A parameter robustness brushless doubly-fed machine decoupled disturbance control method

Abstract

The application discloses a parameter robustness brushless doubly-fed motor decoupling anti-interference control method, which comprises the following steps: firstly, establishing current loop and speed loop models of the brushless doubly-fed motor; secondly, establishing an active disturbance rejection controller according to the current loop and the speed loop models, wherein the active disturbance rejection controller comprises a d-axis current loop active disturbance rejection controller, a q-axis current loop active disturbance rejection controller and a speed loop active disturbance rejection controller; and thirdly, adopting the established active disturbance rejection controller to perform decoupling anti-interference control on the brushless doubly-fed motor. Compared with a traditional current loop, the active disturbance rejection control current loop has higher anti-interference performance, higher frequency current tracking capability and faster response. Moreover, the speed loop can also respond faster to a step speed signal or a load mutation, thereby greatly improving the control precision of the speed and the current.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor control, and particularly relates to a parameter robustness brushless doubly-fed motor decoupling anti-interference control method. BACKGROUND

[0002] As a new type of alternating current motor, the brushless doubly-fed motor (BDFM) has attracted more and more attention and research in recent years because of its many advantages in structure. Two sets of windings are arranged on the stator of the motor, and the two sets of windings are independent of each other. Among them, the set of stator windings directly connected to the power grid is called the power winding (PW), and the other set of stator windings is called the control winding (CW). There is only one set of specially designed windings (Rotor Winding, RW) on the rotor of the motor. Through the modulation of the rotor, the indirect coupling of the magnetic fields of the two sets of stator windings is realized, thereby completing the electromechanical energy conversion of the motor.

[0003] The brushless doubly-fed motor has various operating modes and can realize asynchronous or synchronous operation. Its fault tolerance stability is greatly improved compared to traditional motors, and as long as the power winding and the control winding of the motor are designed according to different voltage levels, the purpose of controlling a high-voltage motor using a low-voltage frequency converter can be achieved, which greatly reduces the cost of the speed regulation system. And there is a reactive power term in the control target, which can realize unit power factor control, but the current control method is extremely dependent on motor parameters for current loop equation decoupling. If the parameters are not accurate, the performance of the controller designed using the decoupled equation cannot be guaranteed. And the anti-interference performance of the traditional controller is poor, especially in the speed loop, the dynamic process caused by load changes depends on the bandwidth of the controller, but often the bandwidth limit cannot meet the demand for higher response speed. SUMMARY

[0004] The purpose of the present application is to provide a parameter robustness brushless doubly-fed motor decoupling anti-interference control method that can effectively improve the dynamic response speed to solve the above problems in the prior art.

[0005] To achieve the above purpose, the technical solution of the present application is as follows:

[0006] A parameter robustness brushless doubly-fed motor decoupling anti-interference control method, comprising the following steps in sequence:

[0007] Step A, building a current loop and speed loop model of the brushless doubly-fed motor;

[0008] Step B, establishing an active disturbance rejection controller according to the current loop and the speed loop model, the active disturbance rejection controller comprising a d-axis current loop active disturbance rejection controller, a q-axis current loop active disturbance rejection controller and a speed loop active disturbance rejection controller;

[0009] Step C, using the established active disturbance rejection controller to perform decoupling disturbance rejection control on the brushless doubly-fed motor.

[0010] In step A, the current loop model is:

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018]

[0019]

[0020] In the above formula, i cd , i cq are d-axis and q-axis currents of the control winding in the power winding-oriented synchronous coordinate system, u cd , u cq are d-axis and q-axis voltages of the control winding in the power winding-oriented synchronous coordinate system, are d-axis and q-axis ideal voltages of the control winding, t is time, σ, K d , K q , L M are intermediate parameters, b0, f d , f q are current loop control gains, d-axis total disturbance and q-axis total disturbance, L sc , L sp , L r are self-inductances of the control winding, the power winding and the rotor, r c is a resistance of the control winding, M cr , M pr are mutual inductances between the control winding and the rotor and between the power winding and the rotor, ω p , ω c are grid frequency and control winding frequency, respectively, rr is the rotor resistance, i pd , pq are the d, q axis currents of the power winding in the power winding oriented synchronous coordinate system, respectively, and p is the power winding flux linkage in the power winding oriented synchronous coordinate system.

[0021] The speed loop model is:

[0022]

[0023]

[0024]

[0025] In the above formula, ω r is the rotor angular velocity, J is the moment of inertia, p p , c are the pole pairs of the power winding and the control winding, respectively, T L is the torque, B is the friction coefficient, b speed , w are the control gain and the total disturbance of the speed loop, respectively, is the d axis ideal output voltage of the control winding.

[0026] In step B, the establishment method of the d axis current loop active disturbance rejection controller and the q axis current loop active disturbance rejection controller comprises: based on the current loop model, regarding all terms other than the current state variables as disturbances, observing and feeding forward using a linear extended state observer, and using the current feedforward value and the command value to design a control law.

[0027] The control law of the d axis current loop active disturbance rejection controller is:

[0028]

[0029] In the above formula, u is the output of the d axis current loop active disturbance rejection controller, b0 is the current loop control gain, K p is the control law proportional parameter, is the d axis ideal current of the control winding, z 1_d , 2_d are the d axis observed current and the d axis disturbance estimation value of the control winding, respectively.

[0030] The control law of the q axis current loop active disturbance rejection controller is:

[0031]

[0032] In the above formula, u is the output of the q axis current loop active disturbance rejection controller, b0 is the current loop control gain, K p is the control law proportional parameter, for controlling the d-axis ideal voltage of the winding, z 1_q , z 2_q are respectively the q-axis observed current and the q-axis disturbance estimation value of the control winding.

[0033] In step B, the establishment method of the speed loop active disturbance rejection controller comprises: regarding all terms except the d-axis current state variable of the control winding as disturbances based on a speed loop model, observing and feeding forward compensation by using a linear extended state observer, and setting the rotor angular velocity and the torque as state variables to construct a torque linear extended state observer, observing the torque change, and feeding forward to the speed loop output.

[0034] The control law of the speed loop active disturbance rejection controller is:

[0035]

[0036] In the above formula, u * is the output of the speed loop active disturbance rejection controller, b speed is the speed loop control gain, K p is a proportional parameter of the control law, is the ideal angular velocity of the rotor, z 1_speed , z 2_speed are respectively the observed rotor angular velocity and the speed loop disturbance estimation value, z 2_T is the torque estimation value.

[0037] The active disturbance rejection controller further comprises a reactive power PI controller for controlling the q-axis current of the control winding to achieve 0 reactive power, and the reactive power PI controller is designed based on the following formula according to the q-axis power current feedback:

[0038]

[0039] The step C comprises the following steps in sequence:

[0040] S1, for the d-axis current loop active disturbance rejection controller, the d-axis current i cd of the control winding and the output u of the controller are input into a linear extended state observer to obtain the d-axis observed current z 1_d and the d-axis disturbance estimation value z 2_d of the control winding; for the q-axis current loop active disturbance rejection controller, the q-axis current i cq of the control winding and the output u of the controller are input into a linear extended state observer to obtain the q-axis observed current z 1_q and the q-axis disturbance estimation value z 2_q of the control winding; for the speed loop active disturbance rejection controller, the rotor angular velocity ω rand the output of the traditional active disturbance rejection control part u is input into the linear extended state observer to obtain rotor angular velocity observation value z 1_speed and the rotor angular velocity observation value z 2_speed and the rotor angular velocity observation value z r and the rotor angular velocity observation value z 2_T ;

[0041] S2, the ideal angular velocity of the rotor the rotor angular velocity observation value z 1_speed , the rotor angular velocity observation value z 2_speed and the rotor angular velocity observation value z 2_T are input into the control law of the speed loop active disturbance rejection controller to obtain the d-axis ideal current of the control winding

[0042] S3, the d-axis ideal current of the control winding the d-axis observation current z 1_d and the d-axis disturbance estimation value z 2_d are input into the control law of the d-axis current loop active disturbance rejection controller to obtain the d-axis ideal voltage of the control winding the q-axis reference current of the control winding the q-axis observation current z of the control winding 1_q and the q-axis disturbance estimation value z 2_q are input into the control law of the q-axis current loop active disturbance rejection controller to obtain the q-axis ideal voltage of the control winding

[0043] S4, the d-axis ideal current of the control winding the q-axis ideal voltage is input into the vector modulation module after coordinate transformation to generate 6-way switching signals to control the inverter switches.

[0044] The active disturbance rejection controller further comprises a reactive power PI controller;

[0045] The step S2 further comprises:

[0046] The q-axis ideal current value 0 of the power winding is subtracted from the feedback value and input into the reactive power PI controller to obtain the q-axis ideal current of the control winding

[0047] The step C further comprises:

[0048] S0, set the ideal angular velocity of the rotor of the brushless doubly-fed motor and the load torque, the brushless doubly-fed motor is controlled with zero reactive power, that is, the q-axis current of the power winding is set to 0; obtain the rotor angular velocity ω r; obtain three-phase current i of power winding pabc with three-phase current i of control winding cabc , and transform it into d-axis current i of power winding through coordinate transformation pd , q-axis current i of power winding pq , d-axis current i of control winding cd , q-axis current i of control winding cq .

[0049] Compared with the prior art, the present application has the following beneficial effects:

[0050] 1. The parameter robustness brushless doubly-fed motor decoupling anti-interference control method first establishes the current loop and speed loop models of the brushless doubly-fed motor, then establishes the active disturbance rejection controller according to the current loop and speed loop models, and the active disturbance rejection controller comprises a d-axis current loop active disturbance rejection controller, a q-axis current loop active disturbance rejection controller and a speed loop active disturbance rejection controller, then the established active disturbance rejection controller is used for decoupling anti-interference control of the brushless doubly-fed motor, for the design of the d-axis current loop active disturbance rejection controller and the q-axis current loop active disturbance rejection controller, disturbance estimation is carried out by using a linear extended state observer, the disturbance contains a coupling term, and the design of the controller only needs b0, so that various motor parameters involved in the traditional coupling term are saved, compared with traditional calculation of decoupling terms and then feedforward compensation, the current dynamic response is faster, and the parameter robustness is stronger.

[0051] 2. The parameter robustness brushless doubly-fed motor decoupling anti-interference control method regards all terms except the d-axis current state variable of the control winding as disturbance, carries out observation and feedforward compensation by using a linear extended state observer, sets the rotor angular velocity and torque as state quantities to construct a torque linear extended state observer, observes the torque change, and feeds forward to the speed loop output, that is, a speed loop active disturbance rejection controller with torque feedforward compensation is constructed, the controller selects different variables as state quantities by using the extended state observer, on the one hand, the disturbances inside and outside the motor system can be compensated by the designed linear extended state observer, and on the other hand, when the load torque suddenly changes, the matrix designed linear extended state observer can more quickly observe and feed forward, and the speed dynamic response speed is improved. DETAILED DESCRIPTION

[0052] Figure 1 It is a structure diagram of the d-axis current loop active disturbance rejection controller.

[0053] Figure 2 It is a structure diagram of the q-axis current loop active disturbance rejection controller.

[0054] Figure 3 It is a structure diagram of the speed loop active disturbance rejection controller.

[0055] Figure 4 Structure diagram of a reactive power PI controller.

[0056] Figure 5 Overall structure diagram of a brushless doubly-fed motor vector control.

[0057] Figure 6 Waveform diagram of a traditional current loop decoupling current command tracking.

[0058] Figure 7 Waveform diagram of a current command tracking of the application.

[0059] Figure 8 Comparison diagram of speed tracking and load sudden change dynamic response of a traditional speed loop and a TLADRC speed loop used in the application. DETAILED DESCRIPTION

[0060] The application will be further described in detail below in combination with specific embodiments and the accompanying drawings.

[0061] Speed loop active disturbance rejection controller: the control law of the traditional active disturbance rejection control part in the speed loop active disturbance rejection controller described in the application is:

[0062]

[0063] Embodiment 1:

[0064] A parameter robustness brushless doubly-fed motor decoupling disturbance rejection control method is performed in the following order:

[0065] 1. Build a current loop and a speed loop model of the brushless doubly-fed motor.

[0066] The voltage equation is as follows:

[0067]

[0068] The flux linkage equation is as follows:

[0069]

[0070] In the above formula, u pd , u pq are respectively the d, q axis voltages of the power winding in the power winding oriented synchronous coordinate system, u cd , u cq are respectively the d, q axis voltages of the control winding in the power winding oriented synchronous coordinate system, i pd , i pq are respectively the d, q axis currents of the power winding in the power winding oriented synchronous coordinate system, i cd , i cq are respectively the d, q axis currents of the control winding in the power winding oriented synchronous coordinate system, i rd , irq These represent the d-axis and q-axis currents of the rotor in the power winding directional synchronous coordinate system, respectively, and r p r c r r ψ represents the resistance of the control winding, the control winding, and the rotor, respectively. pd ψ pq These represent the d-axis and q-axis flux linkages of the power winding in the power winding oriented synchronous coordinate system, respectively, and ψ cd ψ cq These represent the d-axis and q-axis flux linkages of the control winding in the power winding directional synchronization coordinate system, respectively, and ψ. rd ψ rq These represent the d-axis and q-axis flux linkages of the rotor in the power winding directional synchronous coordinate system, respectively, and ω. p ω r These represent the grid frequency and rotor angular velocity, respectively. p p c These represent the number of pole pairs for the power winding and the control winding, respectively, L sc L sp L r These are the self-inductances of the control winding, power winding, and rotor, respectively, M. cr M pr These represent the mutual inductance between the control winding and the rotor, and the mutual inductance between the power winding and the rotor, respectively, with t representing time.

[0071] i pd i pq i is obtained by coordinate transformation of the collected three-phase current of the power winding. cd i cq The coordinate transformation is performed on the collected three-phase current of the control winding, i.e.:

[0072]

[0073] In the above formula, i pa i pb i pc These are the a, b, and c phase currents of the motor power winding, i. ca i cb i cc These are the a, b, and c phase currents of the motor control winding, respectively, and θ p θ c These are the electrical angles of the motor power winding and control winding, respectively, representing the angle between the motor's d-axis and the power winding or control winding a-phase. This angle can be directly obtained from the power grid phase-locked loop (PLL).

[0074] When the power winding is oriented, θ c The following relationship exists (assuming the initial d-axis coincides with both the power winding and the control winding a):

[0075] θc =ω p t-(p p +p c )ω r t-form 4

[0076] When the d-axis of the synchronous rotating coordinate system is oriented towards the power winding voltage vector U p When neglecting the transient process of the power winding flux linkage (i.e., dψ), pd / dt=0,dψ pq / dt=0), while neglecting the resistance r of the power winding p In the following cases:

[0077]

[0078] Substituting into equation 2, we get:

[0079]

[0080] Substituting equation 6 into equation 1, we get:

[0081]

[0082] Substituting Equation 7 into Equation 1, we get:

[0083]

[0084] In the above formula, ψ p Let ω be the flux linkage of the power winding in the power winding orientation synchronous coordinate system. c To control the winding electrical frequency.

[0085] The above equation reveals the relationship between the control winding voltage and the control winding current; that is, by controlling the control winding voltage, an appropriate control winding current can be obtained. To control the control winding, the derivative of the power winding current needs to be eliminated.

[0086] Substituting equation 6 into the rotor flux linkage equation, we get:

[0087]

[0088] make Substituting the above equation and equation 7 into the rotor voltage equation, we get:

[0089]

[0090] Replace the power winding current derivative with the control winding voltage equation:

[0091]

[0092]

[0093] The purpose of power winding voltage vector orientation or flux linkage vector orientation is to obtain decoupling of d-axis component and q-axis component of control winding current. For power winding voltage vector orientation, the ideal condition is that the d-axis component of control winding current corresponds to motor electromagnetic torque and the q-axis component corresponds to power winding reactive power, so that by controlling the d-axis current and q-axis current of control winding respectively, decoupling control of motor torque and reactive power can be realized, thereby obtaining ideal system dynamic response characteristics.

[0094] According to formula 10, at steady state, the differential term can be ignored, and the following can be obtained:

[0095]

[0096] In the above formula, since the rotor resistance is small and ω p is large, their ratio is small, so they can be ignored, and the above formula can be simplified as:

[0097]

[0098] The above formula shows the coupling relationship between the control winding and the power winding. The d-axis current of the power winding can be controlled by the d-axis current of the control winding, and the q-axis current of the power winding can be controlled by the q-axis current of the control winding.

[0099] The active power and reactive power of the power winding can be calculated by the following formula respectively:

[0100]

[0101] The relationship between motor electromagnetic torque and control winding current is:

[0102]

[0103] In summary, the current loop model can be written as:

[0104]

[0105]

[0106]

[0107]

[0108]

[0109] In the above formula, are the d-axis and q-axis ideal voltages of the control winding, b0, f d , f qThe current loop control gain, d-axis total disturbance, and q-axis total disturbance, respectively.

[0110] The speed loop model can be written as:

[0111]

[0112]

[0113]

[0114] In the above formula, b speed , f w are the speed loop control gain and the speed loop total disturbance, respectively, J is the moment of inertia, T L is the torque, and B is the friction coefficient is the d-axis ideal current of the control winding.

[0115] 2. Based on the current loop model, all terms other than the current state variable are regarded as disturbances, and a linear extended state observer is used for observation. The decoupling effect of few parameter dependence is realized after feedforward, and a control law is designed using the current feedforward value and the command value.

[0116] Taking the d-axis as an example, let x 1_d = i cd , x 2_d = f d , Then the state equation can be written as follows:

[0117]

[0118] y = Cx

[0119] Where x = [x 1_d x 2_d ] T , C = [1 0],

[0120] A linear extended state observer LESO is designed:

[0121]

[0122]

[0123] Where z = [z 1_d z 2_d ] T , L = [β1 β2] T , z 1_d , z 2_d are x 1_d , x 2_dThe estimated value of the parameter selection is bandwidth method:

[0124] β1=2ω0

[0125]

[0126] K p =ω0 / 5

[0127] Wherein, β1, β2 is LESO parameter, ω0 is bandwidth, K p is the control law proportional parameter.

[0128] The control rate of the d-axis current loop active disturbance rejection controller is designed as follows:

[0129]

[0130] The structure of the d-axis current loop active disturbance rejection controller dLADRC is shown in Figure 1 The controller design only needs b0, which saves various motor parameters involved in the traditional coupling term, and realizes higher parameter robustness.

[0131] The design of the q-axis current loop active disturbance rejection controller qLADRC is the same as the d-axis, and its structure is shown in Figure 2 The control law is:

[0132]

[0133] 3、Based on the speed loop model, all items except the d-axis current state variable of the control winding are regarded as disturbance, and the linear extended state observer is used for observation and feedforward compensation. The rotor speed and torque are set as state variables to construct the torque linear extended state observer, and the torque change is observed and fed forward to the speed loop output, so as to realize the fast dynamic response after the torque mutation.

[0134] Let x 1_speed =ω r , x 2_speed =f w , Then the state equation can be written as follows:

[0135]

[0136] y=Cx

[0137] Wherein, x=[x 1_speed x 2_speed ] T , C=[1 0],

[0138] Design linear extended state observer LESO:

[0139]

[0140]

[0141] where z = [z 1_speed z 2_speed ] T , L = [β1 β2] T , z 1_speed , z 2_speed are the estimates of x 1_speed , x 2_speed , respectively, and the parameters are chosen using the bandwidth method:

[0142] β1= 2ω0

[0143]

[0144] K p = ω0 / 5

[0145] In the actual controller sampling period, it is generally considered that the load torque does not change, that is:

[0146]

[0147] Let x 1_T = ω r , x 2_T = T L , then the state equation can be written as:

[0148]

[0149] y = Cx

[0150] where x = [x 1_T x 2_T ] T , C = [1 0], u = b speed i cd .

[0151] Design a torque linear extended state observer TLESO:

[0152]

[0153]

[0154] where z = [z 1_T z 2_T ] T , L = [β1 β2] T , z 1_T , z 2_T are the estimates of x1_T , x 2_T The estimated value of the observer parameter can be selected as follows, assuming that the desired poles are α1 and α2:

[0155]

[0156] β2 = -α1α2J

[0157] The control rate of the speed loop active disturbance rejection controller is designed as follows:

[0158]

[0159] The structure of the speed loop active disturbance rejection controller TLADRC is shown in Figure 3 The disturbances inside and outside the motor system can be compensated by LESO, and when the load torque changes, TLESO can quickly observe and feed forward to improve the dynamic response speed.

[0160] 4. Based on the following reactive power expression, a PI controller is designed to control the q-axis current of the control winding to achieve 0 reactive power control as shown in Figure 4

[0161]

[0162] The PI controller expression is as follows:

[0163]

[0164] Where S is the Laplace operator.

[0165] Finally, the brushless doubly-fed motor vector control structure diagram is constructed as shown in Figure 5

[0166] 5. The rotor mechanical reference speed of the brushless doubly-fed motor is set by the microcontroller and the load torque, and the brushless doubly-fed motor is controlled with 0 reactive power, i.e. the q-axis current of the power winding is set to 0.

[0167] 6. The rotor angular speed ω of the motor is obtained through the position encoder installed on the brushless doubly-fed motor r ; the three-phase currents of the power winding i pabc and the three-phase currents of the control winding i cabc are obtained through the current sensor, and they are transformed into the d-axis current of the power winding i pd , the q-axis current of the power winding i pq , the d-axis current of the control winding i cd , and the q-axis current of the control winding i cq . ​​

[0168] 7. For the d-axis current loop active disturbance rejection controller, the d-axis current of the control winding i cd and the output u of the controller are input into the linear extended state observer to obtain the d-axis observed current of the control winding z 1_d and the d-axis disturbance estimation value z 2_d ; for the q-axis current loop active disturbance rejection controller, the q-axis current of the control winding i cq and the output u of the controller are input into the linear extended state observer to obtain the q-axis observed current of the control winding z 1_q and the q-axis disturbance estimation value z 2_q ; for the speed loop active disturbance rejection controller, the rotor angular velocity ω r and the output u of the conventional active disturbance rejection control part are input into the linear extended state observer to obtain the rotor angular velocity observation value z 1_speed and the speed loop disturbance estimation value z 2_speed , and the rotor angular velocity ω r and the control winding d-axis current after the speed loop gain are input into the torque linear extended state observer to obtain the torque estimation value z 2_T .

[0169] 8. The ideal angular velocity of the rotor ω the rotor angular velocity observation value z 1_speed , the speed loop disturbance estimation value z 2_speed and the torque estimation value z 2_T are brought into the control law of the speed loop active disturbance rejection controller to obtain the d-axis ideal current of the control winding i The q-axis ideal current value 0 of the power winding is subtracted from the feedback value and brought into the reactive power PI controller to obtain the q-axis ideal current of the control winding i

[0170] 9. The d-axis ideal current of the control winding i the d-axis observed current z 1_d and the d-axis disturbance estimation value z 2_d are brought into the control law of the d-axis current loop active disturbance rejection controller to obtain the d-axis ideal voltage of the control winding u The q-axis reference current of the control winding i the q-axis observed current z 1_q and the q-axis disturbance estimation value z 2_q of the control winding are brought into the control law of the q-axis current loop active disturbance rejection controller to obtain the q-axis ideal voltage of the control winding u

[0171] 10. The d-axis ideal current of the control winding i the q-axis ideal voltage u The 6-way switch signals are generated by the coordinate transformation and input to the vector modulation module to control the switches of the inverter, the inverter output is connected to the brushless doubly-fed motor control winding to drive the motor to work normally.

[0172] To verify the effectiveness and superiority of the control method, the following experiments are carried out:

[0173] (1) disconnect the speed loop and the power loop, and set the control winding current command The current tracking experiments are carried out by using the traditional PI control method and the active disturbance rejection controller of the application respectively to investigate the response performance of the current loop. The current command tracking waveform diagrams obtained by the two methods are shown in Figure 6 、 Figure 7 .

[0174] By comparing Figure 6 、 Figure 7 , it can be seen that compared with the traditional current loop, the current loop active disturbance rejection controller of the application has higher anti-disturbance performance, higher frequency current tracking ability and faster response.

[0175] (2) the speed command is set to 800r / min, the q-axis current command of the power winding is 0, and the load torque is stepped from 0Nm to 50Nm at 1.5 seconds. The current loop, speed loop and power loop of the first group all use the traditional PI controller; the power loop of the second group uses the traditional PI controller, the current loop uses the current loop active disturbance rejection controller of the application, and the speed loop uses the speed loop active disturbance rejection controller of the application, to investigate the dynamic response performance of each system. The speed tracking and load sudden change dynamic response results of the two methods are shown in Figure 8 .

[0176] As can be seen from Figure 8 , compared with the traditional current loop and speed loop, the speed loop of the application can respond faster to the stepped speed signal or load sudden change, greatly improving the control accuracy of the speed and current.

Claims

1.A parameter robustness brushless doubly-fed machine decoupling disturbance control method, characterized in that: the control method comprises the following steps in sequence: step A, establishing a current loop and a speed loop model of the brushless doubly-fed machine; step B, establishing an active disturbance rejection controller according to the current loop and the speed loop model, the active disturbance rejection controller comprising a d-axis current loop active disturbance rejection controller, a q-axis current loop active disturbance rejection controller, and a speed loop active disturbance rejection controller; the establishment method of the d-axis current loop active disturbance rejection controller and the q-axis current loop active disturbance rejection controller comprising: regarding all terms other than the current state variable as disturbance based on the current loop model, observing and feeding forward using a linear extended state observer, and designing a control law using the current feedforward value and the command value; the control law of the d-axis current loop active disturbance rejection controller being: the control law of the q-axis current loop active disturbance rejection controller being: the establishment method of the speed loop active disturbance rejection controller comprising: regarding all terms other than the d-axis current state variable of the control winding as disturbance based on the speed loop model, observing and then feeding forward for compensation using a linear extended state observer, and constructing a torque linear extended state observer by taking the rotor angular velocity and the torque as state variables to observe the torque change and feed forward to the speed loop output; the control law of the speed loop active disturbance rejection controller being: step C, using the established active disturbance rejection controller to perform decoupling disturbance control on the brushless doubly-fed machine. 2.The parameter robustness brushless doubly-fed machine decoupling disturbance control method according to claim 1, characterized in that: in step A, the current loop model is: the speed loop model is: 3.The parameter robustness brushless doubly-fed machine decoupling disturbance control method according to claim 2, characterized in that: the active disturbance rejection controller further comprises a reactive power PI controller, the reactive power PI controller being used to control the q-axis current of the control winding to achieve 0 reactive power, the reactive power PI controller being designed according to the q-axis power current feedback based on the following formula: 4.The parameter robustness brushless doubly-fed machine decoupling disturbance control method according to claim 1, characterized in that: step C comprises the following steps in sequence: 5.The parameter robustness brushless doubly-fed machine decoupling disturbance control method according to claim 4, characterized in that: the active disturbance rejection controller further comprises a reactive power PI controller; step S2 further comprises: 6.The parameter robustness brushless doubly-fed machine decoupling disturbance control method according to claim 4, characterized in that: step C further comprises: ； In the above formula, is the output of the d-axis current loop active disturbance rejection controller, is the current loop control gain, is the control law proportional parameter, is the d-axis ideal current of the control winding, , is the d-axis observed current of the control winding, and is the d-axis disturbance estimation value of the control winding, respectively. ​ ； In the above formula, is the output of the q-axis current loop active disturbance rejection controller, is the current loop control gain, is the control law proportional parameter, is the d-axis ideal voltage of the control winding, , is the q-axis observed current of the control winding, and is the q-axis disturbance estimation value of the control winding, respectively. ​ ​ ； In the above formula, is the output of the speed loop active disturbance rejection controller, is the speed loop control gain, is the control law proportional parameter, is the ideal angular velocity of the rotor, , is the rotor angular velocity observation value, and the speed loop disturbance estimation value, respectively, is the torque estimation value; ​ ​ ​ ； ； ； ； ； ； ； ； in the above formula, , are d, q axis currents of the control winding in the power winding oriented synchronous coordinate system, respectively, , are d, q axis voltages of the control winding in the power winding oriented synchronous coordinate system, respectively, , are d, q axis ideal voltages of the control winding, t is time, , , , is an intermediate parameter, , , are current loop control gains, d axis total disturbance, q axis total disturbance, respectively, , , are self-inductances of the control winding, power winding, rotor, respectively, is a control winding resistance, , are mutual inductances between the control winding and the rotor, between the power winding and the rotor, respectively, , are grid electrical frequency, control winding electrical frequency, respectively, is a rotor resistance, , are d, q axis currents of the power winding in the power winding oriented synchronous coordinate system, respectively, is a power winding flux linkage in the power winding oriented synchronous coordinate system; ​ ； ； ； In the above formula, is the rotor angular velocity, is the moment of inertia, , are the pole pair numbers of the power winding and the control winding, respectively, is the torque, is the friction coefficient, , are the control gain and the total disturbance of the speed loop, respectively, is the d-axis ideal output voltage of the control winding. ​ ​ 。 ​ ​ S1, for the d-axis current loop active disturbance rejection controller, the d-axis current of the control winding and the output of this controller is input into a linear extended state observer to obtain the d-axis observed current of the control winding and the d-axis disturbance estimate value ; for the q-axis current loop active disturbance rejection controller, the q-axis current of the control winding and the output of this controller is input into a linear extended state observer to obtain the q-axis observed current of the control winding and the q-axis disturbance estimate value ; for the speed loop active disturbance rejection controller, the rotor angular velocity and the output of the conventional active disturbance rejection control part is input into a linear extended state observer to obtain the rotor angular velocity observation value and the speed loop disturbance estimate value , and the rotor angular velocity and the d-axis current of the control winding after the speed loop gain are input into a torque linear extended state observer to obtain the torque estimate value ; S2, ideal angular velocity of the rotor , rotor angular velocity observation value , rotor speed loop disturbance estimation value , and torque estimation value into the control law of the speed loop active disturbance rejection controller, to obtain the d-axis ideal current of the control winding ; S3, the d-axis ideal current of the control winding , the d-axis observed current and the d-axis disturbance estimation value into the control law of the d-axis current loop active disturbance rejection controller, to obtain the d-axis ideal voltage of the control winding ; the q-axis reference current of the control winding , the q-axis observed current of the control winding and the q-axis disturbance estimation value into the control law of the q-axis current loop active disturbance rejection controller, to obtain the q-axis ideal voltage of the control winding ; S4, the d-axis ideal current of the control winding , the q-axis ideal voltage Through the coordinate transformation, input to the vector modulation module, generate 6-way switching signal to control the inverter switch. ​ ​ ​ The q-axis ideal current value of the power winding is subtracted from the feedback value and input into the reactive power PI controller to obtain the q-axis ideal current of the control winding . ​ ​ S0, setting the ideal angular velocity of the rotor of the brushless doubly-fed machine and the load torque, the brushless doubly-fed machine is controlled with reactive power 0 control, i.e. the q-axis current of the power winding is set to 0; the angular velocity of the rotor of the machine is obtained ; the three-phase current of the power winding is obtained and the three-phase current of the control winding , which is transformed into the d-axis current of the power winding by coordinate transformation , the q-axis current of the power winding , the d-axis current of the control winding , the q-axis current of the control winding .

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