Permanent magnet synchronous motor speed controller based on novel extended state observer
阅读说明：本技术 基于新型扩张状态观测器的永磁同步电机速度控制器 (Permanent magnet synchronous motor speed controller based on novel extended state observer ) 是由 刘丙友 李兴 王力超 张峥峥 罗建 于 2019-10-10 设计创作，主要内容包括：本发明公开了基于新型扩张状态观测器的永磁同步电机速度控制器,包括线性跟踪微分控制器LTD、新型扩张状态观测器ESO、线性状态误差反馈控制律LSEF,所述线性跟踪微分控制器LTD接输入转速给定信号ω<Sub>ref</Sub>后安排过渡,获得光滑过渡信号<Image he="84" wi="116" file="DDA0002228192410000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>所述线性跟踪微分控制器LTD的输出信号<Image he="84" wi="93" file="DDA0002228192410000013.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>与所述新型扩张状态观测器ESO中的一个反馈信号<Image he="79" wi="75" file="DDA0002228192410000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>进行比较,得出系统误差e；将所述系统误差e作为所述线性状态误差反馈控制律LSEF的输入信号；将系统的总扰动扩张成一个状态,所述新型扩张状态观测器ESO观测总扰动并实时补偿,最终获得永磁同步电机的转速输出ω<Sub>r</Sub>。本发明解决了传统扩张状态观测器在观测初始阶段,在保证观测精度的同时可以有效抑制初始时刻的峰值现象,使转速响应无超调。(The invention discloses a permanent magnet synchronous motor speed controller based on a novel extended state observer, which comprises a linear tracking differential controller (LTD), a novel Extended State Observer (ESO) and a linear state error feedback control Law (LSEF), wherein the LTD is connected with an input rotating speed given signal omega ref Post-arranging the transition to obtain a smooth transition signal The output signal of the linear tracking derivative controller LTD And a feedback signal in the novel extended state observer, ESO Comparing to obtain a system error e; taking the system error e as an input signal of the linear state error feedback control law LSEF; expanding the total disturbance of the system into a state, observing the total disturbance by the ESO and compensating in real time to finally obtain the rotating speed output omega of the permanent magnet synchronous motor r . The invention solves the problem that the traditional extended state observer can effectively inhibit the peak phenomenon at the initial moment while ensuring the observation precision in the initial observation stage, so that the rotating speed response is not overshot.)
1. The permanent magnet synchronous motor speed controller based on the novel extended state observer is characterized by comprising a linear tracking differential controller LTD, a novel extended state observer ESO and a linear state error feedback control law LSEF, wherein the linear tracking differential controller LTD is connected with an input rotating speed given signal omegarefPost-arranging the transition to obtain a smooth transition signal
2. The novel extended state observer-based permanent magnet synchronous motor speed controller according to claim 1, wherein the electromagnetic torque and the equation of motion of the permanent magnet synchronous motor are as follows:
wherein: t iseIs the electromagnetic torque of the motor, p is the pole pair number of the motor, psifFor rotor flux linkage iqTo be fixedSub-q-axis current, TLIs the load torque of the motor, B is the friction factor of the motor, omegarIs the rotor angular velocity, and J is the moment of inertia;
the combined vertical type (1) and the formula (2) are as follows:
rewriting formula (3) as:
wherein:is the total disturbance of the speed ring, b0Is an adjustable parameter.
3. The new extended state observer based permanent magnet synchronous machine speed controller according to claim 1, characterized in that the linear tracking derivative controller LTD is used to schedule desired speed transitions and suppress overshoot, the linear tracking derivative controller LTD being used to mitigate given contradictions with continuously varying speed feedback to follow discontinuously varying speed steps.
4. The new extended state observer based permanent magnet synchronous machine speed controller according to claim 3, characterized in that the control function of the linear tracking derivative controller LT D is:
wherein: tau is an inertia time constant, and the larger tau is, the stronger the capability of inhibiting overshoot is, and the weaker tau is.
5. The PMSM speed controller based on the novel Extended State Observer (ESO) according to claim 1, wherein the ESO is responsible for real-time observation of total disturbance inside and outside the PMSM rotation speed ring, and the influence of uncertainty on the system can be eliminated by accurately compensating the total disturbance by using the LSEF, so that the complete decoupling of the PMSM rotation speed ring is realized.
6. The new extended state observer based permanent magnet synchronous machine speed controller according to claim 5, characterized in that the new extended state observer ESO has a calculation model of:
wherein:
by developing the formula (5), the following can be obtained:
and (4) obtaining the observed value of the total disturbance quantity of the rotating speed ring according to the formula (6).
7. The new extended state observer based pmsm controller according to claim 1, wherein the linear state error feedback control law LSEF is used to linearly combine the error between the state variables and estimates generated by the linear tracking derivative controller LTD and the new extended state observer ESO, with the following specific functions:
disturbance compensation does not distinguish between internal disturbance and external disturbance of the system, all disturbances and coupling influences between speed and tension are considered as total disturbance of the system and compensated, and the algorithm is as follows:
wherein: u. of0The control signal is the control signal when the dynamic compensation is not carried out; u is a control signal;
Technical Field
The invention relates to a permanent magnet synchronous motor speed controller based on a novel extended state observer, and belongs to the technical field of controller design.
Background
The permanent magnet synchronous motor has the characteristics of simple structure, high efficiency, high power density and the like, and is widely applied to various fields of electric automobiles, industrial servo, aerospace, robots and the like. In a permanent magnet synchronous motor control system, the classical PID control is a linear control strategy which is most widely applied. However, since the permanent magnet synchronous motor is a nonlinear, multi-coupled and time-varying controlled object, its operation is susceptible to parameter variations, external load disturbances and many other uncertainties. When the parameter variation range of the system object is large or the non-linear effect is significant, the application is limited, and the mode of linear combination often causes the contradiction between the system rapidity and the overshoot. Therefore, the classical PID control strategy has certain disadvantages and shortcomings. In recent years, the application and development of the active disturbance rejection control technology proposed by the professor of qing dynasty in tokyo in korea in the motor control system can effectively overcome the defects of the traditional PID control strategy, has great superiority in improving the performance of the motor control system, and is widely concerned by extensive researchers in the field of motor control.
Although the active disturbance rejection control technology has better control performance compared with the traditional control system, in the actual operation of the motor, the motor parameters can be changed to different degrees along with the change of the operation environment and the operation point, so that certain errors are generated in the input quantity of the controlled system, great difficulty is brought to the control of the system, and the performance of the system is reduced.
Disclosure of Invention
The invention designs a novel optimization structure of the extended state observer on the basis of controlling a permanent magnet synchronous motor servo system by an active disturbance rejection technology, and the method can effectively improve the control performance of the system through MATLAB/Simulink simulation verification.
The invention aims to overcome the defects in the prior art, solve the technical problems and provide a permanent magnet synchronous motor speed controller based on a novel extended state observer, which solves the problems that the error between the actual value and the estimated value of the system state quantity is large and the disturbance estimated output has a large peak value due to the influence of high gain in the initial observation stage of the traditional extended state observer by changing the gain, thereby effectively inhibiting the peak value phenomenon at the initial moment while ensuring the observation precision and ensuring that the rotating speed response has no overshoot.
The invention adopts the following technical scheme: the permanent magnet synchronous motor speed controller based on the novel extended state observer is characterized by comprising a linear tracking differential controller LTD, a novel extended state observer ESO and a linear state error feedback control law LSEF, wherein the linear tracking differential controller LTD is connected with an input rotating speed given signal omegarefPost-arranging the transition to obtain a smooth transition signal
As a preferred embodiment, the electromagnetic torque and the equation of motion of the permanent magnet synchronous motor are as follows:
wherein: t iseIs the electromagnetic torque of the motor, p is the pole pair number of the motor, psifFor rotor flux linkage iqFor stator q-axis current, TLIs the load torque of the motor, B is the friction factor of the motor, omegarIs the rotor angular velocity, and J is the moment of inertia;
the combined vertical type (1) and the formula (2) are as follows:
rewriting formula (3) as:
wherein:
As a preferred embodiment, the linear tracking derivative controller LTD is used to schedule desired speed transitions and to suppress overshoot, and the linear tracking derivative controller LTD is used to mitigate conflicts given with continuously varying speed feedback to follow a discontinuously varying speed step.
As a preferred embodiment, the control function of the linear tracking derivative controller LT D is:
wherein: tau is an inertia time constant, and the larger tau is, the stronger the capability of inhibiting overshoot is, and the weaker tau is.
As a preferred embodiment, the new extended state observer ESO is responsible for real-time observation of total disturbance inside and outside the rotation speed loop of the permanent magnet synchronous motor, and the linear state error feedback control law LSEF is used to accurately compensate the total disturbance, so that the influence of uncertainty on the system can be eliminated, and complete decoupling of the rotation speed loop of the permanent magnet synchronous motor is realized.
As a preferred embodiment, the new extended state observer ESO is calculated by the following model:
wherein:
by developing the formula (5), the following can be obtained:
and (4) obtaining the observed value of the total disturbance quantity of the rotating speed ring according to the formula (6).
As a preferred embodiment, the linear state error feedback control law LSEF is used to linearly combine the error between the state variables and estimates generated by the linear tracking derivative controller LTD and the new extended state observer ESO, as a function:
disturbance compensation does not distinguish between internal disturbance and external disturbance of the system, all disturbances and coupling influences between speed and tension are considered as total disturbance of the system and compensated, and the algorithm is as follows:
wherein: u. of0The control signal is the control signal when the dynamic compensation is not carried out; u is a control signal;
The invention achieves the following beneficial effects: firstly, the invention provides and designs a permanent magnet synchronous motor speed controller based on a novel extended state observer, and solves the problems that the error between the actual value and the estimated value of the system state quantity is large and the disturbance estimation output has a large peak value due to the influence of high gain when the traditional extended state observer is in the initial observation stage by changing the gain, so that the peak value phenomenon at the initial moment can be effectively inhibited while the observation precision is ensured, and the rotating speed response is free from overshoot; secondly, the invention adopts a linear tracking differentiator to process reference input, adopts a novel extended state observer to estimate system state disturbance, model uncertainty and external disturbance, adopts a linear state error feedback combination to process an output signal, and can realize good control on the permanent magnet synchronous motor; thirdly, simulation and test results in an MATLAB-Simulink environment show that the novel extended state observer can effectively inhibit the peak phenomenon at the initial moment while ensuring the observation precision, so that the rotating speed response of the permanent magnet synchronous motor is free from overshoot, and the novel extended state observer has high engineering practical value.
Drawings
FIG. 1 is a block diagram of the structure of a permanent magnet synchronous motor speed controller based on a novel extended state observer of the invention;
FIG. 2 is a block diagram of the structure of the novel extended state observer, ESO, of the present invention;
FIG. 3 is a velocity step response waveform of a conventional extended state observer and a novel extended state observer, ESO;
FIG. 4 is a graph of the velocity square wave response of a conventional extended state observer and a novel extended state observer, ESO;
FIG. 5 is a waveform diagram of the velocity response of a conventional extended state observer and a novel extended state observer, ESO plus disturbance.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in FIG. 1 and FIG. 2, the present invention provides a PMSM speed controller based on a novel extended state observer, which is characterized by comprising a linear tracking differential controller LTD, a novel extended state observer ESO, and a linear state error feedback control law LSEF, wherein the linear tracking differential controller LTD is connected with an input rotation speed given signal omegarefPost-arranging the transition to obtain a smooth transition signal
As a preferred embodiment, the electromagnetic torque and the equation of motion of the permanent magnet synchronous motor are as follows:
wherein: t iseIs the electromagnetic torque of the motor, p is the pole pair number of the motor, psifFor rotor flux linkage iqFor stator q-axis current, TLIs the load torque of the motor, B is the friction factor of the motor, omegarIs the rotor angular velocity, and J is the moment of inertia;
the combined vertical type (1) and the formula (2) are as follows:
rewriting formula (3) as:
wherein:
As a preferred embodiment, the linear tracking derivative controller LTD is used to schedule desired speed transitions and to suppress overshoot, and the linear tracking derivative controller LTD is used to mitigate conflicts given with continuously varying speed feedback to follow a discontinuously varying speed step.
As a preferred embodiment, the control function of the linear tracking derivative controller LT D is:
wherein: tau is an inertia time constant, and the larger tau is, the stronger the capability of inhibiting overshoot is, and the weaker tau is.
As a preferred embodiment, the new extended state observer ESO is responsible for real-time observation of total disturbance inside and outside the rotation speed loop of the permanent magnet synchronous motor, and the linear state error feedback control law LSEF is used to accurately compensate the total disturbance, so that the influence of uncertainty on the system can be eliminated, and complete decoupling of the rotation speed loop of the permanent magnet synchronous motor is realized.
As a preferred embodiment, the new extended state observer ESO is calculated by the following model:
wherein:
by developing the formula (5), the following can be obtained:
and (4) obtaining the observed value of the total disturbance quantity of the rotating speed ring according to the formula (6).
As a preferred embodiment, the linear state error feedback control law LSEF is used to linearly combine the error between the state variables and estimates generated by the linear tracking derivative controller LTD and the new extended state observer ESO, as a function:
disturbance compensation does not distinguish between internal disturbance and external disturbance of the system, all disturbances and coupling influences between speed and tension are considered as total disturbance of the system and compensated, and the algorithm is as follows:
wherein: u. of0The control signal is the control signal when the dynamic compensation is not carried out; u is a control signal;
In the implementation, MATLAB-Simulink modeling and simulation research is carried out on the following permanent magnet synchronous motor, and the motor parameters are shown in Table 1. The designed novel extended state observer is applied to an alternating current servo system rotating speed ring which takes the motor as an execution mechanism, a simulation model of a permanent magnet synchronous motor alternating current servo system is built under an MATLAB-Simulink environment, series simulation is carried out on the system, the dynamic and static performances of the novel extended state observer are verified, the parameters of an active disturbance rejection controller are shown in a table 2, and the simulation result is shown in fig. 3, 4 and 5.
Table 1 experimental permanent magnet synchronous motor parameters
TABLE 2 parameters of the active disturbance rejection controller
Note: wherein ω iscvFor closed loop bandwidth of speed, omegan(t)＝ωovω(t)，ωovWhich represents the bandwidth of the observer,
The foregoing has described the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but rather, that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is indicated by the appended claims and their equivalents.
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