KR102323120B1 - Method for controlling velocity for ipmsm based disturbance observer, recording medium and device for performing the method - Google Patents

Abstract

A speed control method based on a disturbance observer for a permanent magnet synchronous motor comprises: constructing a disturbance observer based on an inverse function of a motor model having i (where i is a natural number) state variables of a permanent magnet synchronous motor; setting a gain of the disturbance observer based on the frequency of the disturbance; calculating an i-th auxiliary state variable from the disturbance observer through an auxiliary variable dynamics equation during driving of the permanent magnet synchronous motor; deriving a disturbance estimate of the i-th state variable using the i-th auxiliary state variable; and controlling the speed of the permanent magnet synchronous motor by using the disturbance estimate of the i-th state variable. Accordingly, the influence of measurement noise is low because the differential of the measured value is not used through the auxiliary variable of the disturbance observation unit built as an inverse model of the motor model. It can reduce the impact of disturbance.

Description

Method for controlling speed based on disturbance observer for permanent magnet synchronous motor, recording medium and apparatus for performing the same

The present invention relates to a speed control method based on a disturbance observer for a permanent magnet synchronous motor, a recording medium and an apparatus for performing the same, and more particularly, in an interior permanent magnet synchronous motor (IPMSM). To provide a model-based IPMSM disturbance observer and velocity controller design to increase the robustness against disturbance.

In the torque of IPMSM (Interior Permanent Magnet Synchronous Motor), the reluctance torque is generated together with the torque component of the permanent magnet. Unlike SPMSM, which uses only q-axis current to generate torque because such a reluctance component is used, IPMSM uses both q-axis and d-axis current components to generate torque.

In IPMSM, there are cases where the characteristics of the model are changed due to changes in internal parameters or noise affecting the outside, which has a negative effect on the performance of the existing controller.

PMSM is used for various purposes, and various PI control methods have been prepared for speed control and torque control. As the permanent magnet rotates, the magnetic flux induced in the stator interacts with the current, resulting in nonlinearity in the back electromotive force.

In addition, resistance and inductance changes within the stator according to the temperature change of the motor appear. When the system characteristics are changed by such internal parameter changes and external factors, it is called disturbance, and there is a problem that the stability of the system may be lost due to this.

In addition, when the load torque and resistance component, inductance component, and capacitance component of the motor inverter stage are generated, external disturbance is applied, which also affects the stability of the system.

To compensate for this drawback, a technique using a look-up table was used for disturbance compensation. However, in the case of the lookup table technique, since all experimental data according to the number of various cases must be obtained, time and manpower consumption are very large.

On the other hand, in the case of a general disturbance compensator, since a differential value of each signal is required, there is a problem in that high-frequency noise is generated. In order to compensate for this problem, a low-pass filter is additionally designed in some cases.

In addition, even after compensating for disturbance, when the non-compensated component is suppressed by the existing controller, there is a problem that the perturbation effect due to the fixed gain affects the entire system loop.

KR 0491665 B1 KR 2019-0064832 A US 6825637 B1

Accordingly, it is an object of the present invention to provide a speed control method based on a disturbance observer for a permanent magnet synchronous motor that generates and compensates a current disturbance estimate according to disturbance.

Another object of the present invention is to provide a recording medium in which a computer program for performing a speed control method based on the disturbance observer for a permanent magnet synchronous motor is recorded.

Another object of the present invention is to provide an apparatus for performing a speed control method based on the disturbance observer for a permanent magnet synchronous motor.

A speed control method based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment for realizing the object of the present invention is a motor having i (here, i is a natural number) state variables of the permanent magnet synchronous motor. constructing a disturbance observer based on the inverse function of the model; setting a gain of the disturbance observer based on the frequency of the disturbance; calculating an i-th auxiliary state variable from the disturbance observer through an auxiliary variable dynamics equation during driving of the permanent magnet synchronous motor; deriving a disturbance estimate of the i-th state variable using the i-th auxiliary state variable; and controlling the speed of the permanent magnet synchronous motor by using the disturbance estimate of the i-th state variable.

In an embodiment of the present invention, the controlling of the speed of the permanent magnet synchronous motor includes: calculating a speed error by comparing a speed command received from the outside with speed information of the permanent magnet synchronous motor; and outputting a current command based on the velocity error and a velocity estimate of the disturbance received from the disturbance observer.

In an embodiment of the present invention, the current command may include a term for removing the influence of disturbance and a nonlinear damping function.

In an embodiment of the present invention, the controlling of the speed of the permanent magnet synchronous motor includes: calculating a current error by comparing the current information and position information of the permanent magnet synchronous motor with the current command; and outputting a voltage command for controlling the permanent magnet synchronous motor based on the current error and the current estimate of the disturbance received from the disturbance observer.

In an embodiment of the present invention, the controlling the speed of the permanent magnet synchronous motor may further include converting the voltage command into an input signal applied to the permanent magnet synchronous motor.

In an embodiment of the present invention, the motor model may be composed of state variables of speed, d-axis current, and q-axis current.

A computer program for performing a speed control method based on a disturbance observer for a permanent magnet synchronous motor is recorded in a computer-readable storage medium according to an embodiment for realizing another object of the present invention.

A speed control device based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment for realizing another object of the present invention, i (here, i is a natural number) state variables of the permanent magnet synchronous motor The gain is set based on the inverse function of the motor model and the frequency of the disturbance, and the disturbance that derives the disturbance estimate of the i-th state variable by calculating the i-th auxiliary state variable through the auxiliary variable dynamics equation during operation of the permanent magnet synchronous motor observer; a first controller for outputting a current command from the speed command received from the outside and the disturbance estimate received from the disturbance observer; and a second controller configured to output a voltage for controlling the permanent magnet synchronous motor from the current command received from the first controller and the disturbance estimate received from the disturbance observer.

In an embodiment of the present invention, the first controller calculates a speed error by comparing the speed command received from the outside and speed information of the permanent magnet synchronous motor, and the speed error and the speed of the disturbance received from the disturbance observer. A current reference can be output based on the estimate.

In an embodiment of the present invention, the current command may include a term for removing the influence of disturbance and a nonlinear damping function.

In an embodiment of the present invention, the second controller calculates a current error by comparing the current information and position information of the permanent magnet synchronous motor with a current command output from the first controller, and the current error and the disturbance observer A voltage command for controlling the permanent magnet synchronous motor may be output based on the estimated current of the disturbance received from the .

In an embodiment of the present invention, the speed control device based on the disturbance observer for the permanent magnet synchronous motor may further include an inverter converting the voltage received from the second controller into an input signal applied to the permanent magnet synchronous motor. can

In an embodiment of the present invention, the motor model may be composed of state variables of speed, d-axis current, and q-axis current.

According to the speed control method based on the disturbance observer for permanent magnet synchronous motors, the tuning factor can be reduced by setting the gain of the disturbance observer built as an inverse model to the motor model through frequency analysis at the design stage, and The influence of measurement noise is low because the differential of the measured value is not used through the state variable.

In addition, it is possible to reduce the effect of disturbance on the speed control loop when the disturbance is applied by using the nonlinear damping gain technique, and when the motor speed control is interlocked with the system, the control response is improved while the operation stability of the motor is ensured. is improved

1 is a block diagram of a speed control device based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment of the present invention.
FIG. 2 is a conceptual diagram of the disturbance observer of FIG. 1 .
3 is a flowchart of a speed control method based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment of the present invention.
4 is a detailed flowchart of a method for controlling the speed of the permanent magnet synchronous motor of FIG. 3 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0023] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be embodied in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.

1 is a block diagram of a speed control device based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment of the present invention. FIG. 2 is a conceptual diagram of the disturbance observer of FIG. 1 .

The speed control device (hereinafter referred to as IPMSM speed control device) based on the disturbance observer for permanent magnet synchronous motor according to the present invention uses a virtual auxiliary state variable to use the differential value of each sensing value differently from the general disturbance observer. Since only the current value is used instead of not, it is possible to obtain an observer value with less noise pollution.

In addition, by designing a control input through a nonlinear damping gain using the observed disturbance, it is possible to control the speed of the permanent magnet synchronous motor very robustly to the disturbance.

1, the IPMSM speed control device 1 according to the present invention includes a disturbance observer 90, a first controller 10 and a second to control the speed of a permanent magnet synchronous motor 70 (hereinafter referred to as IPMSM). a controller 30 . The disturbance observer 90 , the first controller 10 and the second controller 30 form a control loop for controlling the speed of the IPMSM 70 .

In addition, according to another embodiment of the present invention, the IPMSM speed control device 1 may further include an inverter (not shown).

In the IPMSM speed control device 1 of the present invention, software (application) for performing speed control based on a disturbance observer for a permanent magnet synchronous motor may be installed and executed, and the disturbance observer 90, the first The configuration of the controller 10, the second controller 30 and the inverter (not shown) is configured to perform speed control based on the disturbance observer for the permanent magnet synchronous motor executed in the IPMSM speed control device 1 . can be controlled by software for

The IPMSM speed control device 1 may be a separate terminal or a part of a module of the terminal. In addition, the disturbance observer 90 , the first controller 10 , the second controller 30 , and the inverter (not shown) may be configured as an integrated module or may include one or more modules. However, on the contrary, each configuration may be formed of a separate module.

The IPMSM speed control device 1 may be movable or fixed. The IPMSM speed control apparatus 1 may be in the form of a server or an engine, and may be a device, an application, a terminal, a user equipment (UE), or a mobile station (MS). , a wireless device, a handheld device, and the like.

The device 10 may execute or manufacture various software based on an operating system (OS), that is, the system. The operating system is a system program for software to use the hardware of the device, and is a mobile computer operating system such as Android OS, iOS, Windows Mobile OS, Bada OS, Symbian OS, Blackberry OS, and Windows series, Linux series, Unix series, It can include all computer operating systems such as MAC, AIX, and HP-UX.

The disturbance observer 90 may be designed through an inverse function of the motor model of the IPMSM 70 . The gain of the disturbance observer 90 may be set based on the frequency of the disturbance in the design stage. For example, the gain may be set to be greater than the maximum frequency of the disturbance.

A general observer tracks the state variable, but the disturbance observer 90 according to the present invention observes the disturbance of the IPMSM 70 . In addition, when a parameter change or system disturbance occurs in real time while the motor of the IPMSM 70 is driven, the disturbance generated is followed and compensated.

Accordingly, the disturbance observer 90 is a controller that guarantees the stability of the entire system to which the IPMSM 70 is applied and is applied to the speed control loop to improve the speed tracking performance.

The disturbance observer 90 is configured based on the inverse function of a motor model having i (here, i is a natural number) state variables of the IPMSM 70, for example, the motor model is It consists of state variables of current. The dynamic equation of the IPMSM 70 may be defined by Equation 1 below.

[Equation 1]

는 속도,

는 d축 전류,

는 q축 전류를 나타내고, 이 경우

는

,

,

로 정의될 수 있다.here,

is the speed,

is the d-axis current,

represents the q-axis current, in this case

Is

,

,

can be defined as

는 점성마찰 계수,

은 권선 저항,

는 속도 지령,

는 토크 지령,

은 토크 상수,

는 역기전력 상수,

는 d축 인덕턴스,

는 q축 인덕턴스,

는 d축 전압,

는 q축 전압,

는 i번째 상태변수의 외란으로 정의된다.In addition,

is the coefficient of viscous friction,

silver winding resistance,

is the speed command,

is the torque command,

is the torque constant,

is the back electromotive force constant,

is the d-axis inductance,

is the q-axis inductance,

is the d-axis voltage,

is the q-axis voltage,

is defined as the disturbance of the i-th state variable.

From Equation 1 above, the disturbance of the IPMSM 70 can be defined as in Equation 2 below.

[Equation 2]

From the inverse function of Equation 2, the model of the disturbance observer 90 is defined as Equation 3 below.

[Equation 3]

는 i번째 상태변수의 외란 추정치를 나타내고,

는 i번째 상태변수의 외란 추정 오차를 나타낸다.here,

represents the disturbance estimate of the i-th state variable,

represents the disturbance estimation error of the i-th state variable.

In general, disturbances are parameter uncertainties and external conditions. Since there are physical maximum limits such as speed, current, and voltage of the motor and drive system, most disturbances made up of the product of parameter uncertainty and state variables have a maximum value.

을 크게 정한다. 또한, 외란 관측기의 동역학은 각 상태변수의 미분을 포함하고 있기 때문에 측정 잡음이 높은

에 의해 증폭된다.A high gain is required to quickly estimate the limited amount of change in disturbance. In other words, if the disturbance follower is designed with Equation 3 above, in order to secure a fast response characteristic,

set large In addition, since the dynamics of the disturbance observer includes the differentiation of each state variable, the measurement noise is high.

is amplified by

Accordingly, in the present invention, the disturbance observer 90 is configured through the inverse function of the motor model, and the auxiliary state variable is set using the configured disturbance observer 90 and the motor model. make up

Referring to FIG. 2 , the disturbance observer 90 derives an estimate of the disturbance of the ith state variable by calculating the i-th auxiliary state variable through the auxiliary variable dynamics equation while the IPMSM 70 is being driven.

The first controller 10 outputs a current command from the speed command received from the outside and the disturbance estimate received from the disturbance observer 90 .

Specifically, the first controller 10 calculates a speed error by comparing the speed command received from the outside with the speed information of the IPMSM 70 , and calculates the speed error and the disturbance received from the disturbance observer 90 . Outputs a current reference based on the speed estimate.

The second controller 30 outputs a current command received from the first controller 10 and a voltage for controlling the disturbance received from the disturbance observer 90 , the IPMSM 70 .

Specifically, the second controller 30 compares the current information and location information of the IPMSM 70 with the current command output from the first controller 10 to calculate a current error, and the current error and the disturbance A voltage command for controlling the IPMSM 70 is output based on the current estimate of the disturbance received from the observer.

The inverter (not shown) converts the voltage received from the second controller 30 into an input signal applied to the IPMSM 70 .

Hereinafter, a loop control method of the disturbance observer 90 , the first controller 10 , and the second controller 30 will be described together with equations.

Equation 4 below defines the auxiliary state variable used as a virtual variable proposed by the present invention, and Equation 5 defines the dynamics of the auxiliary state variable newly proposed in the present invention.

[Equation 4]

[Equation 5]

는 i번째 보조 상태변수,

는 i번째 보조 상태변수의 외란 관측기에 대한 이득을 나타낸다. here,

is the i-th auxiliary state variable,

is the gain of the i-th auxiliary state variable to the disturbance observer.

의 곱에 의한 증폭이 발생하지 않는다.As such, the dynamic equation of the auxiliary state variable induced by the linear transformation does not exist, so the measurement noise is

No amplification by the product of

Meanwhile, the definition of the tracking error for each state variable is as shown in Equation 6 below.

[Equation 6]

는 i번째 상태 변수의 추종 오차,

는 d축 전류 지령,

는 q축 전류 지령을 나타낸다.here,

is the tracking error of the i-th state variable,

is the d-axis current command,

represents the q-axis current command.

When the differential equation of the tracking error with respect to time is developed, the following Equation 7 is derived.

[Equation 7]

Through this, the torque command of the first controller 10 and the speed command of the second controller 30 are generated as shown in Equation 8 below.

[Equation 8]

는

항의 비선형 댐핑 게인의 댐핑항,

는 i 번째 제어기의 이득을 나타낸다.here,

Is

The damping term of the nonlinear damping gain of the term,

is the gain of the i-th controller.

The first controller 10 acts as a speed controller, generates a torque command and compensates for speed disturbances. The torque command may be converted into a current command. The second controller 30 serves as a current controller and stabilizes the speed error by compensating for the current disturbance and reducing the current error.

The disturbance observer 90 proposed in the present invention can easily set the gain by simply calculating the maximum frequency of the disturbance. By using the acquired gain, the robustness is increased by using a controller that applies a nonlinear damping function to the speed control loop.

부분)이 외란의 효과를 제거함으로 제어성능이 개선된다. In other words, the control input (-

part), the control performance is improved by removing the effect of disturbance.

부분)과 비선형 댐핑 게인(

)으로 구성되었다.

이 커지는 만큼 제어 이득이 커지므로 과도응답 구간에서 빠른 응답 특성을 가지게 한다. 또한, 비선형 댐핑 게인 내에

를 이용하여 외란이 없을 때에도 최소한의 제어 효과를 유지할 수 있도록 설계되었다.The torque command is a formula that eliminates disturbance (-

partial) and nonlinear damping gain (

) is composed of

As the control gain increases, it has a fast response characteristic in the transient response section. Also, within the nonlinear damping gain

It is designed to maintain the minimum control effect even when there is no disturbance.

Through such non-linear control, it is possible to reduce the estimation error and velocity estimation error for disturbance and current.

Through the disturbance observer 90 and the speed controller (first controller 10) proposed in the present invention, first, the controller gain through frequency analysis in the disturbance observer 90 constructed as an inverse model for the motor model By setting it, the tuning factor can be reduced.

Second, the influence of measurement noise is low because the differential of the measured value is not used through the auxiliary state variable of the disturbance observation unit 90 constructed as an inverse model of the motor model according to the present invention.

Third, it is designed to reduce the effect of disturbance on the speed control loop when disturbance is applied using the nonlinear damping gain technique.

Fourth, if the present invention is linked to a system requiring motor speed control, control responsiveness can be improved in a state in which operation stability of the motor is guaranteed.

3 is a flowchart of a speed control method based on a disturbance observer for a permanent magnet synchronous motor according to an embodiment of the present invention. 4 is a detailed flowchart of a method for controlling the speed of the permanent magnet synchronous motor of FIG. 3 .

The speed control method based on the disturbance observer for a permanent magnet synchronous motor according to the present invention uses a virtual auxiliary state variable to reduce noise because it does not use the differential value of each sensing value and uses only the current value, unlike the general disturbance observer. Observer values with less pollution can be obtained.

In addition, by designing a control input through a nonlinear damping gain using the observed disturbance, it is possible to control the speed of the permanent magnet synchronous motor very robustly to the disturbance.

The speed control method based on the disturbance observer for a permanent magnet synchronous motor according to the present embodiment may be performed in substantially the same configuration as the IPMSM speed control device 1 of FIG. 1 .

Accordingly, the same components as those of the IPMSM speed control device 1 of FIG. 1 are given the same reference numerals, and repeated descriptions are omitted. In addition, the speed control method based on the disturbance observer for the permanent magnet synchronous motor according to the present embodiment may be executed by software (application) for performing speed control based on the disturbance observer for the permanent magnet synchronous motor.

3, the speed control method based on the disturbance observer for the permanent magnet synchronous motor according to the present embodiment is the inverse function of the motor model having i (here, i is a natural number) state variables of the permanent magnet synchronous motor. A disturbance observer is constructed as the basis (step S1).

In the present invention, when a parameter change or system disturbance occurs in real time while driving the motor, the disturbance generated is followed and compensated. Therefore, while ensuring the stability of the entire system to which the permanent magnet synchronous motor is applied, it can be applied to the speed control loop to improve the speed tracking performance.

The motor model may have i (here, i is a natural number) number of state variables, and the motor model may include state variables of speed, d-axis current, and q-axis current.

In the configured disturbance observer, a gain of the disturbance observer may be set based on the frequency of the disturbance (step S2). For example, the gain may be set to be greater than the maximum frequency of the disturbance.

During operation of the permanent magnet synchronous motor, the i-th auxiliary state variable is calculated from the disturbance observer through the dynamic equation of the auxiliary variable (step S3), and an estimate of the disturbance of the i-th state variable is derived through this (step S4).

In the present invention, the influence of measurement noise can be reduced by configuring a new arithmetic expression that does not use the differentiation of the measured value by setting the auxiliary state variable.

The speed of the permanent magnet synchronous motor is controlled using the disturbance estimate of the i-th state variable (step S5). In this case, it is possible to derive a torque command to which a term that removes the influence of disturbance and a nonlinear damping function is applied. The torque command may compensate for a speed disturbance, and the torque command may be converted into a current command.

Referring to FIG. 4 , the step of controlling the speed of the permanent magnet synchronous motor includes calculating a speed error by comparing a speed command received from the outside with speed information of the permanent magnet synchronous motor (step S51), and the speed error and a current command based on the estimated disturbance velocity received from the disturbance observer (step S52).

In addition, the step of controlling the speed of the permanent magnet synchronous motor comprises calculating a current error by comparing the current information and position information of the permanent magnet synchronous motor with the current command (step S53), and the current error and the disturbance observer A voltage command for controlling the permanent magnet synchronous motor is output based on the estimated current of the disturbance received from the S54 (step S54).

The controlling the speed of the permanent magnet synchronous motor may further include converting the voltage command into an input signal applied to the permanent magnet synchronous motor.

부분)이 외란의 효과를 제거함으로 제어성능이 개선된다. As shown in Equation 8, a control input designed using the estimated disturbance (-

part), the control performance is improved by removing the effect of disturbance.

부분)과 비선형 댐핑 게인(

)으로 구성되었다.

이 커지는 만큼 제어 이득이 커지므로 과도응답 구간에서 빠른 응답 특성을 가지게 한다. 또한, 비선형 댐핑 게인 내에

를 이용하여 외란이 없을 때에도 최소한의 제어 효과를 유지할 수 있도록 설계되었다.The torque command is a formula that eliminates disturbance (-

partial) and nonlinear damping gain (

) is composed of

As the control gain increases, it has a fast response characteristic in the transient response section. Also, within the nonlinear damping gain

It is designed to maintain the minimum control effect even when there is no disturbance.

According to the speed control method based on the disturbance observer for permanent magnet synchronous motors, the tuning factor can be reduced by setting the controller gain through frequency analysis in the disturbance observation unit built as an inverse model for the motor model, and the auxiliary state The influence of measurement noise is low because the differential of the measurement value is not used through the variable.

In addition, it is possible to reduce the influence of the disturbance on the speed control loop when the disturbance is applied by using the nonlinear damping gain technique. is improved

Such a speed control method based on a disturbance observer for a permanent magnet synchronous motor may be implemented as an application or implemented in the form of program instructions that may be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.

The program instructions recorded on the computer-readable recording medium are specially designed and configured for the present invention, and may be known and available to those skilled in the computer software field.

Examples of the computer-readable recording medium include hard disks, magnetic media such as floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floppy disks. media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform processing according to the present invention, and vice versa.

Although the above has been described with reference to the embodiments, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below You will understand.

Unlike general observers that follow state variables, the present invention tracks and compensates disturbances when parameter changes or system disturbances occur in real time during motor operation based on disturbance observers that observe disturbances. Therefore, it is possible to provide a controller that guarantees stability and improves the speed tracking performance by being applied to the speed control loop, so that it can be usefully applied to a system applying a permanent magnet synchronous motor.

1: IPMSM speed control unit
10: first controller
30: second controller
90: disturbance observer
70: permanent magnet synchronous motor

Claims (13)

constructing a disturbance observer based on an inverse function of a motor model having i (where i is a natural number) state variables of a permanent magnet synchronous motor;
setting a gain of the disturbance observer based on the frequency of the disturbance;
calculating an i-th auxiliary state variable from the disturbance observer through an auxiliary variable dynamics equation during driving of the permanent magnet synchronous motor;
deriving a disturbance estimate of the i-th state variable using the i-th auxiliary state variable; and
Controlling the speed of the permanent magnet synchronous motor using the disturbance estimate of the i-th state variable,
The step of controlling the speed of the permanent magnet synchronous motor comprises:
calculating a speed error by comparing a speed command received from the outside with speed information of the permanent magnet synchronous motor; and
Outputting a current command based on the velocity error and the velocity estimate of the disturbance received from the disturbance observer,
The current command is a speed control method based on a disturbance observer for a permanent magnet synchronous motor, including a term for removing the influence of disturbance and a nonlinear damping function
delete delete The method of claim 1, wherein controlling the speed of the permanent magnet synchronous motor comprises:
calculating a current error by comparing the current information and position information of the permanent magnet synchronous motor with the current command; and
The speed control method based on the disturbance observer for permanent magnet synchronous motor, further comprising outputting a voltage command for controlling the permanent magnet synchronous motor based on the current error and the current estimate of the disturbance received from the disturbance observer. .
5. The method of claim 4, wherein the controlling of the speed of the permanent magnet synchronous motor comprises:
Further comprising the step of converting the voltage command into an input signal applied to the permanent magnet synchronous motor, a speed control method based on a disturbance observer for a permanent magnet synchronous motor.
According to claim 1,
The motor model is a speed control method based on a disturbance observer for a permanent magnet synchronous motor, which consists of state variables of speed, d-axis current and q-axis current.
The method according to any one of claims 1 and 4 to 6,
A computer-readable storage medium having recorded thereon a computer program for performing a speed control method based on the disturbance observer for the permanent magnet synchronous motor.
The gain is set based on the frequency of disturbance and the inverse function of the motor model having i (here, i is a natural number) state variables of the permanent magnet synchronous motor. a disturbance observer for calculating an auxiliary state variable to derive a disturbance estimate of the i-th state variable;
a first controller for outputting a current command from the speed command received from the outside and the disturbance estimate received from the disturbance observer; and
a second controller for outputting a voltage for controlling the permanent magnet synchronous motor from the current command received from the first controller and the disturbance estimate received from the disturbance observer; and
The first controller,
Comparing the speed command received from the outside and the speed information of the permanent magnet synchronous motor to calculate the speed error,
Outputs a current command based on the velocity error and the velocity estimate of the disturbance received from the disturbance observer,
A speed control device based on a disturbance observer for a permanent magnet synchronous motor, wherein the current command includes a term for removing the influence of the disturbance and a nonlinear damping function.
delete delete The method of claim 8, wherein the second controller,
Comparing the current information and position information of the permanent magnet synchronous motor with the current command output from the first controller to calculate a current error,
A speed control device based on a disturbance observer for a permanent magnet synchronous motor that outputs a voltage command for controlling the permanent magnet synchronous motor based on the current error and the current estimate of the disturbance received from the disturbance observer.
9. The method of claim 8,
A speed control device based on a disturbance observer for a permanent magnet synchronous motor, further comprising an inverter converting the voltage received from the second controller into an input signal applied to the permanent magnet synchronous motor.
9. The method of claim 8,
The motor model is a speed control device based on a disturbance observer for a permanent magnet synchronous motor, which consists of state variables of speed, d-axis current and q-axis current.

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