阅读说明：本技术 一种永磁同步电机的解耦线性自抗扰控制方法 (Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor ) 是由 林诗雨 史婷娜 曹彦飞 阎彦 张振 夏长亮 于 2021-09-02 设计创作，主要内容包括：本发明公开了一种永磁同步电机的解耦线性自抗扰控制方法。建立永磁同步电机的电流环和转速环模型,将电流环和转速环模型中的d轴电流环、q轴电流环和转速环均等效为一阶系统模型,根据d轴电流环、q轴电流环和转速环的一阶系统模型分别建立各自的解耦线性自抗扰控制器,均包含线性跟踪微分器、线性扩张状态观测器和线性控制律的三个部分；由解耦线性自抗扰控制器对永磁同步电机解耦线性自抗扰控制。本发明能保证一阶系统的跟踪性能和抗扰性能完全解耦,大大减少控制器参数整定的难度,能够有效地抑制永磁同步电机电流环和速度环中的周期性扰动,增强电机电流和转速的控制性能,极大地提高了电流和转速的控制精度。(The invention discloses a decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor. Establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor, taking equal effects of a d-axis current loop, a q-axis current loop and a rotating speed loop in the current loop and rotating speed loop models as first-order system models, and respectively establishing respective decoupling linear active disturbance rejection controllers according to the first-order system models of the d-axis current loop, the q-axis current loop and the rotating speed loop, wherein each decoupling linear active disturbance rejection controller comprises a linear tracking differentiator, a linear expansion state observer and a linear control law; and the decoupling linear active disturbance rejection controller is used for decoupling linear active disturbance rejection control on the permanent magnet synchronous motor. The method can ensure that the tracking performance and the anti-interference performance of a first-order system are completely decoupled, greatly reduce the difficulty of parameter setting of the controller, effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor, and greatly improve the control precision of the current and the rotating speed.)

1. A decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor is characterized by comprising the following steps:

1) establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor:

wherein p is the magnetic pole logarithm; l is_nThe inductance is the factory nominal value of the permanent magnet synchronous motor; j. the design is a square_nA factory nominal value of the rotational inertia of the system is obtained; psi_rnThe flux linkage is a factory nominal value of a permanent magnet flux linkage in the permanent magnet synchronous motor; i.e. i_dAnd i_qD-axis and q-axis actual currents, respectively; i.e. i_qrefOutputting q-axis reference current for a rotating speed controller connected with the permanent magnet synchronous motor; u. of_drefAnd u_qrefOutputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; d_dAnd d_qLumped disturbances in the d-axis and q-axis current loops, respectively; d_ωIs lumped disturbance in the rotating speed ring; a is_d、a_qAnd a_ωRespectively as lumped disturbances d_d、d_qAnd d_ωThe rate of change of (c); t represents time;

the equal effect of a d-axis current loop, a q-axis current loop and a rotating speed loop in the current loop and rotating speed loop models is a first-order system model, and the uniform expression is as follows:

wherein x is₁Represents i_d、i_qAnd ω_mOne of them; x is the number of₂Represents d_d、d_qAnd d_ωOne of them; b represents 1/L_nAnd 1.5p psi_rn/J_nOne of them; u represents u_dref、u_qrefAnd i_qrefOne of them; a represents a_d、a_qAnd a_ωOne of them;

2) establishing a decoupling linear active disturbance rejection controller according to a first-order system model:

respectively establishing respective decoupling linear active-disturbance-rejection controllers according to first-order system models of a d-axis current loop, a q-axis current loop and a rotating speed loop, wherein the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller respectively comprise three parts of a linear tracking differentiator, a linear expansion state observer and a linear control law;

the linear tracking differentiator receives a preset given reference command v to process to obtain a linear tracking differential reference command v_LTDAnd input into a linear control law which receives a linear tracking differential reference command v_LTDThe observed value and the lumped disturbance of the quantity to be observed are processed to obtain an output reference quantity and are input into a first-order system model, the first-order system model receives the output reference quantity and processes to obtain an actual value of the quantity to be observed and inputs the actual value into a linear extended state observer, and the linear extended state observer processes to obtain the observed value and the lumped disturbance of the quantity to be observed according to the actual value of the quantity to be observed and inputs the observed value and the lumped disturbance into a linear control law, so that the closed-loop feedback active disturbance rejection control is realized;

3) and the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller work together to carry out decoupling linear active-disturbance-rejection control on the permanent magnet synchronous motor.

2. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that:

the lumped disturbance d_d、d_qAnd d_ωThe expression of (a) is as follows:

wherein L is_sIs stator inductance, Δ L_sIs the stator inductance deviation value, L_s＝L_n+ΔL_s；R_sIs a stator resistor; psi_rFor permanent magnet flux linkage, Δ ψ_rIs a permanent magnetChain deviation value psi_r＝ψ_rn+Δψ_r；ω_mThe mechanical rotation speed of the rotor; j is the system moment of inertia, Delta J is the system moment of inertia deviation value, J is J_n+ΔJ；T_LIs the load torque; t is_fIs the friction torque; gamma ray_idAnd gamma_iqPeriodic disturbances in the d-axis and q-axis current loops, respectively; gamma ray_ωIs a periodic disturbance existing in the rotation speed loop.

3. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in said 2), the tracking module G_cAre all designed into proportional structures and are expressed as follows:

G_c＝k_p

wherein k is_pIs a scaling factor.

4. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in the step 2), the anti-interference module G in the decoupling linear active-interference-rejection controller corresponding to the q-axis current, the d-axis current and the rotating speed_oThe anti-interference modules in the decoupling linear active-anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed are arranged in a proportional-differential-resonant structure in a distinguishing way;

the expressions of the anti-interference modules in the q-axis current decoupling linear active-interference-rejection controller and the d-axis current decoupling linear active-interference-rejection controller are as follows:

wherein G is_oc(s) an anti-interference module representing a current-decoupled linear active-interference-rejection controller in the complex frequency domain; s represents a frequency parameter of the complex frequency domain; h is_1cAnd h_2cRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the current decoupling linear active-interference-rejection controller; k is a radical of_r6Andrespectively represents that the resonant frequency in the anti-interference module of the current decoupling linear active-interference-rejection controller is 6p omega_mThe proportionality coefficient and the phase adjustment angle of the resonance term;

the expression of an anti-interference module in the rotational speed decoupling linear active-interference-rejection controller is as follows:

wherein G is_os(s) an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller in a complex frequency domain; h is_1sAnd h_2sRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller; k is a radical of_r1Andrespectively representing the resonant frequency p omega in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller_mThe proportionality coefficient and the phase adjustment angle of the resonance term; k is a radical of_r2Andrespectively representing that the resonant frequency in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller is 2p omega_mThe proportionality coefficient and the phase adjustment angle of the resonance term.

5. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: in the step 3):

the expression for the linear tracking differentiator is:

where v denotes a preset given reference instruction, v_LTDRepresenting a linear tracking differential reference command, r representing a linear tracking differential reference command v_LTDConverge to preSetting a speed regulating factor of a given reference command v;

expression of linear extended state observer:

wherein the content of the first and second substances,andare respectively x₁And x₂The observed value of (a); g_oAn anti-interference module is represented;

expression of the linear control law:

wherein G is_cA trace module is represented.

6. The decoupling linear active disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, characterized in that: the 3) is specifically as follows:

3.1) setting the mechanical reference speed omega of the rotor of the permanent magnet synchronous motor_mrefAnd load torque, d-axis reference current i to PMSM_drefIs set as i_drefControlling the value as 0;

3.2) obtaining the rotor position electrical angle of the motor and the actual rotating speed omega of the rotor machine_mObtaining a phase current i of the permanent magnet synchronous motor_aAnd b-phase current i_bAccording to the a-phase current i_aAnd b-phase current i_bObtaining c-phase current i_cPhase a current i_aPhase i of b-phase current_bC phase current i_cObtaining d-axis actual current i through park coordinate change_dAnd q-axis actual current i_q；

3.3) measuring d-axis actual currenti_dThe measured value of the d-axis actual current is obtained by inputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controllerDisturbance observation in d-axis current loopThe q-axis actual current i_qThe actual q-axis current observed value is obtained by inputting the actual q-axis current observed value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controllerDisturbance observation in a q-axis current loopThe actual rotation speed omega of the rotor machine_mThe actual rotating speed observed value of the rotor machinery is obtained by inputting the actual rotating speed observed value into a linear extended state observer of a rotating speed decoupling linear active disturbance rejection controllerDisturbance observation in a sum rotation loop

3.4) reference rotor mechanical rotation speed omega_mrefThe linear tracking differential rotor mechanical reference rotating speed omega is obtained by inputting the linear tracking differential into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controller_mrefLTDLinear tracking differential rotor mechanical reference speed omega_mrefLTDObserved value of actual rotating speed of rotor machineDifference between and disturbance observed value in rotation speed ringThe q-axis reference current i is obtained from a linear control law input into a rotating speed decoupling linear active disturbance rejection controller_qref；

3.5) reference d-axis current i_drefObtaining d-axis linear tracking differential reference current i from a linear tracking differentiator input into a d-axis current decoupling linear active disturbance rejection controller_drefLTDLinearly tracking the d-axis with a differential reference current i_drefLTDAnd d-axis actual current observed valueAnd disturbance observation in the d-axis current loopThe d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controller_dref；

Reference q-axis current i_qrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controller_qrefLTDLinearly tracking the q-axis with a differential reference current i_qrefLTDAnd the observed value of the q-axis actual currentAnd disturbance observation in the q-axis current loopThe q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controller_qref；

3.6) reference voltage u on d-axis_drefAnd q-axis reference voltage u_qrefAnd after the inverse park coordinate changes, the signals are sent into a space vector pulse width modulation algorithm to generate six switching signals of an inverter, and the inverter is connected to an input control end of the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to normally work.

Technical Field

The invention relates to a motor control method in the field of permanent magnet synchronous motor servo control, in particular to a decoupling linear active disturbance rejection control method of a permanent magnet synchronous motor.

Background

The permanent magnet synchronous motor has been widely applied to high-end industrial fields such as robots, high-end numerical control machines, medical equipment and the like by virtue of the advantages of compact structure, high power density, good dynamic performance and the like. However, the complicated nonlinear dynamic characteristics and various disturbance sources of the permanent magnet synchronous motor increase the difficulty of realizing high-precision control of the permanent magnet synchronous motor.

The disturbance existing in the control of the permanent magnet synchronous motor is divided into periodic disturbance and non-periodic disturbance. The periodic disturbance mainly comprises periodic disturbance generated by an inverter dead time effect, permanent magnet flux linkage harmonic waves and a current sensor sampling error. The aperiodic disturbance mainly comprises the disturbance generated by motor parameter change, system model mismatch, load torque and the like.

In recent years, linear active disturbance rejection control has been successfully applied to permanent magnet synchronous motor control due to the characteristics of strong disturbance rejection capability and independence of models. However, because the observation bandwidth of the extended state observer in the conventional linear active disturbance rejection controller for disturbance is limited, the conventional linear active disturbance rejection controller can only effectively suppress aperiodic disturbance in the control of the permanent magnet synchronous motor, and cannot effectively suppress periodic disturbance. However, these periodic disturbances may cause significant fluctuations in the current and the rotational speed of the motor, thereby deteriorating the control performance of the current and the rotational speed of the motor. In addition, the traditional linear active disturbance rejection controller is not a two-degree-of-freedom controller, and the tracking performance and the disturbance rejection performance of a control system of the traditional linear active disturbance rejection controller have a coupling relation, so that the parameters of the controller are not easy to adjust.

Disclosure of Invention

In order to change the linear active-disturbance-rejection controller into a two-degree-of-freedom controller and reduce the difficulty of parameter setting of the controller, the invention provides the decoupling linear active-disturbance-rejection controller, which is the two-degree-of-freedom controller, and the tracking performance and the disturbance rejection performance of a control system can be completely decoupled.

Meanwhile, in order to enable the decoupling linear active-disturbance-rejection controller to effectively inhibit periodic disturbance in the control of the permanent magnet synchronous motor and enhance the control performance of the current and the rotating speed of the motor, the decoupling linear active-disturbance-rejection controller is constructed and designed and divided into a current part and a rotating speed part.

In order to achieve the above object, as shown in fig. 1 and fig. 2, the following technical solutions are specifically adopted in the present invention:

1) establishing a current loop and a rotating speed loop model of the permanent magnet synchronous motor:

wherein p is the magnetic pole logarithm; l is_nThe inductance is the factory nominal value of the permanent magnet synchronous motor; j. the design is a square_nA factory nominal value of the rotational inertia of the system is obtained; psi_rnThe flux linkage is a factory nominal value of a permanent magnet flux linkage in the permanent magnet synchronous motor; i.e. i_dAnd i_qD-axis and q-axis actual currents, respectively; i.e. i_qrefOutputting q-axis reference current for a rotating speed controller connected with the permanent magnet synchronous motor; u. of_drefAnd u_qrefOutputting reference voltages for d-axis and q-axis current controllers connected with the permanent magnet synchronous motor respectively; d_dAnd d_qLumped disturbances in the d-axis and q-axis current loops, respectively; d_ωIs lumped disturbance in the rotating speed ring; a is_d、a_qAnd a_ωRespectively as lumped disturbances d_d、d_qAnd d_ωThe rate of change of (c); t represents time;

the current loop comprises a current controller and a controlled object.

The system comprises the permanent magnet synchronous motor, a load and a connecting piece between the permanent magnet synchronous motor and the load. The load is for example a load motor and the connection between the permanent magnet synchronous motor and the load is for example a coupling.

According to the current loop and rotating speed loop models, the d-axis current loop, the q-axis current loop and the rotating speed loop of the permanent magnet synchronous motor have the same model structures, and the equal effects of the d-axis current loop, the q-axis current loop and the rotating speed loop in the current loop and rotating speed loop models are taken as first-order system models and are uniformly expressed as follows:

wherein x is₁Represents i_d、i_qAnd ω_mOne of them; x is the number of₂Represents d_d、d_qAnd d_ωOne of them; b represents 1/L_nAnd 1.5p psi_rn/J_nOne of them; u represents u_dref、u_qrefAnd i_qrefOne of them; a represents a_d、a_qAnd a_ωOne of them;

2) establishing a decoupling linear active disturbance rejection controller according to a first-order system model:

respectively establishing respective decoupling linear active-disturbance-rejection controllers according to first-order system models of a d-axis current loop, a q-axis current loop and a rotating speed loop, wherein the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller respectively comprise three parts of a linear tracking differentiator, a linear expansion state observer and a linear control law;

as shown in FIG. 2, the linear tracking differentiator receives a preset given reference command v to process to obtain a linear tracking differential reference command v_LTDAnd input into a linear control law which receives a linear tracking differential reference command v_LTDAnd the observed value of the quantity to be observedAcquiring an output reference quantity by the collective disturbance processing and inputting the output reference quantity into a first-order system model, receiving the output reference quantity by the first-order system model, processing the output reference quantity to acquire an actual value of the quantity to be observed and inputting the actual value into a linear extended state observer, processing the actual value of the quantity to be observed by the linear extended state observer to acquire an observed value of the quantity to be observed and inputting the lumped disturbance into a linear control law, and thus realizing the active disturbance rejection control of closed-loop feedback;

3) and the d-axis current decoupling linear active-disturbance-rejection controller, the q-axis current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller work together to carry out decoupling linear active-disturbance-rejection control on the permanent magnet synchronous motor.

The lumped disturbance d_d、d_qAnd d_ωThe expression of (a) is as follows:

wherein L is_sIs stator inductance, Δ L_sIs the stator inductance deviation value, L_s＝L_n+ΔL_s；R_sIs a stator resistor; psi_rFor permanent magnet flux linkage, Δ ψ_rFor the flux linkage deviation value of the permanent magnet psi_r＝ψ_rn+Δψ_r；ω_mThe mechanical rotation speed of the rotor; j is the system moment of inertia, Delta J is the system moment of inertia deviation value, J is J_n+ΔJ；T_LIs the load torque; t is_fIs the friction torque; gamma ray_idAnd gamma_iqPeriodic disturbances in the d-axis and q-axis current loops, respectively; gamma ray_ωIs a periodic disturbance existing in the rotation speed loop.

In said 2), the tracking module G_cAre all designed into proportional structures and are expressed as follows:

G_c＝k_p

wherein k is_pIs a proportionality coefficient;

tracking module G in decoupling linear active disturbance rejection controller corresponding to q-axis current, d-axis current and rotating speed_cAre all uniformly arranged into a proportional structure.

In the step 2), the anti-interference module G in the decoupling linear active-interference-rejection controller corresponding to the q-axis current, the d-axis current and the rotating speed_oThe anti-interference modules in the decoupling linear active-anti-interference controller corresponding to the q-axis current, the d-axis current and the rotating speed are arranged in a proportional-differential-resonant structure in a distinguishing way;

the expressions of the anti-interference modules in the q-axis current decoupling linear active-interference-rejection controller and the d-axis current decoupling linear active-interference-rejection controller are as follows:

wherein G is_oc(s) an anti-interference module representing a current-decoupled linear active-interference-rejection controller in the complex frequency domain; s represents a frequency parameter of the complex frequency domain; h is_1cAnd h_2cRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the current decoupling linear active-interference-rejection controller; k is a radical of_r6Andrespectively represents that the resonant frequency in the anti-interference module of the current decoupling linear active-interference-rejection controller is 6p omega_mThe proportionality coefficient and the phase adjustment angle of the resonance term;

the expression of an anti-interference module in the rotational speed decoupling linear active-interference-rejection controller is as follows:

wherein G is_os(s) an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller in a complex frequency domain; h is_1sAnd h_2sRespectively representing a proportionality coefficient and an integral coefficient in an anti-interference module of the rotational speed decoupling linear active-interference-rejection controller; k is a radical of_r1Andrespectively representing the resonant frequency p omega in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller_mThe proportionality coefficient and the phase adjustment angle of the resonance term; k is a radical of_r2Andrespectively representing that the resonant frequency in the anti-interference module of the rotational speed decoupling linear active-interference-rejection controller is 2p omega_mThe proportionality coefficient and the phase adjustment angle of the resonance term.

Anti-interference module G for both current loop and speed loop_oThe distinguishing treatment is carried out to adapt to the main existing frequency of the current loop of the permanent magnet synchronous motor to be 6p omega_mThe main existing frequency of the periodic disturbance and the rotating speed ring is p omega_mAnd 2p omega_mIn the case of periodic perturbations.

In the step 3):

the expression for the linear tracking differentiator is:

where v denotes a preset given reference instruction, v_LTDRepresenting a linear tracking differential reference command, r representing a linear tracking differential reference command v_LTDConverging to a speed regulation factor of a preset given reference command v;

expression of linear extended state observer:

wherein the content of the first and second substances,andare respectively x₁And x₂The observed value of (a); g_oRepresenting an anti-interference module, determining the anti-interference performance of the system, and according to the specific anti-interference index requirement of the system, G_oCan be designed into any structure;

expression of the linear control law:

wherein G is_cRepresents a tracking module and determines a differential reference command v of the system for linear tracking_LTDThe tracking performance of (2). According to the specific tracking performance index requirement of the system, G_oAnd may be designed in any configuration.

As shown in fig. 1, the expression of the system closed loop transfer function:

wherein G is_t(s) represents the tracking performance of the system; g_d(s) represents the noise immunity performance of the system; g_c(s) is G_cA representation in the complex frequency domain; g_o(s) is G_oIn the complex frequency domain.

The invention respectively establishes a unified and effective decoupling linear active disturbance rejection controller for the d-axis current loop, the q-axis current loop and the rotating speed loop, is a two-degree-of-freedom controller, and can effectively inhibit the periodic disturbance of the frequencies.

The 3) is specifically as follows:

3.1) setting the mechanical reference speed omega of the rotor of the permanent magnet synchronous motor through a microcontroller_mrefAnd load torque, d-axis reference current i to PMSM_drefIs set as i_drefControlling the value as 0;

3.2) obtaining the rotor position electric angle of the motor and the actual rotor mechanical rotating speed omega through a position encoder arranged on the permanent magnet synchronous motor_mObtaining a phase current i of the permanent magnet synchronous motor through a current sensor arranged on the permanent magnet synchronous motor_aAnd b-phase current i_bKnown as i_aAnd i_bAccording to i_c＝-(i_a+i_b) Can be based on the a-phase current i_aAnd b-phase current i_bObtaining c-phase current i_cPhase a current i_aPhase i of b-phase current_bC phase current i_cBy parkCoordinate change to obtain d-axis actual current i_dAnd q-axis actual current i_q；

3.3) applying d-axis actual current i_dThe measured value of the d-axis actual current is obtained by inputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controllerDisturbance observation in d-axis current loopThe q-axis actual current i_qThe actual q-axis current observed value is obtained by inputting the actual q-axis current observed value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controllerDisturbance observation in a q-axis current loopThe actual rotation speed omega of the rotor machine_mThe actual rotating speed observed value of the rotor machinery is obtained by inputting the actual rotating speed observed value into a linear extended state observer of a rotating speed decoupling linear active disturbance rejection controllerDisturbance observation in a sum rotation loop

3.4) reference rotor mechanical rotation speed omega_mrefThe linear tracking differential rotor mechanical reference rotating speed omega is obtained by inputting the linear tracking differential into a linear tracking differentiator of a rotating speed decoupling linear active disturbance rejection controller_mrefLTDLinear tracking differential rotor mechanical reference speed omega_mrefLTDObserved value of actual rotating speed of rotor machineDifference between and disturbance observed value in rotation speed ringThe q-axis reference current i is obtained from a linear control law input into a rotating speed decoupling linear active disturbance rejection controller_qref；

3.5) reference d-axis current i_drefObtaining d-axis linear tracking differential reference current i from a linear tracking differentiator input into a d-axis current decoupling linear active disturbance rejection controller_drefLTDLinearly tracking the d-axis with a differential reference current i_drefLTDAnd d-axis actual current observed valueAnd disturbance observation in the d-axis current loopThe d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controller_dref；

Reference q-axis current i_qrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controller_qrefLTDLinearly tracking the q-axis with a differential reference current i_qrefLTDAnd the observed value of the q-axis actual currentAnd disturbance observation in the q-axis current loopThe q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controller_qref；

3.6) reference voltage u on d-axis_drefAnd q-axis reference voltage u_qrefAnd after the inverse park coordinate changes, the inverse park coordinate is sent into a space vector pulse width modulation algorithm SVPWM to generate six switching signals of an inverter, and the inverter is connected to an input control end of the permanent magnet synchronous motor to drive the permanent magnet synchronous motor to normally work.

The invention has the beneficial effects that:

(1) the decoupling linear active disturbance rejection controller can ensure that the tracking performance and the disturbance rejection performance of a first-order system are completely decoupled, and the difficulty of parameter setting of the controller is greatly reduced.

(2) The current decoupling linear active-disturbance-rejection controller and the rotating speed decoupling linear active-disturbance-rejection controller constructed according to the decoupling linear active-disturbance-rejection controller can effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor, and greatly improve the control precision of the current and the rotating speed.

Drawings

Fig. 1 is a block diagram of the overall control of a permanent magnet synchronous motor embodying the present invention;

FIG. 2 is a schematic diagram of a first order system model decoupled linear active disturbance rejection controller implementing the present invention;

FIG. 3a is a graph showing the experimental results of d-axis and q-axis currents of a permanent magnet synchronous motor;

fig. 3b is a graph of the result of the rotation speed experiment of the permanent magnet synchronous motor.

Detailed Description

The invention is further illustrated with reference to the accompanying drawings and specific examples.

As shown in fig. 1, the application example completely implemented according to the technical solution of the present invention is as follows:

1) setting rotor mechanical reference rotating speed omega of permanent magnet synchronous motor through microcontroller_mrefAnd load torque, using i for a permanent magnet synchronous motor_drefControl of 0, where i_drefIs a d-axis reference current.

2) Obtaining the rotor position electrical angle and the rotor mechanical actual rotating speed omega of the motor through a position encoder arranged on the permanent magnet synchronous motor_m. Obtaining a-phase current i of permanent magnet synchronous motor through current sensor_aAnd b-phase current i_bKnown as i_aAnd i_bAccording to i_c＝-(i_a+i_b) The relationship of (a) can obtain the c-phase current i_cI is to_a，i_bAnd i_cObtaining d-axis actual current i through park coordinate change_dAnd q-axis actual current i_q。

3) Will d-axis actual currenti_dInputting the measured value into a linear extended state observer of a d-axis current decoupling linear active disturbance rejection controller to obtain an actual d-axis current observed valueDisturbance observation in d-axis current loopThe q-axis actual current i_qInputting the measured value into a linear extended state observer of a q-axis current decoupling linear active disturbance rejection controller to obtain an actual q-axis current observed valueDisturbance observation in a q-axis current loopThe actual rotation speed omega of the rotor machine_mInputting the obtained data into a linear extended state observer of a rotational speed decoupling linear active disturbance rejection controller to obtain an observed value of the actual rotational speed of the rotor machineDisturbance observation in a sum rotation loop

4) Mechanically referencing rotor to rotation speed omega_mrefInputting the linear tracking differential into a linear tracking differentiator of a rotational speed decoupling linear active disturbance rejection controller to obtain a linear tracking differential rotor mechanical reference rotational speed omega_mrefLTDLinear tracking differential rotor mechanical reference speed omega_mrefLTDObserved value of actual rotating speed of rotor machineDifference and disturbance observed value in the rotation speed loopInputting the obtained q-axis reference electricity into a linear control law of a rotating speed decoupling linear active disturbance rejection controllerStream i_qref。

5) Reference d-axis to current i_drefInputting the current into a linear tracking differentiator of a d-axis current decoupling linear active disturbance rejection controller to obtain a d-axis linear tracking differential reference current i_drefLTDLinearly tracking the d-axis with a differential reference current i_drefLTDAnd d-axis actual current observed valueAnd disturbance observation in the d-axis current loopThe d-axis reference voltage u is obtained from the linear control law of the d-axis current decoupling linear active disturbance rejection controller_dref。

Reference q-axis current i_qrefObtaining a q-axis linear tracking differential reference current i from a linear tracking differentiator input into a q-axis current decoupling linear active disturbance rejection controller_qrefLTDLinearly tracking the q-axis with a differential reference current i_qrefLTDAnd the observed value of the q-axis actual currentAnd disturbance observation in the q-axis current loopThe q-axis reference voltage u is obtained from the linear control law of the q-axis current decoupling linear active disturbance rejection controller_qref。

6) Reference voltage u of d axis_drefAnd q-axis reference voltage u_qrefAnd after the inverse park coordinate changes, the signals are sent into a space vector pulse width modulation algorithm SVPWM to generate six switching signals of an inverter, and the inverter is connected to the input control end of the motor to drive the motor to normally work.

7) Experimental verification

In order to verify the effectiveness and superiority of the control method provided by the invention, experimental verification is carried out:

7.1) contents of the experiment

The d-axis reference current of the permanent magnet synchronous motor is set to be 0A, the mechanical reference rotating speed of the rotor is set to be 900r/min, and the step change of the load torque from 0Nm to 10Nm at the 1s moment is equivalent to the step change of the q-axis actual current from 0A to 5.82A at the 1s moment. The control effect of the permanent magnet synchronous motor decoupling linear active disturbance rejection control method is verified by observing and comparing the permanent magnet synchronous motor with a d-axis current traditional linear active disturbance rejection controller, a q-axis current traditional linear active disturbance rejection controller, a rotating speed traditional linear active disturbance rejection controller, a decoupling linear active disturbance rejection controller, a q-axis current decoupling linear active disturbance rejection controller, a d-axis actual current under the control of the rotating speed decoupling linear active disturbance rejection controller, and steady-state fluctuation amplitude values of the q-axis actual current and the actual rotating speed.

7.2) results of the experiment

Fig. 3a is a graph comparing the response of the d-axis actual current and the q-axis actual current of the permanent magnet synchronous motor under the control method proposed by the present invention with that under the conventional linear active disturbance rejection control method. Fig. 3b is a graph comparing the steady state response of the permanent magnet synchronous motor under the condition of the load torque with 10Nm of the actual rotating speed under the control method provided by the invention with the traditional linear active disturbance rejection control method.

Compared with the traditional linear active-disturbance-rejection controller, the d-axis current decoupling linear active-disturbance-rejection controller and the q-axis current decoupling linear active-disturbance-rejection controller constructed by the decoupling linear active-disturbance-rejection controller can effectively inhibit periodic disturbance in a current loop and a speed loop of the permanent magnet synchronous motor, enhance the control performance of the current and the rotating speed of the motor and greatly improve the control precision of the current and the rotating speed.

The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.