CN113364377B - Permanent magnet synchronous motor active disturbance rejection position servo control method - Google Patents

Permanent magnet synchronous motor active disturbance rejection position servo control method Download PDF

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CN113364377B
CN113364377B CN202110252531.XA CN202110252531A CN113364377B CN 113364377 B CN113364377 B CN 113364377B CN 202110252531 A CN202110252531 A CN 202110252531A CN 113364377 B CN113364377 B CN 113364377B
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permanent magnet
synchronous motor
magnet synchronous
current
rotor
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CN113364377A (en
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陈益广
刘宏旭
苏江
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Tianjin University
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Tianjin University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses an active disturbance rejection control method based on an improved extended state observer, which aims at the defects of large tracking error, poor disturbance rejection capability, poor robustness, low response speed and the like in a traditional permanent magnet synchronous motor position servo system, and firstly, the method obtains an observation effect which is better for a second-order state variable by introducing speed into the extended state observer as an input quantity; secondly, by introducing a limited-time state observer, the state observer not only has the characteristic that the traditional extended state observer can observe disturbance, but also has the advantage that the limited-time state observer can converge in a limited time. Compared with the traditional position-speed-current three-closed-loop control method, the method has the advantages of small tracking error, strong anti-interference capability and capability of following a position signal with higher frequency, and improves the performance of a permanent magnet synchronous motor position servo system.

Description

Permanent magnet synchronous motor active disturbance rejection position servo control method
Technical Field
The invention relates to the technical field of control of permanent magnet synchronous motors, in particular to an active disturbance rejection position servo control method based on an improved extended state observer.
Background
In recent years, with the progress of the fields of power electronics technology, modern control theory and the like, the position servo performance of a motor is further improved, so that the servo motor is widely applied in various fields. The permanent magnet synchronous motor is widely applied to servo driving due to the advantages of high efficiency, high reliability, high power density, easiness in control and the like. The traditional permanent magnet synchronous motor position servo system adopts a vector control method, and particularly comprises three closed-loop control of a position loop, a speed loop and a current loop, wherein the position loop is usually in proportional control, the speed loop and the current loop are in proportional integral control, but the permanent magnet synchronous motor is a multivariable, high-coupling and nonlinear high-order system, and the traditional proportional integral control method has the defects of low response speed, overregulation, poor control performance and the like, and cannot meet the gradually improved high-precision and high-response requirements of the position servo system in the modern society.
The active disturbance rejection control can realize the compensation of signals by estimating the internal disturbance and the external disturbance of the system, and the system is set as an integral series system. The method has low model dependence and strong robustness, and is widely applied.
The active disturbance rejection control has a plurality of defects, and limits the application of the active disturbance rejection control in engineering. Because the extended state observer is a core link of the active disturbance rejection control, the parameter quantity of the extended state observer is reduced, the tracking precision of the extended state observer to the system input is improved, and the state convergence speed is accelerated to become the main direction of the research of the current active disturbance rejection control method.
Disclosure of Invention
The invention aims to overcome the defects of the existing method, and provides an active disturbance rejection position servo control method based on an improved extended state observer.
The invention provides a permanent magnet synchronous motor position servo control method, which is characterized by comprising the following steps of:
step one, sampling and resolving signals of a permanent magnet synchronous motor, and obtaining a mechanical angle theta of the rotor position of the permanent magnet synchronous motor and an electrical angle theta of the rotor position of the permanent magnet synchronous motor by utilizing an absolute position encoder coaxially connected with the rotor of the permanent magnet synchronous motor to sample and resolve e And the mechanical angular velocity of the rotor of the permanent magnet synchronous motorPermanent magnet synchronous motor A, B and C three-phase stator current i by using non-contact Hall current sensor A 、i B And i C Sampling;
step two, the permanent magnet synchronous motor A, B obtained by sampling in the step one and the C three-phase stator current signal i are processed A 、i B And i C The alpha-axis current i under a two-phase alpha beta static coordinate system is obtained through Clark change α And beta-axis current i β And let the alpha-axis current i α And beta-axis current i β Obtaining dq synchronous rotation through Park positive changeDirect axis current i in a rotating coordinate system d And quadrature axis current i q ；
Step three, the externally given position command theta * Input into a differential tracker, and output a rotor position reference signal theta of the permanent magnet synchronous motor through the differential tracker ref And permanent magnet synchronous motor rotor speed reference signal
Step four, the rotor position reference signal theta of the permanent magnet synchronous motor obtained in the step three is obtained ref And permanent magnet synchronous motor rotor speed reference signalRespectively and with permanent magnet synchronous motor rotor position observation signals Z obtained by an improved extended state observer 1 And a rotor speed observation signal Z of a permanent magnet synchronous motor 2 The difference is made to obtain a rotor position error signal e 1 And a rotor speed error signal e 2 And then the rotor position error signal e 1 And a rotor speed error signal e 2 Inputting the reference signals into a nonlinear feedback link, and obtaining quadrature current reference signals which do not consider the influence of the total disturbance error of the system from the nonlinear feedback link>
Fifthly, the mechanical angular speed of the rotor of the permanent magnet synchronous motor obtained in the step one is calculatedPermanent magnet synchronous motor rotor mechanical angle theta and quadrature axis current reference signal +.>Inputting the rotor position observation signal Z into an improved extended state observer, and obtaining a rotor position observation signal Z of the permanent magnet synchronous motor by the improved extended state observer 1 Rotor speed observation signal Z of permanent magnet synchronous motor 2 Total disturbance error estimate Z 3 The expression for improving the extended state observer is:
in the formula (1), e 1 Is the mechanical angle observation value Z of the rotor of the permanent magnet synchronous motor 1 Error of mechanical angle theta with rotor of permanent magnet synchronous motor, e 2 Is the observed value Z of the mechanical angular velocity of the rotor of the permanent magnet synchronous motor 2 Mechanical angular velocity of rotor of permanent magnet synchronous motorIs the sign (·) as a sign function, β 01 、β 02 、β 03 And beta 04 For the gain coefficient of the system, h is the sampling period, a is the nonlinear coefficient, in the method, a is the fraction, b 0 To improve the extended state observer compensation factor;
in the present method, Z 3 The influence of factors such as unmodeled errors, parameter errors, external interference and the like on the motor load torque is included;
in the method, the compensation coefficient b of the extended state observer is improved 0 The method comprises the following steps of obtaining by the following formula;
in the formula (2), p n Is pole pair number of permanent magnet synchronous motor, psi f The permanent magnet flux linkage is adopted, J is lumped moment of inertia of a motor end system, and R is motor stator phase winding resistance; step six, according to the total disturbance error estimated value Z obtained in the step five 3 Calculating to obtain a corrected current considering the influence of the total disturbance error
Step seven, according to the quadrature current reference signal which is obtained in the step four and does not consider the influence of the total disturbance error of the systemAnd the correction current taking the influence of the total disturbance error into account obtained in step six +.>Calculating to obtain quadrature current reference signal +.>
Step eight, the quadrature current reference signal in the step sevenAnd the quadrature current i obtained in the second step q Comparing, i.e. obtaining the quadrature current reference signal +.>And quadrature axis current i q The obtained difference value is input into a current controller with Proportional Integral (PI) regulation characteristic, and the quadrature reference voltage is obtained after the regulation of the current controller>Taking the direct axis current reference signal +.>For 0, the direct current reference signal +.>And the direct axis current i obtained in the second step d Comparing, i.e. finding the direct current reference signal +.>With direct current i d The obtained difference value is input into a current controller with Proportional Integral (PI) regulation characteristic, and the direct axis reference voltage is obtained after the regulation of the current controller>
Step nine, the quadrature reference voltage obtained in the step eight is obtainedAnd direct axis reference voltage +.>Obtaining an alpha-axis reference voltage +.f under a stator two-phase alpha-beta static coordinate system through Park inverse transformation>And beta-axis reference voltage->
Step ten, the alpha-axis reference voltage under the stator two-phase alpha-beta static coordinate systemAnd beta-axis reference voltage->Completing SVPWM pulse width calculation in an SVPWM pulse generator to generate SVPWM pulses;
and step eleven, inputting the SVPWM pulse generated in the step ten into an inverter, controlling the inverter to provide corresponding SVPWM pulse width modulation voltage for the permanent magnet synchronous motor, changing the movement trend of the permanent magnet synchronous motor, and realizing the position servo control of the permanent magnet synchronous motor. Compared with the prior art, the invention has the beneficial effects that:
(1) The invention introduces the mechanical speed of the motor into the extended state observerAs input quantity, the speed signal has better following effect, and the observation effect of the extended state observer is improved.
(2) The invention combines the traditional extended state observer with the finite time controller, and introduces the fraction term into the observer, so that the controller has the characteristic of convergence in finite time, and has better robustness and anti-interference performance.
(3) The invention optimizes the parameter design of the extended state observer, provides a feasible parameter setting method, reduces the complexity of parameter setting and ensures that the extended state observer has higher practical application value.
(4) The invention reduces the tracking error of the motor position signal and increases the bandwidth of the controller by a series of improvements of the extended state observer, so that the system can track the motor position signal with higher frequency and the control effect of the permanent magnet synchronous motor position servo system is improved.
Drawings
FIG. 1 is a control system block diagram of an active disturbance rejection position servo control method based on an improved extended state observer;
FIG. 2 is a flow diagram of a differential tracker;
FIG. 3 is a flow diagram of a nonlinear feedback loop;
fig. 4 is a flow diagram of the improved extended state observer presented herein.
Detailed Description
Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
The active disturbance rejection position servo control method based on the improved extended state observer is realized on the basis of hardware of a general permanent magnet synchronous motor digital control driving system. The most basic hardware includes a digital signal processor, a contactless hall current sensor, an absolute position encoder (Encorder), an inverter, a dc power supply (U) DC ) And Permanent Magnet Synchronous Machines (PMSM). The system control algorithm is implemented in a digital signal processor.
A control system block diagram for realizing the active disturbance rejection position servo control method based on the improved extended state observer is shown in figure 1. The implementation of the invention is realized by a discrete control algorithm and is realized by means of a digital signal processor.
First, the signals of the permanent magnet synchronous motor are sampled and resolved. Sampling and resolving by utilizing an absolute position encoder coaxially connected with the permanent magnet synchronous motor to obtain the mechanical angle theta (k) of the rotor position of the permanent magnet synchronous motor and the electrical angle theta of the rotor position of the permanent magnet synchronous motor e (k) And the mechanical angular velocity of the rotor of the permanent magnet synchronous motor
Then, the kth operation cycle A, B and the C-phase three-phase stator current i of the permanent magnet synchronous motor are calculated by using a non-contact Hall current sensor A (k)、i B (k) And i C (k) Sampling is performed.
Sampling the obtained k operation period A, B of the permanent magnet synchronous motor and the C-phase three-phase stator current signal i A (k)、i B (k) And i C (k) The alpha-axis current i under a two-phase alpha beta static coordinate system is obtained through Clark change α (k) And beta-axis current i β (k) The specific coordinate change expression is:
and then the alpha-axis current i under the two-phase alpha-beta static coordinate system α (k) And beta-axis current i β (k) Obtaining the direct-axis current i under the dq synchronous rotation coordinate system through Park positive change d (k) And quadrature axis current i q (k) The specific coordinate change expression is:
since the measurement signal typically introduces a series of noise, resulting in errors in the signal, the differential calculation further increases the noise contribution.
Therefore, a differential Tracker (TD) is adopted to track the measurement signal and the differential signal, so that noise pollution is reduced, and meanwhile, overshoot of the tracking signal is reduced on the premise of ensuring quick response of the system.
Then, the motor position command θ * (k) Input into a differential tracker, and output a permanent magnet synchronous motor position reference signal theta through the differential tracker ref (k) And permanent magnet synchronous motor speed reference signalThe mathematical expression of the differential tracker is:
in the formula (5), r is the maximum value which can be taken by the control amount; h is a sampling period; let x 1 ＝θ ref (k)-θ * ，When fhan (x) 1 ，x 2 R, h) is a discrete fastest control synthesis function; the mathematical expression of the discrete fastest control synthesis function is:
in the formula (6), a and a 0 、a 1 、a 2 、d、s a 、s g And g are both intermediate variables; sign (·) is a sign function.
Subsequently, the obtained permanent magnet synchronous motor position reference signal theta ref (k) And permanent magnet synchronous motor speed reference signalAnd a permanent magnet synchronous motor position observation signal Z obtained by an improved extended state observer 1 (k) And a permanent magnet synchronous motor speed observation signal Z 2 (k) Difference is made to obtain a position error signal e 1 (k) And error signal e of speed 2 (k)。
In order to enable the control system to better relieve the contradiction between overshoot and quick response, the invention adopts a nonlinear feedback link (NLSEF).
The nonlinear error feedback link introduces nonlinear control on the basis of traditional control, and the method has strong robustness and can improve the dynamic performance of the system.
To apply the position error signal e 1 (k) And error signal e of speed 2 (k) The input to the nonlinear feedback link is obtained without considering the influence of the total disturbance error of the systemIs a quadrature current reference signalThe mathematical expression of the nonlinear feedback link is:
beta in formula (8) 1 、β 2 Is the gain coefficient of the system. a, a 1 And a 2 Is a nonlinear coefficient of the system; fal (·) is a fast optimal control synthesis function with the mathematical expression:
in order to make the position servo system obtain better position tracking effect, the invention designs an improved extended state observer (FT-ESO), and the principle of the improved state observer is as follows:
for a system, the second order kinetic equation can be written:
in the formula (10), y is the output of the system; y is (i) Each derivative of the output g; u is the input of the system; b is a constant representing the effect of the input on the output; w (t) is external disturbance; f [ g (t), w (t), t]Representing the total disturbance of the system;
representing the system state as x 1 ＝y，The mathematical expression of equation (10) is:
in the formula (11), H (t) is the derivative of f [ g (t), w (t), t ].
Let observer state Z 1 (k)、Z 2 (k) And Z 3 (k) The mathematical expression for obtaining a traditional second-order extended state observer in discrete form is:
in the formula (12), epsilon (k) is an error; z is Z 3 (k) Estimating a value of the total disturbance error; b is the extended state observer compensation coefficient.
The angle, the rotating speed, the torque, the current and the voltage equations of the permanent magnet synchronous motor under the dq coordinate system are as follows:
in the formula (19), θ is a mechanical angle of the rotor; omega is the mechanical angular velocity of the rotor; j is the lumped moment of inertia of the motor end system; b is the friction coefficient; p is p n The pole pair number of the permanent magnet synchronous motor is; t (T) e Is electromagnetic torque; t (T) L Is the load torque; psi phi type f Is a permanent magnet flux linkage; u (u) q And u d Respectively an alternating voltage and a direct voltage; i.e q And i d The quadrature axis current and the direct axis current are respectively; l (L) q And L d The quadrature axis inductance and the direct axis inductance are respectively; r is the stator phase winding resistance.
Using i d Control of=0, can be obtained
Can be obtained by the formula (14)
In the formula (15), i q0 The quadrature current when the total disturbance of the system is not considered; i.e q1 To account for the corrected current of the total disturbance of the system.
As can be seen from (15), the state variable is the rotor machine of the magnetic synchronous motorAngular velocity ofAnd the mechanical angle theta of the rotor of the permanent magnet synchronous motor, let x be 1 ＝θ，/>Expanding the system to obtain a traditional second-order expanded state observer suitable for the system, wherein the mathematical expression is as follows:
wherein Z is 1 (k) An observation value of a mechanical angle theta (k) of a rotor position of the permanent magnet synchronous motor in a kth operation period; z is Z 2 (k) Mechanical angular velocity of rotor of permanent magnet synchronous motor with kth operation periodIs a measurement of the observed value of (2); z is Z 3 (k) For the k-th operation period, Z in the system is the estimated value of the total disturbance error 3 (k) The method comprises the steps of affecting motor load torque by factors such as unmodeled errors, parameter errors, external interference and the like, wherein epsilon (k) is a mechanical angle observation value Z of the rotor position of the permanent magnet synchronous motor in the kth operation period 1 (k) Error of mechanical angle theta (k) with rotor position of permanent magnet synchronous motor in kth operation period; />Is the quadrature current reference signal of the kth operation period.
In the present method b 0 The mathematical expression of (2) is:
with respect to the present system,the mechanical angular speed of the rotor of the permanent magnet synchronous motor is obtained; simultaneous differential tracker derived->Is also based on the physical meaning of the rotational speed, so that the speed quantity should be followed exactly. In order to obtain a better tracking condition of the speed quantity, introducing an error of the speed quantity into the extended state observer, and rewriting a discrete form of the extended state observer, wherein the mathematical expression of the discrete form is as follows:
in the formula (18), ε 1 (k) And is the mechanical angle observation value Z of the rotor position of the permanent magnet synchronous motor in the kth operation period 1 (k) Error of mechanical angle theta (k) with rotor position of permanent magnet synchronous motor in kth operation period; epsilon 2 (k) For observing the mechanical angular velocity Z of the rotor of the permanent magnet synchronous motor in the kth operation period 2 (k) Mechanical angular velocity of rotor of permanent magnet synchronous motor with kth operation periodIs a function of the error of (a).
Since the state convergence speed and accuracy are important indicators for evaluating the quality of a control system, the limited time control can converge the system from the initial state to the target state in a limited time. The invention introduces a limited time observer into the traditional extended state observer, so that the controller has the characteristic of convergence in limited time, and has better robustness and anti-interference performance.
The finite time control is characterized by having a fractional term, and the mathematical expression of the discrete form of the overwrite Zhang Zhuangtai observer (FT-ESO) is:
in the formula (19), a is a fraction in the present invention.
The formula (19) reduces the number of system parameters compared with the formula (18), and reduces the difficulty of system parameter setting.
Afterwards, the mechanical angular velocity of the rotor of the permanent magnet synchronous motor is increasedMechanical angle theta (k) of rotor machine position of permanent magnet synchronous motor and quadrature current reference signal (I) stored in register in last period>Inputting the signals into an improved extended state observer to obtain a rotor position observation signal Z of the permanent magnet synchronous motor 1 (k) And a rotor speed observation signal Z of a permanent magnet synchronous motor 2 (k) And the total disturbance error estimate Z 3 (k)。
Then according to the total disturbance error estimated value Z 3 (k) Calculating to obtain a corrected current considering the influence of the total disturbance errorThe mathematical expression is as follows:
from equation (15), the quadrature current reference signalThe mathematical expression is:
then, willStored in a register, and the next cycle is input to the modified extended state observer.
Then, the quadrature current reference signal in the equation (21)And the quadrature current i obtained by a coordinate transformation module q (k) Comparing, i.e. obtaining the quadrature current reference signal +.>And quadrature axis current i q (k) The obtained difference is input into a current loop PI controller to obtain a quadrature reference voltage +.>Taking the direct axis current reference signal +.>For 0, the direct current reference signal +.>And the direct axis current i obtained by a coordinate transformation module d (k) Comparing, i.e. finding the direct current reference signal +.>With direct current i d (k) The obtained difference is input into a current loop PI controller to obtain a direct axis reference voltage +.>
Then, the obtained quadrature reference voltageAnd direct axis reference voltage +.>Obtaining an alpha-axis reference voltage +.f under a stator two-phase stationary alpha-beta coordinate system through Park inverse transformation>And beta-axis reference voltage->The specific coordinate change expression is:
then the stator two-phase static alpha beta seatAlpha-axis reference voltage under standard systemAnd beta-axis reference voltage->And (3) finishing SVPWM pulse width calculation in an SVPWM pulse generator to generate SVPWM pulses.
And finally, inputting the generated SVPWM pulse into an inverter, controlling the inverter to provide corresponding SVPWM pulse width modulation voltage for the permanent magnet synchronous motor, changing the movement trend of the permanent magnet synchronous motor, and realizing the position servo control of the permanent magnet synchronous motor.
The invention introduces the mechanical angular velocity of the rotor of the permanent magnet synchronous motor into the extended state observerAs input quantity, the speed signal has better following effect; the traditional extended state observer is combined with the finite time controller, and the fractional items are introduced into the observer, so that the controller has the characteristic of convergence in finite time, and has better robustness and anti-interference performance; by optimizing the parameter design of the extended state observer, a feasible parameter setting method is provided, the complexity of parameter setting is reduced, and the active disturbance rejection control has higher practical application value; the tracking error of the motor position signal is reduced, the bandwidth of the controller is increased, the system can track the motor position signal with higher frequency, and the control effect of the permanent magnet synchronous motor position servo system is improved.
The foregoing embodiments illustrate and describe the basic principles, principal features, and advantages of the invention. Those of ordinary skill in the art will appreciate that: the discussion of the above embodiments is merely exemplary. Therefore, any omission, modification, equivalent replacement, improvement, etc. of the present invention should be included in the scope of the present invention.

Claims (1)

1. The permanent magnet synchronous motor position servo control method is characterized by comprising the following steps of:
step one, sampling and resolving signals of a permanent magnet synchronous motor, and obtaining a mechanical angle theta of the rotor position of the permanent magnet synchronous motor and an electrical angle theta of the rotor position of the permanent magnet synchronous motor by utilizing an absolute position encoder coaxially connected with the rotor of the permanent magnet synchronous motor to sample and resolve e And the mechanical angular velocity of the rotor of the permanent magnet synchronous motorPermanent magnet synchronous motor A, B and C three-phase stator current i by using non-contact Hall current sensor A 、i B And i C Sampling;
step two, the permanent magnet synchronous motor A, B obtained by sampling in the step one and the C three-phase stator current signal i are processed A 、i B And i C The alpha-axis current i under a two-phase alpha beta static coordinate system is obtained through Clark change α And beta-axis current i β And let the alpha-axis current i α And beta-axis current i β Obtaining the direct-axis current i under the dq synchronous rotation coordinate system through Park positive change d And quadrature axis current i q ；
Step three, the externally given position command theta * Input into a differential tracker, and output a rotor position reference signal theta of the permanent magnet synchronous motor through the differential tracker ref And permanent magnet synchronous motor rotor speed reference signal
Step four, the rotor position reference signal theta of the permanent magnet synchronous motor obtained in the step three is obtained ref And permanent magnet synchronous motor rotor speed reference signalRespectively and with permanent magnet synchronous motor rotor position observation signals Z obtained by an improved extended state observer 1 And a rotor speed observation signal Z of a permanent magnet synchronous motor 2 The difference is made and the difference is made,obtaining a rotor position error signal e 1 And a rotor speed error signal e 2 And then the rotor position error signal e 1 And a rotor speed error signal e 2 Inputting the reference signals into a nonlinear feedback link, and obtaining quadrature current reference signals which do not consider the influence of the total disturbance error of the system from the nonlinear feedback link>
Fifthly, the mechanical angular speed of the rotor of the permanent magnet synchronous motor obtained in the step one is calculatedPermanent magnet synchronous motor rotor mechanical angle theta and quadrature axis current reference signal +.>Inputting the rotor position observation signal Z into an improved extended state observer, and obtaining a rotor position observation signal Z of the permanent magnet synchronous motor by the improved extended state observer 1 Rotor speed observation signal Z of permanent magnet synchronous motor 2 Total disturbance error estimate Z 3 The expression for improving the extended state observer is:
e in formula (1) 1 Is the mechanical angle observation value Z of the rotor of the permanent magnet synchronous motor 1 Error of mechanical angle theta with rotor of permanent magnet synchronous motor, e 2 Is the observed value Z of the mechanical angular velocity of the rotor of the permanent magnet synchronous motor 2 Mechanical angular velocity of rotor of permanent magnet synchronous motorIs the sign (·) as a sign function, β 01 、β 02 、β 03 And beta 04 For the gain coefficient of the system, h is the sampling period, a is the nonlinear coefficient, in the method, a is the fraction, b 0 To improve the extended state observer compensation factor;
in the present method, Z 3 The influence of factors such as unmodeled errors, parameter errors, external interference and the like on the motor load torque is included;
in the method, the compensation coefficient b of the extended state observer is improved 0 The method comprises the following steps of obtaining by the following formula;
in the formula (2), p n Is pole pair number of permanent magnet synchronous motor, psi f The permanent magnet flux linkage is adopted, J is lumped moment of inertia of a motor end system, and R is motor stator phase winding resistance;
step six, according to the total disturbance error estimated value Z obtained in the step five 3 Calculating to obtain a corrected current considering the influence of the total disturbance error
Step seven, according to the quadrature current reference signal which is obtained in the step four and does not consider the influence of the total disturbance error of the systemAnd the correction current taking the influence of the total disturbance error into account obtained in step six +.>Calculating to obtain quadrature current reference signal +.>
Step eight, the quadrature current reference signal in the step sevenAnd the quadrature current i obtained in the second step q Comparing, i.e. obtaining the quadrature current reference signal +.>With the cross-axis electricityStream i q The obtained difference value is input into a current controller with Proportional Integral (PI) regulation characteristic, and the quadrature reference voltage is obtained after the regulation of the current controller>Taking the direct axis current reference signalFor 0, the direct current reference signal +.>And the direct axis current i obtained in the second step d Comparing, i.e. finding the direct current reference signal +.>With direct current i d The obtained difference value is input into a current controller with Proportional Integral (PI) regulation characteristic, and the direct axis reference voltage is obtained after the regulation of the current controller>
Wherein the correction current is taken into account the influence of the total disturbance errorThe mathematical expression is as follows:
quadrature axis current reference signalThe mathematical expression is:
step nine, a step of, in the first embodiment,the quadrature reference voltage obtained in the step eight is calculatedAnd direct axis reference voltage +.>Obtaining an alpha-axis reference voltage +.f under a stator two-phase alpha-beta static coordinate system through Park inverse transformation>And beta-axis reference voltage->
Step ten, the alpha-axis reference voltage under the stator two-phase alpha-beta static coordinate systemAnd beta-axis reference voltage->Completing SVPWM pulse width calculation in an SVPWM pulse generator to generate SVPWM pulses;
and step eleven, inputting the SVPWM pulse generated in the step ten into an inverter, controlling the inverter to provide corresponding SVPWM pulse width modulation voltage for the permanent magnet synchronous motor, changing the movement trend of the permanent magnet synchronous motor, and realizing the position servo control of the permanent magnet synchronous motor.
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