A method for suppressing torque harmonic disturbance of permanent magnet synchronous motor

Abstract

The present application discloses a method for suppressing harmonic disturbance of torque of permanent magnet synchronous motor, including: establishing the motion equation of permanent magnet synchronous motor, constructing the speed state equation with speed as the first state variable according to the motion equation; incorporating the total disturbance of speed loop of permanent magnet synchronous motor into the speed state equation to obtain the total disturbance equation of speed loop; defining the total disturbance of speed loop as the second state variable, constructing a decoupled generalized integral extended state observer to obtain the observed value of harmonic disturbance; constructing a decoupled generalized integral speed auto-disturbance control according to the command value, feedback value and observed value of harmonic disturbance of speed to suppress harmonic disturbance of torque of permanent magnet synchronous motor. It can solve the problem that the accuracy of disturbance estimation of traditional auto-disturbance control will drop significantly when the harmonic disturbance frequency exceeds its bandwidth, and the problem that tracking performance and anti-disturbance performance are coupled.

Description

Technical Field

[0001] The present application relates to the technical field of motor drive control, and more specifically, to a method for suppressing torque harmonic disturbance of a permanent magnet synchronous motor. Background Art

[0002] Permanent magnet synchronous motors have the characteristics of high efficiency, large output torque, and wide speed regulation range, and have been widely used in the industrial field. However, due to factors such as processing errors and cogging effects, permanent magnet synchronous motors will produce cogging torque, introducing torque harmonics in the motor. In addition, nonlinear factors such as inverter dead time, on-off delay time, and on-state voltage drop will cause output voltage harmonics. The above harmonics will eventually act on the motor, causing torque pulsation, speed fluctuations, and additional losses, seriously affecting the motor's operating performance.

[0003] The active disturbance rejection controller implements an emerging control method and has broad application prospects in the field of permanent magnet synchronous motor control. The active disturbance rejection controller is a composite controller, including a differential tracker, an error feedback control law, and an extended state observer. Its main idea is to take the series integral model as the standard model, and regard all the unmodeled parts and other uncertain factors that are different from the standard model as one, collectively referred to as concentrated disturbances, and expand it into an independent state, establish an extended state observer for observation, and eliminate the disturbance by real-time estimation and compensation. Even if the parameters of the permanent magnet synchronous motor change, the active disturbance rejection controller can still adapt well. However, the traditional active disturbance rejection controller can only effectively suppress the disturbance within its bandwidth. When the speed is large, the frequency of the harmonic disturbance will exceed its bandwidth, and the accuracy of the disturbance estimation will be greatly reduced. In addition, too high a bandwidth will introduce a lot of noise in the control system. In addition, the traditional active disturbance rejection controller has the problem of coupling tracking performance with anti-disturbance performance, which increases the complexity of parameter setting. Therefore, the traditional active disturbance rejection controller has poor suppression performance for the torque harmonics of the permanent magnet synchronous motor. Summary of the invention

[0004] In response to at least one defect or improvement need in the prior art, the present invention provides a method for suppressing harmonic disturbance of torque of a permanent magnet synchronous motor, a device for suppressing harmonic disturbance of torque of a permanent magnet synchronous motor and a computer-readable storage medium, aiming to solve the problems that the accuracy of disturbance estimation of a traditional self-disturbance rejection controller drops significantly when the harmonic disturbance frequency exceeds its bandwidth, and there is a coupling problem between tracking performance and anti-disturbance performance.

[0005] To achieve the above-mentioned purpose, according to the first aspect of the present invention, a method for suppressing harmonic disturbance of torque of a permanent magnet synchronous motor is provided, comprising: establishing a motion equation of the permanent magnet synchronous motor, and constructing a speed state equation with the speed as the first state variable according to the motion equation; incorporating the total disturbance of the speed loop of the permanent magnet synchronous motor into the speed state equation to obtain the total disturbance equation of the speed loop; defining the total disturbance of the speed loop as the second state variable, and constructing a decoupled generalized integral extended state observer to obtain the observed value of the harmonic disturbance; constructing a decoupled generalized integral speed auto-disturbance rejection controller according to the command value, feedback value of the speed and the observed value of the harmonic disturbance to suppress the harmonic disturbance of torque of the permanent magnet synchronous motor.

[0006] In one embodiment of the present invention, the establishment of the motion equation of the permanent magnet synchronous motor, and the establishment of the speed state equation with the speed as the first state variable according to the motion equation, include: establishing the motion equation of the permanent magnet synchronous motor as: Among them, ω r is the motor mechanical angular velocity, J is the motor moment of inertia, T e is the motor electromagnetic torque, T L is the load torque, B is the damping viscosity coefficient; the motor mechanical angular velocity ω r The speed state equation obtained by transforming the motion equation as the first state variable is:

[0007] In one embodiment of the present invention, incorporating the total disturbance of the speed loop of the permanent magnet synchronous motor into the speed state equation to establish a total disturbance model of the speed loop includes: establishing the total disturbance model of the speed loop as: Among them, b ω =1 / J, f ω represents the total disturbance of the speed loop, d ω =ΔT e +∑T cog , represents the torque harmonic disturbance; ∑T cog is the cogging torque and electromagnetic torque disturbance n p Indicates the number of motor pole pairs, Δi d , Δi q They represent the d-axis and q-axis current disturbances, ΔL d , ΔL q They represent the d-axis and q-axis inductance parameter perturbations, Δψ f Indicates the change in magnetic flux of the permanent magnet.

[0008] In one embodiment of the present invention, the total disturbance of the speed loop is defined as a second state variable, and a decoupled generalized integral extended state observer is constructed to obtain the observed value of the harmonic disturbance, including: defining x1=ω r, define the total disturbance as the second state variable, that is, x2 = f ω , based on this, the decoupled generalized integral extended observer is designed in the frequency domain as: in, is the observed value of X1, E1 is the speed observation error; is the observed value of X2, β'1 and β'2 are the observer gains, G r (s) is a quasi-resonant integrator, k r is the resonant gain, ω b is the resonant bandwidth, ω g is the resonant frequency and s is the Laplace operator.

[0009] In one embodiment of the present invention, the resonant frequency is set to: To suppress the cogging torque caused by N cog / P-order torque harmonic; the observer gains β1' and β2' are adjusted by bandwidth method and are set as: Where ξ represents the tuning coefficient and ω0 represents the observer bandwidth.

[0010] In one embodiment of the present invention, the decoupled generalized integral speed auto-disturbance rejection controller is constructed according to the speed command value, feedback value and the observed value of the harmonic disturbance, including: obtaining the speed control error according to the speed command value and feedback value; inputting the control error into the proportional control law to obtain the preliminary control instruction of the torque; compensating the observed value of the total disturbance to the preliminary control instruction of the torque, thereby obtaining the final control instruction of the torque; wherein the proportional control rate is: K pw is the control law gain, ω r * Indicates the speed command value, Indicates the observed speed value, represents the first-order inertia link.

[0011] According to the second aspect of the present invention, a permanent magnet synchronous motor torque harmonic disturbance suppression device is also provided, which includes: a speed state equation establishment module, used to establish the motion equation of the permanent magnet synchronous motor, and construct a speed state equation with the speed as the first state variable according to the motion equation; a speed loop total disturbance equation acquisition module, used to incorporate the speed loop total disturbance of the permanent magnet synchronous motor into the speed state equation, and obtain the speed loop total disturbance equation; a harmonic disturbance observation value acquisition module, used to define the speed loop total disturbance as the second state variable, and construct a decoupled generalized integral extended state observer to obtain the observation value of the harmonic disturbance; a harmonic disturbance suppression module, used to construct a decoupled generalized integral speed self-disturbance rejection controller according to the speed command value, feedback value and the observation value of the harmonic disturbance to suppress the permanent magnet synchronous motor torque harmonic disturbance.

[0012] In one embodiment of the present invention, the speed state equation establishing module is specifically used to construct the speed state equation as: Among them, ω r is the motor mechanical angular velocity, J is the motor moment of inertia, T e is the motor electromagnetic torque, T L is the load torque, B is the damping viscosity coefficient; the speed loop total disturbance equation obtaining module is specifically used to establish the speed loop total disturbance model as: Among them, b ω =1 / J, f ω represents the total disturbance of the speed loop, d ω =ΔT e +∑T cog , represents the torque harmonic disturbance, ∑T cog is the cogging torque and electromagnetic torque disturbance n p Indicates the number of motor pole pairs, Δi d , Δi q Respectively represent the d-axis and q-axis current disturbances, ΔL d , ΔL q They represent the d-axis and q-axis inductance parameter perturbations, Δψ f Indicates the change in magnetic flux of the permanent magnet.

[0013] In one embodiment of the present invention, the harmonic disturbance observation value acquisition module is specifically used to: define x1=ω r , define the total disturbance as the second state variable, that is, x2 = f ω , based on this, the decoupled generalized integral extended observer is designed in the frequency domain as: in, is the observed value of X1, E1 is the speed observation error; is the observed value of X2, β'1 and β'2 are the observer gains, Gr (s) is a quasi-resonant integrator, k r is the resonant gain, ω b is the resonant bandwidth, ω g is the resonant frequency and s is the Laplace operator.

[0014] According to the fourth aspect of the present invention, there is also provided a computer-readable storage medium storing a computer program executable by an access authentication device, wherein when the computer program runs on the access authentication device, the access authentication device executes the steps of the method for suppressing torque harmonic disturbance of a permanent magnet synchronous motor described in any one of the above-mentioned embodiments.

[0015] In general, the above technical solutions conceived by the present invention can achieve at least the following beneficial effects compared with the prior art:

[0016] 1) By defining the total disturbance of the speed loop as a state variable, a decoupled generalized integral extended state observer is constructed. Its quasi-resonant integrator has a high-gain frequency selection characteristic at the resonant frequency, which can realize the disturbance-free steady-state error tracking, effectively reduce the observation error, and avoid the problem that the accuracy of disturbance estimation of the traditional active disturbance rejection controller will be greatly reduced when the harmonic disturbance frequency exceeds its bandwidth;

[0017] 2) A decoupled generalized integral speed auto-disturbance rejection controller is constructed according to the speed command value, feedback value and the harmonic disturbance observation value obtained by the decoupled generalized integral extended state observer. It has the tracking performance and parameter robustness of the traditional auto-disturbance rejection controller, while solving the problem of coupling between the tracking performance and the anti-disturbance performance of the traditional linear auto-disturbance rejection controller, and the ability to suppress harmonic disturbances is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 A flow chart of a method for suppressing harmonic disturbances of torque of a permanent magnet synchronous motor provided in an embodiment of the present application;

[0020] Figure 2 A control structure block diagram of a permanent magnet synchronous motor drive system provided in an embodiment of the present application;

[0021] Figure 3 A control structure block diagram of a decoupled generalized integral extended state observer provided in an embodiment of the present application;

[0022] Figure 4 A control structure block diagram of a decoupled generalized integral active disturbance rejection controller provided in an embodiment of the present application;

[0023] Figure 5 A two-degree-of-freedom equivalent model of the decoupled generalized integral active disturbance rejection controller provided in an embodiment of the present application;

[0024] Figure 6 A Bode diagram of a decoupled generalized integral extended state observer provided in an embodiment of the present application;

[0025] Figure 7 A Bode diagram of a decoupled generalized integral active disturbance rejection controller provided in an embodiment of the present application;

[0026] Figure 8 A schematic diagram of the structure of a permanent magnet synchronous motor torque harmonic disturbance suppression device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] like Figure 1As shown, the first embodiment of the present invention proposes a method for suppressing harmonic disturbance of torque of a permanent magnet synchronous motor, for example, including: step S1, establishing the motion equation of the permanent magnet synchronous motor, and constructing a speed state equation with the speed as the first state variable according to the motion equation; step S2, incorporating the total disturbance of the speed loop of the permanent magnet synchronous motor into the speed state equation to obtain the total disturbance equation of the speed loop; step S3, defining the total disturbance of the speed loop as the second state variable, and constructing a decoupled generalized integral extended state observer to obtain the observed value of the harmonic disturbance; step S4, constructing a decoupled generalized integral speed self-disturbance rejection controller according to the command value, feedback value of the speed and the observed value of the harmonic disturbance to suppress the harmonic disturbance of the torque of the permanent magnet synchronous motor.

[0030] In step S1, for example, the motion equation of the permanent magnet synchronous motor is first established as:

[0031]

[0032] Among them, ω r is the motor mechanical angular velocity; J is the motor moment of inertia; T e is the electromagnetic torque of the motor; T L is the load torque; B is the damping viscosity coefficient.

[0033] The motor mechanical angular velocity ω r The motion equation is transformed for the first state variable to obtain the speed state equation:

[0034]

[0035] In step S2, for example, the speed loop disturbance of the permanent magnet synchronous motor drive system is modeled according to the speed state equation. Figure 2 The figure shows the control structure block diagram of the permanent magnet synchronous motor drive system, LADRC represents linear active disturbance rejection controller, SVPWM represents voltage space vector pulse width modulation, PMSM represents permanent magnet synchronous motor, and MTPA represents maximum torque current ratio control.

[0036] First, the torque harmonics caused by the cogging torque are considered and incorporated into the speed state equation to obtain:

[0037]

[0038] Among them, d ω =ΔT e +∑T cog , represents the torque harmonic disturbance; Represents the electromagnetic torque disturbance; n p Indicates the number of motor pole pairs; Δi d , Δi qRespectively represent the d-axis and q-axis current disturbances; ΔL d , ΔL q Respectively represent the perturbation of the d-axis and q-axis inductance parameters; Δψ f Indicates the change in permanent magnet flux; ∑T cog is the cogging torque.

[0039] Next, the total disturbance is used to represent the sum of known disturbances and unknown disturbances, which is incorporated into the speed state equation to obtain the total disturbance model of the speed loop:

[0040]

[0041] Among them, b ω =1 / J; Indicates the electromagnetic torque command value; f ω Indicates the total disturbance of the speed loop.

[0042] In step S3, for example, first define x1=ω r , the total disturbance of the speed loop is defined as the second state variable, that is, x2 = f ω On this basis, the decoupled generalized integral extended state observer is designed in the frequency domain as follows:

[0043]

[0044] in, is the observed value of X1, E1 is the speed observation error; is the observed value of X2, β'1 and β'2 are the observer gains, G r (s) is a quasi-resonant integrator, k r is the resonant gain, ω b is the resonant bandwidth, ω g is the resonant frequency and s is the Laplace operator.

[0045] Furthermore, in order to suppress the N caused by the cogging torque cog / P torque harmonics, for example, the resonant frequency is set to:

[0046]

[0047] The bandwidth method is used to adjust the observer gains β1' and β2'. β1' and β2' are set as:

[0048]

[0049] Where ξ represents the tuning coefficient and ω0 represents the observer bandwidth.

[0050] It is worth mentioning that the above decoupled generalized integral extended state observer is designed in the frequency domain, and the time domain variables are represented by capital letters.

[0051] The key to the accurate observation of harmonic disturbance by the decoupled generalized integral extended state observer lies in the transfer function G r (s) has a frequency-selective characteristic, that is, when the frequency of the disturbance is ω g When G r (s) has an extremely high gain and can achieve steady-state error-free tracking of disturbances, so the harmonic disturbance of this frequency can be accurately observed.

[0052] The decoupled generalized integral extended state observer is constructed as Figure 3 As shown, in order to highlight the decoupling effect of the decoupled extended state observer on tracking performance and anti-interference performance, it is compared and analyzed with the traditional linear extended state observer. When the switch is turned to 1, it is a traditional structure extended state observer; when the switch is turned to 2, it is the decoupled structure extended state observer proposed in this embodiment.

[0053] By derivation, it can be obtained that the closed-loop transfer function of the traditional structure extended state observer is:

[0054]

[0055] Among them, G R (s) is the transfer function from input to output, which characterizes the tracking performance of the system; G F (s) is the transfer function from disturbance to output, which characterizes the anti-disturbance performance of the system.

[0056] It can be seen that the tracking performance of the traditional ADRC is only related to the control law, but the anti-disturbance performance is not only related to the gain of the extended state observer, but also to the control law. Therefore, the tracking performance is coupled with the anti-disturbance performance, which increases the complexity of parameter setting to a certain extent.

[0057] Similarly, through derivation, it can be obtained that the closed-loop transfer function of the traditional structure extended state observer is:

[0058]

[0059] It can be seen that the tracking performance of the decoupled anti-disturbance controller is only related to the control law, and the anti-disturbance performance is only related to the gain of the extended state observer, thus realizing the decoupling of tracking performance and anti-disturbance performance.

[0060] Furthermore, in order to explore the observation accuracy of the decoupled generalized integral extended state observer for harmonic disturbances, the frequency domain analysis method is used to analyze its observation error. First, the state equation of the observation error of the decoupled generalized integral extended state observer is derived as follows:

[0061]

[0062] The transfer function of the disturbance observation error can be further derived as:

[0063]

[0064] Plot the disturbance estimation error transfer function F of the decoupled generalized integral extended state observer e2 The Bode plot of (s) is as follows: Figure 4 As shown. The parameters are set as: ξ=5, k r =50,ω b =1rad / s,ω g =360πrad / s, the dotted part is the decoupled extended state observer. It can be seen that the frequency characteristics of the disturbance observation error of the decoupled generalized integral extended state observer and the decoupled extended state observer are very close at low and high frequencies. At the same time, when the bandwidth ω0 increases, the gain of the decoupled generalized integral extended state observer and the decoupled extended state observer at low frequencies decreases, and the observation error decreases. The difference is that the decoupled generalized integral extended state observer has a larger gain attenuation at the resonant frequency, and the observation error is reduced, so the harmonic disturbance at this frequency can be accurately observed.

[0065] In step S4, Figure 5 The block diagram of the decoupled generalized integral speed ADRC is shown. For example, the proportional control rate of the decoupled generalized integral speed ADRC is designed to be:

[0066]

[0067] Among them, K pw is the control law gain, ω r * Indicates the speed command value, Indicates the observed speed value, represents the first-order inertia link.

[0068] Furthermore, in order to explore the suppression performance of the decoupled generalized integral ADRC on harmonic disturbances, the frequency domain method is used for analysis. First, the decoupled generalized integral ADRC is converted into Figure 6 The typical two-degree-of-freedom equivalent model shown in the figure has transfer functions of various parts:

[0069]

[0070] The transfer function of motor speed to total disturbance is further derived as:

[0071]

[0072] G F The frequency response of (s) can reflect the suppression performance of the decoupled generalized integral extended state observer to harmonic disturbances. F The transfer function of (s) is as follows:

[0073]

[0074] Plot the disturbance estimation error transfer function F of the decoupled generalized integral extended state observer e2 The Bode plot of (s) is as follows: Figure 7 As shown. The parameters are set as: ξ=5, k r =50,ω b =20rad / s, ω0=20rad / s, the dotted line is the decoupled extended state observer. It can be found that the amplitude-frequency curve at the frequency ω g There is a large gain attenuation at the frequency, which significantly enhances the harmonic suppression capability at this frequency, which shows that the decoupled generalized integral extended state observer can effectively suppress the N caused by the cogging torque. cog / P subtorque harmonic disturbance has a significant suppression effect.

[0075] In summary, a method for suppressing harmonic disturbances in the torque of a permanent magnet synchronous motor proposed in the first embodiment of the present invention defines the total disturbance of the speed loop as a state variable to construct a decoupled generalized integral extended state observer. Its quasi-resonant integrator has a high-gain frequency selection characteristic at the resonant frequency, which can realize the disturbance-free steady-state error tracking, effectively reduce the observation error, and avoid the problem that the accuracy of disturbance estimation of the traditional active disturbance rejection controller will be greatly reduced when the harmonic disturbance frequency exceeds its bandwidth; a decoupled generalized integral speed active disturbance rejection controller is constructed according to the speed command value, feedback value and the harmonic disturbance observation value obtained by the decoupled generalized integral extended state observer. The controller has the tracking performance and parameter robustness of the traditional active disturbance rejection controller, and solves the problem of coupling between the tracking performance and the anti-disturbance performance of the traditional linear active disturbance rejection controller, and the ability to suppress harmonic disturbances is significantly improved.

[0076] In addition, if Figure 8 As shown, the second embodiment of the present invention proposes a permanent magnet synchronous motor torque harmonic disturbance suppression device 20, for example, including: a speed state equation establishment module 201, a speed loop total disturbance equation acquisition module 202, a harmonic disturbance observation value acquisition module 203 and a harmonic disturbance suppression module 204.

[0077] Among them, the speed state equation establishment module 201 is used to establish the motion equation of the permanent magnet synchronous motor, and construct the speed state equation with the speed as the first state variable according to the motion equation. The speed loop total disturbance equation acquisition module 202 is used to incorporate the speed loop total disturbance of the permanent magnet synchronous motor into the speed state equation to obtain the speed loop total disturbance equation. The harmonic disturbance observation value acquisition module 203 is used to define the speed loop total disturbance as the second state variable, and construct a decoupled generalized integral extended state observer to obtain the observation value of the harmonic disturbance. The harmonic disturbance suppression module 204 is used to construct a decoupled generalized integral speed self-disturbance rejection controller according to the speed command value, feedback value and the observation value of the harmonic disturbance to suppress the permanent magnet synchronous motor torque harmonic disturbance.

[0078] Furthermore, the speed state equation establishing module is specifically used to construct the speed state equation as follows: Among them, ω r is the motor mechanical angular velocity, J is the motor moment of inertia, T e is the motor electromagnetic torque, T L is the load torque, and B is the damping viscosity coefficient. The speed loop total disturbance equation obtaining module is specifically used to establish the speed loop total disturbance model as follows: Among them, b ω =1 / J, f ω represents the total disturbance of the speed loop, d ω =ΔT e +∑T cog , represents the torque harmonic disturbance, ∑T cog is the cogging torque and electromagnetic torque disturbance n p Indicates the number of motor pole pairs, Δi d , Δi q Respectively represent the d-axis and q-axis current disturbances, ΔL d , ΔL q They represent the d-axis and q-axis inductance parameter perturbations, Δψ f Indicates the change in magnetic flux of the permanent magnet.

[0079] Furthermore, the harmonic disturbance observation value acquisition module is specifically used to: define x1=ω r , define the total disturbance as the second state variable, that is, x2 = f ω , based on this, the decoupled generalized integral extended observer is designed in the frequency domain as: in, is the observed value of X1, E1 is the speed observation error; is the observed value of X2, β'1 and β'2 are the observer gains, G r (s) is a quasi-resonant integrator, k r is the resonant gain, ωb is the resonant bandwidth, ω g is the resonant frequency and s is the Laplace operator.

[0080] It is worth mentioning that the method implemented by the permanent magnet synchronous motor torque harmonic disturbance suppression device 20 disclosed in the second embodiment of the present invention is as described in the first embodiment, so it will not be described in detail here. Optionally, the various modules and the above-mentioned other operations or functions in the second embodiment are respectively for implementing the permanent magnet synchronous motor torque harmonic disturbance suppression method described in the first embodiment, and the beneficial effects of this embodiment are the same as those of the first embodiment, and for the sake of brevity, they are not repeated here.

[0081] The third embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented, and the beneficial effects of the computer-readable storage medium provided by this embodiment are the same as the beneficial effects of the permanent magnet synchronous motor torque harmonic disturbance suppression method provided by the first embodiment.

[0082] Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0083] 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.

[0084] 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.

[0085] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of the device or unit can be electrical or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or software functional unit.

[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, or all or part of the technical solution. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0089] 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 related 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.

[0090] 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 art that are not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

[0091] 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.

[0092] 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 torque harmonic disturbance of a permanent magnet synchronous motor, characterized in that: include: Establishing a motion equation of the permanent magnet synchronous motor, and constructing a speed state equation with the speed as the first state variable according to the motion equation; Incorporating the total disturbance of the speed loop of the permanent magnet synchronous motor into the speed state equation to obtain the total disturbance equation of the speed loop; The total disturbance of the speed loop is defined as the second state variable, and a decoupled generalized integral extended state observer is constructed to obtain the observed value of the harmonic disturbance; A decoupled generalized integral speed auto-disturbance rejection controller is constructed according to the speed command value, the feedback value and the observed value of the harmonic disturbance to suppress the permanent magnet synchronous motor torque harmonic disturbance; The method of establishing a motion equation of the permanent magnet synchronous motor and constructing a speed state equation with the speed as the first state variable according to the motion equation includes: The motion equation of the permanent magnet synchronous motor is established as: ,in, is the motor mechanical angular velocity; is the motor moment of inertia; is the electromagnetic torque of the motor; is the load torque; is the damping viscosity coefficient; The motor mechanical angular velocity The speed state equation obtained by transforming the motion equation as the first state variable is: ; The total disturbance of the speed loop of the permanent magnet synchronous motor is incorporated into the speed state equation to establish a total disturbance model of the speed loop, including: The total disturbance model of the speed loop is established as: ;in, , Indicates the total disturbance of the speed loop, , represents the torque harmonic disturbance; is the cogging torque and electromagnetic torque disturbance ; Indicates the number of motor pole pairs, , Respectively represent the d and q axis current disturbances, , Respectively represent the d and q axis inductance parameter perturbations, Indicates the change in magnetic flux of permanent magnet; The total disturbance of the speed loop is defined as a second state variable, and a decoupled generalized integral extended state observer is constructed to obtain the observed value of the harmonic disturbance, including: definition , defining the total disturbance as the second state variable: , based on this, the decoupled generalized integral extended observer is designed in the frequency domain as: ; in, for The observed value of is the speed observation error; for The observed value of , is the observer gain, For the quasi-resonant integrator, is the resonance gain, is the resonant bandwidth, is the resonant frequency, is the Laplace operator; The method of constructing a decoupled generalized integral speed auto-disturbance rejection controller according to the speed command value, the feedback value and the observed value of the harmonic disturbance comprises: Obtaining a control error of the speed according to the command value and feedback value of the speed; Inputting the control error into a proportional control law to obtain a preliminary control instruction for the torque; Compensating the observed value of the total disturbance to the preliminary control command of the torque, thereby obtaining the final control command of the torque; Wherein, the proportional control law is: , is the control law gain, Indicates the speed command value, Indicates the observed speed value, represents the first-order inertia link.

2. The method for suppressing torque harmonic disturbance of a permanent magnet synchronous motor according to claim 1, characterized in that: The resonant frequency is set to: , to suppress the cogging torque caused by N cog / P Subtorque harmonics; the observer gain , The bandwidth method is used for setting, and the setting is: ,in, Indicates the setting coefficient, represents the observer bandwidth.

3. A permanent magnet synchronous motor torque harmonic disturbance suppression device according to any one of claims 1 to 2, characterized in that: include: A speed state equation establishing module, used to establish a motion equation of the permanent magnet synchronous motor, and to construct a speed state equation with the speed as the first state variable according to the motion equation; A speed loop total disturbance equation obtaining module is used to incorporate the speed loop total disturbance of the permanent magnet synchronous motor into the speed state equation to obtain the speed loop total disturbance equation; A harmonic disturbance observation value acquisition module is used to define the total disturbance of the speed loop as a second state variable, and construct a decoupled generalized integral extended state observer to obtain the observation value of the harmonic disturbance; The harmonic disturbance suppression module is used to construct a decoupled generalized integral speed auto-disturbance rejection controller according to the speed command value, feedback value and the observed value of the harmonic disturbance to suppress the permanent magnet synchronous motor torque harmonic disturbance.

4. The permanent magnet synchronous motor torque harmonic disturbance suppression device according to claim 3 is characterized in that: The speed state equation establishing module is specifically used for: The speed state equation is constructed as: ,in, is the motor mechanical angular velocity, is the motor moment of inertia, is the electromagnetic torque of the motor, is the load torque, is the damping viscosity coefficient; The speed loop total disturbance equation obtaining module is specifically used to establish a speed loop total disturbance model as follows: ;in, , Indicates the total disturbance of the speed loop, , represents the torque harmonic disturbance, is the cogging torque and electromagnetic torque disturbance ; Indicates the number of motor pole pairs, , Respectively represent the d and q axis current disturbances, , Respectively represent the d and q axis inductance parameter perturbations, Indicates the change in magnetic flux of the permanent magnet.

5. The permanent magnet synchronous motor torque harmonic disturbance suppression device according to claim 4, characterized in that: The harmonic disturbance observation value acquisition module is specifically used for: definition , the total disturbance is defined as the second state variable, that is , based on this, the decoupled generalized integral extended observer is designed in the frequency domain as: ; in, for The observed value of is the speed observation error; for The observed value of , is the observer gain, For the quasi-resonant integrator, is the resonance gain, is the resonant bandwidth, is the resonant frequency, is the Laplace operator.

6. A computer-readable storage medium storing a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device executes the steps of the method for suppressing torque harmonic disturbance of a permanent magnet synchronous motor as described in any one of claims 1-2.

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