CN112187125A - Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor - Google Patents

Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor Download PDF

Info

Publication number
CN112187125A
CN112187125A CN202011012670.7A CN202011012670A CN112187125A CN 112187125 A CN112187125 A CN 112187125A CN 202011012670 A CN202011012670 A CN 202011012670A CN 112187125 A CN112187125 A CN 112187125A
Authority
CN
China
Prior art keywords
pmsm
equation
permanent magnet
expression
magnet synchronous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011012670.7A
Other languages
Chinese (zh)
Inventor
杨沛豪
孙梦瑶
寇水潮
贺婷
薛磊
高峰
郭新宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Thermal Power Research Institute Co Ltd
Original Assignee
Xian Thermal Power Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Thermal Power Research Institute Co Ltd filed Critical Xian Thermal Power Research Institute Co Ltd
Priority to CN202011012670.7A priority Critical patent/CN112187125A/en
Publication of CN112187125A publication Critical patent/CN112187125A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a method for improving the anti-interference capability of speed regulation control of a permanent magnet synchronous motor, which comprises the following steps: 1) establishing a voltage equation of the permanent magnet synchronous motor under a d-q reference system; 2) establishing PMSM electromagnetic torque T in d-q reference systemeAnd load torque TLAn expression; 3) obtaining a state equation of the PMSM under the dq coordinate system; 4) obtaining a disturbance signal expression; 5) obtaining a rotating speed control loop equation; 6) converting a rotating speed control loop equation into a PMSM standard state equation; 7) establishing a relation between the disturbance signal and an estimation value thereof; 8) obtaining a disturbance signal estimation value expression; 9) providing a rotating speed control expression; 10) obtaining a PMSM interference estimation error equation; 11) setting the output in the PMSM disturbance estimation error equation to be unchanged, introducing the estimation disturbance as a target value into a PMSM current control link, tracking the target value in real time, and playing a role in improvingThe high permanent magnet synchronous motor has the function of anti-interference capability in speed regulation control. The invention can restrain the fluctuation of the rotating speed of the motor caused by the change of the torque.

Description

Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor
Technical Field
The invention relates to a method for improving the anti-interference capability of speed regulation control of a permanent magnet synchronous motor, which adopts an Uncertain Disturbance Estimator (UDE) to improve the anti-interference capability of speed regulation control of the permanent magnet synchronous motor.
Background
Permanent Magnet Synchronous Motors (PMSM) have the advantages of high efficiency, high power density, high speed control precision, high response speed and the like, and recently, research in the field of industrial transmission is receiving more and more attention. Compared with induction motor driving, permanent magnet synchronous motor driving control is more mature in application in some fields, and permanent magnet synchronous motor vector control is one of the most widely used speed regulation control methods in driving control application. The method involves the design of three PI controllers, two of which are designed for the electrical system (current loop), called inner loop, and one for the speed cycle of the mechanical system, also called outer loop, and the commonly used speed governing control method is a constant increment control method. In an actual motor speed regulation control system, the change of controller parameters or external interference can act on the system to influence the speed regulation result of the system. If the PI controller is designed to carry out speed regulation control under the condition, the gain of the PI controller needs to be adjusted to obtain the control performance meeting the practical application. However, with the change of the type and degree of the interference, the design of the controller needs to be readjusted, and each adjustment needs a complex flow, so that the traditional PI controller cannot meet the actual engineering requirements.
All motor control systems are affected by uncertain disturbances, which can be classified into external environment disturbances and disturbances caused by changes in internal parameters of the motor control systems. The uncertain interference estimator technology is successfully applied to robust control systems such as unmanned aerial vehicle control, piezoelectric level trajectory tracking control, micro aircraft single-axis balance platform and the like.
Disclosure of Invention
The invention aims to provide a method for improving the anti-interference capability of speed regulation control of a permanent magnet synchronous motor. The method comprises the steps of firstly establishing a mathematical model of the permanent magnet synchronous motor, then researching a speed regulation control method based on uncertain interference estimation, and designing a corresponding controller on the basis.
The invention is realized by adopting the following technical scheme:
a method for improving the anti-interference capability of speed regulation control of a permanent magnet synchronous motor comprises the following steps:
1) establishing a voltage equation of the permanent magnet synchronous motor under a d-q reference system;
2) establishing PMSM electromagnetic torque T in d-q reference systemeAnd load torque TLAn expression;
3) according to a mathematical equation under a PMSM voltage dq coordinate system in the step 1) and PMSM electromagnetic torque T in the step 2)eAnd load torque TLObtaining a state equation of the PMSM under the dq coordinate system by the expression;
4) taking the motor load torque in the PMSM state equation in the step 3) as a state equation disturbance signal to obtain a disturbance signal expression;
5) substituting the disturbance signal expression in the step 4) into the PMSM state equation in the step 3) to obtain PMSM load torque as a state equation disturbance signal, and introducing the state equation of the PMSM in the dq coordinate system in the step 3) to obtain a rotating speed control loop equation;
6) setting a state variable, and converting the rotating speed control loop equation in the step 5) into a PMSM standard state equation;
7) approximating and estimating the continuous signal when the continuous signal passes through a low-pass filter with proper bandwidth, and establishing a relation between the disturbance signal and an estimation value;
8) obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7);
9) in order to ensure that the effective rotating speed tracking is carried out under the condition that the load torque is unknown, a rotating speed control expression is provided according to the expression of the disturbance signal estimation value in the step 8);
10) substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM interference estimation error equation;
11) in order to adjust the rotation speed of the PMSM, the output in a PMSM interference estimation error equation in the step 10) is set to be unchanged, the estimation disturbance is used as a target value and introduced into a PMSM current control link, the target value is tracked in real time, and the effect of improving the anti-interference capability of speed regulation control of the permanent magnet synchronous motor is achieved.
The further improvement of the invention is that step 1) establishes a voltage equation of the permanent magnet synchronous motor under a d-q reference system:
Figure BDA0002697982260000031
in the formula: i.e. id、iqRespectively representing direct axis and quadrature axis currents in a d-q reference frame; l isd、LqRespectively representing stator direct axis inductance and quadrature axis inductance; rsRepresenting the stator resistance; lambda [ alpha ]αfShowing a permanent magnet rotor flux linkage; v. ofd、vqRespectively representing voltages applied to a direct axis and a quadrature axis; omegarThe electrical angular velocity at which the motor rotates is indicated.
The further improvement of the invention is that the specific implementation method of the step 2) is as follows: establishing PMSM electromagnetic torque T in d-q reference systemeAnd load torque TLExpression:
Figure BDA0002697982260000032
in the formula: j represents the inertia torque of the permanent magnet synchronous motor, B represents the friction coefficient, P represents the number of poles, omegamRepresenting the mechanical angular velocity at which the motor rotates, the electrical angular velocity is expressed as:
Figure BDA0002697982260000033
if the torque angle is kept at 90 deg., the direct axis current idBecomes 0, quadrature axis current iqI.e. the stator phasor current, which is also referred to as the torque component of the current; when i isdWhen the value is 0, the PMSM electromagnetic torque is as follows:
Figure BDA0002697982260000034
the magnitude of the electromagnetic torque depends only on the quadrature axis current iqMagnitude, when direct axis current idWhen 0, the value is maximum.
The further improvement of the invention is that the specific implementation method of the step 3) is as follows: according to a mathematical equation under a PMSM voltage dq coordinate system in the step 1) and PMSM electromagnetic torque T in the step 2)eAnd load torque TLExpression of usingq vd]TIndicating input by [ i ]qid ωr]TAnd expressing system variables to obtain a state equation of the PMSM under the dq coordinate system:
Figure BDA0002697982260000035
the further improvement of the invention is that the specific implementation method of the step 4) is as follows: taking the motor load torque in the PMSM state equation in the step 3) as a state equation disturbance signal to obtain a disturbance signal expression:
Figure BDA0002697982260000041
the specific implementation method of the step 5) is as follows: substituting the disturbance signal expression in the step 4) into the PMSM state equation in the step 3) to obtain PMSM load torque as a state equation disturbance signal, introducing the state equation of the PMSM in the dq coordinate system in the step 3) to obtain a rotating speed control loop equation:
Figure BDA0002697982260000042
the further improvement of the invention is that the specific implementation method of the step 6) is as follows: setting a state variable: x is ωr，u＝iqConverting the rotating speed control loop equation in the step 5) into a PMSM standard state equation:
Figure BDA0002697982260000043
Figure BDA0002697982260000044
a1and b0The size is determined by the dynamic characteristics of the control object; the essence of the PMSM anti-disturbance system is to design the input u such that the motor tracks or adjusts the reference speed trajectory to the same desired value.
The further improvement of the invention is that the specific implementation method of the step 7) is as follows: approximating and estimating the continuous signal as it passes through a low pass filter of appropriate bandwidth; establishing a relation between the disturbance signal and an estimated value thereof:
Figure BDA0002697982260000045
in the formula:
Figure BDA0002697982260000046
is an estimate of interference d;
Figure BDA0002697982260000047
denoted by τ is the bandwidth of the filter.
The further improvement of the invention is that the specific implementation method of the step 8) is as follows: obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7):
Figure BDA0002697982260000048
the further improvement of the invention is that the specific implementation method of the step 9) is as follows: in order to ensure that the rotating speed tracking is effectively carried out under the condition that the load torque is unknown, according to the expression of the disturbance signal estimation value in the step 8), a rotating speed control expression is provided:
Figure BDA0002697982260000049
in the formula: x is the number of*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0。
The further improvement of the invention is that the specific implementation method of the step 10) is as follows: substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain PMSM interference estimation error equation:
Figure BDA0002697982260000051
let e be x-x*，
Figure BDA0002697982260000052
The PMSM interference estimation error equation can again be expressed as:
Figure BDA0002697982260000053
the specific implementation method of the step 11) comprises the following steps: to regulate the PMSM speed, the output x is set*I.e. by
Figure BDA0002697982260000054
The disturbance being calculated and estimated by keeping the set value constant
Figure BDA0002697982260000055
And introducing the estimated disturbance as a target value into a PMSM current control link, tracking the target value in real time, and playing a role in improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the uncertain disturbance estimator provided by the invention takes the external load torque of the PMSM as a disturbance term, and utilizes the uncertain disturbance estimator to carry out disturbance estimation, so that the motor speed fluctuation caused by torque change can be inhibited.
2. The designed rotating speed control rate can ensure that the system can carry out effective rotating speed tracking under the condition that the load torque of the PMSM is unknown.
Drawings
FIG. 1 is a PMSM equivalent circuit diagram; (ii) a
FIG. 2 is a schematic block diagram of a PMSM control scheme including a UDE;
FIG. 3 is a PMSM speed response curve at 0.2 seconds with a load torque of 2.43N-m applied to the system;
FIG. 4 is a PMSM speed response curve for an initial steady torque hold at 2.43N-m, applying a sinusoidally varying disturbance to the motor from 0.2 s;
FIG. 5 is a PMSM speed response curve with torque gradually increasing from 0 to 2.43N-m starting at 0.2 s;
FIG. 6 is a plot of the interference estimation error with a load torque of 2.43N-m applied to the system at 0.2 seconds;
FIG. 7 is a graph showing the variation of the RPM control law designed by the present invention when a load torque of 2.43N-m is applied to the system for 0.2 second.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in fig. 1, most of the current PMSM driver speed control systems adopt vector control. The main purpose of vector control is to control the torque and magnetic field by controlling the d-axis and axis components of the stator currents or relative fluxes. With the information of the stator current and the rotor angle, the vector control technique can effectively control the PMSM torque and the magnetic flux. The voltage equation of the PMSM in the d-q reference system is as follows:
Figure BDA0002697982260000061
in the formula: i.e. id、iqRespectively representing the direct and quadrature currents in the d-q reference frame. L isd、LqRespectively representing the stator direct axis inductance and quadrature axis inductance. RsRepresenting the stator resistance. Lambda [ alpha ]αfA permanent magnet rotor flux linkage is shown. v. ofd、vqRepresenting the voltages applied on the direct and quadrature axes, respectively. OmegarThe electrical angular velocity at which the motor rotates is indicated.
In the d-q reference frame, the electromagnetic torque and the load torque of the PMSM can be expressed as:
Figure BDA0002697982260000062
in the formula: j represents the inertia torque of the permanent magnet synchronous motor, B represents the friction coefficient, P represents the number of poles, omegamIndicating the mechanical angular velocity at which the motor is rotating. Electric powerThe angular velocity can be expressed as:
Figure BDA0002697982260000063
if the torque angle is kept at 90 deg., the direct axis current idBecomes 0, quadrature axis current iqI.e. the stator phasor current. This current is also referred to as the torque component of the current. The combination of the two types (1) and (2) is known that when idWhen the value is 0, the PMSM electromagnetic torque is as follows:
Figure BDA0002697982260000064
from equation (4), it can be seen that the magnitude of the electromagnetic torque depends only on the quadrature current iqMagnitude, when direct axis current idWhen 0, the value is maximum.
As shown in figure 2, in order to enable a PMSM control system to have stronger anti-jamming capability at the same time, the UDE controller is introduced into a motor control system, and [ v ] is used in a voltage equation of the PMSMq vd]TIndicating input by [ i ]q id ωr]TExpressing system variables, and constructing a permanent magnet synchronous motor state equation as follows:
Figure BDA0002697982260000071
taking the motor load torque as a state equation disturbance signal, and defining the disturbance signal as follows:
Figure BDA0002697982260000072
and (3) introducing the disturbance signal into a rotating speed state equation in a PMSM state equation, wherein the rotating speed control loop equation can be expressed as follows:
Figure BDA0002697982260000073
setting a state variable x- ωr，u＝iqThen the above equation may become:
Figure BDA0002697982260000074
in the formula:
Figure BDA0002697982260000075
a1and b0The size is determined by the dynamics of the control object. The essence of the PMSM anti-disturbance system is to design the input u such that the motor tracks or adjusts the reference speed trajectory to the same desired value.
From the uncertain interference estimator algorithm it is known that: when the continuous signal passes through a low pass filter of appropriate bandwidth, the continuous signal can be approximated and estimated. Interference d and its estimation
Figure BDA0002697982260000076
The relationship between them is:
Figure BDA0002697982260000077
in the formula:
Figure BDA0002697982260000078
denoted by τ is the bandwidth of the filter.
From equations (8) and (9):
Figure BDA0002697982260000079
the accurate setting of the rotating speed control law can ensure that the system can carry out effective rotating speed tracking under the condition that the load torque is unknown, and the rotating speed control rate is defined as follows:
Figure BDA00026979822600000710
in the formula: x is the number of*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0. The formula (11) can be substituted for the formula (8):
Figure BDA0002697982260000081
when the time is e ═ x-x*，
Figure BDA0002697982260000082
Equation (12) can be written as:
Figure BDA0002697982260000083
equation (13) represents the disturbance estimation error, and determines the dynamic change of the motor rotational speed tracking error. K determines the convergence of the state trajectory error. When the interference is constant or changes more slowly,
Figure BDA0002697982260000084
will be 0, at which time the controller can get better speed tracking performance.
The invention sets the output x to realize the rotation speed regulation of PMSM*I.e. by
Figure BDA0002697982260000085
Keeping a certain value constant, to obtain a value that accounts for the estimated disturbance
Figure BDA0002697982260000086
The new control vector u is used in the vector control of the permanent magnet synchronous motor, and the PI controller in a rotating speed ring (outer ring) is not required to be arranged at the moment.
In order to verify the effectiveness and correctness of the control scheme provided by the invention, a Matlab/Simulink simulation model is established, and PMSM simulation parameters are shown in a table 1:
table 1 PMSM simulation parameters
Figure BDA0002697982260000087
Different types of interference are imposed on the PMSM in the simulation. However, the reference speed of the motor is maintained substantially steady at 314rad/sec and
Figure BDA0002697982260000088
three simulation conditions are set during simulation: (1) applying a load torque of 2.43N-m at 0.2 seconds; (2) the torque is kept at 2.43N-m at the beginning, and sine-changed disturbance is applied to the motor from 0.2 s; (3) the torque gradually increased from 0 to 2.43N-m starting from 0.2 s.
As shown in fig. 3, the response speed of the conventional PI control is slow, the time from the start of the motor to the stabilization is about 0.99s, the overshoot is large, about 10.35%, and when the UDE is used for the rotational speed control, the time from the start of the motor to the stabilization is about 0.8s, and the overshoot is negligible; when a disturbance is suddenly applied at 0.2 second, the motor speed reaches a rated value of 314rad/sec within about 0.085 second with the conventional PI control, and reaches a rated value of 314rad/sec within about 0.05 second with the UDE control.
As shown in FIG. 4, when a sinusoidally varying disturbance is applied suddenly at 0.2 seconds, the response using conventional PI control will produce a low frequency oscillation with a large amplitude, reaching a nominal value of 314rad/sec in about 0.66 seconds, whereas the response using UDE control will produce little oscillation and reach a nominal value of 314rad/sec in about 0.04 seconds.
As shown in fig. 5, when the disturbance changes slowly, the overshoot amount is about 7.9% by using the conventional PI control, which is reduced compared to the case where the disturbance is suddenly applied, but the time from the motor start to the time when the motor becomes stable is about 0.17 seconds, which is increased compared to the time when the steady state is reached in the condition (1) and the condition (2); when the UDE is adopted for rotating speed control, the time for response to reach a steady state is about 0.12 second, although the response time is increased, the overshoot infinitely approaches to 0, the system quickly reaches a steady state, and the control effect is obvious.
As shown in fig. 6, when the speed is adjusted, the interference estimation error of the control method based on the UDE is small, and the error can be basically controlled within 3%, which indicates that the control method based on the UDE has high sensitivity and strong tracking capability.
As shown in fig. 7, when the UDE does not generate control current distortion during the control process, it shows that the control effect is good and the fluctuation is not easy to occur.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A method for improving the anti-interference capability of speed regulation control of a permanent magnet synchronous motor is characterized by comprising the following steps:
1) establishing a voltage equation of the permanent magnet synchronous motor under a d-q reference system;
2) establishing PMSM electromagnetic torque T in d-q reference systemeAnd load torque TLAn expression;
3) according to a mathematical equation under a PMSM voltage dq coordinate system in the step 1) and PMSM electromagnetic torque T in the step 2)eAnd load torque TLObtaining a state equation of the PMSM under the dq coordinate system by the expression;
4) taking the motor load torque in the PMSM state equation in the step 3) as a state equation disturbance signal to obtain a disturbance signal expression;
5) substituting the disturbance signal expression in the step 4) into the PMSM state equation in the step 3) to obtain PMSM load torque as a state equation disturbance signal, and introducing the state equation of the PMSM in the dq coordinate system in the step 3) to obtain a rotating speed control loop equation;
6) setting a state variable, and converting the rotating speed control loop equation in the step 5) into a PMSM standard state equation;
7) approximating and estimating the continuous signal when the continuous signal passes through a low-pass filter with proper bandwidth, and establishing a relation between the disturbance signal and an estimation value;
8) obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7);
9) in order to ensure that the effective rotating speed tracking is carried out under the condition that the load torque is unknown, a rotating speed control expression is provided according to the expression of the disturbance signal estimation value in the step 8);
10) substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM interference estimation error equation;
11) in order to adjust the rotation speed of the PMSM, the output in a PMSM interference estimation error equation in the step 10) is set to be unchanged, the estimation disturbance is used as a target value and introduced into a PMSM current control link, the target value is tracked in real time, and the effect of improving the anti-interference capability of speed regulation control of the permanent magnet synchronous motor is achieved.
2. The method for improving the anti-jamming capability of the speed regulation control of the permanent magnet synchronous motor according to claim 1, wherein the step 1) establishes a voltage equation of the permanent magnet synchronous motor under a d-q reference system:
Figure FDA0002697982250000021
in the formula: i.e. id、iqRespectively representing direct axis and quadrature axis currents in a d-q reference frame; l isd、LqRespectively representing stator direct axis inductance and quadrature axis inductance; rsRepresenting the stator resistance; lambda [ alpha ]αfShowing a permanent magnet rotor flux linkage; v. ofd、vqRespectively representing voltages applied to a direct axis and a quadrature axis; omegarThe electrical angular velocity at which the motor rotates is indicated.
3. The method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 2, wherein the specific implementation method of the step 2) is as follows: establishing PMSM electromagnetic torque T in d-q reference systemeAnd load torque TLExpression:
Figure FDA0002697982250000022
in the formula: j represents the inertia torque of the permanent magnet synchronous motor, B represents the friction coefficient, P represents the number of poles, omegamRepresenting the mechanical angular velocity at which the motor rotates, the electrical angular velocity is expressed as:
Figure FDA0002697982250000023
if the torque angle is kept at 90 deg., the direct axis current idBecomes 0, quadrature axis current iqI.e. the stator phasor current, which is also referred to as the torque component of the current; when i isdWhen the value is 0, the PMSM electromagnetic torque is as follows:
Figure FDA0002697982250000024
the magnitude of the electromagnetic torque depends only on the quadrature axis current iqMagnitude, when direct axis current idWhen 0, the value is maximum.
4. The method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 3, wherein the specific implementation method of the step 3) is as follows: according to a mathematical equation under a PMSM voltage dq coordinate system in the step 1) and PMSM electromagnetic torque T in the step 2)eAnd load torque TLExpression of usingq vd]TIndicating input by [ i ]q id ωr]TAnd expressing system variables to obtain a state equation of the PMSM under the dq coordinate system:
Figure FDA0002697982250000025
5. the method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 4, wherein the specific implementation method of the step 4) is as follows: taking the motor load torque in the PMSM state equation in the step 3) as a state equation disturbance signal to obtain a disturbance signal expression:
Figure FDA0002697982250000031
the specific implementation method of the step 5) is as follows: substituting the disturbance signal expression in the step 4) into the PMSM state equation in the step 3) to obtain PMSM load torque as a state equation disturbance signal, introducing the state equation of the PMSM in the dq coordinate system in the step 3) to obtain a rotating speed control loop equation:
Figure FDA0002697982250000032
6. the method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 5, wherein the specific implementation method of the step 6) is as follows: setting a state variable: x is ωr，u＝iqConverting the rotating speed control loop equation in the step 5) into a PMSM standard state equation:
Figure FDA0002697982250000033
a1and b0The size is determined by the dynamic characteristics of the control object; the essence of the PMSM anti-disturbance system is to design the input u such that the motor tracks or adjusts the reference speed trajectory to the same desired value.
7. The method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 6, wherein the specific implementation method of the step 7) is as follows: approximating and estimating the continuous signal as it passes through a low pass filter of appropriate bandwidth; establishing a relation between the disturbance signal and an estimated value thereof:
Figure FDA0002697982250000034
in the formula:
Figure FDA0002697982250000035
is an estimate of interference d;
Figure FDA0002697982250000036
denoted by τ is the bandwidth of the filter.
8. The method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 7, wherein the specific implementation method of the step 8) is as follows: obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7):
Figure FDA0002697982250000037
9. the method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 8, wherein the specific implementation method of the step 9) is as follows: in order to ensure that the rotating speed tracking is effectively carried out under the condition that the load torque is unknown, according to the expression of the disturbance signal estimation value in the step 8), a rotating speed control expression is provided:
Figure FDA0002697982250000038
in the formula: x is the number of*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0。
10. The method for improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor according to claim 9, wherein the specific implementation method of the step 10) is as follows: substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM interference estimation error equation:
Figure FDA0002697982250000041
let e be x-x*，
Figure FDA0002697982250000042
The PMSM interference estimation error equation can again be expressed as:
Figure FDA0002697982250000043
the specific implementation method of the step 11) comprises the following steps: to regulate the PMSM speed, the output x is set*I.e. by
Figure FDA0002697982250000044
The disturbance being calculated and estimated by keeping the set value constant
Figure FDA0002697982250000045
And introducing the estimated disturbance as a target value into a PMSM current control link, tracking the target value in real time, and playing a role in improving the anti-interference capability of the speed regulation control of the permanent magnet synchronous motor.
CN202011012670.7A 2020-09-23 2020-09-23 Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor Pending CN112187125A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011012670.7A CN112187125A (en) 2020-09-23 2020-09-23 Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011012670.7A CN112187125A (en) 2020-09-23 2020-09-23 Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor

Publications (1)

Publication Number Publication Date
CN112187125A true CN112187125A (en) 2021-01-05

Family

ID=73956068

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011012670.7A Pending CN112187125A (en) 2020-09-23 2020-09-23 Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor

Country Status (1)

Country Link
CN (1) CN112187125A (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107505841A (en) * 2017-08-31 2017-12-22 电子科技大学 A kind of mechanical arm attitude robust control method based on interference estimator
US20180076630A1 (en) * 2016-09-14 2018-03-15 Texas Tech University System Ude-based robust droop control for parallel inverter operation
CN108306568A (en) * 2018-03-06 2018-07-20 南京理工大学 The Adaptive Integral backstepping control method of elevator PMSM anti-disturbances

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180076630A1 (en) * 2016-09-14 2018-03-15 Texas Tech University System Ude-based robust droop control for parallel inverter operation
CN107505841A (en) * 2017-08-31 2017-12-22 电子科技大学 A kind of mechanical arm attitude robust control method based on interference estimator
CN108306568A (en) * 2018-03-06 2018-07-20 南京理工大学 The Adaptive Integral backstepping control method of elevator PMSM anti-disturbances

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
卢军 等: "基于新型UDE 的无速度传感器PMSM滑模控制", 《组合机床与自动化加工技术》, no. 8, 31 August 2020 (2020-08-31), pages 127 *

Similar Documents

Publication Publication Date Title
CN110429881B (en) Active-disturbance-rejection control method of permanent magnet synchronous motor
CN106788046B (en) Permanent magnet synchronous motor command filtering finite time fuzzy control method
CN111342720B (en) Permanent magnet synchronous motor self-adaptive continuous sliding mode control method based on torque observation
CN107577149B (en) Follow-up control method adopting fractional order fast terminal sliding mode control
CN104932250B (en) A kind of new PI controller architectures and its parameter tuning method
CN112838797B (en) Permanent magnet synchronous motor fuzzy sliding mode control method based on improved index reaching law
CN110401391B (en) Fuzzy self-adaptive dynamic surface control method for asynchronous motor stochastic system
CN111682813B (en) Permanent magnet synchronous motor sliding mode control method based on disturbance observer
CN112532133B (en) Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor
CN111371357A (en) Permanent magnet synchronous motor speed regulation control method based on self-adaptive supercoiling algorithm
CN113659904A (en) SPMSM sensorless vector control method based on nonsingular rapid terminal sliding-mode observer
CN110620533A (en) Surface-mounted permanent magnet synchronous motor sensorless control method
CN114726278A (en) Permanent magnet synchronous motor self-adaptive control method based on mechanical parameter identification
CN112953328A (en) Active-disturbance-rejection control method for permanent magnet synchronous motor of electric vehicle
CN117691903A (en) Permanent magnet synchronous motor sliding mode control method based on RBF neural network
CN112783099B (en) Fractional order composite control method and permanent magnet synchronous motor speed servo system
CN110096077B (en) Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor
CN115378333B (en) Sliding mode angle self-adaptive compensation method based on current loop output
CN112187125A (en) Method for improving anti-interference capability of speed regulation control of permanent magnet synchronous motor
CN113708697B (en) Speed regulation control method for permanent magnet synchronous motor with actuator saturation
CN110061666B (en) Permanent magnet synchronous motor speed regulation performance improvement method based on full-order terminal sliding mode control
CN114221584A (en) Permanent magnet synchronous motor controlled by non-speed sensor
Rao et al. Sensorless speed control of Brushless DC Motor using fuzzy controller
CN109245644B (en) Implementation method of robust two-degree-of-freedom controller of permanent magnet synchronous motor
CN113179069A (en) MTPA control method of maximum torque point tracking embedded permanent magnet synchronous motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20210105