CN110661464B - Disturbance suppression method for alternating current servo system and position loop - Google Patents

Disturbance suppression method for alternating current servo system and position loop Download PDF

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CN110661464B
CN110661464B CN201910947112.0A CN201910947112A CN110661464B CN 110661464 B CN110661464 B CN 110661464B CN 201910947112 A CN201910947112 A CN 201910947112A CN 110661464 B CN110661464 B CN 110661464B
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sliding mode
servo system
controller
loop
upper bound
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CN110661464A (en
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李方俊
王利
李昕奇
李俊峰
李�浩
王生捷
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Beijing Machinery Equipment Research Institute
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/143—Inertia or moment of inertia estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention relates to an alternating current servo system and a disturbance suppression method of a position ring, belongs to the technical field of motor control, and solves the problems of poor position precision and low response speed of the traditional alternating current servo system; the system adopts a double closed-loop control structure comprising a position loop and a current loop, wherein the position loop comprises a self-adaptive nonsingular terminal sliding mode controller which is used for resolving a q-axis current signal according to an external tracking instruction signal; the system comprises an extended state observer, a sliding mode position controller and a controller, wherein the extended state observer is used for observing the upper bound of load disturbance on a position ring, feeding back the upper bound of load disturbance to the sliding mode position controller, and compensating the calculation of the sliding mode position controller; and controlling the motor to rotate on the current loop according to the solved q-axis current signal. The invention simplifies the control structure of the alternating current servo system and improves the response capability and robustness of the position servo system; and the upper bound of the load disturbance on the position ring is observed and then substituted into the controller for compensation, so that the disturbance resistance of the servo system is further improved.

Description

Disturbance suppression method for alternating current servo system and position loop
Technical Field
The invention relates to the technical field of motor control, in particular to an alternating current servo system and a disturbance suppression method of a position loop.
Background
At the present stage, a permanent magnet synchronous motor position servo system generally adopts a three-closed-loop control structure, wherein an inner loop is a current loop, a secondary loop is a speed loop, and an outermost loop is a position loop; PID is the most common design method for loop controllers. However, the traditional PID controller has complex parameter adjustment and slow system response speed, and is difficult to achieve ideal control effect in the face of uncertain system structure parameters or time-varying, nonlinear and load-varying conditions. In recent years, a plurality of advanced control algorithms are applied to an uncertain permanent magnet synchronous motor servo system, for example, an adaptive backstepping control method is adopted to estimate unknown parameters of the system and sliding mode control is utilized to ensure the robustness of the system to unknown disturbance; and the buffeting problem existing in the system is restrained by adopting a self-adaptive fuzzy sliding mode control method. However, the above control method has certain disadvantages, such as: the problem of 'item expansion' exists when a controller structure is designed by adopting a backstepping method, so that the designed control input quantity is extremely large, and an actual control system is difficult to realize; the linear sliding mode surface adopted by the traditional sliding mode controller is low in response speed, the system state is difficult to converge to a given track in limited time theoretically, the sliding mode controller also has the inherent buffeting problem and poor position precision; moreover, in order to obtain good disturbance rejection capability, the conventional sliding mode controller has to make the upper limit value of the disturbance larger, which aggravates the jitter of the system.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an ac servo system and a disturbance suppression method for a position loop, which solve the problems of poor position accuracy and slow response speed of the conventional ac servo system.
The purpose of the invention is mainly realized by the following technical scheme:
the invention discloses an alternating current servo system which adopts a double closed loop control structure and comprises a position loop and a current loop;
the position ring comprises a sliding mode position controller and an extended state observer;
the sliding mode position controller is a self-adaptive nonsingular terminal sliding mode controller and is used for resolving a q-axis current signal according to an external tracking instruction signal;
the extended state observer is used for observing the upper bound D of load disturbance on the position ring, feeding the upper bound D back to the sliding mode position controller and compensating the calculation of the sliding mode position controller;
and the current loop controls the motor to rotate according to the solved q-axis current signal.
Further, the number of nonsingular terminal sliding mode surfaces constructed in the adaptive nonsingular terminal sliding mode controller
Figure GDA0002798624360000021
Wherein e (t) is θ -yrIs the position tracking error of the servo system, yrA rotation angle designated for an external tracking command signal, and theta is a motor rotation mechanical angle; beta is a>0 is a constant; p and q are odd numbers of the set slip form faces, and q<p<2q。
Further, the Lyapunov function constructed in the adaptive nonsingular terminal sliding mode controller is as follows:
Figure GDA0002798624360000022
in the formula, lambda and mu are positive proportionality coefficients;
Figure GDA0002798624360000023
the estimated value of the system moment of inertia J is obtained;
Figure GDA0002798624360000024
as system configuration parameters
Figure GDA0002798624360000025
J is the system moment of inertia converted to the shaft end of the motor; b is the friction coefficient.
Further, the system structure parameter self-adaptive estimation value
Figure GDA0002798624360000026
Satisfy the relation:
Figure GDA0002798624360000027
in the formula, w is the mechanical angular velocity of the motor, and S is the number of nonsingular terminal sliding mode surfaces; obtaining a system structure parameter self-adaptive estimated value by integrating the relational expression
Figure GDA0002798624360000028
Further, the estimated value of the system moment of inertia J
Figure GDA0002798624360000031
Satisfy the relation:
Figure GDA0002798624360000032
in the formula u*Assigning a voltage to the d-axis; the estimated value of the system rotational inertia can be obtained by integrating the relational expression
Figure GDA0002798624360000033
Further, the q-axis control current is output
Figure GDA0002798624360000034
In the formula, TeThe electromagnetic torque of the permanent magnet synchronous motor; n ispThe number of electrode pairs of the permanent magnet synchronous motor is; psifIs a motor rotor flux linkage.
Further, the d-axis specifies the voltage
Figure GDA0002798624360000035
In the formula, D is the upper limit of load disturbance; sgn (S) is a sliding mode face switching function; k is a direct proportionality coefficient.
Furthermore, the extended state observer adopts a multi-order linear extended state observation equation
Figure GDA0002798624360000036
Observing a load disturbance upper bound D on the position ring; in the formula, z1And z2Is the observed value of the angular position and the speed of the rotor, z, observed by the extended state observer3Is the observed value of the upper bound D of load disturbance; theta is the mechanical angle of rotation of the motor, beta1、β2And beta3To observe the coefficient, u*Is the d-axis specified voltage calculated by the sliding mode position controller.
The invention also discloses a position loop disturbance suppression method of the alternating current servo system, which comprises the following steps,
step S1, calculating the position tracking error of the servo system;
step S2, in the position ring, according to the sliding mode surface of the constructed sliding mode position controller and the Lyapunov function, performing progressive stable control by taking the position tracking error as input, and iteratively calculating a q-axis current signal; observing load disturbance by using an extended state observer, and carrying the observed load disturbance into the sliding mode position controller for calculation compensation;
and step S3, controlling the motor to rotate in the current loop according to the q-axis current signal.
Further, the step S2 includes the following sub-steps:
step S2-1, in the position ring, calculating the number S of the sliding mode surfaces and the system structure parameters according to the position tracking error and the p and q values of the sliding mode surfaces
Figure GDA0002798624360000044
Adaptive estimate of
Figure GDA0002798624360000041
Step S2-2, calculating D-axis specified voltage u according to the sliding mode surface number S and the disturbance upper bound value D*；
Step S2-3, calculating an estimated value of the rotational inertia of the system
Figure GDA0002798624360000042
D-axis is assigned a voltage u*Substituting the disturbance upper bound value D into the extended state observer to calculate the disturbance upper bound value D of the next iterative calculation;
step S2-4, according to the estimated value of the system moment of inertia
Figure GDA0002798624360000043
And d-axis specified voltage u*Calculating q-axis control current iq*。
The invention has the following beneficial effects:
the invention simplifies the control structure of the alternating current servo system and improves the response capability and robustness of the position servo system; and the upper bound of the load disturbance on the position ring is observed and then substituted into the controller for compensation, so that the disturbance resistance of the servo system is further improved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of an AC servo system according to a first embodiment of the present invention;
FIG. 2 is a graph comparing the convergence rates of the slip-form surfaces according to a first embodiment of the present invention;
fig. 3 is a flowchart of a disturbance suppression method for a position ring according to a second embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The first embodiment,
The embodiment discloses an alternating current servo system, as shown in fig. 1, which adopts a double closed-loop control structure, including a position loop and a current loop;
the position ring comprises a sliding mode position controller and an extended state observer;
the sliding mode position controller is used for resolving a q-axis current signal according to an external tracking instruction signal;
the extended state observer is used for observing the load disturbance upper bound D on the position ring, feeding the load disturbance upper bound D back to the sliding mode position controller, compensating the calculation of the sliding mode position controller and improving the disturbance resistance of the alternating current servo system;
and the current loop controls the motor to rotate according to the solved q-axis current signal.
Specifically, the sliding mode position controller is a self-adaptive nonsingular terminal sliding mode controller;
the nonsingular terminal sliding mode surface S constructed in the adaptive nonsingular terminal sliding mode controller according to the present embodiment is as follows:
Figure GDA0002798624360000051
wherein e (t) is θ -yrIs the position tracking error of the servo system, yrThe angle theta is a mechanical angle of rotation of the motor and is obtained by an angle sensor in the distance ring; beta is a>0 is a design constant; p and q are odd numbers of the set slip form faces, and q<p<2q。
When the nonsingular terminal sliding mode surface S is equal to 0, solving a sliding mode surface equation to obtain:
Figure GDA0002798624360000052
the time from initial state e (0) ≠ 0 to e (t) ═ 0 is tsThen t issCan be determined by the following formula:
Figure GDA0002798624360000053
it can be seen that the systematic error will be at finite time tsInner converges to zero.
Compared with the traditional linear sliding mode surface, the nonsingular terminal sliding mode surface of the embodiment has higher convergence speed due to the introduction of the nonlinear term, and the system can reach the sliding mode surface within a limited time; compared with the common terminal sliding mode surface, the nonsingular terminal sliding mode surface of the embodiment also avoids the situation of infinite control input, namely the singularity phenomenon of the system; as shown in fig. 2, the convergence speed of the nonsingular terminal slip-form surfaces is significantly faster than the convergence speed of the linear slip-form surfaces.
In this embodiment, the Lyapunov function of the nonsingular terminal sliding mode controller is designed as:
Figure GDA0002798624360000061
in the formula, lambda and mu are positive proportionality coefficients;
Figure GDA0002798624360000062
the estimated value of the system moment of inertia J is obtained;
Figure GDA0002798624360000063
as system configuration parameters
Figure GDA0002798624360000064
J is the system moment of inertia converted to the shaft end of the motor; b is the friction coefficient.
In order to meet the gradual stability of a closed-loop control system, the designed Lyapunov function needs to meet the requirement
Figure GDA0002798624360000065
Thus, the Lyapunov function is derived as:
Figure GDA0002798624360000066
mechanical equation of position of linear servo system
Figure GDA0002798624360000067
Substitution into
Figure GDA0002798624360000068
Obtaining:
Figure GDA0002798624360000069
wherein u is TeThe torque is the electromagnetic torque of the permanent magnet synchronous motor, delta is load disturbance, and | delta | is less than or equal to D; d is a disturbance upper bound value; w represents the mechanical angular velocity of the motor;
order to
Figure GDA00027986243600000610
Namely, it is
Figure GDA00027986243600000611
Substituting the formula to obtain:
Figure GDA00027986243600000612
in the above-mentioned formula, the compound of formula,
u*specifying a voltage for the d-axis that satisfies the following relationship:
Figure GDA0002798624360000071
in the formula, D is the upper limit of load disturbance; sgn (S) is a sliding mode face switching function; k is a direct proportionality coefficient;
system structural parameters
Figure GDA0002798624360000072
Is estimated value of
Figure GDA0002798624360000073
The following relation is satisfied:
Figure GDA0002798624360000074
estimated value of system moment of inertia J
Figure GDA0002798624360000075
The following relation is satisfied:
Figure GDA0002798624360000076
bringing the three formulas into
Figure GDA0002798624360000077
To obtain the following formula:
Figure GDA0002798624360000078
due to the fact that
Figure GDA0002798624360000079
Thus, in the above formula
Figure GDA00027986243600000710
That is, the Lyapunov function of the nonsingular terminal sliding-mode controller of the embodiment satisfies the gradual stability condition, and the designed closed-loop control system is gradually stable.
Since the Lyapunov function of the embodiment includes the estimated value of the system moment of inertia J
Figure GDA00027986243600000711
System structural parameters
Figure GDA00027986243600000712
Is estimated value of
Figure GDA00027986243600000713
Adaptive terms such as friction coefficient B; therefore, the control precision is higher, the anti-interference capability is better, and the response speed is faster.
When the closed-loop control system realizes gradual stability, the electromagnetic torque equation of the surface-mounted permanent magnet synchronous motor is Te＝npψfiqObtaining the q-axis control current output by the nonsingular terminal sliding mode controller
Figure GDA00027986243600000714
In the formula, TeThe electromagnetic torque of the permanent magnet synchronous motor; n ispThe number of electrode pairs of the permanent magnet synchronous motor is; psifA motor rotor flux linkage;
Figure GDA00027986243600000715
the estimated value of the system moment of inertia J is obtained; u. of*The d-axis is specified with a voltage.
In the embodiment, the extended state observer adopts a multi-order linear extended state observation equation to observe the load disturbance;
specifically, the linear expansion state observation equation is
Figure GDA0002798624360000081
In the formula, z1And z2Is the observed value of the angular position and the speed of the rotor, z, observed by the extended state observer3Is the observed value of the upper bound D of load disturbance; theta is a mechanical rotation angle of the motor; beta is a1、β2And beta3The observation coefficient can be specifically debugged through simulation or experiment; u. of*Is the d-axis specified voltage calculated by the sliding mode position controller.
The current total disturbance value of the load on the position ring, namely the disturbance upper bound, can be obtained through observation of the extended state observer, and is fed back to the sliding mode position controller to compensate the next calculation, so that the disturbance resistance of the alternating current servo system is improved.
In summary, the ac servo system of the embodiment adopts a double closed-loop control structure, and the external tracking command signal is resolved into a q-axis current signal by the designed sliding-mode position controller to directly control the current loop, so as to simplify the control manner of the three closed loops of the conventional PID position servo system and improve the response speed of the servo system;
the adopted nonsingular terminal sliding mode surface introduces a nonlinear term, so that the convergence speed is higher, the system can reach the sliding mode surface within limited time, and the condition of infinite control input, namely the singularity phenomenon of the system, is avoided;
the adopted Lyapunov function comprises a self-adaptive term, so that the control precision is higher, the anti-interference capability is better, and the response speed is higher;
the state observation is carried out by adopting a multi-order linear expansion state observation equation, the observation precision is high, and the convergence speed is high.
Example II,
The embodiment discloses a disturbance suppression method for a position loop of an alternating current servo system, which adopts the alternating current servo system with a double closed-loop control structure in the first embodiment, as shown in fig. 3, and specifically includes the following steps:
step S1, calculating the position tracking error of the servo system;
the position tracking error is e (t) θ -yr，yrA tracking angle position obtained for an external tracking command signal; theta is the mechanical angle position of the motor rotation.
Step S2, in the position ring, according to the sliding mode surface of the constructed sliding mode position controller and the Lyapunov function, performing progressive stable control by taking the position tracking error as input, and iteratively calculating a q-axis current signal; observing load disturbance by using an extended state observer, and carrying the observed load disturbance into the sliding mode position controller for calculation compensation;
and step S3, controlling the motor to rotate in the current loop according to the q-axis current signal.
After the step S3 is completed, the process returns to step S1 to calculate the position tracking error of the servo system again, and the next iteration is performed to output the q-axis current signal to control the motor to rotate.
Specifically, the step S2 includes the following sub-steps:
step S2-1, in the position ring, calculating the number S of the sliding mode surfaces and the system structure parameters according to the position tracking error and the p and q values of the sliding mode surfaces
Figure GDA0002798624360000098
Adaptive estimate of
Figure GDA0002798624360000091
In particular, number of faces of slip form
Figure GDA0002798624360000092
System structural parameters
Figure GDA0002798624360000093
Adaptive estimate of
Figure GDA0002798624360000094
The following relation is satisfied:
Figure GDA0002798624360000095
the adaptive estimated value of the system structure parameter can be obtained by integrating the above formula
Figure GDA0002798624360000096
Step S2-2, calculating D-axis specified voltage u according to the sliding mode surface number S and the disturbance upper bound value D*；
Specifically, the d-axis specifies the voltage
Figure GDA0002798624360000097
In the formula, w represents the mechanical angular velocity of the motor, yrA rotation angle specified for the instruction; d is the upper limit of load disturbance; sgn (S) is a sliding mode face switching function; k is a direct proportionality coefficient;
in the first iterative calculation, the disturbance upper bound value D is a set value, and in the subsequent iterative calculation, the disturbance upper bound value D calculated by the extended state observer in the last iterative calculation is adopted.
Step S2-3, calculating an estimated value of the rotational inertia of the system
Figure GDA0002798624360000101
D-axis is assigned a voltage u*Substituting the disturbance upper bound value D into the extended state observer to calculate the disturbance upper bound value D of the next iterative calculation;
estimated value of system moment of inertia
Figure GDA0002798624360000102
The following relation is satisfied:
Figure GDA0002798624360000103
the estimated value of the system rotational inertia can be obtained by integrating the above formula
Figure GDA0002798624360000104
The disturbance upper bound value D is obtained according to the linear expansion state observation equation
Figure GDA0002798624360000105
In the formula, z1And z2Is the observed value of the angular position and the speed of the rotor, z, observed by the extended state observer3The observed value of the upper bound of the load disturbance is the disturbance upper bound value D; theta is the mechanical angle of rotation of the motor, beta1、β2And beta3To observe the coefficient, u*Is the d-axis specified voltage calculated by the sliding mode position controller.
Step S2-4, according to the estimated value of the system moment of inertia
Figure GDA0002798624360000106
And d-axis specified voltage u*Calculating q-axis control current iq output by sliding mode position controller*；
Specifically, the q-axis controls the current
Figure GDA0002798624360000107
In the formula, TeThe electromagnetic torque of the permanent magnet synchronous motor; n ispThe number of electrode pairs of the permanent magnet synchronous motor is; psifA motor rotor flux linkage;
Figure GDA0002798624360000108
the estimated value of the system moment of inertia J is obtained; u. of*The d-axis is specified with a voltage.
Compared with the prior art, the beneficial effects of the vacuum cleaner provided by the embodiment are basically the same as those provided by the first embodiment, and are not repeated herein.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (4)

1. An alternating current servo system is characterized in that a double closed loop control structure is adopted, and the double closed loop control structure comprises a position loop and a current loop;
the position ring comprises a sliding mode position controller and an extended state observer;
the sliding mode position controller is a self-adaptive nonsingular terminal sliding mode controller and is used for resolving a q-axis current signal according to an external tracking instruction signal;
the extended state observer is used for observing the upper bound D of load disturbance on the position ring, feeding the upper bound D back to the sliding mode position controller and compensating the calculation of the sliding mode position controller;
the current loop controls the permanent magnet synchronous motor to rotate according to the solved q-axis current signal;
the number S of nonsingular terminal sliding mode surfaces constructed in the self-adaptive nonsingular terminal sliding mode controller is as follows:
Figure FDA0002965622950000011
wherein e (t) is θ -yrIs the position tracking error of the servo system, yrThe rotation angle is specified for an external tracking command signal, theta is the mechanical rotation angle of the permanent magnet synchronous motor, beta is more than 0 and is a constant, p and q are odd numbers of a set sliding mode surface, and q is more than p and less than 2 q;
the Lyapunov function V constructed in the self-adaptive nonsingular terminal sliding mode controller is as follows:
Figure FDA0002965622950000012
in the formula, lambda and mu are positive proportionality coefficients,
Figure FDA0002965622950000013
as an estimate of the moment of inertia J of the servo system,
Figure FDA0002965622950000014
is a servo systemSystem architecture parameters
Figure FDA0002965622950000015
J is the rotational inertia of the servo system converted to the shaft end of the permanent magnet synchronous motor, and B is the friction coefficient;
structural parameters of the servo system
Figure FDA0002965622950000016
Adaptive estimate of
Figure FDA0002965622950000017
Satisfy the relation:
Figure FDA0002965622950000018
wherein w is the mechanical angular velocity of the permanent magnet synchronous motor and is obtained by adjusting the structural parameters of a servo system
Figure FDA0002965622950000019
Adaptive estimate of
Figure FDA0002965622950000021
The structural parameters of the servo system can be obtained by the satisfied relational integral
Figure FDA0002965622950000022
Adaptive estimate of
Figure FDA0002965622950000023
An estimated value of the moment of inertia J of the servo system
Figure FDA0002965622950000024
Satisfy the relation:
Figure FDA0002965622950000025
in the formula u*Assigning a voltage to the d-axis by estimating the moment of inertia J of the servo system
Figure FDA0002965622950000026
The integral of the satisfied relational expression can obtain the estimated value of the moment of inertia J of the servo system
Figure FDA0002965622950000027
The d-axis specified voltage u*Comprises the following steps:
Figure FDA0002965622950000028
in the formula, D is the upper limit of load disturbance, sgn (S) is a sliding mode surface switching function, and K is a direct proportionality coefficient.
2. The AC servo system of claim 1, wherein the q-axis current signal
Figure FDA0002965622950000029
In the formula, TeThe electromagnetic torque of the permanent magnet synchronous motor; n ispThe number of electrode pairs of the permanent magnet synchronous motor is; psifIs a permanent magnet synchronous motor rotor flux linkage.
3. An AC servo system as claimed in claim 2 wherein the extended state observer employs a multi-order linear extended state observation equation
Figure FDA00029656229500000210
Observing a load disturbance upper bound D on the position ring; in the formula, z1And z2Is the observed value of the rotating mechanical angle and the mechanical angular velocity of the permanent magnet synchronous motor observed by the extended state observer, z3Is the view of the upper bound D of the load disturbanceMeasured value, beta1、β2And beta3Is an observation coefficient.
4. A method for suppressing disturbance of a position loop of an AC servo system as set forth in claim 3, comprising,
step S1, calculating the position tracking error of the servo system;
step S2, in the position ring, according to the sliding mode surface number S and the Lyapunov function V of the constructed sliding mode position controller, performing progressive stable control by taking the position tracking error as input, and iteratively calculating a q-axis current signal; observing the upper bound of load disturbance by using an extended state observer, and carrying the observed load disturbance into the sliding mode position controller for calculation compensation;
the step S2 includes the following sub-steps:
step S2-1, in the position loop, calculating the number S of the sliding mode surfaces and the structural parameters of the servo system according to the position tracking error and the p and q values of the sliding mode surfaces
Figure FDA0002965622950000031
Adaptive estimate of
Figure FDA0002965622950000032
Step S2-2, calculating D-axis specified voltage u according to sliding mode surface number S and value of load disturbance upper bound D*；
Step S2-3, calculating an estimated value of the moment of inertia J of the servo system
Figure FDA0002965622950000033
D-axis is assigned a voltage u*Substituting the load disturbance upper bound D into the extended state observer to calculate the load disturbance upper bound D of the next iterative calculation;
step S2-4, according to the estimated value of the moment of inertia J of the servo system
Figure FDA0002965622950000034
And d-axis specified voltage u*Calculating the q-axis current signal iq*；
And step S3, controlling the permanent magnet synchronous motor to rotate in the current loop according to the q-axis current signal.
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