Permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control
阅读说明：本技术 一种基于二阶自抗扰控制的永磁同步电机控制方法及系统 (Permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control ) 是由 王婧 边友 吴元元 于 2020-05-21 设计创作，主要内容包括：本发明涉及一种基于二阶自抗扰控制的永磁同步电机控制方法及系统,属于永磁同步电机控制技术领域,解决了传统自抗扰控制器存在的鲁棒性差且抗扰能力弱的问题。基于建立的永磁同步电机d-q轴数学模型得到状态方程；建立二阶自抗扰控制器；基于模型参考自适应观测器得到估计的永磁同步电机的转速ω-(r)；将永磁同步电机的转速ω-(r)和速度给定值ω-(r)～(*)同时输入二阶自抗扰控制器,得到q轴电压预测值u-(q)；以及,将永磁同步电机d轴电流值与d轴电流的参考值作差得到的结果输入PI控制器得到d轴电压预测值u-(d)；得到PWM控制信号并输入与永磁同步电机连接的逆变器,以实现对永磁同步电机的驱动控制。提高了控制器的鲁棒性及抗扰能力。(The invention relates to a permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control, belongs to the technical field of permanent magnet synchronous motor control, and solves the problems of poor robustness and weak disturbance rejection capability of a traditional active disturbance rejection controller. Obtaining a state equation based on the established d-q axis mathematical model of the permanent magnet synchronous motor; establishing a second-order active disturbance rejection controller; permanent magnet synchronous motor rotating speed omega estimated based on model reference adaptive observer r (ii) a The rotation speed omega of the permanent magnet synchronous motor r Sum velocity set point ω r * Simultaneously inputting the voltage to a second-order active disturbance rejection controller to obtain a predicted value u of the q-axis voltage q (ii) a And inputting a result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current into a PI (proportional integral) controller to obtain a d-axis voltage predicted value u d (ii) a And obtaining a PWM control signal and inputting the PWM control signal into an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor. The robustness and the anti-interference capability of the controller are improved.)
1. A permanent magnet synchronous motor control method based on second-order active disturbance rejection control is characterized by comprising the following steps:
obtaining a state equation based on the established d-q axis mathematical model of the permanent magnet synchronous motor;
establishing a second-order active disturbance rejection controller according to the state equation;
permanent magnet synchronous motor rotating speed omega estimated based on model reference adaptive observerr；
The rotating speed omega of the permanent magnet synchronous motorrSum velocity set point ωr *And simultaneously inputting the two-order active disturbance rejection controller, wherein the two-order active disturbance rejection controller is used for observing the disturbance of the permanent magnet synchronous motor and carrying out disturbance compensation control to obtain a predicted value u of the q-axis voltageq；
Predicting a value u based on the q-axis voltageqAnd d-axis voltage prediction udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
2. The permanent magnet synchronous motor control method according to claim 1, wherein the second-order auto-disturbance rejection controller includes a tracking differentiator model, a nonlinear extended state observer model, and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used for observing disturbance of the permanent magnet synchronous motor and performing disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorqThe method specifically comprises the following steps:
obtaining a tracking signal v of velocity using a tracking differentiator model1Tracking signal v differentiated by velocity2；
Obtaining an observed estimate z of velocity using a nonlinear extended state observer model1And the observed estimate z of the velocity differential2；
Tracking signal v of said velocity1Observed estimate z of velocity1Differencing to obtain an error signal e1Said velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2；
Based on the obtained error signal e1And an error differential signal e2Obtaining a predicted value u of the q-axis voltage by using a nonlinear state error feedback modelq。
3. The permanent magnet synchronous motor control method according to claim 2, wherein the expression formula of the tracking differentiator model is:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
4. The permanent magnet synchronous motor control method according to claim 3, wherein the expression of the nonlinear extended state observer model is:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, are each z1,z2,z3Differential value of, ωrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4 and 5 respectively.
5. The PMSM control method of claim 4, wherein the nonlinear state error feedback model has the expression:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
6. The utility model provides a PMSM control system based on second order auto-disturbance rejection control which characterized in that includes:
the mathematical model obtaining module is used for obtaining a state equation according to the established d-q axis mathematical model of the permanent magnet synchronous motor;
the second-order active disturbance rejection controller obtaining module is used for establishing a second-order active disturbance rejection controller according to the state equation;
a model reference adaptive observer obtaining module for obtaining the estimated rotation speed omega of the permanent magnet synchronous motor according to the model reference adaptive observerr；
A voltage prediction value obtaining module for obtaining the rotation speed omega of the permanent magnet synchronous motorrSum velocity set point ωr *Simultaneously inputting a second-order active disturbance rejection controller, wherein the second-order active disturbance rejection controller is used for observing the disturbance of the permanent magnet synchronous motor and carrying out disturbance compensation control to obtain a predicted value u of the q-axis voltageq；
Drive control implementation modeA block for predicting a value u from the q-axis voltageqAnd d-axis voltage prediction udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
7. The permanent magnet synchronous motor control system according to claim 6, wherein the second-order auto-disturbance rejection controller obtaining module includes a tracking differentiator obtaining unit, a nonlinear extended state observer obtaining unit, and a nonlinear state error feedback obtaining unit; the second-order active disturbance rejection controller is used for observing disturbance of the permanent magnet synchronous motor and performing disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorqThe method specifically comprises the following steps:
a tracking differentiator obtaining unit for obtaining a tracking signal v of velocity from a tracking differentiator model1Tracking signal v differentiated by velocity2；
A nonlinear extended state observer obtaining unit for obtaining an observed estimation value z of the velocity from the nonlinear extended state observer model1And the observed estimate z of the velocity differential2；
Tracking signal v of said velocity1Observed estimate z of velocity1Differencing to obtain an error signal e1Said velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2；
A nonlinear state error feedback obtaining unit for obtaining a predicted value u of the q-axis voltage according to a nonlinear state error feedback modelq。
8. The permanent magnet synchronous motor control system according to claim 7, wherein the tracking differentiator obtaining unit obtains the tracking differentiator model by:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
9. The permanent magnet synchronous motor control system according to claim 8, wherein the nonlinear extended state observer obtaining unit obtains the nonlinear extended state observer model by:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, are each z1,z2,z3Corresponding differential value, ωrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4,5。
10. the permanent magnet synchronous motor control system according to claim 9, wherein the nonlinear state error feedback obtaining unit obtains the nonlinear state error feedback model by:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the characteristics of simple structure, high reliability, large power factor, high energy utilization rate, hard mechanical property, wide speed regulation range and the like, so that the PMSM is widely applied to the fields of aerospace, automobiles, numerical control machines, robots and the like.
The existing scanning driving mechanism comprises a permanent magnet synchronous motor and a motor driving control system. The motor drive control system typically includes, among other things, a current loop, a position loop, and a speed loop. The speed loop in the traditional active disturbance rejection controller is a first-order speed active disturbance rejection controller, and the current loop is still the traditional PI controller. The auto-disturbance-rejection controller enables a PI controller of a q-axis current loop to be sensitive to design parameters, disturbance rejection capability is weak, a tracking differentiator in a first-order auto-disturbance-rejection speed controller does not have obvious action, and the problems of poor robustness and weak disturbance rejection capability of the controller are caused.
Disclosure of Invention
In view of the foregoing analysis, embodiments of the present invention are directed to providing a method and a system for controlling a permanent magnet synchronous motor based on second-order active disturbance rejection control, so as to solve the problems of poor robustness and poor disturbance rejection capability of a conventional active disturbance rejection controller.
On one hand, the embodiment of the invention provides a permanent magnet synchronous motor control method based on second-order active disturbance rejection control, which comprises the following steps:
obtaining a state equation based on the established d-q axis mathematical model of the permanent magnet synchronous motor;
establishing a second-order active disturbance rejection controller according to the state equation;
permanent magnet synchronous motor rotating speed omega estimated based on model reference adaptive observerr；
The rotating speed omega of the permanent magnet synchronous motorrSum velocity set point ωr *Simultaneously inputting the two-order auto-disturbance rejection controller to obtain a predicted value u of the q-axis voltageq；
Predicting a value u based on the q-axis voltageqAnd d-axis voltage predictionValue udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
Further, the second-order active disturbance rejection controller comprises a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used for observing disturbance of the permanent magnet synchronous motor and performing disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorqThe method specifically comprises the following steps:
obtaining a tracking signal v of velocity using a tracking differentiator model1Tracking signal v differentiated by velocity2；
Obtaining an observation estimation value z of a nonlinear extended state observer by using a nonlinear extended state observer model1And z2；
Tracking signal v of said velocity1Observed estimate z of velocity1Differencing to obtain an error signal e1Said velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2；
Based on the obtained error signal e1And an error differential signal e2Obtaining a predicted value u of the q-axis voltage by using a nonlinear state error feedback modelq。
Further, the expression formula of the tracking differentiator model is as follows:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
Further, the expression of the nonlinear extended state observer model is:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, are each z1,z2,z3Corresponding differential value, ωrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4 and 5 respectively.
Further, the expression of the nonlinear state error feedback model is as follows:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
On the other hand, the embodiment of the invention provides a permanent magnet synchronous motor control system based on second-order active disturbance rejection control, which comprises:
the mathematical model obtaining module is used for obtaining a state equation according to the established d-q axis mathematical model of the permanent magnet synchronous motor;
a second-order active disturbance rejection controller obtaining module for establishing a second-order active disturbance rejection controller according to the state equation, wherein the second-order active disturbance rejection controller is used for observing the disturbance of the permanent magnet synchronous motor and carrying out disturbance compensation control to obtain a predicted value u of the q-axis voltage of the permanent magnet synchronous motorq；
A model reference adaptive observer obtaining module for obtaining the estimated rotation speed omega of the permanent magnet synchronous motor according to the model reference adaptive observerr；
A voltage prediction value obtaining module for obtaining the rotation speed omega of the permanent magnet synchronous motorrSum velocity set point ωr *Simultaneously inputting the voltage to a second-order active disturbance rejection controller to obtain a predicted value u of the q-axis voltageq(ii) a And inputting a result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current into a PI (proportional integral) controller to obtain a d-axis voltage predicted value ud；
A drive control implementation module for predicting the q-axis voltage u according to the q-axis voltageqAnd d-axis voltage prediction udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
Further, the second-order auto-disturbance rejection controller obtaining module comprises a tracking differentiator obtaining unit, a nonlinear extended state observer obtaining unit and a nonlinear state error feedback obtaining unit; the second-order active disturbance rejection controller is used for observing disturbance of the permanent magnet synchronous motor and performing disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorqThe method specifically comprises the following steps:
a tracking differentiator obtaining unit for obtaining a tracking signal v of velocity from a tracking differentiator model1Tracking signal v differentiated by velocity2；
A nonlinear extended state observer obtaining unit for obtaining a nonlinear extended state observer model from a nonlinear extended state observerObtaining an observed estimate z of velocity1And the observed estimate z of the velocity differential2；
Tracking signal v of said velocity1Observed estimate z of velocity1Differencing to obtain an error signal e1Said velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2；
A nonlinear state error feedback obtaining unit for obtaining a predicted value u of the q-axis voltage according to a nonlinear state error feedback modelq。
Further, the tracking differentiator obtaining unit obtains a tracking differentiator model by:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
Further, the nonlinear extended state observer obtaining unit obtains the nonlinear extended state observer model by:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, respectively, the observed estimated values, omega, output by the non-linear extended state observerrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4 and 5 respectively.
Further, the nonlinear state error feedback obtaining unit obtains a nonlinear state error feedback model by the following formula:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
1. a permanent magnet synchronous motor control method based on second-order active disturbance rejection control includes obtaining a q-axis voltage predicted value of a permanent magnet synchronous motor according to a second-order active disturbance rejection controller, inputting the q-axis voltage predicted value and a d-axis voltage predicted value into an SVPWM module at the same time to obtain a PWM control signal and inputting the PWM control signal into an inverter so as to achieve driving control of the permanent magnet synchronous motor, solving the problem that a traditional controller is poor in robustness and disturbance rejection capability, and improving robustness and disturbance rejection capability of the controller.
2. The nonlinear extended state observer is used for observation to replace a traditional linear extended state observer, so that the tracking efficiency of the permanent magnet synchronous motor is improved, and the control rate of the second-order active disturbance rejection controller is improved.
3. The method comprises the steps that disturbance of the permanent magnet synchronous motor is observed through a second-order active disturbance rejection controller, disturbance compensation control is conducted, a predicted value of q-axis voltage of the permanent magnet synchronous motor is obtained, meanwhile, a tracking differentiator, a nonlinear expansion state observer and nonlinear state error feedback are matched with one another to achieve tracking of the permanent magnet synchronous motor and obtaining of signals, the method is simple and easy to implement, implementation is easy, and control efficiency of the second-order active disturbance rejection controller is improved.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a flow chart of a control method of a permanent magnet synchronous motor based on second-order active disturbance rejection control according to an embodiment;
FIG. 2 is a schematic diagram of a velocity estimation based on a model reference adaptive observer in one embodiment;
FIG. 3 is a vector control diagram of a PMSM based on second-order active disturbance rejection in one embodiment;
FIG. 4 is a diagram of a control system of a PMSM based on second-order active disturbance rejection control in another embodiment;
reference numerals:
100-a mathematical model obtaining module, 200-a second-order active disturbance rejection controller obtaining module, 300-a model reference adaptive observer obtaining module, 400-a voltage predicted value obtaining module and 500-a drive control realizing module.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The existing scanning driving mechanism comprises a permanent magnet synchronous motor and a motor driving control system, wherein the motor driving control system generally comprises a current loop, a position loop and a speed loop. The traditional active disturbance rejection controller has the problems of poor robustness and poor disturbance rejection capability due to the fact that the speed loop is the first-order speed active disturbance rejection controller and the current loop is still the traditional PI controller. Therefore, the control method and the control system of the permanent magnet synchronous motor based on the second-order active disturbance rejection control are provided, a q-axis voltage predicted value of the permanent magnet synchronous motor is obtained by establishing the second-order active disturbance rejection controller, and finally, a PWM control signal is obtained based on the q-axis voltage predicted value and the d-axis voltage predicted value of the permanent magnet synchronous motor and is input to an inverter connected with the permanent magnet synchronous motor, so that the driving control of the permanent magnet synchronous motor is realized, and the robustness and the anti-interference performance of the controller are improved.
A specific embodiment of the present invention discloses a method for controlling a permanent magnet synchronous motor based on second-order active disturbance rejection control, as shown in fig. 1. The control method is mainly characterized in that a second-order active disturbance rejection controller is built based on a state equation of the permanent magnet synchronous motor, the second-order active disturbance rejection controller is used for observing system disturbance and carrying out disturbance compensation control, and a predicted value u of q-axis voltage of the permanent magnet synchronous motor is obtainedq. The method specifically comprises the following steps:
and S1, obtaining a state equation based on the established d-q axis mathematical model of the permanent magnet synchronous motor. Specifically, the calculation formula of the d-q axis mathematical model of the permanent magnet synchronous motor is as follows:
in the formula id、iqThe current values (A) of d and q axes of the permanent magnet synchronous motor are obtained; u. ofd、uqThe voltage values (V) of d and q axes of the permanent magnet synchronous motor are obtained; rsIs the stator winding resistance (omega); p is a radical ofnIs the number of pole pairs; omegarRotor mechanical angular velocity (rad/s); psifIs a permanent magnet main magnetic linkage (V.s); j is the moment of inertia of the system (kg. m 2); b is the viscous friction coefficient of the system (N.m.s/rad); t isLThe load torque (N · m) is obtained.
Then based on the adoption of a permanent magnet synchronous motorThe state equation becomes:
defining a state variable x of a permanent magnet synchronous machine1＝ωr，The state equation of a permanent magnet synchronous motor can be simplified into the following form:
wherein f (x) is a function including the system state and u＝uqis the output of the controller;uncertain disturbances of the system and external disturbances.
S2, establishing a second-order active disturbance rejection controller according to the state equation, wherein the second-order active disturbance rejection controller is used for observing system disturbance and carrying out disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorq. Specifically, the second-order active disturbance rejection controller comprises a tracking differentiator model,The system comprises a nonlinear extended state observer model and a nonlinear state error feedback model, wherein a tracking differentiator model can reasonably arrange the transition process of the system, and can track the given rotating speed of the permanent magnet synchronous motor and extract a differential signal with the given rotating speed within a limited time. The nonlinear extended state observer model can estimate observations of the system and compensate the observations into the controller. The nonlinear state error feedback model can carry out nonlinear combination on the error signal and the error differential to obtain a predicted value of the q-axis voltage so as to improve the control efficiency of the controller.
Preferably, the second-order auto-disturbance-rejection controller comprises a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used for observing system disturbance and carrying out disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorqThe method specifically comprises the following steps:
s201, obtaining a tracking signal v of the velocity by utilizing a tracking differentiator model1Tracking signal v differentiated by velocity2. Specifically, the tracking differentiator is used to schedule the transition to the control system set point to reduce the initial error, allowing the system to accelerate the transition with a larger gain without changing the damping. Wherein, the expression formula of the tracking differentiator model is as follows:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
S202, obtaining an observation estimated value z of the speed by utilizing a nonlinear extended state observer model1And the observed estimate z of the velocity differential2. Utensil for cleaning buttockThe nonlinear extended state observer model can observe the state value and the system disturbance sum of the permanent magnet synchronous motor and compensate the observed system disturbance sum into the controller. Meanwhile, the nonlinear extended state observer is used for observation to replace a traditional linear extended state observer, so that the tracking efficiency of the permanent magnet synchronous motor is improved, and the rapidity of the second-order active disturbance rejection controller is improved. The calculation formula of the nonlinear extended state observer model is as follows:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, are each z1,z2,z3Corresponding differential value, ωrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4 and 5 respectively.
S203, tracking signal v of speed1Observed estimate z of velocity1Differencing to obtain an error signal e1Velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2。
S204, based on the obtained error signal e1And an error differential signal e2Obtaining a predicted value u of the q-axis voltage by using a nonlinear state error feedback modelq. Specifically, the nonlinear state error feedback model can perform nonlinear combination on the error signal and the error differential, so as to obtain a predicted value of the q-axis voltage of the permanent magnet synchronous motor. The nonlinear state error feedback model has the characteristics of small error, large gain and large error, and is beneficial to solving the contradiction between the rapidity and the overshoot of the permanent magnet synchronous motor and improving the efficiency of the controller. The calculation formula of the nonlinear state error feedback model is as follows:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
S3, obtaining the estimated rotation speed omega of the permanent magnet synchronous motor based on the model reference adaptive observerr. Specifically, the schematic diagram of the velocity estimation based on the model reference adaptive observer shown in fig. 2 includes a current reference module and a current adjustable module. The current reference module is used for obtaining a mathematical model of a d-q axis of the permanent magnet synchronous motor, and the expression is as follows:
the rotational speed information omega to be estimatedrBy usingInstead, the current adjustable model expression is obtained as follows:
defining a generalized error asThe equation of state for which the error can be derived is:
in the formula (I), the compound is shown in the specification,
the rotating speed omega of the permanent magnet synchronous motor can be obtained through the formular。
S4, adjusting the rotating speed omega of the permanent magnet synchronous motorrSum velocity set point ωr *Simultaneously inputting the voltage to a second-order active disturbance rejection controller to obtain a predicted value u of the q-axis voltageq(ii) a And inputting a result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current into a PI (proportional integral) controller to obtain a d-axis voltage predicted value ud. Specifically, the predicted value of the d-axis voltage is obtained based on a PI controller.
S5 prediction value u based on q-axis voltageqAnd d-axis voltage prediction udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
Specifically, as shown in fig. 3, the vector control diagram of the permanent magnet synchronous motor based on the second-order active disturbance rejection is used to control the rotation speed ω of the permanent magnet synchronous motorrSum velocity set point ωr *Simultaneously inputting the voltage to a second-order active disturbance rejection controller to obtain a predicted value u of the q-axis voltageqMeanwhile, the predicted value of the d-axis voltage and the predicted value of the q-axis voltage are simultaneously input into a coordinate transformation module through the predicted value of the d-axis voltage obtained by the PI controller to obtain the voltages u of the alpha axis and the beta axisαAnd uβAnd will uαAnd uβSimultaneously inputs SVPWM module to obtain PWM control signal and inputs the PWM control signal into an inverter connected with the permanent magnet synchronous motor so as to realize the control of the motorAnd controlling the permanent magnet synchronous motor.
Compared with the prior art, according to the control method of the permanent magnet synchronous motor based on the second-order active disturbance rejection control, the q-axis voltage predicted value of the permanent magnet synchronous motor is obtained by establishing the second-order active disturbance rejection controller, and the q-axis voltage predicted value and the d-axis voltage predicted value of the permanent magnet synchronous motor are simultaneously input into the SVPWM module to obtain the PWM control signal and input into the inverter, so that the driving control of the permanent magnet synchronous motor is realized, the problem that the traditional controller is poor in robustness and disturbance rejection capability is solved, and the robustness and the disturbance rejection capability of the controller are improved.
A specific embodiment of the present invention discloses a permanent magnet synchronous motor control system based on second-order active disturbance rejection control, as shown in fig. 4. The mathematical model obtaining module 100 is used for obtaining a state equation according to the established d-q axis mathematical model of the permanent magnet synchronous motor; a second-order active disturbance rejection controller obtaining module 200, configured to establish a second-order active disturbance rejection controller according to a state equation, where the second-order active disturbance rejection controller is configured to observe system disturbance and perform disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorq(ii) a A model reference adaptive observer obtaining module 300 for obtaining the estimated rotation speed ω of the permanent magnet synchronous motor according to the model reference adaptive observerr(ii) a A voltage prediction value obtaining module 400 for obtaining the rotation speed omega of the PMSMrSum velocity set point ωr *Simultaneously inputting the voltage to a second-order active disturbance rejection controller to obtain a predicted value u of the q-axis voltageq(ii) a And inputting a result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current into a PI (proportional integral) controller to obtain a d-axis voltage predicted value ud(ii) a A drive control implementation module 500 for predicting a value u based on the q-axis voltageqAnd d-axis voltage prediction udAnd obtaining a PWM control signal and inputting the PWM control signal to an inverter connected with the permanent magnet synchronous motor so as to realize the drive control of the permanent magnet synchronous motor.
A permanent magnet synchronous motor control system based on second-order active disturbance rejection control obtains a q-axis voltage predicted value of a permanent magnet synchronous motor according to establishment of a second-order active disturbance rejection controller, the q-axis voltage predicted value and a d-axis voltage predicted value of the permanent magnet synchronous motor are simultaneously input into an SVPWM module to obtain a PWM control signal and input into an inverter, so that driving control over the permanent magnet synchronous motor is achieved, the problem that a traditional controller is poor in robustness and disturbance rejection capability is solved, and the robustness and the disturbance rejection capability of the controller are improved.
Specifically, the second-order active disturbance rejection controller obtaining module comprises a tracking differentiator obtaining unit, a nonlinear extended state observer obtaining unit and a nonlinear state error feedback obtaining unit, wherein the second-order active disturbance rejection controller is used for observing system disturbance and performing disturbance compensation control to obtain a predicted value u of q-axis voltage of the permanent magnet synchronous motorq。
The second-order auto-disturbance rejection controller is used for observing system disturbance and carrying out disturbance compensation control to obtain a predicted value of q-axis voltage of the permanent magnet synchronous motor, and meanwhile, the tracking differentiator, the nonlinear extended state observer and the nonlinear state error feedback are matched with each other to achieve tracking of the permanent magnet synchronous motor and acquisition of signals.
In particular, a tracking differentiator obtaining unit for obtaining a tracking signal v of a velocity from a tracking differentiator model1Tracking signal v differentiated by velocity2Wherein, the calculation formula of the tracking differentiator model is as follows:
in the formula, v1For tracking signals of velocity, v2For the tracking signal of the velocity differential to be,are each v1、v2R is a parameter for determining the tracking speed, ωr *Sign () is a sign function for a velocity setpoint.
A tracking differentiator model is obtained through a tracking differentiator obtaining unit, the model can reasonably arrange the transition process of the system, the given rotating speed of the permanent magnet synchronous motor can be tracked within a limited time, a differential signal with the given rotating speed is extracted, and the signal instantaneity between the second-order active disturbance rejection controller and the permanent magnet synchronous motor is improved.
A nonlinear extended state observer obtaining unit for obtaining an observed estimation value z of the velocity from the nonlinear extended state observer model1And the observed estimate z of the velocity differential2Wherein, the calculation formula of the nonlinear extended state observer model is as follows:
in the formula, z1As observed estimates of velocity, z2Is an observed estimate of velocity differential, z3As observed estimates of the sum of external disturbances, beta01,β02,β03For observer gain coefficients greater than zero, are each z1,z2,z3Differential value of, ωrIs the rotation speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, uqFor the q-axis voltage of the permanent magnet synchronous motor, the expression of the nonlinear function fal (e, α, δ) is:
in the formula, alphamAnd deltanAre parameters of a nonlinear function fal (e, alpha, delta), wherein m and n are 1,2,3,4 and 5 respectively.
A nonlinear extended state observer model is obtained by the nonlinear extended state observer obtaining unit, the model can observe the state value and the disturbance sum of the system, and the observed system disturbance sum is compensated into the controller. Meanwhile, compared with a linear extended state observer, the nonlinear extended state observer has better efficiency and can improve the rapidity of the controller.
Tracking signal v of velocity1Observed estimate z of velocity1Differencing to obtain an error signal e1Velocity differentiated tracking signal v2Observed estimate z differentiated from velocity2Differencing to obtain an error differential signal e2(ii) a A nonlinear state error feedback obtaining unit for obtaining a predicted value u of the q-axis voltage according to a nonlinear state error feedback modelqWherein, the calculation formula of the nonlinear state error feedback model is as follows:
in the formula, beta11And beta12Are all output error correction gains, e1As an error signal, e2As error differential signal, u0Is a non-linear combination of the error signal and the error differential signal.
A nonlinear state error feedback model is obtained through a nonlinear state error feedback obtaining unit, the model can carry out nonlinear combination on an error signal and an error differential to obtain a q-axis voltage predicted value, then the driving control of the permanent magnet synchronous motor is realized, and the control efficiency of the controller is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.