Harmonic suppression method, device and system based on vector resonance active disturbance rejection control

Abstract

This invention relates to the field of motor control and provides a harmonic suppression method, device, and system based on vector resonance active disturbance rejection control. The method includes the following steps: obtaining relevant parameters of a permanent magnet synchronous linear motor and establishing a current loop control model in the dq coordinate system; determining the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller based on the current loop control model; and obtaining the actual q-axis current i. q and the actual current i on the d-axis d ; Compare the given q-axis current with the actual q-axis current i q The difference between the input values ​​is fed into the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage and the d-axis given current and the actual d-axis current i. d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage. This invention improves the traditional active disturbance rejection controller into a vector resonant active disturbance rejection controller, thereby realizing the driving of the motor and the suppression of current harmonics.

Description

Technical Field

[0001] This invention belongs to the field of motor control, and particularly relates to the control of permanent magnet synchronous linear motors. Specifically, it provides a harmonic suppression method, device and system based on vector resonance active disturbance rejection control. Background Technology

[0002] Traditional CNC machine tools primarily employ a drive scheme of "rotary servo motor + ball screw motor" to achieve feed motion. This scheme, due to its numerous connecting mechanisms, leads to increased system inertia, reduced dynamic response speed, and decreased positioning accuracy. In contrast, permanent magnet synchronous linear motors eliminate the need for intermediate conversion mechanisms, enabling direct system drive and avoiding the aforementioned limitations. Furthermore, their high precision, wide stroke, and fast response make them widely used in CNC machine tool feed systems and long-distance automated transport systems.

[0003] Permanent magnet synchronous linear motor (PMSM) control systems typically employ a three-loop control architecture: an inner current loop, a middle speed loop, and an outer position loop. The current loop, as the core component of the control system, is crucial for achieving high-precision control of the linear motor servo system. However, due to factors such as cogging effect, dead zone effect, inverter nonlinearity, and parameter mismatch during PMSLM operation, various orders of harmonics exist in the current, causing thrust fluctuations in the linear motor and directly reducing the reliability and stability of the control system. Therefore, research on current harmonic suppression for PMSLMs is of great significance.

[0004] Domestic and international research on harmonic suppression mainly focuses on two aspects: optimization of the motor's structure and control strategies. Commonly used control strategies for harmonic suppression include repetitive control, predictive current control, and harmonic injection. While these strategies have some effect on harmonic suppression, they all have limitations. Repetitive control can theoretically suppress harmonics of specific frequencies and is suitable for systems with constant frequencies. However, when the harmonic frequency changes, the controller needs to be redesigned. Predictive current control can quickly and accurately track the current, showing good harmonic suppression performance. However, predictive control is a model-based method; when the model is inaccurate or parameters are mismatched, the control system will generate disturbances, leading to a decrease in current tracking accuracy and harmonic suppression effectiveness. Harmonic injection is simple to implement and requires less computation. However, the harmonic suppression circuit built using this method requires the motor's inductance, resistance, and flux linkage values. During motor operation, these parameters change in real time due to operating conditions, reducing the accuracy of harmonic suppression. Therefore, there is an urgent need to design a new harmonic suppression technology and method. Summary of the Invention

[0005] The purpose of this invention is to provide a harmonic suppression method based on vector resonance active disturbance rejection control, which aims to solve one or more of the above-mentioned defects caused by the prior art.

[0006] The present invention is implemented as follows: a harmonic suppression method based on vector resonance active disturbance rejection control, the method comprising the following steps:

[0007] Obtain the relevant parameters of the permanent magnet synchronous linear motor and establish a current loop control model in the dq coordinate system;

[0008] Based on the current loop control model, determine the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller;

[0009] Obtain the actual q-axis current i q and the actual current i on the d-axis d ;

[0010] Given a current along the q-axis With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. Given current along the d-axis With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0011] Given the obtained q-axis voltage d-axis given voltage The transformation process is performed to generate a PWM drive signal, which is used to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor.

[0012] Another objective of this invention is to provide a harmonic suppression device based on vector resonance active disturbance rejection control, which can be used in the harmonic suppression method based on vector resonance active disturbance rejection control as described above. The harmonic suppression device based on vector resonance active disturbance rejection control includes: a velocity loop PI controller, a d-axis vector resonance active disturbance rejection controller, and a q-axis vector resonance active disturbance rejection controller.

[0013] The speed loop PI controller is used to obtain the actual q-axis current i. q and the actual current i on the d-axis d ;

[0014] The q-axis vector resonant active disturbance rejection controller is used to control the q-axis given current. With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage.

[0015] The d-axis vector resonant active disturbance rejection controller is used to control the d-axis given current. With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0016] Another objective of this invention is to provide a harmonic suppression system based on vector resonance active disturbance rejection control, wherein the harmonic suppression system based on vector resonance active disturbance rejection control includes:

[0017] The harmonic suppression device based on vector resonance active disturbance rejection control, as described above, and the conversion and driving modules;

[0018] The harmonic suppression device based on vector resonance active disturbance rejection control is used to suppress the actual q-axis current i. q and the actual current i on the d-axis d Perform harmonic suppression and output the q-axis given voltage. d-axis given voltage

[0019] The transformation and driving module is used to convert the given voltage along the q-axis. d-axis given voltage It is converted into a voltage signal to drive a permanent magnet synchronous linear motor;

[0020] The conversion and drive module includes at least: an IPARK conversion module, an inverter, a CLARK conversion module, a PARK conversion module, and a magnetic encoder.

[0021] This invention provides a harmonic suppression method based on vector resonant active disturbance rejection control. First, based on the relevant parameters of the permanent magnet synchronous linear motor, a current loop control model in the dq coordinate system is established, i.e., the current equation in the dq coordinate system. Then, a q-axis extended state observer is designed based on the current equation. Next, a vector resonant controller is introduced and improved to obtain a q-axis vector resonant active disturbance rejection controller. Similarly, a d-axis vector resonant active disturbance rejection controller is obtained. The designed q-axis vector resonant active disturbance rejection controller controls the input q-axis given current. With the actual q-axis current i q Processing is performed to obtain the q-axis given voltage. The designed d-axis vector resonant active disturbance rejection controller controls the input d-axis current. With the actual current i along the d-axis d The difference is processed to obtain the given voltage on the d-axis. This allows the given voltage along the q-axis to be obtained. d-axis given voltage A PWM drive signal is generated to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor. By improving the traditional active disturbance rejection controller to a vector resonant active disturbance rejection controller, the motor drive and current harmonic suppression are realized. Attached Figure Description

[0022] Figure 1 A schematic flowchart of a harmonic suppression method based on vector resonance active disturbance rejection control provided in an embodiment of the present invention;

[0023] Figure 2 A general block diagram of a harmonic suppression system based on vector resonance active disturbance rejection control provided in an embodiment of the present invention;

[0024] Figure 3 This is a block diagram of the q-axis current loop vector resonance active disturbance rejection controller in an embodiment of the present invention;

[0025] Figure 4 This is a comparison chart of the harmonic suppression performance of the harmonic suppression method based on vector resonance active disturbance rejection control in this embodiment of the invention with other methods;

[0026] Figure 5 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] like Figure 1 As shown, in one embodiment, a harmonic suppression method based on vector resonance active disturbance rejection control is proposed, which may specifically include the following steps S101 to S109;

[0029] S101, Obtain relevant parameters of the permanent magnet synchronous linear motor and establish a current loop control model in the dq coordinate system;

[0030] In this step S101, the relevant parameters include:

[0031] The actual displacement x of the permanent magnet synchronous linear motor can be measured by the magnetic encoder of the permanent magnet synchronous linear motor. The actual displacement x is then processed by a differential operator to obtain the actual speed v of the motor mover.

[0032] The given speed v of a permanent magnet synchronous linear motor * It can be calculated from the current drive power of the permanent magnet synchronous linear motor;

[0033] and d-axis and q-axis voltages u d u q d-axis and q-axis currents i d i q d-axis and q-axis inductance L d L q , as well as the changes in voltage, current, and inductance along the d and q axes;

[0034] And phase resistance R, motor pole pitch τ, motor flux linkage d-axis voltage disturbance and q-axis voltage disturbance, etc.

[0035] S103, determine the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller according to the current loop control model;

[0036] S105, Obtain the actual q-axis current i q and the actual current i on the d-axis d ;

[0037] In this step S105, the actual q-axis current i q and the actual current i on the d-axis d This can be obtained through a speed loop PI controller;

[0038] S107, set the q-axis current. With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. Given current along the d-axis With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0039] S109, the obtained q-axis given voltage d-axis given voltage The transformation process is performed to generate a PWM drive signal, which is used to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor.

[0040] This embodiment provides a harmonic suppression method based on vector resonant active disturbance rejection control. First, based on the relevant parameters of the permanent magnet synchronous linear motor, a current loop control model in the dq coordinate system is established, i.e., the current equation in the dq coordinate system. Then, a q-axis extended state observer is designed based on the current equation. Next, a vector resonant controller is introduced and improved to obtain a q-axis vector resonant active disturbance rejection controller. Similarly, a d-axis vector resonant active disturbance rejection controller is obtained. The designed q-axis vector resonant active disturbance rejection controller controls the input q-axis given current. With the actual q-axis current i qProcessing is performed to obtain the q-axis given voltage. The designed d-axis vector resonant active disturbance rejection controller controls the input d-axis current. With the actual current i along the d-axis d The difference is processed to obtain the given voltage on the d-axis. This allows the given voltage along the q-axis to be obtained. d-axis given voltage A PWM drive signal is generated to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor. By improving the traditional active disturbance rejection controller to a vector resonant active disturbance rejection controller, the motor drive and current harmonic suppression are realized.

[0041] In one application scenario of this embodiment, in step S101, the current equation of the current loop control model satisfies:

[0042]

[0043] Among them, u d u q For the actual voltages on the d and q axes, i d i q L represents the actual current along the d and q axes. d L q Let R be the d-axis and q-axis inductance, R be the phase resistance, v be the mover linear velocity, and τ be the motor pole pitch. For motor flux linkage, f d f q These are the d-axis voltage disturbance and the q-axis voltage disturbance, respectively.

[0044] f d f q The expression is:

[0045]

[0046] Among them, ΔR and ΔL d ΔL q and These represent the changes in resistance, d-axis inductance, q-axis inductance, and flux linkage, respectively.

[0047] In one application scenario of this embodiment, the above equation (1) is improved to establish the q-axis current equation:

[0048]

[0049] Where b0 = 1 / L q u q This is the actual voltage along the q-axis. This represents the total disturbance of the q-axis current loop. This is the q-axis current derivative;

[0050] It is easy to see from the above equation (3) that the q-axis current derivative is linearly positively correlated with the total disturbance of the q-axis current loop. Therefore, by observing the current derivative, the total disturbance of the q-axis current loop can be inferred, and then the total disturbance of the q-axis current loop can be reduced by controlling the transformation of the current derivative, thus achieving the effect of harmonic suppression.

[0051] In one embodiment, such as Figure 2 , Figure 3 As shown, the q-axis vector resonance active disturbance rejection controller is determined based on the current loop control model, specifically including:

[0052] The q-axis current equation is established as described above;

[0053] Design a q-axis extended state observer that satisfies the following equation (4);

[0054]

[0055] Where e is the current tracking error, z1 and z2 are the q-axis current observation and the q-axis current loop total disturbance observation, respectively, and β1 and β2 are the gain coefficients of the two observers;

[0056] By introducing a vector resonant controller, the q-axis extended state observer is improved, resulting in a q-axis vector resonant extended state observer.

[0057] The transfer function of the vector resonant controller is as follows:

[0058]

[0059] Among them, G VR (s) is the transfer function of the vector resonant controller, K pr K is the proportional coefficient of the vector resonant controller. ir ω is the resonance coefficient. c ω is the bandwidth of the vector resonant controller. n The resonant frequency;

[0060] The improved q-axis vector resonant extended state observer satisfies:

[0061] in It is the first derivative of V(t), where V(t) is the first derivative of G. VR (S) in the time domain is expressed as follows:

[0062]

[0063] Based on the disturbance value observed by the q-axis vector resonance extended state observer, design the q-axis current control law;

[0064] The q-axis current control law satisfies:

[0065]

[0066] In equation (8), i q * represents the q-axis current setpoint, k p This is the gain controlled by the q-axis current loop.

[0067] In one embodiment, determining the d-axis vector resonance active disturbance rejection controller based on the current loop control model specifically includes:

[0068] Establish the d-axis current equation:

[0069]

[0070] in, This represents the total disturbance of the d-axis current loop. The d-axis current derivative;

[0071] Design a d-axis extended state observer:

[0072]

[0073] In equation (10), e1 is the current tracking error, z3 and z4 are the d-axis current observation and the d-axis current loop total disturbance observation, respectively, and β3 and β4 are the gain coefficients of the observer.

[0074] Introducing a vector resonant controller will improve the d-axis extended state observer, resulting in a d-axis vector resonant extended state observer:

[0075]

[0076] Based on the disturbance value observed by the d-axis vector resonant extended state observer, the d-axis current control law is designed as follows:

[0077]

[0078] Where i d * represents the d-axis current setpoint, k q The gain is the control gain for the d-axis current loop.

[0079] The d-axis voltage perturbation and the q-axis voltage perturbation satisfy the following:

[0080]

[0081] In one embodiment, the method further includes:

[0082] Obtain the given speed v of the permanent magnet synchronous linear motor * Compared to the actual speed v;

[0083] Given a velocity v * The difference between the actual speed v and the input speed loop PI controller is used to output the q-axis setpoint current. Simultaneously set the d-axis current.

[0084] Given a current along the q-axis d-axis given current Perform the transformation to output the actual current i along the q-axis and d-axis. q i d .

[0085] In this embodiment, by setting a given speed v for the permanent magnet synchronous linear motor * The actual speed v is used as input, and the speed loop PI controller converts it to obtain the actual current i along the q-axis and d-axis. q i d Then, the q-axis vector resonant active disturbance rejection controller designed above will generate the q-axis given current. With the actual q-axis current i q The difference is processed as input, and the output is the q-axis given voltage. The d-axis given current is generated by the d-axis vector resonant active disturbance rejection controller. With the actual current i along the d-axis d The difference is processed to output the d-axis given voltage. Simultaneously, harmonic suppression is achieved; finally, by applying a voltage to the q-axis... d-axis given voltage The qd-axis coordinate transformation is performed to obtain the PWM drive signal. The PWM drive signal controls the inverter output voltage signal to drive the permanent magnet synchronous linear motor.

[0086] like Figure 4 As shown, in one embodiment, to verify the effectiveness of the designed harmonic suppression method based on vector resonance active disturbance rejection control, current harmonic analysis experiments were conducted with both a PID controller and a traditional active disturbance rejection controller. The motor parameters are as follows: inductance L d =L q =0.005H, phase resistance R = 0.8Ω, motor pole pitch τ = 0.032m, motor flux linkage The inverter switching frequency is 10kHz. The result is as follows: Figure 4 The displayed comparison graph shows the phase current and harmonic content for three control methods. Performing a Fourier transform (FFT) on the phase A current yields the harmonic content of each stage of the current. Figure 4It can be seen that, compared with PID control and traditional active disturbance rejection control, the harmonic suppression method based on vector resonant active disturbance rejection control has the lowest total harmonic distortion (THD) of phase current and the lowest content of 5th, 7th, 9th and 11th harmonics in phase current. Therefore, the harmonic suppression method based on vector resonant active disturbance rejection control proposed in this application has a very good harmonic suppression capability.

[0087] In another embodiment, such as Figure 2 As shown, a harmonic suppression device based on vector resonance active disturbance rejection control is disclosed. The harmonic suppression device based on vector resonance active disturbance rejection control includes: a velocity loop PI controller, a d-axis vector resonance active disturbance rejection controller, and a q-axis vector resonance active disturbance rejection controller.

[0088] The speed loop PI controller is used to obtain the actual q-axis current i. q and the actual current i on the d-axis d ;

[0089] The q-axis vector resonant active disturbance rejection controller is used to control the q-axis given current. With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage.

[0090] The d-axis vector resonant active disturbance rejection controller is used to control the d-axis given current. With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0091] In this embodiment, an inner-loop current control is formed by combining a q-axis vector resonant active disturbance rejection controller and a d-axis vector resonant active disturbance rejection controller with an IPARK converter module, an inverter, a permanent magnet synchronous linear motor, a CLARK converter module, and a PARK converter module; and an outer-loop speed control is formed by combining a speed loop PI controller, a d-axis vector resonant active disturbance rejection controller, and a q-axis vector resonant active disturbance rejection controller with an IPARK converter module, an inverter, a permanent magnet synchronous linear motor, a magnetic encoder, and a differential operator, thus realizing dual closed-loop vector control.

[0092] In one application scenario, the actual q-axis current i is obtained. q and the actual current i on the d-axis d The steps specifically include:

[0093] The actual displacement x of the permanent magnet synchronous linear motor is acquired by a magnetic encoder, and the actual speed v of the motor is obtained by a differential operator.

[0094] The difference between the given speed v* and the actual speed v of the permanent magnet synchronous linear motor is input to the speed loop PI controller, and the speed loop PI controller outputs the q-axis given current i. q *; Simultaneously using i d Vector control mode where *=0, d-axis given current i d * = 0;

[0095] The actual output current of the inverter is output by the CLARK converter module. α i β As input to the PARK converter module, the PARK converter module outputs the actual current i along the d-axis and q-axis. d i q ;

[0096] The actual current i on the d-axis and q-axis d i q As the input to the q-axis vector resonant active disturbance rejection controller and the d-axis vector resonant active disturbance rejection controller; that is: the q-axis given current With the actual q-axis current i q The difference is used as input to the q-axis vector resonant active disturbance rejection controller, which outputs the q-axis given voltage. Given current along the d-axis With the actual current i along the d-axis d The difference input is processed by the d-axis vector resonant active disturbance rejection controller, which outputs the d-axis given voltage. Achieve harmonic suppression.

[0097] like Figure 3 As shown, in one embodiment, the q-axis vector resonant active disturbance rejection controller includes: a q-axis vector resonant extended state observer, a q-axis current equation, and a q-axis current control law;

[0098] The q-axis vector resonant extended state observer is obtained by improving the vector resonant controller by introducing a specified q-axis extended state observer, and the q-axis current control law is designed based on the disturbance value observed by the q-axis vector resonant extended state observer.

[0099] Figure 3 In the middle: b0 = 1 / L q L q G represents the q-axis inductance; 1 / s represents the integral operator; β1 and β2 represent the gain coefficients of the q-axis vector resonant extended state observer, respectively; VR (s) represents the transfer function of the vector resonant controller; k p d is the q-axis current loop control gain; q z1 represents the total disturbance of the q-axis current loop; z2 represents the observed value of the q-axis current; z3 represents the observed value of the total disturbance of the q-axis. Indicates the given current along the q-axis; uq Indicates the actual voltage along the q-axis; i q represents the actual q-axis current of the motor; e represents the error between the actual q-axis current and the observed current.

[0100] When the q-axis vector resonant active disturbance rejection controller is working: the actual q-axis voltage u q The actual current i of the permanent magnet synchronous linear motor q The input to the q-axis vector resonance expansion state observer yields the q-axis current observation z1 and the q-axis total disturbance observation z2; the q-axis given current i q The difference between the observed q-axis current z1 and the observed q-axis total disturbance z2 are input into the q-axis current control to obtain the q-axis setpoint voltage of the permanent magnet synchronous linear motor. q-axis given voltage The actual current i is obtained by inputting it into the permanent magnet synchronous linear motor. q .

[0101] In one embodiment, the d-axis vector resonant active disturbance rejection controller includes: a d-axis vector resonant extended state observer, a d-axis current equation, and a d-axis current control law;

[0102] The d-axis vector resonant extended state observer is obtained by introducing a specified d-axis extended state observer into the vector resonant controller and improving it. The d-axis current control law is designed based on the disturbance value observed by the d-axis vector resonant extended state observer.

[0103] In one embodiment, a harmonic suppression system based on vector resonance active disturbance rejection control includes:

[0104] The harmonic suppression device based on vector resonance active disturbance rejection control, as described above, and the conversion and driving modules;

[0105] The harmonic suppression device based on vector resonance active disturbance rejection control is used to suppress the actual q-axis current i. q and the actual current i on the d-axis d Perform harmonic suppression and output the q-axis given voltage. d-axis given voltage

[0106] The transformation and driving module is used to convert the given voltage along the q-axis. d-axis given voltage It is converted into a voltage signal to drive a permanent magnet synchronous linear motor;

[0107] The conversion and drive module includes at least: an IPARK conversion module, an inverter, a CLARK conversion module, a PARK conversion module, and a magnetic encoder.

[0108] In this embodiment, the actual displacement x of the permanent magnet synchronous linear motor is acquired by a magnetic encoder, and the actual speed v of the motor is obtained by a differential operator. The difference between the given speed v* of the permanent magnet synchronous linear motor and the obtained actual speed v is input to the speed loop PI controller, and the speed loop PI controller outputs the q-axis given current i. q *;Use i d Vector control mode where *=0, d-axis given current i d * = 0; the actual output current of the inverter is output by the CLARK converter module. α i β As input to the PARK converter module, the PARK converter module outputs the actual current i along the d-axis and q-axis. d i q ; Set the q-axis current i q * and the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage u. q *; Set the d-axis current i d * and the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage u. d *; Set the q-axis voltage u q *With the given voltage u along the d-axis d *As input to the IPARK converter module, the given voltage u of the two-phase stationary coordinate axes a-axis and β-axis is output by the IPARK converter module. α *、u β *; The given voltage u obtained α *、u β The SVPWM algorithm transmits the signal to the permanent magnet synchronous linear motor via the inverter, generating a corresponding PWM drive signal. This signal then controls the inverter's output voltage signal, achieving both motor drive and current harmonic suppression.

[0109] In one embodiment, the harmonic suppression system based on vector resonance active disturbance rejection control provided in this application can be implemented as a computer program, which can be implemented in, for example... Figure 5 The computer devices shown can be used to run the transformation modules; for example, the IPARK transformation module, CLARK transformation module, and PARK transformation module can all run on the computer devices.

[0110] Optionally, Figure 5 An internal structural diagram of a computer device in one embodiment is shown. This computer device can specifically be a terminal device, such as a mobile phone, a microcomputer (or a server). Figure 5As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement a harmonic suppression method based on vector resonance active disturbance rejection control. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to implement the harmonic suppression method based on vector resonance active disturbance rejection control. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0111] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0112] For example, Figure 5 The computer device shown can be used as follows Figure 3 The vector resonance observer in the harmonic suppression device based on vector resonance active disturbance rejection control shown executes step S105. The computer device executes step S107 via the current control law.

[0113] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0114] Obtain the relevant parameters of the permanent magnet synchronous linear motor and establish a current loop control model in the dq coordinate system;

[0115] Based on the current loop control model, determine the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller;

[0116] Obtain the actual q-axis current i q and the actual current i on the d-axis d ;

[0117] Given a current along the q-axis With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. Given current along the d-axis With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0118] Given the obtained q-axis voltage d-axis given voltage The transformation process is performed to generate a PWM drive signal, which is used to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor.

[0119] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps:

[0120] Obtain the relevant parameters of the permanent magnet synchronous linear motor and establish a current loop control model in the dq coordinate system;

[0121] Based on the current loop control model, determine the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller;

[0122] Obtain the actual q-axis current i q and the actual current i on the d-axis d ;

[0123] Given a current along the q-axis With the actual q-axis current i q The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. Given current along the d-axis With the actual current i along the d-axis d The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage.

[0124] Given the obtained q-axis voltage d-axis given voltage The transformation process is performed to generate a PWM drive signal, which is used to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor.

[0125] The computer equipment can be an independent physical server or terminal, or a server cluster consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN.

[0126] The terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminal and computer equipment can be connected via a network, which is not a limitation of this invention.

[0127] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0128] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0129] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0130] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

[0131] 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 within the protection scope of the present invention.

Claims

1. A harmonic suppression method based on vector resonant active disturbance rejection control, characterized in that, The method includes the following steps: Obtain the relevant parameters of the permanent magnet synchronous linear motor and establish a current loop control model in the dq coordinate system; Based on the current loop control model, determine the q-axis vector resonance active disturbance rejection controller and the d-axis vector resonance active disturbance rejection controller; acquiring a q-axis actual current and a d-axis actual current ; Given a current along the q-axis With q-axis actual current The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. ; Set the current along the d-axis With d-axis actual current The difference is input to the d-axis vector resonant active disturbance rejection controller to obtain the d-axis given voltage. ; Given the obtained q-axis voltage d-axis given voltage The transformation process is performed to generate a PWM drive signal, which is used to control the inverter output voltage signal to drive the permanent magnet synchronous linear motor. The q-axis vector resonant active disturbance rejection controller includes a q-axis vector resonant extended state observer, which is designed in the following way: Establish the q-axis current equation: ； in, , This is the actual voltage along the q-axis. It is the q-axis inductance. This represents the total disturbance of the q-axis current loop. This is the q-axis current derivative; ； in, , These are the actual currents along the d and q axes. , Let R be the d-axis and q-axis inductance, R be the phase resistance, v be the mover linear velocity, and τ be the motor pole pitch. For motor magnetic flux, , These are the d-axis voltage disturbance and the q-axis voltage disturbance, respectively. Design a q-axis extended state observer; ； Where e is the current tracking error, and These are the q-axis current observations and the total perturbation observations of the q-axis current loop, respectively. and These are the gain coefficients of the two observers, respectively; The q-axis extended state observer is improved by introducing a vector resonant controller: ； wherein is the first derivative of V(t), V(t) being G VR (S) in the time domain, which is expressed as: (7) The proportional coefficient of the vector resonant controller. The resonance coefficient, For the bandwidth of the vector resonant controller, It is the resonant frequency.

2. The method of claim 1, wherein the method is based on a vector resonant active disturbance rejection control. The current equation of the current loop control model is as follows: ； in, and These represent the actual voltages along the d and q axes, respectively. , These represent the actual currents along the d and q axes, respectively. and Let represent the d-axis and q-axis inductances, respectively; R be the phase resistance; v be the mover linear velocity; and τ be the motor pole pitch. For motor magnetic flux, and These are the d-axis voltage disturbance and the q-axis voltage disturbance, respectively.

3. The method of claim 2, wherein the method is based on a vector resonant current mode active disturbance rejection control. The design process of the q-axis vector resonant extended state observer also includes; Based on the disturbance value observed by the q-axis vector resonant extended state observer, the q-axis current control law is designed.

4. The harmonic suppression method based on vector resonance active disturbance rejection control according to claim 3, characterized in that, The d-axis vector resonance active disturbance rejection controller is determined based on the current loop control model, specifically including: Establish the d-axis current equation: ， in, This represents the total disturbance of the d-axis current loop. The d-axis current derivative; Design a d-axis extended state observer; Introducing a vector resonant controller will improve the d-axis extended state observer, resulting in a d-axis vector resonant extended state observer; Based on the disturbance value observed by the d-axis vector resonant expansion state observer, the d-axis current control law is designed.

5. The method of claim 2, wherein the method is based on a vector resonant current mode active disturbance rejection control. The d-axis voltage perturbation and the q-axis voltage perturbation satisfy the following: ； wherein, , , and respectively represent the resistance variation amount, the d-axis inductance variation amount, the q-axis inductance variation amount, and the flux linkage variation amount.

6. The method of claim 1, wherein, The method further includes: Obtaining a given speed of a permanent magnet synchronous linear motor with an actual speed ; Given speed Compared with actual speed The differential input speed loop PI controller outputs the q-axis given current. Simultaneously set the d-axis current. ; Given a current along the q-axis d-axis given current Perform the transformation to output the actual currents on the q-axis and d-axis. , .

7. The method according to claim 3 or 4, characterized in that, The transfer function of the vector resonant controller is: ， wherein, is a vector resonant controller transfer function, is a proportional coefficient of the vector resonant controller, is a resonant coefficient, is a bandwidth of the vector resonant controller, is a resonant frequency.

8. A harmonic suppression device based on vector resonant active disturbance rejection control, characterized by The harmonic suppression device based on vector resonance active disturbance rejection control is configured to implement the method described in any one of claims 1-7, comprising: a velocity loop PI controller, a d-axis vector resonance active disturbance rejection controller, and a q-axis vector resonance active disturbance rejection controller; The speed loop PI controller is configured to obtain a q-axis actual current and a d-axis actual current ; The q-axis vector resonant active disturbance rejection controller is used to control the q-axis given current. With q-axis actual current The difference is input to the q-axis vector resonant active disturbance rejection controller to obtain the q-axis given voltage. ; The d-axis vector resonant active disturbance rejection controller is configured to input a difference between a d-axis given current and a d-axis actual current to the d-axis vector resonant active disturbance rejection controller to obtain a d-axis given voltage .

9. The device for harmonic suppression based on vector resonant active disturbance rejection control according to claim 8, characterized in that, The q-axis vector resonance active disturbance rejection controller includes: a q-axis vector resonance extended state observer, a q-axis current equation, and a q-axis current control law; The q-axis vector resonant extended state observer is obtained by improving the vector resonant controller by introducing a specified q-axis extended state observer, and the q-axis current control law is designed based on the disturbance value observed by the q-axis vector resonant extended state observer.

10. A harmonic suppression system based on vector resonant active disturbance rejection control, characterized in that, The harmonic suppression system based on vector resonance active disturbance rejection control includes: The harmonic suppression device based on vector resonance active disturbance rejection control as described in claim 8 or 9, and the conversion and driving module; The harmonic suppression device based on vector resonance active disturbance rejection control is used to suppress the actual q-axis current. and d-axis actual current Perform harmonic suppression and output the q-axis given voltage. d-axis given voltage ; The conversion and driving module is used for converting q-axis given voltage , d-axis given voltage into voltage signals to drive the permanent magnet synchronous linear motor. The conversion and drive module includes at least: an IPARK conversion module, an inverter, a CLARK conversion module, a PARK conversion module, and a magnetic encoder.

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