CN112532133A - Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor - Google Patents
Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/0003—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
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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
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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
- 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
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- 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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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The invention provides a filter compensation sliding mode active disturbance rejection control method suitable for a permanent magnet synchronous motor, which is characterized in that a third-order sliding mode active disturbance rejection controller (FSMC-ADRC) with filter compensation is utilized to control a rotating speed loop and a q-axis current loop of a permanent magnet synchronous motor control system. The third-order sliding mode active disturbance rejection controller with filtering compensation comprises: constructing a tracking differentiator with filtering compensation and considering unknown disturbance based on a filter mathematical model and a permanent magnet synchronous motor motion equation; constructing an extended state observer by using a given rotating speed and the rotating speed of the filtered permanent magnet synchronous motor as the error of the sliding mode controller; and calculating the q-axis given voltage finally output by the third-order sliding mode active disturbance rejection controller with the filter compensation.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a filter compensation sliding mode active disturbance rejection control method suitable for a permanent magnet synchronous motor.
Background
In recent years, with rapid development of power electronic technology, computer technology and the like, the control performance of an alternating current speed regulation system is remarkably improved, and the alternating current speed regulation system has the advantages of wide speed regulation range, high precision, high speed response and the like, and is gradually applied to various occasions instead of a direct current speed regulation system. Wherein, the control accuracy of the whole control system can be directly influenced by the performance of the motor.
The permanent magnet synchronous motor has the advantages of being fast in starting, simple to control, small in size, high in power factor, low in temperature rise loss and the like, and is widely applied to engineering practice. However, in practical applications such as electric vehicles and air compressors, the pmsm as a controlled object of a driving system is easily affected by disturbance in different working environments, and the disturbance is often unknown, which seriously affects the performance of the control system.
Meanwhile, with the improvement of the control precision requirement of the permanent magnet synchronous motor in various application occasions, the friction factor becomes a non-negligible factor. However, in the actual operation process of the permanent magnet synchronous motor, the friction factor is a quantity which is difficult to measure, so a disturbance compensation scheme taking the friction factor into account is needed to meet the requirements of high tracking accuracy and disturbance resistance of the alternating current control system of the permanent magnet synchronous motor.
The sliding mode control is variable structure control, the operating point of the system is limited on a sliding mode by the switching characteristic of a sliding mode control function, the system further moves to a stable point, the response speed is high, and the system is insensitive to system parameters. However, the sliding mode control usually uses a large switching gain to realize fast control of interference, which often causes a buffeting phenomenon of a control system, and restricts the development of the sliding mode control to a certain extent.
In the operation process of the permanent magnet synchronous motor, certain interference and noise often exist in data acquired by rotating speed information, and low-pass filtering processing is generally required to be performed on a sampling value, but certain error deviation is caused by signal delay of the sampling value.
Disclosure of Invention
In order to solve the existing problems of the permanent magnet synchronous motor and eliminate disturbance influence including unknown disturbance, the invention provides a filter compensation sliding mode active disturbance rejection control method suitable for the permanent magnet synchronous motor. On the basis of vector control, a third-order sliding mode active disturbance rejection controller with filter compensation is used for controlling a speed loop and a q-axis current loop, and the voltage output by the controller is used for realizing the accurate control of the whole permanent magnet synchronous motor control system. In order to achieve the purpose, the invention adopts the following technical scheme:
a filter compensation sliding mode active disturbance rejection control method suitable for a permanent magnet synchronous motor is characterized in that a third-order sliding mode active disturbance rejection controller (FSMC-ADRC) with filter compensation is utilized to control a rotating speed loop and a q-axis current loop of a permanent magnet synchronous motor control system. The third-order sliding mode active disturbance rejection controller with filtering compensation comprises:
(1) let the state variable x1＝ωrfThe method comprises the following steps of constructing a tracking differentiator with filtering compensation and considering unknown disturbance based on a filter mathematical model and a permanent magnet synchronous motor motion equation:
wherein, omega is the actual permanent magnet synchronous motor rotating speed, omegarfFor the filtered PMSM speed, TωIs the time constant of the filter and is,
is a current constant, #fIs a rotor permanent magnet flux linkage, p is the number of pole pairs of the motor, J is the rotational inertia of the motor, B is the friction coefficient of the motor, and T is the number of pole pairs of the motorLAs the load torque, iqIs the q-axis current, and is,
for internal disturbance, R is the motor stator winding resistance,
given value of q-axis voltage, LqIs q-axis inductance, fqFor a total disturbance including known disturbances and unknown disturbances, the expression is:
wherein u isqIs q-axis voltage, Δ R is stator resistance variation, Δ ψfThe flux linkage variation of the permanent magnet;
(2) using the given rotating speed and the filtered rotating speed of the permanent magnet synchronous motor as the error delta of the sliding mode controllerqI.e. deltaq＝ω*-ωrfSurface of sliding form
Wherein, ω is*For a given rotational speed, cqMore than 0 is a sliding mode surface parameter;
(3) setting extended state observer error
Order state variable
The built extended state observer is as follows:
wherein,
as an estimate of the rotational speed,
for perturbation estimation, β1,β2,β3To expand the state observer ESO coefficients, rqThe disturbance gain of a three-order sliding mode active disturbance rejection controller with filtering compensation is more than 0;
(4) the q-axis given voltage expression finally output by the third-order sliding mode active disturbance rejection controller with filtering compensation is as follows:
wherein sgn (. cndot.) is a switching function, ηq> 0 is the gain of the switching function, kqIn order to obtain a linear gain, the gain is,
is a voltage constant.
The invention has the following beneficial effects:
(1) the known disturbance and the unknown disturbance including the friction factor are estimated uniformly and compensated into a control model, so that the anti-disturbance capability of the permanent magnet synchronous motor control system is improved, and the permanent magnet synchronous motor control system can be applied to wider occasions.
(2) And the gain value of the switching function of the sliding mode controller is reduced by combining an active disturbance rejection control method, and the adverse effect of buffeting on a control system is eliminated.
(3) And a known filter equation is incorporated into the sliding mode active disturbance rejection control model for delay compensation, so that the permanent magnet synchronous motor control system can track a given signal more accurately.
Drawings
FIG. 1 is a structural block diagram of a three-order sliding mode active disturbance rejection control system with filter compensation for a permanent magnet synchronous motor;
FIG. 2 is a block diagram of a third order sliding mode active disturbance rejection controller with filter compensation;
FIG. 3 is a comparison graph of the load disturbance resistance of three control methods of the permanent magnet synchronous motor;
fig. 4 is a comparison graph of sine given tracking capability of three control methods of the permanent magnet synchronous motor.
Detailed Description
The invention provides a filtering compensation sliding mode active disturbance rejection control method suitable for a permanent magnet synchronous motor. In order to explain the present invention more clearly, the following will explain the problems of the embodiments of the present invention with reference to the attached drawings.
As shown in FIG. 1, the third-order sliding mode active disturbance rejection control system with filtering compensation for the permanent magnet synchronous motor comprises an FSMC-ADRC module, a PI control module, a coordinate transformation module, an SVPWM module, the permanent magnet synchronous motor, a filter and the like.
Fig. 2 is a block diagram of a third-order sliding mode active disturbance rejection control system with filtering compensation, and the specific implementation steps of the invention are as follows:
step 1: constructing a filter mathematical model, a permanent magnet synchronous motor motion equation and a voltage equation;
wherein, ω isrfFor the filtered speed, ω is the actual speed, TωIs the filter time constant, p is the motor pole pair number psifIs a permanent magnet flux linkage iqQ-axis current, J motor moment of inertia, B friction factor, TLIs a load torque, LqIs a direct axis inductor, LdIs d-axis inductance, R is motor stator winding resistance, uqIs the q-axis voltage.
Step 2: based on the model, a tracking differentiator with filter compensation and consideration of unknown disturbance is constructed, and a state variable x is defined1＝ωrf,
Based on defined variables and based on a filter mathematical model and a motor equation, the constructed tracking differentiator with filter compensation and consideration of unknown disturbance is
Wherein,
is a constant of the current and is,
is a given value of the q-axis voltage,
in order to be an internal disturbance,
for total disturbance, Δ R is constantVariation of sub-resistance, Δ ψfIs the flux linkage variation of the permanent magnet.
And step 3: according to the constructed tracking differentiator, a sliding mode controller is designed to control a rotating speed loop and a q-axis current loop:
let the error deltaq＝ω*-ωrfBuilding slip form surfaces
If order
Then
The derived controller outputs are:
wherein,
is a voltage constant, ω*For a given rotational speed, cqMore than 0 is a sliding mode surface parameter, sgn (·) is a switch function, etaq> 0 is the switching function gain.
Establishing a Lyapunov inequality:
if the inequality is less than 0, only the sliding mode gain etaq＞|fqCan guarantee the stability of the system due to the disturbance fqUnknown, the gain of the sliding mode switching function needs to be given a larger value, which may aggravate the buffeting problem of the sliding mode controller, and step 4 in the present invention is used to solve the problem.
And 4, step 4: constructing an extended state observer for disturbance estimation: error taking
The extended state observer constructed based on the tracking differentiator is as follows:
wherein,
as an estimate of the rotational speed,
for perturbation estimation, β1,β2,β3Is the ESO coefficient, rqThe disturbance gain of a three-order band-filtering compensation sliding mode active disturbance rejection controller is more than 0;
and 5: correcting the output of the sliding mode controller according to the constructed extended state observer:
the output expression of the modified three-order sliding mode active disturbance rejection controller with filtering compensation is as follows:
at this time, the shape is established as
The lyapunov inequality, the calculated switch gain etaqAny value greater than 0 can stabilize the whole control system. Wherein,
in order to verify the correctness and the effectiveness of the theory, a simulation platform with a filter compensation third-order sliding mode active disturbance rejection controller based on the permanent magnet synchronous motor is established. Fig. 3 shows that the sliding mode active disturbance rejection control method with filtering compensation (FSMC-ADRC) provided by the present invention has superior disturbance rejection performance under the condition of load disturbance compared with the active disturbance rejection method (ADRC) and the sliding mode active disturbance rejection method (SMC-ADRC), and the disturbance in the system can be better filtered without affecting the response speed of the system, so that the permanent magnet synchronous motor is applied to a wider and worse operating environment. Fig. 4 shows that the sliding mode active disturbance rejection control method with filtering compensation (FSMC-ADRC) proposed by the present invention has better given tracking capability compared to the active disturbance rejection method (ADRC) and the sliding mode active disturbance rejection method (SMC-ADRC), and for a given sine, the amplitude attenuation and phase delay are smaller.
Claims (1)
1. A filter compensation sliding mode active disturbance rejection control method suitable for a permanent magnet synchronous motor is characterized in that a third-order sliding mode active disturbance rejection controller (FSMC-ADRC) with filter compensation is utilized to control a rotating speed loop and a q-axis current loop of a permanent magnet synchronous motor control system. The third-order sliding mode active disturbance rejection controller with filtering compensation comprises:
(1) let the state variable x1＝ωrfThe method comprises the following steps of constructing a tracking differentiator with filtering compensation and considering unknown disturbance based on a filter mathematical model and a permanent magnet synchronous motor motion equation:
wherein, omega is the actual permanent magnet synchronous motor rotating speed, omegarfFor the filtered PMSM speed, TωIs the time constant of the filter and is,
is a current constant, #fIs a rotor permanent magnet flux linkage, p is the number of pole pairs of the motor, J is the rotational inertia of the motor, B is the friction coefficient of the motor, and T is the number of pole pairs of the motorLAs the load torque, iqIs the q-axis current, and is,
for internal disturbance, R is the motor stator winding resistance,
given value of q-axis voltage, LqIs q-axis inductance, fqFor a total disturbance including known disturbances and unknown disturbances, the expression is:
wherein u isqIs q-axis voltage, Δ R is stator resistance variation, Δ ψfThe flux linkage variation of the permanent magnet;
(2) using the given rotating speed and the filtered rotating speed of the permanent magnet synchronous motor as the error delta of the sliding mode controllerqI.e. deltaq＝ω*-ωrfSurface of sliding form
Wherein, ω is*For a given rotational speed, cqMore than 0 is a sliding mode surface parameter;
(3) setting extended state observer error
Order state variable
The built extended state observer is as follows:
wherein,
as an estimate of the rotational speed,
for perturbation estimation, β1,β2,β3To expand the state observer ESO coefficients, rqThe disturbance gain of a three-order sliding mode active disturbance rejection controller with filtering compensation is more than 0;
(4) the q-axis given voltage expression finally output by the third-order sliding mode active disturbance rejection controller with filtering compensation is as follows:
wherein sgn (. cndot.) is a switching function, ηq> 0 is the gain of the switching function, kqIn order to obtain a linear gain, the gain is,
is a voltage constant.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114244214A (en) * | 2021-11-05 | 2022-03-25 | 安徽工程大学 | Permanent magnet synchronous motor position control method based on improved sliding mode control |
| CN114301355A (en) * | 2021-12-30 | 2022-04-08 | 华中科技大学 | Current harmonic disturbance suppression method for permanent magnet synchronous motor |
| CN114448302A (en) * | 2022-01-15 | 2022-05-06 | 北京工业大学 | Active disturbance rejection control method for observing disturbance by using filter |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114244214A (en) * | 2021-11-05 | 2022-03-25 | 安徽工程大学 | Permanent magnet synchronous motor position control method based on improved sliding mode control |
| CN114244214B (en) * | 2021-11-05 | 2023-10-24 | 安徽工程大学 | Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control |
| CN114301355A (en) * | 2021-12-30 | 2022-04-08 | 华中科技大学 | Current harmonic disturbance suppression method for permanent magnet synchronous motor |
| CN114301355B (en) * | 2021-12-30 | 2023-10-27 | 华中科技大学 | Permanent magnet synchronous motor current harmonic disturbance suppression method |
| CN114448302A (en) * | 2022-01-15 | 2022-05-06 | 北京工业大学 | Active disturbance rejection control method for observing disturbance by using filter |
| CN114448302B (en) * | 2022-01-15 | 2023-07-21 | 北京工业大学 | Active disturbance rejection control method for observing disturbance by using filter |
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