阅读说明：本技术 一种永磁同步电机的控制方法及装置 (Control method and device for permanent magnet synchronous motor ) 是由 刘开欣 宋墩文 于明 杨学涛 李铮 郁舒雁 许鹏飞 陈勇 刘英志 郅治 位士全 于 2020-04-15 设计创作，主要内容包括：本申请提供一种基于自抗扰控制与负载转矩前馈补偿的永磁同步电机的控制方法及装置,通过自抗扰控制的三大模块：非线性TD、线性ESO和比例误差反馈控制和在传统电流环的基础上加入负载转矩前馈补偿,建立永磁同步电机的控制系统对永磁同步电机进行控制,解决了现有技术对负载转矩观测精度的要求高,算法复杂,运算量较大,不利于控制的实时性的问题。(The application provides a control method and a device of a permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation, which are characterized in that the method comprises the following three modules of active disturbance rejection control: nonlinear TD, linear ESO and proportional error feedback control, and load torque feedforward compensation are added on the basis of the traditional current loop, a control system of the permanent magnet synchronous motor is established to control the permanent magnet synchronous motor, and the problems that the requirement on load torque observation precision is high, the algorithm is complex, the calculation amount is large, and the real-time performance of control is not facilitated in the prior art are solved.)

1. A control method of a permanent magnet synchronous motor, comprising:

establishing a standard form of a mathematical model of a first-order active disturbance rejection controller;

establishing a mathematical model of a surface-mounted permanent magnet synchronous motor containing unsaturated magnetic circuits;

acquiring a first-order simplified auto-disturbance rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer;

on the basis of a traditional current loop, load torque feedforward compensation is added, and control of a control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control is established for the permanent magnet synchronous motor.

2. The method of claim 1, wherein establishing a standard form of a first-order auto-disturbance-rejection controller mathematical model comprises establishing a first-order tracking differentiator TD, a second-order extended state observer, and a state error feedback control law N L SEF, wherein,

the first-order tracking differentiator TD is,

the second-order extended state observer is,

the state error feedback control law N L SEF is,

in the formula, z₁₁For a given reference signal, v is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system integral disturbance observations, x is the output signal, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is the control quantity estimation gain, fal (-) is a non-linear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

3. The method of claim 1, wherein a mathematical model of a surface-mounted permanent magnet synchronous machine containing magnetic circuit unsaturation is established, the data model is as follows,

wherein R, L_SRespectively representing the stator resistance of the motor and the inductance component under a d-q coordinate system; i.e. i_qAre the stator current q-axis components, respectively;is a permanent magnet flux linkage; w is a_m、T_LThe angular speed and the load torque of the motor are respectively; J. b is the rotational inertia and the damping coefficient of the motor respectively; p is a radical of_nIs the pole pair number of the motor.

4. The method of claim 1, wherein obtaining a first order simplified auto-disturbance rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer comprises:

establishing a proportional error feedback control law as a first-order simplified auto-disturbance rejection speed controller mathematical model according to a first-order nonlinear differential tracker TD and a linearized second-order extended state observer ESO; the first-order non-linear differential tracker TD is,

the linearized second-order extended state observer ESO is,

the proportional error feedback control law is that,

in the formula, z₁₁For a given reference signal, w is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system comprehensive disturbance observations, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is the control quantity estimation gain, fal (-) is a non-linear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

5. The method of claim 1, wherein load torque feedforward compensation is added on the basis of a traditional current loop, and the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control is established to control the permanent magnet synchronous motor, and the method comprises the following steps:

acquiring load torque feedforward compensation of the permanent magnet synchronous motor by using a load torque observer;

and establishing a control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control for controlling the permanent magnet synchronous motor.

6. A control device of a permanent magnet synchronous motor, characterized by comprising:

the active disturbance rejection controller mathematical model establishing unit is used for establishing a standard form of a first-order active disturbance rejection controller mathematical model;

the mathematical model establishing unit of the surface-mounted permanent magnet synchronous motor is used for establishing a mathematical model of the surface-mounted permanent magnet synchronous motor containing unsaturated magnetic circuits;

the simplified auto-disturbance-rejection speed controller mathematical model establishing unit is used for acquiring a first-order simplified auto-disturbance-rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer;

and the control unit of the permanent magnet synchronous motor is used for adding load torque feedforward compensation on the basis of the traditional current loop and establishing the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control to control the permanent magnet synchronous motor.

Technical Field

The application relates to the field of control algorithms of permanent magnet synchronous motors, in particular to a control method of a permanent magnet synchronous motor based on ADRC and load torque feedforward compensation, and also relates to a control device of a permanent magnet synchronous motor based on ADRC and load torque feedforward compensation.

Background

The Permanent Magnet Synchronous Motor (PMSM) has many advantages, and is widely applied to a servo motion control system, and the speed regulation mode mainly comprises constant voltage frequency ratio (V/F) speed regulation, Direct Torque (DTC) speed regulation and magnetic field orientation vector control (FOC), wherein the FOC is the mainstream of a high-performance and high-precision motion control system.

A traditional permanent magnet synchronous motor vector speed regulation system adopts an inner ring current loop and double closed-loop control of an outer ring speed loop, and a speed regulator and a current regulator both adopt PI control, but the traditional PI control can cause the contradiction that the speed rapidity and the overshoot can not be coordinated, and meanwhile, an integral link can cause the vector control system to react slowly, so that the system is unstable in oscillation.

In view of a series of problems existing in the traditional PI (proportional integral control), Active Disturbance Rejection Control (ADRC) is used as an improved nonlinear control algorithm, an Extended State Observer (ESO) is used for observing and compensating the internal and external comprehensive disturbance variables of the system, the robustness and the anti-jamming capability of the system are well improved, and a series of problems existing in the traditional PI controller are effectively solved. However, the existing research methods have the problem that the capability of coping with large disturbance is slightly insufficient. Aiming at the problem that the ESO observation precision of the traditional active disturbance rejection controller is influenced by the interference amount, the observation load of the ESO is increased due to the overlarge interference amount, the observation precision is reduced, and the anti-interference capability of the ADRC is weakened, the identification compensation active disturbance rejection controller is provided for identifying the rotational inertia and the load torque of the motor and compensating the rotational inertia and the load torque to the ESO, and the interference observation amount of the ESO is reduced.

Disclosure of Invention

The application provides a control method and a control device of a permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation, and solves the problems that the prior art is high in requirement on load torque observation precision, complex in algorithm, large in calculation amount and not beneficial to control instantaneity.

The application provides a control method of a permanent magnet synchronous motor, which comprises the following steps:

establishing a standard form of a mathematical model of a first-order active disturbance rejection controller;

establishing a mathematical model of a surface-mounted permanent magnet synchronous motor containing unsaturated magnetic circuits;

acquiring a first-order simplified auto-disturbance rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer;

on the basis of a traditional current loop, load torque feedforward compensation is added, and control of a control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control is established for the permanent magnet synchronous motor.

Preferably, the standard form of the mathematical model of the first-order active disturbance rejection controller comprises establishing a first-order tracking differentiator TD, a second-order extended state observer, and a state error feedback control law N L SEF, wherein the first-order tracking differentiator TD is,

the second-order extended state observer is,

the state error feedback control law N L SEF is,

in the formula, z₁₁For a given reference signal, v is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system integral disturbance observations, x is the output signal, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is to controlThe metric estimation gain, fal (·) is a nonlinear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

Preferably, a mathematical model of the surface-mounted permanent magnet synchronous motor containing magnetic circuit unsaturation is established, the data model is as follows,

wherein R, L_SRespectively representing the stator resistance of the motor and the inductance component under a d-q coordinate system; i.e. i_qAre the stator current q-axis components, respectively;is a permanent magnet flux linkage; w is a_m、T_LThe angular speed and the load torque of the motor are respectively; J. b is the rotational inertia and the damping coefficient of the motor respectively; p is a radical of_nIs the pole pair number of the motor.

Preferably, the first-order simplified auto-disturbance-rejection speed controller mathematical model is obtained based on a nonlinear differential tracker and a linearized extended state observer, and comprises the following steps:

establishing a proportional error feedback control law as a first-order simplified auto-disturbance rejection speed controller mathematical model according to a first-order nonlinear differential tracker TD and a linearized second-order extended state observer ESO; the first-order non-linear differential tracker TD is,

the linearized second-order extended state observer ESO is,

the proportional error feedback control law is that,

in the formula, z₁₁For a given reference signal, w is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system comprehensive disturbance observations, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is the control quantity estimation gain, fal (-) is a non-linear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

Preferably, on the basis of a traditional current loop, load torque feedforward compensation is added, and the control of the permanent magnet synchronous motor by the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control is established, and the control method comprises the following steps:

acquiring load torque feedforward compensation of the permanent magnet synchronous motor by using a load torque observer;

and establishing a control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control for controlling the permanent magnet synchronous motor.

This application provides a PMSM's controlling means simultaneously, includes:

the active disturbance rejection controller mathematical model establishing unit is used for establishing a standard form of a first-order active disturbance rejection controller mathematical model;

the mathematical model establishing unit of the surface-mounted permanent magnet synchronous motor is used for establishing a mathematical model of the surface-mounted permanent magnet synchronous motor containing unsaturated magnetic circuits;

the simplified auto-disturbance-rejection speed controller mathematical model establishing unit is used for acquiring a first-order simplified auto-disturbance-rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer;

and the control unit of the permanent magnet synchronous motor is used for adding load torque feedforward compensation on the basis of the traditional current loop and establishing the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control to control the permanent magnet synchronous motor.

The application provides a control method and a device of a permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation, which are characterized in that the method comprises the following three modules of active disturbance rejection control: nonlinear TD, linear ESO and proportional error feedback control, and load torque feedforward compensation are added on the basis of the traditional current loop, a control system of the permanent magnet synchronous motor is established to control the permanent magnet synchronous motor, and the problems that the requirement on load torque observation precision is high, the algorithm is complex, the calculation amount is large, and the real-time performance of control is not facilitated in the prior art are solved.

Drawings

FIG. 1 is a schematic diagram of an ADRC and load torque compensation compound control PMSM system provided by the present application;

fig. 2 is a schematic flow chart of a control method of a permanent magnet synchronous motor provided by the present application;

fig. 3 is a schematic diagram of a control device of a permanent magnet synchronous motor provided by the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

Fig. 1 is a schematic diagram of an ADRC and load torque compensation combined control PMSM system provided by the present application, and a control method of a permanent magnet synchronous motor provided by the present application is described in detail below with reference to fig. 1 and fig. 2.

And step S101, establishing a standard form of a first-order active disturbance rejection controller mathematical model.

The standard form of the mathematical model of the first-order active disturbance rejection controller comprises the establishment of a first-order tracking differentiator TD, a second-order extended state observer and a state error feedback control law N L SEF.

The first-order tracking differentiator TD is,

the second-order extended state observer is,

the state error feedback control law N L SEF is,

in the formula, z₁₁For a given reference signal, v is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system integral disturbance observations, x is the output signal, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is the control quantity estimation gain, fal (-) is a non-linear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

Step S102, a mathematical model of the surface-mounted permanent magnet synchronous motor with an unsaturated magnetic circuit is established.

The data model is as follows for the data model,

wherein R, L_SRespectively representing the stator resistance of the motor and the inductance component under a d-q coordinate system; i.e. i_qAre the stator current q-axis components, respectively;is a permanent magnet flux linkage; w is a_m、T_LThe angular speed and the load torque of the motor are respectively; J. b is the rotational inertia and the damping coefficient of the motor respectively; p is a radical of_nIs the pole pair number of the motor.

And step S103, acquiring a first-order simplified auto-disturbance rejection speed controller mathematical model based on the nonlinear differential tracker and the linearized extended state observer.

Establishing a proportional error feedback control law as a first-order simplified auto-disturbance rejection speed controller mathematical model according to a first-order nonlinear differential tracker TD and a linearized second-order extended state observer ESO; the first-order non-linear differential tracker TD is,

the linearized second-order extended state observer ESO is,

the proportional error feedback control law is that,

in the formula, z₁₁For a given reference signal, w is the input signal, z₂₁Is a tracking value of a system state quantity, z₂₂For the system comprehensive disturbance observations, [ β ]₀₁,β₀₂]For each order gain coefficient of the state observer, r is a TD tracking fast and slow factor, b₀Is the control quantity estimation gain, fal (-) is a non-linear function of the form:

in the above formula, α is a nonlinear factor and the width of the linear interval.

And step S104, adding load torque feedforward compensation on the basis of the traditional current loop, and establishing the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control to control the permanent magnet synchronous motor.

And acquiring load torque feedforward compensation of the permanent magnet synchronous motor by using a load torque observer, and establishing control of the permanent magnet synchronous motor by a control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control.

Since the load torque is a physical quantity which is difficult to measure by using a sensor, the key of the feed-forward compensation of the load torque is to detect the load torque borne by the PMSM in real time, and a reduced-order Robert state observer is adopted to detect the load in real time.

The magnitude of the load torque is treated as constant within a single control cycle,

wherein, T_LThe motor is loaded with torque.

State space model of the system:

wherein the state quantity is X ═ w T_L]^T，C＝[1 0](ii) a The control quantity isi_qAre the stator current q-axis components, respectively;is a permanent magnet flux linkage; omega, T_LThe mechanical angular speed and the load torque of the motor are respectively; j and B are respectively the rotational inertia and the damping coefficient of the motor; p is a radical of_nIs the pole pair number of the motor.

The reduced-order Lonberg load torque observer, which can be obtained from the state space model of the system, is of the form:

wherein K ═ K₁k₂]^TIs a state feedback gain array.

Assuming that the expected pole of the state observer is α, the state error characteristic equation is SI- (A-KC) | ═ S- α²

Wherein S is a control pole of the state observer, I is an identity matrix, and K is a state feedback gain array.

Can obtain the product

When α is in the negative plane, the observation error converges asymptotically to 0, and it is expected that the larger the absolute value of the pole | α |, the faster the state observer converges, but too much | α | can cause jitter.

According to the PMSM system schematic diagram based on ADRC and load torque feedforward compensation shown in FIG. 1, three major modules of a reduced-order load torque state observer and a first-order simplified ADRC are respectively designed by using an S function: nonlinear TD, linear ESO and proportional error feedback control. An ADRC and torque feedforward compensation control algorithm simulation verification model is set up by referring to the attached drawings, and the parameters of the permanent magnet synchronous motor are selected as follows: r_SOmega 0.0918, L_SThe ratio/H is 0.000975; phi is a_f/W_bIs 0.1688; j/kg. m²0.003945; B/N_S·m-¹0.0004924; p is 4.

Simulation analysis is carried out through the model, the fact that the current loop adding load torque feedforward compensation has high practical value is verified, and the practicability and effectiveness of the algorithm are explained.

The present application also provides a control device 300 of a permanent magnet synchronous motor, as shown in fig. 3, including:

an auto-disturbance rejection controller mathematical model establishing unit 310, configured to establish a standard form of a first-order auto-disturbance rejection controller mathematical model;

the mathematical model establishing unit 320 of the surface-mounted permanent magnet synchronous motor is used for establishing a mathematical model of the surface-mounted permanent magnet synchronous motor containing unsaturated magnetic circuits;

the simplified auto-disturbance-rejection speed controller mathematical model establishing unit 330 is configured to obtain a first-order simplified auto-disturbance-rejection speed controller mathematical model based on a nonlinear differential tracker and a linearized extended state observer;

and the control unit 340 of the permanent magnet synchronous motor is used for adding load torque feedforward compensation on the basis of the traditional current loop and establishing the control system of the permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation control to control the permanent magnet synchronous motor.

The application provides a control method and a device of a permanent magnet synchronous motor based on active disturbance rejection control and load torque feedforward compensation, which are characterized in that the method comprises the following three modules of active disturbance rejection control: nonlinear TD, linear ESO and proportional error feedback control, and load torque feedforward compensation are added on the basis of the traditional current loop, a control system of the permanent magnet synchronous motor is established to control the permanent magnet synchronous motor, and the problems that the requirement on load torque observation precision is high, the algorithm is complex, the calculation amount is large, and the real-time performance of control is not facilitated in the prior art are solved. Meanwhile, the load resistance and the anti-interference capability of the PMSM speed regulation system can be comprehensively improved, the optimization of dynamic and steady-state characteristics is realized, the contradiction between the rapidity and the overshoot of the traditional PI controller is solved, and the requirement of the system on the load torque observation precision is reduced.

Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention.