CN1967414A - Method for building simplified self interference rejection controller of permanent magnet synchronous machine - Google Patents

Abstract

A simplified self noise-immunity controller formation method of PMSM (permanent magnet synchronous motor) is applicable to the high performance control of PMSM. It constructs the expanding voltage-controlled inverter (2) by the voltage control voltage source inverter (1) and space vector pulse width modulation; it constructs a composite controlled object (10) by the expanding voltage-controlled inverter and current controller (3), the coordinate transformation (4), the permanent magnet synchronous motor (7), the workload (8) and the photoelectric encoder (9); it constructs the second-order state observer (52) by compositing the input and output signals of the controlled object; It constructs the composite speed feedback (54) by the weighted sum of the two speed measurement value; it constructs the composite controller (53) by the superposition of the generalized rate error square controller (51) and the compensation value of the system perturbation (-z2/b); it series connects the composite controller before the composite controlled object, and finally, it constructs the simplified self noise-immunity controller (5) by the composite controller and the expanding second-order state observer.

Description

The building method of the simplification automatic disturbance rejection controller of permagnetic synchronous motor

Technical field

The present invention is a kind of simplification automatic disturbance rejection controller building method of permagnetic synchronous motor, is applicable to the high-performance servocontrol of permagnetic synchronous motor, belongs to the technical field of AC servo control system.

Background technology

Permagnetic synchronous motor is a complicated nonlinear systems, and parameter can change in operational process, exist comparatively serious external disturbance toward contact, so Control of PMSM is the comparison difficulty.Classical control theory is difficult to overcome the influence of factors such as disturbance, parameter perturb to system performance on a large scale, is difficult to obtain satisfied control system performance.Along with the development of control theory, a lot of advanced algorithms are applied in the Control of PMSM research, as Sliding mode variable structure control, adaptive control, fuzzy control, ANN (Artificial Neural Network) Control etc.But many methods wherein, as neural network control method, compound die fuzzy control method etc., the mathematical knowledge that relates to is more, and calculating and realization are comparatively complicated, are difficult to really be applied to the working control of AC servo control system.Many methods just rest on the Study on Numerical Simulation, and the controller of design is not considered the characteristics of practical application, also exists with a certain distance from real application.Therefore, study novel nonlinear control algorithm, the nonlinear control algorithm that can in actual AC servo, really realize particularly, and be applied in the Control Study of AC servo, promoting the control performance of AC servo, is problem that presses for solution in the present AC servo research.

The Active Disturbance Rejection Control of document＜Permanent-magnet Synchronous-motor Speed Servo System〉in introduced the simulation study of automatic disturbance rejection controller in the permagnetic synchronous motor speed ring of standard, the document permagnetic synchronous motor as the single order object, design single order and followed the tracks of differentiator, the extended state observer of second order, the nonlinear state Error Feedback controller of single order, automatic disturbance rejection controller has been carried out simulation study, the result of emulation shows, in the governing system of permagnetic synchronous motor, automatic disturbance rejection controller has better dynamic and steady-state behaviour than traditional PI controller, on the anti-interference of system and robustness, raising has been arranged also, but the document has just been done simulation study, and three modules of automatic disturbance rejection controller have all adopted complicated nonlinear function, not the automatic disturbance rejection controller specific implementation.

The simple and easy realization of document＜automatic disturbance rejection controller〉then provided the simple and easy realization of standard automatic disturbance rejection controller theoretically, the document is at first order modeling, saved the tracking differentiator, the extended state observer of second order adopts linear observer, nonlinear state Error Feedback controller then adopts general proportional controller, this design proposal has been simplified the structure of automatic disturbance rejection controller, all use simple linear function to realize, for the specific implementation of automatic disturbance rejection controller provides reference complicated nonlinear function.

Summary of the invention

Technical matters: the building method that the purpose of this invention is to provide a kind of simplification automatic disturbance rejection controller of permagnetic synchronous motor, adopt the simplification automatic disturbance rejection controller of this method construct, the automatically internal disturbance that brings of the variation of small electromotor model (as the variation of moment of inertia and permanent magnetism magnetic linkage etc.) and the disturbance that comes from the outside (as the fluctuation of load and line voltage etc.), realize the dynamic feedback linearization of dynamic system, improve the control performance of closed-loop system again by nonlinear state Error Feedback control law.Simplify the mathematical model that automatic disturbance rejection controller does not rely on controlled device, therefore have good robustness and adaptability.

Technical scheme: the building method of the simplification automatic disturbance rejection controller of the speed ring of permagnetic synchronous motor of the present invention is that structure formed before the automatic disturbance rejection controller that will simplify was connected on composite controlled object, wherein, composite controlled object is connected earlier with the voltage-controlled inverter of expansion by current controller, be attempted by before permagnetic synchronous motor and load and the photoelectric encoder, and then and current i _a, i _bCoordinate transform on the feedback channel is formed jointly; Permagnetic synchronous motor and load connect together by mechanical shaft joint, and photoelectric encoder is in permagnetic synchronous motor inside, and connect together with permagnetic synchronous motor is coaxial; Simplifying automatic disturbance rejection controller is formed by connecting by the second order state observer of expansion and compound speed feedback and composite controller closed loop successively; By the output signal ω of the output signal U (t) of composite controller and system input signal as the second order state observer of expansion; Output signal z by the second order state observer of expanding ₁And ω is jointly as the input signal of compound speed feedback (54); By given rotating speed signal ω ^*Output ω with compound speed feedback _δSubtract each other the output signal z of the second order state observer of the error signal that obtains and expansion ₂Together as the input signal of composite controller (53), composite controller is by generalized velocity error evolution controller and to the compensation term (z of system disturbance ₂/ b) two parts stacks is formed, at last the output U (t) of composite controller as the output signal of simplification automatic disturbance rejection controller and as the given signal i of composite controlled object _q ^*

The voltage-controlled inverter of this expansion is composed in series by space vector pulse width modulation (SVPWM) and Voltage-controlled Current Source inverter, and wherein space vector pulse width modulation (SVPWM) output six tunnel drive signals trigger the Intelligent Power Module (IPM) of the voltage-controlled inverter of expansion.

Current controller passes through the two channel current controllers that walk abreast and form after the Parker inverse transformation by current regulator and current regulator, and wherein current regulator and current regulator all adopt proportional integral PI controller to realize.

Coordinate transform is made of Parker conversion and Clarke conversion series connection.

The second-order linearity state observer of expansion, its state model is $\left\{\begin{array}{c}{\stackrel{\·}{z}}_1=z_2-{\mathrm{\β}}_1(z_1-\mathrm{\ω}){+\mathrm{bi}}_q^{*}\\ {\stackrel{\·}{z}}_2=-{\mathrm{\β}}_2(z_1-\mathrm{\ω})\end{array},\right.$ β wherein ₁, β ₂Be adjustable parameter, ω is a tach signal, and b is the controller coefficient, z ₁Be used for tracker output ω, z ₂Be used for the disturbance of tracker, i _q ^*For the q shaft current given,

Differential for rotating speed and disturbance estimation.

The input signal of this state observer is the given i of q shaft current _q ^*And the output ω of system, output signal is the estimator of the total disturbing signal of observed reading and system of rotating speed.

Generalized velocity error evolution controller is by the speed ring K that gains _pThe evolution that multiply by the generalized velocity error constitutes, and input signal is that given rotating speed deducts the generalized velocity error ω that compound speed feedback obtains ^*-ω _δ, its proportional controller is output as $u_0\left(t\right)=K_p\sqrt{|{\mathrm{\ω}}^{*}-{\mathrm{\ω}}_{\mathrm{\δ}}|}\mathrm{sign}({\mathrm{\ω}}^{*}-{\mathrm{\ω}}_{\mathrm{\δ}}),$ K _pBe speed ring gain, ω ^*Be given rotating speed, ω _δBe compound speed feedback, sign (ω ^*-ω _δ) be generalized velocity error ω ^*-ω _δSymbol, when the generalized velocity error for just or get 1 zero the time, when the generalized velocity error gets-1 when negative; The evolution of generalized velocity error is realized by the DSP program with the Newton iteration relative method.

Compound speed feedback ω _δObserved quantity z by rotating speed measured value ω and rotating speed ₁Both weighted sums are formed, and its expression formula is ω _δ=δ ω+(1-δ) z ₁, δ is a weight factor, and its value is adjustable, and span is δ ∈ [0,1].

The output of composite controller is by the compensation rate (z of the total disturbance of output and system of generalized velocity error evolution controller ₂/ b) compound obtaining, its expression formula is $u\left(t\right)=K_p\sqrt{|{\mathrm{\ω}}^{*}-{\mathrm{\ω}}_{\mathrm{\δ}}|}\mathrm{sign}({\mathrm{\ω}}^{*}-{\mathrm{\ω}}_{\mathrm{\δ}})-z_2/b.$

Simplify second order state observer, composite controller and the compound speed feedback of the expansion in the automatic disturbance rejection controller, the voltage-controlled inverter, coordinate transform, speed and the angle calculation that reach current controller, expansion are dsp controller for adopting digital signal processor, realize by establishment DSP program.

The automatic disturbance rejection controller of standard generally is made up of three parts, follow the tracks of differentiator (TrackingDifferentiator, be called for short TD), state observer (the Extended State Observer of expansion, be called for short ESO) and nonlinear state Error Feedback (Nonlinear State Error Feedback is called for short NLSEF) controller.It goes for the following unknown outer system of disturbing that exists:

$\left\{\begin{array}{c}{x}^{\left(n\right)}=f(x,\stackrel{\·}{x},\stackrel{\·\·}{x},...,x^{(n-1)},t)+d\left(t\right)+\mathrm{bu}\left(t\right)\\ y=x\end{array}\right.---\left(1\right)$

Wherein, Be nonlinear function, d (t) is unknown outer disturbing,

Be the state of system, u (t) is a controlled quentity controlled variable, and y (t) is the output of system.Order $a\left(t\right)=f(x,\stackrel{\·}{x},\stackrel{\·\·}{x},...,x^{(n-1)},t)+d\left(t\right)$ Disturb d (t) sum for disturbing in the system model, as total disturbance of system with the unknown is outer.System (1) can be rewritten as

$\left\{\begin{array}{c}{x}^{\left(n\right)}=a\left(t\right)+\mathrm{bu}\left(t\right)\\ y=x\end{array}\right.---\left(2\right)$

With the second-order system is example, and the form of TD employing is as follows usually: $\left|{\stackrel{\·\·}{x}}_1\right|\≤r$ Under the situation, x ₁(t) tracking input signal V (t) that can be the fastest.Work as x ₁During (t) fully near V (t), its derivative

(be x ₂(t)) can be approximated to be the differential of V (t), in fact x ₂(t) be the generalized differential of V (t).Generalized differential is the good differential of a kind of quality.It is not to realize by differentiation element, but is realized by state observer, thereby has avoided the sensitivity to noise.The choosing of nonlinear function of following the tracks of in the differentiator is not unique, as uses saturation function sat function instead, the generalized differential that can obtain importing equally, and this moment, the form of TD was as follows:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=x_2\\ {\stackrel{\·}{x}}_2=-\mathrm{rsat}(x_1-V\left(t\right)+x_2|x_2|/2r,\mathrm{\δ})\end{array}\right.---\left(4\right)$

Wherein, the form of sat function is as follows:

$\mathrm{sat}(x,\mathrm{\δ})=\left\{\begin{array}{cc}\mathrm{sign}\left(x\right)& \left|x\right|>\mathrm{\δ}\\ x/\mathrm{\δ}& \left|x\right|\≤\mathrm{\δ}\end{array}\right.---\left(5\right)$

For system (1), the general desirable work of the form of extended state observer:

$\left\{\begin{array}{c}{\stackrel{\·}{z}}_1=z_2-g_1(z_1-x\left(t\right))\\ \·\\ \·\\ \·\\ {\stackrel{\·}{z}}_{n-1}=z_n-g_{n-1}(z_1-x\left(t\right))\\ {\stackrel{\·}{z}}_n=z_{n+1}-g_n(z_1-x\left(t\right))+\mathrm{bu}\left(t\right)\\ {\stackrel{\·}{z}}_{n+1}=-g_{n+1}(z_1-x\left(t\right))\end{array}\right.---\left(6\right)$

If can select suitable nonlinear function g ₁(...) ..., g _N+1(...) just can make z ₁..., z _N+1Follow the tracks of The disturbance a (t) total, that is: z with system ₁(t) → x (t) ..., z _n(t) → x ^(n-1)(t), z _N+1→ a (t) observer can be got following nonlinear function:

$\mathrm{fal}(\mathrm{\ϵ},\mathrm{\α},\mathrm{\δ})=\left\{\begin{array}{cc}{\left|\mathrm{\ϵ}\right|}^{\mathrm{\α}}\mathrm{sgn}\left(\mathrm{\ϵ}\right)& \left|\mathrm{\ϵ}\right|>\mathrm{\δ}\\ \mathrm{\ϵ}/{\mathrm{\δ}}^{1-\mathrm{\α}}& \left|\mathrm{\ϵ}\right|\≤\mathrm{\δ}\end{array}\right.---\left(7\right)$

By following the tracks of the estimator v that differentiator can obtain input signal V (t) and all-order derivative thereof ₁, v ₂..., v _nCan obtain the estimator z of system state by the state of a control observer ₁, z ₂..., z _nThe definition generalized error is as follows:

ε ₁＝v ₁-z ₁，ε ₁＝v ₁-z ₁，...，ε _n＝v _n-z _n (8)

Above-mentioned generalized error is carried out nonlinear combination, can realize nonlinear state Error Feedback controller, its form is as follows:

u ₀＝β ₁fal(ε ₁，α，δ)+…+β _nfal(ε _n，α，δ) (9)

In the formula, β ₁..., β _nBe adjustable parameter, the fal functional form is shown in (7), and it is actually engineering circle " mistake, little gain; Little error, big gain " mathematics fit, so both avoided because the excessive situation that causes the big overshoot of appearance of controlled quentity controlled variable the control accuracy when having guaranteed stable state again.The output u of nonlinear state error controller ₀Add the compensation to system disturbance, it is as follows to obtain final controlled quentity controlled variable:

u(t)＝u ₀(t)-z _n+1/b (10)

Wherein ,-z _N+1/ b is the compensation to system disturbance.

From above analysis as can be seen, three ingredients tracking differentiators, the state observer of expansion, nonlinear state Error Feedback in the automatic disturbance rejection controller have all been used complicated nonlinear function, not only complicated on the structure, and needing the parameter of adjusting also a lot, this has brought difficulty for commercial Application and actual debugging.

The present invention draws the advantage of automatic disturbance rejection controller and the improvement advantage in the document in realization, mainly done two different improvement on method, and main design improvement is as follows:

1, speed feedback adopts the compound feedback quantity of rotating speed, by the observed quantity z of rotational speed omega and rotating speed ₁Weighting is formed, i.e. ω _δ=δ ω+(1-δ) z ₁, δ ∈ [0,1] has filter action preferably to the high frequency interference in the actual speed measuring-signal, the performance index requirement of the control requirement of velocity feedback and closed-loop system in the time of taking into account low speed and high speed simultaneously.

2, nonlinear state Error Feedback controller adopts the proportional controller of generalized velocity error evolution, the evolution of generalized velocity error is than the easier realization of nonlinear function in the DSP program, with respect to nonlinear function, the evolution controller of generalized velocity error only need be regulated a parameter, and also the accent ginseng rule than nonlinear function is simple to regulate rule.Compare with general velocity error proportional controller, the evolution proportional controller of generalized velocity error can suppress the fluctuation of speed better, and steady-state behaviour is preferably arranged, and can make proportional gain that very wide range of adjustment is arranged simultaneously.

The proportional controller of generalized velocity error evolution is compared with general velocity error proportional controller, has better disturbance suppression ability.Make a concrete analysis of as follows:

First-order error model for following employing proportional controller:

$\stackrel{\&CenterDot;}{e}=-k*e+d,\left|d\right|<d^{*}---\left(11\right)$

E is a systematic error, and d is the disturbance of system, and we suppose that d is a bounded quantity, and variation is inviolent, and this is reasonably for most industrial occasions, so should have | and d|＜d ^*Set up, the steady-state error of system should satisfy when stable state: e ∝ d/k, and promptly steady-state error and proportional gain k are inversely proportional to, but as if the proportional controller that controller is changed into following error evolution, the first-order error model that it is corresponding:

$\stackrel{\&CenterDot;}{e}=-k*\sqrt{e}+d,\left|d\right|<d^{*}---\left(12\right)$

When stable state, e ∝ (d/k) is arranged ², square being inversely proportional to of steady-state error and proportional gain, generally speaking, controller gain is all obtained bigger than disturbance circle, all can satisfy k＞d ^*So, (d/k) ²＜(d/k), the systematic steady state error under the effect of error evolution proportional controller is littler.As seen the evolution controller is eager to excel than general proportional controller aspect the disturbance suppression ability.

The design proposal of the simplification automatic disturbance rejection controller that carries out based on above improvement is as follows:

The simplification automatic disturbance rejection controller that adopts the present invention to simplify Active Disturbance Rejection Control algorithm formation is generally formed the second order state observer of expansion and generalized error evolution controller by two parts.The second order state observer of expansion is used for estimating the state variable of object and the real-time action of the total disturbance of object; Broad sense speed error evolution controller has been realized the non-linear ratio's output to the broad sense speed error, broad sense speed error evolution controller be input as the broad sense speed error, the required controlled quentity controlled variable of composite controlled object adds that by the output quantity of broad sense speed error evolution controller the compensation rate of disturbance forms.Wherein:

(1), adopts the tracking differentiator.

With armature supply and the approximate first-order system that is thought of as of rotating speed equation, therefore need not the differential signal of the system that uses, simplify in the automatic disturbance rejection controller design directly ω at this ^*Introduce and omitted the tracking differentiator.

(2), adopt the state observer of the linear observer realization expansion of second order.

The second order state observer of expansion has been realized the observation to the total disturbance of system, is the key that Active Disturbance Rejection Control has better quality, for first-order system

$\left\{\begin{array}{c}\stackrel{\&CenterDot;}{x}=f(x,t)+d\left(t\right)+u\left(t\right)\\ y=x\end{array}\right.---\left(13\right)$

Wherein x is output, and (x t) is unknown function to f, and d (t) is disturbance, and u (t) makes x for the control input ₁=x, x ₂=f (x, t)+total disturbance of d (t) representative system, then have

${\stackrel{\&CenterDot;}{x}}_1=x_2+u\left(t\right)$

Be constructed as follows the second order state observer of expansion:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1(z_1-\mathrm{\&omega;}){+\mathrm{bi}}_q^{*}\\ {\stackrel{\&CenterDot;}{z}}_2=-{\mathrm{\&beta;}}_2(z_1-\mathrm{\&omega;})\end{array}\right.---\left(15\right)$

Wherein, β ₁, β ₂Be the adjustable parameter of observer, ω is a rotating speed measured value, z ₁Be rotating speed observed reading, z ₂Be the disturbance observed reading.

(3), adopt generalized velocity error evolution controller to realize nonlinear state Error Feedback controller

Nonlinear state Error Feedback controller is simplified the proportional controller that adopts generalized velocity error evolution in the active disturbance rejection algorithm at this, and its form is as follows:

$u_0\left(t\right)=K_p\sqrt{|{\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}|}\mathrm{sign}({\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}})$

K wherein _pBe speed ring proportional gain, ω ^*Be rotational speed setup, ω _δBe compound speed feedback amount, simplify automatic disturbance rejection controller and be output as:

$u\left(t\right)=K_p\sqrt{|{\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}|}\mathrm{sign}({\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}})-z_2/b---\left(16\right)$

Wherein ,-z ₂/ b is the compensation rate to disturbance.

Beneficial effect: principle of the present invention is to simplify automatic disturbance rejection controller by structure, control with this multivariate of permagnetic synchronous motor, strong coupling, nonlinear system, add speed closed loop control module and power inverter technology by coordinate transform and decoupling zero control, realize vector controlled permagnetic synchronous motor.The main target of permagnetic synchronous motor Alternating Current Governor System is the accurate control that realizes motor speed, and governing system often is designed to double loop system for this reason, speed ring and electric current loop.Because speed ring has adopted the simplification automatic disturbance rejection controller, can detect and compensate the inside and outside disturbance of system, makes speed responsive have better dynamic property, steady-state behaviour and anti-load disturbance ability.

The invention has the advantages that:

Automatic disturbance rejection controller is simplified in a, employing, compare with the PI controller, can accomplish the control under the unified preset parameter, and can take into account the control needs under the different given speeds, take into account the dynamic response performance and the steady-state response performance of closed-loop system, take into account the performance index under zero load, loaded starting and the shock load situation, algorithm adaptability is good.

B, this scheme overall performance are better than the PI controlling schemes, especially three important indicators in the actual servo system such as overshoot, and steady-sxtate wave motion and anti-shock load disturbance ability have had tangible lifting.

The parameter of c, simplification automatic disturbance rejection controller is regular governed, adopts bigger β ₁, β ₂And keep a suitable ratio between the two, noting not making parameter to cross the fluctuation of ambassador's systematic steady state simultaneously increases, and the control effect of observer effect and system is relatively good.

D, to simplify automatic disturbance rejection controller be a kind of controller of excellent performance, owing to do not use integral controller in the system, the essentially no overshoot of system has strengthened system's disturbance rejection ability to the observation and the compensation of system disturbance.

E, compare with the automatic disturbance rejection controller of standard, the automatic disturbance rejection controller of this simplification is simple in structure, needs the parameter of regulating few, and the parameter regulation rule is simple, for field adjustable and commercial Application have been brought convenience.

The proportional controller of f, employing broad sense speed error evolution can better suppress steady-sxtate wave motion than general error ratio csr controller, and proportional gain simultaneously can obtain very wide range of adjustment.

G, compound speed feedback are made up of the observed reading of rotating speed and the measured value weighting of rotating speed, have further strengthened system's antijamming capability, have taken into account the performance of closed-loop system under low speed and the high-speed case.

The present invention can be used for constructing and simplifies automatic disturbance rejection controller the speed ring of permagnetic synchronous motor is carried out high performance control, not only in the kinematic train that with the permagnetic synchronous motor is propulsion system, very high using value is arranged, and be in the kinematic train of propulsion system at the alternating current generator with other type, application prospect also is very wide.

Description of drawings

Fig. 1 comprises the simplified structure diagram of the present invention of simplifying automatic disturbance rejection controller 5, wherein has: the second order state observer 52 of expansion, compound speed feedback 54, by the compensation rate-z of generalized velocity error evolution controller 51 and disturbance ₂The composite controller 53 of the compound composition of/b and composite controlled object 10.

Fig. 2 is the structure principle chart with the Permanent-magnet Synchronous-motor Speed Servo System of simplifying automatic disturbance rejection controller 5 controls, wherein simplify automatic disturbance rejection controller 5 and be made up of the second order state observer 52 and the compound speed feedback 54 of composite controller 53 and expansion, composite controlled object is made up of voltage-controlled inverter 2, current controller 3, coordinate transform 4, permagnetic synchronous motor 7, load 8, photoelectric encoder 9 and speed and the angle calculation of expansion.

Fig. 3 is to be controller with the digital signal processor DSP, Intelligent Power Module IPM is the hardware structure diagram of a kind of implementation of the present invention of inverter, wherein has: Voltage-controlled Current Source inverter 1, permagnetic synchronous motor 7, digital signal processor are dsp controller 6, load 8, photoelectric encoder 9 compositions.

Fig. 4 has provided the main program block diagram of the system that realizes this simplification automatic disturbance rejection controller, software mainly is made up of initialization, background circulation and interrupt handling routine three parts, the control of motor mainly realizes by electric current loop interruption subroutine and speed ring interruption subroutine, and the simplification automatic disturbance rejection controller that adopts is realized in speed ring interrupts.

Fig. 5 a is the electric current loop interruption subroutine, and Fig. 4 b is the speed ring interruption subroutine, and Fig. 4 c simplifies the automatic disturbance rejection controller algorithm flow chart.

Embodiment

Embodiment of the present invention are: the voltage-controlled inverter (2) of being made of expansion Voltage-controlled Current Source inverter (1) and (space vector pulse width modulation) SVPWM jointly; Voltage-controlled inverter (2) by expansion constitutes composite controlled object (10) jointly with current controller (3), coordinate transform (4), permagnetic synchronous motor (7), load (8) and photoelectric encoder (9); Current controller (3) is made of current regulator (31), current regulator (32) and Parker inverse transformation, and current regulator (31), current regulator (32) adopt proportional integral PI controller to realize; Coordinate transform (4) is made of Parker conversion and Clarke conversion; Utilize the input signal i of composite controlled object (10) _q ^*And the second order state observer (52) of output signal ω structure expansion; Observed quantity by the rotating speed that obtains of second order state observer (52) of expansion utilizes the weighted sum of rotating speed measured value and rotating speed observed reading to form compound speed feedback (54), and the difference of given speed and compound speed feedback (54) is the generalized velocity error; Construct by generalized velocity error evolution controller (51) and to the compensation term (z of system disturbance ₂/ b) the composite controller (53) formed of two parts stacks; The automatic disturbance rejection controller of being simplified by the common structure of the second order state observer (52) of composite controller (53) and expansion (5) is at last simplified automatic disturbance rejection controller (5) and is connected on the speed ring that composite controlled object (10) is used for permagnetic synchronous motor before and comes permagnetic synchronous motor is controlled.

Concrete enforcement following five steps of branch:

1, forms composite controlled object (10).The voltage-controlled inverter (2) of at first forming expansion jointly by Voltage-controlled Current Source inverter (1) and SVPWM; Voltage-controlled inverter (2) by expansion constitutes composite controlled object (10) jointly with current controller (3), coordinate transform (4), permagnetic synchronous motor (7), load (8) and photoelectric encoder (9); Current controller (3) is made of q shaft current regulator (31) and d shaft current regulator (32), and two current regulators all adopt proportional integral PI controller, and it is 100 that the parameter expansion is decided to be proportional gain P, and storage gain I is 2; The input signal of this composite controlled object (10) is the given signal i of q shaft current _q ^*, output signal is tach signal ω.

2, utilize the second order state observer (52) of the input/output signal structure expansion of composite controlled object (10).This state observer is linear, and it is input as tach signal ω and q shaft current i _q ^*, use i among the present invention _qReplace i _q ^*, output z ₁Be used for tracker output ω, z ₂Be used for the tracker disturbance, second order state observer (52) model of this expansion is

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1(z_1-\mathrm{\&omega;})+{\mathrm{bi}}_q^{*}\\ {\stackrel{\&CenterDot;}{z}}_2=-{\mathrm{\&beta;}}_2(z_1-\mathrm{\&omega;})\end{array}\right.---\left(17\right)$

Wherein, β ₁, β ₂Be the adjustable parameter of observer, ω is a system output signal, z ₁Be used for tracking output signal ω, z ₂Be used for following the tracks of disturbing signal, β ₁=3000, β ₂=400, b=300.The second order state observer (52) of this expansion is as a part of simplifying automatic disturbance rejection controller (5).

3, by the output z of second order state observer (52) of expansion ₁Reach rotating speed measured value ω and construct compound speed feedback (54), compound speed feedback is calculated as follows: ω _δ=δ ω+(1-δ) z ₁, δ is a weight factor, and its value is adjustable, and span is δ ∈ [0,1].

4, by rotational speed setup and compound feedback (54) structure generalized velocity error evolution controller (51), generalized velocity error evolution controller (51) be input as ω ^*-ω _δ, be output as $u_0\left(t\right)=K_p\sqrt{|{\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}|}\mathrm{sign}({\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}),$ K _pBe proportional controller coefficient, K in the present embodiment _p=150 (adjustable extent is about 100 to 300), ω ^*For rotating speed with reference to input, ω _δBe compound speed feedback (54).When realizing generalized velocity error evolution with the DSP program, be that the generalized velocity error is taken absolute value earlier, seek the evolution value of generalized velocity error then with the Newton iteration relative method, iterations is 20 times, and the generalized velocity error evolution of being sought and the error precision of actual evolution value are 0.01.

5, structure composite controller (53) is the output u of error evolution controller (51) ₀(t) add the compensation rate (z of system disturbance ₂/ c) constitute composite controller (53) jointly, as i _qCircular current given.Be the given of composite controlled object (10) $i_q^{*}=u_0\left(t\right)-z_2/b,$ So far constituted the simplification automatic disturbance rejection controller of speed ring.Can adopt different software to realize according to different requirements.

Fig. 3 has provided the synoptic diagram of a kind of specific embodiment of the present invention, wherein simplify automatic disturbance rejection controller (5), coordinate transform (4), current controller (3), Parker inverse transformation, Clarke inverse transformation and SVPWM and speed and angle calculation all are to be that dsp controller (6) realizes that by software the system program block diagram is shown in Fig. 4,5 by digital signal processor; Voltage-controlled Current Source inverter (1) adopts Intelligent Power Module IPM to constitute; The PWM drive signal is produced by SVPWM; Controlled permagnetic synchronous motor model: EM---05S1M22, the parameter of electric machine are P _e=450W, I _e=2.5A, T _e=2.8N*m, n _p=2, ψ _f=0.353wb, J=7.24*10 ^-4Kg*m ²

According to the above, just can realize the present invention.

Claims (9)

1. the building method of the simplification automatic disturbance rejection controller of the speed ring of a permagnetic synchronous motor, it is characterized in that this method is connected on composite controlled object (10) with the automatic disturbance rejection controller of simplifying (5) and constructs before and form, wherein, composite controlled object (10) is connected earlier with the voltage-controlled inverter (2) of expansion by current controller (3), be attempted by permagnetic synchronous motor (7) and load (8) and photoelectric encoder (9) before, and then and current i _a, i _bCoordinate transform on the feedback channel (4) is common to be formed; Permagnetic synchronous motor (7) and load (8) connect together by mechanical shaft joint, and photoelectric encoder (9) is in permagnetic synchronous motor (7) inside, and with coaxial the connecting together of permagnetic synchronous motor (7); Simplifying automatic disturbance rejection controller (5) is formed by connecting by the second order state observer (52) of expansion and compound speed feedback (54) and composite controller (53) closed loop successively; By the output signal ω of the output signal U (t) of composite controller (53) and system input signal as the second order state observer (52) of expansion; Output signal z by the second order state observer of expanding ₁And ω is jointly as the input signal of compound speed feedback (54); By given rotating speed signal ω ^*Output ω with compound speed feedback (54) _δSubtract each other the output signal z of the second order state observer of the error signal that obtains and expansion ₂Together as the input signal of composite controller (53), composite controller (53) is by generalized velocity error evolution controller (51) and to the compensation term (z of system disturbance ₂/ b) two parts stacks is formed, at last the output U (t) of composite controller (53) as the output signal of simplification automatic disturbance rejection controller (5) and as the given signal i of composite controlled object (10) _q ^*

2. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1, the voltage-controlled inverter (2) that it is characterized in that this expansion is composed in series by space vector pulse width modulation (SVPWM) and Voltage-controlled Current Source inverter (1), and wherein space vector pulse width modulation (SVPWM) output six tunnel drive signals trigger the Intelligent Power Module (IPM) of the voltage-controlled inverter (2) of expansion.

3. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1, it is characterized in that current controller (3) passes through the two channel current controllers that walk abreast and form after the Parker inverse transformation by current regulator (31) and current regulator (32), wherein current regulator (31) and current regulator (32) all adopt proportional integral PI controller to realize.

4. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1 is characterized in that coordinate transform (4) is made of Parker conversion and Clarke conversion series connection.

5. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1 is characterized in that the second-order linearity state observer (52) expanded, and its state model is $\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{z}}_1=z_2-{\mathrm{\&beta;}}_1(z_1-\mathrm{\&omega;})+{\mathrm{bi}}_q^{*}\\ {\stackrel{\&CenterDot;}{z}}_2{=-\mathrm{\&beta;}}_2(z_1-\mathrm{\&omega;})\end{array}\right.,$ β wherein ₁, β ₂Be adjustable parameter, ω is a tach signal, and b is the controller coefficient, z ₁Be used for tracker output ω, z ₂Be used for the disturbance of tracker, i _q ^*For the q shaft current given, , Differential for rotating speed and disturbance estimation.The input signal of this state observer is the given i of q shaft current _q ^*And the output ω of system, output signal is the estimator of the total disturbing signal of observed reading and system of rotating speed.

6. the building method of the simplification automatic disturbance rejection controller of permagnetic synchronous motor according to claim 1 is characterized in that generalized velocity error evolution controller (51) is by speed ring gain K _pThe evolution that multiply by the generalized velocity error constitutes, and input signal is that given rotating speed deducts the generalized velocity error ω that compound speed feedback (54) obtains ^*-ω _δ, its proportional controller is output as $u_0\left(t\right)=K_p\sqrt{|{\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}|}\mathrm{sign}({\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}),$ K _pBe speed ring gain, ω ^*Be given rotating speed, ω _δBe compound speed feedback, sign (ω ^*-ω _δ) be generalized velocity error ω ^*-ω _δSymbol, when the generalized velocity error for just or get 1 zero the time, when the generalized velocity error gets-1 when negative; The evolution of generalized velocity error is realized by the DSP program with the Newton iteration relative method.

7. generalized velocity error evolution controller according to claim 6 (51) is characterized in that compound speed feedback (54) ω _δObserved quantity z by rotating speed measured value ω and rotating speed ₁Both weighted sums are formed, and its expression formula is ω _δ=δ ω+(1-δ) z ₁, δ is a weight factor, and its value is adjustable, and span is δ ∈ [0,1].

8. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1 is characterized in that the compensation rate (z of the output of composite controller (53) by the total disturbance of output and system of generalized velocity error evolution controller (51) ₂/ b) compound obtaining, its expression formula is

$u\left(t\right)=K_p\sqrt{|{\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}}|}\mathrm{sign}({\mathrm{\&omega;}}^{*}-{\mathrm{\&omega;}}_{\mathrm{\&delta;}})-z_2/b.$

9. the simplification automatic disturbance rejection controller building method of permagnetic synchronous motor according to claim 1, it is characterized in that simplifying second order state observer (52), the composite controller (53) and compound speed feedback (54) of the expansion in the automatic disturbance rejection controller (5), the voltage-controlled inverter (2), coordinate transform (4), speed and the angle calculation that reach current controller (3), expansion are dsp controller (6) for adopting digital signal processor, realize by establishment DSP program.

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