Backstepping active-disturbance-rejection control method and device for permanent magnet synchronous motor, and medium

Abstract

The invention discloses a backstepping active-disturbance-rejection control method and device for a permanent magnet synchronous motor and a medium, and relates to the field of motor control. The invention aims to solve the problem of overshoot in the control process of the traditional three-phase motor. The invention relates to a backstepping active-disturbance-rejection control method for a permanent magnet synchronous motor. The method comprises the following steps: constructing a permanent magnet synchronous motor second-order dynamics simplified model with an error disturbance factor; de-noising the model by using a differential tracker; observing the denoised model by using a first-order extended state observer; obtaining an error disturbance factor of the motor control system by using a nonlinear state error feedback control law based on the observation result, and compensating the error disturbance factor to obtain external disturbance of the motor control system after compensation; and designing a backstepping controller of the permanent magnet synchronous motor by adopting a backstepping method on the basis of the compensated external disturbance of the motor control system, obtaining a control quantity by utilizing the backstepping controller of the permanent magnet synchronous motor, and further controlling a rotating speed ring in vector control of the permanent magnet synchronous motor.

Description

Technical Field

[0001] The invention belongs to the field of motor control. Background Art

[0002] With the improvement of industrial automation, the control system has higher and higher requirements for accuracy, stability and robustness. Backstepping controllers have received extensive attention and research. Backstepping controllers are widely used in robot control, power systems, servo systems, aircraft control and other fields, and have achieved some important theoretical results and technological innovations.

[0003] Backstepping controller has become an important research direction in the field of nonlinear control in the world. Some researchers focus on the theoretical analysis, stability proof and control performance optimization of backstepping controller and put forward some advanced design methods and technologies.

[0004] In general, as an important nonlinear control method, backstepping controller has broad application prospects and research value, and has important application value in the fields of robot control, aerospace systems, power systems, etc. With the continuous deepening and development of research, backstepping controller will continue to be a research hotspot and important direction in the field of nonlinear control.

[0005] In order to ensure the response speed of the motor system, the proportional coefficient of the system is usually increased, which will cause overshoot to appear. Summary of the invention

[0006] The present invention aims to solve the problem of overshoot in the traditional three-phase motor control process, and now provides a permanent magnet synchronous motor backstepping self-disturbance control method to achieve no overshoot of the motor when a certain response speed is met.

[0007] A permanent magnet synchronous motor backstepping self-disturbance rejection control method, comprising:

[0008] The control quantity is obtained by using the backstepping controller of the permanent magnet synchronous motor, and then the speed loop in the vector control of the permanent magnet synchronous motor is controlled;

[0009] The backstepping controller expression of the permanent magnet synchronous motor is:

[0010]

[0011] Among them, u is the control quantity, d′ is the external disturbance of the motor control system after compensation, e1 is the angular velocity error variable, ω d The second derivative of d is the expected angular velocity, c1 and c2 are both parameters greater than 0, and the intermediate variable e2=x2-ρ1,x1=ω, is the first-order derivative of ω, ω is the actual angular velocity, ρ1 is the virtual control quantity, k e and K t are the back electromotive force coefficient and torque coefficient respectively, L is the mutual inductance between the motor windings, R is the stator resistance, J is the moment of inertia of the motor, B is the damping coefficient of the motor, T L The load torque of the motor.

[0012] Furthermore, the method for constructing the backstepping controller of the permanent magnet synchronous motor is as follows:

[0013] Construct a simplified second-order dynamics model of permanent magnet synchronous motor with error disturbance factor;

[0014] De-noising the simplified second-order dynamics model of the permanent magnet synchronous motor with the error disturbance factor by using a differential tracker;

[0015] The denoised model is observed using a first-order extended state observer;

[0016] Based on the observation results, the error disturbance factor of the motor control system is obtained by using the nonlinear state error feedback control law and the error disturbance factor is compensated to obtain the external disturbance of the motor control system after compensation;

[0017] Based on the external disturbance of the compensated motor control system, the backstepping method is used to design the backstepping controller of the permanent magnet synchronous motor.

[0018] Furthermore, the above-mentioned simplified second-order dynamics model of the permanent magnet synchronous motor with an error disturbance factor includes:

[0019] Establish the second-order dynamic model of permanent magnet synchronous motor:

[0020]

[0021] make The second-order dynamic model of the permanent magnet synchronous motor is simplified to obtain:

[0022]

[0023] Introducing the error disturbance factor into the simplified second-order dynamics model, we obtain:

[0024]

[0025] d is the error disturbance factor.

[0026] Furthermore, the above-mentioned use of a differential tracker to denoise the simplified second-order dynamics model of the permanent magnet synchronous motor with an error disturbance factor includes:

[0027] The expression of the denoising result y is:

[0028] y=g-ω,

[0029] Among them, ω is the actual angular velocity, g is the intermediate variable, and:

[0030]

[0031] δ is the filter factor, ε is the nonlinear factor, ω* is the command angular velocity,

[0032] Furthermore, the above-mentioned observation of the denoised model using a first-order extended state observer includes:

[0033] The first-order extended state observer model is:

[0034]

[0035] Among them, y is the model denoising result, z1 is the output of the first-order extended state observer, z2 is the extended state quantity of the state observation system, β1 is the parameter that affects the speed and accuracy of system state estimation. β2 is the parameter that affects the estimation of external disturbances of the system,

[0036] δ is the filtering factor and ε is the nonlinear factor.

[0037] Furthermore, the above-mentioned method of obtaining the error disturbance factor of the motor control system based on the observation result by using the nonlinear state error feedback control law and compensating the error disturbance factor to obtain the external disturbance of the motor control system after compensation includes:

[0038] The error disturbance factor d of the motor control system is obtained by using the nonlinear state error feedback control law:

[0039] d=-kfal(z1,ε,δ),

[0040] Where k is the adjustable gain parameter, z1 is the output of the first-order extended state observer, δ is the filter factor, ε is the nonlinear factor,

[0041] The error disturbance factor d is compensated according to the following formula to obtain the external disturbance d′ of the motor control system after compensation:

[0042] d′=z2 / b0-d,

[0043] Among them, z2 is the expanded state quantity of the state observation system, and 1 / b0 is the compensation coefficient.

[0044] A permanent magnet synchronous motor backstepping self-disturbance rejection control device, the permanent magnet synchronous motor backstepping self-disturbance rejection control device comprises a processor and a memory, the memory stores at least one instruction, the at least one instruction is loaded and executed by the processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as mentioned above.

[0045] A computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as described above.

[0046] The method for backstepping anti-disturbance control of a permanent magnet synchronous motor described in the present invention can effectively improve the adaptive capability of the controller, that is, enhance the robustness of the motor control, and reduce the overshoot problem that occurs during the rapid response of the motor. Specific beneficial effects include:

[0047] 1. The backstepping anti-disturbance controller can generate control instructions based on the deviation and change rate of the system state, so that the system can quickly and accurately track the given speed and torque instructions. This can significantly improve the dynamic performance of the PMSM system, giving it better acceleration and response speed.

[0048] 2. Backstepping anti-disturbance control can increase the system's robustness to uncertainties such as parameter changes, load disturbances, and motor parameter errors by introducing nonlinear feedback design. This means that even in the presence of uncertain factors, the system can still operate stably and maintain good control performance.

[0049] 3. The backstepping anti-disturbance controller can adaptively adjust the control instructions according to the system state and error characteristics, so that the system can output high-quality motor torque and speed, realize precise control of the motor, and improve its operating efficiency and output quality.

[0050] 4. Disturbance usually causes deviation and error in system output. By adding external disturbance compensation to the system, the disturbance can be compensated in time, reducing the output error of the system, thereby improving control accuracy and stability.

[0051] 5. The disturbance compensator can adaptively adjust the control parameters to adapt to the changes and uncertainties of the system. By estimating the state and disturbance of the system in real time and using this information to adjust the control input, it can better adapt to the dynamic characteristics of the system and effectively improve the control performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is the backstepping ADRC architecture diagram;

[0053] Figure 2 It is the structure diagram of the self-disturbance rejection observation;

[0054] Figure 3 The overall block diagram of the permanent magnet synchronous motor backstepping anti-disturbance control scheme based on vector control;

[0055] Figure 4 This is a comparison chart of the control characteristics of the traditional PI control algorithm and the backstepping anti-disturbance control algorithm. DETAILED DESCRIPTION

[0056] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0057] Specific implementation method 1: Since it is necessary to achieve rapid speed control of the motor and suppress overshoot linearity, the permanent magnet synchronous motor backstepping self-disturbance rejection control method proposed in this implementation method estimates the external disturbance of the system and improves its disturbance performance by improving the backstepping controller. The method described in this implementation method can effectively reduce the occurrence of overshoot while ensuring the rapid response of the system, making the control process more stable and reliable, and achieving a more ideal control effect. The details are as follows:

[0058] Take a three-phase surface-mount permanent magnet synchronous motor as an example (L = L q =L d ), based on the vector control structure, in order to improve the speed control characteristics of the permanent magnet synchronous motor, the second-order dynamic model of the permanent magnet synchronous motor is established, and its equation is:

[0059]

[0060] In the formula, the state variable x1 = ω, is the first-order derivative of the mechanical angular velocity ω of the permanent magnet synchronous motor, u is the control quantity, k e and K t are the back electromotive force coefficient and torque coefficient respectively, L is the mutual inductance between the motor windings, L q and L d are the d-axis and q-axis inductances of the motor respectively, R is the stator resistance, J is the moment of inertia of the motor, B is the damping coefficient of the motor, T L The load torque of the motor.

[0061] In order to simplify the calculation, formula (1) is simplified as:

[0062]

[0063] in,

[0064] Assume that the error disturbance factor d represents the bounded disturbance of the outside world to the motor control system. On this basis, the backstepping auto-disturbance rejection control model is proposed, and the equation is:

[0065]

[0066] It can be seen that the error disturbance factor d plays a vital role in the improvement of the controller. In view of this, a first-order extended state observer (ESO) is constructed to observe the speed error to obtain a real-time and accurate estimate of the error disturbance factor d. The first-order extended state observer has the advantages of fast response, high robustness and versatility of real-time estimation. These technical characteristics can significantly improve the observation performance of external disturbances of the backstepping controller. Using it to compensate for the external disturbances of the backstepping control can effectively improve the control performance. Specifically include:

[0067] Establish a Tracking Differentiator (TD) model to reduce input noise pollution:

[0068]

[0069] y=g-ω(5),

[0070] In the formula, δ is the filter factor, ε is the nonlinear factor, ω*command angular velocity, g is the intermediate variable, and y is the denoising result.

[0071] Establish a first-order extended state observer model:

[0072]

[0073] Where: z1 is the output of the first-order extended state observer, z2 is the extended state quantity of the state observation system, which is used to compensate for the total disturbance of the state observation system. β1 is the parameter that affects the speed and accuracy of system state estimation. β2 Parameters that affect the estimation of external disturbances of the system.

[0074]

[0075] The nonlinear state error feedback control law (NLSEF) is used to compensate the external disturbance d of the motor control system, as shown in equation (8):

[0076] d=-kfal(z1,ε,δ)(8),

[0077] Where k is the adjustable gain parameter.

[0078] After z2 is multiplied by the coefficient 1 / b0, it is subtracted from the output of the nonlinear state error feedback control law to obtain the final compensated external disturbance d′:

[0079] d′=z2 / b0-d.

[0080] In order to achieve velocity tracking, the angular velocity error variable e1 is defined as:

[0081] e1=ω-ω d ,

[0082] ω d is the expected angular velocity.

[0083] Then the first-order derivative of the velocity error variable e1 is as follows:

[0084]

[0085] Assume ρ1 as the virtual control variable assumed in the backstepping calculation process so that e2=x2-ρ1, so x2=e2+ρ1.

[0086] Construct the first Lyapunov equation L1:

[0087]

[0088] Derivation of formula (9) yields:

[0089]

[0090] Pick Substituting into formula (10) we get:

[0091]

[0092] Taking the derivative of e2, we get:

[0093]

[0094] Construct the second Lyapunov equation L2:

[0095]

[0096] Derivative of formula (13) yields:

[0097]

[0098] make

[0099] Among them, c1>0 and c2>0 are design parameters in the backstepping method. They affect the stability and performance of the system by adjusting the convergence speed of the system and the size of the control signal. Then substitute them into formula (14) to obtain:

[0100]

[0101] It can be seen that the system is stable, so the control quantity u is:

[0102]

[0103] Constructing a backstepping ADRC architecture Figure 2 shown.

[0104] The interference term is estimated through the anti-disturbance control of this architecture, the dynamic performance of the backstepping controller is improved, and the control characteristics of fast response and no overshoot are effectively achieved. Figure 3 shown.

[0105] Specific implementation method 2: A permanent magnet synchronous motor backstepping self-disturbance rejection control device, the permanent magnet synchronous motor backstepping self-disturbance rejection control device includes a processor and a memory, the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as described in specific implementation method 1.

[0106] Specific implementation method three: A computer storage medium, wherein at least one instruction is stored in the computer storage medium, and the at least one instruction is loaded and executed by a processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as described in specific implementation method one.

[0107] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A permanent magnet synchronous motor backstepping anti-disturbance control method, characterized in that: include: The control quantity is obtained by using the backstepping controller of the permanent magnet synchronous motor, and then the speed loop in the vector control of the permanent magnet synchronous motor is controlled; The backstepping controller expression of the permanent magnet synchronous motor is: Among them, u is the control quantity, d′ is the external disturbance of the motor control system after compensation, e1 is the angular velocity error variable, ω d The second derivative of d is the expected angular velocity, c1 and c2 are both parameters greater than 0, and the intermediate variable e2=x2-ρ1,x1=ω, is the first-order derivative of ω, ω is the actual angular velocity, ρ1 is the virtual control quantity, k e and K t are the back electromotive force coefficient and torque coefficient respectively, L is the mutual inductance between the motor windings, R is the stator resistance, J is the moment of inertia of the motor, B is the damping coefficient of the motor, T L The load torque of the motor.

2. A permanent magnet synchronous motor backstepping auto-disturbance rejection control method according to claim 1, characterized in that: The construction method of the backstepping controller of the permanent magnet synchronous motor is: Construct a simplified second-order dynamics model of permanent magnet synchronous motor with error disturbance factor; De-noising the simplified second-order dynamics model of the permanent magnet synchronous motor with the error disturbance factor by using a differential tracker; The denoised model is observed using a first-order extended state observer; Based on the observation results, the error disturbance factor of the motor control system is obtained by using the nonlinear state error feedback control law and the error disturbance factor is compensated to obtain the external disturbance of the motor control system after compensation; Based on the external disturbance of the compensated motor control system, the backstepping method is used to design the backstepping controller of the permanent magnet synchronous motor.

3. A permanent magnet synchronous motor backstepping auto-disturbance rejection control method according to claim 2, characterized in that: The method of constructing a simplified second-order dynamics model of a permanent magnet synchronous motor with an error disturbance factor includes: Establish the second-order dynamic model of permanent magnet synchronous motor: make The second-order dynamic model of the permanent magnet synchronous motor is simplified to obtain: Introducing the error disturbance factor into the simplified second-order dynamics model, we obtain: d is the error disturbance factor.

4. A permanent magnet synchronous motor backstepping auto-disturbance rejection control method according to claim 2, characterized in that: The method of using a differential tracker to denoise the simplified second-order dynamics model of the permanent magnet synchronous motor with an error disturbance factor includes: The expression of the denoising result y is: y=g-ω, Among them, ω is the actual angular velocity, g is the intermediate variable, and: δ is the filter factor, ε is the nonlinear factor, ω* is the command angular velocity, 5. A permanent magnet synchronous motor backstepping auto-disturbance rejection control method according to claim 2, characterized in that: The method of observing the denoised model using a first-order extended state observer includes: The first-order extended state observer model is: Among them, y is the model denoising result, z1 is the output of the first-order extended state observer, z2 is the extended state quantity of the state observation system, β1 is the parameter that affects the speed and accuracy of system state estimation, and β2 is the parameter that affects the estimation of external disturbances of the system. δ is the filtering factor and ε is the nonlinear factor.

6. A permanent magnet synchronous motor backstepping auto-disturbance rejection control method according to claim 2, characterized in that: The method of obtaining the error disturbance factor of the motor control system based on the observation result by using the nonlinear state error feedback control law and compensating the error disturbance factor to obtain the external disturbance of the motor control system after compensation includes: The error disturbance factor d of the motor control system is obtained by using the nonlinear state error feedback control law: d=-kfal(z1,ε,δ), Where k is the adjustable gain parameter, z1 is the output of the first-order extended state observer, δ is the filter factor, ε is the nonlinear factor, The error disturbance factor d is compensated according to the following formula to obtain the external disturbance d′ of the motor control system after compensation: d′=z2 / b0-d, Among them, z2 is the expanded state quantity of the state observation system, and 1 / b0 is the compensation coefficient.

7. A permanent magnet synchronous motor backstepping anti-disturbance control device, characterized in that: The permanent magnet synchronous motor backstepping self-disturbance rejection control device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as described in one of claims 1 to 6.

8. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement a permanent magnet synchronous motor backstepping self-disturbance rejection control method as claimed in any one of claims 1 to 6.

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