CN113839589B - Decoupling linear active disturbance rejection control method for permanent magnet synchronous motor - Google Patents
Decoupling linear active disturbance rejection control method 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
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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
- 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
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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
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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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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, and equivalent a d-axis current loop, a q-axis current loop and a rotating speed loop in the current loop and the rotating speed loop model to be first-order system models, 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 the decoupling linear active disturbance rejection controllers comprise three parts of a linear tracking differentiator, a linear extended state observer and a linear control law; and decoupling the linear active disturbance rejection control of the permanent magnet synchronous motor by a decoupling linear active disturbance rejection controller. The invention can ensure the complete decoupling of the tracking performance and the disturbance rejection performance of the first-order system, greatly reduce the difficulty of parameter setting of the controller, effectively inhibit the periodic disturbance in the current loop and the 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 the advantages of compact structure, high power density, good dynamic performance and the like, and is widely applied to the high-end industrial fields of robots, high-end numerical control machine tools, medical equipment and the like. However, the complex nonlinear dynamics of the permanent magnet synchronous motor and various sources of disturbance increase the difficulty of achieving 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 aperiodic disturbance. The periodic disturbances mainly comprise periodic disturbances generated by inverter dead time effects, permanent magnet flux linkage harmonics and current sensor sampling errors. The non-periodic disturbances mainly include disturbances due to motor parameter variations, system model mismatch, load torque, etc.
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 from models. However, because the extended state observer in the traditional linear active disturbance rejection controller has limited observation bandwidth for disturbance, the traditional linear active disturbance rejection controller can only effectively suppress non-periodic disturbance in permanent magnet synchronous motor control, and cannot effectively suppress periodic disturbance. However, these periodic disturbances may cause significant fluctuations in the current and rotational speed of the motor, degrading the control performance of the motor current and rotational speed. In addition, the conventional linear active disturbance rejection controller is not a two-degree-of-freedom controller, and the tracking performance and the disturbance rejection performance of the control system have a coupling relation, so that parameters of the controller are not easy to set.
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 controller parameter setting, the invention provides a decoupling linear active disturbance rejection controller which is a 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 permanent magnet synchronous motor control and enhance the control performance of motor current and rotating speed, the decoupling linear active disturbance rejection controller is constructed and designed and divided into current and rotating speed parts.
In order to achieve the above object, as shown in fig. 1 and 2, the present invention specifically adopts the following technical scheme:
1) Establishing a current loop and rotating speed loop model of the permanent magnet synchronous motor:
wherein p is the number of pole pairs; l (L) n Factory nominal values for the inductors in the permanent magnet synchronous motor; j (J) n Factory nominal value for the rotational inertia of the system; psi phi type rn Factory nominal values for permanent magnet flux linkages in the permanent magnet synchronous motor; i.e d and iq D-axis and q-axis actual currents, respectively; i.e qref Outputting q-axis reference current for a rotating speed controller connected with the permanent magnet synchronous motor; u (u) dref and uqref Outputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; d, d d and dq Lumped perturbations in the d-axis and q-axis current loops, respectively; d, d ω Is a lumped disturbance in the rotating speed ring; a, a d 、a q and aω Respectively, lumped disturbance d d 、d q and dω Is a rate of change of (2); t represents time;
the current loop comprises a current controller and a controlled object.
The system comprises a 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 ring and the rotating speed ring model, the d-axis current ring, the q-axis current ring and the rotating speed ring of the permanent magnet synchronous motor have the same model structure, and the d-axis current ring, the q-axis current ring and the rotating speed ring in the current ring and the rotating speed ring model are equivalent to a first-order system model, and are uniformly expressed as:
wherein ,x1 Represents i d 、i q and ωm One of them; x is x 2 Represents d d 、d q and dω One of them; b represents 1/L n and 1.5pψrn /J n One of them; u represents u dref 、u qref and iqref One of them; a represents a d 、a q and aω One of them;
2) And establishing a decoupling linear active disturbance rejection controller according to the 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 respective decoupling linear active disturbance rejection controllers are respectively a d-axis current decoupling linear active disturbance rejection controller, a q-axis current decoupling linear active disturbance rejection controller and a rotating speed decoupling linear active disturbance rejection controller, 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 respectively comprise three parts of a linear tracking differentiator, a linear extended state observer and a linear control law;
as shown in fig. 2, the linear tracking differentiator receives a preset given reference command v to obtain a linear tracking differentiated reference command v LTD And input into a linear control law which receives a linear tracking differential reference command v LTD The method comprises the steps that an observation value of a to-be-observed quantity and a collective disturbance process are carried out to obtain an output reference quantity and input the output reference quantity into a first-order system model, the first-order system model receives the output reference quantity, processes the output reference quantity to obtain an actual value of the to-be-observed quantity and inputs the actual value into a linear extended state observer, and the linear extended state observer processes the obtained observation value of the to-be-observed quantity and the collective disturbance according to the actual value of the to-be-observed quantity and inputs the obtained observation value and the collective disturbance into a linear control law, so that the active disturbance rejection control of closed loop feedback 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 control the decoupling linear active disturbance rejection of the permanent magnet synchronous motor.
The lumped disturbance d d 、d q and dω The expression of (2) is as follows:
wherein ,Ls Is stator inductance, deltaL s For stator inductance deviation value, L s ＝L n +ΔL s ；R s Is a stator resistor; psi phi type r Is a permanent magnet flux linkage, delta phi r As the permanent magnet flux linkage offset value, ψ r ＝ψ rn +Δψ r ；ω m The mechanical rotation speed of the rotor; j is the system moment of inertia, Δj is the system moment of inertia offset value, j=j n +ΔJ；T L Is the load torque; t (T) f Is friction torque; gamma ray id and γiq Periodic disturbances present in the d-axis and q-axis current loops, respectively; gamma ray ω Is a periodic disturbance present in the rotating speed ring.
In said 2), tracking module G c All designed as proportional structures, expressed as:
G c ＝k p
wherein ,kp Is a proportionality coefficient;
tracking module G in decoupling linear active disturbance rejection controller corresponding to q-axis current, d-axis current and rotating speed c Are uniformly arranged into a proportional structure.
In the 2), the anti-interference module G in the decoupling linear anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed o The decoupling linear active disturbance rejection controllers are respectively arranged as proportional-differential-resonant structures, but disturbance rejection modules in the decoupling linear active disturbance rejection controllers corresponding to q-axis current, d-axis current and rotating speed are arranged in a distinguishing mode;
the expressions of the anti-interference modules in the q-axis current decoupling linear anti-interference controller and the d-axis current decoupling linear anti-interference controller are as follows:
wherein ,Goc (s) represents the current solution in the complex frequency domainAn immunity module coupled to the linear immunity controller; s represents the frequency parameter of the complex frequency domain; h is a 1c and h2c Respectively representing a proportional coefficient and an integral coefficient in an immunity module of the current decoupling linear active immunity controller; k (k) r6 Andrespectively represent that the resonant frequency in the disturbance rejection module of the current decoupling linear active disturbance rejection controller is 6pω m The scaling factor and phase adjustment angle of the resonance term;
the expression of the disturbance rejection module in the rotation speed decoupling linear active disturbance rejection controller is as follows:
wherein ,Gos (s) represents an immunity module of a rotational speed decoupling linear active immunity controller in a complex frequency domain; h is a 1s and h2s Respectively representing a proportional coefficient and an integral coefficient in an anti-interference module of the rotation speed decoupling linear active-interference controller; k (k) r1 Andrespectively represent the resonant frequency p omega in the disturbance rejection module of the rotation speed decoupling linear disturbance rejection controller m The scaling factor and phase adjustment angle of the resonance term; k (k) r2 and />Respectively represent that the resonant frequency in the disturbance rejection module of the rotation speed decoupling linear active disturbance rejection controller is 2p omega m Scaling factors and phase adjustment angles of the resonance terms.
Anti-interference module G of both current loop and rotation speed loop o Performing distinguishing treatment to adapt to the main existence frequency of the current loop of the permanent magnet synchronous motor as 6p omega m Is mainly present at a frequency pω m and 2pωm Is a periodic disturbance of the system.
The 3) is as follows:
the expression of the linear tracking differentiator is:
wherein v represents a preset given reference instruction, v LTD Represents a linear tracking differential reference command, r represents a linear tracking differential reference command v LTD A speed adjustment factor converging to a preset given reference command v;
expression of the linear extended state observer:
wherein , and />Respectively x 1 and x2 Is a measurement of the observed value of (2); g o Representing an anti-interference module, determining the anti-interference performance of the system, and G according to the specific anti-interference index requirement of the system o Can be designed into any structure;
expression of linear control law:
wherein ,Gc Representing the tracking module determines the differential reference command v of the system for linear tracking LTD Is provided. G according to the specific tracking performance index requirement of the system o Can be designed into any structure.
As shown in fig. 1, the expression of the closed loop transfer function of the system:
wherein ,Gt (s) represents the tracking performance of the system; g d (s) represents the immunity of the system; g c (s) is G c Representation in the complex frequency domain; g o (s) is G o The representation is in the complex frequency domain.
The invention respectively establishes a uniform 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 rotor mechanical reference rotation speed omega of the permanent magnet synchronous motor through the microcontroller mref And load torque, reference current i for d-axis of permanent magnet synchronous motor dref Set as i dref Control =0;
3.2 Obtaining the rotor position electrical angle and the actual rotational speed omega of the rotor machine of the motor by a position encoder mounted on the permanent magnet synchronous motor m Obtaining a phase current i of the permanent magnet synchronous motor through a current sensor arranged on the permanent magnet synchronous motor a And b-phase current i b I is known as a and ib According to i c ＝-(i a +i b ) Can be based on the relation of the a-phase current i a And b-phase current i b Obtaining c-phase current i c The a-phase current i a B-phase current i b Phase c current i c Obtaining d-axis actual current i through parker coordinate change d And q-axis actual current i q ；
3.3 D-axis actual current i) d Obtaining a d-axis actual current observation value from a linear expansion state observer input to a d-axis current decoupling linear active disturbance rejection controllerAnd disturbance observation in the d-axis current loop +.>The q-axis actual current i q Obtaining q-axis real state from linear expansion state observer input to q-axis current decoupling linear active disturbance rejection controllerInter-current observation +.>And disturbance observation in the q-axis current loop +.>The actual rotation speed omega of the rotor machine m Obtaining an actual rotating speed observation value +.f of the rotor machinery in a linear expansion state observer input to a rotating speed decoupling linear active disturbance rejection controller>And disturbance observations in the rotation speed loop +.>
3.4 With mechanical reference rotational speed ω of the rotor mref The mechanical reference rotating speed omega of the linear tracking differential rotor is obtained by inputting the mechanical reference rotating speed omega into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controller mrefLTD The mechanical reference rotation speed omega of the rotor is tracked linearly mrefLTD And the actual rotation speed observation value of the rotor machineryDifference between them and disturbance observation in the rotation speed loop +.>The q-axis reference current i is obtained from the linear control law input to the rotating speed decoupling linear active disturbance rejection controller qref ；
3.5 D-axis reference current i) dref Obtaining d-axis linear tracking differential reference current i from linear tracking differentiator input to d-axis current decoupling linear active disturbance rejection controller drefLTD Tracking d-axis linear differential reference current i drefLTD Observed value of d-axis actual currentIs added to the disturbance observation in the d-axis current loop +.>Obtaining d-axis reference voltage u from linear control law input to d-axis current decoupling linear active disturbance rejection controller dref ；
Reference current i of q-axis qref Obtaining q-axis linear tracking differential reference current i from linear tracking differentiator input to q-axis current decoupling linear active disturbance rejection controller qrefLTD The q-axis linear tracking differential reference current i qrefLTD Actual current observation value with q axisIs added to the difference value of the q-axis current loop and the disturbance observation value +.>Obtaining q-axis reference voltage u from linear control law input to q-axis current decoupling linear active disturbance rejection controller qref ；
3.6 D-axis reference voltage u) dref And q-axis reference voltage u qref After the inverse park coordinate is changed, the inverse park coordinate is sent into space vector pulse width modulation algorithm SVPWM to generate six paths of 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 work normally.
The beneficial effects of the invention are as follows:
(1) The decoupling linear active disturbance rejection controller can ensure complete decoupling of tracking performance and disturbance rejection performance of the first-order system, and greatly reduces the difficulty of parameter setting of the controller.
(2) According to the current decoupling linear active disturbance rejection controller and the rotating speed decoupling linear active disturbance rejection controller constructed by the decoupling linear active disturbance rejection controller, periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor can be effectively restrained, the control performance of the current and the rotating speed of the motor is enhanced, and the control precision of the current and the rotating speed is greatly improved.
Drawings
Fig. 1 is an overall control block diagram of a permanent magnet synchronous motor embodying the present invention;
FIG. 2 is a schematic diagram of a first order system model decoupling linear active disturbance rejection controller embodying the present invention;
FIG. 3a is a graph of experimental results of d-axis and q-axis currents of a permanent magnet synchronous motor;
fig. 3b is a graph of the experimental result of the rotating speed of the permanent magnet synchronous motor.
Detailed Description
The invention is further described below with reference to the drawings and specific examples.
As shown in fig. 1, an application embodiment of the complete implementation of the technical solution according to the present disclosure is as follows:
1) Setting the rotor mechanical reference rotation speed omega of the permanent magnet synchronous motor through the microcontroller mref And load torque, i is adopted for the permanent magnet synchronous motor dref Control =0, where i dref Is the d-axis reference current.
2) Obtaining the rotor position electrical angle and the actual rotational speed omega of the rotor machine of the motor through a position encoder arranged on the permanent magnet synchronous motor m . Obtaining a phase current i of a permanent magnet synchronous motor through a current sensor a And b-phase current i b I is known as a and ib According to i c ＝-(i a +i b ) The relation of (2) can obtain the c-phase current i c Will i a ，i b and ic Obtaining d-axis actual current i through parker coordinate change d And q-axis actual current i q 。
3) The d-axis actual current i d Inputting the current into a linear expansion state observer of a d-axis current decoupling linear active disturbance rejection controller to obtain a d-axis actual current observation valueAnd disturbance observation in the d-axis current loop +.>The q-axis actual current i q Inputting the q-axis current decoupling linear active disturbance rejection controller into a linear expansion state observer to obtain a q-axis actual current observation value +.>And disturbance observation in the q-axis current loop +.>The actual rotation speed omega of the rotor machine m Inputting the actual rotation speed observation value into a linear expansion state observer of a rotation speed decoupling linear active disturbance rejection controller to obtain the actual rotation speed observation value of the rotor machinery +.>And disturbance observations in the rotation speed loop +.>
4) With rotor mechanical reference speed omega mref Inputting the mechanical reference rotation speed omega of the rotor into a linear tracking differentiator of a rotation speed decoupling linear active disturbance rejection controller to obtain the mechanical reference rotation speed omega of the linear tracking differentiating rotor mrefLTD The mechanical reference rotation speed omega of the rotor is tracked linearly mrefLTD And the actual rotation speed observation value of the rotor machineryIs added to the difference value of (2) and the disturbance observation in the rotation speed loop +.>The q-axis reference current i is obtained from the linear control law input to the rotating speed decoupling linear active disturbance rejection controller qref 。
5) Reference current i of d-axis dref Inputting the d-axis linear tracking differentiator into a d-axis current decoupling linear active disturbance rejection controller to obtain d-axis linear tracking differential reference current i drefLTD Tracking d-axis linear differential reference current i drefLTD Observed value of d-axis actual currentIs added to the disturbance observation in the d-axis current loop +.>Obtaining d-axis reference voltage u from linear control law input to d-axis current decoupling linear active disturbance rejection controller dref 。
Reference current i of q-axis qref Obtaining q-axis linear tracking differential reference current i from linear tracking differentiator input to q-axis current decoupling linear active disturbance rejection controller qrefLTD The q-axis linear tracking differential reference current i qrefLTD Actual current observation value with q axisIs added to the difference value of the q-axis current loop and the disturbance observation value +.>Obtaining q-axis reference voltage u from linear control law input to q-axis current decoupling linear active disturbance rejection controller qref 。
6) Reference voltage u of d-axis dref And q-axis reference voltage u qref After the inverse park coordinate is changed, the inverse park coordinate is sent into space vector pulse width modulation algorithm SVPWM to generate six paths of switching signals of an inverter, the inverter is connected to an input control end of the motor, and the motor is driven to work normally.
7) Experiment verification
In order to verify the effectiveness and superiority of the control method provided by the invention, experimental verification is carried out:
7.1 Experimental details
Setting the d-axis reference current of the permanent magnet synchronous motor to 0A, setting the mechanical reference rotating speed of the rotor to 900r/min, and enabling the load torque to be stepped from 0Nm to 10Nm at the 1 st moment to be equivalent to enabling the q-axis actual current to be stepped from 0A to 5.82A at the 1 st moment. The control effect of the decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor is verified by observing and comparing the d-axis actual current, the q-axis actual current and the steady fluctuation amplitude of the actual rotating speed of the permanent magnet synchronous motor under the control of the d-axis current conventional active disturbance rejection controller, the q-axis current conventional linear active disturbance rejection controller, the d-axis current decoupling linear active disturbance rejection controller of the rotating speed conventional active disturbance rejection controller and the rotating speed decoupling linear active disturbance rejection controller of the permanent magnet synchronous motor.
7.2 Experimental results
Fig. 3a is a graph showing the response of d-axis actual current and q-axis actual current of a permanent magnet synchronous motor according to the control method of the present invention compared with the response of the conventional linear active disturbance rejection control method. Fig. 3b is a graph showing a comparison between a steady-state response of an actual rotation speed of a permanent magnet synchronous motor under a 10Nm load torque condition and a conventional linear active disturbance rejection control method according to the control method provided by the present invention.
Compared with the traditional linear active disturbance rejection controller, the d-axis current decoupling linear active disturbance rejection controller constructed by the decoupling linear active disturbance rejection controller is shown in an experimental diagram, the q-axis current decoupling linear active disturbance rejection controller and the rotating speed 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, control performance of motor current and rotating speed is enhanced, and control precision of current and rotating speed is greatly improved.
The foregoing description of the exemplary embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the 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 of:
1) Establishing a current loop and rotating speed loop model of the permanent magnet synchronous motor:
wherein p is the number of pole pairs; l (L) n Factory nominal values for the inductors in the permanent magnet synchronous motor; j (J) n Factory nominal value for the rotational inertia of the system; psi phi type rn Factory nominal values for permanent magnet flux linkages in the permanent magnet synchronous motor; i.e d and iq D-axis and q-axis actual currents, respectively; i.e qref Speed controller input connected to permanent magnet synchronous motorDischarging q-axis reference current; u (u) dref and uqref Outputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; d, d d and dq Lumped perturbations in the d-axis and q-axis current loops, respectively; d, d ω Is a lumped disturbance in the rotating speed ring; a, a d 、a q and aω Respectively, lumped disturbance d d 、d q and dω Is a rate of change of (2); t represents time;
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 all equivalent to a first-order system model, and are uniformly expressed as:
wherein ,x1 Represents i d 、i q and ωm One of them; x is x 2 Represents d d 、d q and dω One of them; b represents 1/L n and 1.5pψrn /J n One of them; u represents u dref 、u qref and iqref One of them; a represents a d 、a q and aω One of them;
2) And establishing a decoupling linear active disturbance rejection controller according to the 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 respective decoupling linear active disturbance rejection controllers are respectively a d-axis current decoupling linear active disturbance rejection controller, a q-axis current decoupling linear active disturbance rejection controller and a rotating speed decoupling linear active disturbance rejection controller, 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 respectively comprise three parts of a linear tracking differentiator, a linear extended state observer and a linear control law;
the linear tracking differentiator receives a preset given reference command v to obtain a linear tracking differentiated reference command v LTD And input into a linear control law which receives a linear tracking differential reference command v LTD The method comprises the steps that an observation value of a to-be-observed quantity and a collective disturbance process are carried out to obtain an output reference quantity and input the output reference quantity into a first-order system model, the first-order system model receives the output reference quantity, processes the output reference quantity to obtain an actual value of the to-be-observed quantity and inputs the actual value into a linear extended state observer, and the linear extended state observer processes the obtained observation value of the to-be-observed quantity and the collective disturbance according to the actual value of the to-be-observed quantity and inputs the obtained observation value and the collective disturbance into a linear control law, so that the active disturbance rejection control of closed loop feedback 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 control the decoupling linear active disturbance rejection of the permanent magnet synchronous motor.
2. The method for controlling decoupling linear active disturbance rejection of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps:
the lumped disturbance d d 、d q and dω The expression of (2) is as follows:
wherein ,Ls Is stator inductance, deltaL s For stator inductance deviation value, L s ＝L n +ΔL s ；R s Is a stator resistor; psi phi type r Is a permanent magnet flux linkage, delta phi r As the permanent magnet flux linkage offset value, ψ r ＝ψ rn +Δψ r ；ω m The mechanical rotation speed of the rotor; j is the system moment of inertia, Δj is the system moment of inertia offset value, j=j n +ΔJ；T L Is the load torque; t (T) f Is friction torque; gamma ray id and γiq Periodic disturbances present in the d-axis and q-axis current loops, respectively; gamma ray ω Is a periodic disturbance present in the rotating speed ring.
3. The method for controlling decoupling linear active disturbance rejection of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: in said 2), trackingModule G c All designed as proportional structures, expressed as:
G c ＝k p
wherein ,kp Is a proportionality coefficient.
4. The method for controlling decoupling linear active disturbance rejection of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: in the 2), the anti-interference module G in the decoupling linear anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed o The decoupling linear active disturbance rejection controllers are respectively arranged as proportional-differential-resonant structures, but disturbance rejection modules in the decoupling linear active disturbance rejection controllers corresponding to q-axis current, d-axis current and rotating speed are arranged in a distinguishing mode;
the expressions of the anti-interference modules in the q-axis current decoupling linear anti-interference controller and the d-axis current decoupling linear anti-interference controller are as follows:
wherein ,Goc (s) represents an immunity module of a current decoupled linear active immunity controller in the complex frequency domain; s represents the frequency parameter of the complex frequency domain; h is a 1c and h2c Respectively representing a proportional coefficient and an integral coefficient in an immunity module of the current decoupling linear active immunity controller; k (k) r6 Andrespectively represent that the resonant frequency in the disturbance rejection module of the current decoupling linear active disturbance rejection controller is 6pω m The scaling factor and phase adjustment angle of the resonance term;
the expression of the disturbance rejection module in the rotation speed decoupling linear active disturbance rejection controller is as follows:
wherein ,Gos (s) represents the immunity of the rotational speed decoupling linear active immunity controller in the complex frequency domainA disturbing module; h is a 1s and h2s Respectively representing a proportional coefficient and an integral coefficient in an anti-interference module of the rotation speed decoupling linear active-interference controller; k (k) r1 Andrespectively represent the resonant frequency p omega in the disturbance rejection module of the rotation speed decoupling linear disturbance rejection controller m The scaling factor and phase adjustment angle of the resonance term; k (k) r2 Andrespectively represent that the resonant frequency in the disturbance rejection module of the rotation speed decoupling linear active disturbance rejection controller is 2p omega m Scaling factors and phase adjustment angles of the resonance terms.
5. The method for controlling decoupling linear active disturbance rejection of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: the 3) is as follows:
the expression of the linear tracking differentiator is:
wherein v represents a preset given reference instruction, v LTD Represents a linear tracking differential reference command, r represents a linear tracking differential reference command v LTD A speed adjustment factor converging to a preset given reference command v;
expression of the linear extended state observer:
wherein , and />Respectively x 1 and x2 Is a measurement of the observed value of (2); g o Representing an immunity module;
expression of linear control law:
wherein ,Gc Representing the tracking module.
6. The method for controlling decoupling linear active disturbance rejection of a permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: the 3) is specifically as follows:
3.1 Setting the rotor mechanical reference rotation speed omega of the permanent magnet synchronous motor mref And load torque, reference current i for d-axis of permanent magnet synchronous motor dref Set as i dref Control =0;
3.2 Obtaining the rotor position electrical angle and the actual rotational speed omega of the rotor machine of the motor m Obtaining a phase current i of the permanent magnet synchronous motor a And b-phase current i b According to the a-phase current i a And b-phase current i b Obtaining c-phase current i c The a-phase current i a B-phase current i b Phase c current i c Obtaining d-axis actual current i through parker coordinate change d And q-axis actual current i q ；
3.3 D-axis actual current i) d Obtaining a d-axis actual current observation value from a linear expansion state observer input to a d-axis current decoupling linear active disturbance rejection controllerAnd disturbance observation in the d-axis current loop +.>The q-axis actual current i q Obtaining q-axis actual current observation value from linear expansion state observer input to q-axis current decoupling linear active disturbance rejection controller>And disturbance observation in the q-axis current loop +.>The actual rotation speed omega of the rotor machine m Obtaining an actual rotating speed observation value +.f of the rotor machinery in a linear expansion state observer input to a rotating speed decoupling linear active disturbance rejection controller>And disturbance observations in the rotation speed loop +.>
3.4 With mechanical reference rotational speed ω of the rotor mref The mechanical reference rotating speed omega of the linear tracking differential rotor is obtained by inputting the mechanical reference rotating speed omega into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controller mrefLTD The mechanical reference rotation speed omega of the rotor is tracked linearly mrefLTD And the actual rotation speed observation value of the rotor machineryDifference between them and disturbance observation in the rotation speed loop +.>The q-axis reference current i is obtained from the linear control law input to the rotating speed decoupling linear active disturbance rejection controller qref ；
3.5 D-axis reference current i) dref Obtaining d-axis linear tracking differential reference current i from linear tracking differentiator input to d-axis current decoupling linear active disturbance rejection controller drefLTD Tracking d-axis linear differential reference current i drefLTD Observed value of d-axis actual currentIs in the d-axis current loopDisturbance observations +.>Obtaining d-axis reference voltage u from linear control law input to d-axis current decoupling linear active disturbance rejection controller dref ；
Reference current i of q-axis qref Obtaining q-axis linear tracking differential reference current i from linear tracking differentiator input to q-axis current decoupling linear active disturbance rejection controller qrefLTD The q-axis linear tracking differential reference current i qrefLTD Actual current observation value with q axisIs added to the difference value of the q-axis current loop and the disturbance observation value +.>Obtaining q-axis reference voltage u from linear control law input to q-axis current decoupling linear active disturbance rejection controller qref ；
3.6 D-axis reference voltage u) dref And q-axis reference voltage u qref After the inverse park coordinate is changed, the inverse park coordinate is sent into a space vector pulse width modulation algorithm to generate six paths of 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 work normally.
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