Networking time-delay compensation and control method using active-disturbance-rejection control technology for permanent magnet synchronous motor

Abstract

The invention provides a networking time-delay compensation and control method using the active-disturbance-rejection control technology for a permanent magnet synchronous motor. The method comprises the following steps: 1) building a permanent magnet synchronous motor control system model containing time-varying network-induced delay, and describing a permanent magnet synchronous motor control system as a discrete-time linear time-varying system with one-step input delay, so as to describe an undetermined dynamic part of the system caused by the time-varying delay as the additive noise of the system; 2) designing an expanding state observing device, and estimating the undetermined dynamic part caused by the time-varying delay as part of total disturbance through the expanding state observer; 3) compensating the undetermined dynamic state caused by the time-varying delay in the networking permanent magnet synchronous motor control system, wherein all undetermined dynamic parts caused by the time-varying delay and the internal and external disturbances in the system can be counteracted during compensating. The method shows high capability on inhibiting the nondeterminacy caused by time-varying delay, the internal and external disturbances of the system, and the nondeterminacy of a model.

Description

Technical field [0001] The invention is applied to the field of networked motion control, and relates to the problem of permanent magnet synchronous motor control based on industrial network, especially how to eliminate the influence of network induced delay on the performance of the permanent magnet synchronous motor control system, and realize an effective real-time control method . Background technique [0002] With the rapid development of power electronics and microelectronics technology, permanent magnet synchronous motors have been rapidly promoted and applied. Due to its advantages of low loss, high efficiency, simple structure, fast response, and high torque-to-inertia ratio, it has been widely used in aerospace, CNC machine tools, robotic arms, household appliances and other fields. With the continuous expansion of industrial production scale and the continuous improvement of safety requirements for the production process, traditional motor control systems are increasi...

AI Technical Summary

Problems solved by technology

The Smith predictor method uses a predictive model to compensate for the time delay, but it requires high accuracy of the motor model, which is often difficult to achieve in practice

The method of artificially extending the delay based on the time-driven actuator can convert the time-varying delay into a constant delay, which facilitates the design of the controller, but it will cause the system control input to not be updated in time and reduce the control performance of the system.

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