Design Method of Permanent Magnet Synchronous Current Controller Based on Extended State Observer

Abstract

The present invention disclosed the design method of permanent magnet synchronous current controller based on the expansion state observer, including the following steps: Step SS1: Building a closed loop of a current self -antiprole controller; step SS2: determine the permanent magnet synchronous motor current ring ring that can be solvedSimilar coupled linearity, the two -phase stator current of the permanent magnet synchronous motor is detected through the current sensor detection, and the CLARKE transformation and PARK change are obtained to obtain the straight axis current and interchange the axis of the permanent magnet synchronous motor.的 The current ring mathematical model under the coordinate system; step SS3: According to the axis current value, design the "reference current transformation rate feedback"; step SS4: according to the first -order improvement state expansion state observation observation of the system disturbance compensation compensationModel, designing a current self -disturbing controller.The invention completely solves the smaller current fluctuations of PMSM, improves the anti -mobility capacity of the system, and increases the technical needs of the stability of the motor.

Description

Technical field [0001] The present invention relates to a design method of a permanent magnet synchronous current controller based on the expansion state observer, belonging to the technical field of servo control system. Background technique [0002] In a high-precision servo system, since the permanent magnet synchronous motor (PMSM) performance is superior, it is widely used in a variety of industrial fields and high-performance servo systems, gradually become the mainstream of the servo system to perform motor. However, the permanent magnet synchronous motor acts as a multivariate, non-linear, strongly coupled object, during the actual operation of the servo system, and the motor body parameter changes, and the load object has an uncertainty, mainly with turning inertia changes and Load disturbance, etc. In addition, the application environment of the servo system also has a variety of interference. These disturbance factors have adversely affect the servo properties of the s...

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Problems solved by technology

[0010] The purpose of the present invention is to overcome the defects existing in the prior art, to solve the technical problems that the estimated disturbance amplitude of the extended state observer is too large, the change is too drastic, the precision is not high, and the self-disturbance immunity is insufficient, and a method based on the extended state is proposed. The design method of the permanent magnet synchronous current controller of the observer, so that the current fluctuation of the PMSM is smaller, the anti-dynamic ability of the system is improved, and the stability of the motor is increased.

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