CN110086407B - Motor, motor control system and variable structure disturbance observer thereof - Google Patents
Motor, motor control system and variable structure disturbance observer thereof Download PDFInfo
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- CN110086407B CN110086407B CN201910391582.3A CN201910391582A CN110086407B CN 110086407 B CN110086407 B CN 110086407B CN 201910391582 A CN201910391582 A CN 201910391582A CN 110086407 B CN110086407 B CN 110086407B
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention relates to a motor, a motor control system and a variable structure disturbance observer thereof, wherein the observer comprises: the motor body model module is used for acquiring the rotation angle of the motor; the error acquisition module is used for acquiring the error amount of the rotation angle; the observation compensation module comprises an integral adjustment branch, a first proportion adjustment branch and a second proportion adjustment branch, and is used for outputting a first system estimation disturbance quantity, the first proportion adjustment branch is provided with a first gain coefficient, the second proportion adjustment branch is provided with a second gain coefficient, the noise sensitivity of the observer is adjusted by adjusting the first gain coefficient, and the bandwidth of the observer is adjusted by adjusting the first gain coefficient and the second gain coefficient; and the motor estimation model module is used for acquiring the motor estimation rotation angle so as to perform disturbance compensation control on the motor. Because the noise sensitivity of the structure can be adjusted, the condition that the motor is easy to vibrate due to the fact that a disturbance observer is sensitive to measurement noise can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a motor, a motor control system and a variable structure disturbance observer thereof.
Background
In a motor control system, load disturbance is a large factor influencing the control performance of a motor, and the influence of the disturbance on the control performance of the motor can be greatly reduced by accurately estimating the system disturbance and performing disturbance compensation.
In the related art, the system disturbance is estimated and compensated by adding a disturbance observer to the motor control system, for example, the disturbance observer may be a disturbance observer based on a position signal as shown in fig. 1, but the disturbance observer with the structure is sensitive to sensor measurement noise, easily amplifies the sensor measurement noise, easily causes motor vibration in engineering application, and is not beneficial to precise motor control.
Disclosure of Invention
Based on this, it is necessary to provide a motor, a motor control system and a variable structure disturbance observer thereof, aiming at the problem that the disturbance observer is sensitive to sensor measurement noise in the related art and the motor is prone to vibration.
A variable structure disturbance observer in a motor control system comprises a motor body model module, an error acquisition module, an observation compensation module and a motor estimation model module, wherein the error acquisition module is respectively connected with the motor body model module, the observation compensation module and the motor estimation model module, the observation compensation module is connected with the motor estimation model module, and the observation compensation module is connected with the motor estimation model module,
the motor body model module is used for acquiring the motor rotation angle of the current control period according to the motor output torque and the system actual disturbance quantity;
the error acquisition module is used for acquiring the rotation angle error amount of the current control cycle according to the rotation angle of the motor, the rotation angle measurement noise of the motor and the motor estimation rotation angle of the previous control cycle;
the observation compensation module comprises an integral adjustment branch, a first proportion adjustment branch and a second proportion adjustment branch which are connected in parallel, the first system estimation disturbance quantity is output according to the rotation angle error quantity through the integral adjustment branch, the first proportion adjustment branch and the second proportion adjustment branch, the first proportion adjustment branch is provided with a first gain coefficient, the second proportion adjustment branch is provided with a second gain coefficient, the noise sensitivity of the observer is adjusted by adjusting the first gain coefficient, and the bandwidth of the observer is adjusted by adjusting the first gain coefficient and the second gain coefficient;
and the motor estimation model module is used for acquiring the motor estimation rotation angle of the current control period according to the first system estimation disturbance quantity and the motor output torque so as to perform disturbance compensation control on the motor.
In one embodiment, the sum of the first gain factor and the second gain factor is 1.
In one embodiment, the integral adjustment branch comprises a first integral unit and an integral adjustment unit which are connected in sequence, and the rotation angle error amount is subjected to integral adjustment through the first integral unit and the integral adjustment unit to obtain a first disturbance amount;
the first proportion adjustment branch comprises a proportion adjustment unit and a first gain unit which are sequentially connected, the first gain unit is provided with a first gain coefficient, and the proportion adjustment unit and the first gain unit are used for carrying out proportion adjustment on the rotation angle error amount so as to obtain a second disturbance amount;
the second proportion adjustment branch comprises a proportion adjustment unit and a second gain unit which are sequentially connected, the second gain unit is provided with a second gain coefficient, and the rotation angle error quantity is proportionally adjusted through the proportion adjustment unit and the second gain unit to obtain a third disturbance quantity;
the observation compensation module further comprises a first superposition unit and a second superposition unit, the first superposition unit is used for superposing the first disturbance quantity and the second disturbance quantity to obtain a second system estimation disturbance quantity, and the second superposition unit is used for superposing the second system estimation disturbance quantity and the third disturbance quantity to obtain a first system estimation disturbance quantity.
In one embodiment, the motor body model module comprises a first conversion unit, a third superposition unit, a second integration unit and a third integration unit which are connected in sequence,
the first conversion unit is used for converting the output torque of the motor to obtain the target acceleration of the motor in the current control period;
the third superposition unit is used for superposing the motor target acceleration and the system actual disturbance quantity to obtain the actual target acceleration of the current control period;
the second integral unit is used for integrating the actual target acceleration to obtain the motor rotating speed of the current control period;
and the third integration unit is used for integrating the rotating speed of the motor to obtain the rotating angle of the motor in the current control period.
In one embodiment, the error obtaining module includes a fourth superimposing unit and a fifth superimposing unit, which are connected in sequence, wherein,
the fourth superposition unit is used for superposing the motor rotation angle and the motor rotation angle measurement noise to obtain the motor measurement rotation angle of the current control period;
and the fifth superposition unit is used for superposing the motor measurement rotating angle and the motor estimation rotating angle of the previous control period to obtain the rotating angle error amount of the current control period.
In one embodiment, the motor estimation model module comprises a second conversion unit, a sixth superposition unit, a fourth integration unit and a fifth integration unit, which are connected in sequence, wherein,
the second conversion unit is used for converting the output torque of the motor to obtain the target acceleration of the motor in the current control period;
the sixth superposition unit is used for superposing the motor target acceleration and the first system estimation disturbance quantity to obtain the estimation target acceleration of the current control period;
the fourth integral unit is used for integrating the estimated target acceleration to obtain the estimated speed of the motor in the current control period;
and the fifth integration unit is used for integrating the motor estimated speed to obtain the motor estimated rotation angle of the current control period.
In one embodiment, the observation compensation module further comprises a differential adjustment branch, and a fourth disturbance quantity is output through the differential adjustment branch according to the rotation angle error quantity;
the motor estimation model module further comprises a seventh superposition unit, wherein the seventh superposition unit is connected between the fourth integration unit and the fifth integration unit and is used for superposing the fourth disturbance quantity and the motor estimation speed and transmitting the superposed motor estimation speed to the fifth integration unit.
In one embodiment, the differential adjustment branch includes a differential adjustment unit by which the rotational angle error amount is differentially adjusted to obtain the fourth disturbance amount.
A motor control system comprises the variable structure disturbance observer.
A motor comprises the motor control system.
The motor, the motor control system and the variable structure disturbance observer thereof acquire the motor rotation angle of the current control period through the motor body model module according to the motor output torque and the system actual disturbance quantity, and the error acquisition module acquires the rotation angle error amount of the current control cycle according to the rotation angle of the motor, the measurement noise of the rotation angle of the motor and the estimated rotation angle of the motor in the previous control cycle, and outputting a first system estimated disturbance quantity according to the rotation angle error quantity through an integral adjusting branch circuit, a first proportion adjusting branch circuit and a second proportion adjusting branch circuit in the observation compensation module, and obtaining the estimated rotation angle of the motor in the current control period through the estimated motor model module according to the estimated disturbance quantity of the first system and the output torque of the motor, the motor is subjected to disturbance compensation control, so that the influence of disturbance on the control performance of the motor is greatly reduced. The first proportion adjusting branch circuit is provided with a first gain coefficient, the second proportion adjusting branch circuit is provided with a second gain coefficient, the noise sensitivity of the observer can be adjusted by adjusting the first gain coefficient of the first proportion adjusting branch circuit, the situation that the motor is easy to vibrate due to the fact that the disturbance observer is sensitive to measured noise is effectively avoided, the noise sensitivity can be freely adjusted, the observer can be suitable for different application scenes, the actual engineering application requirements are met, and meanwhile the bandwidth of the observer can be adjusted by adjusting the first gain coefficient and the second gain coefficient, so that the actual engineering application requirements are met.
Drawings
FIG. 1 is a schematic diagram of a disturbance observer based on a position signal in the related art;
FIG. 2 is a block diagram of a variable disturbance observer in an embodiment of a machine control system;
FIG. 3 is a schematic structural diagram of a variable structure disturbance observer in the motor control system according to an embodiment;
FIG. 4 is a schematic structural diagram of a variable structure disturbance observer in a motor control system according to another embodiment;
fig. 5a is a schematic diagram of an equivalent structure of the disturbance observer shown in fig. 4 when α is 0;
fig. 5b is a schematic diagram of an equivalent structure of the disturbance observer shown in fig. 4 when α is 1;
FIG. 6a is a graph of step response of disturbance estimation for different first gain factors α;
FIG. 6b is a graph of the frequency response of the disturbance estimation for different first gain factors α;
fig. 6c is a graph of the frequency response of the noise sensitivity transfer function for different first gain factors alpha.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
In a motor control system, load disturbance is a large factor influencing the control performance of a motor, and the influence of the disturbance on the control performance of the motor can be greatly reduced by accurately estimating the system disturbance and performing disturbance compensation. In the related art, the system disturbance is estimated and compensated by adding a disturbance observer to the motor control system, for example, the disturbance observer may be a disturbance observer based on a position signal as shown in fig. 1, but the disturbance observer with the structure is sensitive to sensor measurement noise, easily amplifies the sensor measurement noise, easily causes motor vibration in engineering application, and is not beneficial to precise motor control.
Specifically, referring to fig. 1, the disturbance observer mainly includes three major parts, namely a motor body model, an observation compensator and an object model, wherein the observation compensator adopts a general PID regulator structure, and in order to avoid the structure from being too sensitive to sensor measurement noise N, a low-pass filter is added in a differential branch, and the low-pass filter is used for low-pass filtering processing to reduce the noise sensitivity of the observation compensator.
In this disturbance observer, the transfer function of the observation compensator is expressed by the following equation (1):
wherein, KdpIs a differential coefficient, KppIs a proportionality coefficient, KipAs an integral coefficient, TdIs the time constant of the low-pass filter in the differentiating branch.
The equivalent transfer function of the object model is shown in the following equation (2):
wherein, anThe nominal inertia of the motor.
Then, obtaining a closed-loop transfer function of the disturbance observer according to the formulas (1) and (2), and carrying out zero-pole configuration on the disturbance observer, if the closed-loop poles of the system are four heavy poles and are all located at (-omega)n) Here, finally, a closed-loop transfer function of the disturbance observer, that is, a transfer function of the position estimation, that is, a transfer function between the estimated rotation angle of the motor and the rotation angle of the motor, may be obtained, as shown in the following equation (3):
wherein the content of the first and second substances,
the rotation angle is estimated for the motor, and q(s) is the motor rotation angle.
Under the condition of neglecting the feedforward input of the disturbance observer, namely the output torque tau of the motor, the transfer function between the estimated disturbance quantity of the system and the estimated rotation angle of the motor can be obtained as shown in the following formula (4):
wherein the content of the first and second substances,
the amount of disturbance is estimated for the system,
the rotation angle is estimated for the motor.
Then, a transfer function between the system estimated disturbance amount and the motor rotation angle obtained according to the above equations (3) and (4) is shown by the following equation (5):
wherein the content of the first and second substances,
and q(s) is the rotation angle of the motor.
Under the condition of neglecting the feedforward input of the disturbance observer, namely the output torque tau of the motor, the transfer function between the actual disturbance quantity of the system and the rotation angle of the motor can be obtained as shown in the following formula (6):
τdis(s)＝an·s2·q(s) (6)
wherein, taudis(s) is the actual disturbance amount of the system, and q(s) is the rotation angle of the motor.
Then, a closed-loop transfer function of the disturbance estimation can be obtained according to the above equations (5) and (6), that is, a transfer function between the system estimated disturbance amount and the system actual disturbance amount is shown in the following equation (7):
wherein the content of the first and second substances,
estimating the disturbance amount, tau, for the systemdis(s) is the actual disturbance of the system.
As can be seen from the above equations (3) and (7), the closed-loop transfer function of the disturbance estimation
And transfer function of position estimation
And (4) the same. Considering the noise sensitivity transfer function, i.e., the transfer function between the system estimated disturbance amount and the sensor measurement noise, as shown in the following equation (8):
wherein the content of the first and second substances,
the disturbance amount is estimated for the system, and N(s) measures the noise for the sensor.
It can be seen from the above formula (8) that since there are two differential links in the noise sensitivity transfer function, the observation compensator of the structure is sensitive to the sensor measurement noise n(s), and the sensor measurement noise n(s) is easily amplified, so that the motor vibration is easily caused in the engineering application, and the precise motor control is not facilitated. Based on this, the application provides a variable structure disturbance observer in a motor control system, which can adjust noise sensitivity, such as reduce noise sensitivity, so as to avoid the occurrence of the condition that the motor is easy to vibrate due to the fact that the disturbance observer is sensitive to measurement noise.
Fig. 2 is a block diagram of a variable structure disturbance observer in a motor control system according to an embodiment, as shown in fig. 2, the variable structure disturbance observer in the motor control system includes a motor body model module 10, an error obtaining module 20, an observation compensation module 30, and a motor estimation model module 40, the error obtaining module 20 is connected to the motor body model module 10, the observation compensation module 30, and the motor estimation model module 40, respectively, and the observation compensation module 30 is connected to the motor estimation model module 40.
The motor body model module 10 is configured to obtain a motor rotation angle of a current control period according to a motor output torque and a system actual disturbance amount. The error obtaining module 20 is configured to obtain a rotation angle error amount of the current control cycle according to the motor rotation angle, the motor rotation angle measurement noise, and the motor estimated rotation angle of the previous control cycle. The observation compensation module 30 includes an integral adjustment branch 31, a first proportional adjustment branch 32, and a second proportional adjustment branch 33 connected in parallel, the first system estimated disturbance amount is output according to the rotation angle error amount through the integral adjustment branch 31, the first proportional adjustment branch 32, and the second proportional adjustment branch 33, the first proportional adjustment branch 32 has a first gain coefficient, the second proportional adjustment branch 33 has a second gain coefficient, the noise sensitivity of the observer is adjusted by adjusting the first gain coefficient, and the bandwidth of the observer is adjusted by adjusting the first gain coefficient and the second gain coefficient. The motor estimation model module 40 is used for obtaining the estimated rotation angle of the motor in the current control period according to the first system estimated disturbance quantity and the motor output torque so as to perform disturbance compensation control on the motor.
Specifically, referring to fig. 2, in the process of controlling the motor, the motor body model module 10 outputs a torque T according to the motor output torqueeAnd the actual disturbance amount tau of the systemdisObtaining the motor rotation angle theta of the current control period, wherein the motor outputs the torque TeFor the actual output electromagnetic torque of the motor, the actual disturbance quantity tau of the systemdisThe motor rotation angle theta is the actual rotation position of the motor. The error obtaining module 20 estimates the rotation angle according to the motor rotation angle theta, the motor rotation angle measurement noise N and the motor estimation rotation angle of the previous control period
Obtaining the rotation angle error amount theta of the current control perioderrAnd the motor rotation angle measurement noise N is sensor measurement noise. The observation compensation module 30 includes an integral adjustment branch 31, a first proportional adjustment branch 32 and a second proportional adjustment branch 33, which are connected in parallel, and the integral adjustment branch 31, the first proportional adjustment branch 32 and the second proportional adjustment branch 33 are used for adjusting the rotation angle error amount thetaerrCan estimate the estimated disturbance amount of the first system
The motor estimation model module 40 estimates the disturbance amount according to the first system
And motor output torque TeObtaining the motor estimated rotation angle of the current control period
The motor is subjected to disturbance compensation control, so that the influence of disturbance on the control performance of the motor is greatly reduced.
In addition, in this embodiment, the first proportional adjusting branch 32 has a first gain coefficient, which determines the sensitivity of the disturbance observer to the motor rotation angle measurement noise N, that is, the sensitivity of the disturbance observer to the sensor measurement noise, so that the noise sensitivity of the disturbance observer can be adjusted by adjusting the first gain coefficient, for example, when the measurement noise is relatively large, the noise sensitivity of the disturbance observer can be reduced by adjusting the first gain coefficient, thereby effectively avoiding the occurrence of the situation that the motor is easy to vibrate due to the fact that the disturbance observer is relatively sensitive to the measurement noise, and since the noise sensitivity can be freely adjusted, the first proportional adjusting branch is applicable to different application scenarios, and meets the requirements of practical engineering application. Meanwhile, the second proportional regulating branch 33 has a second gain coefficient, and the second gain coefficient and the first gain coefficient jointly determine the bandwidth of the disturbance observer, so that the bandwidth of the disturbance observer can be adjusted by adjusting the second gain coefficient and the first gain coefficient, for example, when the first gain coefficient needs to be adjusted down to reduce the noise sensitivity of the disturbance observer, the second gain coefficient can be simultaneously adjusted up to keep the bandwidth of the disturbance observer unchanged, thereby meeting the practical engineering application requirements. That is to say, through the reasonable adjustment of the first gain coefficient and the second gain coefficient, the noise sensitivity and the bandwidth of the disturbance observer can simultaneously meet the requirements of practical engineering application, and the universality is strong.
In one embodiment, the sum of the first gain coefficient and the second gain coefficient is 1, so that the noise sensitivity adjustment of the disturbance observer can be realized under the condition of ensuring that the bandwidth of the disturbance observer is unchanged, and the problem that the bandwidth of the disturbance observer is changed after the noise sensitivity is changed is not considered.
For example, the first proportional regulating branch 32 and the second proportional regulating branch 33 may be configured to have the same reference regulating ratio, except that the first proportional regulating branch 32 has a first gain coefficient, the second proportional regulating branch 33 has a second gain coefficient, and the sum of the first gain coefficient and the second gain coefficient is 1, the first proportional regulating branch 32 and the second proportional regulating branch 33 are stacked in parallel, such that when the noise sensitivity of the disturbance observer needs to be reduced, the first gain coefficient may be reduced, since the sum of the first gain coefficient and the second gain coefficient is 1, the corresponding second gain coefficient may be increased, and since the first proportional regulating branch 32 and the second proportional regulating branch 33 are stacked in parallel, after being regulated by the first proportional regulating branch 32 and the second proportional regulating branch 33, the output value is only related to the reference regulating ratio, and is not related to both the first gain coefficient and the second gain coefficient, the bandwidth of the disturbance observer is kept unchanged, so that the noise sensitivity of the disturbance observer can be adjusted under the condition of ensuring that the bandwidth of the disturbance observer is unchanged, and the problem that the bandwidth of the disturbance observer is changed after the noise sensitivity is changed is not considered.
In one embodiment, referring to fig. 3, the integral adjustment branch 31 includes a first integration unit 311 and an integral adjustment unit 312 connected in sequence, and the rotation angle error amount is integrally adjusted by the first integration unit 311 and the integral adjustment unit 312 to obtain a first disturbance amount; the first proportional regulating branch 32 includes a proportional regulating unit 321 and a first gain unit 322 connected in sequence, the first gain unit 322 has a first gain coefficient, and the rotation angle error amount is proportionally regulated by the proportional regulating unit 321 and the first gain unit 322 to obtain a second disturbance amount; the second proportional adjustment branch 33 includes a proportional adjustment unit 321 and a second gain unit 332 connected in sequence, the second gain unit 332 has a second gain coefficient, and the rotation angle error amount is proportionally adjusted by the proportional adjustment unit 321 and the second gain unit 332 to obtain a third disturbance amount; the observation compensation module 30 further includes a first superposition unit 34 and a second superposition unit 35, the first superposition unit 34 is configured to superpose the first disturbance amount and the second disturbance amount to obtain a second system estimated disturbance amount, and the second superposition unit 35 is configured to superpose the second system estimated disturbance amount and the third disturbance amount to obtain a first system estimated disturbance amount.
Specifically, the first integration unit 311 is a primary integration unit, and the rotation angle error amount θ is rotated by the first integration unit 311 and the integration adjustment unit 312errThe integral adjustment is performed to obtain a first disturbance amount, i.e. the first disturbance amount is
Wherein, KipIs the integration coefficient of the integration adjustment unit 312. The first gain unit 322 has a first gain coefficient, and the rotation angle error amount θ is adjusted by the proportional adjustment unit 321 and the first gain unit 322errThe second disturbance quantity is obtained by proportional adjustment, namely the second disturbance quantity is thetaerr·Kppα, wherein Kppα is a first gain coefficient, which is a scaling coefficient of the scaling unit 321. The second gain unit 332 has a second gain coefficient, and the rotation angle error amount θ is adjusted by the proportional adjustment unit 321 and the second gain unit 332errThe third disturbance quantity is obtained by proportional adjustment, namely the third disturbance quantity is thetaerr·Kpp(1-. alpha.) wherein KppIs the scaling factor of the scaling unit 321, and (1- α) is the second gain factor.
First superimposed sheetElement 34 shifts the first disturbance amount
And a second disturbance amount thetaerr·KppA is superimposed to obtain a second system estimated disturbance quantity
The second system estimates the disturbance amount
Namely, the system disturbance estimation output reflects the noise sensitivity of the disturbance observer, and the noise sensitivity and the first gain coefficient alpha are in positive correlation, so that the noise sensitivity of the disturbance observer can be adjusted by adjusting the first gain coefficient alpha. The second superimposing unit 35 estimates the second system disturbance amount
And a third disturbance amount thetaerr·Kpp(1- α) are superimposed to obtain a first system estimated disturbance quantity
Since the sum of the first gain coefficient α and the second gain coefficient (1- α) is 1 and the same scaling unit 321 is used in this embodiment, the first system estimates the disturbance amount after scaling by the first scaling branch 32 and the second scaling branch 33
The method is independent of the first gain coefficient alpha and the second gain coefficient (1-alpha), so that the bandwidth of the disturbance observer can be kept unchanged, and the noise sensitivity of the disturbance observer can be adjusted under the condition of keeping the bandwidth of the disturbance observer unchanged without considering the problem that the bandwidth of the disturbance observer is changed after the noise sensitivity is changed.
In one embodiment, referring to fig. 3, the motor body model module 10 includes a first converting unit 11, a third superimposing unit 12, a second integrating unit 13, and a third integrating unit 14 connected in sequence, where the first converting unit 11 is configured to convert the motor output torque to obtain the motor target acceleration of the current control period; the third superposition unit 12 is configured to superpose the motor target acceleration and the system actual disturbance amount to obtain an actual target acceleration of the current control period; the second integration unit 13 is configured to integrate the actual target acceleration to obtain the motor speed of the current control period; the third integration unit 14 is configured to integrate the motor rotation speed to obtain the motor rotation angle of the current control period.
In particular, the first conversion unit 11 may be defined by the nominal inertia J of the electric machinenTo motor output torque TePerforming conversion to obtain the motor target acceleration tau of the current control periodeWherein the nominal inertia J of the machinenCan be replaced by the actual moment of inertia a (q) of the motor, which is equal to the nominal moment of inertia J of the motornApproximately equal, with the difference that the nominal inertia J of the motornTheoretical and actual moments of inertia a (q) of the machine are actual values and will vary slightly due to manufacturing consistency. The third superimposing unit 12 adds the motor target acceleration τ to the motor target acceleration τeAnd the actual disturbance amount tau of the systemdisPerforming superposition to obtain the actual target acceleration a of the current control periodeqAt this time, the actual disturbance amount tau of the systemdisThe equivalent acceleration value of the disturbance generated by the friction force, gravity, tension, the change of the motor transmission load and the like borne by the motor shaft. The second integration unit 13 and the third integration unit 14 are primary integration units, and the second integration unit 13 is used for measuring the actual target acceleration aeqIntegration is performed to obtain the motor rotation speed ω of the current control period, and the third integration unit 14 integrates the motor rotation speed ω to obtain the motor rotation angle θ of the current control period.
In an embodiment, with continuing reference to fig. 3, the error obtaining module 20 includes a fourth superimposing unit 21 and a fifth superimposing unit 22 connected in sequence, where the fourth superimposing unit 21 is configured to superimpose the motor rotation angle and the motor rotation angle measurement noise to obtain the motor measurement rotation angle of the current control period; the fifth superimposing unit 22 is configured to superimpose the motor measured rotation angle and the motor estimated rotation angle of the previous control cycle to obtain the rotation angle error amount of the current control cycle.
Specifically, the fourth superimposing unit 21 superimposes the motor rotation angle θ and the motor rotation angle measurement noise N to obtain the motor measurement rotation angle of the current control period, and the fifth superimposing unit 22 superimposes the motor measurement rotation angle and the motor estimated rotation angle of the previous control period
Performing superposition to obtain the rotation angle error amount theta of the current control perioderr。
In one embodiment, with continued reference to fig. 3, the motor estimation model module 40 includes a second conversion unit 41, a sixth superposition unit 42, a fourth integration unit 43, and a fifth integration unit 44 connected in sequence, wherein the second conversion unit 41 is configured to convert the motor output torque to obtain the motor target acceleration of the current control cycle; the sixth superposition unit 42 is configured to superpose the motor target acceleration and the first system estimated disturbance amount to obtain an estimated target acceleration of the current control period; the fourth integrating unit 43 is configured to integrate the estimated target acceleration to obtain the estimated motor speed for the current control period; the fifth integration unit 44 is configured to integrate the estimated motor speed to obtain an estimated motor rotation angle for the current control period.
In particular, the second conversion unit 41 may be defined by the nominal inertia J of the electric machinenOr the actual rotational inertia a (q) of the motor outputs torque T to the motorePerforming conversion to obtain the motor target acceleration tau of the current control periodeIn practical applications, the first converting unit 11 and the second converting unit 41 may use the same inertia to output the torque T to the motoreThe conversion is performed and one of the conversion units may be omitted when the same inertia is employed. The sixth superimposing unit 42 superimposes the motor target acceleration τeAnd the first system estimates the disturbance amount
The overlapping is carried out, and the overlapping is carried out,to obtain an estimated target acceleration of the current control period
The fourth integration unit 43 and the fifth integration unit 44 are both primary integration units, and the fourth integration unit 43 estimates the target acceleration
Integrating to obtain the estimated speed of the motor in the current control period
The fifth integration unit 44 estimates the speed of the motor
Integrating to obtain the motor estimated rotation angle of the current control period
In one embodiment, referring to fig. 4, the observation compensation module 30 further includes a differential adjustment branch, through which a fourth disturbance amount is output according to the rotation angle error amount; the motor estimation model module 40 further includes a seventh superposition unit 45, where the seventh superposition unit 45 is connected between the fourth integration unit 43 and the fifth integration unit 44, and is configured to superpose the fourth disturbance quantity and the estimated motor speed, and transmit the superposed estimated motor speed to the fifth integration unit 44. Wherein the differential adjustment branch includes a differential adjustment unit 341, and the rotational angle error amount is differentially adjusted by the differential adjustment unit 341 to obtain a fourth disturbance amount.
Specifically, a differential adjustment branch is further provided in the observation compensation module 30, the differential adjustment branch including a differential adjustment unit 341, and the rotational angle error amount θ is adjusted by the differential adjustment unit 341errA differential adjustment is performed to obtain a fourth disturbance quantity, i.e. the fourth disturbance quantity is thetaerr·KdpWherein, K isdpIs a differential coefficient of the differential adjusting unit 341. Meanwhile, a motor estimation model module 40 is providedA seventh superimposing unit 45 is provided, and the fourth disturbance amount and the estimated motor speed are calculated by the seventh superimposing unit 45
The motor estimated speed is transmitted to the fifth integration unit 44 for integration processing to obtain the motor estimated rotation angle
In this embodiment, the system stability can be ensured by performing the differential adjustment through the differential adjustment branch, and the output of the differential adjustment branch is directly superimposed on the estimated speed of the motor instead of the estimated disturbance amount of the first system, so that the input of the differential adjustment branch into the noise processing can be effectively avoided, the calculation amount of the noise processing can be effectively reduced, and the low-pass filter shown in fig. 1 can be omitted.
Further, in the embodiment shown in fig. 4, the first gain coefficient α has a value ranging from 0 to 1, where when α is 0, the structure of the disturbance observer shown in fig. 4 is equivalent to that shown in fig. 5a, and at this time, the first system disturbance estimator
And a second system disturbance estimator
Difference, i.e. system disturbance estimation output
And the output of the observation compensation module 30
Different; when α is 1, the structure of the disturbance observer shown in fig. 4 is equivalent to that shown in fig. 5b, and the first system disturbance estimator is now present
And a second system disturbance estimator
Same, i.e. system disturbance estimation output
Is also the output of the observation compensation module 30
When 0 < α < 1, the characteristics of the disturbance observer lie between the disturbance observer structures shown in fig. 5a and 5 b.
The transfer function and noise sensitivity function for the disturbance estimation using the disturbance observer shown in fig. 4 are given below. Specifically, the motor rotation angle θ and the motor target acceleration τ in the current control cycleeAs an input to the observation compensation module 30, a transfer function for which a disturbance estimate can be obtained is shown in equation (9) below:
wherein the content of the first and second substances,
for the system disturbance estimation output, namely a second system disturbance estimation quantity, theta(s) is the motor rotation angle of the current control period, alpha is a first gain coefficient, KppIs the scale factor of the scale adjustment unit 321, KipIs the integral coefficient of the integral adjustment unit 312, KdpIs a differential coefficient of the differential adjusting unit 341, taue(s) target motor acceleration, τ, for the current control cycledis(s) is the actual disturbance of the system.
The noise sensitivity transfer function is shown by the following equation (10):
wherein the content of the first and second substances,
and for the system disturbance estimation output, namely a second system disturbance estimation quantity, theta(s) is the motor rotation angle of the current control period, N(s) is the motor rotation angle measurement noise, and alpha is a first gain coefficient.
Then, carrying out zero-pole configuration on the disturbance observer, if the closed-loop poles of the system are three heavy poles and are all positioned at (-omega)p) Then, a transfer function of the disturbance estimate, i.e. a transfer function between the second system disturbance estimator and the actual system disturbance amount, can be finally obtained, as shown in the following equation (11):
wherein the content of the first and second substances,
estimating the output for the system disturbance, i.e. the second system disturbance estimator, taudisAnd(s) is the actual disturbance quantity of the system, and alpha is a first gain coefficient.
Accordingly, the noise sensitivity transfer function, i.e., the transfer function between the second system disturbance estimator and the sensor measurement noise, is given by the following equation (12):
wherein the content of the first and second substances,
and outputting the system disturbance estimation, namely a second system disturbance estimation quantity, N(s) is motor rotation angle measurement noise, namely sensor measurement noise, and alpha is a first gain coefficient.
Let us assume, ωpWhen 628rad/s is used and the first gain factor α is adjusted, the response curves of the transfer functions shown in the above equations (11) and (12) are shown in fig. 6 a-6 c, where fig. 6a is the step response curve of the disturbance estimation at different first gain factors αFig. 6b is a graph of the frequency response of the disturbance estimation for different first gain factors α, and fig. 6c is a graph of the frequency response of the noise sensitivity transfer function for different first gain factors α. As can be seen from fig. 6a to 6c, the disturbance observer shown in fig. 4 is adopted, and under the condition that the bandwidth of the disturbance observer is fixed, different disturbance and noise sensitivity response curves can be obtained by adjusting the first gain coefficient α, so that the disturbance observer with the structure has more degrees of freedom to adapt to different application scenarios, and the requirements of practical engineering application are met.
It should be noted that, the disturbance observer shown in fig. 3-4 above all implements adjustment of noise sensitivity under the condition that the bandwidth of the disturbance observer is not changed by setting the sum of the first gain coefficient and the second gain coefficient to 1, while in other embodiments, the first gain coefficient and the second gain coefficient may be individually adjusted to implement simultaneous adjustment of the bandwidth and noise sensitivity of the disturbance observer, and details thereof will not be described here.
The variable structure disturbance observer in the motor control system obtains the motor rotation angle of the current control period through the motor body model module according to the motor output torque and the system actual disturbance quantity, and the error acquisition module acquires the rotation angle error amount of the current control cycle according to the rotation angle of the motor, the measurement noise of the rotation angle of the motor and the estimated rotation angle of the motor in the previous control cycle, and outputting a first system estimated disturbance quantity according to the rotation angle error quantity through an integral adjusting branch circuit, a first proportion adjusting branch circuit and a second proportion adjusting branch circuit in the observation compensation module, and obtaining the estimated rotation angle of the motor in the current control period through the estimated motor model module according to the estimated disturbance quantity of the first system and the output torque of the motor, the motor is subjected to disturbance compensation control, so that the influence of disturbance on the control performance of the motor is greatly reduced. The first proportion adjusting branch circuit is provided with a first gain coefficient, the second proportion adjusting branch circuit is provided with a second gain coefficient, the noise sensitivity of the observer can be adjusted by adjusting the first gain coefficient of the first proportion adjusting branch circuit, the situation that the motor is easy to vibrate due to the fact that the disturbance observer is sensitive to measured noise is effectively avoided, the noise sensitivity can be freely adjusted, the observer can be suitable for different application scenes, the actual engineering application requirements are met, and meanwhile the bandwidth of the observer can be adjusted by adjusting the first gain coefficient and the second gain coefficient, so that the actual engineering application requirements are met.
In one embodiment, the present application further provides a motor control system comprising the variable structure disturbance observer described above. According to the motor control system, through the variable-structure disturbance observer, the influence of disturbance on the control performance of the motor can be greatly reduced, the situation that the motor is easy to vibrate due to the fact that the disturbance observer is sensitive to measurement noise is effectively avoided, the motor control system can be suitable for different application scenes, the actual engineering application requirements are met, and the universality is high.
In one embodiment, the present application further provides an electric machine including the above-described motor control system. Through the motor control system, the influence of disturbance on the performance of the motor can be greatly reduced, the situation that the motor is easy to vibrate due to the fact that a disturbance observer is sensitive to measurement noise is effectively avoided, the motor can be suitable for different application scenes, the actual engineering application requirements are met, and the motor control system has high universality.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A variable structure disturbance observer in a motor control system is characterized by comprising a motor body model module, an error acquisition module, an observation compensation module and a motor estimation model module, wherein the error acquisition module is respectively connected with the motor body model module, the observation compensation module and the motor estimation model module, and the observation compensation module is connected with the motor estimation model module,
the motor body model module is used for acquiring the rotation angle of the motor in the current control period according to the output torque of the motor and the actual disturbance quantity of the system;
the error acquisition module is used for acquiring the rotation angle error amount of the current control cycle according to the motor rotation angle, the motor rotation angle measurement noise and the motor estimation rotation angle of the previous control cycle;
the observation compensation module comprises an integral adjustment branch, a first proportion adjustment branch and a second proportion adjustment branch, and performs integral adjustment on the rotation angle error quantity through the integral adjustment branch to obtain a first disturbance quantity, performs proportion adjustment on the rotation angle error quantity through the first proportion adjustment branch to obtain a second disturbance quantity, and performs proportion adjustment on the rotation angle error quantity through the second proportion adjustment branch to obtain a third disturbance quantity, wherein the first disturbance quantity, the second disturbance quantity and the third disturbance quantity output a first system estimation disturbance quantity through superposition, the first proportion adjustment branch has a first gain coefficient, the second proportion adjustment branch has a second gain coefficient, and the noise sensitivity of the observer is adjusted through adjusting the first gain coefficient, adjusting the bandwidth of the observer by adjusting the first gain factor and the second gain factor;
and the motor estimation model module is used for acquiring the motor estimation rotation angle of the current control period according to the first system estimation disturbance quantity and the motor output torque so as to perform disturbance compensation control on the motor.
2. The observer according to claim 1, wherein the sum of the first gain factor and the second gain factor is 1.
3. The observer according to claim 2, wherein the integral adjustment branch includes a first integration unit and an integral adjustment unit connected in sequence, and the rotation angle error amount is integrally adjusted by the first integration unit and the integral adjustment unit to obtain the first disturbance amount;
the first proportion adjustment branch comprises a proportion adjustment unit and a first gain unit which are sequentially connected, the first gain unit is provided with the first gain coefficient, and the rotation angle error amount is proportionally adjusted through the proportion adjustment unit and the first gain unit to obtain the second disturbance amount;
the second proportional adjustment branch comprises a proportional adjustment unit and a second gain unit which are sequentially connected, the second gain unit is provided with a second gain coefficient, and the rotation angle error amount is proportionally adjusted through the proportional adjustment unit and the second gain unit to obtain a third disturbance amount;
the observation compensation module further includes a first superposition unit and a second superposition unit, the first superposition unit is configured to superpose the first disturbance quantity and the second disturbance quantity to obtain a second system estimated disturbance quantity, and the second superposition unit is configured to superpose the second system estimated disturbance quantity and the third disturbance quantity to obtain the first system estimated disturbance quantity.
4. An observer according to claim 1, wherein the motor body model module comprises a first converting unit, a third superimposing unit, a second integrating unit and a third integrating unit connected in sequence,
the first conversion unit is used for converting the output torque of the motor to obtain the target acceleration of the motor in the current control period;
the third superposition unit is used for superposing the motor target acceleration and the system actual disturbance quantity to obtain the actual target acceleration of the current control period;
the second integration unit is used for integrating the actual target acceleration to obtain the motor rotating speed of the current control period;
and the third integration unit is used for integrating the rotating speed of the motor to obtain the rotating angle of the motor in the current control period.
5. The observer according to claim 1, characterized in that said error acquisition module comprises a fourth and a fifth superposition unit connected in series, wherein,
the fourth superposition unit is used for superposing the motor rotation angle and the motor rotation angle measurement noise to obtain a motor measurement rotation angle of the current control period;
and the fifth superposition unit is used for superposing the motor measurement rotating angle and the motor estimation rotating angle of the previous control cycle to obtain the rotating angle error amount of the current control cycle.
6. An observer according to any one of claims 1-5, wherein the motor estimation model module comprises a second conversion unit, a sixth superposition unit, a fourth integration unit and a fifth integration unit connected in series, wherein,
the second conversion unit is used for converting the output torque of the motor to obtain the target acceleration of the motor in the current control period;
the sixth superposition unit is used for superposing the motor target acceleration and the first system estimated disturbance quantity to obtain an estimated target acceleration of the current control period;
the fourth integration unit is used for integrating the estimated target acceleration to obtain the estimated speed of the motor in the current control period;
and the fifth integration unit is used for integrating the motor estimated speed to obtain the motor estimated rotation angle of the current control period.
7. The observer according to claim 6, wherein the observation compensation module further comprises a differential adjustment branch, by which a fourth disturbance amount is output according to the rotation angle error amount;
the motor estimation model module further comprises a seventh superposition unit, wherein the seventh superposition unit is connected between the fourth integration unit and the fifth integration unit, and is used for superposing the fourth disturbance quantity and the motor estimated speed and transmitting the superposed motor estimated speed to the fifth integration unit.
8. The observer according to claim 7, wherein the differential adjustment branch includes a differential adjustment unit by which the rotational angle error amount is differentially adjusted to obtain the fourth disturbance amount.
9. A motor control system comprising a variable structure disturbance observer according to any one of claims 1 to 8.
10. An electric machine comprising a motor control system according to claim 9.
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