CN113890451A - Parameter adjusting method for first-order linear active disturbance rejection controller of permanent magnet synchronous motor - Google Patents

Parameter adjusting method for first-order linear active disturbance rejection controller of permanent magnet synchronous motor Download PDF

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CN113890451A
CN113890451A CN202111156510.4A CN202111156510A CN113890451A CN 113890451 A CN113890451 A CN 113890451A CN 202111156510 A CN202111156510 A CN 202111156510A CN 113890451 A CN113890451 A CN 113890451A
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permanent magnet
magnet synchronous
synchronous motor
disturbance rejection
order linear
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任俊杰
田慕琴
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Taiyuan University of Technology
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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
    • H02P2207/055—Surface mounted magnet motors

Abstract

The invention relates to the field of control, in particular to a method for parameter adjustment in a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor. A parameter adjusting method for a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor comprises the following steps: the method comprises the following steps: and constructing a dynamic mathematical model of the permanent magnet synchronous motor under a synchronous rotation orthogonal coordinate system oriented according to the rotor flux linkage. Step two: and determining that the rotating speed ring is a first-order linear active disturbance rejection controller. Step three: and designing a first-order linear active disturbance rejection controller and a current loop proportional-integral controller of the rotating speed loop of the permanent magnet synchronous motor vector control system in the second step. Step four: and building a designed permanent magnet synchronous motor vector control system model in Simulink. And step five, verifying the validity of the summarized rule through a dsPACE experimental platform. The method obtains the setting rule of the parameters in the first-order linear active disturbance rejection controller, and greatly reduces the difficulty of parameter setting of the first-order linear active disturbance rejection controller.

Description

Parameter adjusting method for first-order linear active disturbance rejection controller of permanent magnet synchronous motor
Technical Field
The invention relates to the field of control, in particular to a method for parameter adjustment in a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is utilized in many industries requiring high performance, and the rapid development of the industries in turn puts higher control requirements on a speed regulating system of the permanent magnet synchronous motor, and the system needs to be ensured to have higher speed regulating precision. At present, a large number of proportional-integral controllers are adopted in a motor control system. Due to the principle of controlling the error by using the error, overshoot is inevitable when the rotating speed of the motor is controlled, and the parameter design of the proportional-integral controller still mainly depends on experience, so that the self-adaptive adjustment of the parameters cannot be realized. In addition, the rotating speed at the starting stage in a system utilizing proportional-integral control is overshot, the rotating speed fluctuation is large when a load is suddenly added, and the control performance is reduced when the parameters of the same group of proportional-integral controllers are in different given rotating speed working conditions.
The active disturbance rejection control research work is formally published in 1998 by the professor of republic of korea and kyo, and is an innovation based on proportional-integral control, the strong robustness and the outstanding transient response performance attract more and more attention, and in 2013, the american TI company issues the latest control core Insta-SPIN-Motion based on the active disturbance rejection control algorithm. In recent years, research has been carried out in the field of motor control in various colleges and universities in the first-order linear active disturbance rejection controllers. Scholars such as the Cao Corning policy of the university of Wuhan's theory have applied first-order linear active disturbance rejection controllers to control systems of permanent magnet synchronous motors.
At present, a specific design method is provided for a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor, and a basic derivation method is provided for parameters in the controller, but in actual application, the obtained parameters cannot be guaranteed to be perfectly adapted to a specific motor control system, so that it is very important to summarize an adjustment rule of the parameters in the controller.
Disclosure of Invention
The invention aims to summarize the influence rule of each parameter change on the motor rotating speed aiming at the parameters in the designed first-order linear active disturbance rejection controller of the permanent magnet synchronous motor.
The invention is realized by the following technical scheme: a parameter adjusting method for a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor comprises the following steps:
the method comprises the following steps: constructing a dynamic mathematical model of the permanent magnet synchronous motor under a synchronous rotation orthogonal coordinate system oriented according to the rotor flux linkage, wherein the dynamic mathematical model comprises a rotating speed loop dynamic mathematical model, a q-axis current loop dynamic mathematical model and a d-axis current loop dynamic mathematical model;
step two: according to the dynamic mathematical model constructed in the first step and in combination with an active disturbance rejection control principle, determining that a rotating speed loop is a first-order linear active disturbance rejection controller, and a current loop is a permanent magnet synchronous motor vector control system of a proportional-integral controller;
step three: respectively designing a first-order linear active disturbance rejection controller and a current loop proportional-integral controller of a rotating speed loop of the permanent magnet synchronous motor vector control system in the step two according to the principle that the first-order linear active disturbance rejection controller consists of a tracking differentiator, an extended state observer and a nonlinear state error feedback control law;
step four: the designed PMSM vector control system model is built in Simulink, and the first order is realized by observing a rotating speed ringLinear active disturbance rejection controllerWhen each parameter changes, the change of the motor rotating speed curve summarizes the rule of parameter setting;
and step five, verifying the validity of the summarized rule through a dsPACE experimental platform.
Further, in the first step, the method for obtaining the mathematical model of the permanent magnet synchronous motor under the d-q rotating coordinate system is as follows:
the mathematical model of the permanent magnet synchronous motor is as follows (1):
Figure BDA0003287389520000031
in the formula:
Rsis stator resistance, udIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqFor cross-axis currents, #d、ψqIs a direct axis flux linkage and a quadrature axis flux linkage, Ld、LqThe inductance is a direct axis inductance and a quadrature axis inductance respectively, and omega is the electrical angular speed of the motor rotor;
at steady state:
Figure BDA0003287389520000032
the formulas (3) and (4) are respectively PMSM flux linkage and torque equations under a dq coordinate system:
Figure BDA0003287389520000033
Figure BDA0003287389520000034
in the formula: psifRepresents a magnetic linkage, npRepresenting the number of pole pairs of the motor.
Further, in the second step, the first-order linear active disturbance rejection controller for the vector control system of the permanent magnet synchronous motor is designed as follows:
the first-order linear active disturbance rejection controller has the advantages that the current setting is continuous, no time lag phenomenon exists, and TD does not need to be designed, wherein b0, wc, Kps and three parameters need to be adjusted, Kps is proportional link gain, and b0 and wc are observer gain and observer bandwidth respectively; the increase or decrease of load, friction torque, the vector control system of the permanent magnet synchronous motor of the proportional-integral controller, a motor sensor, an actuating mechanism and the like in motor modeling form the total disturbance f of the system,
Figure BDA0003287389520000035
for the estimated value, the linear observer estimates and compensates to inhibit the influence of disturbance on the speed regulation control of the permanent magnet synchronous motor;
the first order linear system is:
Figure BDA0003287389520000041
wherein A, B, C represents different gain matrixes, x and y are state variables
Accordingly, an observer can be initially established as follows:
Figure BDA0003287389520000042
in the formula (I), the compound is shown in the specification,
Figure BDA0003287389520000043
is an observed value of the state variable,
Figure BDA0003287389520000044
is an error correction function to compensate for errors; defining state variables
Figure BDA0003287389520000045
To pair
Figure BDA0003287389520000046
And (5) obtaining a derivative:
Figure BDA0003287389520000047
wherein b is the controller gain and u represents the controller output signal;
adding a state variable e to represent an unknown external disturbance, then there are:
Figure BDA0003287389520000048
the observer equation can be derived as follows:
Figure BDA0003287389520000049
Figure BDA00032873895200000410
extended state variables derived for extended state observers
When the observer can capture the information of unknown disturbance in time, there are:
Figure BDA0003287389520000051
u0the output of the proportional link after replacing the nonlinear control law link;
order: z → x, z1→y,z2→ f, then the first order linear observer is designed as:
Figure BDA0003287389520000052
in the formula:
Figure BDA0003287389520000053
representing the gain matrix of a first-order linear observer, beta1、β2In order to be the amount to be solved,
Figure BDA0003287389520000054
for an observed value, the corresponding matrix form equation is:
Figure BDA0003287389520000055
further, in the third step, the first order differential form of the rotating speed obtained by the torque equation and the motion equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003287389520000056
Figure BDA0003287389520000057
as observed values of angular velocity of the motor, bsIs the controller gain.
When in use
Figure BDA0003287389520000058
During the process, the control law of the obtained controller is a proportional link as follows through disturbance compensation:
Figure BDA0003287389520000059
Kpsthe gain is proportional.
The gain matrix L of the controller is solved by parameterizing and setting the pole of the observer at- ω0Omega of0Is the observer bandwidth;
Figure BDA00032873895200000510
λ(s)＝s(s+β1)+β2＝s2+β1s+β2
ω0s＝λ1＝λ2
λ(s)＝(s+ω0s)2＝s2+2ω0s+ω0s
in the formula, λ1，λ2Is the state equation λ(s) ═ s (s + β)1)+β2＝s2+β1s+β2A characteristic root of;
obtaining:
Figure BDA0003287389520000061
the first-order linear active disturbance rejection controller comprises a tracking differentiator, a nonlinear control law and an observer, wherein the tracking differentiator is omitted, the nonlinear control law is replaced by a proportional link, a linear observer is adopted to observe the state of a controlled object, R represents a parameter signal with given speed, and the observer observes the rotating speed and disturbance of a motor to obtain an expanded state z of system disturbance2And an expanded state z of velocity output1Then z is1Is subtracted from R, the difference value and z2The non-linear control law element substituted by the proportional element is shown as a formula (17), and u represents a control signal after disturbance compensation, namely a reference value iq, u of quadrature axis current0Represented is a control signal output after being acted by a nonlinear feedback control law replaced by a proportional element.
Further, in step four, the parameters involved in the first-order linear active disturbance rejection controller are: kps，b0，wcAnd when two parameters are kept unchanged, adjusting the size of the other parameter to obtain a parameter adjustment rule as follows:
(1)b0，wcunchanged, change KpsTo obtain: the time required for starting the motor is changed by changing KpsIs achieved by the size of KpsThe larger the value of (A), the shorter the required time, and the excessive value can generate overshoot in the starting stage;
(2)Kps，wcunchanged, change b0To obtain: b0Is determined by the motor parameters, change b0The motor can reach the stable rotating speed and the given rotating speed;
(3)Kps，b0does not change, changes wcTo obtain: the fluctuation of the rotating speed after the motor is stabilized can be realized by changing wcIs controlled by the size of (a), wcThe larger the value, the smaller the fluctuation of the rotational speed of the motor, wcA value of 8Kps-15Kps；
(4) The high speed parameter may be applied to low speeds, and the start-up may be overshot when the low speed parameter is applied to high speeds.
The invention has the beneficial effects that: the application of the first-order linear active disturbance rejection controller overcomes the defect of over-regulation of the rotating speed when the traditional proportional-integral control motor is started, but the parameter setting is difficult, so that the large-scale application of the motor is hindered.
Drawings
Fig. 1 is a diagram of a first order linear active disturbance rejection controller.
FIG. 2 is Kps＝5，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 3 isps＝20，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 4 is Kps＝35，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 5 is Kps＝75，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 6 is Kps＝90，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 7 is Kps＝35，b0＝0.006，wc4000 hours of the motor speed change curve.
FIG. 8 is Kps＝35，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 9 is Kps＝35，b0＝0.008，wc4000 hours of the motor speed change curve.
FIG. 10 is Kps＝35，b0＝0.0071，wcThe change curve of the rotating speed of the motor is 500.
FIG. 11 is Kps＝35，b0＝0.0071，wc1000-hour curve diagram of the change of the rotation speed of the motor.
FIG. 12 is Kps＝35，b0＝0.0071，wc4000 hours of the motor speed change curve.
FIG. 13 is Kps＝35，b0＝0.0071，wc7000 hours motor speed variation graph.
Detailed Description
Utilizing a control variable method to research the influence of various parameters on a motor rotating speed curve after being changed, and firstly, b is enabled0，wcRemains unchanged, changes, KpsThe values of (a) are respectively 5, 20, 35, 75 and 90, and a response curve of the rotating speed of the motor is observed. In the same way, keep Kps，wcInvariable, b0Respectively taking the values of 0.006, 0.0071 and 0.008 to obtain b0And (3) a control rule responding to the rotating speed of the motor. Finally, maintain Kps，b0Does not change, changes wcIs 500, 1000, 4000, 7000 to obtain wcThe control law of (2).
A method for adjusting parameters of a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor is characterized in that a mathematical model of the permanent magnet synchronous motor is established in MATLAB (matrix laboratory) by utilizing a first-order linear active disturbance rejection control theory, the first-order linear active disturbance rejection controller is applied to the permanent magnet synchronous motor, the rule of parameter adjustment of the first-order linear active disturbance rejection controller is obtained by analyzing the change rule of a motor rotating speed curve when the parameters of the first-order linear active disturbance rejection controller are changed, and comparative research is carried out through a DSPACE experimental platform.
The method adopts a first-order linear active disturbance rejection controller, and summarizes a first-order linear active disturbance rejection controller parameter b through Simulink simulation0、KpsAnd wcLaw of influence on the regulation of the speed of the motor, where b0、KpsAnd wcRespectively as follows: and the extracted object high-frequency gain, the control law bandwidth and the observer bandwidth. And finally, carrying out experiments through a dsPACE platform to verify the correctness of the summarizing rule.
Further, the method comprises the following specific steps:
the method comprises the following steps that firstly, a dynamic mathematical model of the permanent magnet synchronous motor under a synchronous rotation orthogonal coordinate system oriented according to rotor flux linkage is established, wherein the dynamic mathematical model comprises a rotating speed loop dynamic mathematical model, a q-axis current loop dynamic mathematical model and a d-axis current loop dynamic mathematical model;
and step two, determining that the rotating speed loop is a first-order linear active disturbance rejection controller and the current loop is a vector control system of the permanent magnet synchronous motor of the proportional-integral controller according to the dynamic mathematical model constructed in the step one and by combining an active disturbance rejection control principle.
And step three, respectively designing a first-order linear active disturbance rejection controller and a current loop PI controller of the rotating speed loop of the permanent magnet synchronous motor vector control system in the step two according to the principle that the first-order linear active disturbance rejection controller consists of a tracking differentiator, an extended state observer and a nonlinear state error feedback control law.
And fourthly, building a designed permanent magnet synchronous motor vector control system model in Simulink, and summarizing rules of setting several parameters by observing the change of a motor rotating speed curve when each parameter in a first-order linear active disturbance rejection controller of a rotating speed ring changes.
And step five, verifying the validity of the summarized rule through a dsPACE experimental platform.
In the first step, a mathematical model of the permanent magnet synchronous motor under a d-q rotating coordinate system is obtained as follows:
the mathematical model of the permanent magnet synchronous motor is as follows (1):
Figure BDA0003287389520000091
in the formula:
Rsis stator resistance, udIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqFor cross-axis currents, #d、ψqIs a direct axis flux linkage and a quadrature axis flux linkage, Ld、LqThe inductance is a direct axis inductance and a quadrature axis inductance respectively, and omega is the electrical angular speed of the motor rotor.
At steady state:
Figure BDA0003287389520000092
the formulas (3) and (4) are respectively PMSM flux linkage and torque equations under a dq coordinate system:
Figure BDA0003287389520000093
Figure BDA0003287389520000094
in the formula: psifRepresents a magnetic linkage, npRepresenting the number of pole pairs of the motor.
For the common surface-mounted permanent magnet synchronous motor, L is providedd＝LqD-axis current loop current i in vector control systemd＝0
Equation (4) can be approximated as follows:
Te＝3/2npψfiq (5)
in the formula: n ispThe number of pole pairs of the motor is indicated.
The output torque of the motor can be controlled by the formula (5)qTo adjust. Theoretical basis of permanent magnet synchronous motor vector control[7]。
Equation of motion for PMSM:
Figure BDA0003287389520000101
in the second step, the first-order LADRC controller for the permanent magnet synchronous motor vector control system is designed as follows:
for the first order linear active disturbance rejection controller herein, the current setting is continuous[9-10]And time lag does not exist, so that TD does not need to be designed.
The increase or decrease of load, friction torque, control system, motor sensor and actuator in motor modeling constitute the total disturbance f of the system,
Figure BDA0003287389520000102
and the estimation value is estimated by the LESO and compensated, so that the influence of disturbance on the speed regulation control of the PMSM is effectively inhibited.
Typically, the first order linear system is:
Figure BDA0003287389520000103
accordingly, the ESO can be initially established as follows:
Figure BDA0003287389520000104
in the formula (I), the compound is shown in the specification,
Figure BDA0003287389520000105
is an error correction function to compensate for errors.
Defining states
Figure BDA0003287389520000106
To pair
Figure BDA0003287389520000107
And (5) obtaining a derivative:
Figure BDA0003287389520000108
where b is the controller gain.
Adding a state variable e to represent an unknown external disturbance, then there are:
Figure BDA0003287389520000111
the available ESO equation is as follows:
Figure BDA0003287389520000112
when an ESO can capture information of unknown disturbances in time, there are:
Figure BDA0003287389520000113
order: z → x, z1→y,z2→ f, then the designed LESO is:
Figure BDA0003287389520000114
in the formula:
Figure BDA0003287389520000115
gain matrix, β, representing LESO1、β2In order to be the amount to be solved,
Figure BDA0003287389520000116
for an observed value, the corresponding matrix form equation is:
Figure BDA0003287389520000117
in the third step, the first order differential form of the rotating speed obtained by a torque equation and a motion equation obtained by the PMSM is as follows:
Figure BDA0003287389520000118
written as follows:
Figure BDA0003287389520000119
when in use
Figure BDA00032873895200001110
During the process, the control law of the obtained controller is a proportional link as follows through disturbance compensation:
Figure BDA00032873895200001111
the gain matrix L of the controller is solved by parameterizing and setting the pole of the observer at- ω0Omega of0For observer bandwidth[11]。
Figure BDA0003287389520000121
λ(s)＝s(s+β1)+β2＝s2+β1s+β2
ω0s＝λ1＝λ2
λ(s)＝(s+ω0s)2＝s2+2ω0s+ω0s
Obtaining:
Figure BDA0003287389520000122
as shown in equation (18), the proportional element is used to replace NLSEF, u represents the control signal after disturbance compensation, i.e. the reference value iq of the quadrature current, R represents the parameter signal with given speed, z represents2Represented by the system disturbance, z, observed by the extended state observer1Represented is the observed speed output, u, of the extended state observer0Represented is a control signal output after the action of NLSEF replaced by a proportional element.
In step four, parameters involved in the LADRC are: kps，b0，wcWhen two parameters are kept unchanged, the size of the other parameter is adjusted, and the rotating speed change curve of the motor is as follows:
(1)b0，wcunchanged, change KpsAs shown in fig. 2-6.
(2)Kps，wcUnchanged, change b0As shown in fig. 7-9.
(3)Kps，b0Does not change, changes wcAs shown in fig. 10-13.
Through comparative analysis of the waveform, the rules of parameter adjustment in the ADRC system are summarized as follows (1) the time required for starting the motor can be changed by changing KpsIs achieved by the size of KpsThe larger the value of (A), the shorter the time required, but the excessive value will produce overshoot in the starting phase; (2) b0Is determined by the motor parameters, change b0The motor can reach a stable rotating speed and a given rotating speed; (3) the fluctuation of the rotating speed after the motor is stabilized can be realized by changing wcIs controlled by the size of (a), wcThe larger the value, the smaller the fluctuation of the rotational speed of the motor, which is generally 10KpsLeft and right. (4) The high speed parameter may be applied to low speeds, but the start-up may be overshot when the low speed parameter is applied to high speeds.
And step five, carrying out experimental verification by using a dsPACE experimental platform.
The above description is only an embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any changes or modifications within the scope of the present invention by those skilled in the art are covered by the present invention.

Claims (5)

1. A parameter adjusting method for a first-order linear active disturbance rejection controller of a permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: constructing a dynamic mathematical model of the permanent magnet synchronous motor under a synchronous rotation orthogonal coordinate system oriented according to the rotor flux linkage, wherein the dynamic mathematical model comprises a rotating speed loop dynamic mathematical model, a q-axis current loop dynamic mathematical model and a d-axis current loop dynamic mathematical model;
step two: according to the dynamic mathematical model constructed in the first step and in combination with an active disturbance rejection control principle, determining that a rotating speed loop is a first-order linear active disturbance rejection controller, and a current loop is a permanent magnet synchronous motor vector control system of a proportional-integral controller;
step three: respectively designing a first-order linear active disturbance rejection controller and a current loop proportional-integral controller of a rotating speed loop of the permanent magnet synchronous motor vector control system in the step two according to the principle that the first-order linear active disturbance rejection controller consists of a tracking differentiator, an extended state observer and a nonlinear state error feedback control law;
step four: the designed PMSM vector control system model is built in Simulink, and the first order is realized by observing a rotating speed ringLinear active disturbance rejection controllerWhen each parameter changes, the change of the motor rotating speed curve summarizes the rule of parameter setting;
and step five, verifying the validity of the summarized rule through a dsPACE experimental platform.
2. The parameter adjusting method for the first-order linear active disturbance rejection controller of the permanent magnet synchronous motor according to claim 1, characterized by comprising the following steps: in the first step, a mathematical model of the permanent magnet synchronous motor under a d-q rotating coordinate system is obtained as follows:
the mathematical model of the permanent magnet synchronous motor is as follows (1):
Figure FDA0003287389510000011
in the formula:
Rsis stator resistance, udIs the direct-axis voltage uqIs quadrature axis voltage, idIs a direct axis current, iqFor cross-axis currents, #d、ψqIs a direct axis flux linkage and a quadrature axis flux linkage, Ld、LqThe inductance is a direct axis inductance and a quadrature axis inductance respectively, and omega is the electrical angular speed of the motor rotor;
at steady state:
Figure FDA0003287389510000021
the formulas (3) and (4) are respectively PMSM flux linkage and torque equations under a dq coordinate system:
Figure FDA0003287389510000022
Figure FDA0003287389510000023
in the formula: psifRepresents a magnetic linkage, npRepresenting the number of pole pairs of the motor.
3. The parameter adjusting method for the first-order linear active disturbance rejection controller of the permanent magnet synchronous motor according to claim 1, characterized by comprising the following steps: in the second step, the first-order linear active disturbance rejection controller for the permanent magnet synchronous motor vector control system is designed as follows:
the first-order linear active disturbance rejection controller has the advantages that the current setting is continuous, no time lag phenomenon exists, and TD does not need to be designed, wherein b0, wc, Kps and three parameters need to be adjusted, Kps is proportional link gain, and b0 and wc are observer gain and observer bandwidth respectively; the increase or decrease of load, friction torque, the vector control system of the permanent magnet synchronous motor of the proportional-integral controller, a motor sensor, an actuating mechanism and the like in motor modeling form the total disturbance f of the system,
Figure FDA0003287389510000024
for the estimated value, the linear observer estimates and compensates to inhibit the influence of disturbance on the speed regulation control of the permanent magnet synchronous motor;
the first order linear system is:
Figure FDA0003287389510000031
wherein A, B, C represents different gain matrixes, x and y are state variables
Accordingly, an observer can be initially established as follows:
Figure FDA0003287389510000032
in the formula (I), the compound is shown in the specification,
Figure FDA0003287389510000033
is an observed value of the state variable,
Figure FDA0003287389510000034
is an error correction function to compensate for errors;
defining state variables
Figure FDA0003287389510000035
To pair
Figure FDA0003287389510000036
And (5) obtaining a derivative:
Figure FDA0003287389510000037
wherein b is the controller gain and u represents the controller output signal;
adding a state variable e to represent an unknown external disturbance, then there are:
Figure FDA0003287389510000038
the observer equation can be derived as follows:
Figure FDA0003287389510000039
Figure FDA00032873895100000310
extended state variables derived for extended state observers
When the observer can capture the information of unknown disturbance in time, there are:
Figure FDA0003287389510000041
u0the output of the proportional link after replacing the nonlinear control law link;
order: z → x, z1→y,z2→ f, then the first order linear observer is designed as:
Figure FDA0003287389510000042
in the formula:
Figure FDA0003287389510000043
representing the gain matrix of a first-order linear observer, beta1、β2In order to be the amount to be solved,
Figure FDA0003287389510000044
for an observed value, the corresponding matrix form equation is:
Figure FDA0003287389510000045
4. the parameter adjusting method for the first-order linear active disturbance rejection controller of the permanent magnet synchronous motor according to claim 1, characterized by comprising the following steps: in the third step, the first order differential form of the rotating speed obtained by the torque equation and the motion equation of the permanent magnet synchronous motor is as follows:
Figure FDA0003287389510000046
Figure FDA0003287389510000047
as observed values of angular velocity of the motor, bsIn order to control the gain of the controller,
when in use
Figure FDA0003287389510000048
During the process, the control law of the obtained controller is a proportional link as follows through disturbance compensation:
Figure FDA0003287389510000049
Kpsin order to gain the proportional element,
the gain matrix L of the controller is solved by parameterizing and setting the pole of the observer at- ω0Omega of0Is the observer bandwidth;
Figure FDA00032873895100000410
λ(s)＝s(s+β1)+β2＝s2+β1s+β2
ω0s＝λ1＝λ2
λ(s)＝(s+ω0s)2＝s2+2ω0s+ω0s
in the formula, λ1，λ2Is the state equation λ(s) ═ s (s + β)1)+β2＝s2+β1s+β2A characteristic root of;
obtaining:
Figure FDA0003287389510000051
the first-order linear active disturbance rejection controller comprises a tracking differentiator, a nonlinear control law and an observer, the tracking differentiator is omitted, and a proportional link is used for replacing a non-linear pathLinear control law, adopting linear observer to observe the state of control object, R is the parameter signal with given speed, observer can obtain the extended state z of system disturbance after observing the motor rotation speed and disturbance2And an expanded state z of velocity output1Then z is1Is subtracted from R, the difference value and z2The non-linear control law element substituted by the proportional element is shown as a formula (17), and u represents a control signal after disturbance compensation, namely a reference value iq, u of quadrature axis current0Represented is a control signal output after being acted by a nonlinear feedback control law replaced by a proportional element.
5. The parameter adjusting method for the first-order linear active disturbance rejection controller of the permanent magnet synchronous motor according to claim 1, characterized by comprising the following steps: in the fourth step, the parameters involved in the first-order linear active disturbance rejection controller are: kps，b0，wcAnd when two parameters are kept unchanged, adjusting the size of the other parameter to obtain a parameter adjustment rule as follows:
(1)b0，wcunchanged, change KpsTo obtain: the time required for starting the motor is changed by changing KpsIs achieved by the size of KpsThe larger the value of (A), the shorter the required time, and the excessive value can generate overshoot in the starting stage;
(2)Kps，wcunchanged, change b0To obtain: b0Is determined by the motor parameters, change b0The motor can reach the stable rotating speed and the given rotating speed;
(3)Kps，b0does not change, changes wcTo obtain: the fluctuation of the rotating speed after the motor is stabilized can be realized by changing wcIs controlled by the size of (a), wcThe larger the value, the smaller the fluctuation of the rotational speed of the motor, wcA value of 8Kps-15Kps；
(4) The high speed parameter may be applied to low speeds, and the start-up may be overshot when the low speed parameter is applied to high speeds.
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Publication number Priority date Publication date Assignee Title
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* Cited by examiner, † Cited by third party
Title
崔东明: "永磁同步电动机一阶线性自抗扰控制器参数调节方法", 《电机与控制应用》, pages 14 - 20 *

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116278815A (en) * 2023-05-23 2023-06-23 潍柴动力股份有限公司 Parameter self-tuning method and device for motor speed regulation controller, vehicle and medium
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