CN116094390A - Two-degree-of-freedom speed regulation method of asynchronous motor based on novel active disturbance rejection algorithm - Google Patents
Two-degree-of-freedom speed regulation method of asynchronous motor based on novel active disturbance rejection algorithm Download PDFInfo
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Abstract
The invention relates to the technical field of motor control, in particular to a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm, which comprises a controller design module for decoupling control of rotor rotation speed rapidity and disturbance rejection; the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit; the system comprises a rotor rotating speed estimation module for realizing a rotating speed tracking reference model and a rotor flux linkage identification module. The scheme can solve the problem that the traditional rotating speed ring controller cannot give consideration to the output rapidity and the noise immunity of the system, and uses the model reference self-adaptive technology to carry out rotor rotating speed estimation, so that a speed sensor is not needed, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm.
Background
Asynchronous motors have become the most widely used motors in various industries and people's daily lives because of the advantages of simple structure, reliable operation, convenient maintenance and the like. With the development of the power electronic technology and the innovation of the motor control theory, the application occasions of the asynchronous motor are also developed from the original non-speed-adjustable dragging system to the dragging system with adjustable speed. The asynchronous motor speed regulation control technology is controlled by an early constant voltage frequency ratio, and the trend of mainly vector control and secondarily direct torque control is formed.
The principle of vector control is analogous to the characteristic of independent control of torque current and exciting current in a direct current motor, three-phase stator current is decomposed into two mutually orthogonal components through coordinate change, one component is coincident with a rotor flux linkage vector and is called an exciting current component, and the other component is perpendicular to the rotor flux linkage vector and is called a torque current component and then controlled respectively. The asynchronous motor speed regulating system based on vector control mostly adopts a double closed loop structure, an inner loop is a current loop, an outer loop is a speed loop, and a PI controller is mostly adopted. However, the vector control speed regulation performance based on the PI controller is susceptible to motor parameter mismatch, and the output has large overshoot when the load is disturbed. The PI controller essentially belongs to a freedom degree controller, and when the motor parameter changes or the load is disturbed, the parameter adjustment can only be processed in a compromise between the output rapidity and the disturbance resistance, and the essence of the controller is not changed.
In order to solve the problem of coupling output rotating speed rapidity and immunity, a composite control idea is generally adopted at present, and the conventional two-degree-of-freedom controller introduces an observer to improve the immunity of the system, but the problem of coupling the immunity and the rapidity of the system still exists partially.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm, which is used for solving the technical problem that the disturbance rejection and the rapidity of a traditional system are partially coupled.
The above purpose is realized by the following technical scheme:
an asynchronous motor two-degree-of-freedom speed regulation method based on a novel active disturbance rejection algorithm comprises the following steps:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a novel active disturbance rejection controller and is used for decoupling control of rotor rotating speed rapidity and disturbance rejection; the current loop adopts a traditional active disturbance rejection controller;
the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaption method to take a voltage model as a reference model, takes a current model as an adjustable model, and forms a self-adaption law by utilizing errors of output quantities of the reference model and the adjustable model so as to realize a rotating speed tracking reference model;
and the rotor flux linkage identification module adopts a current model, utilizes the component of the rotor flux linkage on the dq axis, and obtains the phase information of the rotor flux linkage through arctangent.
Further, the rotation speed ring adopts a novel active disturbance rejection controller for decoupling control of rotor rotation speed rapidity and disturbance rejection, and the method comprises the following steps:
step (1) obtaining a first-order differential equation of the rotor rotating speed according to a motor model;
step (2) designing a control input according to the first-order differential equation of the rotor rotating speed in the step (1);
step (3) improving the rotating speed ring observer into a linear expansion state observer structure; and the complete decoupling of the disturbance rejection and the rapidity of the output rotating speed is realized.
Further, the step (1) specifically comprises the following steps:
and obtaining a first-order differential equation of the rotating speed of the rotor according to the motor model, wherein the first-order differential equation is as follows:
wherein ,
for the system control gain true value, the control gain is a time-varying value in the actual system due to the inertia constant and the variation of the rotor flux linkage, b 0 An estimated value for b; />
u＝i sq For system input, f=d (t) + (b-b) 0 ) u is the total disturbance of the system.
Further, the step (2) specifically comprises:
definition error e s ＝w *-w, wherein w* For the rotor rotation speed set value, w is a feedback value, and then the differentiation of the error is as follows:
the error proportion feedback control law is adopted, and then:
wherein kps And (3) obtaining a system control input for the proportional control rate, namely differential of the simultaneous error and the error proportional feedback control rate:
further, the step (2) includes clipping the control input according to the following formula:
wherein ,
the ideal value is input for the designed control system,/>
at the maximum value of the reference current that the system can withstand,
is the actual system input after clipping processing.
Further, the step (3) specifically comprises: the improved linear extended state observer is used for observing the external disturbance and the internal unmodeled part of the system, a first-order differential equation of the rotating speed of the rotor of the control object is simplified into a simple integral series connection type, and the structure of the improved linear extended state observer is as follows:
wherein ,z1 For estimating the actual output y of the system, z 2 Estimating the total disturbance of the system; definition error e 1 Beta is the difference between the actual output and the estimated value of the system 1 and β2 For the control gain of the observer, the characteristic polynomial of the observer is:
s 2 +β 1 s+β 2 ＝(s+w 0 ) 2
the poles of the characteristic equation of the observer can be placed at the same position-w through parameterization 0 At this point beta 1 ＝2w 0 ，
Weighing w 0 Bandwidth for observer;
the closed loop transfer function generated by the system reference input at this time is as follows:
the closed loop transfer function of the system caused by load disturbance is as follows:
further, the method also comprises the steps of: inputting a stator current reference value obtained by a rotating speed ring into the current ring, and designing a traditional active disturbance rejection controller according to a first-order differential equation of stator current in an asynchronous motor model, wherein the formula is as follows:
wherein ψr I is the rotor flux linkage sq Q-axis component, w of stator current in rotation coordinate system r R is the rotation speed of the rotor s ，R r Respectively is stator and rotor resistance, L m Is mutual inductance, L r For rotor self-inductance, L s Is stator self-inductance, T r Is rotor constant, sigma is leakage inductance coefficient, w 1 Is synchronous rotation speed;
the method also comprises the step of designing a control input of the voltage ring, wherein the control input is represented by the following formula:
wherein 
I is the input quantity of the voltage loop * The reference value of the stator current output by the current loop is i which is the feedback quantity of the stator current, k ps For proportional control gain, f is the other part of the differential and input quantity in the first-order differential equation of the current;
estimating f by using a traditional linear expansion state observer, wherein the observer structure is as follows:
further, the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit, specifically: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
Further, the rotor rotation speed estimation module adopts a model reference self-adaptive method to take a voltage model as a reference model, and the formula is as follows:
further, the rotor flux identification module adopts a current model, utilizes the component of the rotor flux on the dq axis, and obtains the phase information of the rotor flux through arctangent, specifically:
the rotor flux linkage identification adopts a current model, and according to a rotor voltage equation:
the components of the rotor flux linkage on the d axis and the q axis can be solved by taking the rotor rotation speed estimated under the model reference self-adaptive method as input, the real-time phase of the rotor flux linkage can be obtained by negating and tangent the components, and the real-time phase is input to a park transformation module to realize transformation from a static coordinate system to a rotary coordinate system.
Advantageous effects
The two-degree-of-freedom speed regulation method for the asynchronous motor based on the novel active disturbance rejection algorithm provided by the invention has the following advantages:
1. considering the problems that the asynchronous motor has unmatched load torque and motor parameters in the actual running process, the asynchronous motor is unified into the total disturbance of the system, a linear expansion state observer is adopted to observe and compensate, a control object is simplified into a simple integral series connection type, and decoupling control of a torque component and a flux linkage component is realized.
2. The problem that the traditional rotating speed ring controller cannot give consideration to the output rapidity and the disturbance rejection of the system is solved, when the system load torque suddenly changes, the overshoot of the rotating speed of the output rotor can be independently regulated by changing the bandwidth of the observer, the disturbance rejection is changed, the response time of the rotating speed of the output rotor can be independently regulated by changing the proportional gain of the controller, the rapidity is changed, and therefore the two-degree-of-freedom control of the disturbance rejection and the rapidity mutually independent of the output rotating speed is realized.
3. Aiming at the problems of low recognition efficiency, the system cost and complexity are increased by using a speed sensor, the reliability of the system is reduced, and the rotor rotating speed is estimated by using a model reference self-adaptive technology, so that the speed sensor is not needed, and the cost is reduced.
Drawings
FIG. 1 is a schematic diagram of a system structure of a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm;
FIG. 2 is a block diagram of a novel two-degree-of-freedom ADRC rotational speed loop controller in a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm;
FIG. 3 shows the difference k of the conventional active disturbance rejection controller in the idle condition ps A lower speed response curve;
FIG. 4 shows different w of a conventional active disturbance rejection controller in an idle condition 0 A lower speed response curve;
FIG. 5 shows different k of a conventional active disturbance rejection controller under 0.3s sudden load condition in a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to the present invention ps A lower speed response curve;
FIG. 6 shows different w of a conventional active disturbance rejection controller under 0.3s sudden load condition in a two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to the present invention 0 A lower speed response curve;
FIG. 7 shows a novel active disturbance rejection algorithm according to the present inventionNovel active disturbance rejection controller different k under air load condition in two-degree-of-freedom speed regulation method of asynchronous motor ps A lower speed response curve;
FIG. 8 shows different w of the novel active disturbance rejection controller under the condition of no air in the two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm 0 A lower speed response curve;
FIG. 9 shows the different k of the novel active disturbance rejection controller under the condition of 0.3s sudden load in the two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm ps A lower speed response curve;
FIG. 10 shows different w of the novel active disturbance rejection controller under the condition of 0.3s sudden load in the two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm 0 Lower speed response curve.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. The described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm mainly comprises a controller design module, a pulse width modulation module, a rotor rotation speed estimation module and a rotor flux linkage identification module, wherein:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a novel active disturbance rejection controller and is used for decoupling control of rotor rotating speed rapidity and disturbance rejection; the current loop adopts a traditional active disturbance rejection controller;
the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaptive method to take a voltage model as a reference model, takes a current model as an adjustable model, and utilizes errors of output quantities of the reference model and the adjustable model to form a self-adaptive law so as to realize a rotating speed tracking reference model;
the rotor flux linkage identification module adopts a current model, utilizes the component of the rotor flux linkage on the dq axis, and obtains the phase information of the rotor flux linkage through arctangent.
Wherein, asynchronous motor parameters are as shown in table 1:
table 1 asynchronous machine parameters
In this embodiment, the rotation speed ring adopts a novel active disturbance rejection controller, which is used for decoupling control of rotor rotation speed rapidity and disturbance rejection, and includes the following steps:
step (1) obtaining a first-order differential equation of the rotor rotating speed according to a motor model;
step (2) designing a control input according to the first-order differential equation of the rotor rotating speed in the step (1);
step (3) improving the rotating speed ring observer into a linear expansion state observer structure; and the complete decoupling of the disturbance rejection and the rapidity of the output rotating speed is realized.
Wherein, the step (1) specifically comprises the following steps: and obtaining a first-order differential equation of the rotating speed of the rotor according to the motor model, wherein the first-order differential equation is as follows:
wherein ,
for the system control gain true value, the control gain is a time-varying value in the actual system due to the inertia constant and the variation of the rotor flux linkage, b 0 An estimated value for b; />
u＝i sq For system input, f=d (t) + (b-b) 0 ) u is the total disturbance of the system.
The step (2) designs a control input according to the first-order differential equation of the rotor rotating speed in the step (1), specifically:
definition error e s ＝w *-w, wherein w* For the rotor rotation speed set value, w is a feedback value, and then the differentiation of the error is as follows:
the error proportion feedback control law is adopted, and then:
wherein kps And (3) obtaining a system control input for the proportional control rate, namely differential of the simultaneous error and the error proportional feedback control rate:
in a practical system, infinite control input cannot be provided, so the step (2) further includes clipping the control input, where the formula is as follows:
wherein ,
inputting ideal values for the control system designed, +.>
At the maximum value of the reference current that the system can withstand,
is the actual system input after clipping processing.
The rotating speed ring observer is improved to be in a linear expansion state observer structure; the complete decoupling for realizing the disturbance rejection and the rapidity of the output rotating speed is specifically as follows: the improved linear extended state observer is used for observing the external disturbance and the internal unmodeled part of the system, a first-order differential equation of the rotating speed of the rotor of the control object is simplified into a simple integral series connection type, and the structure of the improved linear extended state observer is as follows:
wherein ,z1 For estimating the actual output y of the system, z 2 Estimating the total disturbance of the system; definition error e 1 Beta is the difference between the actual output and the estimated value of the system 1 and β2 For the control gain of the observer, the characteristic polynomial of the observer is:
s 2 +β 1 s+β 2 ＝(s+w 0 ) 2
the poles of the characteristic equation of the observer can be placed at the same position-w through parameterization 0 At this point beta 1 ＝2w 0 ，
Weighing w 0 Bandwidth for observer;
the closed loop transfer function generated by the system reference input at this time is as follows:
the closed loop transfer function of the system caused by load disturbance is as follows:
in this embodiment, the immunity of the asynchronous motor speed regulating system of the novel two-degree-of-freedom ADRC (active disturbance rejection control) controller is only equal to the bandwidth w of the observer 0 The rapidity of the system is related to k only ps In relation, complete decoupling of system immunity and rapidity is achieved.
Also included is a current loop design: inputting a stator current reference value obtained by a rotating speed ring into the current ring, and designing a traditional active disturbance rejection controller according to a first-order differential equation of stator current in an asynchronous motor model, wherein the formula is as follows:
wherein ψr I is the rotor flux linkage sq Q-axis component, w of stator current in rotation coordinate system r R is the rotation speed of the rotor s ，R r Respectively is stator and rotor resistance, L m Is mutual inductance, L r For rotor self-inductance, L s Is stator self-inductance, T r Is rotor constant, sigma is leakage inductance coefficient, w 1 Is synchronous rotation speed;
the method also comprises the step of designing a control input of the voltage ring, wherein the control input is represented by the following formula:
wherein 
I is the input quantity of the voltage loop * The reference value of the stator current output by the current loop is i which is the feedback quantity of the stator current, k ps For proportional control gain, f is the other part of the differential and input quantity in the first-order differential equation of the current;
estimating f by using a traditional linear expansion state observer, wherein the observer structure is as follows:
specifically, the controller design includes a d-axis and a q-axis, wherein:
the d-axis is divided into a rotor magnetic chain ring and a current ring
According to a first-order differential equation of the rotor rotating speed in a dynamic mathematical model of the asynchronous motor, the rotor flux linkage and the stator current are stable first-order inertia links in d-axis components, so that the flux linkage ring adopts open-loop control. Rotor flux linkage given value psi r 0.9Wb, the estimated value b of b can be obtained according to the motor parameters 0 ＝19.44。
The given value of the stator current in the d-axis component can be calculated by the given value of the rotor flux linkage, the given value of the stator current in the d-axis is used as the input of a current loop, and finally the given value of the stator voltage in the d-axis is obtained.
The q-axis is divided into a rotating speed ring and a current ring
The structure of the novel active disturbance rejection controller is shown in fig. 2, the complete decoupling of the rotor rotating speed rapidity and disturbance rejection is realized by changing the structure of a traditional linear expansion state observer, the reference value of the stator current output by the rotating speed ring on the q axis is used as the input of a current ring, and finally the given value of the stator voltage on the q axis is obtained.
In this embodiment, the pulse width modulation module controls on-off of six switching devices in the three-phase full-bridge circuit to implement inversion, which specifically includes: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
In this embodiment, the rotor rotation speed estimation module uses a model reference adaptive method to take a voltage model as a reference model, and the formula is as follows:
the current model is used as an adjustable model, the two models have the same output quantity rotor flux linkage, and the parameters of the adjustable model are adjusted in real time by utilizing the output errors of the two models to form a proper self-adaptive law so as to achieve the purpose of controlling the output tracking reference model of the object.
In this embodiment, the rotor flux identification module adopts a current model, and obtains phase information of the rotor flux by using a component of the rotor flux on the dq axis and through arctangent, specifically:
the rotor flux linkage identification adopts a current model, and according to a rotor voltage equation:
the components of the rotor flux linkage on the d axis and the q axis can be solved by taking the rotor rotation speed estimated under the model reference self-adaptive method as input, the real-time phase of the rotor flux linkage can be obtained by negating and tangent the components, and the real-time phase is input to a park transformation module to realize transformation from a static coordinate system to a rotary coordinate system.
In order to verify the effectiveness of the controller, a simulation model of vector control of an asynchronous motor is built in MATLAB (MATLAB is commercial mathematical software available from MathWorks company, usa, used in the fields of data analysis, wireless communication, deep learning, image processing and computer vision, signal processing, quantitative finance and risk management, robotics, control systems, etc.).
It was found experimentally that under the same data conditions:
the conventional active disturbance rejection controller as shown in fig. 3 to 6 can only achieve partial decoupling of the rapidity and the disturbance rejection performance.
The novel two-degree-of-freedom auto-disturbance rejection controller scaling factor used in the invention as shown in figures 7-10 only affects the output rapidity of the system, the bandwidth of the controller only affects the disturbance rejection, and the complete decoupling of the two is realized.
The proportionality coefficient of the novel two-degree-of-freedom active-disturbance-rejection controller only affects the output rapidity of the system, the bandwidth of the controller only affects the disturbance rejection, the complete decoupling of the two is realized, and the traditional active-disturbance-rejection controller only can realize the partial decoupling of the rapidity and the disturbance rejection.
Therefore, the invention can simplify the parameter setting process of the asynchronous motor under vector control, and realize the two-degree-of-freedom control of the output rotating speed rapidity and the noise immunity of the motor
The above description is for the purpose of illustrating the embodiments of the present invention and is not to be construed as limiting the invention, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the invention.
Claims (10)
1. The two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm is characterized by comprising the following steps of:
the controller design module comprises a rotating speed ring design and a current ring design, wherein the rotating speed ring adopts a novel active disturbance rejection controller and is used for decoupling control of rotor rotating speed rapidity and disturbance rejection; the current loop adopts a traditional active disturbance rejection controller;
the pulse width modulation module is used for realizing inversion by controlling the on-off of six switching devices in the three-phase full-bridge circuit;
the rotor rotating speed estimation module adopts a model reference self-adaption method to take a voltage model as a reference model, takes a current model as an adjustable model, and forms a self-adaption law by utilizing errors of output quantities of the reference model and the adjustable model so as to realize a rotating speed tracking reference model;
and the rotor flux linkage identification module adopts a current model, utilizes the component of the rotor flux linkage on the dq axis, and obtains the phase information of the rotor flux linkage through arctangent.
2. The two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to claim 1, wherein the rotating speed ring adopts a novel active disturbance rejection controller for decoupling control of rotor rotating speed rapidity and disturbance rejection, and the method comprises the following steps:
step (1) obtaining a first-order differential equation of the rotor rotating speed according to a motor model;
step (2) designing a control input according to the first-order differential equation of the rotor rotating speed in the step (1);
step (3) improving the rotating speed ring observer into a linear expansion state observer structure; and the complete decoupling of the disturbance rejection and the rapidity of the output rotating speed is realized.
3. The two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm of claim 2, wherein the step (1) is specifically as follows:
and obtaining a first-order differential equation of the rotating speed of the rotor according to the motor model, wherein the first-order differential equation is as follows:
wherein ,
for the system control gain true value, the control gain is a time-varying value in the actual system due to the inertia constant and the variation of the rotor flux linkage, b 0 An estimated value for b; />
u＝i sq For system input, f=d (t) + (b-b) 0 ) u is the total disturbance of the system.
4. The two-degree-of-freedom speed regulation method of the asynchronous motor based on the novel active disturbance rejection algorithm of claim 3, wherein the step (2) is specifically as follows:
definition error e s ＝w *-w, wherein w* For the set value of the rotating speed of the rotor, w is a feedback value, and the error is slight at the momentThe method is divided into:
the error proportion feedback control law is adopted, and then:
wherein kps And (3) obtaining a system control input for the proportional control rate, namely differential of the simultaneous error and the error proportional feedback control rate:
5. the two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to claim 4, wherein the step (2) further comprises performing amplitude limiting processing on the control input, and the formula is as follows:
wherein ,
inputting ideal values for the control system designed, +.>
For the maximum value of the reference current that the system can withstand, < +.>
Is the actual system input after clipping processing.
6. The two-degree-of-freedom speed regulation method of an asynchronous motor based on the novel active disturbance rejection algorithm according to any one of claims 4 or 5, wherein the step (3) is specifically: the improved linear extended state observer is used for observing the external disturbance and the internal unmodeled part of the system, a first-order differential equation of the rotating speed of the rotor of the control object is simplified into a simple integral series connection type, and the structure of the improved linear extended state observer is as follows:
wherein z1 For estimating the actual output y of the system, z 2 Estimating the total disturbance of the system; definition error e 1 Beta is the difference between the actual output and the estimated value of the system 1 and β2 For the control gain of the observer, the characteristic polynomial of the observer is:
s 2 +β 1 s+β 2 ＝(s+w 0 ) 2
the poles of the characteristic equation of the observer can be placed at the same position-w through parameterization 0 At this point beta 1 ＝2w 0 ，
Weighing w 0 Bandwidth for observer;
the closed loop transfer function generated by the system reference input at this time is as follows:
the closed loop transfer function of the system caused by load disturbance is as follows:
7. the two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm of claim 6, further comprising the steps of: inputting a stator current reference value obtained by a rotating speed ring into the current ring, and designing a traditional active disturbance rejection controller according to a first-order differential equation of stator current in an asynchronous motor model, wherein the formula is as follows:
wherein ψr I is the rotor flux linkage sq Q-axis component, w of stator current in rotation coordinate system r R is the rotation speed of the rotor s ，R r Respectively is stator and rotor resistance, L m Is mutual inductance, L r For rotor self-inductance, L s Is stator self-inductance, T r Is rotor constant, sigma is leakage inductance coefficient, w 1 Is synchronous rotation speed;
the method also comprises the step of designing a control input of the voltage ring, wherein the control input is represented by the following formula:
wherein 
I is the input quantity of the voltage loop * The reference value of the stator current output by the current loop is i which is the feedback quantity of the stator current, k ps For proportional control gain, f is the other part of the differential and input quantity in the first-order differential equation of the current;
estimating f by using a traditional linear expansion state observer, wherein the observer structure is as follows:
8. the two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to claim 1, wherein the pulse width modulation module realizes inversion by controlling the on-off of six switching devices in a three-phase full-bridge circuit, specifically: the stator voltage reference value output by the voltage loop is input to a pulse width modulation module, and the on-off of six switching devices in a three-phase full-bridge circuit is controlled to realize inversion by a space vector pulse width modulation method, and the method comprises the following steps:
judging the sector according to the components of the stator voltage on d and q axes;
calculating the action time of the main vector and the auxiliary vector of each sector;
each sector vector switching time is calculated.
9. The two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to claim 1, wherein the rotor rotation speed estimation module adopts a model reference adaptive method to take a voltage model as a reference model, and the formula is as follows:
10. the two-degree-of-freedom speed regulation method of an asynchronous motor based on a novel active disturbance rejection algorithm according to claim 1, wherein the rotor flux identification module adopts a current model, utilizes a component of a rotor flux on a dq axis, and obtains phase information of the rotor flux through arctangent, specifically comprising:
the rotor flux linkage identification adopts a current model, and according to a rotor voltage equation:
the components of the rotor flux linkage on the d axis and the q axis can be solved by taking the rotor rotation speed estimated under the model reference self-adaptive method as input, the real-time phase of the rotor flux linkage can be obtained by negating and tangent the components, and the real-time phase is input to a park transformation module to realize transformation from a static coordinate system to a rotary coordinate system.
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