CN109617469A - A kind of permanent magnet synchronous motor active disturbance rejection passive control method - Google Patents
A kind of permanent magnet synchronous motor active disturbance rejection passive control method Download PDFInfo
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- CN109617469A CN109617469A CN201811605621.7A CN201811605621A CN109617469A CN 109617469 A CN109617469 A CN 109617469A CN 201811605621 A CN201811605621 A CN 201811605621A CN 109617469 A CN109617469 A CN 109617469A
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- magnet synchronous
- synchronous motor
- permanent magnet
- disturbance rejection
- control method
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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
- 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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of control methods, specifically a kind of permanent magnet synchronous motor active disturbance rejection passive control method, include the following steps: using output feedback so that motor closed loop system performance shows as passive mapping, different output function and energy function are selected, a variety of different passive coherent locating methods are designed.It is theoretical that the method for the present invention is based on ADRC, ADRC revolving speed outer ring adjuster is devised, this method fundamentally solves the contradiction between rapidity and overshoot, can reduce the overshoot of revolving speed, the ability for resisting Parameter Perturbation and load disturbance, can guarantee the accurate quick tracking of PMSM revolving speed.
Description
Technical field
The present invention relates to a kind of control method, specifically a kind of permanent magnet synchronous motor active disturbance rejection passive control method.
Background technique
With asking for the rapid development of microprocessor, power electronic technique and control theory, especially vector control technology
Generation, so that the speed adjusting performance of alternating current generator obtains huge leap forward, AC speed regulating has become main mode of speed regulation.Ac adjustable speed motor
In commonly use induction machine, electric excitation synchronous motor and permanent magnet synchronous motor etc., wherein induction machine there is controls difficult, effect
The disadvantages of rate is low, and low-speed performance is poor；Electric excitation synchronous motor leads to that its structure is complicated due to the presence of electrical excitation device, maintenance
Difficulty is unsuitable for using in adverse circumstances.With the appearance of novel permanent magnetic material, permanent magnet synchronous motor obtains paying attention to and develop.
Permanent magnet synchronous motor (Permanent Magnet Synchronous Machines, PMSM) have it is compact-sized,
The advantages that power density is high, operational efficiency is high, torque ripple is small, speed-regulating range width, is designed by reasonable rotor magnetic circuit structural
Good torque/current characteristics and weak magnetic property can be obtained.Therefore, internal permanent magnet synchronous motor aerospace, national defence,
The every field such as industrial and agricultural production are more and more widely used, and are had especially in terms of electric car driving very high
Application value.
Permanent magnet synchronous motor is a multivariable, non-linear, close coupling system.Permanent magnet synchronous motor is during the motion
It will receive the influence of several factors, such as: extraneous load condition variation, friction force-disturbance or system parameter variations etc..Permanent magnetism is same
Step motor generally uses the control method of linear regulation rule.Due to linearisation can only Local approximation, obtained by linearisation
Mathematical model the dynamic and static process of system can not be described accurately.It facts have proved the control method using linear regulation rule
There is significant limitation, the variation of system parameter can not be adapted to, also can not meet motor in global revolving speed-torque range
It is required that it is even more impossible to fundamentally solve the contradiction between the dynamic of system and Index For Steady-state.In addition, if will saturation, magnetization, temperature
The various factors for influencing system performances such as liter take into account, the electromagnetic parameters such as stator inductance, rotor flux of permanent magnet synchronous motor
It is also variation.Design method with preset parameter does not consider the temporal behavior of motor electromagnetic parameter, it can only be made to be consolidated
Fixed average operation characteristic, it is difficult to guarantee riding quality of the motor in wide revolving speed-torque range.Therefore, for non-linear
The research of control strategy and its parameter identification method is the effective way for solving the problems, such as internal permanent magnet synchronous motor nonlinear Control
Diameter.
Some advanced Non-Linear Control Theories are applied to control system for permanent-magnet synchronous motor and achieved by many scholars
Certain research achievement.The nonlinear control method of permanent magnet synchronous motor mainly has Sliding mode variable structure control, feedback linearization at present
Change control, Reverse Step Control, Passive Shape Control, Active Disturbance Rejection Control etc..
Sliding mode variable structure control is a kind of special nonlinear Control, has response quickly, strong robustness, design method letter
The advantages that single.However, this control method needs carry out between the control law of different structure frequently according to system state change
Switching, this will unavoidably bring system chatter.Therefore, how to pass through the sides such as improved reaching law, introducing load torque observer
Method weakens system chatter, becomes the research hotspot that sliding mode control theory is applied to real electrical machinery control system.
Modified feedback linearization control method is intended to using Nonlinear control law, and nonlinear system, which is converted into input with output, is
The linear system of linear relationship, then controller is designed by linear theory, to improve the dynamic and static characteristic of system.This method
The shortcomings that be: need system whole state be all it is observable, need accurate dynamic model, it is big to the dependence of parameter, control
System rule is complicated.
The basic thought of Reverse Step Control method is the son resolved into complicated nonlinear system no more than system with respect to order
Then each subsystem is designed part Lyapunov function and intermediate virtual control amount by system, always " retrogressing " to entire system
They, are integrated the design for completing entire control law by system.The shortcomings that backstepping is that cannot have to rotor flux
The tracking of effect cannot compensate electric parameter, and computationally intensive, and real-time is poor.
Passive Shape Control strategy (Passivity-Based Control, PBC) is started with from the energy of motor, is sought and quilt
The relevant energy function of control amount, the energy function distribution that the passive control law of design can be such that energy function hopes on schedule, to reach
To control purpose.Passive Shape Control is right from the viewpoint of based on the control strategy for energy, being a kind of global definition and Existence of Global Stable
System parameter perturbation and external disturbance have stronger robustness.
The core concept of Active Disturbance Rejection Control (Active Disturbances Rejection Controller, ADRC) is
The Unmarried pregnancy of system and the unknown outer effect of disturbing all are attributed to " the total disturbance " to system and is assessed and is recompensed.
This control technology transition process arranging solves the contradiction between rapidity and overshoot, is also able to achieve without feedback " without quiet
Difference ", avoids the side effect of integral feedback.
Summary of the invention
The purpose of the present invention is to provide a kind of permanent magnet synchronous motor active disturbance rejection passive control methods, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of permanent magnet synchronous motor active disturbance rejection passive control method includes the following steps: using output feedback so that motor closes
Loop system characteristic shows as passive mapping, selects different output function and energy function, designs a variety of different passivity controls
Method processed.
As a further solution of the present invention: further include: under stator coordinate, the feedback of system does not need observer,
Utilize the Existence of Global Stable for directly inputting output feedback realization system.
As a further solution of the present invention: further include: based on the mathematical model of permanent magnet synchronous motor, then use number
Model is learned to establish the concrete scheme of control system, establishes the mathematical model of internal permanent magnet synchronous motor control system.
As a further solution of the present invention: further include: it is used to realize to the fast of system input signal using differentiator TD
Fast non-overshoot tracking, and good differential signal can be provided to it.
As a further solution of the present invention: further include: using automatic disturbance rejection controller the uncertain of system self model
Property as being disturbed in system, it and the outer of system disturb the disturbance for being counted as whole system together, do not distinguish in disturb and disturb outside and straight
Connect their the total disturbance of comprehensive function-system of detection, by extended state observer to the state of system and disturbance respectively into
Row estimation.
As a further solution of the present invention: further include: the compensating action of disturbance component is obtained using Nonlinear control law.
As the present invention further scheme: further include: use Port-Controlled dissipation Hamilton model, according to interconnection and
Damping injection setting method carries out energy function forming, and determines suitable damping injection；For Active Disturbance Rejection Control, first with
Nonlinear Tracking Differentiator carrys out tracking system input signal, provides differential signal therewith, then dry to system by extended state observer
It disturbs and is assessed, finally fed back using nonlinear state error to carry out disturbance compensation.
Compared with prior art, it the beneficial effects of the present invention are: (1) starts with from the angle of energy equation first, devises
Then the model of Passive Shape Control determines the equalization point of system by way of MTPA, devise current inner loop PBC controller, into
And improve the robustness of system.(2) theoretical based on ADRC, ADRC revolving speed outer ring adjuster is devised, this method fundamentally solves
The contradiction determined between rapidity and overshoot can reduce the overshoot of revolving speed, resist the energy of Parameter Perturbation and load disturbance
Power can guarantee the accurate quick tracking of PMSM revolving speed.
Specific embodiment
The following is a clear and complete description of the technical scheme in the embodiments of the invention, it is clear that described embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Embodiment 1:
A kind of permanent magnet synchronous motor active disturbance rejection passive control method includes the following steps: using output feedback so that motor closes
Loop system characteristic shows as passive mapping, selects different output function and energy function, designs a variety of different passivity controls
System side.
Embodiment 2:
A kind of permanent magnet synchronous motor active disturbance rejection passive control method includes the following steps: using output feedback so that motor closes
Loop system characteristic shows as passive mapping, selects different output function and energy function, designs a variety of different passivity controls
System side；The feedback of system does not need observer, utilizes the Existence of Global Stable for directly inputting output feedback realization system；With permanent-magnet synchronous
Based on the mathematical model of motor, the concrete scheme of control system is then established with mathematical model, it is same to establish built-in type permanent-magnet
Walk the mathematical model of electric machine control system.
Embodiment 3:
On the basis of embodiment 2, the method for the present invention further include: be used to realize to the fast of system input signal using differentiator TD
Fast non-overshoot tracking, and good differential signal can be provided to it.
Embodiment 5:
On the basis of embodiment 4, the method for the present invention further include: using automatic disturbance rejection controller the uncertain of system self model
Property as being disturbed in system, it and the outer of system disturb the disturbance for being counted as whole system together, do not distinguish in disturb and disturb outside and straight
Connect their the total disturbance of comprehensive function-system of detection, by extended state observer to the state of system and disturbance respectively into
Row estimation.
Embodiment 6:
On the basis of embodiment 5, the method for the present invention further include: made using the compensation that Nonlinear control law obtains disturbance component
Use
Embodiment 7:
On the basis of embodiment 6, the method for the present invention further include: use Port-Controlled dissipation Hamilton model, according to interconnection and
Damping injection setting method carries out energy function forming, and determines suitable damping injection；For Active Disturbance Rejection Control, first with
Nonlinear Tracking Differentiator carrys out tracking system input signal, provides differential signal therewith, then dry to system by extended state observer
It disturbs and is assessed, finally fed back using nonlinear state error to carry out disturbance compensation.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of permanent magnet synchronous motor active disturbance rejection passive control method, which comprises the steps of: utilize output feedback
So that motor closed loop system performance shows as passive mapping, different output function and energy function are selected, design is a variety of not
Same passive coherent locating method.
2. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 1, which is characterized in that further include:
Under stator coordinate, the feedback of system does not need observer, utilizes the Existence of Global Stable for directly inputting output feedback realization system.
3. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 1, which is characterized in that further include: with
Based on the mathematical model of permanent magnet synchronous motor, the concrete scheme of control system is then established with mathematical model, built in foundation
The mathematical model of formula control system for permanent-magnet synchronous motor.
4. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 1 or 2, which is characterized in that further include:
It is used to realize the quick non-overshoot tracking to system input signal using differentiator TD, and good differential letter can be provided to it
Number.
5. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 3, which is characterized in that further include: it adopts
With automatic disturbance rejection controller the uncertain as disturbing in system of system self model, outer disturb of it and system is counted as together
The disturbance of whole system does not distinguish the interior total disturbance of comprehensive function-system disturbed and disturb and directly detect them outside, passes through expansion
State observer is opened to estimate the state of system and disturbance respectively.
6. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 5, which is characterized in that further include: benefit
The compensating action of disturbance component is obtained with Nonlinear control law.
7. permanent magnet synchronous motor active disturbance rejection passive control method according to claim 1 or 2, which is characterized in that further include:
Using Port-Controlled dissipation Hamilton model, energy function forming is carried out according to interconnection and damping injection setting method, and determine
Suitable damping injection；For Active Disturbance Rejection Control, carrys out tracking system input signal first with Nonlinear Tracking Differentiator, provide therewith micro-
Then sub-signal is assessed system interference by extended state observer, finally using nonlinear state error feed back come
Carry out disturbance compensation.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110752806A (en) * | 2019-10-24 | 2020-02-04 | 合肥工业大学 | Sliding mode rotating speed control method of built-in permanent magnet synchronous motor with improved approach law |
Citations (4)
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| CN101997470A (en) * | 2010-07-29 | 2011-03-30 | 上海应用技术学院 | Adaptive passivity-based control (PBC) method for doubly-fed induction wind driven generator |
| CN103051274A (en) * | 2012-11-28 | 2013-04-17 | 西安理工大学 | Variable damping-based passive control method for two-degree-of-freedom permanent magnetic synchronous motor |
| CN103066902A (en) * | 2013-01-24 | 2013-04-24 | 河海大学 | Method for realizing passive control law of direct-current motor based on load observation |
| CN103312255A (en) * | 2013-06-18 | 2013-09-18 | 山东大学（威海） | Method and device for controlling speed of permanent-magnet synchronous motor |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101997470A (en) * | 2010-07-29 | 2011-03-30 | 上海应用技术学院 | Adaptive passivity-based control (PBC) method for doubly-fed induction wind driven generator |
| CN103051274A (en) * | 2012-11-28 | 2013-04-17 | 西安理工大学 | Variable damping-based passive control method for two-degree-of-freedom permanent magnetic synchronous motor |
| CN103066902A (en) * | 2013-01-24 | 2013-04-24 | 河海大学 | Method for realizing passive control law of direct-current motor based on load observation |
| CN103312255A (en) * | 2013-06-18 | 2013-09-18 | 山东大学（威海） | Method and device for controlling speed of permanent-magnet synchronous motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110752806A (en) * | 2019-10-24 | 2020-02-04 | 合肥工业大学 | Sliding mode rotating speed control method of built-in permanent magnet synchronous motor with improved approach law |
| CN110752806B (en) * | 2019-10-24 | 2021-01-15 | 合肥工业大学 | Sliding mode rotating speed control method of built-in permanent magnet synchronous motor with improved approach law |
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