Design of nonlinear predictive controller for permanent magnet synchronous motor with disturbance observer

A technology of permanent magnet synchronous motor and disturbance observer, which is applied in the direction of model/simulation for control purposes, and can solve problems such as limitations

Inactive Publication Date: 2018-08-10
SHANDONG UNIV OF TECH
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  • Design of nonlinear predictive controller for permanent magnet synchronous motor with disturbance observer
  • Design of nonlinear predictive controller for permanent magnet synchronous motor with disturbance observer
  • Design of nonlinear predictive controller for permanent magnet synchronous motor with disturbance observer

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Embodiment Construction

[0065] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail;

[0066] figure 1 For the general block diagram of the motor control system required by the present invention, as figure 1 As shown, the rotor position signal of the permanent magnet synchronous motor control system Obtained by photoelectric encoder.

[0067] In the first step, the stator three-phase current of the permanent magnet synchronous motor is obtained by sampling the current sensor , and , and then converted to the two-phase rotating coordinate system through Clark transformation (3s / 2s) and Park transformation (2s / 2r) d Axial current and q Axial current ;exist Considering all model errors and external disturbances in the coordinate system, the nonlinear mathematical model of PMSM is constructed as follows:

[0068] (45)

[0069] In the formula, , and represents the model error and external load disturbance, ...

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Abstract

The invention discloses a design of a nonlinear predictive controller for a permanent magnet synchronous motor with a disturbance observer, and belongs to the technical field of a high-performance motor driving control system. According to the invention, firstly, all model errors and external disturbances are considered under a dq coordinate system, and a nonlinear mathematical model of the PMSM (Permanent Magnet Synchronous Motor) is constructed; secondly, predictive controllers of an outer speed loop and an inner current loop are respectively designed on the basis of the model, and a disturbance observer is designed when there is a control device limitation. The design disclosed by the invention overcomes a defect that the system has limitations for processed variables and greatly depends on electric parameters of the motor on the aspect of the limiting current through designing the nonlinear model predictive controller with a cascade structure and designing the anti-saturation disturbance observer, and the disturbance is considered and compensated in predictive controller, thereby enhancing the robustness of the permanent magnet synchronous motor control system. Experiments showthat the method can enable the system to output a more accurate tracking reference trajectory, and it is considered that the current limitation can keep high robustness when there is a model parameter error or load change at the same time.

Description

technical field [0001] The invention relates to a design of a nonlinear predictive controller for a permanent magnet synchronous motor with a disturbance observer, and belongs to the technical field of high-performance motor drive control. Background technique [0002] The characteristics of high efficiency and high power density of permanent magnet synchronous motor make it occupy a very important position in practical industrial applications; however, the multivariable, nonlinear, time-varying parameters of its model and its fast dynamics make its control very difficult. complex; although a variety of advanced control methods for permanent magnet synchronous motor drive systems have been proposed based on modern control theories, such as adaptive control, self-tuning control, intelligent control, etc. The dynamics of modeling and the adaptability to disturbance are poor, and the robustness of the system needs to be further solved, so the application range is limited. [0...

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Application Information

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IPC IPC(8): H02P6/34
CPCH02P6/34
Inventor 季画张厚升邢雪宁王红梅
Owner SHANDONG UNIV OF TECH
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