CN115001334A - Rotation speed control method and system of position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection - Google Patents

Rotation speed control method and system of position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection Download PDF

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CN115001334A
CN115001334A CN202210847306.5A CN202210847306A CN115001334A CN 115001334 A CN115001334 A CN 115001334A CN 202210847306 A CN202210847306 A CN 202210847306A CN 115001334 A CN115001334 A CN 115001334A
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coordinate system
speed
phase
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motor
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徐垚
邢济垒
庄兴明
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Bit Huachuang Electric Vehicle Technology Co ltd
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Bit Huachuang Electric Vehicle Technology Co ltd
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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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal 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
    • H02P21/18—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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based 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
    • 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

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  • Control Of Ac Motors In General (AREA)
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Abstract

The invention discloses a rotation speed control method of a non-position sensor ultra-high speed permanent magnet synchronous motor based on active disturbance rejection, which comprises the following steps: the method comprises the following steps that stator voltage and current under a two-phase static coordinate system are jointly input into a state observer based on an extended back electromotive force observation algorithm, a rotor position signal accompanied with a noise signal is input into an extended state observer, and the real-time motor rotating speed and a target rotating speed processed by a tracking differentiator are jointly input into a linear feedback controller; and outputting the sum of the electromagnetic torque and the real-time disturbance amount of the load torque, and carrying out torque analysis to obtain a current instruction required by current closed-loop control. The invention also discloses a rotation speed control system of the position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection. The invention can not only obtain an accurate motor rotor position observation value, but also accurately track the rapidly changing motor rotating speed, and simultaneously give consideration to the steady state performance and the transient state performance of the system.

Description

Rotation speed control method and system of position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection
Technical Field
The invention relates to the technical field of motor control, in particular to a rotation speed control method and a rotation speed control system of a position-sensorless ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection.
Background
The ultra-high-speed (10 ten thousand rpm and above) permanent magnet synchronous motor has the advantages of small volume, high efficiency, high power density and the like, and is widely applied to scenes of driving a gas turbine, a drilling spindle, an air compressor of a fuel cell for a vehicle and the like. Although the high rotating speed requirement of the ultra-high-speed permanent magnet synchronous motor has technical conditions on the level of physical hardware along with the deep research on the difficulties of rotor dynamics, thermodynamics, oilless bearings, high-efficiency cooling systems and the like, the small rotational inertia characteristic of the ultra-high-speed permanent magnet synchronous motor puts high requirements on the dynamic response capability, and the deep research needs to be carried out on the level of a motor software control algorithm. Because the conventional mechanical motor rotor position sensor has poor precision and reduced reliability under high-speed working conditions and is limited by installation space, a control system of the ultra-high-speed permanent magnet synchronous motor generally adopts a position-sensor-free control technology. The common rotor position estimation algorithm applied to the ultra-high-speed permanent magnet synchronous motor control system is mostly based on a motor mathematical model, such as a sliding film estimation method, a model reference self-adaption method, an extended Kalman filtering method and the like, although the algorithm can estimate the rotor position more accurately, the rotation speed control link is less considered in the design process, so that when the load torque is disturbed or the speed is regulated in a large range, the dynamic response capability of the motor is insufficient, the target rotation speed tracking is easy to fail, or the actual rotation speed fluctuation is large, so that the high-frequency noise influences the comfort of the whole vehicle. In addition, the rotating speed command curve needs to be designed in a targeted manner, and the commonly used rotating speed command curve for keeping constant acceleration has the contradiction between the quick dynamic response speed and the control stability of the system.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the rotating speed of a non-position-sensor ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection, which are used for improving the position precision of a rotor and the transient response capability of rotating speed observation.
In order to solve the technical problem, the invention provides a rotation speed control method of a position-sensorless ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection, which comprises the following steps of:
obtaining phase current output by inverteri a And i b Clark conversion is carried out, and the Clark conversion is converted into stator current i under a two-phase static coordinate system α And i β ；
According to the stator current i under the two-phase static coordinate system α And i β And stator voltage command under two-phase static coordinate system
Figure BDA0003753358370000011
And
Figure BDA0003753358370000012
calculating to obtain an estimated value of the expanded back electromotive force under a two-phase static coordinate system
Figure BDA0003753358370000013
And
Figure BDA0003753358370000014
expanding the estimated value of the back electromotive force under the two-phase static coordinate system
Figure BDA0003753358370000015
And
Figure BDA0003753358370000016
performing arc tangent operation to obtain the rotor position angle
Figure BDA0003753358370000021
For the rotor position angle
Figure BDA0003753358370000022
Observing the expansion state to obtain the observed value of the rotor position
Figure BDA0003753358370000023
Observed value of motor speed
Figure BDA0003753358370000024
Motor speed differential observed value
Figure BDA0003753358370000025
Observed value of load disturbance
Figure BDA0003753358370000026
Using rotor position observations
Figure BDA0003753358370000027
For stator current i under the two-phase static coordinate system α And i β Performing Park conversion to obtain stator current under a two-phase rotating coordinate system;
obtaining a target rotation speed omega cmd Performing transition treatment on the rotating speed v to obtain a reference rotating speed v 1 Derivative v of the reference rotational speed 2 ；
Observing the motor rotating speed
Figure BDA0003753358370000028
Motor speed differential observed value
Figure BDA0003753358370000029
Reference rotational speed v 1 Reference speed derivative v 2 Linear feedback calculation is carried out to obtain a reference electromagnetic torque instruction initial value T e0 ；
For reference electromagnetic torque instruction initial value T e0 And load disturbance observed value
Figure BDA00037533583700000210
Performing feedforward compensation calculation to obtain an electromagnetic torque instruction T of the motor e ；
For motor electromagnetic torque instruction T e And carrying out torque analysis to obtain a current instruction, and controlling the operation of the ultra-high-speed permanent magnet synchronous motor according to the current instruction.
Preferably, the electromagnetic torque instruction T is applied to the motor e Carrying out torque analysis to obtain a current instruction, and controlling the operation of the ultra-high-speed permanent magnet synchronous motor according to the current instruction, wherein the method specifically comprises the following steps:
the current instruction comprises stator current under a two-phase rotating coordinate systemInstructions
Figure BDA00037533583700000211
And
Figure BDA00037533583700000212
for stator current i under the two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA00037533583700000213
And
Figure BDA00037533583700000214
PI regulation is carried out, and a stator voltage instruction under a two-phase rotating coordinate system is obtained through calculation
Figure BDA00037533583700000215
And
Figure BDA00037533583700000216
using rotor position observations
Figure BDA00037533583700000217
For stator voltage instruction under the two-phase rotating coordinate system
Figure BDA00037533583700000218
And
Figure BDA00037533583700000219
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure BDA00037533583700000220
And
Figure BDA00037533583700000221
stator voltage command under two-phase static coordinate system
Figure BDA00037533583700000222
And
Figure BDA00037533583700000223
and the three-phase output voltage obtained by the inverter drives the running of the ultra-high-speed permanent magnet synchronous motor.
Preferably, the back electromotive force estimation value is expanded under the two-phase static coordinate system
Figure BDA00037533583700000224
And
Figure BDA00037533583700000225
performing arc tangent operation to obtain the rotor position angle
Figure BDA00037533583700000226
Calculating to obtain a preliminary estimated rotor position angle
Figure BDA00037533583700000227
The formula of (1) is as follows:
Figure BDA00037533583700000228
preferably, for the rotor position angle
Figure BDA0003753358370000031
Observing the expansion state to obtain the observed value of the rotor position
Figure BDA0003753358370000032
Observed value of motor speed
Figure BDA0003753358370000033
Motor speed differential observed value
Figure BDA0003753358370000034
Observed value of load disturbance
Figure BDA0003753358370000035
The method specifically comprises the following steps:
based on a motion equation of the motor, the load torque of the motor is used as disturbance, a linear extended state observer is designed, and the formula is as follows:
Figure BDA0003753358370000036
wherein: beta is a 1 、β 2 And beta 3 Is a linear feedback gain, T e Is an electromagnetic torque, n p Is the pole pair number of the motor, J is the rotational inertia of the motor,
Figure BDA0003753358370000037
is the rotor position observation error;
preferably, to ensure linear extended observer convergence, β 1 、β 2 And beta 3 The characteristic polynomial f (λ) ═ λ of the state gain matrix needed to satisfy the observed error 3 +β 1 λ 2 +β 2 λ+β 3 Has a negative real part, the linear feedback gain is then configured in the following way:
Figure BDA0003753358370000038
wherein ω is 0 Is the bandwidth of the system; λ represents the eigenvalue of the characteristic polynomial.
Preferably, the target rotation speed ω is acquired cmd And carrying out transition treatment on the reference rotating speed v to obtain the reference rotating speed v 1 Reference speed derivative v 2 The method specifically comprises the following steps:
receiving a target rotational speed omega cmd The nonlinear tracking differentiator carries out transition processing on the reference rotating speed v to obtain the reference rotating speed v 1 Reference speed derivative v 2 The formula is as follows:
Figure BDA0003753358370000039
wherein: reference rotational speed v 1 Is the target rotational speed omega cmd V is a tracking signal of 2 Is a reference rotational speed v 1 Derivative of r 0 Is a tracking velocity factor, h 0 Is the filter factor, fhan (v) 1 -ω cmd ,v 2 ,r 0 ,h 0 ) Is the fastest synthesis function of the active disturbance rejection control system to make v 1 Non-oscillating tracking of upper omega with appropriate, short response time cmd The specific expression is as follows:
Figure BDA0003753358370000041
wherein sgn is a sign function, and the other undefined variables are intermediate variables which are parameters regulated according to the system, and have no definite meaning.
Preferably, the motor speed observed value is measured
Figure BDA0003753358370000042
Motor speed differential observed value
Figure BDA0003753358370000043
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Linear feedback calculation is carried out to obtain a reference electromagnetic torque instruction initial value T e0 The method specifically comprises the following steps:
calculating to obtain a reference electromagnetic torque instruction initial value T e0 The formula is as follows:
Figure BDA0003753358370000044
wherein c is 1 And c 2 Is a linear positive feedback gain;
preferably, the stator current i is calculated under a two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA0003753358370000045
And
Figure BDA0003753358370000046
performing PI adjustment, and calculating to obtain stator voltage command under two-phase rotating coordinate system
Figure BDA0003753358370000047
And
Figure BDA0003753358370000048
the method specifically comprises the following steps:
calculating stator current i under two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA0003753358370000049
And
Figure BDA00037533583700000410
a difference of (d);
carrying out proportional and integral calculation on the difference value to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure BDA00037533583700000411
And
Figure BDA00037533583700000412
the invention also provides a system for realizing the rotation speed control method of the position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection, which comprises the following steps:
a current sensor for sampling phase current i output from the inverter a And i b ；
Clark transformation module for phase current i a And i b Performing Clark conversion to obtain stator current i under a two-phase static coordinate system α And i β ；
State observer, useStator current i in a relative two-phase stationary coordinate system α And i β Stator voltage command under two-phase static coordinate system
Figure BDA00037533583700000413
And
Figure BDA00037533583700000414
based on the calculation of the extended back electromotive force observation algorithm, the extended back electromotive force estimation value under the two-phase static coordinate system is obtained
Figure BDA0003753358370000051
And
Figure BDA0003753358370000052
a position calculation module for expanding the estimation value of back electromotive force under the two-phase static coordinate system
Figure BDA0003753358370000053
And
Figure BDA0003753358370000054
performing arc tangent operation to obtain rotor position angle
Figure BDA0003753358370000055
Extended state observer for determining rotor position angle
Figure BDA0003753358370000056
Calculating to obtain the observed value of the rotor position
Figure BDA0003753358370000057
Observed value of motor speed
Figure BDA0003753358370000058
Motor speed differential observed value
Figure BDA0003753358370000059
Observed value of load disturbance
Figure BDA00037533583700000510
Park transformation module using rotor position observations
Figure BDA00037533583700000511
Stator current i under two-phase static coordinate system α And i β Carrying out Park conversion to obtain stator current i under a two-phase rotating coordinate system d And i q ；
A non-linear tracking differentiator for measuring the target rotation speed omega cmd Carrying out transition processing to obtain a reference rotating speed v 1 Reference speed derivative v 2 ；
A linear feedback controller for observing the motor rotation speed
Figure BDA00037533583700000512
Motor speed differential observed value
Figure BDA00037533583700000513
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Calculating to obtain a reference electromagnetic torque command initial value T e0 ；
A feedforward compensation module for reference electromagnetic torque instruction initial value T e0 And load disturbance observation value
Figure BDA00037533583700000514
Carrying out feedforward compensation calculation to obtain a motor electromagnetic torque instruction T e ；
A torque value calculation module for calculating a torque value according to the motor electromagnetic torque command T e And calculating to obtain a stator current instruction under a two-phase rotating coordinate system required by current loop control
Figure BDA00037533583700000515
And
Figure BDA00037533583700000516
current control moduleFor stator currents i according to a two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA00037533583700000517
And
Figure BDA00037533583700000518
calculating to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure BDA00037533583700000519
And
Figure BDA00037533583700000520
park inverse transformation module using rotor position observation
Figure BDA00037533583700000521
Stator voltage command under two-phase rotating coordinate system
Figure BDA00037533583700000522
And
Figure BDA00037533583700000523
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure BDA00037533583700000524
And
Figure BDA00037533583700000525
a space vector pulse width modulation module for generating stator voltage command according to the two-phase static coordinate system
Figure BDA00037533583700000526
And
Figure BDA00037533583700000527
calculating to obtain six paths of PWM signals, controlling an inverter by the PWM signals, and obtaining the PWM signals through the inverterThe obtained three-phase output voltage drives the running of the ultra-high-speed permanent magnet synchronous motor.
Preferably, the current control module comprises a subtractor and a proportional-integral PI regulator;
a subtracter for calculating stator current i under two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA00037533583700000528
And
Figure BDA00037533583700000529
a difference of (d);
a proportional integral PI regulator for calculating the difference value to obtain stator voltage command in two-phase rotating coordinate system
Figure BDA00037533583700000530
And
Figure BDA00037533583700000531
compared with the prior art, the invention has the beneficial effects that:
firstly, the extended state observer provided by the invention carries out post-processing on rotor position information which is observed by extended back electromotive force and has larger noise, eliminates the phenomenon of estimated rotor position phase delay caused by post-processing modes of a phase-locked loop position observer and a low-pass filter, not only can obtain an accurate motor rotor position observed value, but also can accurately track the rapidly changing motor rotating speed, and simultaneously considers the steady-state performance and the transient performance of the system;
secondly, the estimated load torque disturbance quantity is superposed to the electromagnetic torque output of the linear feedback controller, so that a traditional rotating speed PI controller can be cancelled, and the disturbance resistance of the system when the system is subjected to internal parameter change and external load torque mutation is enhanced;
thirdly, the design of the rotating speed instruction curve based on the tracking differentiator solves the contradiction between the overshoot and the system response speed in the speed control of the traditional design method.
Drawings
FIG. 1 is a schematic block diagram of a rotation speed control method of an auto-disturbance-rejection-based position-sensor-free ultra-high-speed permanent magnet synchronous motor according to the present invention;
FIG. 2 is a functional block diagram of an extended state observer of the present invention;
fig. 3 is a functional block diagram of the active disturbance rejection controller ADRC of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the accompanying figures 1-3:
the invention relates to a rotation speed control method of a non-position sensor ultra-high speed permanent magnet synchronous motor based on active disturbance rejection, which mostly adopts a vector control frame and comprises the following steps:
the stator voltage and the stator current under the two-phase static coordinate system are jointly input to a state observer based on an extended back electromotive force observation algorithm, and a rotor position signal accompanied with a noise signal is obtained;
wherein: the stator voltage and current under the two-phase static coordinate system comprise stator current i under the two-phase static coordinate system α And i β And stator voltage command under two-phase static coordinate system
Figure BDA0003753358370000061
And
Figure BDA0003753358370000062
rotor position signal is expanded to counter electromotive force estimated value under two-phase static coordinate system
Figure BDA0003753358370000063
And
Figure BDA0003753358370000064
the calculation is carried out by arc tangent;
inputting a rotor position signal accompanied with a noise signal into an extended state observer, and estimating an accurate rotor position, a real-time motor rotating speed and a load torque real-time disturbance quantity; the accurate rotor position is used for Park transformation and Park inverse transformation calculation;
wherein: accurate rotor position includes rotor position observations
Figure BDA0003753358370000071
Real-time motor speed comprises motor speed observed value
Figure BDA0003753358370000072
And motor speed differential observed value
Figure BDA0003753358370000073
The load torque real-time disturbance quantity comprises a load disturbance observed value
Figure BDA0003753358370000074
The real-time motor rotating speed and the target rotating speed processed by the tracking differentiator are input into a linear feedback controller together to obtain electromagnetic torque;
wherein: the electromagnetic torque includes a reference electromagnetic torque command initial value T e0 ；
And (3) carrying out torque analysis to obtain a current instruction required by current closed-loop control by the sum of the real-time disturbance quantities of the electromagnetic torque and the load torque, and driving the ultra-high-speed permanent magnet synchronous motor to operate.
Wherein: the current command comprises a stator current command in a two-phase rotating coordinate system
Figure BDA0003753358370000075
And
Figure BDA0003753358370000076
in the embodiment, the invention also adopts a mode of estimating the rotor position according to a mathematical model of the ultra-high-speed permanent magnet synchronous motor to realize the rotation speed control, and the difference is that the rotor position estimation method based on the extended back electromotive force combines an active disturbance rejection control theory, the algorithm takes a rotor position signal with larger noise obtained by an extended back electromotive force observation algorithm as a main variable of an extended state observer of an Active Disturbance Rejection Controller (ADRC), the extended state observer is used for replacing a phase-locked loop position observer and a low-pass filter, electromagnetic torque is taken as the overall disturbance of the system, and accurate rotor position signal, estimated rotation speed and estimated load torque are obtained through calculation. The design of the linear feedback controller compensates the estimated load disturbance in a feedforward mode, and the problem of insufficient dynamic response capability of the rotating speed when the load torque of the ultra-high-speed permanent magnet synchronous motor is disturbed or the speed is regulated in a large range is solved. The target rotating speed is subjected to transition processing by using a nonlinear tracking differentiator in an Active Disturbance Rejection Controller (ADRC), and the obtained rotating speed instruction curve enables the ultra-high-speed permanent magnet synchronous motor to reduce the rotating speed response time while ensuring the stability of a control system in a full rotating speed range.
The invention realizes the improvement of the rotor position precision and the transient response capability of the rotating speed observation by the position-sensorless control method based on the active disturbance rejection control theory design.
In this embodiment, as shown in fig. 1 to 3, the method specifically includes the following steps:
a: sampling phase current i output by inverter by current sensor a And i b Clark conversion is carried out through a Clark conversion module, and the Clark conversion is converted into stator current i under a two-phase static coordinate system α And i β ；
B: stator current i under a two-phase static coordinate system α And i β And stator voltage command under two-phase static coordinate system
Figure BDA0003753358370000077
And
Figure BDA0003753358370000078
simultaneously sending the data to a state observer based on an extended back electromotive force observation algorithm, and calculating to obtain an extended back electromotive force estimated value under a two-phase static coordinate system
Figure BDA0003753358370000079
And
Figure BDA00037533583700000710
c: expanding the back electromotive force estimation value under the two-phase static coordinate system
Figure BDA00037533583700000711
And
Figure BDA00037533583700000712
sending the position data to a position calculation module atan, and obtaining a preliminary estimated rotor position angle by using an arc tangent operation
Figure BDA0003753358370000081
The formula is as follows:
Figure BDA0003753358370000082
d: angle of rotor position
Figure BDA0003753358370000083
Inputting the measured value into an extended state observer, and obtaining an accurate rotor position observed value of the motor by using the extended state observer
Figure BDA0003753358370000084
Observed value of motor speed
Figure BDA0003753358370000085
Motor speed differential observed value
Figure BDA0003753358370000086
Observed value of load disturbance
Figure BDA0003753358370000087
As shown in fig. 2, the specific implementation is as follows:
d1: based on a motion equation of the motor, a linear extended state observer is designed by taking the load torque of the motor as disturbance, and the formula is as follows:
Figure BDA0003753358370000088
wherein: beta is a 1 、β 2 And beta 3 Is a linear feedback gain, T e Is an electromagnetic torque, n p Is the pole pair number of the motor, J is the rotational inertia of the motor,
Figure BDA0003753358370000089
is the rotor position observation error;
d2: to ensure linear extended observer convergence, β 1 、β 2 And beta 3 The characteristic polynomial f (λ) ═ λ of the state gain matrix needed to satisfy the observed error 3 +β 1 λ 2 +β 2 λ+β 3 Has a negative real part, the linear feedback gain is then configured in the following way:
Figure BDA00037533583700000810
wherein ω is 0 Is the bandwidth of the system; λ represents a characteristic value of the characteristic polynomial;
e: using rotor position observations
Figure BDA00037533583700000811
For stator current i under the two-phase static coordinate system α And i β Performing Park conversion to obtain stator current under a two-phase rotating coordinate system;
f: receiving a target rotational speed omega cmd The nonlinear tracking differentiator carries out transition processing on the reference rotating speed v to obtain the reference rotating speed v 1 Derivative v of the reference rotational speed 2 The formula is as follows:
Figure BDA00037533583700000812
wherein: reference rotational speed v 1 Is a target rotational speed ω cmd V is a tracking signal of 2 Is a reference rotational speed v 1 Derivative of r 0 Is a tracking velocity factor, h 0 Is the filter factor, fhan (v) 1 -ω cmd ,v 2 ,r 0 ,h 0 ) Is the fastest synthesis function of the active disturbance rejection control system for enabling v 1 Non-oscillating tracking of upper omega with appropriate, short response time cmd The specific expression is as follows:
Figure BDA0003753358370000091
wherein sgn is a sign function, and the other undefined variables are intermediate variables which are parameters regulated according to the system and have no definite meaning;
g: observing the rotating speed of the motor
Figure BDA0003753358370000092
Motor speed differential observed value
Figure BDA0003753358370000093
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Simultaneously sending to the linear feedback controller to calculate reference electromagnetic torque command initial value T e0 The formula is as follows:
Figure BDA0003753358370000094
wherein: c. C 1 And c 2 Is a linear positive feedback gain, epsilon 1 And ε 2 The rotating speed difference value and the rotating speed differential difference value are obtained;
h: reference electromagnetic torque instruction initial value T e0 And load disturbance observationValue of
Figure BDA0003753358370000095
Simultaneously sending the signals to a feedforward compensation module to obtain a motor electromagnetic torque instruction T through feedforward compensation e The formula is as follows:
Figure BDA0003753358370000096
i: electromagnetic torque instruction T of motor e The current is input into a torque value calculation module for torque analysis to obtain a stator current instruction under a two-phase rotating coordinate system required by current loop control
Figure BDA0003753358370000097
And
Figure BDA0003753358370000098
j: stator current i under a two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA0003753358370000099
And
Figure BDA00037533583700000910
sending the voltage signals to a current control module together, and calculating to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure BDA00037533583700000911
And
Figure BDA00037533583700000912
the current control module comprises a subtracter and a proportional integral PI regulator;
a subtracter for calculating stator current i under two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure BDA00037533583700000913
And
Figure BDA00037533583700000914
a difference of (d);
a proportional integral PI regulator for calculating the difference value to obtain stator voltage command in two-phase rotating coordinate system
Figure BDA0003753358370000101
And
Figure BDA0003753358370000102
k: stator voltage command under two-phase rotating coordinate system
Figure BDA0003753358370000103
And
Figure BDA0003753358370000104
and rotor position observation value
Figure BDA0003753358370000105
Jointly sent to a Park inverse transformation module, and observed values of rotor positions are utilized
Figure BDA0003753358370000106
For stator voltage instruction under the two-phase rotating coordinate system
Figure BDA0003753358370000107
And
Figure BDA0003753358370000108
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure BDA0003753358370000109
And
Figure BDA00037533583700001010
l: the stator voltage finger under the two-phase static coordinate systemOrder to
Figure BDA00037533583700001011
And
Figure BDA00037533583700001012
and the three-phase output voltage obtained by the inverter drives the running of the ultra-high-speed permanent magnet synchronous motor.
The invention also provides a system for realizing the rotation speed control method of the position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection, which comprises the following steps:
a current sensor for sampling phase current i output from the inverter a And i b ；
Clark conversion module for phase current i a And i b Clark conversion is carried out to obtain stator current i under a two-phase static coordinate system α And i β ；
A state observer for measuring stator current i in two-phase stationary coordinate system α And i β Stator voltage command under two-phase static coordinate system
Figure BDA00037533583700001013
And
Figure BDA00037533583700001014
based on the calculation of the extended back electromotive force observation algorithm, the extended back electromotive force estimation value under the two-phase static coordinate system is obtained
Figure BDA00037533583700001015
And
Figure BDA00037533583700001016
a position calculation module for expanding the estimation value of back electromotive force under the two-phase static coordinate system
Figure BDA00037533583700001017
And
Figure BDA00037533583700001018
performing arc tangent operation to obtain rotor position angle
Figure BDA00037533583700001019
Extended state observer for determining rotor position angle
Figure BDA00037533583700001020
Calculating to obtain the observed value of the rotor position
Figure BDA00037533583700001021
Observed value of motor speed
Figure BDA00037533583700001022
Motor speed differential observed value
Figure BDA00037533583700001023
Observed value of load disturbance
Figure BDA00037533583700001024
Park transformation module using rotor position observations
Figure BDA00037533583700001025
Stator current i under two-phase static coordinate system α And i β Carrying out Park conversion to obtain stator current i under a two-phase rotating coordinate system d And i q ；
A non-linear tracking differentiator for measuring the target rotation speed omega cmd Carrying out transition processing to obtain a reference rotating speed v 1 Derivative v of the reference rotational speed 2 ；
A linear feedback controller for observing the motor rotation speed
Figure BDA00037533583700001026
Motor speed differential observed value
Figure BDA00037533583700001027
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Calculating to obtain a reference electromagnetic torque command initial value T e0 ；
A feedforward compensation module for reference electromagnetic torque instruction initial value T e0 And load disturbance observed value
Figure BDA00037533583700001028
Carrying out feedforward compensation calculation to obtain a motor electromagnetic torque instruction T e ；
A torque value calculation module for calculating a torque value according to the motor electromagnetic torque command T e And calculating to obtain a stator current instruction under a two-phase rotating coordinate system required by current loop control
Figure BDA0003753358370000111
And
Figure BDA0003753358370000112
a current control module for controlling the stator current i according to the two-phase rotating coordinate system d And i q And stator current command under two-phase rotating coordinate system
Figure BDA0003753358370000113
And
Figure BDA0003753358370000114
calculating to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure BDA0003753358370000115
And
Figure BDA0003753358370000116
a Park inverse transform module for utilizing the rotor position observations
Figure BDA0003753358370000117
For stator voltage instruction under the two-phase rotating coordinate system
Figure BDA0003753358370000118
And
Figure BDA0003753358370000119
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure BDA00037533583700001110
And
Figure BDA00037533583700001111
a space vector pulse width modulation module for generating stator voltage command according to two-phase static coordinate system
Figure BDA00037533583700001112
And
Figure BDA00037533583700001113
and calculating to obtain six paths of PWM signals, controlling the inverter by the PWM signals, and driving the running of the ultra-high-speed permanent magnet synchronous motor by the three-phase output voltage obtained by the inverter.
And the extended state observer, the linear feedback controller and the nonlinear tracking differentiator jointly form an active disturbance rejection controller ADRC.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. The rotation speed control method of the position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection is characterized by comprising the following steps of:
obtaining phase current i output by an inverter a And i b Clark conversion is carried out, and the Clark conversion is converted into stator current i under a two-phase static coordinate system α And i β ；
According to the stator current i under the two-phase static coordinate system α And i β And stator voltage command under two-phase static coordinate system
Figure FDA0003753358360000011
And
Figure FDA0003753358360000012
calculating to obtain an estimated value of the expanded back electromotive force under a two-phase static coordinate system
Figure FDA0003753358360000013
And
Figure FDA0003753358360000014
expanding the back electromotive force estimation value under the two-phase static coordinate system
Figure FDA0003753358360000015
And
Figure FDA0003753358360000016
performing arc tangent operation to obtain the rotor position angle
Figure FDA0003753358360000017
For the rotor position angle
Figure FDA0003753358360000018
Observing the expansion state to obtain the observed value of the rotor position
Figure FDA0003753358360000019
Observed value of motor speed
Figure FDA00037533583600000110
Motor speed differential observed value
Figure FDA00037533583600000111
Observed value of load disturbance
Figure FDA00037533583600000112
Using rotor position observations
Figure FDA00037533583600000113
For stator current i under the two-phase static coordinate system α And i β Performing Park conversion to obtain stator current under a two-phase rotating coordinate system;
obtaining a target rotational speed omega cmd Carrying out transition processing on the reference rotating speed v to obtain the reference rotating speed v 1 Derivative v of the reference rotational speed 2 ；
Observing the motor rotating speed
Figure FDA00037533583600000114
Motor speed differential observed value
Figure FDA00037533583600000115
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Linear feedback calculation is carried out to obtain a reference electromagnetic torque instruction initial value T e0 ；
For reference electromagnetic torque instruction initial value T e0 And load disturbance observation value
Figure FDA00037533583600000116
Performing feedforward compensation calculation to obtain an electromagnetic torque instruction T of the motor e ；
Electromagnetic torque command T for motor e And carrying out torque analysis to obtain a current instruction, and controlling the running of the ultra-high-speed permanent magnet synchronous motor according to the current instruction.
2. The rotational speed control method of an auto-disturbance-rejection based position-sensorless ultra-high-speed permanent magnet synchronous motor according to claim 1, wherein an electromagnetic torque command T is given to the motor e The torque analysis is carried out to analyze the torque,obtaining a current instruction, and controlling the operation of the ultra-high-speed permanent magnet synchronous motor according to the current instruction, wherein the method specifically comprises the following steps:
the current instruction comprises a stator current instruction under a two-phase rotating coordinate system
Figure FDA00037533583600000117
And
Figure FDA00037533583600000118
for stator current i under the two-phase rotating coordinate system d And i q And stator current command under two-phase rotating coordinate system
Figure FDA00037533583600000119
And
Figure FDA00037533583600000120
PI regulation is carried out, and a stator voltage instruction under a two-phase rotating coordinate system is obtained through calculation
Figure FDA00037533583600000121
And
Figure FDA00037533583600000122
using rotor position observations
Figure FDA00037533583600000123
For stator voltage instruction under the two-phase rotating coordinate system
Figure FDA00037533583600000124
And
Figure FDA00037533583600000125
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure FDA00037533583600000126
And
Figure FDA00037533583600000127
stator voltage command under two-phase static coordinate system
Figure FDA0003753358360000021
And
Figure FDA0003753358360000022
and the three-phase output voltage obtained by the inverter drives the running of the ultra-high-speed permanent magnet synchronous motor.
3. The rotational speed control method of an ADRC-based position sensorless ultra high speed PMSM according to claim 1, wherein the back EMF estimation value is extended under the two-phase stationary coordinate system
Figure FDA0003753358360000023
And
Figure FDA0003753358360000024
performing arc tangent operation to obtain the rotor position angle
Figure FDA0003753358360000025
The method is characterized in that:
calculating to obtain a preliminary estimated rotor position angle
Figure FDA0003753358360000026
The formula of (1) is as follows:
Figure FDA0003753358360000027
4. the rotational speed control method of an ADRC-based position sensorless ultra high speed PMSM according to claim 1, wherein the rotor position angle is adjusted
Figure FDA0003753358360000028
Observing the expansion state to obtain the observed value of the rotor position
Figure FDA0003753358360000029
Observed value of motor speed
Figure FDA00037533583600000210
Motor speed differential observed value
Figure FDA00037533583600000211
Observed value of load disturbance
Figure FDA00037533583600000212
The method specifically comprises the following steps:
based on a motion equation of the motor, a linear extended state observer is designed by taking the load torque of the motor as disturbance, and the formula is as follows:
Figure FDA00037533583600000213
wherein: beta is a 1 、β 2 And beta 3 Is a linear feedback gain, T e Is an electromagnetic torque, n p Is the pole pair number of the motor, J is the rotational inertia of the motor,
Figure FDA00037533583600000214
is the rotor position observation error.
5. The rotational speed control method of the auto-disturbance-rejection-based position-sensorless ultra-high-speed permanent magnet synchronous motor according to claim 4, characterized in that:
to ensure the lineConvergent, beta, of sexually extended observer 1 、β 2 And beta 3 The characteristic polynomial f (λ) ═ λ of the state gain matrix needed to satisfy the observed error 3 +β 1 λ 2 +β 2 λ+β 3 Has a negative real part, the linear feedback gain is then configured in the following way:
Figure FDA0003753358360000031
wherein omega 0 Is the bandwidth of the system and λ represents the eigenvalue of the eigen-polynomial.
6. The rotation speed control method of the auto-disturbance-rejection based position-sensorless ultra-high-speed permanent magnet synchronous motor according to claim 1, wherein a target rotation speed ω is obtained cmd And carrying out transition treatment on the reference rotating speed v to obtain the reference rotating speed v 1 Derivative v of the reference rotational speed 2 The method specifically comprises the following steps:
receiving a target rotational speed omega cmd The nonlinear tracking differentiator carries out transition processing on the reference rotating speed v to obtain a reference rotating speed v 1 Derivative v of the reference rotational speed 2 The formula is as follows:
Figure FDA0003753358360000032
wherein: reference rotational speed v 1 Is the target rotational speed omega cmd V is a tracking signal of 2 Is a reference rotational speed v 1 Derivative of r 0 Is a tracking velocity factor, h 0 Is the filter factor, fhan (v) 1 -ω cmd ,v 2 ,r 0 ,h 0 ) Is the fastest synthesis function of the active disturbance rejection control system to make v 1 Non-oscillating tracking of upper omega with appropriate, short response time cmd The specific expression is as follows:
Figure FDA0003753358360000033
wherein sgn is a sign function, and the other undefined variables are intermediate variables which are parameters regulated according to the system, and have no definite meaning.
7. The rotational speed control method of an auto-disturbance-rejection based position sensorless ultra-high speed permanent magnet synchronous motor according to claim 1, wherein the observed value of the rotational speed of the motor is measured
Figure FDA0003753358360000034
Motor speed differential observed value
Figure FDA0003753358360000035
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Linear feedback calculation is carried out to obtain a reference electromagnetic torque instruction initial value T e0 The method specifically comprises the following steps:
calculating to obtain a reference electromagnetic torque instruction initial value T e0 The formula is as follows:
Figure FDA0003753358360000041
wherein: c. C 1 And c 2 Is a linear positive feedback gain, epsilon 1 And ε 2 The rotational speed difference and the rotational speed differential difference.
8. The rotational speed control method of an ADRC-based position sensorless ultra high speed PMSM according to claim 2, wherein the stator current i is in a two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure FDA0003753358360000042
And
Figure FDA0003753358360000043
PI regulation is carried out, and a stator voltage instruction under a two-phase rotating coordinate system is obtained through calculation
Figure FDA0003753358360000044
And
Figure FDA0003753358360000045
the method specifically comprises the following steps:
calculating stator current i under two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure FDA0003753358360000046
And
Figure FDA0003753358360000047
a difference of (d);
carrying out proportional and integral calculation on the difference value to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure FDA0003753358360000048
And
Figure FDA0003753358360000049
9. a system for implementing the rotational speed control method of the auto-disturbance-rejection-based position-sensorless ultra-high-speed permanent magnet synchronous motor according to any one of claims 1 to 8, comprising:
a current sensor for sampling phase current i output from the inverter a And i b ；
Clark conversion module for phase current i a And i b Performing Clark conversion to obtain stator current i under a two-phase static coordinate system α And i β ；
A state observer for comparing stator current i in two-phase stationary coordinate system α And i β Stator voltage command under two-phase static coordinate system
Figure FDA00037533583600000410
And
Figure FDA00037533583600000411
based on the calculation of the extended back electromotive force observation algorithm, the extended back electromotive force estimation value under the two-phase static coordinate system is obtained
Figure FDA00037533583600000412
And
Figure FDA00037533583600000413
a position calculation module for expanding the estimation value of back electromotive force under the two-phase static coordinate system
Figure FDA00037533583600000414
And
Figure FDA00037533583600000415
performing arc tangent operation to obtain rotor position angle
Figure FDA00037533583600000416
Extended state observer for determining rotor position angle
Figure FDA00037533583600000417
Calculating to obtain the observed value of the rotor position
Figure FDA00037533583600000418
Observed value of motor speed
Figure FDA00037533583600000419
Motor speed differential observed value
Figure FDA00037533583600000420
Load disturbance observationValue of
Figure FDA00037533583600000421
Park transformation module using rotor position observations
Figure FDA00037533583600000422
Stator current i under two-phase static coordinate system α And i β Carrying out Park conversion to obtain stator current i under a two-phase rotating coordinate system d And i q ；
A non-linear tracking differentiator for measuring the target rotation speed omega cmd Carrying out transition processing to obtain a reference rotating speed v 1 Reference speed derivative v 2 ；
A linear feedback controller for observing the motor rotation speed
Figure FDA0003753358360000051
Motor speed differential observed value
Figure FDA0003753358360000052
Reference rotational speed v 1 Derivative v of the reference rotational speed 2 Calculating to obtain a reference electromagnetic torque command initial value T e0 ；
A feedforward compensation module for reference electromagnetic torque instruction initial value T e0 And load disturbance observed value
Figure FDA0003753358360000053
Carrying out feedforward compensation calculation to obtain a motor electromagnetic torque instruction T e ；
A torque value calculation module for calculating a torque value according to the motor electromagnetic torque command T e And calculating to obtain a stator current instruction under a two-phase rotating coordinate system required by current loop control
Figure FDA0003753358360000054
And
Figure FDA0003753358360000055
a current control module for controlling the stator current i according to the two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure FDA0003753358360000056
And
Figure FDA0003753358360000057
calculating to obtain a stator voltage instruction under a two-phase rotating coordinate system
Figure FDA0003753358360000058
And
Figure FDA0003753358360000059
park inverse transformation module using rotor position observation
Figure FDA00037533583600000510
Stator voltage command under two-phase rotating coordinate system
Figure FDA00037533583600000511
And
Figure FDA00037533583600000512
carrying out Park inverse transformation to obtain a stator voltage instruction under a two-phase static coordinate system
Figure FDA00037533583600000513
And
Figure FDA00037533583600000514
a space vector pulse width modulation module for generating stator voltage command according to two-phase static coordinate system
Figure FDA00037533583600000515
And
Figure FDA00037533583600000516
and calculating to obtain six paths of PWM signals, controlling the inverter by the PWM signals, and driving the running of the ultra-high-speed permanent magnet synchronous motor by the three-phase output voltage obtained by the inverter.
10. The rotational speed control system of an auto-disturbance-rejection based position-sensor-free ultra high-speed permanent magnet synchronous motor according to claim 9, wherein:
the current control module comprises a subtracter and a proportional integral PI regulator;
a subtracter for calculating stator current i under two-phase rotating coordinate system d And i q And stator current command in two-phase rotating coordinate system
Figure FDA00037533583600000517
And
Figure FDA00037533583600000518
a difference of (d);
a proportional integral PI regulator for calculating the difference value to obtain stator voltage command in two-phase rotating coordinate system
Figure FDA00037533583600000519
And
Figure FDA00037533583600000520
CN202210847306.5A 2022-07-19 2022-07-19 Rotation speed control method and system of position-sensor-free ultra-high-speed permanent magnet synchronous motor based on active disturbance rejection Pending CN115001334A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116599413A (en) * 2023-07-17 2023-08-15 南京信息工程大学 Position-sensor-free control method and device for permanent magnet synchronous motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116599413A (en) * 2023-07-17 2023-08-15 南京信息工程大学 Position-sensor-free control method and device for permanent magnet synchronous motor
CN116599413B (en) * 2023-07-17 2023-09-22 南京信息工程大学 Position-sensor-free control method and device for permanent magnet synchronous motor

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