A Disturbance Observer for Speed ​​Control Mode of Permanent Magnet Synchronous Motor

Abstract

The invention provides a disturbance observer of a speed control mode of a permanent magnet synchronous motor, which belongs to the field of servo control. The present invention includes a high-order low-pass filter and a repeatability observer. The repeatability observer includes a repeatability controller and an equivalent disturbance calculation module. The repeatability controller includes sequentially connected time domain rotation angle domain units, Iteratively update the memory unit and the angle domain to time domain unit. The beneficial effects of the invention are: the debugging method is clearer and more convenient than the repetitive control, and the stability is more guaranteed; the disturbance in a wider frequency range can be observed.

Description

technical field [0001] The invention relates to a disturbance observer, in particular to a disturbance observer in the speed control mode of a permanent magnet synchronous motor. Background technique [0002] In the speed control mode of the permanent magnet synchronous motor, there will be many disturbances, which can be equivalent to torque disturbances, and can be divided into two categories, that is, periodic disturbances with the motor rotor position and aperiodic disturbances with the motor rotor position disturbance. Among them, the former accounts for the majority and has many causes, such as the cogging effect of the permanent magnet motor body, the non-sinusoidal distribution of the motor magnetic flux, the current harmonics generated by the frequency converter, the imperfect connection between the motor and the load, and even The controlled current sampling is biased or the current sensor calibration is biased. The latter mostly stems from the uncertainty of the...

AI Technical Summary

Problems solved by technology

Many of the more traditional compensation methods also rely on self-identification of the system, requiring advance measurements

[0006] Second, repetitive control can compensate multiple frequency disturbances at the same time, while other traditional methods are mostly aimed at single or limited disturbances. If multiple frequency disturbances need to be compensated, multiple controllers are required, which increases the complexity of the system

[0017] Many existing technologies use repetitive controllers and disturbance observers at the same time. Although periodic and non-periodic disturbances can be suppressed, the complexity of the system has also increased, and both controllers need to be debugged.

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