Method, device and storage medium for suppressing current harmonic disturbance of permanent magnet synchronous motor

Abstract

The present application discloses a method, device and storage medium for suppressing harmonic disturbance of permanent magnet synchronous motor current. The method comprises: according to the mathematical model of permanent magnet synchronous motor in d, q coordinate system, establishing current state equation with d, q axis current as state variables; according to the current state equation, modeling d, q axis disturbance of permanent magnet synchronous motor drive system; defining the d, q axis disturbance as new state variables, constructing repeated extended state observer, obtaining observation values ​​of DC disturbance component and high-order harmonic disturbance component of d, q axis; constructing repeated self-disturbance rejection controller according to control instruction value, sampling value of d, q axis current and observation values ​​of DC disturbance and harmonic disturbance obtained from the repeated extended state observer. The present invention has a good suppression effect on high-order harmonic disturbance.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a method, device and storage medium for suppressing current harmonic disturbance of a permanent magnet synchronous motor. Background Art

[0002] At present, the permanent magnet synchronous motor control system will suffer from a series of inherent harmonic disturbances in actual operation. The harmonic disturbance spectrum is rich and the sources are wide. For example, factors such as non-sinusoidal air gap magnetic density and cogging effect will cause back electromotive force harmonics, the nonlinear characteristics of the inverter switch tube will cause output voltage harmonics, the current sampling amplifier circuit has DC bias, and there are differences in the frequency characteristics between individual sensors, such as different channel amplification factors and different phase lags, which will cause asymmetric three-phase current sampling values ​​and cause current harmonics in the rotating coordinate system. Regardless of the form of harmonic disturbance, it will eventually act on the voltage equation of the motor, causing current harmonic disturbances. The current harmonics further cause torque fluctuations, increase losses, and reduce the steady-state operation performance of the motor. For low-order harmonics, many controllers have shown excellent anti-interference performance, while high-order harmonics mainly come from inverter nonlinearity. Due to the limited bandwidth of the controller, it is difficult to suppress them with traditional controllers alone.

[0003] Active disturbance rejection control is a new control method with broad application prospects in the field of permanent magnet synchronous motor control in recent years. The harmonic disturbance suppression performance of the active disturbance rejection controller of the permanent magnet synchronous motor depends on the observation accuracy of the extended state observer for such disturbances. In theory, if the bandwidth of the extended state observer is high enough, the harmonic disturbance can always be accurately observed and compensated to the controller output to protect the system from the disturbance. However, due to the influence of sampling noise and controller delay, the bandwidth of the extended state observer has an upper limit. Therefore, when the speed exceeds a certain value, the harmonic disturbance frequency will exceed the bandwidth of the extended state observer, and the disturbance estimation accuracy will drop significantly. In addition, too high a bandwidth will cause the active disturbance rejection controller to lose its noise suppression ability in the low frequency band. Therefore, for the current harmonic disturbance in the permanent magnet synchronous motor, the traditional active disturbance rejection controller cannot achieve a good suppression effect. Summary of the invention

[0004] In view of at least one defect or improvement need in the prior art, the present invention provides a method, device and storage medium for suppressing current harmonic disturbance of a permanent magnet synchronous motor, which has a good suppression effect on high-order harmonic disturbance.

[0005] To achieve the above object, according to a first aspect of the present invention, a method for suppressing current harmonic disturbance of a permanent magnet synchronous motor is provided, comprising:

[0006] According to the mathematical model of the permanent magnet synchronous motor in the d and q coordinate systems, the current state equation with the d and q axis currents as state variables is established;

[0007] Modeling the d-axis and q-axis disturbances of the permanent magnet synchronous motor drive system according to the current state equation;

[0008] The d-axis and q-axis disturbances are defined as new state variables, and a repeated expansion state observer is constructed to obtain the observed values ​​of the DC disturbance components and the high-order harmonic disturbance components of the d-axis and q-axis;

[0009] A repetitive active disturbance rejection controller is constructed according to the control command values ​​and sampling values ​​of the d-axis and q-axis currents and the observation values ​​of the DC disturbance components and the high-order harmonic disturbances obtained from the repetitive extended state observer.

[0010] Furthermore, the current state equation is:

[0011]

[0012] Among them, i d is the d-axis current component in the synchronous coordinate system, i q is the q-axis current component in the synchronous coordinate system, u d is the d-axis voltage component in the synchronous coordinate system, u q is the q-axis voltage component in the synchronous coordinate system, R s Indicates stator resistance, L d Indicates the d-axis inductance, L q represents the q-axis inductance, ψ f represents the permanent magnet flux, ω e is the rotor speed and t is the time.

[0013] Furthermore, the d-axis and q-axis disturbances include d-axis and q-axis DC disturbances and 6k-order harmonic disturbances in the d-axis and q-axis caused by the nonlinearity of the inverter and the dead zone, where k is a positive integer.

[0014] Furthermore, the modeling of the d-axis and q-axis disturbances of the permanent magnet synchronous motor drive system includes:

[0015] Construct the following system of equations,

[0016]

[0017]

[0018] Among them, f d is the total disturbance on the d-axis, f q are the total disturbance on the q axis, f sixth_d The d axis is contained in The expression of the 6kth harmonic disturbance caused by the nonlinearity of the inverter and the dead zone in the term, f sixth_q The q axis is contained in The expression of the 6kth harmonic disturbance caused by the nonlinearity and dead zone of the inverter is: k is a positive integer. is the control instruction of d-axis voltage, is the control instruction of q-axis voltage, U e is the average value of the voltage error within each switching cycle, is the angle between the current vector and the q-axis.

[0019] Furthermore, the repetitive extended state observer includes an extended state observer and a repetitive controller, and the repetitive controller includes a stability compensator, a delay link, and a phase amplitude compensation and filtering module. The difference input between the current observation value and the current sampling value of the extended state observer is sent to the ideal repetitive controller composed of the stability compensator and the delay link, and the output of the ideal repetitive controller is sent to the phase compensation and filtering module to obtain the AC disturbance. The obtained AC disturbance is added to the DC disturbance obtained by the extended state observer and fed back to the control law.

[0020] Furthermore, define x1=i q , x2=f q , the repeated expansion state observer is:

[0021]

[0022] Among them, z1 is the observed value of x1, e1 is the q-axis current observation error, z2 is the observed value of x2, is the observed value of the q-axis DC disturbance, is the observed value of the 6kth harmonic disturbance on the q-axis, β1 and β2 are the observer gain parameters, C1(z) and C2(z) are model compensators, Q(z) is the stable compensator, N is the delay beat number, G(z) is the repetitive controller, and Z is the delay factor.

[0023] Further, the constructing of a repetitive active disturbance rejection controller comprises:

[0024] According to the control command value and the sampling value of the q-axis current, the q-axis current control error is obtained;

[0025] Inputting the q-axis current control error into a proportional controller to obtain a preliminary control instruction for the q-axis voltage;

[0026] Add the DC component of the q-axis disturbance to the 6kth harmonic disturbance observation component to obtain the observed value of the q-axis disturbance;

[0027] The observed value of the q-axis disturbance is compensated to the preliminary control instruction of the q-axis voltage, thereby obtaining the final q-axis voltage control instruction.

[0028] Furthermore, the control law of the repetitive active disturbance rejection controller is:

[0029]

[0030] in, is the control instruction of q-axis current, k q are the q-axis proportional gains respectively.

[0031] According to the second aspect of the present invention, there is also provided a permanent magnet synchronous motor current harmonic disturbance suppression device, which includes at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes the steps of any one of the above methods.

[0032] According to a third aspect of the present invention, there is also provided a storage medium storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device executes the steps of any one of the methods.

[0033] In general, compared with the prior art, the above technical scheme conceived by the present invention can achieve the following beneficial effects: the present invention improves the shortcomings of the traditional current auto-disturbance rejection controller of the permanent magnet synchronous motor, and utilizes the characteristic that the q-axis current high-order harmonics are mainly the order, and proposes a repetitive auto-disturbance rejection controller that can effectively suppress the current high-order harmonic disturbances. The repetitive auto-disturbance rejection controller has the same command tracking performance as the traditional auto-disturbance rejection control, but the suppression effect of harmonic disturbances is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 is a structural block diagram of a permanent magnet synchronous motor control system according to an embodiment of the present invention;

[0036] Figure 2 is a flowchart of an implementation method for suppressing current harmonic disturbances of a permanent magnet synchronous motor according to an embodiment of the present invention;

[0037] Figure 3 is the Bode plot of noise immunity;

[0038] Figure 4 is the Bode plot of the traditional ADRC noise estimation capability;

[0039] Figure 5 is a Bode diagram of the frequency selection capability of the repeated observer according to an embodiment of the present invention;

[0040] Figure 6 is a structural block diagram of a complex automatic disturbance rejection controller and a repeated extended state observer according to an embodiment of the present invention;

[0041] Figure 7 The motor runs at 300r / min, 1N·m, q-axis current waveform;

[0042] Figure 8 This is the q-axis current spectrum analysis diagram of the motor running at 300r / min and 1N·m with the traditional active disturbance rejection control strategy;

[0043] Fig. 9 The q-axis current spectrum analysis diagram of the motor running at 300r / min, 1N·m and repeated active disturbance rejection control strategy;

[0044] Fig.10 Comparison of current command tracking performance between traditional ADRC and repetitive ADRC. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0046] The terms "first", "second", "third", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0047] Figure 1 It is a structural block diagram of a permanent magnet synchronous motor control system, where PI represents proportional integral regulator, SVPWM represents voltage space vector pulse width modulation, and PMSM represents permanent magnet synchronous motor.

[0048] like Figure 2 As shown, a method for suppressing current harmonic disturbance of a permanent magnet synchronous motor provided by an embodiment of the present invention comprises the following steps:

[0049] S201. According to the mathematical model of the permanent magnet synchronous motor in the d and q coordinate systems, a current state equation is established with the d and q axis currents as state variables.

[0050] The above d and q coordinate systems are common coordinate systems for analyzing the operation of synchronous motors. Specifically, the three-phase currents a, b, and c of the stator are projected onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis), and the zero axis (0 axis) perpendicular to the dq plane.

[0051] Specific:

[0052] (1) First, establish the voltage equation of the permanent magnet synchronous motor in the synchronous coordinate system:

[0053]

[0054] Among them, i d is the d-axis current component in the synchronous coordinate system, i q is the q-axis current component in the synchronous coordinate system, u d is the d-axis voltage component in the synchronous coordinate system, u q is the q-axis voltage component in the synchronous coordinate system, R s Indicates stator resistance, L d Indicates the d-axis inductance, L q represents the q-axis inductance, ψ f represents the permanent magnet flux, ω e is the rotor speed.

[0055] Among them, i d 、i q The collected three-phase current is transformed by Park:

[0056]

[0057] Among them, i a 、i b 、i c They are the motor phase a, phase b, and phase c currents respectively;

[0058] θ e It is the motor electrical angle, which represents the angle between the motor d axis and a phase.

[0059] (2) According to the voltage equation, the state equation with d-axis and q-axis current as state variables is obtained as follows:

[0060]

[0061] S202. Model the d-axis and q-axis disturbances of the permanent magnet synchronous motor drive system according to the current state equation.

[0062] When modeling, the d and q axis disturbances include the d and q axis DC disturbances and the 6kth harmonic disturbances in the d and q axes caused by the nonlinearity of the inverter and the dead zone, where k is a positive integer.

[0063] Specifically, the modeling is as follows:

[0064]

[0065]

[0066] Among them, f d is the total disturbance on the d-axis, f q are the total disturbance on the q axis, f sixth_d The d axis is included in The 6kth harmonic disturbance caused by the nonlinearity and dead zone of the inverter, f sixth_q The q axis is included in The 6kth harmonic disturbance is caused by the nonlinearity of the inverter and the dead zone, k is a positive integer. Fundamental frequency: f = pn / 60, p is the number of pole pairs, n is the motor rotor speed. is the control instruction of d-axis voltage, is the control instruction of q-axis voltage, U e is the average value of the voltage error within each switching cycle, is the angle between the current vector and the q-axis.

[0067] S203, defining the disturbance as a new state variable, constructing a repeated expanded state observer, and obtaining the observed values ​​of the DC disturbance components and the high-order harmonic disturbance components of the d and q axes.

[0068] The specific implementation of S203 is specifically described by using a non-salient pole permanent magnet synchronous motor as an example. When a non-salient pole permanent magnet synchronous motor is used, the electromagnetic torque is only related to the q-axis current, so the modeling equations of the subsequent repeated expansion state observer are also based on the q-axis current as an example. However, it is particularly noted that the method for suppressing harmonic disturbances of the permanent magnet synchronous motor current of the present invention is a general method applicable to various types of permanent magnet synchronous motors. Since the d- and q-axis equations are symmetrical when modeling and analyzing the d- and q-axis disturbances of the permanent magnet synchronous motor in step S202, and only the inductance is inconsistent, the d-axis can be used in the same way as the q-axis for other types of permanent magnet synchronous motors.

[0069] The repetitive auto-disturbance rejection controller of the embodiment of the present invention is as follows Figure 6 (a) As shown in the module, the structure of the repeated expansion state observer is shown in Figure 6 The difference from the traditional state observer is that the repetitive extended state observer of the embodiment of the present invention includes two parts: an extended state observer and a repetitive controller.

[0070] The extended state observer adopts the traditional extended state observer, including β1 gain module, β2 gain module and integration module. The current sampling value is subtracted from the current observation value of the previous beat and sent to the gain β2 module. After integration, the DC disturbance estimation value of the current beat is obtained. The current sampling value is subtracted from the current observation value of the previous beat and sent to the gain β1 module, then added to the estimated value of the DC disturbance and the voltage command value of the previous beat and integrated to obtain the current observation value of the current beat.

[0071] The repetitive controller includes a stable compensator Q(z), a delay link Z -N And phase amplitude compensation and filtering module. Stable compensator Q(z) and delay link Z -N The ideal repetitive controller is constructed. The stable compensator Q(z) is used to ensure the stability of the controller. The delay link Z -N Used to reproduce harmonic signals. In one embodiment, only the 6th and 12th harmonics are considered, so the phase amplitude compensation and filtering module includes a first model compensator C1(z), a second model compensator C2(z), a first bandpass filter and a second bandpass filter. The first model compensator C1(z) and the second model compensator C2(z) are used for phase amplitude compensation of the model. The current sampling value is subtracted from the current observation value of the previous beat and sent to the stable compensator Q(z) and the delay link Z -N The ideal repetitive controller consists of an output signal containing 6k harmonics. The model compensation amplitudes and phases corresponding to different harmonics are different. Therefore, they pass through the C1(z) and C2(z) model compensators respectively, and then pass through their respective band-pass filters to retain only the 6th and 12th harmonics with adjusted phases and amplitudes, which are then added to the DC disturbance estimate and fed back to the control law.

[0072] (1) First, define x1 = i q Then, the unknown disturbance is defined as the new state variable, that is, x2 = f q On this basis, the repeated expansion state observer is designed as follows: Then, for the disturbance model established in step S202, the repeated expansion state observer is designed:

[0073]

[0074] Where z1 is x1 (i.e. current i q ) observations;

[0075] e1 are the q-axis current observation errors;

[0076] z2 is x2 (i.e., the unknown disturbance f q ) observations;

[0077] and the observed values ​​of q-axis DC disturbance and harmonic disturbance respectively;

[0078] β1 and β2 are observer gain parameters;

[0079] C1(z) and C2(z) are model compensators;

[0080] Q(z) is the stabilizing compensator, G(z) is the repetitive controller, and Z is the delay factor.

[0081] N is the number of delay beats.

[0082] The observer gain parameters β1 and β2 are adjusted using the bandwidth method. The observer bandwidth is defined as ω0, and β1 and β2 are adjusted as follows:

[0083]

[0084] The key to the accurate observation of harmonic disturbances by the repeated extended state observer lies in: 1. The frequency selection characteristic of the additional repeated observer, that is, when the signal frequency is 6kf (pn / 60, p is the number of motor pole pairs, n is the motor speed), G(z) has a very large open-loop gain. 2. The low-frequency filtering characteristics of the x1 estimation channel can be derived (δ is noise), the transfer function frequency analysis is as follows Figure 3 As shown, it presents a low-pass characteristic, and z1 basically does not contain 6k harmonics. Then, e1 input to the repeated observer not only solves the error between the traditional observation of the given signal and the DC bias of the sensor, but also retains only the high-order harmonics. Since the harmonics caused by the nonlinearity of the inverter are 6k, and the model of the inverter is not accurate enough, the amplitude attenuation and phase shift caused by the harmonics of each frequency are different, so C(z) is required for compensation, and one observer can simultaneously compensate for multi-frequency harmonics. Therefore, the repeated expanded state observer proposed in the embodiment of the present invention has the ability to accurately observe harmonic disturbances.

[0085] (2) In practical applications, the repeated expanded observer needs to be converted into discrete form in order to be deployed in the controller. The q-axis discrete model of the repeated expanded state observer is expressed as:

[0086]

[0087] (3) In order to study the observation capability of the repeated extended state observer for harmonic disturbances, the frequency domain analysis method is used to analyze the traditional extended state observer. First, the transfer function of the q-axis unknown disturbance observation error is derived as:

[0088]

[0089] N(s) and D(s) are the numerator and denominator polynomials of the transfer function respectively:

[0090]

[0091] Transfer function of observation error for unknown disturbance on q axis Perform frequency domain analysis. Set ω0 = 200 (i.e. β1 = 2ω0 = 400, ), through simulation, we can draw Birdtower Figure 4 It can be found that the amplitude-frequency curve is basically 0 dB at the frequency 6kf1 (pole pair number is 3, speed is 300r / min, f1=15Hz), which shows that the traditional extended state observer has very low observation ability for harmonic disturbances near this frequency.

[0092] Taking the pole pair number as 3 and the speed as 300r / min as an example, the PWM switching frequency is set to 10k Hz. (f signal is the frequency of the sixth harmonic), its Bode diagram is as follows Figure 5 As shown, the amplitude gain of the 6kth harmonic is extremely large, and the 6kth harmonic in e1 can be effectively estimated.

[0093] S204, constructing a repetitive current anti-disturbance controller according to the command value and sampling value of the q-axis current and the observed values ​​of the DC disturbance and harmonic disturbance obtained from the repetitive extended state observer to suppress the harmonic disturbance of the permanent magnet synchronous motor current.

[0094] Specifically, the specific implementation of S204 is specifically described by taking a non-salient pole permanent magnet synchronous motor (torque output is only related to the q-axis) as an example, including the steps of:

[0095] According to the command value and the sampling value of the q-axis current, the current control error of the q-axis is obtained;

[0096] The control error is input into the proportional controller to obtain a preliminary control instruction of the voltage;

[0097] Add the DC component of the unknown disturbance to the improved AC disturbance observation component to obtain the observation value of the concentrated disturbance;

[0098] The observed value of the concentrated disturbance is compensated to the preliminary voltage control instruction to obtain the final voltage control instruction.

[0099] Specifically, the control law of the repetitive current active disturbance rejection controller is:

[0100]

[0101] in, is the control instruction of q-axis current, k q are the q-axis proportional gains respectively.

[0102] For other types of permanent magnet synchronous motors, the d-axis can be calculated in the same way as the q-axis.

[0103] Since the unknown disturbance observed by the repeated expanded state observer includes DC unknown disturbance and specific harmonic unknown disturbance and its integer multiple, the unknown disturbance is compensated to the voltage command output, which can offset the harmonic disturbance with frequency 6 times and 12 times the fundamental frequency in the motor q-axis current, thereby achieving harmonic disturbance suppression.

[0104] The method for suppressing current harmonic disturbance of a permanent magnet synchronous motor described in the present invention is applicable to the field of permanent magnet synchronous motor control. More specifically, it is applicable to the d-axis and q-axis current loops of a magnetic field oriented control system of a permanent magnet synchronous motor. The repetitive current anti-disturbance controller proposed in the present invention can effectively suppress the current harmonics of the permanent magnet synchronous motor, reduce torque fluctuations, and improve the stability of the motor operation.

[0105] Figure 7 The motor q-axis current waveform is when the motor is running at 300r / min and 1N·m. Figure 8 and Fig. 9 The q-axis current spectrum analysis of traditional ADRC and repetitive ADRC is shown in Figure 2. q The peak-to-peak value of the pulsation reaches 0.1A; after using the repetitive self-disturbance rejection controller, i q The peak-to-peak value of the pulsation is reduced to 0.06A, a 40% reduction. Observing the spectrum bar graph, it can be seen that after using the repetitive anti-disturbance controller, i q The 6th and 12th harmonic components are significantly reduced, while the DC component remains unchanged.

[0106] Fig. 9 For two control modes d 、i q The tracking waveform of the command signal is two step signals and one sine signal, which are marked with dotted lines in the figure. As can be seen from the figure, the command tracking performance corresponding to the two control methods is almost the same, which shows that the repetitive active disturbance rejection controller does not sacrifice the tracking performance while having the harmonic suppression capability.

[0107] Fig.10 Comparison of current command tracking performance between traditional ADRC and repetitive ADRC.

[0108] In summary, the method proposed in this patent can effectively suppress current harmonic disturbances, and the tracking performance of the control system is not affected. At the same time, the method proposed in this patent also has strong parameter robustness. Therefore, the superiority of the method proposed in this patent is reflected.

[0109] The present embodiment also provides a permanent magnet synchronous motor current harmonic disturbance suppression device, which includes at least one processor and at least one memory, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of the permanent magnet synchronous motor current harmonic disturbance suppression method of the above embodiment. For specific steps, please refer to the method embodiment, which will not be repeated here. In the present embodiment, the types of processor and memory are not specifically limited. For example, the processor can be a microprocessor, a digital information processor, an on-chip programmable logic system, etc.; the memory can be a volatile memory, a non-volatile memory, or a combination thereof.

[0110] The present application also provides a storage medium on which a computer program is stored, and when the program is executed by an electronic device, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0111] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct the relevant hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0114] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

[0115] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for suppressing current harmonic disturbance of a permanent magnet synchronous motor, characterized in that: include: According to the mathematical model of the permanent magnet synchronous motor in the d and q coordinate systems, the current state equation with the d and q axis currents as state variables is established; Modeling the d-axis and q-axis disturbances of the permanent magnet synchronous motor drive system according to the current state equation; The d-axis and q-axis disturbances are defined as new state variables, and a repeated expansion state observer is constructed to obtain the observed values ​​of the DC disturbance components and the high-order harmonic disturbance components of the d-axis and q-axis; Constructing a repetitive active disturbance rejection controller according to the control command values ​​and sampling values ​​of the d-axis and q-axis currents and the observation values ​​of the DC disturbance component and the high-order harmonic disturbance obtained from the repetitive extended state observer; The current state equation is: in, is the d-axis current component in the synchronous coordinate system, is the q-axis current component in the synchronous coordinate system, is the d-axis voltage component in the synchronous coordinate system, is the q-axis voltage component in the synchronous coordinate system, is the stator resistance, represents the d-axis inductance, represents the q-axis inductance, represents the permanent magnet flux, is the rotor speed, t For time; The modeling of the d-axis and q-axis disturbances of the permanent magnet synchronous motor drive system includes: Construct the following system of equations, in, is the total disturbance on the d-axis, are the total disturbance on q axis, The d axis is contained in The expression of the 6kth harmonic disturbance caused by the nonlinearity of the inverter and the dead zone is: The q axis is contained in The expression of the 6kth harmonic disturbance caused by the nonlinearity and dead zone of the inverter is: k is a positive integer. is the control instruction of d-axis voltage, is the control instruction of q-axis voltage, U e is the average value of the voltage error within each switching cycle, φ is the angle between the current vector and the q-axis; definition , , the repeated expansion state observer is: in, for The observed value of is the q-axis current observation error, for The observed value of is the observed value of the q-axis DC disturbance, is the observed value of the 6kth harmonic disturbance on the q axis, , is the observer gain parameter, is the model compensator, is a stable compensator, N is the number of delay beats, For a repeating controller, Z is the delay factor; The construction of a repetitive active disturbance rejection controller comprises: According to the control command value and the sampling value of the q-axis current, the q-axis current control error is obtained; Inputting the q-axis current control error into a proportional controller to obtain a preliminary control instruction for the q-axis voltage; Add the DC component of the q-axis disturbance to the 6kth harmonic disturbance observation component to obtain the observed value of the q-axis disturbance; The observed value of the q-axis disturbance is compensated to the preliminary control instruction of the q-axis voltage, thereby obtaining the final q-axis voltage control instruction.

2. The method for suppressing current harmonic disturbance of a permanent magnet synchronous motor according to claim 1, characterized in that: The d and q axis disturbances include d and q axis DC disturbances and 6k harmonic disturbances in the d and q axes caused by the nonlinearity of the inverter and the dead zone, where k is a positive integer.

3. The method for suppressing current harmonic disturbance of a permanent magnet synchronous motor according to claim 1, characterized in that: The repetitive extended state observer includes an extended state observer and a repetitive controller. The repetitive controller includes a stability compensator, a delay link, and a phase amplitude compensation and filtering module. The difference input between the current observation value and the current sampling value of the extended state observer is sent to the ideal repetitive controller composed of the stability compensator and the delay link. The output of the ideal repetitive controller is sent to the phase amplitude compensation and filtering module to obtain an AC disturbance. The obtained AC disturbance is added to the DC disturbance component obtained by the extended state observer and fed back to the control law.

4. The method for suppressing current harmonic disturbance of a permanent magnet synchronous motor according to claim 1, characterized in that: The control law of the repetitive ADRC controller is: in, is the control instruction of q-axis current, are the q-axis proportional gains respectively.

5. A permanent magnet synchronous motor current harmonic disturbance suppression device, characterized in that: The method comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit executes the steps of the method according to any one of claims 1 to 4.

6. A storage medium, characterized in that: It stores a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the method according to any one of claims 1 to 4.

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