CN114448302A - Active disturbance rejection control method for observing disturbance by using filter - Google Patents

Active disturbance rejection control method for observing disturbance by using filter Download PDF

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CN114448302A
CN114448302A CN202210045315.2A CN202210045315A CN114448302A CN 114448302 A CN114448302 A CN 114448302A CN 202210045315 A CN202210045315 A CN 202210045315A CN 114448302 A CN114448302 A CN 114448302A
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CN114448302B (en
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许家群
王师凯
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Beijing 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • H02P21/14—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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/005—Arrangements for controlling doubly fed 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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

An active disturbance rejection control method for observing disturbance by using a filter belongs to the field of motor control. The method comprises the following steps: the device comprises a d-axis current controller LPF-ADRCd, a q-axis current controller LPF-ADRCq, a Park inverse transformation unit, an SVPWM unit, a voltage source inverter bridge, a three-phase permanent magnet synchronous motor, a Clark transformation unit, a Park transformation unit and a rotating speed loop controller. The novel LPF-ESO based on the filter is constructed by using the low-pass filter to replace an integral link in an ESO disturbance loop of a traditional extended state observer, and an active disturbance rejection LPF-ADRC current loop based on the low-pass filter is formed by applying the novel LPF-ESO, the low-pass filter LPF can simultaneously observe the direct current quantity and the low-frequency alternating current quantity in the LPF-ESO disturbance loop, so that the LPF-ADRC can track the direct current and low-frequency harmonic current disturbance, and the LPF-ADRC has stronger current harmonic disturbance estimation and inhibition capability and strong robustness.

Description

Active disturbance rejection control method for observing disturbance by using filter
Technical Field
The invention relates to an active disturbance rejection motor control method capable of inhibiting low-frequency current harmonic waves and having high robustness, and belongs to the field of motor control.
Background
With the rapid development of the industrial and scientific levels, Permanent Magnet Synchronous Motors (PMSM) have been widely applied to the fields of electric vehicles, rail traction, aerospace, wind power generation, electric propulsion and the like, and current harmonics and vibration noise generated when the Motor operates have become important concerns and problems to be solved at present. The factors such as the dead zone effect of the inverter, the flux linkage harmonic wave of the motor, the cogging torque, the current detection error and the like can cause the sub-current harmonic wave with larger amplitude (6k +/-1) to exist in the phase current, wherein k is a positive integer. These harmonics not only increase motor losses, but also worsen torque ripple, thereby causing vibration and noise. The current harmonics during the operation of the motor can be suppressed by optimizing the motor control method.
Many researches are conducted at home and abroad aiming at the problems of current harmonic suppression and the like of the permanent magnet synchronous motor, but the problems of harmonic suppression capability and robustness are difficult to be considered. A built-in permanent magnet synchronous motor dead zone compensation method based on NNBPF-EKF (see the Chinese Motor engineering project, vol.40, No. 15, 2020) provides a voltage compensation method based on the combination of a neural network band-pass filter and an extended Kalman filter, a d-axis and q-axis current harmonic is extracted by using the neural network band-pass filter, and dq-axis compensation voltage is calculated by a dead zone compensation algorithm improved by the Kalman filter to compensate the current harmonic, but the current harmonic caused by factors such as flux linkage harmonic, cogging torque and the like cannot be compensated by the dead zone compensation method. The proportional-integral resonance controller proposed by "Combined resonator controller and two-degree-of-free PID controller for PMSLM current harmonic suppression" (see IEEE Transactions on Industrial Electronics, 2018) uses a resonance controller connected in parallel to a PI controller, and since the resonance controller can track a fixed frequency harmonic current, the proportional-integral resonance controller can control direct current and alternating current at a fixed frequency, but since the PI parameter is a fixed value and the motor parameter changes greatly during motor operation, the current harmonic suppression effect of the resonance control is affected by disturbance factors of the motor parameter, so that the suppression effect is poor. An Active Disturbance Rejection Control (ADRC) proposed by a From PID to active disturbance rejection control (see IEEE Transactions on Industrial Electronics, 2009) observes system disturbance based on an Extended State Observer (ESO), can effectively estimate and compensate the system disturbance, is independent of a motor model, and can suppress the influence of uncertain disturbance such as motor parameter change on the system performance, but the extended state observer can only disturb a loop and can only observe direct current disturbance, so current harmonics can not be effectively suppressed.
Disclosure of Invention
The invention aims to provide a control method for improving an ADRC (active disturbance rejection controller) based on a low-pass filter (LPF) aiming at the problem of low-frequency current harmonic waves existing in the traditional ADRC of a permanent magnet synchronous motor. The low-pass filter is used for replacing an integral link in a disturbance loop of a traditional Extended State Observer (ESO), a novel LPF-ESO based on the filter is constructed, and the LPF-ESO is applied to form a novel LPF-ADRC current loop controller based on the active disturbance rejection control of the filter. The low-pass filter is used for simultaneously estimating direct-current disturbance and low-frequency alternating-current disturbance in a disturbance loop, so that the novel active disturbance rejection controller has strong low-frequency harmonic disturbance estimation capability and has current harmonic suppression capability and strong robustness.
In order to implement the control method, the invention is implemented by using a system as shown in fig. 1, and the system comprises the following components: the device comprises a d-axis current controller LPF-ADRCd, a q-axis current controller LPF-ADRCq, a Park inverse transformation unit, an SVPWM unit, a voltage source inverter bridge, a three-phase permanent magnet synchronous motor, a Clark transformation unit, a Park transformation unit and a rotating speed loop controller. The motor adopts a magnetic field-oriented double closed-loop vector control system, a current loop is an inner loop, and a rotating speed loop is an outer loop.
Wherein: i.e. id*、iqSetting values of d and q axis currents respectively, i in the field oriented vector control of the surface-mounted permanent magnet synchronous motord*＝0、iqThe magnitude of the delta is output by a PI controller of a rotating speed loop, and d and q axis currents i are given by a current loopd *、iq *And dq axis actual current id、iqThe difference of (d) is used as the input of LPF-ADRC, and the controller outputs d-axis voltage u and q-axis voltage ud、uqThe voltage u is converted into a voltage u under a two-phase static coordinate system through an inverse Park conversion moduleα、uβInputting the current to an SVPWM module, modulating six PWM waves, inputting the modulated waves to a three-phase full-bridge inverter to control the on and off of an IGBT, outputting the modulated waves to a three-phase permanent magnet synchronous motor, and outputting phase current i of the three-phase motora、ib、icThe dq axis current i under the two-phase rotating coordinate system is converted by a Clark conversion module and a Park conversion moduled、iqAnd is input to the LPF-ADRC controller as a feedback signal. Ring of rotation speeds given n*The difference value of the actual rotating speed n detected by the three-phase motor sensor is used as the input of a rotating speed loop PI controller, and n is used when the motor operates under the rated working condition*At 500rpm, the PI controller outputs a current given i as the q-axis current of the current loopq *。
The low pass filter based auto-disturbance rejection controller LPF-ADRC comprises: kp、b0、1/b0LPF-ESO.
KpIs the LPF-ADRC controller gain, whose input is the difference between the q-axis current setpoint and the q-axis current estimate output by the observer LPF-ESO.
b0For compensating factors, the value of which is the reciprocal 1/L of the inductance value of the stator of the motors。
1/b0Is the inverse compensation factor, and has a value of the motor stator inductance Ls。
The low-pass filter based extended state observer LPF-ESO comprises: low pass filter LPF, integration element (1/s), current estimation loop gain (beta)1) Disturbance estimation loop gain (beta)2) S in the transfer function is a differential operator.
The input of the extended state observer LPF-ESO based on the filter is iqAnd b0uq(ii) a The output of which is a q-axis current iqAnd an estimate x of the system disturbance f1And x2. Two branches are arranged inside: one is iqAn estimation loop with output iqIs estimated value x1(ii) a One is a disturbance estimation loop and the output is a disturbance estimation value x2(ii) a The inputs of both branches are iqAnd iqDifference between the estimated values, beta1And beta2And the gain is linear or non-linear error gain and is used as the gain coefficient of two estimation loops respectively.
iqIn the estimation loop, the input of the integration element (1/s) is (i)q-x1)β1、b0uqAnd x2The sum of the three, the output of which is x1The branch satisfies the following relationship:
Figure BDA0003471918560000031
x1、x2are respectively the current iqAnd an observed value of disturbance f.
In the disturbance estimation loop, a low-pass filter element (G)F(s)) is (i)q-x1)β2With an output of x2The branch satisfies the following relationship: x is the number of2＝β2GF(s)(iq-x1)。
The low-pass filter element has a transfer function of
Figure BDA0003471918560000032
KrBeing filter coefficients, TfIs the time constant of the filter, Tf＝1/ωc，ωcIs the cut-off frequency.
The integration element (1/s) is an integration function, the input of which is the derivative of the current estimation value, and the output of which is the current estimation value.
Current estimation loop gain (beta)1) Has a value of λ ω0λ is a current estimation loop coefficient, and too small results in poor system stability, and too large results in poor dynamic response; omega0To extend the bandwidth of the state observer LPF-ESO, ω0Increasing increases the interference rejection of the system, but makes the system noisy. The input of this link is (i)q-x1) Output is (i)q-x1)β1。
Disturbance estimation loop gain (beta)2) Has a value of ω0 2Observer bandwidth ω0The values of (A) are as above. In summary, λ ═ 2, ω is selected04000. The input of this link is (i)q-x1) Output is (i)q-x1)β2。
Compared with the traditional ADRC, the invention has the advantages of strong current harmonic suppression capability at low frequency and strong robustness. The method is realized only by software programming and hardware modification, and is easy to implement and cost-saving.
Drawings
FIG. 1 is a permanent magnet synchronous motor vector control system;
fig. 2 shows the structure of the active disturbance rejection control system based on a low-pass filter.
Detailed Description
The invention provides a novel active disturbance rejection control method of a motor based on a low-pass filter, which can effectively inhibit low-frequency current harmonic waves and has strong robustness, and the specific implementation mode is as follows:
fig. 1 shows a vector control system of a permanent magnet synchronous motor. The device comprises a d-axis current controller LPF-ADRCd (1), a q-axis current controller LPF-ADRCq (2), a Park inverse transformation unit (3), an SVPWM unit (4), a voltage source inverter bridge (5), a three-phase permanent magnet synchronous motor (6), a Clark transformation unit (7), a Park transformation unit (8) and a rotating speed loop controller (9).
The low pass filter based active disturbance rejection controller LPF-ADRCq (2) comprises: LPF-ESO (2-1), b0(2-2)、1/b0(2-3)、Kp(2-4)；
The low-pass filter based extended state observer LPF-ESO (2-1) comprises: a low pass filter LPF (2-1-1), an integrating element (1/s) (2-1-2), and a current estimation loop gain (beta)1) (2-1-3), disturbance estimation Loop gain (beta)2) (2-1-4), and s in the transfer function is a differential operator.
LPF-ESO (2-1) is improved based on the conventional extended state observer ESO, using a low pass filter
Figure BDA0003471918560000041
The integral link (1/s) in the traditional ESO disturbance estimation loop is replaced;
output voltage u of d-axis current controller LPF-ADRCd (1)dAnd the output voltage u of the q-axis current controller LPF-ADRCq (2)qSending to a Park inverse transformation unit (3); the input of the PWM unit (4) is the output u of the Park inverse transformation unit (3)α、uβThe output signal of the six-path PWM wave is used as the input of a voltage source inverter bridge (5); the voltage source inverter bridge (5) outputs three-phase current to control the three-phase motor (6); the input of the Clark conversion unit (7) is the phase current i of the three-phase motor (6)a、ib、icOutput iα、iβAs input to a Park transformation unit (8); output current i of Park conversion unit (8)d、iqAs feedback input signals of LPF-ADRCd (1) and LPF-ADRCq (2), respectively; i all right angled *、iq *As given input signals to LPF-ADRCd (1) and LPF-ADRCq (2), respectively. The input of the rotating speed loop PI controller (9) is a given rotating speed n*The actual rotating speed of the three-phase motor (6) detected by the sensor is used as a feedback signal of the PI controller (9), and q-axis given current i is outputq *As input to LPF-ADRCq (2).
The input of the extended state observer LPF-ESO (2-1) based on the filter is the input i of LPF-ADRCq (2)qAnd b0An output of (2-2); the outputs are estimates of the q-axis current and the system disturbance, respectively, as feedback to the controller. Two branches are arranged inside: one is iqAn estimation loop with output iqIs estimated value x1(ii) a One is a disturbance estimation loop, and the output is a disturbance estimation value x2(ii) a The inputs of both branches are iqAnd x1Difference of between, beta1And beta2Linear or non-linear error gain. In the disturbance estimation loop, the input of the low-pass filter link (2-1-1) is (i)q-x1)β2With an output of x2The branch satisfies the following relationship: x is the number of2＝β2GF(s)(iq-x1)。
Low passThe filter element (2-1-1) has a transfer function of
Figure BDA0003471918560000051
KrBeing filter coefficients, TfIs the time constant of the filter, Tf＝1/ωc，ωcFor the cut-off frequency, the value is larger than the frequency of the low-frequency current harmonic to be suppressed.
The integration element (1/s) (2-1-2) is an integration function, the input of which is the derivative of the current estimation value, and the output value of which is the current estimation value.
Current estimation loop gain (beta)1) The value of (2-1-3) is λ ω0λ is a current estimation loop coefficient, and too small results in poor system stability, and too large results in poor dynamic response; omega0To extend the bandwidth of the state observer LPF-ESO (2-1), ω0Increasing increases the interference rejection of the system, but makes the system noisy. The input of this link is (i)q-x1) Output is (i)q-x1)β1。
Disturbance estimation loop gain (beta)2) The value of (2-1-4) is ω0 2Observer bandwidth ω0The values of (A) are the same as above. In summary, λ ═ 2, ω is selected04000. The input of this link is (i)q-x1) Output is (i)q-x1)β2。
iqIn the estimation loop, the input of the integration element (1/s) is (i)q-x1)β1、b0uqAnd x2The sum of the three, the output of which is x1The branch satisfies the following relationship:
Figure BDA0003471918560000052
x1、x2are respectively iqAnd an observed value of the disturbance.
b0(2-2) is a compensation factor having a value of 1/L reciprocal of the inductance value of the stator of the motors。
1/b0(2-3) is the reciprocal of the compensation factor, which is the motor stator inductance Ls。
Kp(2-4) LPF-ADRCq (2) controller gain, which inputs q-axis current observed value x output by the observer and q-axis current given value1The difference between them.

Claims (2)

1. An improved active disturbance rejection motor control method for inhibiting low-frequency current harmonics is characterized in that: the motor control system of the method comprises: the device comprises a d-axis current controller LPF-ADRCd (1), a q-axis current controller LPF-ADRCq (2), a Park inverse transformation unit (3), an SVPWM unit (4), a voltage source inverter bridge (5), a three-phase permanent magnet synchronous motor (6), a Clark transformation unit (7), a Park transformation unit (8) and a rotating speed loop PI controller (9);
wherein: output voltage u of d-axis current controller LPF-ADRCd (1)dAnd the output voltage u of the q-axis current controller LPF-ADRCq (2)qSending to a Park inverse transformation unit (3); the input of the PWM unit (4) is the output u of the Park inverse transformation unit (3)α、uβThe output signal of the six-path PWM wave is used as the input of a voltage source inverter bridge (5); the voltage source inverter bridge (5) outputs three-phase current to control the three-phase motor (6); the input of the Clark transformation unit (7) is the phase current i of the three-phase motor (6)a、ib、icOutput iα、iβAs input to a Park transformation unit (8); output current i of Park conversion unit (8)d、iqAs feedback input signals of LPF-ADRCd (1) and LPF-ADRCq (2), respectively; i.e. id *、iq *Respectively d-axis current set value and q-axis current set value, in the surface-mounted permanent magnet synchronous motor magnetic field guide vector control, id *＝0、iq *Is the output of a rotating speed loop PI controller, and is respectively used as given input signals of an LPF-ADRCd (1) and an LPF-ADRCq (2); the input of the rotating speed loop PI controller (9) is a given rotating speed n*，n*The value of (a) depends on the motor operating conditions; the actual rotating speed of the three-phase motor (6) detected by the sensor is used as a feedback signal of the PI controller (9), and q-axis given current i is outputq *As an input to LPF-ADRCq (2); the internal structures of the LPF-ADRCd (1) and the LPF-ADRCq (2) are the same;
the filter-based active-disturbance-rejection controlThe LPF-ADRCq (2) comprises: LPF-ESO (2-1), b0(2-2)、1/b0(2-3)、Kp(2-4)；
B is0(2-2) is a compensation factor having a value of 1/L reciprocal of the inductance value of the stator of the motors；
1/b described0(2-3) is the reciprocal of the compensation factor, whose value is the motor stator inductance Ls；
Said Kp(2-4) LPF-ADRCq (2) controller gain, input of which is the difference between the q-axis current setpoint and the estimated q-axis current value output by the observer;
the low-pass filter based extended state observer LPF-ESO (2-1) comprises: a low pass filter LPF (2-1-1), an integrating element (1/s) (2-1-2), and a current estimation loop gain (beta)1) (2-1-3), disturbance estimation Loop gain (beta)2) (2-1-4), wherein s in the transfer function is a differential operator;
the LPF-ESO (2-1) is an extended state observer based on a filter, and is internally provided with two branches: one is iqEstimate loop with output x1(ii) a One is a disturbance estimation loop and the output is x2(ii) a The inputs of both branches are (i)q-x1)；
I is describedqIn the estimation loop, the input of the integration element (1/s) is (i)q-x1)β1、uq/LsAnd x2The sum of the three, the output of which is x1The branch satisfies the following relationship:
Figure FDA0003471918550000021
x1、x2are respectively iqAnd an observed value of the disturbance;
in the disturbance estimation loop, the input of a low-pass filter link (2-1-1) is (i)q-x1)β2With an output of x2The branch satisfies the following relationship: x is the number of2＝β2GF(s)(iq-x1)；
The G isF(s) (2-1-1) is a low pass filter element having a transfer function of
Figure FDA0003471918550000022
KrBeing filter coefficients, TfIs the time constant of the filter, Tf＝1/ωc，ωcIs the cut-off frequency;
the integration link (1/s) (2-1-2) is used for integration, the input of the integration link is the derivative of the current estimation value, and the output value of the integration link is the current estimation value;
the current estimation loop gain (beta)1) The value of (2-1-3) is λ ω0λ is the current estimation loop coefficient; omega0The bandwidth of a state observer LPF-ESO (2-1) is expanded; the input of this link is (i)q-x1) Output is (i)q-x1)β1；
The disturbance estimation loop gain (beta)2) The value of (2-1-4) is ω0 2Observer bandwidth ω0The values of (A) are as above; selecting lambda as 2, omega04000; the input of this link is (i)q-x1) Output is (i)q-x1)β2。
2. An improved active disturbance rejection control method for suppressing low frequency current harmonics as claimed in claim 1, wherein: low pass filter GFThe cut-off frequency in(s) (2-1-1) needs to be greater than the frequency of the low-frequency current harmonics to be suppressed.
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