CN110995102A - Direct torque control method and system for permanent magnet synchronous motor - Google Patents
Direct torque control method and system for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a direct torque control method and system for a permanent magnet synchronous motor, and belongs to the field of control systems for permanent magnet synchronous motors. Aiming at the problems of periodic time-varying and slowly-varying disturbance of a permanent magnet synchronous motor servo system in the prior art, the invention provides a direct torque control method and a direct torque control system for a permanent magnet synchronous motor, which are characterized in that the reference speed omega of the permanent magnet synchronous motor is given*Obtaining the reference torque T of the permanent magnet synchronous motor according to the composite control law of the speed ringe *The permanent magnet synchronous motor model has slow-changing disturbance d (T) and torque disturbance q (T), the two disturbances are used as extended states, an internal model extended state observer is established, and the rotating speed omega and the given torque T are usede *And as the input of the internal model extended state observer, observing and estimating the extended states d (t) and q (t), and further controlling the torque of the permanent magnet synchronous motor. The method can inhibit periodic time-varying and slowly-varying disturbance in the permanent magnet synchronous motor servo system, and can realize accurate target rotating speed tracking.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control systems, in particular to a direct torque control method and a direct torque control system for a permanent magnet synchronous motor.
Background
Permanent Magnet Synchronous Machines (PMSM) have many advantages, such as simple structure, high power factor, high efficiency, high torque density, high torque to inertia ratio, wide operating range and low maintenance cost. Meanwhile, the modern permanent magnet synchronous motor adopts ferrite and a high-performance rare earth permanent magnet material, and the efficiency of the motor is improved compared with the traditional motor, so that the motor is widely applied to servo systems, such as electric automobiles, robots, numerical control machines and other industrial control fields. Control strategies for permanent magnet synchronous machines typically employ vector control and direct torque control. The direct torque control is a speed regulation technology developed after vector control, avoids the thought of vector control current decoupling control, utilizes two hysteresis comparators to control the flux linkage and the torque of the motor, has the advantages of rapid torque response, no need of coordinate transformation, small dependence on motor parameters and the like, and is widely applied to a permanent magnet synchronous motor speed regulation system.
The permanent magnet synchronous motor is a nonlinear system with multiple inputs, multiple outputs, time-varying property and strong coupling, and in practical application, the interferences such as load change, friction, parameter perturbation and the like exist, and the existence of the interferences reduces the control precision of the system and influences the control performance of the system. If the disturbance observer can be reasonably designed to observe the system disturbance and compensate the disturbance, the control performance of the system can be improved.
A servo system (also called a servo system) is a feedback control system used for accurately following or reproducing a certain process, and the servo system enables output controlled quantities of positions, orientations, states and the like of an object to follow any changes of an input target or a set value.
In order to realize disturbance observation and disturbance compensation of the system and improve the anti-interference performance of the system, a great deal of research is carried out by scholars. The general state observer (ESO) in the literature (S.Li, J.Yang, W.Chen and X.Chen, Generalized extended state observer based control for systems with mismatch chemistry, IEEETrans. Ind. Electron., 59(12): 4792. sub.4802, 2012.) can only accurately estimate disturbances that are precisely constant or slowly varying. For multiple disturbances, especially higher order polynomial disturbances and periodic disturbances, ESO does not achieve an accurate estimation effect and tends to amplify the effects of noise measurements when the parameters are not properly selected.
The chinese patent application, application No. CN201210299949.7, published as 2012 and 12 months and 05 days, discloses an ac induction motor control system based on active disturbance rejection control, and based on the prior art, a known part of the operating characteristics of the ac induction motor, i.e. a fuzzy compensation amount sc, is input to an extended state observer through fuzzy compensation. The method has the disadvantages that although the estimation accuracy of the extended state observer is improved to a certain extent, the speed controller adopts a gradual stable control method, and the convergence speed of the system is still slow.
The invention discloses a composite control method for the speed of a permanent magnet synchronous motor based on a continuous terminal sliding mode technology, which is applied for Chinese patent application with the application number of CN201410520288.5, published as 2014, 12 and 24.A continuous terminal sliding mode controller is designed to be used as a feedback controller, so that the speed of the permanent magnet synchronous motor has faster response in the whole adjusting process, and the buffeting problem of sliding mode control is solved; and a second-order finite time disturbance observer is adopted for a speed loop disturbance term and used as a feedforward compensator to observe and compensate disturbance in real time. When the interference observation error is limited, the rotating speed of the permanent magnet synchronous motor can reach the neighborhood of the reference rotating speed within the limited time. The method has the disadvantages that the method has more setting parameters and more complex algorithm realization.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems of periodic time-varying and slowly-varying disturbance of a permanent magnet synchronous motor servo system in the prior art, the invention provides a direct torque control method and a direct torque control system for a permanent magnet synchronous motor, which can realize the suppression of the periodic time-varying and slowly-varying disturbance in the permanent magnet synchronous motor servo system and can realize accurate target rotating speed tracking.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
A direct torque control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
step 2, analyzing disturbance components of the system by using an electromagnetic torque equation of the permanent magnet synchronous motor, and determining a disturbance compensation object;
step 3, taking the disturbance variable as an expansion state, and establishing a system lumped disturbance observation scheme based on an internal model principle and expansion state observation, namely generating an observer capable of respectively observing non-periodic slow-varying disturbance and periodic disturbance to realize estimation of the system lumped disturbance;
and 4, establishing a state equation of an error system according to the error between the given speed and the feedback speed, utilizing the disturbance estimation value of the internal model expansion state observer as a feedforward compensation quantity of disturbance inhibition, and combining feedback control and feedforward control to generate a composite control law of a speed loop.
Further, the step of establishing the torque equation of the permanent magnet synchronous motor in the step 1 further includes the following steps:
step 1.1, establishing a permanent magnet synchronous motor voltage equation of the permanent magnet synchronous motor in a rotor magnetic field orientation dq axis coordinate system:
wherein u issd、usqIs the rectangular-axis voltage component i of the motor stator voltage in the dq-axis coordinate systemsd、isqIs the rectangular-axis current component R of the motor stator current in the dq-axis coordinate systemsIs the stator resistance, p is the differential factor, ωrIs the electrical angular velocity, λ, of the rotor rotationsd，λaqIt is the stator flux linkage that expresses the quadrature component of the stator flux linkage as:
wherein L isd、LqIs a permanent magnet synchronous motor quadrature axis inductance, lambdafIs a permanent magnetic flux linkage, and is characterized in that,
step 1.2, establishing a torque equation of the permanent magnet synchronous motor under a dq axis coordinate system:
further, implementation of direct torque control requires estimation of stator flux, expressed as stator flux, and electromagnetic torque
Furthermore, the step 2 of analyzing the disturbance component of the permanent magnet synchronous motor servo system further comprises the following steps:
step 2.1, establishing a motion equation of the permanent magnet synchronous motor:
where ω is the angular velocity, TLThe load torque, B the coefficient of sliding friction, and J the moment of inertia.
Step 2.2, obtaining according to a mechanical motion equation of the permanent magnet synchronous motor:
wherein
Where ω is the angular velocity, TRThe torque brought by disturbance d (T) is the slow-varying disturbance including friction, external load disturbance and torque TeTracking error and modeling error of the loop, q (T) representing torque disturbance, Te *As reference input for electromagnetic torque, g0Indicating control gain
From the above formula, if the total disturbance of the system can be estimated, the disturbance compensation of the system can be realized, and the anti-interference capability of the system is improved.
Further, the step 3 of generating the internal model extended state observer further includes the steps of:
step 3.1, taking d (t) and q (t) as new expansion states and defining: x is the number of2＝ω，x2＝d(t)，x3＝q(t)，
The following expansion equation of state is established:
wherein
Is the differential of the lumped slowly varying disturbance, f is the frequency, x1、x2、x3、x4Y is substituted by ω, d (t), q (t),
x1The intermediate variable of (a) is,
are respectively x1、x2、x3、x4The differential amount of (a);
step 3.2, according to an Internal Model Principle (IMP), the internal model extended state observer is generated as follows:
here, ,
are the state variables ω, d (t), q (t) as defined in the preceding paragraph,
an estimate of (d). m is1，m2，m3，m4In order to extend the gain of the observer,
are respectively as
U is a substitute Te *The intermediate variable of (1).
Further, the generating the feedback controller in step 4 further includes the following steps:
step 4.1, according to the given reference speed
And the error of the feedback speed omega, establishing an error system state equation:
step 4.2, the disturbance estimated value of the observer is used as the feedforward compensation quantity of disturbance inhibition, and the composite control law of the speed loop can be generated as
Where k is the proportional gain of the speed loop and u is the given amount of torque.
A permanent magnet synchronous motor direct torque control system comprising:
PI controller for torque Te *And flux linkage respectively performing PI control to output voltage componentUx、Uy；
A first coordinate transformation unit for the voltage component Ux、UyCoordinate transformation is carried out to obtain a voltage component Uα、Uβ；
SVPWM modulation module for obtaining voltage component Uα，UβOutputting a PWM signal;
and the VIS inverter is used for acquiring the PWM signal, applying the output voltage to the permanent magnet synchronous motor and driving the motor to run.
A second coordinate transformation unit for outputting three-phase output current i of the PMSMa、ibIs converted into a current iα、iβ；
A flux linkage torque observer for observing flux linkage and torque to obtain torque T for feedbackeAnd magnetic linkage | λs|；
A sensor for measuring the rotation speed omega of the motor during operation and feeding back the rotation speed omega to the given rotation speed omega*；
An internal model extended state observer for obtaining the rotation speed omega and the given torque T of the permanent magnet synchronous motore *And outputting the slowly-varying disturbance d (t) and the torque disturbance q (t).
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
on the premise of ensuring the stability of the system, in order to improve the convergence rate of the system and enable the system to have better anti-interference performance, the method models the permanent magnet synchronous motor, analyzes the interference components of the permanent magnet synchronous motor, researches the influence of a disturbance compensation control method and different disturbance observers on the convergence rate of the permanent magnet synchronous motor, summarizes the method for improving the convergence rate of the system, and provides a theoretical basis for finally improving the dynamic response and the anti-interference performance of a direct torque control system of the permanent magnet synchronous motor. The control method of the invention combines an Internal Model Principle (IMP) and an Extended State Observer (ESO) to control a permanent magnet synchronous motor system, thereby realizing the observation and compensation of disturbance; the range of the traditional disturbance observer is expanded through the disturbance observer, the state of the system and various disturbances including periodic disturbance and slow-varying disturbance can be estimated at the same time, the multiple disturbances are concentrated together through the disturbance observer, are estimated through the composite observer, and then are subjected to feedforward compensation, so that the periodic disturbance and the slow-varying disturbance in a permanent magnet synchronous motor servo system are suppressed, and accurate target rotating speed tracking can be realized; the observer has the advantages of simple structure, good disturbance compensation effect, simple algorithm, easy realization and the like; compared with the traditional anti-interference control method, the control method of the invention has the advantages of faster convergence speed and stronger anti-interference capability of the system.
Drawings
FIG. 1 is a schematic diagram of a control system of the present invention;
FIG. 2 is a schematic diagram of the internal model extended observer of the present invention;
FIG. 3 is a graph of the speed response of the motor;
FIG. 4 is a graph of the speed response of a motor under a sudden load.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
The invention provides a direct torque control method of a permanent magnet synchronous motor, which can improve the dynamic response and the anti-interference capability of a system and comprises the following steps:
step 1: establishing an electromagnetic torque equation of the permanent magnet synchronous motor by adopting a control method of a constant stator flux linkage;
step 2: analyzing disturbance components of the system by using an electromagnetic torque equation of the permanent magnet synchronous motor to determine a disturbance compensation object;
and step 3: taking the disturbance variable as an expansion state, establishing a system lumped disturbance observation scheme based on an internal model principle and expansion state observation, namely generating an observer capable of respectively observing non-periodic slow-varying disturbance and periodic disturbance, and realizing estimation of the system lumped disturbance;
and 4, step 4: and establishing a state equation of an error system according to the error between the given speed and the feedback speed, utilizing the disturbance estimation value of the internal model extended state observer as a feedforward compensation quantity of disturbance inhibition, and combining feedback control and feedforward control to generate a composite control law of a speed loop.
Further, the step of establishing the torque equation of the permanent magnet synchronous motor in the step 1 further includes the following steps:
step 1.1, establishing a permanent magnet synchronous motor voltage equation of the permanent magnet synchronous motor in a rotor magnetic field orientation dq axis coordinate system:
wherein u issd、usqIs the rectangular-axis voltage component i of the motor stator voltage in the dq-axis coordinate systemsd、isqIs the rectangular-axis current component R of the motor stator current in the dq-axis coordinate systemsIs the stator resistance, p is the differential factor, ωrIs the electrical angular velocity, λ, of the rotor rotationsd，λsqIs the quadrature component of the stator flux linkage:
wherein L isd、LqIs a permanent magnet synchronous motor quadrature axis inductance, lambdafIs a permanent magnetic flux linkage, and is characterized in that,
step 1.2, establishing a torque equation of the permanent magnet synchronous motor under a dq axis coordinate system:
further, implementation of direct torque control requires estimation of stator flux, expressed as stator flux, and electromagnetic torque
Furthermore, the step 2 of analyzing the disturbance component of the permanent magnet synchronous motor servo system further comprises the following steps:
step 2.1, establishing a motion equation of the permanent magnet synchronous motor:
where ω is the angular velocity, TLThe load torque, B the coefficient of sliding friction, and J the moment of inertia.
Step 2.2, obtaining according to a mechanical motion equation of the permanent magnet synchronous motor:
wherein
Where ω is the angular velocity, TRThe torque brought by disturbance d (T) is the slow-varying disturbance including friction, external load disturbance and torque TeTracking error and modeling error of the loop, q (T) representing torque disturbance, Te *As reference input for electromagnetic torque, g0Indicating control gain
From the above formula, if the total disturbance of the system can be estimated, the disturbance compensation of the system can be realized, and the anti-interference capability of the system is improved.
Further, the step 3 of generating the internal model extended state observer further includes the steps of:
step 3.1, taking d (t) and q (t) as new expansion states and defining: x is the number of1＝ω，x2＝d(t)，x3＝q(t)，
The following expansion equation of state is established:
wherein
Is the differential of the lumped slowly varying disturbance, f is the frequency, x1、x2、x3、x4Y is substituted by ω, d (t), q (t),
x1The intermediate variable of (a) is,
are respectively x1、x2、x3、x4The differential amount of (a);
step 3.2, according to an Internal Model Principle (IMP), the internal model extended state observer is generated as follows:
here, ,
are the state variables ω, d (t), q (t) as defined in the preceding paragraph,
an estimate of (d). m is1，m2，m3，m4In order to extend the gain of the observer,
are respectively as
U is a substitute Te *The intermediate variable of (1).
Further, the generating the feedback controller in step 4 further includes the following steps:
step 4.1, according to the given speed
And the error of the feedback speed omega, establishing an error system state equation:
and 4.2, generating a composite control law of the speed loop by using the disturbance estimation value of the observer as a feedforward compensation quantity of disturbance inhibition:
where k is the proportional gain of the velocity loop,
is the reference speed and u is the given amount of torque.
A permanent magnet synchronous motor direct torque control system comprising:
PI controller for given torque Te *And magnetic flux linkage respectively performing PI control to output voltage component Ux、Uy；
A first coordinate transformation unit for the voltage component Ux、UyCoordinate transformation is carried out to obtain a voltage component Uα、Uβ；
SVPWM modulation module for obtaining voltage component Uα，UβOutputting a PWM signal;
the VIS inverter is used for acquiring the PWM signal, applying the output voltage to the permanent magnet synchronous motor and driving the motor to run;
a second coordinate transformation unit for outputting three-phase output current i of the PMSMa、ibIs converted into a current iα、iβ；
A flux linkage torque observer for observing flux linkage and torque to obtain torque T for feedbackeAnd magnetic linkage | λs|；
A sensor for measuring the rotation speed omega of the motor during operation and feeding back the rotation speed omega to the given rotation speed omega*；
An internal model extended state observer for obtaining the rotation speed omega and the given torque T of the permanent magnet synchronous motore *And outputting the slowly-varying disturbance d (t) and the torque disturbance q (t).
As shown in fig. 1, in the direct torque control, an accurate position and amplitude of the initial flux linkage are required, and if the position of the initial flux linkage is not accurate, integral drift occurs in calculating the stator flux linkage, which affects the operation of the motor and even fails to start. In the direct torque control, the position of the rotor magnetic pole is pulled to the a phase of the stator, and the electric angle of the rotor is obtained according to the change of the number of pulses, whereby the rotational speed information can be obtained.
An internal model extended state observer for obtaining the rotation speed omega and the given torque T of the permanent magnet synchronous motore *And feedforward compensation is carried out on the system, periodic disturbance and slow-varying disturbance in a permanent magnet synchronous motor servo system are restrained, and target rotating speed tracking control is achieved. Simultaneously and respectively outputting the estimated slowly-changed disturbance d (t) and the torque disturbance q (t) which represent the lump, namely
Then according to the designed control law obtaining the given torque quantity Te *。
Respectively carrying out PI control on the torque and the flux linkage to obtain a voltage component under an xy axis, and further obtaining a voltage component U under a static coordinate system through coordinate transformationα，Uβ. Through SVPWM modulation module, the obtained Uα，UβAnd according to a voltage space vector modulation principle, obtaining a PWM signal, acting the PWM signal on an inverter, and finally acting the output voltage of the inverter on the permanent magnet synchronous motor to drive the motor to operate.
As shown in FIG. 2, a reference speed ω is given*According toObtaining the reference torque T of the permanent magnet synchronous motor by the composite control law of the speed ringe *Because the permanent magnet synchronous motor model has two different disturbances d (T) and q (T), d (T) is lumped slowly-varying disturbance comprising friction, external load disturbance and torque TeTracking error and modeling error of loop, q (T) represents torque disturbance, the two disturbances are used as extended states to establish an extended observer, a rotating speed omega and a given torque Te *As inputs to IMESO, observation estimates are made for extended states d (t) and q (t).
As shown in fig. 3, compared with the conventional anti-interference control method (PI), the rotational speed response of the compound control method (IMESO) based on the internal model principle and the extended state observer is faster and the overshoot is smaller.
As shown in FIG. 4, the composite control method proposed by the present invention can recover faster and have smaller overshoot, when T is applied at T-0.5 sLThe proposed solution has a small speed variation and good disturbance rejection performance at 10N · m load.
The invention and its embodiments have been described above schematically, without limitation, and the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The representation in the drawings is only one of the embodiments of the invention, the actual construction is not limited thereto, and any reference signs in the claims shall not limit the claims concerned. Therefore, if a person skilled in the art receives the teachings of the present invention, without inventive design, a similar structure and an embodiment to the above technical solution should be covered by the protection scope of the present patent.
Claims (8)
1. A direct torque control method for a permanent magnet synchronous motor is characterized by comprising the following steps: reference speed omega of given permanent magnet synchronous motor*Obtaining the reference torque T of the permanent magnet synchronous motor according to the composite control law of the speed ringe *The permanent magnet synchronous motor model has slow-changing disturbance d (t) and torque disturbance q (t), and the two disturbances are used as expansionEstablishing an internal model extended state observer according to the extended state, and measuring the rotating speed omega and the given torque Te *And as the input of the internal model extended state observer, observing and estimating the extended states d (t) and q (t), and further controlling the torque of the permanent magnet synchronous motor.
2. The direct torque control method of the permanent magnet synchronous motor according to claim 1, wherein establishing the internal model extended state observer comprises the following steps:
step 1, establishing an electromagnetic torque equation of a permanent magnet synchronous motor according to a control method of a constant stator flux linkage;
step 2, analyzing disturbance components of the system by using an electromagnetic torque equation of the permanent magnet synchronous motor, and determining a disturbance compensation object;
step 3, generating an internal model extended state observer capable of respectively observing non-periodic slow varying interference and periodic interference by taking the disturbance variable as an extended state based on an internal model principle and an extended state observation principle;
and 4, establishing a state equation of an error system according to the error between the given speed and the feedback speed, utilizing the disturbance estimation value of the internal model expansion state observer as a feedforward compensation quantity of disturbance inhibition, and combining feedback control and feedforward control to generate a composite control law of a speed loop.
3. The method for direct torque control of a permanent magnet synchronous motor according to claim 2, wherein the step of establishing a permanent magnet synchronous motor torque equation in step 1 further comprises the steps of:
step 1.1, establishing a permanent magnet synchronous motor voltage equation of the permanent magnet synchronous motor in a rotor magnetic field orientation dq axis coordinate system:
wherein u issd、usqIs the rectangular-axis voltage component i of the motor stator voltage in the dq-axis coordinate systemsd、isqIs a motor statorRectangular-axis current component, R, of current in dq-axis coordinate systemsIs the stator resistance, p is the differential factor, ωrIs the electrical angular velocity, λ, of the rotor rotationsd、λsqIs the quadrature component of the stator flux linkage;
the quadrature component of the stator flux linkage is represented as:
wherein L isd、LqIs a permanent magnet synchronous motor quadrature axis inductance, lambdafIs a permanent magnetic linkage;
step 1.2, establishing a torque equation of the permanent magnet synchronous motor under a dq axis coordinate system:
wherein T iseIs the torque of the permanent magnet synchronous motor.
4. The direct torque control method of the permanent magnet synchronous motor according to claim 2, characterized in that: the implementation of direct torque control requires estimation of stator flux and electromagnetic torque, the stator flux being expressed as:
5. the method for controlling the direct torque of the permanent magnet synchronous motor according to claim 2, wherein the step 2 of analyzing the disturbance component of the permanent magnet synchronous motor servo system further comprises the following steps:
step 2.1, establishing a motion equation of the permanent magnet synchronous motor:
wherein, ω is0Is angular velocity, TLIs the load torque, B is the coefficient of sliding friction, J is the moment of inertia,
step 2.2, obtaining according to a mechanical motion equation of the permanent magnet synchronous motor:
wherein
Where ω is the angular velocity, TRThe torque brought by disturbance d (T) is the slow-varying disturbance representing the lump, including friction, external load disturbance, torque TeTracking error and modeling error of the loop, q (T) representing torque disturbance, Te *As reference input for electromagnetic torque, g0Indicating control gain
6. The direct torque control method of the permanent magnet synchronous motor according to claim 2, wherein the step 3 of generating the internal model extended state observer further comprises the steps of:
step 3.1, take d (t) and q (t) as new expansion states and define x1＝ω，x2＝d(t)，x3＝q(t)，
The following expansion equation of state is established:
wherein,
is the differential of the lumped slowly varying disturbance, f is the frequency, x1、x2、x3、x4Y is substituted by ω, d (t), q (t),
x1The intermediate variable of (a) is,
are respectively x1、x2、x3、x4The differential amount of (a);
step 3.2, generating an internal model extended state observer according to an internal model principle:
wherein,
ω, d (t), q (t), in step 3.1,
Estimated value of m1、m2、m3、m4In order to extend the gain of the observer,
are respectively as
U is a substitute Te *The intermediate variable of (1).
7. The direct torque control method of the permanent magnet synchronous motor according to claim 2, wherein the generating of the composite control law of the speed loop comprises the steps of:
step 4.1, according to the given reference speed
And error e of feedback speed omegaωEstablishing an error system state equation:
wherein,
representing the estimated error value, i is 1, 2, 3, 4,
is eωThe differential amount of (a).
And 4.2, using the disturbance estimation value of the internal model extended state observer as a feedforward compensation quantity of disturbance suppression, combining feedback control and feedforward control to generate a composite control law of a speed loop:
where k is the proportional gain of the speed loop, s represents the process of differentiation, and u is a given amount of torque Te *。
8. A direct torque control system for a permanent magnet synchronous motor according to claim 1, comprising:
PI controller for given torque Te *And magnetic flux linkage respectively performing PI control to output voltage component Ux、Uy；
A first coordinate transformation unit for the voltage component Ux、UyCoordinate transformation is carried out to obtain a voltage component Uα、Uβ；
SVPWM modulation module for obtaining voltageComponent Uα，UβOutputting a PWM signal;
the VIS inverter is used for acquiring the PWM signal, applying the output voltage to the permanent magnet synchronous motor and driving the motor to run;
a second coordinate transformation unit for outputting three-phase output current i of the PMSMa、ibIs converted into a current iα、iβ；
A flux linkage torque observer for observing flux linkage and torque to obtain torque T for feedbackeAnd magnetic linkage | λs|；
A sensor for measuring the rotation speed omega of the motor during operation and feeding back the given rotation speed omega*；
An internal model extended state observer for obtaining the rotation speed omega and the given torque T of the permanent magnet synchronous motore *And outputting the slowly-varying disturbance d (t) and the torque disturbance q (t).
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| CN112821840A (en) * | 2021-03-29 | 2021-05-18 | 南京工业大学 | Unsmooth self-adaptive direct torque control method and system for permanent magnet synchronous motor |
| CN112922782A (en) * | 2021-02-03 | 2021-06-08 | 浙江运达风电股份有限公司 | Resistance adding method for transmission chain of wind generating set based on ADRC control |
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| CN111669080B (en) * | 2020-06-22 | 2023-04-28 | 扬州大学 | Permanent magnet synchronous motor active disturbance rejection composite control system and control method thereof |
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| CN112729813B (en) * | 2020-12-17 | 2022-12-02 | 中国科学院电工研究所 | Vehicle rack synchronous dynamic load simulation method and system |
| CN112922782A (en) * | 2021-02-03 | 2021-06-08 | 浙江运达风电股份有限公司 | Resistance adding method for transmission chain of wind generating set based on ADRC control |
| CN112821840A (en) * | 2021-03-29 | 2021-05-18 | 南京工业大学 | Unsmooth self-adaptive direct torque control method and system for permanent magnet synchronous motor |
| CN112821840B (en) * | 2021-03-29 | 2023-03-24 | 南京工业大学 | Unsmooth self-adaptive direct torque control method and system for permanent magnet synchronous motor |
| CN113296404A (en) * | 2021-05-21 | 2021-08-24 | 重庆大学 | Electric steering engine control system and control method |
| CN113230116A (en) * | 2021-06-07 | 2021-08-10 | 山东大学 | Chest and abdomen combined pressing system coordinately controlled by double steering engines |
| CN113230116B (en) * | 2021-06-07 | 2022-08-02 | 山东大学 | Chest and abdomen combined pressing system coordinately controlled by double steering engines |
| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
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