CN114884418A - Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer - Google Patents

Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer Download PDF

Info

Publication number
CN114884418A
CN114884418A CN202210645923.7A CN202210645923A CN114884418A CN 114884418 A CN114884418 A CN 114884418A CN 202210645923 A CN202210645923 A CN 202210645923A CN 114884418 A CN114884418 A CN 114884418A
Authority
CN
China
Prior art keywords
reduced order
order observer
observer
equation
disturbance torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210645923.7A
Other languages
Chinese (zh)
Other versions
CN114884418B (en
Inventor
卜飞飞
郭子韬
朱鹏
彭志文
杜仁慧
刘佳
顾子杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
724 Research Institute Of China Shipbuilding Corp
Nanjing University of Aeronautics and Astronautics
Original Assignee
724 Research Institute Of China Shipbuilding Corp
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 724 Research Institute Of China Shipbuilding Corp, Nanjing University of Aeronautics and Astronautics filed Critical 724 Research Institute Of China Shipbuilding Corp
Priority to CN202210645923.7A priority Critical patent/CN114884418B/en
Publication of CN114884418A publication Critical patent/CN114884418A/en
Application granted granted Critical
Publication of CN114884418B publication Critical patent/CN114884418B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—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
    • 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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a low-speed direct-drive motor disturbance suppression method based on an improved reduced order observer, which relates to the field of permanent magnet synchronous motors, and is characterized in that the method designs the improved reduced order observer based on a motor equation of a direct-drive motor, an estimation equation of the improved reduced order observer comprises a differential term, a transfer function between an estimation value of disturbance torque output by the improved reduced order observer and an actual value of the disturbance torque realizes zero-pole cancellation, the estimation value of the disturbance torque and a compensation current value are obtained according to the structure of the improved reduced order observer, the compensation current value is fed forward to a given end of quadrature axis current of a rotating speed current double-loop servo control system, a differential link is introduced into the reduced order observer to obtain the improved reduced order observer, so that the compensation response speed of the improved reduced order observer can be improved, and the improved reduced order observer has no delay in the observation of the disturbance torque, the problem of compensation resonance in the traditional observer is effectively solved.

Description

Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer
Technical Field
The invention relates to the field of permanent magnet synchronous motors, in particular to a low-speed direct-drive motor disturbance suppression method based on an improved reduced order observer.
Background
The servo system of the traditional permanent magnet synchronous motor comprises a large number of transmission mechanisms such as gears, belts and the like, and due to the transmission mechanisms, the efficiency of the servo system is reduced, and the control precision is reduced. In recent years, a direct drive technology is widely applied to a servo system, a load is directly connected with a motor shaft, a transmission mechanism in the servo system is eliminated, the influence of elastic deformation, transmission error and component friction of a speed reducer is avoided, the servo system can have higher positioning precision, efficiency and response capability, and vibration noise and maintenance cost are reduced.
However, as the shaft of the direct-drive servo motor is directly connected with the load, external disturbance can be directly transmitted to the motor, so that the motor is more sensitive to disturbance, and the precision and the performance of a servo system are reduced. Output disturbance caused by cogging torque, higher current harmonic, magnetic resistance effect and the like of the motor can directly act on a load, and system performance is influenced. Under the low-speed working condition, the disturbance such as cogging torque, friction torque and the like can show lower frequency, and the motor has low-pass filter characteristics and poor low-frequency disturbance inhibition capability, so that the influence caused by the problems is more obvious.
Many scholars at home and abroad suppress motor disturbance by improving a control algorithm, and the control algorithm typically includes a sliding mode control method, proportional resonance control, repetitive control, iterative learning control, adaptive control, active disturbance rejection control, robust control, an observer method and the like. However, the existing methods for improving the control algorithm all have the following defects: the traditional sliding mode control enables the system state to continuously traverse on two sides of a sliding surface, and the buffeting is inevitably generated in the system. The proportional resonance control has a large gain at the resonance frequency, so that the proportional resonance control has a good attenuation effect on the disturbance of a specific frequency in a closed loop, and the gain outside the resonance angular frequency point is sharply reduced, so that the control system is sensitive to the change of the input signal frequency, and the system is easy to fluctuate. Although the repetitive control and the iterative learning control can generate infinite gain on a series of frequencies and realize interference suppression, the two methods often need to know specific frequency information of the torque ripple in advance, so the method for suppressing the disturbance of specific frequencies and integral multiple frequencies thereof has great limitation. The structure of the nonlinear active disturbance rejection control is often very complex, the adjustable parameters are more, and the nonlinear active disturbance rejection control is difficult to use in practical engineering. A common control method in the adaptive control is model reference adaptive control, and although the model reference adaptive control has a certain effect on resisting the uncertainty of the alternating current motor driver parameters, the high-order terms of the model increase the calculation burden.
Disclosure of Invention
The invention provides a low-speed direct-drive motor disturbance suppression method based on an improved reduced order observer aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
a low-speed direct drive motor disturbance suppression method based on an improved reduced order observer comprises the following steps:
improved motor equation design generator based on direct drive motorThe order observer, the improved reduced order observer includes differential terms in the estimation equation, and the improved reduced order observer outputs the estimation value of the disturbance torque
Figure BDA0003685918980000021
With actual value T of disturbance torque d Transfer function between(s)
Figure BDA0003685918980000022
Zero-pole cancellation is realized, and s is a Laplace operator;
obtaining an estimated value of disturbance torque suffered by the direct drive motor during low-speed operation according to the structure of the improved reduced order observer
Figure BDA0003685918980000023
Estimate of disturbance torque
Figure BDA0003685918980000024
Divided by the current torque constant K T Obtaining a compensation current value i c ；
The direct drive motor is controlled by a rotating speed and current double-loop servo control system, the rotating speed and current double-loop servo control system comprises a current loop controller and a rotating speed loop controller, and the rotating speed loop controller is based on a set value omega of the angular speed of a motor rotor * Regulating the rotation speed with the actual value omega and outputting
Figure BDA0003685918980000025
Current supply loop controller based on set value of quadrature axis current
Figure BDA0003685918980000026
And given value of direct axis current
Figure BDA0003685918980000027
Current regulation is performed.
The further technical scheme is that the estimation equation of the improved reduced order observer is as follows:
Figure BDA0003685918980000028
Figure BDA0003685918980000029
as an estimate of the angular velocity of the rotor of the motor, T e Is the electromagnetic torque, J is the moment of inertia, B a As damping coefficient, k 1 、k 2 、k d Is the feedback gain.
The further technical scheme is that the estimation value of the disturbance torque received by the direct drive motor during low-speed operation is obtained according to the structure of the improved reduced order observer
Figure BDA00036859189800000210
The method comprises the following steps: obtaining an estimate of disturbance torque
Figure BDA00036859189800000211
The corresponding obtained compensation current value
Figure BDA00036859189800000212
The further technical proposal is that the torque equation of the direct drive motor is
Figure BDA0003685918980000031
Then compensate the current value
Figure BDA0003685918980000032
p n Is the magnetic pole pair number psi f Is a permanent magnet flux linkage.
The further technical scheme is that the method also comprises the following steps:
taking a state quantity
Figure BDA0003685918980000033
The output quantity y is ω, and defines the actual value T of the disturbance torque d Involving a load torque T L Obtaining an estimation equation of a basic reduced order observer not including a differential term based on a motor equation of the direct drive motorIs composed of
Figure BDA0003685918980000034
Determining the estimation value of the disturbance torque output by the basic reduced order observer according to the estimation equation of the basic reduced order observer
Figure BDA0003685918980000035
With actual value T of disturbance torque d Transfer function between(s)
Figure BDA0003685918980000036
For transfer function with pole-zero pair redundancy
Figure BDA0003685918980000037
Modifying to obtain the expected transfer function for implementing zero-pole cancellation
Figure BDA0003685918980000038
Based on desired transfer function
Figure BDA0003685918980000039
And obtaining an improved reduced order observer which adds a differential term in the basic reduced order observer, wherein the improved reduced order observer compensates the inherent lag of the basic reduced order observer when estimating the disturbance torque.
The further technical scheme is that the transfer function with pole-zero pair redundancy exists
Figure BDA00036859189800000310
Making a modification comprising:
based on zero-pole cancellation principle, using estimation value of disturbance torque
Figure BDA00036859189800000311
With actual value T of disturbance torque d (s) setting a desired form of transfer function to achieve pole-zero cancellation based on the inclusion of a number of matching pole-zero pairsIs composed of
Figure BDA00036859189800000312
Wherein p is G1 、p G2 Is a pole, z G1 、z G2 Is zero;
taking B within the error range a 0 and based on the form of the desired transfer function
Figure BDA00036859189800000313
Is modified into
Figure BDA00036859189800000314
The further technical scheme is that the method also comprises the following steps:
defining the actual value T of the disturbance torque d Involving a load torque T L Mechanical equation of motion from direct drive motor
Figure BDA0003685918980000041
Obtain the equation of state as
Figure BDA0003685918980000042
Taking a state quantity
Figure BDA0003685918980000043
Output quantity y is omega,
Figure BDA0003685918980000044
C＝[1 0],u＝T e Rewriting the equation of state to
Figure BDA0003685918980000045
And based thereon determining a basic reduced order observer as
Figure BDA0003685918980000046
Wherein
Figure BDA0003685918980000047
An estimated value of the state quantity x is represented,
Figure BDA0003685918980000048
is an estimate of the output quantity y,
Figure BDA0003685918980000049
is a feedback gain matrix;
defining state errors
Figure BDA00036859189800000410
Then there is
Figure BDA00036859189800000411
The characteristic equation is as follows:
Figure BDA00036859189800000412
the desired characteristic polynomial based on the observer is s 2 -(a 1 +a 2 )s+a 1 a 2 With a structure of 0, the damping coefficient B is taken within the error range a Get feedback gain as 0
Figure BDA00036859189800000413
And obtaining an estimation equation of the basic reduced order observer as
Figure BDA00036859189800000414
Wherein, a 1 、a 2 Is the desired pole.
The beneficial technical effects of the invention are as follows:
the application discloses a low-speed direct-drive motor disturbance suppression method based on an improved reduced order observer, wherein a differential link is introduced into the reduced order observer to obtain the improved reduced order observer, so that the compensation response speed of the improved reduced order observer can be improved, the improved reduced order observer has no delay in observation of disturbance torque, and the problem of compensation resonance in a traditional observer is effectively solved.
In addition, although the improved reduced order observer is added with a differential link, the differential coefficient, namely the feedback gain, of the improved reduced order observer is adjustable, and the position signal measurement error of the motor under the low-speed working condition can not be amplified.
Compared with other methods, the disturbance suppression method based on the improved reduced order observer does not need to predict disturbance information in advance, is suitable for dealing with various unpredictable disturbance torques which may appear in practical application, has good observation performance at low speed, is simple to realize, does not need to change the traditional PI control structure, has fewer adjustable parameters, and is easy to realize in engineering. And the method can be combined with different control algorithms to form a composite control algorithm, so that the universality is strong.
Drawings
Fig. 1 is a block diagram of the structure of an improved reduced order observer of the present application.
Fig. 2 is a feed-forward compensation control block diagram implemented by combining the improved reduced order observer and the rotating speed current dual-loop servo control system.
FIG. 3 is a graph of experimental data of estimated and actual values of disturbance torque for feedforward compensation using a basic reduced order observer in one example.
Fig. 4 is an experimental data diagram of an estimated value and an actual value of disturbance torque when feedforward compensation is performed by using the improved reduced order observer of the present application under the same experimental environment as that of fig. 3.
FIG. 5 is a graph of motor speed for feed forward compensation using a basic reduced order observer in one example.
Fig. 6 is a diagram of the motor rotation speed when the improved reduced order observer of the present application is used for feed-forward compensation under the same experimental environment as fig. 5.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses a low-speed direct drive motor disturbance suppression method based on an improved reduced order observer, which comprises the following steps:
step 1, designing an improved reduced order observer based on a motor equation of a direct drive motor.
The estimation equation of the improved reduced order observer designed by the application contains a differential term, so that the improved reduced order observerEstimation value of disturbance torque output by observer
Figure BDA0003685918980000051
With actual value T of disturbance torque d Transfer function between(s)
Figure BDA0003685918980000052
And (4) realizing zero-pole cancellation, wherein s is a Laplace operator. Therefore, by introducing a differential link, the compensation response speed of the improved reduced order observer is improved, and the problem of compensation resonance in the traditional observer is solved.
Specifically, referring to fig. 1, an estimation equation of the improved reduced order observer obtained by the design based on the motor equation of the direct drive motor in the present application is:
Figure BDA0003685918980000053
Figure BDA0003685918980000054
is an estimate of the angular velocity of the rotor of the motor, T e Is the electromagnetic torque, J is the moment of inertia, B a As damping coefficient, k 1 、k 2 、k d Is the feedback gain. The improved reduced order observer comprises a differential term k d s and a feedback gain k in the derivative term d The position signal measuring error of the direct drive motor under the low-speed working condition is not amplified. The low speed referred to in the present application means that the rotating speed of the direct drive motor is lower than a certain predetermined value, and the predetermined value can be determined according to the actual industry definition, and the present application does not limit the predetermined value. Based on this estimation equation, an estimated value of the disturbance torque output by the modified reduced order observer can be determined
Figure BDA0003685918980000061
With actual value T of disturbance torque d The transfer function between(s) is:
Figure BDA0003685918980000062
transfer function
Figure BDA0003685918980000063
The compensation device has the matched number of pole-zero pairs, and the number of poles and zeros is equal, so that zero-pole cancellation can be realized, the inherent lag of disturbance torque is compensated, and the compensation response speed is improved.
The principle of designing the improved reduced order observer is that firstly a basic reduced order observer which does not include a differential term is obtained based on a motor equation of a direct drive motor, and then the basic reduced order observer is modified according to a zero-pole cancellation principle to obtain the improved reduced order observer required by the application, and the specific introduction is as follows:
the motor equation of the direct drive motor mainly comprises a voltage equation, a torque equation and a mechanical motion equation, and for the permanent magnet synchronous motor, the voltage equation of the direct drive motor is as follows:
Figure BDA0003685918980000064
wherein u is d Is d-axis voltage, u q Is the q-axis voltage, i d Is d-axis current, i q Is q-axis current, R s For each phase of resistance of the stator winding, L d Is d-axis inductance, L q Is a q-axis inductance, p n Is the magnetic pole pair number psi f Is the permanent magnet flux linkage and ω is the actual value of the angular velocity of the motor rotor.
This application adopts i d Control is 0, whereby the voltage equation of equation (1) can be simplified to:
Figure BDA0003685918980000065
the mechanical motion equation of the direct drive motor is as follows:
Figure BDA0003685918980000066
in the formula (5), T L For load torque, T e Is an electromagnetic torque.
The torque equation of the direct drive motor is
Figure BDA0003685918980000067
Also, it can be simplified as:
Figure BDA0003685918980000068
wherein, K T Is the current torque constant.
Taking a state quantity
Figure BDA0003685918980000071
The output quantity y is ω, and defines the actual value T of the disturbance torque d Involving a load torque T L Then, the state equation obtained from the mechanical motion equation of equation (5) is:
Figure BDA0003685918980000072
is provided with
Figure BDA0003685918980000073
C＝[1 0],u＝T e Then the state equation of equation (7) can be rewritten as:
Figure BDA0003685918980000074
the expression of the basic reduced order observer is introduced on the basis of the formula (8) as follows:
Figure BDA0003685918980000075
in the formula (9), the reaction mixture is,
Figure BDA0003685918980000076
an estimated value of the state quantity x is represented,
Figure BDA0003685918980000077
is an estimate of the output quantity y,
Figure BDA0003685918980000078
is a feedback gain matrix. Defining state errors
Figure BDA0003685918980000079
Then there are:
Figure BDA00036859189800000710
the characteristic equation of the formula (10) is
Figure BDA00036859189800000711
To satisfy
Figure BDA00036859189800000712
Approximating the rate requirement of x, requires satisfying the pole configuration of A-KC by selecting the appropriate value of K, according to the desired pole a 1 、a 2 The desired characteristic polynomial of the observer is:
s 2 -(a 1 +a 2 )s+a 1 a 2 ＝0 (12)
because B a Relatively small, so that the damping coefficient B can be taken within the error range a Neglecting it when 0, the simultaneous type (11) and (12) yields:
Figure BDA00036859189800000713
thus, the estimation equation of the basic reduced order observer can be obtained as follows:
Figure BDA0003685918980000081
estimation of disturbance torque through output of a base-type reduced order observer
Figure BDA0003685918980000082
With actual value T of disturbance torque d (s) analyzing the compensation accuracy of the basic reduced order observer by using a transfer function between the following equations, wherein the transfer function of the basic reduced order observer can be obtained by using the estimation equation of the formula (14):
Figure BDA0003685918980000083
from equation (15), if the basic type reduced order observer is used under the conventional observer compensation strategy, the transfer function
Figure BDA0003685918980000084
The number of poles-zero is unequal, and the situation of pole-zero pair redundancy exists.
The method is based on the zero-pole cancellation principle and uses the estimation value of the disturbance torque
Figure BDA0003685918980000085
With actual value T of disturbance torque d (s) based on the inclusion of a number of matching pole-zero pairs, setting the desired transfer function to achieve pole-zero cancellation in the form:
Figure BDA0003685918980000086
wherein p is G1 、p G2 Is a pole, z G1 、z G2 Is zero.
Because B a Relatively small, so that the damping coefficient B can be taken within the error range a If this is ignored for 0, the transfer function of equation (15) may be modified as shown in equation (2) above based on the form of equation (16)
Figure BDA0003685918980000087
Based on the desired transfer function shown in the above equation (2), an improved reduced order observer with a differential term added to the basic reduced order observer, that is, an improved reduced order observer with an estimation equation shown in fig. 1 and shown in the above equation (1), can be obtained. The improved reduced order observer compensates the inherent lag of the basic reduced order observer when estimating the disturbance torque, and can improve the compensation response speed of the observer.
Step 2, obtaining an estimated value of disturbance torque received by the direct drive motor during low-speed operation according to the structure of the improved reduced order observer
Figure BDA0003685918980000088
According to the structure of the improved reduced order observer shown in fig. 1, after the parameters of the improved reduced order observer are set, the estimated value of the disturbance torque can be obtained as follows:
Figure BDA0003685918980000089
step 3, estimating the disturbance torque
Figure BDA00036859189800000810
Divided by the current torque constant K T Obtaining a compensation current value i c ：
Figure BDA0003685918980000091
In combination with the torque equation of the direct drive motor shown in the above equation (6), it can further be obtained that:
Figure BDA0003685918980000092
and 4, controlling the direct drive motor by using a rotating speed and current double-loop servo control system.
Referring to fig. 2, the tachometer current dual-loop servo control system of the present application adopts a dual-loop structure combining an inner loop current loop and an outer loop speed loop, and includes a current loop controller and a tachometer loop controller. Given value omega of rotating speed ring controller based on motor rotor angular speed * Regulating the rotation speed with the actual value omega and outputting
Figure BDA0003685918980000093
To the current loop controller. Given value of current loop controller based on quadrature axis current
Figure BDA0003685918980000094
And given value of direct axis current
Figure BDA0003685918980000095
Current regulation is performed. The traditional PI regulator is widely used for regulating the rotating speed and the current of the permanent magnet motor due to simple structure and good control performance, so the current loop controller and the rotating speed loop controller of the invention adopt the PI controller. The important improvement of the application lies in obtaining the compensation current value i c Then, it is fed forward to the given end of the AC shaft current and the output of the speed loop controller
Figure BDA0003685918980000096
The final given value of the quadrature axis current is obtained by combination
Figure BDA0003685918980000097
The rest of the closed-loop control method can refer to the existing closed-loop control, and the detailed description is not repeated in the application.
In order to verify the effectiveness of the method, a permanent magnet direct drive servo motor disturbance suppression experiment platform is established in an experiment process, a disturbance suppression experiment is carried out, the disturbance of a permanent magnet direct drive servo system is set to be the sum of the cogging torque and the load torque, for example, the actual value T of the disturbance torque in the graphs of fig. 3 and 4 d As shown. Wherein the load torque of 0.05Nm is suddenly added at 10s, and the form of the cogging torque is shown as the following formula:
Figure BDA0003685918980000098
wherein N is sp Is the least common multiple of the number of slots and poles of the permanent magnet motor, T n Is the magnitude of the nth component of the cogging torque Fourier series.
The disturbance suppression experiments of the traditional basic reduced order observer and the improved reduced order observer are carried out under the same disturbance condition, the experimental results are respectively shown in fig. 3 and fig. 4, the result shows that the deviation exists in the disturbance estimation when the traditional basic reduced order observer is used, and the deviation is estimated after the improved reduced order observer is used
Figure BDA0003685918980000099
Is obviously reduced. In the experiment, a given rotating speed is set to be 1r/min, the rotating speed of the motor is shown in figure 5 when a traditional basic reduced order observer is adopted for compensation, and the rotating speed of the motor is shown in figure 6 when an improved reduced order observer is adopted for compensation. It can be seen that when the improved reduced order observer is adopted for compensation, the fluctuation of the rotating speed of the motor is obviously reduced, and the disturbance suppression effect is obvious. The result shows that the feedforward compensation strategy based on the improved reduced order observer can well solve the problem of compensation deviation of the traditional reduced order observer and has better torque disturbance resistance.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.

Claims (7)

1. A low-speed direct-drive motor disturbance suppression method based on an improved reduced order observer is characterized by comprising the following steps:
an improved reduced order observer is designed based on a motor equation of a direct drive motor, an estimation equation of the improved reduced order observer contains a differential term, and the improved reduced order observerEstimation value of disturbance torque output by observer
Figure FDA0003685918970000011
With actual value T of disturbance torque d Transfer function between(s)
Figure FDA0003685918970000012
Zero-pole cancellation is realized, and s is a Laplace operator;
obtaining an estimated value of the disturbance torque received by the direct drive motor during low-speed operation according to the structure of the improved reduced order observer
Figure FDA0003685918970000013
Estimating the disturbance torque
Figure FDA0003685918970000014
Divided by the current torque constant K T Obtaining a compensation current value i c ；
Controlling the direct drive motor by using a rotating speed and current double-loop servo control system, wherein the rotating speed and current double-loop servo control system comprises a current loop controller and a rotating speed loop controller, and the rotating speed loop controller is based on a given value omega of the angular speed of a motor rotor * Regulating the rotation speed with the actual value omega and outputting
Figure FDA0003685918970000015
For the current loop controller, the current loop controller is based on the given value of quadrature axis current
Figure FDA0003685918970000016
And given value of direct axis current
Figure FDA0003685918970000017
Current regulation is performed.
2. The method of claim 1, wherein the estimation equation of the modified reduced order observer is:
Figure FDA0003685918970000018
Figure FDA0003685918970000019
as an estimate of the angular velocity of the rotor of the motor, T e Is the electromagnetic torque, J is the moment of inertia, B a As damping coefficient, k 1 、k 2 、k d Is the feedback gain.
3. The method according to claim 2, wherein the estimated value of the disturbance torque received by the direct drive motor during low-speed operation is obtained according to the structure of the improved reduced order observer
Figure FDA00036859189700000110
The method comprises the following steps: obtaining an estimate of disturbance torque
Figure FDA00036859189700000111
The corresponding obtained compensation current value
Figure FDA00036859189700000112
4. The method of claim 3, wherein the torque equation for the direct drive motor is
Figure FDA0003685918970000021
Then compensate the current value
Figure FDA0003685918970000022
p n Is the magnetic pole pair number psi f Is a permanent magnet flux linkage.
5. The method of claim 2, further comprising:
taking a state quantity
Figure FDA0003685918970000023
The output quantity y is ω, and defines the actual value T of the disturbance torque d Involving a load torque T L Based on the motor equation of the direct drive motor, the estimation equation of the basic reduced order observer without differential terms is obtained as
Figure FDA0003685918970000024
Determining the estimation value of the disturbance torque output by the basic reduced order observer according to the estimation equation of the basic reduced order observer
Figure FDA0003685918970000025
With actual value T of disturbance torque d Transfer function between(s)
Figure FDA0003685918970000026
For transfer function with pole-zero pair redundancy
Figure FDA0003685918970000027
Modifying to obtain the expected transfer function for implementing zero-pole cancellation
Figure FDA0003685918970000028
Based on desired transfer function
Figure FDA0003685918970000029
And obtaining the improved reduced order observer which adds a differential term in the basic reduced order observer, wherein the improved reduced order observer compensates the inherent lag of the basic reduced order observer when estimating the disturbance torque.
6. The method of claim 5, wherein the pair has a pole-zero pair redundant transfer function
Figure FDA00036859189700000210
Making a modification comprising:
based on zero-pole cancellation principle, using estimated value of disturbance torque
Figure FDA00036859189700000211
With actual value T of disturbance torque d (s) based on the inclusion of a number of matching pole-zero pairs, setting the desired transfer function to achieve pole-zero cancellation in the form of
Figure FDA00036859189700000212
Wherein p is G1 、p G2 Is a pole, z G1 、z G2 Is zero;
taking B within the error range a 0 and based on the form of the desired transfer function
Figure FDA00036859189700000213
Is modified into
Figure FDA00036859189700000214
7. The method of claim 5, further comprising:
defining the actual value T of the disturbance torque d Involving a load torque T L From the mechanical equation of motion of said direct drive motor
Figure FDA0003685918970000031
Obtain the equation of state as
Figure FDA0003685918970000032
Taking a state quantity
Figure FDA0003685918970000033
Output quantity y is omega,
Figure FDA0003685918970000034
C＝[1 0],u＝T e Rewriting the equation of state to
Figure FDA0003685918970000035
And based thereon determining a basic reduced order observer as
Figure FDA0003685918970000036
Wherein
Figure FDA0003685918970000037
An estimated value of the state quantity x is represented,
Figure FDA0003685918970000038
is an estimate of the output quantity y,
Figure FDA0003685918970000039
is a feedback gain matrix;
defining state errors
Figure FDA00036859189700000310
Then there is
Figure FDA00036859189700000311
The characteristic equation is as follows:
Figure FDA00036859189700000312
the desired characteristic polynomial based on the observer is s 2 -(a 1 +a 2 )s+a 1 a 2 0, taking the damping coefficient B within the error range a Get feedback gain as 0
Figure FDA00036859189700000313
And obtaining an estimation equation of the basic reduced order observer as
Figure FDA00036859189700000314
Wherein, a 1 、a 2 Is the desired pole.
CN202210645923.7A 2022-06-09 2022-06-09 Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer Active CN114884418B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210645923.7A CN114884418B (en) 2022-06-09 2022-06-09 Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210645923.7A CN114884418B (en) 2022-06-09 2022-06-09 Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer

Publications (2)

Publication Number Publication Date
CN114884418A true CN114884418A (en) 2022-08-09
CN114884418B CN114884418B (en) 2023-05-23

Family

ID=82681007

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210645923.7A Active CN114884418B (en) 2022-06-09 2022-06-09 Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer

Country Status (1)

Country Link
CN (1) CN114884418B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009118688A (en) * 2007-11-08 2009-05-28 Yaskawa Electric Corp Motor controller and its control method
CN104460344A (en) * 2014-11-13 2015-03-25 北京工业大学 Disturbance observer control method based on PD control
CN108880370A (en) * 2018-07-03 2018-11-23 上海电机学院 The method for improving permanent magnet synchronous motor control performance
US20190222155A1 (en) * 2016-12-27 2019-07-18 Shandong University Servo control strategy and system for simultaneously eliminating counter-electromagnetic force (cemf) and load torque disturbances
US11031891B1 (en) * 2021-02-23 2021-06-08 King Abdulaziz University Predictive flux control for induction motor drives with modified disturbance observer for improved transient response
CN113054878A (en) * 2021-03-29 2021-06-29 东南大学 Arc motor prediction control method based on improved disturbance observer
US20210218357A1 (en) * 2020-01-10 2021-07-15 Streering Solutions IP Holding Corporation Observer design for estimating motor velocity of brush electric power steering system
CN113556067A (en) * 2021-06-02 2021-10-26 南京航空航天大学 Low-speed direct-drive motor disturbance suppression method based on sliding mode and disturbance compensation
CN113852310A (en) * 2021-08-12 2021-12-28 北京精密机电控制设备研究所 Active disturbance rejection control method of servo mechanism

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009118688A (en) * 2007-11-08 2009-05-28 Yaskawa Electric Corp Motor controller and its control method
CN104460344A (en) * 2014-11-13 2015-03-25 北京工业大学 Disturbance observer control method based on PD control
US20190222155A1 (en) * 2016-12-27 2019-07-18 Shandong University Servo control strategy and system for simultaneously eliminating counter-electromagnetic force (cemf) and load torque disturbances
CN108880370A (en) * 2018-07-03 2018-11-23 上海电机学院 The method for improving permanent magnet synchronous motor control performance
US20210218357A1 (en) * 2020-01-10 2021-07-15 Streering Solutions IP Holding Corporation Observer design for estimating motor velocity of brush electric power steering system
US11031891B1 (en) * 2021-02-23 2021-06-08 King Abdulaziz University Predictive flux control for induction motor drives with modified disturbance observer for improved transient response
CN113054878A (en) * 2021-03-29 2021-06-29 东南大学 Arc motor prediction control method based on improved disturbance observer
CN113556067A (en) * 2021-06-02 2021-10-26 南京航空航天大学 Low-speed direct-drive motor disturbance suppression method based on sliding mode and disturbance compensation
CN113852310A (en) * 2021-08-12 2021-12-28 北京精密机电控制设备研究所 Active disturbance rejection control method of servo mechanism

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
Z. ZHANG ET AL.: "Torque Ripple Suppression in Flux-Weakening Region of IPMSM Using LADRC", 2021 24TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS) *
幸权等: "基于负载观测的抗扰动伪微分反馈策略电机控制" *
毛仁超等: "改进型扰动观测器在伺服系统中的应用" *
荀倩;王培良;蔡志端;李祖欣;吕帅帅;: "基于负载转矩观测器的PMSM抗负载扰动控制策略" *
高龙,熊光楞,梁德全: "状态观测器在调速系统中的应用" *

Also Published As

Publication number Publication date
CN114884418B (en) 2023-05-23

Similar Documents

Publication Publication Date Title
CN110429881B (en) Active-disturbance-rejection control method of permanent magnet synchronous motor
CN107612445B (en) Control method of follow-up speed regulation system with load acceleration feedback
CN110784149B (en) Mechanical resonance suppression method and system for alternating current servo system
CN112631318B (en) Method for compensating and controlling interference of higher harmonic waves of CMG frame servo system
JPH10243699A (en) Synchronous motor controller
CN113556067A (en) Low-speed direct-drive motor disturbance suppression method based on sliding mode and disturbance compensation
CN113359479B (en) Composite anti-interference control method for DGVSCMG frame servo system
CN111510035A (en) Control method and device for permanent magnet synchronous motor
JP3981773B2 (en) Robot controller
CN111162710A (en) Torque ripple suppression method for permanent magnet hub motor
CN112953335A (en) Finite time self-adaptive composite control method and system for permanent magnet synchronous motor
CN110649845B (en) Photoelectric turntable position tracking control method based on robust generalized predictive control
CN112783099B (en) Fractional order composite control method and permanent magnet synchronous motor speed servo system
JP5441944B2 (en) Motor control device
WO2023237018A1 (en) Nonlinear predictive position control method suitable for dual-axis permanent magnet servo system
Huang et al. Passivity based control of the double inverted pendulum driven by a linear induction motor
JP6720714B2 (en) Electric vehicle control method and electric vehicle control device
JPH05176580A (en) Controller for motor
CN114884418A (en) Low-speed direct-drive motor disturbance suppression method based on improved reduced order observer
Le et al. A sensorless anti-windup speed control approach to axial gap bearingless motors with nonlinear lumped mismatched disturbance observers
CN110943666A (en) Constraint control system for composite current of permanent magnet synchronous motor and construction method thereof
CN115051600A (en) Tracking control method for servo system of brushless direct current motor
Li et al. Research on Linear Active Disturbance Rejection Control of Linear Motor XY Motion Platform
JP2958600B2 (en) Motor control device
CN113067506A (en) Permanent magnet synchronous motor periodic disturbance suppression method based on inner model equivalent input interference

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant