ADRC parameter automatic adjustment system for permanent magnet synchronous motor vector control

Abstract

The invention discloses an ADRC parameter automatic adjustment system for permanent magnet synchronous motor vector control, comprising: ADRC parameter selection index calculation module (COM) and ADRC parameter optimization module (OPT). The COM is responsible for sampling the errors of the rotational speed, the d-axis current, the q-axis current and the output signals of their active disturbance rejection controllers and calculating the parameter selection index H; the OPT uses H as the objective function for 3 The parameters of each controller are optimized, and finally the parameter group of the optimized speed, d-axis current, and q-axis current active disturbance rejection controller is output to the controller. The invention is based on the group intelligence algorithm with excellent performance, such as the lion group algorithm, and can realize more efficient self-tuning of controller parameters; the traditional manual adjustment is replaced by self-tuning, thereby greatly reducing the workload of operators.

Description

technical field [0001] The invention belongs to the field of motor control, in particular to an ADRC parameter automatic adjustment system for vector control of permanent magnet synchronous motors. Background technique [0002] Permanent Magnet Synchronous Machine (PMSM) is a synchronous motor that is excited by permanent magnets to generate a synchronous rotating magnetic field. The permanent magnet acts as a rotor to generate a rotating magnetic field. The three-phase stator winding reacts through the armature under the action of the rotating magnetic field to induce three Relatively symmetrical current. [0003] To model the PMSM, assume: [0004] (1) There is no core saturation; [0005] (2) There is no winding leakage inductance; [0006] (3) No hysteresis and eddy current loss; [0007] (4) High harmonics without magnetic field; [0008] (5) There is no damping winding on the motor rotor; [0009] (6) The electrical conductivity of the permanent magnet is zero. ...

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Problems solved by technology

[0008] (5) There is no damping winding on the motor rotor;

[0040] (1) The method of taking the error may make the initial error very large, which may easily cause overshoot;

[0041] (2) The differential part is easy to expand the interference, and the pollution signal is distorted, resulting in huge errors;

[0042] (3) The integral link in the classic PID control has a significant effect on suppressing constant disturbances, but when there is no disturbance, the integral link makes the dynamic characteristics of the system worse (the closed-loop system is slow to respond, prone to oscillations and side effects of control quantity saturation ), and for disturbances that vary with time, the suppression ability of the integral link is not significant;

[0043] (4) Classical PID control is a weighted combination of the error's present (P), past (I) and future (D) (that is, a simple linear combination), which is unreasonable for many complex controlled objects

[0101] Although the performance of the ADRC controller has been proved to be superior to the traditional PID controller in many experiments, it has too many parameters to be adjusted.

There are 3 active disturbance rejection controllers in total, and each controller has 10 parameters to be adjusted, so 3 controllers have 30 parameters to be adjusted. If manual adjustment is adopted, the workload will be very large. And manual adjustment is difficult to achieve the optimal control effect

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