A permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control

Abstract

The present invention relates to a permanent magnet synchronous motor control method and system based on second-order auto-disturbance rejection control, which belongs to the field of permanent magnet synchronous motor control technology and solves the problems of poor robustness and weak anti-disturbance capability of traditional auto-disturbance rejection controllers. Based on the established d-q axis mathematical model of the permanent magnet synchronous motor, a state equation is obtained; a second-order auto-disturbance rejection controller is established; based on a model reference adaptive observer, an estimated speed ω of the permanent magnet synchronous motor is obtained. r ; Set the speed of the permanent magnet synchronous motor ω r and speed given value ω r * At the same time, input the second-order ADRC to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d ; The PWM control signal is obtained and input into the inverter connected to the permanent magnet synchronous motor to realize the drive control of the permanent magnet synchronous motor. The robustness and anti-interference ability of the controller are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motor control, and in particular to a permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control. Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) has the characteristics of simple structure, high reliability, large power factor, high energy utilization, strong mechanical properties and wide speed regulation range. Therefore, permanent magnet synchronous motor is widely used in aerospace, automobile, CNC machine tools, robots and other fields.

[0003] The existing scanning drive mechanism includes a permanent magnet synchronous motor and a motor drive control system. Among them, the motor drive control system usually includes a current loop, a position loop and a speed loop. The speed loop in the traditional anti-disturbance control controller is a first-order speed anti-disturbance control controller, and the current loop is still a traditional PI controller. Such an anti-disturbance control controller makes the PI controller of the q-axis current loop sensitive to design parameters, has weak anti-disturbance capability, and the tracking differentiator in the first-order anti-disturbance speed controller has an insignificant effect, resulting in poor robustness and weak anti-disturbance capability of the controller. Summary of the invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide a permanent magnet synchronous motor control method and system based on second-order active disturbance rejection control, so as to solve the problems of poor robustness and weak anti-disturbance capability of traditional active disturbance rejection controllers.

[0005] On the one hand, an embodiment of the present invention provides a permanent magnet synchronous motor control method based on second-order active disturbance rejection control, comprising the following steps:

[0006] The state equation is obtained based on the established mathematical model of the dq axis of the permanent magnet synchronous motor;

[0007] According to the state equation, a second-order active disturbance rejection controller is established;

[0008] The estimated speed ω of the permanent magnet synchronous motor is obtained based on the model reference adaptive observer r ;

[0009] The speed ω of the permanent magnet synchronous motor r and speed given value ω r * At the same time, the second-order ADRC is input to obtain the q-axis voltage prediction value u q ;

[0010] Based on the q-axis voltage prediction value u q and the predicted d-axis voltage u dThe PWM control signal is obtained and input into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor.

[0011] Furthermore, the second-order active disturbance rejection controller includes a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor q , specifically including the following steps:

[0012] The tracking signal v of the velocity is obtained by using the tracking differentiator model 1 and the velocity differential tracking signal v 2 ;

[0013] Using the nonlinear extended state observer model, we can obtain the observed estimated value z of the nonlinear extended state observer. 1 and z 2 ;

[0014] The velocity tracking signal v 1 and the observed estimate of the velocity z 1 The error signal e is obtained by subtracting 1 , the velocity differential tracking signal v 2 The observed estimate z of the velocity differential 2 The error differential signal e is obtained by subtracting 2 ;

[0015] Based on the error signal e 1 and the error differential signal e 2 , the q-axis voltage prediction value u is obtained by using the nonlinear state error feedback model q .

[0016] Furthermore, the expression formula of the tracking differentiator model is:

[0017]

[0018] In the formula, v 1 is the speed tracking signal, v 2 is the tracking signal of velocity differentiation, They are v 1 、v 2 The differential value of, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

[0019] Furthermore, the expression of the nonlinear extended state observer model is:

[0020]

[0021] In the formula, z 1 is the observed estimate of velocity, z 2 is the observed estimate of the velocity differential, z 3 is the observed estimate of the sum of external disturbances, β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, They are z 1 ,z 2 ,z 3 The corresponding differential value, ω r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u q is the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is:

[0022]

[0023] In the formula, α m and δ n They are all parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, and 5.

[0024] Furthermore, the expression of the nonlinear state error feedback model is:

[0025]

[0026] In the formula, β 11 and β 12 are the output error correction gains, e 1 is the error signal, e 2 is the error differential signal, u 0 It is a nonlinear combination of the error signal and the error differential signal.

[0027] On the other hand, an embodiment of the present invention provides a permanent magnet synchronous motor control system based on second-order active disturbance rejection control, comprising:

[0028] A mathematical model acquisition module is used to obtain a state equation according to an established permanent magnet synchronous motor dq axis mathematical model;

[0029] The second-order active disturbance rejection controller acquisition module is used to establish a second-order active disturbance rejection controller according to the state equation, wherein the second-order active disturbance rejection controller is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor. q ;

[0030] The model reference adaptive observer acquisition module is used to obtain the estimated speed ω of the permanent magnet synchronous motor according to the model reference adaptive observer. r ;

[0031] The voltage prediction value acquisition module is used to obtain the speed ω of the permanent magnet synchronous motor. r and speed given value ω r * At the same time, input the second-order ADRC to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d ;

[0032] A drive control implementation module is used to predict the q-axis voltage value u according to the q and the predicted d-axis voltage u d The PWM control signal is obtained and input into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor.

[0033] Furthermore, the second-order active disturbance rejection controller acquisition module includes a tracking differentiator acquisition unit, a nonlinear extended state observer acquisition unit and a nonlinear state error feedback acquisition unit; the second-order active disturbance rejection controller is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor. q , including:

[0034] A tracking differentiator obtaining unit is used to obtain a speed tracking signal v according to a tracking differentiator model. 1 and the velocity differential tracking signal v 2 ;

[0035] The nonlinear extended state observer acquisition unit is used to obtain the observed estimated value z of the velocity according to the nonlinear extended state observer model. 1 and the observed estimate of the velocity differential z 2 ;

[0036] The velocity tracking signal v 1 and the observed estimate of the velocity z 1 The error signal e is obtained by subtracting 1 , the velocity differential tracking signal v 2 The observed estimate z of the velocity differential 2 The error differential signal e is obtained by subtracting 2 ;

[0037] The nonlinear state error feedback acquisition unit is used to obtain the q-axis voltage prediction value u according to the nonlinear state error feedback model. q .

[0038] Further, the tracking differentiator obtaining unit obtains the tracking differentiator model by the following formula:

[0039]

[0040] In the formula, v 1 is the speed tracking signal, v 2 is the tracking signal of velocity differentiation, They are v 1 、v 2 The differential value of, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

[0041] Furthermore, the nonlinear extended state observer obtaining unit obtains the nonlinear extended state observer model through the following formula:

[0042]

[0043] In the formula, z 1 is the observed estimate of velocity, z 2 is the observed estimate of the velocity differential, z 3 is the observed estimate of the sum of external disturbances, β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, are the observed estimates of the output of the nonlinear extended state observer, ω r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u q is the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is:

[0044]

[0045] In the formula, α m and δ n They are all parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, and 5.

[0046] Further, the nonlinear state error feedback obtaining unit obtains a nonlinear state error feedback model by the following formula:

[0047]

[0048] In the formula, β 11 and β 12 are the output error correction gains, e 1 is the error signal, e2 is the error differential signal, u 0 It is a nonlinear combination of the error signal and the error differential signal.

[0049] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0050] 1. A permanent magnet synchronous motor control method based on second-order active disturbance rejection control, according to which a second-order active disturbance rejection controller is established to obtain a q-axis voltage prediction value of the permanent magnet synchronous motor, the q-axis voltage prediction value and the d-axis voltage prediction value are simultaneously input into an SVPWM module to obtain a PWM control signal and input into an inverter to realize drive control of the permanent magnet synchronous motor, thereby solving the problem of poor robustness and anti-disturbance capability of traditional controllers and improving the robustness and anti-disturbance capability of the controller.

[0051] 2. The nonlinear extended state observer is used instead of the traditional linear extended state observer, which improves the tracking efficiency of the permanent magnet synchronous motor and the control rate of the second-order active disturbance rejection controller.

[0052] 3. The disturbance of the permanent magnet synchronous motor is observed and disturbance compensation control is performed through the second-order active disturbance rejection controller to obtain the predicted value of the q-axis voltage of the permanent magnet synchronous motor. At the same time, the tracking differentiator, the nonlinear expanded state observer and the nonlinear state error feedback cooperate with each other to realize the tracking of the permanent magnet synchronous motor and the acquisition of the signal. It is simple and easy to implement, which improves the control efficiency of the second-order active disturbance rejection controller.

[0053] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0055] Figure 1 A flow chart of a permanent magnet synchronous motor control method based on second-order active disturbance rejection control in one embodiment;

[0056] Figure 2 A schematic diagram of a speed estimation method based on a model reference adaptive observer in one embodiment;

[0057] Figure 3 A permanent magnet synchronous motor vector control diagram based on second-order auto-disturbance rejection in one embodiment;

[0058] Figure 4 A structural diagram of a permanent magnet synchronous motor control system based on second-order active disturbance rejection control in another embodiment;

[0059] Reference numerals:

[0060] 100-mathematical model acquisition module, 200-second-order active disturbance rejection controller acquisition module, 300-model reference adaptive observer acquisition module, 400-voltage prediction value acquisition module, 500-drive control implementation module. DETAILED DESCRIPTION

[0061] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0062] The existing scanning drive mechanism includes a permanent magnet synchronous motor and a motor drive control system, wherein the motor drive control system generally includes a current loop, a position loop and a speed loop. Since the speed loop of the conventional anti-disturbance control controller is a first-order speed anti-disturbance control controller, and the current loop is still a traditional PI controller, the robustness of the controller is poor and the anti-disturbance capability is weak. To this end, the present application proposes a permanent magnet synchronous motor control method and control system based on a second-order anti-disturbance control, by establishing a second-order anti-disturbance control controller to obtain a predicted value of the q-axis voltage of the permanent magnet synchronous motor, and finally, based on the predicted value of the q-axis voltage of the permanent magnet synchronous motor and the predicted value of the d-axis voltage, a PWM control signal is obtained and input into an inverter connected to the permanent magnet synchronous motor to realize the drive control of the permanent magnet synchronous motor, thereby improving the robustness and anti-disturbance performance of the controller.

[0063] A specific embodiment of the present invention discloses a permanent magnet synchronous motor control method based on second-order active disturbance rejection control, such as Figure 1 This control method mainly builds a second-order anti-disturbance controller based on the state equation of the permanent magnet synchronous motor. The second-order anti-disturbance controller is used to observe the system (permanent magnet synchronous motor) disturbance and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor. q The specific steps include:

[0064] S1. Obtain the state equation based on the established permanent magnet synchronous motor dq axis mathematical model. Specifically, the calculation formula of the permanent magnet synchronous motor dq axis mathematical model is:

[0065]

[0066] In the formula, i d 、i q is the d-axis and q-axis current value of the permanent magnet synchronous motor (A); u d 、uq is the voltage value of the d and q axes of the permanent magnet synchronous motor (V); R s is the stator winding resistance (Ω); p n is the pole pair number; ω r is the rotor mechanical angular velocity (rad / s); ψ f is the main magnetic flux of the permanent magnet (V·s); J is the moment of inertia of the system (kg·m2); B is the viscous friction coefficient of the system (N·m·s / rad); T L is the load torque (N·m).

[0067] Then, based on the permanent magnet synchronous motor The vector control strategy, the state equation becomes:

[0068]

[0069] Define the state variable x of the permanent magnet synchronous motor 1 =ω r , The state equation of the permanent magnet synchronous motor can be simplified into the following form:

[0070]

[0071] Where f(x) is a function that contains the system state and u=u q is the output of the controller; It is the uncertain interference and external interference of the system.

[0072] S2. According to the state equation, a second-order active disturbance rejection controller is established, wherein the second-order active disturbance rejection controller is used to observe system disturbances and perform disturbance compensation control to obtain the predicted value u of the q-axis voltage of the permanent magnet synchronous motor. q . Specifically, the second-order ADRC includes a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model, wherein the tracking differentiator model can reasonably arrange the transition process of the system, and can track the given speed of the permanent magnet synchronous motor and extract the differential signal of the given speed within a limited time. The nonlinear extended state observer model can estimate the observed value of the system and compensate the observed value into the controller. The nonlinear state error feedback model can nonlinearly combine the error signal and the error differential to obtain the q-axis voltage prediction value to improve the control efficiency of the controller.

[0073] Preferably, the second-order active disturbance rejection controller includes a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used to observe system disturbances and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor. q, specifically including the following steps:

[0074] S201, using the tracking differentiator model to obtain the speed tracking signal v 1 and the velocity differential tracking signal v 2 Specifically, the tracking differentiator is used to arrange the transition process for the set value of the control system to reduce the initial error and enable the system to accelerate the transition process with a larger gain without changing the damping. The expression formula of the tracking differentiator model is:

[0075]

[0076] In the formula, v 1 is the speed tracking signal, v 2 is the tracking signal of velocity differentiation, They are v 1 、v 2 The differential value of, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

[0077] S202, using the nonlinear extended state observer model to obtain the observed estimated value z of the velocity 1 and the observed estimate of the velocity differential z 2 . Specifically, the nonlinear extended state observer model can observe the state value of the permanent magnet synchronous motor and the sum of system disturbances, and compensate the observed sum of system disturbances into the controller. At the same time, the nonlinear extended state observer observation is used in this application to replace the traditional linear extended state observer, which improves the tracking efficiency of the permanent magnet synchronous motor and improves the rapidity of the second-order anti-disturbance controller. Among them, the calculation formula of the nonlinear extended state observer model is as follows:

[0078]

[0079] In the formula, z 1 is the observed estimate of velocity, z 2 is the observed estimate of the velocity differential, z 3 is the observed estimate of the sum of external disturbances, β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, They are z 1 ,z 2 ,z 3 The corresponding differential value, ω r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u qis the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is:

[0080]

[0081] In the formula, α m and δ n They are all parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, and 5.

[0082] S203, speed tracking signal v 1 and the observed estimate of the velocity z 1 The error signal e is obtained by subtracting 1 , the velocity differential tracking signal v 2 The observed estimate z of the velocity differential 2 The error differential signal e is obtained by subtracting 2 .

[0083] S204, based on the error signal e 1 and the error differential signal e 2 , the q-axis voltage prediction value u is obtained by using the nonlinear state error feedback model q . Specifically, the nonlinear state error feedback model can nonlinearly combine the error signal and the error differential to obtain the predicted value of the q-axis voltage of the permanent magnet synchronous motor. Among them, the nonlinear state error feedback model has the characteristics of "small error and large gain and large error and small gain", which helps to solve the contradiction between the rapidity and overshoot of the permanent magnet synchronous motor and improve the efficiency of the controller. The calculation formula of the nonlinear state error feedback model is as follows:

[0084]

[0085] In the formula, β 11 and β 12 are the output error correction gains, e 1 is the error signal, e 2 is the error differential signal, u 0 It is a nonlinear combination of the error signal and the error differential signal.

[0086] S3, based on the model reference adaptive observer to obtain the estimated speed ω of the permanent magnet synchronous motor r . Specifically, Figure 2 The schematic diagram of speed estimation based on model reference adaptive observer is shown in FIG. The model reference adaptive observer includes a current reference module and a current adjustable module. The current reference module is used to obtain the mathematical model of the dq axis of the permanent magnet synchronous motor, and the expression is as follows:

[0087]

[0088] The estimated speed information ω r use Instead, the current adjustable model expression is as follows:

[0089]

[0090] The generalized error is defined as The state equation of the error can be obtained as:

[0091]

[0092] In the formula,

[0093] The speed ω of the permanent magnet synchronous motor can be obtained by the above formula r .

[0094] S4, the speed of the permanent magnet synchronous motor ω r and speed given value ω r * At the same time, input the second-order ADRC to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d Specifically, the d-axis voltage prediction value is obtained based on the PI controller.

[0095] S5, based on the q-axis voltage prediction value u q and the predicted d-axis voltage u d The PWM control signal is obtained and input into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor.

[0096] Specifically, Figure 3 The permanent magnet synchronous motor vector control diagram based on second-order anti-disturbance is shown in the figure. The speed ω of the permanent magnet synchronous motor is r and speed given value ω r * At the same time, input the second-order ADRC to obtain the q-axis voltage prediction value u q At the same time, the d-axis voltage prediction value obtained by the PI controller is input into the coordinate transformation module to obtain the voltage u of the α and β axes. α and u β , and u α and u β At the same time, the SVPWM module is input to obtain the PWM control signal and input to the inverter connected to the permanent magnet synchronous motor to realize the control of the permanent magnet synchronous motor.

[0097] Compared with the prior art, this embodiment provides a permanent magnet synchronous motor control method based on second-order active disturbance rejection control. According to the establishment of a second-order active disturbance rejection controller, the q-axis voltage prediction value of the permanent magnet synchronous motor is obtained. The q-axis voltage prediction value and the d-axis voltage prediction value of the permanent magnet synchronous motor are simultaneously input into the SVPWM module to obtain a PWM control signal and input into the inverter to realize drive control of the permanent magnet synchronous motor. This solves the problem of poor robustness and anti-disturbance capability of traditional controllers and improves the robustness and anti-disturbance capability of the controller.

[0098] A specific embodiment of the present invention discloses a permanent magnet synchronous motor control system based on second-order active disturbance rejection control, such as Figure 4 The mathematical model acquisition module 100 is used to obtain the state equation according to the established mathematical model of the dq axis of the permanent magnet synchronous motor; the second-order active disturbance rejection controller acquisition module 200 is used to establish a second-order active disturbance rejection controller according to the state equation, wherein the second-order active disturbance rejection controller is used to observe the system disturbance and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor. q ; Model reference adaptive observer acquisition module 300, for obtaining an estimated permanent magnet synchronous motor speed ω according to the model reference adaptive observer r ; Voltage prediction value acquisition module 400, for the permanent magnet synchronous motor speed ω r and speed given value ω r * At the same time, input the second-order ADRC to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d ; Drive control implementation module 500, used according to the q-axis voltage prediction value u q and the predicted d-axis voltage u d The PWM control signal is obtained and input into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor.

[0099] A permanent magnet synchronous motor control system based on second-order active disturbance rejection control obtains a q-axis voltage prediction value of the permanent magnet synchronous motor by establishing a second-order active disturbance rejection controller. The q-axis voltage prediction value and the d-axis voltage prediction value of the permanent magnet synchronous motor are simultaneously input into an SVPWM module to obtain a PWM control signal and input into an inverter to realize drive control of the permanent magnet synchronous motor, thereby solving the problem of poor robustness and anti-disturbance capability of a traditional controller and improving the robustness and anti-disturbance capability of the controller.

[0100] Specifically, the second-order active disturbance rejection controller acquisition module includes a tracking differentiator acquisition unit, a nonlinear extended state observer acquisition unit and a nonlinear state error feedback acquisition unit, wherein the second-order active disturbance rejection controller is used to observe system disturbances and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor q .

[0101] A second-order active disturbance rejection controller is used to observe system disturbances and perform disturbance compensation control to obtain the predicted value of the q-axis voltage of the permanent magnet synchronous motor. At the same time, the tracking differentiator, the nonlinear extended state observer and the nonlinear state error feedback cooperate with each other to achieve tracking of the permanent magnet synchronous motor and signal acquisition. It is simple and easy to implement, which improves the control efficiency of the second-order active disturbance rejection controller.

[0102] Specifically, the tracking differentiator obtaining unit is used to obtain the speed tracking signal v according to the tracking differentiator model. 1 and the velocity differential tracking signal v 2 , where the calculation formula of the tracking differentiator model is:

[0103]

[0104] In the formula, v 1 is the speed tracking signal, v 2 is the tracking signal of velocity differentiation, They are v 1 、v 2 The differential value of, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

[0105] The tracking differentiator model is obtained through the tracking differentiator acquisition unit. The model can reasonably arrange the transition process of the system, track the given speed of the permanent magnet synchronous motor within a limited time, and extract the differential signal of the given speed, thereby improving the real-time performance of the signal between the second-order active disturbance rejection controller and the permanent magnet synchronous motor.

[0106] The nonlinear extended state observer acquisition unit is used to obtain the observed estimated value z of the velocity according to the nonlinear extended state observer model. 1 and the observed estimate of the velocity differential z 2 , where the calculation formula of the nonlinear extended state observer model is as follows:

[0107]

[0108] In the formula, z 1 is the observed estimate of velocity, z 2 is the observed estimate of the velocity differential, z 3is the observed estimate of the sum of external disturbances, β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, They are z 1 ,z 2 ,z 3 The differential value of r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u q is the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is:

[0109]

[0110] In the formula, α m and δ n They are all parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, and 5.

[0111] The nonlinear extended state observer model is obtained by the nonlinear extended state observer acquisition unit, which can observe the state value and the sum of disturbances of the system and compensate the observed sum of system disturbances into the controller. At the same time, the nonlinear extended state observer is more efficient than the linear extended state observer and can improve the rapidity of the controller.

[0112] Speed ​​tracking signal v 1 and the observed estimate of the velocity z 1 The error signal e is obtained by subtracting 1 , the velocity differential tracking signal v 2 The observed estimate z of the velocity differential 2 The error differential signal e is obtained by subtracting 2 ; A nonlinear state error feedback acquisition unit, used to obtain the q-axis voltage prediction value u according to the nonlinear state error feedback model q , where the calculation formula of the nonlinear state error feedback model is as follows:

[0113]

[0114] In the formula, β 11 and β 12 are the output error correction gains, e 1 is the error signal, e 2 is the error differential signal, u 0 It is a nonlinear combination of the error signal and the error differential signal.

[0115] A nonlinear state error feedback model is obtained through a nonlinear state error feedback acquisition unit. The model can nonlinearly combine the error signal and the error differential to obtain the q-axis voltage prediction value, and then realize the drive control of the permanent magnet synchronous motor, thereby improving the control efficiency of the controller.

[0116] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor control method based on second-order active disturbance rejection control, characterized in that: The steps include: Based on the established permanent magnet synchronous motor dq axis mathematical model, the state equation is obtained; based on the permanent magnet synchronous motor The vector control strategy of the state equation is: Among them, i d 、i q is the d-axis and q-axis current value of the permanent magnet synchronous motor (A); u d 、u q is the voltage value of the d and q axes of the permanent magnet synchronous motor (V); R s is the stator winding resistance (Ω); p n is the pole pair number; ω r is the rotor mechanical angular velocity (rad / s); ψ f is the main magnetic flux of the permanent magnet (V·s); J is the moment of inertia of the system (kg·m2); B is the viscous friction coefficient of the system (N·m·s / rad); T L is the load torque (N·m); According to the state equation, a second-order active disturbance rejection controller is established; The estimated speed ω of the permanent magnet synchronous motor is obtained based on the model reference adaptive observer r The model reference adaptive observer includes a current reference module and a current adjustable module. The current reference module is used to obtain the mathematical model of the dq axis of the permanent magnet synchronous motor. The expression is as follows: The current adjustable model expression is as follows: The state equation of the error is: The speed ω of the permanent magnet synchronous motor r and speed given value ω r * At the same time, the second-order active disturbance rejection controller is input, which is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d ; The d-axis voltage prediction value is obtained based on the PI controller; Based on the q-axis voltage prediction value u q and the predicted d-axis voltage u d A PWM control signal is obtained and inputted into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor; The second-order active disturbance rejection controller includes a tracking differentiator model, a nonlinear extended state observer model and a nonlinear state error feedback model; the second-order active disturbance rejection controller is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor q , specifically including the following steps: A tracking differentiator model is used to obtain a velocity tracking signal v1 and a velocity differential tracking signal v2; The observed estimated value z1 of the velocity and the observed estimated value z2 of the velocity differential are obtained using a nonlinear extended state observer model; the expression of the nonlinear extended state observer model is: Where z1 is the observed estimated value of velocity, z2 is the observed estimated value of velocity differential, z3 is the observed estimated value of the sum of external disturbances, and β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, are the differential values ​​of z1, z2, and z3, respectively, r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u q is the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is: In the formula, α m and δ n are the parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, 5; The speed tracking signal v1 is subtracted from the speed observed estimated value z1 to obtain an error signal e1, and the speed differential tracking signal v2 is subtracted from the speed differential observed estimated value z2 to obtain an error differential signal e2; Based on the obtained error signal e1 and error differential signal e2, the q-axis voltage prediction value u is obtained using the nonlinear state error feedback model. q ; The expression of the nonlinear state error feedback model is: In the formula, β 11 and β 12 are all output error correction gains, e1 is the error signal, e2 is the error differential signal, and u0 is the nonlinear combination of the error signal and the error differential signal; The expression formula of the tracking differentiator model is: Where v1 is the tracking signal of velocity, v2 is the tracking signal of velocity differential, are the differential values ​​of v1 and v2 respectively, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

2. A permanent magnet synchronous motor control system based on second-order active disturbance rejection control, characterized in that: include: A mathematical model acquisition module is used to obtain a state equation according to an established permanent magnet synchronous motor dq axis mathematical model; Based on permanent magnet synchronous motor The vector control strategy of the state equation is: Among them, i d 、i q is the d-axis and q-axis current value of the permanent magnet synchronous motor (A); u d 、u q is the voltage value of the d and q axes of the permanent magnet synchronous motor (V); R s is the stator winding resistance (Ω); p n is the pole pair number; ω r is the rotor mechanical angular velocity (rad / s); ψ f is the main magnetic flux of the permanent magnet (V·s); J is the moment of inertia of the system (kg·m2); B is the viscous friction coefficient of the system (N·m·s / rad); T L is the load torque (N·m); A second-order active disturbance rejection controller acquisition module, used for establishing a second-order active disturbance rejection controller according to the state equation; The model reference adaptive observer acquisition module is used to obtain the estimated speed ω of the permanent magnet synchronous motor according to the model reference adaptive observer. r The model reference adaptive observer includes a current reference module and a current adjustable module. The current reference module is used to obtain the mathematical model of the dq axis of the permanent magnet synchronous motor. The expression is as follows: The current adjustable model expression is as follows: The state equation of the error is: The voltage prediction value acquisition module is used to obtain the speed ω of the permanent magnet synchronous motor. r and speed given value ω r * At the same time, the second-order active disturbance rejection controller is input, which is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u q ; and, the result obtained by subtracting the d-axis current value of the permanent magnet synchronous motor from the reference value of the d-axis current is input into the PI controller to obtain the d-axis voltage prediction value u d ; The d-axis voltage prediction value is obtained based on the PI controller; A drive control implementation module is used to predict the q-axis voltage value u according to the q and the predicted d-axis voltage u d A PWM control signal is obtained and inputted into an inverter connected to the permanent magnet synchronous motor to realize drive control of the permanent magnet synchronous motor; The second-order active disturbance rejection controller acquisition module includes a tracking differentiator acquisition unit, a nonlinear extended state observer acquisition unit and a nonlinear state error feedback acquisition unit; the second-order active disturbance rejection controller is used to observe the disturbance of the permanent magnet synchronous motor and perform disturbance compensation control to obtain the q-axis voltage prediction value u of the permanent magnet synchronous motor q , specifically including: A tracking differentiator obtaining unit, used for obtaining a speed tracking signal v1 and a speed differential tracking signal v2 according to a tracking differentiator model; The nonlinear extended state observer obtaining unit is used to obtain the observed estimated value z1 of the velocity and the observed estimated value z2 of the velocity differential according to the nonlinear extended state observer model; the expression of the nonlinear extended state observer model is: Where z1 is the observed estimated value of velocity, z2 is the observed estimated value of velocity differential, z3 is the observed estimated value of the sum of external disturbances, and β 01 ,β 02 ,β 03 is the observer gain coefficient greater than zero, are the differential values ​​of z1, z2, and z3, respectively, r is the speed of the permanent magnet synchronous motor, e is the observation error, b is the gain compensation, u q is the q-axis voltage of the permanent magnet synchronous motor, and the expression of the nonlinear function fal(e,α,δ) is: In the formula, α m and δ n are the parameters of the nonlinear function fal(e,α,δ), where m and n are both 1, 2, 3, 4, 5; The speed tracking signal v1 is subtracted from the speed observed estimated value z1 to obtain an error signal e1, and the speed differential tracking signal v2 is subtracted from the speed differential observed estimated value z2 to obtain an error differential signal e2; The nonlinear state error feedback acquisition unit is used to obtain the q-axis voltage prediction value u according to the nonlinear state error feedback model. q ; The expression of the nonlinear state error feedback model is: In the formula, β 11 and β 12 are all output error correction gains, e1 is the error signal, e2 is the error differential signal, and u0 is the nonlinear combination of the error signal and the error differential signal; The tracking differentiator obtaining unit obtains the tracking differentiator model through the following formula: Where v1 is the tracking signal of velocity, v2 is the tracking signal of velocity differential, are the differential values ​​of v1 and v2 respectively, R is the parameter that determines the tracking speed, ω r * is the given speed value, sign() is the sign function.

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