CN113839589A - Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor - Google Patents
Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN113839589A CN113839589A CN202111026280.XA CN202111026280A CN113839589A CN 113839589 A CN113839589 A CN 113839589A CN 202111026280 A CN202111026280 A CN 202111026280A CN 113839589 A CN113839589 A CN 113839589A
- Authority
- CN
- China
- Prior art keywords
- linear
- axis
- current
- decoupling
- disturbance
- 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.)
- Granted
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000737 periodic effect Effects 0.000 claims abstract description 15
- 230000000694 effects Effects 0.000 claims abstract description 4
- 230000014509 gene expression Effects 0.000 claims description 14
- 230000004907 flux Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000002474 experimental method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005312 nonlinear dynamic Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001550 time effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- H02P21/13—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
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- 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 decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor. Establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor, taking equal effects of a d-axis current loop, a q-axis current loop and a rotating speed loop in the current loop and rotating speed loop models as first-order system models, and respectively establishing respective decoupling linear active disturbance rejection controllers according to the first-order system models of the d-axis current loop, the q-axis current loop and the rotating speed loop, wherein each decoupling linear active disturbance rejection controller comprises a linear tracking differentiator, a linear expansion state observer and a linear control law; and the decoupling linear active disturbance rejection controller is used for decoupling linear active disturbance rejection control on the permanent magnet synchronous motor. The method can ensure that the tracking performance and the anti-interference performance of a first-order system are completely decoupled, greatly reduce the difficulty of parameter setting of the controller, effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor, and greatly improve the control precision of the current and the rotating speed.
Description
Technical Field
The invention relates to a motor control method in the field of permanent magnet synchronous motor servo control, in particular to a decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has been widely applied to high-end industrial fields such as robots, high-end numerical control machines, medical equipment and the like by virtue of the advantages of compact structure, high power density, good dynamic performance and the like. However, the complicated nonlinear dynamic characteristics and various disturbance sources of the permanent magnet synchronous motor increase the difficulty of realizing high-precision control of the permanent magnet synchronous motor.
The disturbance existing in the control of the permanent magnet synchronous motor is divided into periodic disturbance and non-periodic disturbance. The periodic disturbance mainly comprises periodic disturbance generated by an inverter dead time effect, permanent magnet flux linkage harmonic waves and a current sensor sampling error. The aperiodic disturbance mainly comprises the disturbance generated by motor parameter change, system model mismatch, load torque and the like.
In recent years, linear active disturbance rejection control has been successfully applied to permanent magnet synchronous motor control due to the characteristics of strong disturbance rejection capability and independence of models. However, because the observation bandwidth of the extended state observer in the conventional linear active disturbance rejection controller for disturbance is limited, the conventional linear active disturbance rejection controller can only effectively suppress aperiodic disturbance in the control of the permanent magnet synchronous motor, and cannot effectively suppress periodic disturbance. However, these periodic disturbances may cause significant fluctuations in the current and the rotational speed of the motor, thereby deteriorating the control performance of the current and the rotational speed of the motor. In addition, the traditional linear active disturbance rejection controller is not a two-degree-of-freedom controller, and the tracking performance and the disturbance rejection performance of a control system of the traditional linear active disturbance rejection controller have a coupling relation, so that the parameters of the controller are not easy to adjust.
Disclosure of Invention
In order to change the linear active-disturbance-rejection controller into a two-degree-of-freedom controller and reduce the difficulty of parameter setting of the controller, the invention provides the decoupling linear active-disturbance-rejection controller, which is the two-degree-of-freedom controller, and the tracking performance and the disturbance rejection performance of a control system can be completely decoupled.
Meanwhile, in order to enable the decoupling linear active-disturbance-rejection controller to effectively inhibit periodic disturbance in the control of the permanent magnet synchronous motor and enhance the control performance of the current and the rotating speed of the motor, the decoupling linear active-disturbance-rejection controller is constructed and designed and divided into a current part and a rotating speed part.
In order to achieve the above object, as shown in fig. 1 and fig. 2, the following technical solutions are specifically adopted in the present invention:
1) establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor:
wherein p is the magnetic pole logarithm; l isnThe inductance is the factory nominal value of the permanent magnet synchronous motor; j. the design is a squarenA factory nominal value of the rotational inertia of the system is obtained; psirnThe flux linkage is a factory nominal value of a permanent magnet flux linkage in the permanent magnet synchronous motor; i.e. id and iqD-axis and q-axis actual currents, respectively; i.e. iqrefOutputting q-axis reference current for a rotating speed controller connected with the permanent magnet synchronous motor; u. ofdref and uqrefOutputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; dd and dqLumped disturbances in the d-axis and q-axis current loops, respectively; dωIs lumped disturbance in the rotating speed ring; a isd、aq and aωRespectively as lumped disturbances dd、dq and dωThe rate of change of (c); t represents time;
the current loop comprises a current controller and a controlled object.
The system comprises the permanent magnet synchronous motor, a load and a connecting piece between the permanent magnet synchronous motor and the load. The load is for example a load motor and the connection between the permanent magnet synchronous motor and the load is for example a coupling.
According to the current loop and rotating speed loop models, the d-axis current loop, the q-axis current loop and the rotating speed loop of the permanent magnet synchronous motor have the same model structures, and the equal effects of the d-axis current loop, the q-axis current loop and the rotating speed loop in the current loop and rotating speed loop models are taken as first-order system models and are uniformly expressed as follows:
wherein ,x1Represents id、iq and ωmOne of them; x is the number of2Represents dd、dq and dωOne of them; b represents 1/Ln and 1.5pψrn/JnOne of them; u represents udref、uqref and iqrefOne of them; a represents ad、aq and aωOne of them;
2) establishing a decoupling linear active disturbance rejection controller according to a first-order system model:
respectively establishing respective decoupling linear active-disturbance-rejection controllers according to first-order system models of a d-axis current loop, a q-axis current loop and a rotating speed loop, wherein the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller respectively comprise three parts of a linear tracking differentiator, a linear expansion state observer and a linear control law;
as shown in FIG. 2, the linear tracking differentiator receives a preset given reference command v to process to obtain a linear tracking differential reference command vLTDAnd input into a linear control law which receives a linear tracking differential reference command vLTDAnd the observed value of the quantity to be observedAcquiring an output reference quantity by the collective disturbance processing and inputting the output reference quantity into a first-order system model, receiving the output reference quantity by the first-order system model, processing the output reference quantity to acquire an actual value of the quantity to be observed and inputting the actual value into a linear extended state observer, processing the actual value of the quantity to be observed by the linear extended state observer to acquire an observed value of the quantity to be observed and inputting the lumped disturbance into a linear control law, and thus realizing the active disturbance rejection control of closed-loop feedback;
3) and the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller work together to carry out decoupling linear active-disturbance-rejection control on the permanent magnet synchronous motor.
The lumped disturbance dd、dq and dωThe expression of (a) is as follows:
wherein ,LsIs stator inductance, Δ LsIs the stator inductance deviation value, Ls＝Ln+ΔLs；RsIs a stator resistor; psirFor permanent magnet flux linkage, Δ ψrFor the flux linkage deviation value of the permanent magnet psir＝ψrn+Δψr；ωmThe mechanical rotation speed of the rotor; j is the system moment of inertia, Delta J is the system moment of inertia deviation value, J is Jn+ΔJ；TLIs the load torque; t isfIs the friction torque; gamma rayid and γiqPeriodic disturbances in the d-axis and q-axis current loops, respectively; gamma rayωIs a periodic disturbance existing in the rotation speed loop.
In said 2), the tracking module GcAre all designed into proportional structures and are expressed as follows:
Gc＝kp
wherein ,kpIs a proportionality coefficient;
tracking module G in decoupling linear active disturbance rejection controller corresponding to q-axis current, d-axis current and rotating speedcAre all uniformly arranged into a proportional structure.
In the step 2), the anti-interference module G in the decoupling linear active-interference-rejection controller corresponding to the q-axis current, the d-axis current and the rotating speedoThe anti-interference modules in the decoupling linear active-anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed are arranged in a proportional-differential-resonant structure in a distinguishing way;
the expressions of the anti-interference modules in the q-axis current decoupling linear active-interference-rejection controller and the d-axis current decoupling linear active-interference-rejection controller are as follows:
wherein ,Goc(s) an anti-interference module representing a current-decoupled linear active-interference-rejection controller in the complex frequency domain; s represents a frequency parameter of the complex frequency domain; h is1c and h2cRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the current decoupling linear active-interference-rejection controller; k is a radical ofr6And
respectively represents that the resonant frequency in the anti-interference module of the current decoupling linear active-interference-rejection controller is 6p omegamThe proportionality coefficient and the phase adjustment angle of the resonance term;
the expression of an anti-interference module in the rotational speed decoupling linear active-interference-rejection controller is as follows:
wherein ,Gos(s) an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller in a complex frequency domain; h is1s and h2sRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller; k is a radical ofr1And
respectively representing the resonant frequency p omega in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controllermThe proportionality coefficient and the phase adjustment angle of the resonance term; k is a radical ofr2And
respectively representing that the resonant frequency in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller is 2p omegamThe proportionality coefficient and the phase adjustment angle of the resonance term.
Anti-interference module G for both current loop and speed loopoThe distinguishing treatment is carried out to adapt to the main existing frequency of the current loop of the permanent magnet synchronous motor to be 6p omegamThe main existing frequency of the periodic disturbance and the rotating speed ring is p omegam and 2pωmIn the case of periodic perturbations.
In the step 3):
the expression for the linear tracking differentiator is:
where v denotes a preset given reference instruction, vLTDRepresenting a linear tracking differential reference command, r representing a linear tracking differential reference command vLTDConverging to a speed regulation factor of a preset given reference command v;
expression of linear extended state observer:
wherein ,
and
are respectively x1 and x2The observed value of (a); goRepresenting an anti-interference module, determining the anti-interference performance of the system, and according to the specific anti-interference index requirement of the system, GoCan be designed into any structure;
expression of the linear control law:
wherein ,GcRepresents a tracking module and determines a differential reference command v of the system for linear trackingLTDThe tracking performance of (2). According to the specific tracking performance index requirement of the system, GoAnd may be designed in any configuration.
As shown in fig. 1, the expression of the system closed loop transfer function:
wherein ,Gt(s) represents the tracking performance of the system; gd(s) represents the noise immunity performance of the system; gc(s) is GcA representation in the complex frequency domain; go(s) is GoIn the complex frequency domain.
The invention respectively establishes a unified and effective decoupling linear active disturbance rejection controller for the d-axis current loop, the q-axis current loop and the rotating speed loop, is a two-degree-of-freedom controller, and can effectively inhibit the periodic disturbance of the frequencies.
The 3) is specifically as follows:
3.1) setting the mechanical reference speed omega of the rotor of the permanent magnet synchronous motor through a microcontrollermrefAnd load torque, d-axis reference current i to PMSMdrefIs set as idrefControlling the value as 0;
3.2) obtaining the rotor position electric angle of the motor and the actual rotor mechanical rotating speed omega through a position encoder arranged on the permanent magnet synchronous motormObtaining a phase current i of the permanent magnet synchronous motor through a current sensor arranged on the permanent magnet synchronous motoraAnd b-phase current ibKnown as ia and ibAccording to ic＝-(ia+ib) Can be based on the a-phase current iaAnd b-phase current ibObtaining c-phase current icPhase a current iaPhase i of b-phase currentbC phase current icBy parkCoordinate change to obtain d-axis actual current idAnd q-axis actual current iq；
3.3) applying d-axis actual current idThe measured value of the d-axis actual current is obtained by inputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controller
Disturbance observation in d-axis current loop
The q-axis actual current iqThe actual q-axis current observed value is obtained by inputting the actual q-axis current observed value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controller
Disturbance observation in a q-axis current loop
The actual rotation speed omega of the rotor machinemThe actual rotating speed observed value of the rotor machinery is obtained by inputting the actual rotating speed observed value into a linear extended state observer of a rotating speed decoupling linear active disturbance rejection controller
Disturbance observation in a sum rotation loop
3.4) reference rotor mechanical rotation speed omegamrefThe linear tracking differential rotor mechanical reference rotating speed omega is obtained by inputting the linear tracking differential into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controllermrefLTDLinear tracking differential rotor mechanical reference speed omegamrefLTDObserved value of actual rotating speed of rotor machine
Difference between and disturbance observed value in rotation speed ring
The q-axis reference current i is obtained from a linear control law input into a rotating speed decoupling linear active disturbance rejection controllerqref；
3.5) reference d-axis current idrefObtaining d-axis linear tracking differential reference current i from a linear tracking differentiator input into a d-axis current decoupling linear active disturbance rejection controllerdrefLTDLinearly tracking the d-axis with a differential reference current idrefLTDAnd d-axis actual current observed value
And disturbance observation in the d-axis current loop
The d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controllerdref；
Reference q-axis current iqrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controllerqrefLTDLinearly tracking the q-axis with a differential reference current iqrefLTDAnd the observed value of the q-axis actual current
And disturbance observation in the q-axis current loop
The q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controllerqref；
3.6) reference voltage u on d-axisdrefAnd q-axis reference voltage uqrefAnd after the inverse park coordinate changes, the inverse park coordinate is sent into a space vector pulse width modulation algorithm SVPWM to generate six switching signals of an inverter, and the inverter is connected to an input control end of the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to normally work.
The invention has the beneficial effects that:
(1) the decoupling linear active disturbance rejection controller can ensure that the tracking performance and the disturbance rejection performance of a first-order system are completely decoupled, and the difficulty of parameter setting of the controller is greatly reduced.
(2) The current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller constructed according to the decoupling linear active-disturbance-rejection controller can effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor, and greatly improve the control precision of the current and the rotating speed.
Drawings
Fig. 1 is a block diagram of the overall control of a permanent magnet synchronous motor embodying the present invention;
FIG. 2 is a schematic diagram of a first order system model decoupled linear active disturbance rejection controller implementing the present invention;
FIG. 3a is a graph showing the experimental results of d-axis and q-axis currents of a permanent magnet synchronous motor;
fig. 3b is a graph of the result of the rotation speed experiment of the permanent magnet synchronous motor.
Detailed Description
The invention is further illustrated with reference to the accompanying drawings and specific examples.
As shown in fig. 1, the application example completely implemented according to the technical solution of the present invention is as follows:
1) setting rotor mechanical reference rotating speed omega of permanent magnet synchronous motor through microcontrollermrefAnd load torque, using i for a permanent magnet synchronous motordrefControl of 0, where idrefIs a d-axis reference current.
2) Obtaining the rotor position electrical angle and the rotor mechanical actual rotating speed omega of the motor through a position encoder arranged on the permanent magnet synchronous motorm. Obtaining a-phase current i of permanent magnet synchronous motor through current sensoraAnd b-phase current ibKnown as ia and ibAccording to ic＝-(ia+ib) The relationship of (a) can obtain the c-phase current icI is toa，ib and icObtaining d-axis actual current i through park coordinate changedAnd q-axis actual current iq。
3) Will d-axis actual currentidInputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controller to obtain an actual d-axis current observed value
Disturbance observation in d-axis current loop
The q-axis actual current iqInputting the measured value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controller to obtain an actual q-axis current observed value
Disturbance observation in a q-axis current loop
The actual rotation speed omega of the rotor machinemInputting the obtained data into a linear extended state observer of a rotational speed decoupling linear active disturbance rejection controller to obtain an observed value of the actual rotational speed of the rotor machine
Disturbance observation in a sum rotation loop
4) Mechanically referencing rotor to rotation speed omegamrefInputting the linear tracking differential into a linear tracking differentiator of a rotational speed decoupling linear active disturbance rejection controller to obtain a linear tracking differential rotor mechanical reference rotational speed omegamrefLTDLinear tracking differential rotor mechanical reference speed omegamrefLTDObserved value of actual rotating speed of rotor machine
Difference and disturbance observed value in the rotation speed loop
Inputting the obtained q-axis reference electricity into a linear control law of a rotating speed decoupling linear active disturbance rejection controllerStream iqref。
5) Reference d-axis to current idrefInputting the current into a linear tracking differentiator of a d-axis current decoupling linear active disturbance rejection controller to obtain a d-axis linear tracking differential reference current idrefLTDLinearly tracking the d-axis with a differential reference current idrefLTDAnd d-axis actual current observed value
And disturbance observation in the d-axis current loop
The d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controllerdref。
Reference q-axis current iqrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controllerqrefLTDLinearly tracking the q-axis with a differential reference current iqrefLTDAnd the observed value of the q-axis actual current
And disturbance observation in the q-axis current loop
The q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controllerqref。
6) Reference voltage u of d axisdrefAnd q-axis reference voltage uqrefAnd after the inverse park coordinate changes, the signals are sent into a space vector pulse width modulation algorithm SVPWM to generate six switching signals of an inverter, and the inverter is connected to the input control end of the motor to drive the motor to normally work.
7) Experimental verification
In order to verify the effectiveness and superiority of the control method provided by the invention, experimental verification is carried out:
7.1) contents of the experiment
The d-axis reference current of the permanent magnet synchronous motor is set to be 0A, the mechanical reference rotating speed of the rotor is set to be 900r/min, and the step change of the load torque from 0Nm to 10Nm at the 1s moment is equivalent to the step change of the q-axis actual current from 0A to 5.82A at the 1s moment. The control effect of the permanent magnet synchronous motor decoupling linear active disturbance rejection control method is verified by observing and comparing the permanent magnet synchronous motor with a d-axis current traditional linear active disturbance rejection controller, a q-axis current traditional linear active disturbance rejection controller, a rotating speed traditional linear active disturbance rejection controller, a decoupling linear active disturbance rejection controller, a q-axis current decoupling linear active disturbance rejection controller, a d-axis actual current under the control of the rotating speed decoupling linear active disturbance rejection controller, and steady-state fluctuation amplitude values of the q-axis actual current and the actual rotating speed.
7.2) results of the experiment
Fig. 3a is a graph comparing the response of the d-axis actual current and the q-axis actual current of the permanent magnet synchronous motor under the control method proposed by the present invention with that under the conventional linear active disturbance rejection control method. Fig. 3b is a graph comparing the steady state response of the permanent magnet synchronous motor under the condition of the load torque with 10Nm of the actual rotating speed under the control method provided by the invention with the traditional linear active disturbance rejection control method.
Compared with the traditional linear active-disturbance-rejection controller, the d-axis current decoupling linear active-disturbance-rejection controller and the q-axis current decoupling linear active-disturbance-rejection controller constructed by the decoupling linear active-disturbance-rejection controller can effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor and greatly improve the control precision of the current and the rotating speed.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
1) establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor:
wherein p is the magnetic pole logarithm; l isnThe inductance is the factory nominal value of the permanent magnet synchronous motor; j. the design is a squarenA factory nominal value of the rotational inertia of the system is obtained; psirnThe flux linkage is a factory nominal value of a permanent magnet flux linkage in the permanent magnet synchronous motor; i.e. id and iqD-axis and q-axis actual currents, respectively; i.e. iqrefOutputting q-axis reference current for a rotating speed controller connected with the permanent magnet synchronous motor; u. ofdref and uqrefOutputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; dd and dqLumped disturbances in the d-axis and q-axis current loops, respectively; dωIs lumped disturbance in the rotating speed ring; a isd、aq and aωRespectively as lumped disturbances dd、dq and dωThe rate of change of (c); t represents time;
the equal effect of a d-axis current loop, a q-axis current loop and a rotating speed loop in the current loop and rotating speed loop models is a first-order system model, and the uniform expression is as follows:
wherein ,x1Represents id、iq and ωmOne of them; x is the number of2Represents dd、dq and dωOne of them; b represents 1/Ln and 1.5pψrn/JnOne of them; u represents udref、uqref and iqrefOne of them; a represents ad、aq and aωOne of them;
2) establishing a decoupling linear active disturbance rejection controller according to a first-order system model:
respectively establishing respective decoupling linear active-disturbance-rejection controllers according to first-order system models of a d-axis current loop, a q-axis current loop and a rotating speed loop, wherein the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller respectively comprise three parts of a linear tracking differentiator, a linear expansion state observer and a linear control law;
the linear tracking differentiator receives a preset given reference command v to process to obtain a linear tracking differential reference command vLTDAnd input into a linear control law which receives a linear tracking differential reference command vLTDThe observed value and the lumped disturbance of the quantity to be observed are processed to obtain an output reference quantity and are input into a first-order system model, the first-order system model receives the output reference quantity and processes to obtain an actual value of the quantity to be observed and inputs the actual value into a linear extended state observer, and the linear extended state observer processes to obtain the observed value and the lumped disturbance of the quantity to be observed according to the actual value of the quantity to be observed and inputs the observed value and the lumped disturbance into a linear control law, so that the closed-loop feedback active disturbance rejection control is realized;
3) and the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller work together to carry out decoupling linear active-disturbance-rejection control on the permanent magnet synchronous motor.
2. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that:
the lumped disturbance dd、dq and dωThe expression of (a) is as follows:
wherein ,LsIs stator inductance, Δ LsIs the stator inductance deviation value, Ls＝Ln+ΔLs；RsIs a stator resistor; psirFor permanent magnet flux linkage, Δ ψrIs a permanent magnetChain deviation value psir＝ψrn+Δψr；ωmThe mechanical rotation speed of the rotor; j is the system moment of inertia, Delta J is the system moment of inertia deviation value, J is Jn+ΔJ；TLIs the load torque; t isfIs the friction torque; gamma rayid and γiqPeriodic disturbances in the d-axis and q-axis current loops, respectively; gamma rayωIs a periodic disturbance existing in the rotation speed loop.
3. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in said 2), the tracking module GcAre all designed into proportional structures and are expressed as follows:
Gc＝kp
wherein ,kpIs a scaling factor.
4. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in the step 2), the anti-interference module G in the decoupling linear active-interference-rejection controller corresponding to the q-axis current, the d-axis current and the rotating speedoThe anti-interference modules in the decoupling linear active-anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed are arranged in a proportional-differential-resonant structure in a distinguishing way;
the expressions of the anti-interference modules in the q-axis current decoupling linear active-interference-rejection controller and the d-axis current decoupling linear active-interference-rejection controller are as follows:
wherein ,Goc(s) an anti-interference module representing a current-decoupled linear active-interference-rejection controller in the complex frequency domain; s represents a frequency parameter of the complex frequency domain; h is1c and h2cRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the current decoupling linear active-interference-rejection controller; k is a radical ofr6And
respectively represents that the resonant frequency in the anti-interference module of the current decoupling linear active-interference-rejection controller is 6p omegamThe proportionality coefficient and the phase adjustment angle of the resonance term;
the expression of an anti-interference module in the rotational speed decoupling linear active-interference-rejection controller is as follows:
wherein ,Gos(s) an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller in a complex frequency domain; h is1s and h2sRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller; k is a radical ofr1And
respectively representing the resonant frequency p omega in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controllermThe proportionality coefficient and the phase adjustment angle of the resonance term; k is a radical ofr2And
respectively representing that the resonant frequency in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller is 2p omegamThe proportionality coefficient and the phase adjustment angle of the resonance term.
5. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in the step 3):
the expression for the linear tracking differentiator is:
where v denotes a preset given reference instruction, vLTDRepresenting a linear tracking differential reference command, r representing a linear tracking differential reference command vLTDConverge to preSetting a speed regulating factor of a given reference command v;
expression of linear extended state observer:
wherein ,
and
are respectively x1 and x2The observed value of (a); goAn anti-interference module is represented;
expression of the linear control law:
wherein ,GcA trace module is represented.
6. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: the 3) is specifically as follows:
3.1) setting the mechanical reference speed omega of the rotor of the permanent magnet synchronous motormrefAnd load torque, d-axis reference current i to PMSMdrefIs set as idrefControlling the value as 0;
3.2) obtaining the rotor position electrical angle of the motor and the actual rotating speed omega of the rotor machinemObtaining a phase current i of the permanent magnet synchronous motoraAnd b-phase current ibAccording to the a-phase current iaAnd b-phase current ibObtaining c-phase current icPhase a current iaPhase i of b-phase currentbC phase current icObtaining d-axis actual current i through park coordinate changedAnd q-axis actual current iq；
3.3) measuring d-axis actual currentidThe measured value of the d-axis actual current is obtained by inputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controller
Disturbance observation in d-axis current loop
The q-axis actual current iqThe actual q-axis current observed value is obtained by inputting the actual q-axis current observed value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controller
Disturbance observation in a q-axis current loop
The actual rotation speed omega of the rotor machinemThe actual rotating speed observed value of the rotor machinery is obtained by inputting the actual rotating speed observed value into a linear extended state observer of a rotating speed decoupling linear active disturbance rejection controller
Disturbance observation in a sum rotation loop
3.4) reference rotor mechanical rotation speed omegamrefThe linear tracking differential rotor mechanical reference rotating speed omega is obtained by inputting the linear tracking differential into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controllermrefLTDLinear tracking differential rotor mechanical reference speed omegamrefLTDObserved value of actual rotating speed of rotor machine
Difference between and disturbance observed value in rotation speed ring
The q-axis reference current i is obtained from a linear control law input into a rotating speed decoupling linear active disturbance rejection controllerqref；
3.5) reference d-axis current idrefObtaining d-axis linear tracking differential reference current i from a linear tracking differentiator input into a d-axis current decoupling linear active disturbance rejection controllerdrefLTDLinearly tracking the d-axis with a differential reference current idrefLTDAnd d-axis actual current observed value
And disturbance observation in the d-axis current loop
The d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controllerdref；
Reference q-axis current iqrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controllerqrefLTDLinearly tracking the q-axis with a differential reference current iqrefLTDAnd the observed value of the q-axis actual current
And disturbance observation in the q-axis current loop
The q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controllerqref；
3.6) reference voltage u on d-axisdrefAnd q-axis reference voltage uqrefAnd after the inverse park coordinate changes, the signals are sent into a space vector pulse width modulation algorithm to generate six switching signals of an inverter, and the inverter is connected to an input control end of the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to normally work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111026280.XA CN113839589B (en) | 2021-09-02 | 2021-09-02 | Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111026280.XA CN113839589B (en) | 2021-09-02 | 2021-09-02 | Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113839589A true CN113839589A (en) | 2021-12-24 |
| CN113839589B CN113839589B (en) | 2023-09-01 |
Family
ID=78961972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111026280.XA Active CN113839589B (en) | 2021-09-02 | 2021-09-02 | Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113839589B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115333422A (en) * | 2022-10-14 | 2022-11-11 | 希望森兰科技股份有限公司 | Permanent magnet synchronous motor rotating speed ring design method based on improved active disturbance rejection control |
| CN116300476A (en) * | 2023-05-16 | 2023-06-23 | 成都微精电机股份公司 | Resonance suppression method based on rotating speed loop LADRC controller |
| CN116610035A (en) * | 2023-06-30 | 2023-08-18 | 南京迅传智能工业技术有限公司 | Completely decoupled active disturbance rejection control system and parameter setting method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101322240B1 (en) * | 2013-09-10 | 2013-10-28 | 서울과학기술대학교 산학협력단 | An apparatus and a method for torque control of a permanent magnet synchronous motor |
| CN107425769A (en) * | 2017-08-10 | 2017-12-01 | 广东工业大学 | The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System |
| CN108233805A (en) * | 2018-02-06 | 2018-06-29 | 开封大学 | The design method of the extended state observer of permanent magnet synchronous motor revolution speed control system |
| CN110429881A (en) * | 2019-07-26 | 2019-11-08 | 江苏大学 | A kind of Auto-disturbance-rejection Control of permanent magnet synchronous motor |
| CN111600518A (en) * | 2019-10-10 | 2020-08-28 | 安徽工程大学 | Design method of permanent magnet synchronous current controller based on extended state observer |
| CN112398397A (en) * | 2020-11-27 | 2021-02-23 | 浙江工业大学 | Linear active disturbance rejection permanent magnet synchronous motor control method based on model assistance |
| CN113193809A (en) * | 2021-05-04 | 2021-07-30 | 哈尔滨理工大学 | Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection |
-
2021
- 2021-09-02 CN CN202111026280.XA patent/CN113839589B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101322240B1 (en) * | 2013-09-10 | 2013-10-28 | 서울과학기술대학교 산학협력단 | An apparatus and a method for torque control of a permanent magnet synchronous motor |
| CN107425769A (en) * | 2017-08-10 | 2017-12-01 | 广东工业大学 | The Auto-disturbance-rejection Control and system of a kind of Permanent-magnet Synchronous-motor Speed Servo System |
| CN108233805A (en) * | 2018-02-06 | 2018-06-29 | 开封大学 | The design method of the extended state observer of permanent magnet synchronous motor revolution speed control system |
| CN110429881A (en) * | 2019-07-26 | 2019-11-08 | 江苏大学 | A kind of Auto-disturbance-rejection Control of permanent magnet synchronous motor |
| CN111600518A (en) * | 2019-10-10 | 2020-08-28 | 安徽工程大学 | Design method of permanent magnet synchronous current controller based on extended state observer |
| CN112398397A (en) * | 2020-11-27 | 2021-02-23 | 浙江工业大学 | Linear active disturbance rejection permanent magnet synchronous motor control method based on model assistance |
| CN113193809A (en) * | 2021-05-04 | 2021-07-30 | 哈尔滨理工大学 | Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection |
Non-Patent Citations (2)
| Title |
|---|
| 周涛;: "永磁同步电机调速系统的自抗扰控制", 光学精密工程, no. 03 * |
| 张军;肖海峰;: "基于自抗扰控制的永磁同步电机无位置控制系统建模与仿真", 西安航空学院学报, no. 05 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115333422A (en) * | 2022-10-14 | 2022-11-11 | 希望森兰科技股份有限公司 | Permanent magnet synchronous motor rotating speed ring design method based on improved active disturbance rejection control |
| CN116300476A (en) * | 2023-05-16 | 2023-06-23 | 成都微精电机股份公司 | Resonance suppression method based on rotating speed loop LADRC controller |
| CN116610035A (en) * | 2023-06-30 | 2023-08-18 | 南京迅传智能工业技术有限公司 | Completely decoupled active disturbance rejection control system and parameter setting method thereof |
| CN116610035B (en) * | 2023-06-30 | 2023-11-14 | 南京迅传智能工业技术有限公司 | Completely decoupled active disturbance rejection control system and parameter setting method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113839589B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110429881B (en) | Active-disturbance-rejection control method of permanent magnet synchronous motor | |
| CN113839589B (en) | Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor | |
| Wang et al. | Enhanced ADRC with quasi-resonant control for PMSM speed regulation considering aperiodic and periodic disturbances | |
| Wang et al. | Antidisturbance speed control for induction machine drives using high-order fast terminal sliding-mode load torque observer | |
| Lu et al. | A new load adaptive identification method based on an improved sliding mode observer for PMSM position servo system | |
| CN108667374B (en) | Design method of high-rigidity debugging-free speed loop of variable-frequency speed regulation system | |
| Zhou et al. | An improved MTPA control based on amplitude-adjustable square wave injection | |
| CN112003525B (en) | Vector control permanent magnet synchronous wind power generation system rotating speed loop active disturbance rejection regulator | |
| CN111342719B (en) | Control method of asynchronous motor driven by non-speed sensor | |
| CN110995102A (en) | Direct torque control method and system for permanent magnet synchronous motor | |
| CN110798116A (en) | Motor vector composite controller based on armature model independent feedforward compensation | |
| Yu et al. | A Stator Current Oriented Closed-Loop $ I\text {--} f $ Control of Sensorless SPMSM With Fully Unknown Parameters for Reverse Rotation Prevention | |
| CN111162710A (en) | Torque ripple suppression method for permanent magnet hub motor | |
| CN111030535B (en) | On-line identification method for induction parameters of asynchronous motor | |
| CN115864928A (en) | PMSM model reference self-adaptive rotation speed estimation method based on correction current prediction | |
| CN109412478B (en) | Power droop control method of brushless doubly-fed motor | |
| CN114337426A (en) | Permanent magnet synchronous motor deviation decoupling control method under d-q axis static coordinate system | |
| Lin et al. | Speed controller design for electric drives based on decoupling two-degree-of-freedom control structure | |
| Li et al. | Torque ripple minimization of low-speed gimbal servo system using parameter-optimized ESO | |
| CN111934585A (en) | Permanent magnet synchronous motor servo control system based on fuzzy PI control | |
| CN114157193B (en) | Optimization interpolation type synchronous motor torque pulsation suppression control method and system | |
| CN113467229B (en) | Alternating current servo driving method | |
| CN111049442A (en) | Method for suppressing rotational speed pulsation of servo motor | |
| Jing et al. | Optimization of speed loop control technology for permanent magnet synchronous motor servo system | |
| CN114400935B (en) | Induction motor compound control method based on rapid finite time control |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |