equation; secondly, designing a disturbance observer by using a speed signal in the model, wherein the disturbance observer is used for estimating time-varying disturbance in the system; finally, a final time-varying interference suppression controller is designed based on the interference estimates. Compared with the traditional cascade structure control method, the method has the advantages of simple controller design, easy parameter adjustment, strong interference suppression capability and capability of meeting the application requirements of the permanent magnet brushless direct current motor speed regulation system in the high-performance field.

Description

Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression
Technical Field
The invention belongs to a control method of a speed regulating system of a permanent magnet brushless direct current motor, in particular to a control method of a speed regulating system of a permanent magnet brushless direct current motor based on time-varying interference suppression.
Background
The permanent magnet brushless direct current motor is a novel electromechanical integrated motor appearing along with the development of semiconductor electronic technology, is a product combining modern electronic technology (including power electronics and microelectronic technology), control theory and motor technology, is not limited to the field of alternating current and direct current, but also relates to the fields of energy conversion, signal sensing and the like of electromotion and power generation, and is widely applied to the fields of servo control, aerospace, household appliances, robots, factory automation and the like because of a series of advantages of simple structure, high operation efficiency, no excitation loss, good speed regulation performance, light weight, small inertia, accurate control, reliable operation, convenient maintenance and the like.
The interference suppression technology is always a research hotspot problem of a permanent magnet brushless direct current motor speed regulation system and is highly concerned by experts and scholars at home and abroad. Many experts and scholars have made relevant research and certain results. Such as PI control, auto-disturbance rejection control, etc. (Wijia, hemp control Wei. brushless DC motor fuzzy PI control system design [ J ]. Motor and control bulletin, 2016, 20 (3): 102-. However, the conventional PI control algorithm is characterized in that the error is reduced by using the proportion of the error, and the steady-state error is eliminated by using the integral, so that the problem of overshoot increase is brought while the tracking time is shortened, namely, the contradiction between rapidity and stability cannot be solved. Meanwhile, the same parameter in the PI controller cannot be suitable for different rotating speeds, and when the rotating speed changes, the PI parameter also needs to be changed correspondingly. The active disturbance rejection control, although capable of estimating the disturbance in real time and suppressing the system disturbance, can only handle slowly varying disturbances and also cannot handle higher order forms of disturbance.
Therefore, it is very important to design a control method of a permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression, which has high efficiency and simple algorithm.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. The control method for the permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression is provided, wherein the time-varying interference is effectively processed, and the interference rejection performance of the system is improved. The technical scheme of the invention is as follows:
a control method of a permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression comprises the following steps:
firstly, establishing a state space equation of a permanent magnet brushless direct current motor system, and obtaining a second-order model of the system on the basis of the state space equation of the system;
secondly, designing a disturbance observer by using a speed signal in a second-order model of the system to estimate time-varying disturbance in the system;
and finally, designing a final controller based on the time-varying interference estimation value, and utilizing the controller to suppress the time-varying interference of the system.
Further, the establishing of the state space expression of the permanent magnet brushless dc motor system is as follows:
Figure BDA0001795929450000021
wherein the content of the first and second substances,
Figure BDA0001795929450000022
C＝[1 0]，
Figure BDA0001795929450000023
Figure BDA0001795929450000024
x is the system state, including the actual rotation speed omega of the motor and the bus current i, u is the control quantity, y is the control output, J is the moment of inertia, B is the viscous friction coefficient, L is the stator inductance, ktIs motor torque constant, R is stator resistance, npIs the number of the magnetic pole pairs,
Figure BDA0001795929450000025
for rotor flux linkage, omegarFor a given speed of rotation, TLIs the load torque.
Further, according to the system state space equation (1), the following system second-order model is obtained:
Figure BDA0001795929450000026
wherein the content of the first and second substances,
Figure BDA0001795929450000031
definition of x1＝ω，
Figure BDA0001795929450000032
z1＝d(t)，
Figure BDA0001795929450000033
…，zn＝d(n-1)(t), equation (2) can be expanded to the following form:
Figure BDA0001795929450000034
further, the generalized proportional integral disturbance observer GPIO is designed for equation (3) as follows:
Figure BDA0001795929450000035
wherein the content of the first and second substances,
Figure BDA0001795929450000036
are respectively x1，x2Is estimated by the estimation of (a) a,
Figure BDA0001795929450000037
are each z1，z2，…，zn(ii) estimation of (c)1，c2，…，cn+2) Are observer coefficients.
Further, according to the estimation result of the GPIO observer, the controller is in the following form:
Figure BDA0001795929450000038
wherein e ═ ωr-ω，ωrIn order to be referenced to the speed signal,
Figure BDA0001795929450000039
is an estimate of the interference d (t), k1And k2Is the controller coefficient.
The invention has the following advantages and beneficial effects:
1. compared with the traditional control method of the cascade structure of the permanent magnet brushless direct current motor speed regulation system, the method only needs one controller, the controller is simple in design and easy to adjust parameters, and the control system can achieve good dynamic and steady-state performance.
2. Compared with the traditional feedback control system, the control system is designed into a control method based on interference estimation and feedforward compensation, and the anti-interference capability of the system can be effectively improved.
3. Considering that the permanent magnet brushless direct current motor is susceptible to various unknown time-varying interferences, the control method can effectively inhibit various time-varying interferences in the expression forms of constant value, slope, parabola and the like.
Drawings
FIG. 1 is a block diagram of a control system for a preferred implementation of the preferred embodiment of the present invention.
Fig. 2 is a detailed block diagram of the control system.
Fig. 3 is a controller block diagram.
FIG. 4 is a curve of the variation of the rotation speed under the control of PI and GPIO.
Fig. 5 is a current change curve under the control of PI and GPIO.
FIG. 6 is a control variable variation curve under PI control and GPIO control.
Fig. 7 and 8 are variation curves of the estimated value of the motor speed state under the control of the PI and the GPIO.
Fig. 9,10 and 11 are estimated value variation curves of time-varying interference under the control of PI and GPIO.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
the invention relates to a control method of a permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression, which mainly comprises the following three steps: firstly, obtaining a system second-order model on the basis of a permanent magnet brushless direct current motor system state equation; secondly, a speed signal disturbance observer in a system model is used for estimating time-varying disturbance in the system; finally, a final time-varying interference suppression controller is designed based on the interference estimates. Compared with the traditional cascade structure control method, the method has the advantages of simple controller design, easy parameter adjustment, strong interference suppression capability and capability of meeting the application requirements of the permanent magnet brushless direct current motor speed regulation system in the high-performance field.
The present embodiment includes the following steps:
step 1: a permanent magnet brushless direct current motor system model is built according to the figures 1 and 2.
As shown in FIG. 1, the speed regulation control system of the permanent magnet brushless direct current motor comprises a controller and a generalized object, wherein omegarFor a given rotating speed, omega is the actual output rotating speed of the motor, u is a control quantity, and the generalized objects comprise a three-phase inverter and a permanent magnet brushless direct current motor. As shown in fig. 2, the control method of the permanent magnet brushless dc motor speed regulation system based on time-varying interference suppression is a time-varying interference suppression method, and includes an observer and a controller.
Step 2: the controller is designed as shown in fig. 3.
As shown in fig. 3, a state space expression of the permanent magnet brushless dc motor system is established:
Figure BDA0001795929450000051
wherein the content of the first and second substances,
Figure BDA0001795929450000052
C＝[1 0]，
Figure BDA0001795929450000053
Figure BDA0001795929450000054
x is the system state, including the actual rotation speed omega of the motor and the bus current i, u is the control quantity, y is the control output, J is the moment of inertia, B is the viscous friction coefficient, L is the stator inductance, ktIs motor torque constant, R is stator resistance, npIs the number of the magnetic pole pairs,
Figure BDA0001795929450000055
for rotor flux linkage, omegarFor a given speed of rotation, TLIs the load torque.
From the system state space equation (6), the following second order model of the system is obtained:
Figure BDA0001795929450000056
wherein the content of the first and second substances,
Figure BDA0001795929450000057
definition of x1＝ω，
Figure BDA0001795929450000061
z1＝d(t)，
Figure BDA0001795929450000062
…，zn＝d(n-1)(t), equation (7) can be expanded to the following form:
Figure BDA0001795929450000063
the Generalized Proportional Integral Observer (GPIO) is designed for equation (8) as follows:
Figure BDA0001795929450000064
wherein the content of the first and second substances,
Figure BDA0001795929450000065
are respectively x1，x2Is estimated by the estimation of (a) a,
Figure BDA0001795929450000066
are each z1，z2，…，zn(ii) estimation of (c)1，c2，…，cn+2) Are observer coefficients.
Further, according to the estimation result of the observer, a control method of the permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression is designed, and the controller is in the form as follows:
Figure BDA0001795929450000067
wherein e ═ ωr-ω，ωrIn order to be referenced to the speed signal,
Figure BDA0001795929450000068
is an estimate of the interference d (t), k1And k2Is the controller coefficient.
As can be seen from fig. 4, when the system is started, the speed regulating system of the permanent magnet brushless dc motor rapidly reaches a stable value under the control of the controller, the overshoot of the system is small, and the regulating time is short. When the disturbance is applied for 15s when the motor is running, as is apparent from fig. 4, the disturbance rejection performance of the time-varying disturbance rejection controller is better than that of the PI controller.
And 5, 6 are current and control quantity change curves of the motor under the PI control and GPIO control methods.
As can be seen from fig. 7 and 8, the GPIO observer has a good effect of estimating the rotational speed of the motor.
Fig. 9,10,11 are graphs of interference estimation.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims (3)

1. A control method of a permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression is characterized by comprising the following steps:
firstly, establishing a state space equation of a permanent magnet brushless direct current motor system, and obtaining a second-order model of the system on the basis of the state space equation of the system;
secondly, designing a disturbance observer by using a speed signal in a second-order model, and estimating time-varying disturbance in a system;
finally, designing a final controller based on the time-varying interference estimation value, and utilizing the controller to suppress the time-varying interference of the system;
the establishment of the state space expression of the permanent magnet brushless direct current motor system is as follows:
Figure FDA0003161645500000011
wherein the content of the first and second substances,
Figure FDA0003161645500000012
C＝[1 0]，
Figure FDA0003161645500000016
Figure FDA0003161645500000013
x is the system state, including the actual rotation speed omega of the motor and the bus current i, u is the control quantity, y is the control output, J is the moment of inertia, B is the viscous friction coefficient, L is the stator inductance, ktIs motor torque constant, R is stator resistance, npIs the number of the magnetic pole pairs,
Figure FDA0003161645500000014
for rotor flux linkage, omegarFor a given speed of rotation, TLIs the load torque;
according to the system state space equation (1), the following system second-order model is obtained:
Figure FDA0003161645500000015
wherein the content of the first and second substances,
Figure FDA0003161645500000021
definition of x1＝ω，
Figure FDA0003161645500000022
z1＝d(t)，
Figure FDA0003161645500000023
…，zn＝d(n-1)(t), equation (2) can be expanded to the following form:
Figure FDA0003161645500000024
2. the control method of the speed regulating system of the permanent magnet brushless direct current motor based on the time-varying interference suppression as claimed in claim 1, wherein the generalized proportional-integral interference observer GPIO is designed for equation (3) as follows:
Figure FDA0003161645500000025
wherein the content of the first and second substances,
Figure FDA0003161645500000026
are respectively x1，x2Is estimated by the estimation of (a) a,
Figure FDA0003161645500000027
are each z1，z2，…，zn(ii) estimation of (c)1，c2，…，cn+2) Are observer coefficients.
3. The control method of the permanent magnet brushless direct current motor speed regulating system based on time-varying interference suppression as claimed in claim 2, wherein according to the estimation result of the GPIO observer, the controller is in the form of:
Figure FDA0003161645500000028
wherein e ═ ωr-ω，ωrIn order to be referenced to the speed signal,
Figure FDA0003161645500000029
is an estimate of the interference d (t), k1And k2Is the controller coefficient.
CN201811056553.3A 2018-09-11 2018-09-11 Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression Active CN109217746B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811056553.3A CN109217746B (en) 2018-09-11 2018-09-11 Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811056553.3A CN109217746B (en) 2018-09-11 2018-09-11 Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression

Publications (2)

Publication Number Publication Date
CN109217746A CN109217746A (en) 2019-01-15
CN109217746B true CN109217746B (en) 2021-11-16

Family

ID=64986969

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811056553.3A Active CN109217746B (en) 2018-09-11 2018-09-11 Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression

Country Status (1)

Country Link
CN (1) CN109217746B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106655938A (en) * 2017-01-11 2017-05-10 华中科技大学 Permanent magnet synchronous machine control system and permanent magnet synchronous machine control method based on high-order sliding mode method
CN107769642A (en) * 2017-11-01 2018-03-06 东南大学 A kind of driving speed governing integral type constrained forecast control method of direct current generator
CN107994815A (en) * 2017-12-08 2018-05-04 重庆邮电大学 The mismatch time-varying disturbance restraining method of permanent-magnet brushless DC electric machine governing system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106655938A (en) * 2017-01-11 2017-05-10 华中科技大学 Permanent magnet synchronous machine control system and permanent magnet synchronous machine control method based on high-order sliding mode method
CN107769642A (en) * 2017-11-01 2018-03-06 东南大学 A kind of driving speed governing integral type constrained forecast control method of direct current generator
CN107994815A (en) * 2017-12-08 2018-05-04 重庆邮电大学 The mismatch time-varying disturbance restraining method of permanent-magnet brushless DC electric machine governing system

Also Published As

Publication number Publication date
CN109217746A (en) 2019-01-15

Similar Documents

Publication Publication Date Title
CN110429881B (en) Active-disturbance-rejection control method of permanent magnet synchronous motor
Liu et al. Torque ripple minimization of PMSM based on robust ILC via adaptive sliding mode control
Harnefors et al. Speed control of electrical drives using classical control methods
Lin Real-time IP position controller design with torque feedforward control for PM synchronous motor
Chen et al. Intelligent maximum power factor searching control using recurrent Chebyshev fuzzy neural network current angle controller for SynRM drive system
CN107017817B (en) A kind of high speed IPM synchronous motor current decoupling control method
Minghe et al. Proportional resonant-based active disturbance rejection control for speed fluctuation suppression of PMSM drives
Sun et al. Design and application of sliding mode controller in PMSM position tracking control based on adaptive backstepping
CN112039386A (en) Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor
Ding et al. Research on pmsm vector control system based on fuzzy pi parameter self-tuning
Rajendran et al. H-infinity robust control technique for controlling the speed of switched reluctance motor
CN109217746B (en) Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression
Li et al. Aptive integral sliding mode control for permanent magnet synchronous motor speed regulation system
Bai et al. Robust composite finite-time convergent speed control of induction machine based on multiple sources disturbance estimation technology generalized proportional integral observer
Merugumalla et al. Sensorless control of BLDC motor using bio-inspired optimization algorithm and classical methods of tuning PID controller
Huang et al. IPMSM sensorless control based on fuzzy active-disturbance rejection controller for electric vehicle
Yin et al. Super Twisting Control Design for HSPMSG Voltage Stabilization Based on Disturbance Observation Compensation
Merlyn et al. Review of Control Topologies for Flux Switching Motor
Gao et al. Torque ripple minimization strategy for direct torque control of induction motors
Oumar et al. Robust nonlinear controller of the speed for double star induction machine in the presence of a sensor fault
Guo et al. A full-order sliding mode flux observer with stator and rotor resistance adaptation for induction motor
Qu et al. Sliding-mode anti-disturbance speed control of permanent magnet synchronous motor based on an advanced reaching law
Kai et al. A speed observer for speed sensorless control of induction motor
Kaifei et al. Fast Integral Terminal Sliding Mode Control of PMSM Based on New Sliding Mode Reaching Law
Wang et al. A robust speed controller for speed sensorless field-oriented controlled induction motor drives

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant