A self-disturbance control method for a field-excited synchronous motor based on joint simulation

Abstract

The application discloses a self-disturbance rejection control method for an electrically excited synchronous motor based on joint simulation, which comprises the following steps: firstly, a finite element model of the motor is designed in Maxwell; then, an engineering is created and a motor driving circuit is built in Simplorer; a motor control circuit model is built in Matlab / Simulink; finally, the modules are connected to realize joint simulation of motor control. In Simulink, a linear self-disturbance rejection control theory is applied to design a current double closed loop controller for the motor, and a model auxiliary extended state observer is designed according to motor related parameters, so that the observation and elimination of disturbance in motor operation are realized. Compared with the prior art, the motor body, the driving circuit and the control system design are combined, the electrical and electromagnetic performance of the motor driving system is comprehensively considered through joint simulation, the complex control algorithm is combined with the motor parameters for simulation verification, and the accuracy and timeliness of the motor control system are improved, and the motor control system is closer to the actual situation.

Description

Technical Field

[0001] This invention belongs to the field of vehicle motor drive control, specifically involving the research on the self-disturbance rejection control system of an electrically excited synchronous motor based on co-simulation. Background Technology

[0002] Motors, electronic controls, and batteries are the three key technologies for new energy vehicles, and have been extensively researched. Permanent magnet synchronous motors (PMSMs) are widely used in new energy vehicles due to their high power density and excellent torque performance. However, their rotors use rare-earth materials for excitation, which can easily lead to irreversible demagnetization at excessively high or low temperatures. Furthermore, the inability to adjust the magnetic field limits the performance of PMSMs. Additionally, the high cost of rare-earth materials makes PMSMs more expensive than other types of motors. With the development of new energy vehicles and advancements in science and technology, the application of electrically excited synchronous motors in electric vehicles has gradually become a research hotspot, representing one of the effective alternatives to PMSMs.

[0003] Electrically excited synchronous motors generate a main magnetic field by passing direct current through the rotor windings. The main magnetic field can be adjusted by regulating the magnitude of the direct current, offering advantages such as high starting torque and high-speed field weakening for speed regulation. Furthermore, because the motor is DC-excited, its cost is relatively lower than that of permanent magnet synchronous motors, facilitating its widespread adoption and application.

[0004] Traditional research on electrically excited synchronous motors mainly includes motor body design and motor drive control systems, which are performed separately in Maxwell and Simulink software. Maxwell, a finite element simulation module in ANSYS, is a computational simulation module primarily focused on field calculations. It performs simulations based on the motor's structure and materials, providing a clear and detailed understanding of the magnetic field at various positions within the motor at any given time. Simulink, a simulation module in MATLAB, allows for the verification of complex control algorithms based on the motor's mathematical model and integrates a large number of mathematical models, greatly accelerating simulation control research. However, in the overall control research of motors, the advantages of both software cannot be effectively combined. Maxwell cannot perform research on complex motor control algorithms, while Simulink cannot consider electromagnetic changes during motor operation, resulting in discrepancies with actual motor control and hindering its research and application in electric vehicles. Co-simulation allows for the verification of complex control algorithms while considering the motor's structural parameters, making the simulation more realistic.

[0005] This invention employs linear active disturbance rejection control (ADR) technology to conduct a joint simulation control system study of an electrically excited synchronous motor. A finite element model of the electrically excited synchronous motor is designed in Maxwell, and the linear ADR algorithm is applied in Simulink to control the motor. Simultaneously, based on known information about some motor parameters, a model-assisted extended state observer is designed to improve the motor control's response and steady-state performance. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a research method for an active disturbance rejection control system of an electrically excited synchronous motor based on co-simulation. This method solves the problem that complex control algorithms cannot be used in finite element simulation alone and the problem of inaccurate motor models in Matlab / Simulink control algorithm research. It improves the accuracy and timeliness of motor models in motor control and makes the algorithm implementation in the motor control system more realistic.

[0007] To address the aforementioned technical problems, this invention provides a method for active disturbance rejection control of an electrically excited synchronous motor based on co-simulation, comprising the following steps:

[0008] Step 1: Design the finite element model of the electrically excited synchronous motor in Maxwell, select external excitation as the motor excitation mode, then build the power converter model in Simplier, set up the motor finite element model and Simulink control model in Maxwell, and finally connect the corresponding interfaces of the power converter, motor finite element model and control algorithm model in Simplier.

[0009] Step 2: Add the Chinese path to ANSYS Electronic in MATLAB, and build the control algorithm model of the electrically excited synchronous motor in Simulink. Then, set up the interface between the drive circuit and the motor finite element model and the control algorithm model. The motor uses i... m =0 vector control mode, and simultaneously analyzed the MT shaft voltage equation and air gap flux linkage equation of the electrically excited synchronous motor;

[0010] Step 3: Design a first-order linear active disturbance rejection controller (ADRC) with a current loop in the control system of an electrically excited synchronous motor. In the linear ADRC, design a model-assisted extended state observer, then analyze the stator MT shaft current equation, and design the current loop model-assisted extended state observer based on the known parameters.

[0011] Step 4: Design a speed loop PI controller for the electrically excited synchronous motor, and simultaneously build a motor control algorithm model. Set the same simulation time in Simulink and Simplier, perform joint simulation, and debug and verify the motor control algorithm.

[0012] The specific process is as follows:

[0013] Step 1: Design the finite element model of the electrically excited synchronous motor in Maxwell, select external excitation for the stator and rotor windings of the motor, set the initial current, and select the option "Enable transient-transient link with Twin Builder" in Maxwell2D-Design Setting to connect the Maxwell and Simplier modules.

[0014] Step 2: Create a project in Simplier, build a power conversion circuit, add a current sensor to each phase circuit, and add leakage inductance at the motor end and stator resistance of the motor as the external circuit of the electrically excited synchronous motor.

[0015] Step 3: In Simplier, select Twin Builder-Subcircuit-Maxwell Component-Add Transient Cosimulation to add the finite element model of the electrically excited synchronous motor from Maxwell to Simplier.

[0016] Step 4: Connect the three-phase output interface of the inverter to the stator side of the motor finite element model, and connect an external current source to the rotor side for excitation. At the same time, add rotor resistance and end leakage inductance to the external excitation circuit on the rotor side to achieve motor excitation.

[0017] Step 5: Add a torque excitation source to the MotionSetup interface of the motor finite element model and select the numerical input display interface. Also add a torque meter, angular velocity meter, and mechanical angle meter, and select the display output interface for the corresponding meter.

[0018] Step 6: In Simulator, select Twin Builder-SubCircuit-Add SimulinkComponent. In the Simulink Interface box, select Add Simulink Variable and define the input and output of the corresponding variable. At the same time, select Add Pin Interface and click OK to add the Simulink connection module to the Simulator project and connect the corresponding input and output pins.

[0019] Step 7: Add a file path to the MATLAB software settings path. Locate the installation path of ANSYS Electronic, select the MATLAB file under the cpl folder, and load it into the MATLAB scan path.

[0020] Step 8: In the Simulink-Library Browser, select the S-Function module and drag it into the Simulink motor control system. In the S-function name field, enter AnsoftSFunction (note the case sensitivity). After clicking OK, in the pop-up option box, select the "Read link information from file" checkbox and select the previously created .aedt (Simplorer) simulation file. In the newly popped-up dialog box, select the corresponding variables of the Simulink output and the Simulator input to connect.

[0021] Step 9: Build a stator-side control system model for the electrically excited synchronous motor in MATLAB / Simulink, employing MT shaft system field-oriented vector control and i... m =0 control mode realizes the simulation of motor speed change and load conditions below base speed.

[0022] Step 10: First, perform Clark and Park transformations on the three-phase stator current output by Simplier to build a current dual closed-loop control loop. Then, perform inverse Park transformation on the current loop output voltage and generate 6 signals through space vector pulse width modulation to control the inverter. Finally, build a speed loop to realize the simulation of a three-closed-loop motor control system.

[0023] Step 11: The stator of the electrically excited synchronous motor is dynamically decoupled using the MT-axis coordinate system. The stator voltage equation is shown below:

[0024]

[0025]

[0026] Among them, u sm Represents the stator voltage and the M-axis voltage, u st Represents the stator voltage, T-axis voltage, R s Represents the stator winding, ω r Indicates the rotor rotation speed, i sm i represents the stator M-axis current. st Represents the stator T-axis current. and Let ψ denote the differential operator. δ L represents the air gap flux linkage. sl This indicates the leakage inductance of the motor stator winding.

[0027] Step 12: The air gap flux linkage equation from Step 11 is expressed as follows:

[0028] ψδ =L am ·i sm -L ao ·i st +L ad ·i f ·cosδ (13)

[0029] in, L am and L ao These represent the armature reaction inductance of the motor's M-axis and the armature reaction inductance of the motor's T-axis, respectively. ad and L aq This represents the d-axis armature reaction inductance and q-axis armature reaction inductance of the motor, where δ represents the load angle, and i f This represents the excitation current of the rotor winding.

[0030] Step 13: Based on the voltage equation of the electrically excited synchronous motor, design a first-order linear active disturbance rejection current loop controller for the current loop mentioned in Step 10. The modeling equation of the first-order linear active disturbance rejection control object is shown below:

[0031]

[0032] in, It is the reciprocal of the system output variable, a0 represents the coefficient of the system mathematical model output variable y, y represents the system output variable, w is the unknown disturbance of the system, b is the system gain, b0 is the estimate of the system gain, and u is the system input variable.

[0033] Step 14: The controller in the first-order linear active disturbance rejection control system adopts proportional control, and the parameters... Where ω c This represents the controller bandwidth, which is adjusted for control. For motor control systems, a model-assisted second-order linear extended state observer can be designed based on relevant parameters.

[0034] Step 15: The actual unknown disturbance in equation (14) is f * =w + (b - b0)·u, where w is the unknown system disturbance, b is the system gain, b0 is the estimated system gain, and u is the system input variable. If the coefficient a0 of the input variable y is known, then the total disturbance can be designed as f = -a0·y + f * Among them, f * This represents an unknown disturbance in the system. We choose the state variable x = [yf]. T Where y represents the system output variable and f represents the total system disturbance, the first-order state-space expression is:

[0035]

[0036] in, It is a system matrix. It is the input matrix. C is the perturbation matrix, and C =

[10] is the output matrix.

[0037] Step 16: Based on the equations in Step 15, the model-aided second-order extended state observer can be obtained, and its equations are as follows:

[0038]

[0039] in, Let A represent the differential of the observed variables in the model-assisted extended state observer, A be the system matrix, L be the observer gain matrix, C be the output matrix, z be the observed variables of the model-assisted extended state observer, B be the input matrix, u be the system input, and y be the system output variable. After parameterization, placing the roots of the observer's characteristic equation in the same position yields the gain matrix of the model-assisted extended state observer as follows: Where ω o This indicates the observer bandwidth.

[0040] Step 17: Let A o =[AL MA ·C],B o =[BL MA ]. Among them, A o Let A be the system matrix of the model-assisted extended state observer, and L be the system matrix of the controlled object. MA B is the gain matrix of the model-assisted extended state observer. o Representing the input matrix of the model-aided extended state observer, the system matrix and input matrix of the model-aided extended state observer are shown below:

[0041]

[0042] Linear active disturbance rejection control simplifies the controller parameter variables, and the system simulation can be debugged by adjusting the controller bandwidth, observer bandwidth and system gain.

[0043] Step 18: Based on the voltage equation mentioned in Step 11, design a first-order linear active disturbance rejection controller for the current loop, using a model-assisted extended state observer. The M-axis stator excitation current can be rewritten in the standard form of the first-order linear active disturbance rejection equation, which is shown below:

[0044]

[0045] in, L represents the differential of the stator M-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u smRepresents the stator voltage, M-axis voltage, R s Represents the stator winding, i sm Represents the stator M-axis current, ω s Indicates the synchronous speed of the motor, i st ψ represents the T-axis current of the motor stator. δ This represents the air gap flux linkage of the motor. The unknown disturbance to the system is... in, Represents the differential operator. Stator current excitation component i sm coefficient It can be obtained from the motor parameters.

[0046] Step 19: Design a model-aided extended state observer in first-order linear active disturbance rejection control, let The total disturbance of the M-axis stator current loop is f2 = -a0·i sm +f m , Formula (17) can be rewritten as:

[0047]

[0048] Where f2 represents the total disturbance of the M-axis stator current loop, f m The unknown disturbance is for the M-axis stator current loop. The derivative of the stator M-axis current of the motor is given by b2, where b2 is a known input coefficient of the system, and u is the derivative of the stator M-axis current. sm This represents the stator M-axis voltage. Equation (18) is the first-order linear active disturbance rejection form of the stator excitation current. The stator excitation current loop can be designed and debugged according to the first-order linear active disturbance rejection principle introduced in steps 13 to 17.

[0049] Step 20: Design a linear active disturbance rejection controller based on the stator T-axis voltage equation. Formula (12) can be rewritten in the form of the standard equation of linear active disturbance rejection. The rewritten equation is shown below:

[0050]

[0051] Among them, i st L represents the differential of the stator T-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u st R represents the stator T-axis voltage. s Represents the stator winding, i st Represents the stator T-axis current, ω s Indicates the synchronous speed of the motor, i sm ψ represents the stator M-axis current of the motor. δ This indicates the air gap flux linkage of the motor. The unknown disturbance design of the T-axis stator current loop is... Stator torque current i st The coefficient can be obtained from the motor parameters.

[0052] Step 21: Design a model-aided extended state observer in first-order linear active disturbance rejection control, let a t =R s L sl Total disturbance f t =-a t ·i st +f t * b t =1L sl Formula (19) can be rewritten as:

[0053]

[0054] Among them, f t It is the total disturbance of the T-axis stator current loop, f t * It is an unknown disturbance in the T-axis stator current loop. b represents the differential of the stator T-axis current of the motor. t Given the known input coefficients of the system, u st The stator T-axis voltage is represented by equation (20), which is the first-order linear active disturbance rejection form of the stator torque current. Based on the principles described in steps 13 to 17, a first-order linear active disturbance rejection controller for the motor stator torque current can be designed and debugged and simulated.

[0055] Step 22: Design a speed loop PI controller for the electrically excited synchronous motor control system, with the corresponding output being the stator torque current setpoint, thereby building a three-closed-loop control system model for the motor.

[0056] Step 23: Based on the controller design section in Steps 18 to 22, and combined with the control model content in Steps 9 and 10, build a complete motor control system. Then, connect the interface corresponding to the S-Function module to the signal output of the motor control model. The input of the S-Function module is 6 inverter control signals and load torque interface, and the output is stator three-phase current and rotor angle, motor mechanical angular velocity and motor torque interface.

[0057] Step 24: Design the solver parameters in Simulink, keeping the parameter settings consistent with those in Simplier. Then click the simulation button in Simulink; both software programs will start running the simulation simultaneously to debug and verify the motor control algorithm.

[0058] The beneficial effects of this invention are:

[0059] 1. This invention employs a method for co-simulation of motor control. Through Simplier, pre-built or encapsulated modules in Simulink can be called, combining motor control with the motor itself for co-simulation of the field and circuit. Furthermore, using Simplier as a bridge, Maxwell and Simulink are coupled to achieve transient co-simulation, integrating the motor itself with the drive circuit and control system design. Co-simulation comprehensively considers the electrical and electromagnetic performance of the motor drive system.

[0060] 2. This invention applies linear active disturbance rejection control (ADRC) theory to design a first-order linear ADRC controller for the current loop of the control system. Simultaneously, based on known motor parameters, a model-assisted extended state observer is designed, which improves the transient response speed and steady-state accuracy of the motor. Linear ADRC simplifies the parameter adjustment process, making the controller easier to apply in engineering practice, while also improving the system's anti-interference performance and robustness. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the motor co-simulation principle in this invention.

[0062] Figure 2 This is a block diagram of the first-order linear active disturbance rejection controller designed in this invention.

[0063] Figure 3 This is a block diagram of a motor control system model implemented using Simulator in Simulink.

[0064] Figure 4 The torque diagram of the active disturbance rejection control of the electrically excited synchronous motor is based on co-simulation.

[0065] Figure 5 This is a stator flux linkage diagram for active disturbance rejection control of an electrically excited synchronous motor based on co-simulation.

[0066] Figure 6 This is a flowchart of the method steps of the present invention. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0068] The joint simulation control principle based on electrically excited synchronous motors is as follows: Figure 1As shown, firstly, a finite element model of the electrically excited synchronous motor is designed in Maxwell, with external excitation selected for both the stator and rotor windings. Then, a new project is created in Simplier to build the inverter drive circuit model. The motor finite element model from Maxwell is added to the Simplier project, and a module connecting to Simulink is created and the corresponding interfaces are set up, connecting the motor model to the corresponding drive and output information interfaces. Finally, the control system of the electrically excited synchronous motor is built in Simulink. Figure 2 To apply a first-order linear active disturbance rejection control block diagram, a model-aided extended state observer (MAA-EP) is designed and implemented, taking advantage of the known motor parameters. The MAA-EP can accelerate the transient response time of the motor and improve its steady-state accuracy. Simultaneously, the application of the active disturbance rejection controller can enhance the system's anti-interference performance and improve its robustness. Figure 3 It is a control system model of an electrically excited synchronous motor using field-oriented vector control. By adding a Simplier project file, the control system and the finite element model of the motor are jointly simulated, making the motor control performance closer to reality.

[0069] like Figure 6 As shown, a method for active disturbance rejection control of an electrically excited synchronous motor based on co-simulation includes the following steps:

[0070] Step 1: Design the finite element model of the electrically excited synchronous motor in Maxwell 2019R1. Select external excitation for both the stator and rotor windings, and set the initial current to 0A. Also, in Maxwell 2D-DesignSetting, select the option "Enable transient-transient link with Twin Builder".

[0071] Step 2: Create a project in Simplier, build a power conversion circuit, add a current sensor to each phase circuit, and add leakage inductance at the motor end and stator resistance of the motor as the external circuit of the electrically excited synchronous motor.

[0072] Step 3: In Simplier, select Twin Builder-Subcircuit-Maxwell Component-Add Transient Cosimulation to add the finite element model of the electrically excited synchronous motor from Maxwell to Simplier.

[0073] Step 4: Connect the three-phase output interface of the inverter to the stator side of the motor finite element model, and connect an external current source to the rotor side for excitation. At the same time, add rotor resistance and end leakage inductance to the external excitation circuit on the rotor side to achieve motor excitation.

[0074] Step 5: Add a torque excitation source to the MotionSetup interface of the motor finite element model and select the numerical input display interface. Also add a torque meter, angular velocity meter, and mechanical angle meter, and select the display output interface for the corresponding meter.

[0075] Step 6: In Simulator, select Twin Builder-SubCircuit-Add SimulinkComponent. In the Simulink Interface box, select Add Simulink Variable and define the input and output of the corresponding variable. At the same time, select Add Pin Interface and click OK to add the Simulink connection module to the Simulator project and connect the corresponding input and output pins.

[0076] Step 7: Add a file path to the MATLAB 2018b software settings path. Locate the ANSYS Electronic installation path, select the MATLAB 2018b file in the cpl folder, and load it into the MATLAB scan path.

[0077] Step 8: In the Simulink-Library Browser, select the S-Function module and drag it into the Simulink motor control system. In the S-function name field, enter AnsoftSFunction. Note that it is case-sensitive. After clicking OK, in the pop-up option box, select the Read link information from file checkbox and select the previously created .aedt (Simplorer) simulation file. In the newly popped-up dialog box, select the corresponding variables of Simulink output and Simulator input to connect.

[0078] Step 9: Build a stator-side control system model for the electrically excited synchronous motor in MATLAB 2018b / Simulink, employing MT shaft-based field-oriented vector control and i... m =0 control mode realizes the simulation of motor speed change below base speed and under load conditions.

[0079] Step 10: First, perform Clark and Park transformations on the three-phase stator current output by Simplier. Then, build a current double closed-loop control loop. Next, perform inverse Park transformation on the current loop output voltage. Use space vector pulse width modulation to generate 6 signals to control the inverter. Finally, build a speed loop to simulate a three-closed-loop motor control system.

[0080] Step 11: The stator of the electrically excited synchronous motor is dynamically decoupled using the MT-axis coordinate system. The stator voltage equation is shown below:

[0081]

[0082]

[0083] Among them, u sm Represents the stator voltage and the M-axis voltage, u st Represents the stator voltage, T-axis voltage, R s Represents the stator winding, ω r Indicates the rotor rotation speed, i sm i represents the stator M-axis current. st Represents the stator T-axis current. and Let ψ denote the differential operator. δ L represents the air gap flux linkage. sl This indicates the leakage inductance of the motor stator winding.

[0084] Step 12: The air gap flux linkage equation from Step 11 is expressed as follows:

[0085] ψ δ =L am ·i sm -L ao ·i st +L ad ·i f ·cosδ (23)

[0086] in, L am and L ao These represent the armature reaction inductance of the motor's M-axis and the armature reaction inductance of the motor's T-axis, respectively. ad and L aq This represents the d-axis armature reaction inductance and q-axis armature reaction inductance of the motor, where δ represents the load angle, and i f This represents the excitation current of the rotor winding.

[0087] Step 13: Based on the voltage equation of the electrically excited synchronous motor, design a first-order linear active disturbance rejection current loop controller for the current loop mentioned in Step 10. The modeling equation of the first-order linear active disturbance rejection control object is shown below:

[0088]

[0089] in, It is the reciprocal of the system output variable, a0 represents the coefficient of the system mathematical model output variable y, y represents the system output variable, w is the unknown disturbance of the system, b is the system gain, b0 is the estimate of the system gain, and u is the system input variable.

[0090] Step 14: The controller in the first-order linear active disturbance rejection control system adopts proportional control, and the parameters... ω c This represents the controller bandwidth, which is adjusted for control. For motor control systems, a model-assisted second-order linear extended state observer can be designed based on relevant parameters.

[0091] Step 15: The actual unknown disturbance in equation (24) is f * =w + (b - b0)·u. Where w is the unknown system disturbance, b is the system gain, b0 is the estimated system gain, and u is the system input variable. If the coefficient a0 of the input variable y is known, then the total disturbance can be designed as f = -a0·y + f * Among them, f * This represents an unknown disturbance in the system. We choose the state variable x = [yf]. T Where y represents the system output variable and f represents the total system disturbance, the first-order state-space expression is:

[0092]

[0093] in, It is a system matrix. It is the input matrix. C is the perturbation matrix, and C =

[10] is the output matrix.

[0094] Step 16: Based on the equations in Step 15, the model-aided second-order extended state observer can be obtained, and its equations are as follows:

[0095]

[0096] in, Let A represent the differential of the observed variables in the model-aided extended state observer, A be the system matrix, L be the gain matrix of the model-aided extended state observer, C be the output matrix, z be the observed variables of the model-aided extended state observer, B be the input matrix, u be the system input, and y be the system output variable. After parameterization, placing the roots of the observer's characteristic equation in the same position yields the gain matrix of the model-aided extended state observer as follows: Where ω o This indicates the observer bandwidth.

[0097] Step 17: Let A o =[AL MA ·C],B o =[BL MA ]. Among them, A o Let A be the system matrix of the model-assisted extended state observer, and L be the system matrix of the controlled object. MA B is the gain matrix of the model-assisted extended state observer. o Representing the input matrix of the model-aided extended state observer, the system matrix and input matrix of the model-aided extended state observer are shown below:

[0098]

[0099] Linear active disturbance rejection control simplifies the controller parameter variables and enables system simulation and debugging by adjusting the controller bandwidth, observer bandwidth, and system gain.

[0100] Step 18: Based on the voltage equation mentioned in Step 11, design a first-order linear active disturbance rejection controller for the current loop, using a model-assisted extended state observer. The M-axis stator excitation current can be rewritten in the standard form of the first-order linear active disturbance rejection equation, which is shown below:

[0101]

[0102] in, L represents the differential of the stator M-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u sm Represents the stator voltage, M-axis voltage, R s Represents the stator winding, i sm Represents the stator M-axis current, ω s Indicates the synchronous speed of the motor, i st ψ represents the T-axis current of the motor stator. δ This represents the air gap flux linkage of the motor. The unknown disturbance to the system is... in, Represents the differential operator. Stator current excitation component i sm coefficient It can be obtained from the motor parameters.

[0103] Step 19: In first-order linear active disturbance rejection control, a model-aided extended state observer can be designed, letting... Total disturbance Formula (27) can be rewritten as:

[0104]

[0105] Where f2 represents the total disturbance of the M-axis stator current loop, fm The unknown disturbance is for the M-axis stator current loop. The derivative of the stator M-axis current of the motor is given by b2, where b2 is a known input coefficient of the system, and u is the derivative of the stator M-axis current. sm This represents the stator M-axis voltage. Equation (28) is the standard form of the first-order linear active disturbance rejection of the stator excitation current. The stator excitation current loop can be adjusted according to the first-order linear active disturbance rejection principle introduced in steps 13 to 17.

[0106] Step 20: Design a linear active disturbance rejection controller based on the stator T-axis voltage equation. Formula (22) can be rewritten in the form of the standard equation of linear active disturbance rejection. The rewritten equation is shown below:

[0107]

[0108] in, L represents the differential of the stator T-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u st R represents the stator T-axis voltage. s Represents the stator winding, i st Represents the stator T-axis current, ω s Indicates the synchronous speed of the motor, i sm ψ represents the stator M-axis current of the motor. δ This indicates the air gap flux linkage of the motor. The unknown disturbance design of the T-axis stator current loop is... Stator torque current i st The coefficient can be obtained from the motor parameters.

[0109] Step 21: Design a model-aided extended state observer in first-order linear active disturbance rejection control, let a t =R s L sl Total disturbance f t =-a t ·i st +f t * b t =1L sl Formula (29) can be rewritten as:

[0110]

[0111] Among them, f t It is the total disturbance of the T-axis stator current loop, f t * It is an unknown disturbance in the T-axis stator current loop. b represents the differential of the stator T-axis current of the motor. t Given the known input coefficients of the system, u stThe stator T-axis voltage is represented by equation (30), which is the standard form of the first-order linear active disturbance rejection for the stator torque current. Based on the principles described in steps 13 to 17, a first-order linear active disturbance rejection controller can be designed for the motor stator torque current loop and then debugged and simulated.

[0112] Step 22: Design a speed loop PI controller for the electrically excited synchronous motor control system, with the corresponding output being the stator torque current setpoint, thereby building a three-closed-loop control system model for the motor.

[0113] Step 23: Based on the controller design section in Steps 18 to 22, and combined with the control model content in Steps 9 and 10, build a complete motor control system. Then, connect the interface corresponding to the S-Function module to the signal output of the motor control model. The input of the S-Function module is 6 inverter control signals and load torque interface, and the output is stator three-phase current and rotor angle, motor mechanical angular velocity and motor torque interface.

[0114] Step 24: Design the solver parameters in Simulink, keeping the parameter settings consistent with those in Simplier. Then click the simulation button in Simulink; both software programs will start running the simulation simultaneously to debug and verify the motor control algorithm.

[0115] Through the above steps, the design of the electrically excited synchronous motor body, drive circuit, and control system can be combined, and the electrical and electromagnetic performance of the motor drive system can be comprehensively considered through co-simulation. The motor torque after co-simulation operation of the electrically excited synchronous motor is as follows: Figure 4 As shown, the simulation results of the motor flux linkage obtained in Maxwell are as follows: Figure 5 As shown.

[0116] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Any modifications or substitutions made by those skilled in the art within the scope of the technology disclosed in this invention should be included within the scope of this invention.

Claims

1. A method for active disturbance rejection control of an electrically excited synchronous machine based on co-simulation, characterized in that It includes the following four steps: Step 1: Design the finite element model of the electrically excited synchronous motor in Maxwell, select external excitation as the motor excitation mode, then build the power converter model in Simplier, set up the motor finite element model and Simulink control model in Maxwell, and finally connect the corresponding interfaces of the power converter, motor finite element model and control algorithm model in Simplier. Step two: add the Chinese path of ANSYS Electronic in MATLAB, build the control algorithm model of electrically excited synchronous motor in Simulink, and then set the interface between the drive circuit and the finite element model of motor to connect with the control algorithm model. The motor adopts i m =0 vector control mode, and the MT-axis voltage equation and air gap flux equation of the electrically excited synchronous motor are analyzed. Step 3: Design a first-order linear active disturbance rejection controller (ADRC) for the current loop in the control system of the electrically excited synchronous motor; design a model-assisted extended state observer in the linear ADRC; then analyze the current equation of the MT shaft of the motor stator; and design the current loop model-assisted extended state observer based on the known parameters. Step 4: Design a speed loop PI controller for the electrically excited synchronous motor, and build a motor control algorithm model. Set the same simulation time in Simulink and Simplier, perform joint simulation, and debug and verify the motor control algorithm. The specific process of step three is as follows: Step 13: Based on the voltage equation of the electrically excited synchronous motor, design a first-order linear active disturbance rejection current loop controller for the current loop mentioned in Step 10. The modeling equation of the first-order linear active disturbance rejection control object is shown below: ； wherein, is the inverse of the system output variable, a0represents the coefficient of the system mathematical model output variable y, y represents the system output variable, w is the system unknown disturbance, b is the system gain, b0is the estimation of the system gain, and u is the system input variable; Step 14: The controller in the first-order linear active disturbance rejection control system adopts proportional control, and the parameters... , where ω c This represents the controller bandwidth, which is adjusted to control the system. For motor control systems, a model-assisted second-order linear extended state observer can be designed based on relevant parameters. Step 15: Equation The actual unknown disturbance is Where w is the unknown system disturbance, b is the system gain, b0 is the estimated system gain, and u is the system input variable; if the coefficient a0 of the input variable y is known, then the total disturbance can be designed as follows: ,in, Represent the unknown disturbance of the system; select state variables Where y represents the system output variable and f represents the total system disturbance, the first-order state-space expression is: ； in, It is a system matrix. It is the input matrix. It is the perturbation matrix. It is the output matrix; Step 16: Based on the equations in Step 15, the model-aided second-order extended state observer can be obtained, and its equations are as follows: ； in, Let A be the differential of the observed variables of the model-aided extended state observer, L be the gain matrix of the model-aided extended state observer, C be the output matrix, z be the observed variables of the model-aided extended state observer, B be the input matrix, u be the system input, and y be the system output variable. After parameterization, placing the roots of the observer's characteristic equation in the same position yields the gain matrix of the model-aided extended state observer as follows: , where ω o Indicates the observer bandwidth; Step 17: Let , Among them, A o Let A be the system matrix of the model-assisted extended state observer, and L be the system matrix of the controlled object. MA B is the gain matrix of the model-aided extended state observer. o The input matrix of the model-aided extended state observer is shown below, and the system matrix and input matrix of the model-aided extended state observer are obtained as follows: ； Linear active disturbance rejection control simplifies the controller parameter variables and enables system simulation and debugging by adjusting the controller bandwidth, observer bandwidth and system gain. Step 18: Based on the voltage equation mentioned in Step 11, design a first-order linear active disturbance rejection controller for the current loop, using a model-assisted extended-state observer. The M-axis stator excitation current can be rewritten in the standard form of the first-order linear active disturbance rejection equation, which is shown below: ； in, L represents the differential of the stator M-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u sm Represents the stator voltage, M-axis voltage, R s Represents the stator winding, i sm Represents the stator M-axis current, ω s Indicates the synchronous speed of the motor, i st ψ represents the T-axis current of the motor stator. δ This represents the air gap flux linkage of the motor, and the unknown disturbance of the system is... ,in, Represents the differential operator, i, the stator current excitation component. sm coefficient This can be obtained based on the motor parameters; Step 19: In first-order linear active disturbance rejection control, a model-aided extended state observer can be designed, letting... M-axis stator current loop total disturbance , ,formula It can be rewritten as: ； Where f2 represents the total disturbance of the M-axis stator current loop, f m The disturbance is unknown in the M-axis stator current loop. The derivative of the stator M-axis current of the motor is given by b2, where b2 is a known input coefficient of the system, and u is the derivative of the stator M-axis current. sm Represents the stator M-axis voltage; equation This is the standard form of the first-order linear active disturbance rejection of the stator excitation current. The design and debugging of the stator excitation current loop can be carried out according to the first-order linear active disturbance rejection principle introduced in steps 13 to 17. Step 20: Design a linear active disturbance rejection controller based on the stator T-axis voltage equation. (Formula) This can be rewritten in the form of the linear active disturbance rejection standard equation, as shown below: ； in, L represents the differential of the stator T-axis current of the motor. sl Indicates the leakage inductance of the motor stator winding, u st R represents the stator T-axis voltage. s Represents the stator winding, i st Represents the stator T-axis current, ω s Indicates the synchronous speed of the motor, i sm ψ represents the stator M-axis current of the motor. δ This indicates the air gap flux linkage of the motor, and the unknown disturbance design of the T-axis stator current loop is... Stator torque current i st The coefficient can be obtained from the motor parameters; Step 21: Design a model-aided extended state observer in first-order linear active disturbance rejection control, let Total disturbance , ,formula It can be rewritten as: ； Among them, f t It is the total disturbance of the T-axis stator current loop. It is an unknown disturbance in the T-axis stator current loop. b represents the differential of the stator T-axis current of the motor. t Given the known input coefficients of the system, u st Represents the stator T-axis voltage, equation This is the standard form of the first-order linear active disturbance rejection for the stator torque current. Based on the principles described in steps 13 to 17, a linear active disturbance rejection controller can be designed for the stator torque current of the electrically excited synchronous motor and then debugged and simulated.

2. The active disturbance rejection control method for an electrically excited synchronous motor based on co-simulation as described in claim 1, characterized in that, The specific process of step one is as follows: Step 1: Design the finite element model of the electrically excited synchronous motor in Maxwell, select external excitation for the stator and rotor windings of the motor, set the initial current, and select the option Enable transient-transient link with Twin Builder in Maxwell 2D-Design Setting to connect the Maxwell and Simplier modules. Step 2: Create a project in Simplier, build a power conversion circuit, add a current sensor to each phase circuit, and add leakage inductance at the motor end and stator resistance of the motor as the external circuit of the electrically excited synchronous motor. Step 3: In Simplier, select Twin Builder-Subcircuit-Maxwell Component-AddTransient Cosimulation to add the finite element model of the electrically excited synchronous motor from Maxwell to Simplier; Step 4: Connect the three-phase output interface of the inverter to the stator side of the motor finite element model, and connect an external current source to the rotor side for excitation. At the same time, add rotor resistance and end leakage inductance to the external excitation circuit on the rotor side to achieve motor excitation. Step 5: Add a torque excitation source to the MotionSetup interface of the motor finite element model and select the numerical input display interface. Also add a torque meter, angular velocity meter, and mechanical angle meter, and select the display output interface for the corresponding meter. Step 6: In Simulator, select Twin Builder-SubCircuit-Add SimulinkComponent. In the Simulink Interface box, select Add Simulink Variable and define the input and output of the corresponding variable. At the same time, select Add Pin Interface and click OK to add the Simulink connection module to the Simulator project and connect the corresponding input and output pins.

3. The active disturbance rejection control method for an electrically excited synchronous motor based on co-simulation as described in claim 1, characterized in that, The specific process of step two is as follows: Step 7: Add a file path to the MATLAB software settings path. Locate the installation path of ANSYS Electronic, select the MATLAB file under the cpl folder, and load it into the MATLAB scan path. Step 8: In the Simulink-Library Browser, select the S-Function module and drag it into the Simulink motor control system. In the S-function name field, enter AnsoftSFunction (note the case sensitivity). After clicking OK, in the pop-up option box, select the "Read link information from file" checkbox and select the previously created .aedt Simplorer simulation file. In the newly popped-up dialog box, select the corresponding variables of the Simulink output and Simplorer input to connect them. Step 9: The model of the stator side control system of the electrically excited synchronous motor is built in MATLAB / Simulink, MT shaft system field-oriented vector control and i m =0 control mode are adopted to realize the simulation of the motor under variable speed and load conditions below the base speed. Step 10: First, Clark and Park transformations are performed on the three-phase stator current output by Simplier to build a current double closed-loop control loop. Then, the current loop output voltage is subjected to inverse Park transformation. Six signals are generated through space vector pulse width modulation to control the inverter. Finally, a speed loop is built to realize the simulation of a three-closed-loop motor control system. Step 11: The stator of the electrically excited synchronous motor is dynamically decoupled using the MT-axis coordinate system. The stator voltage equation is shown below: ； ； Among them, u sm Represents the stator voltage and the M-axis voltage, u st Represents the stator voltage, T-axis voltage, R s Represents the stator winding, ω r Indicates the rotor rotation speed, i sm i represents the stator M-axis current. st Represents the stator T-axis current. and Let ψ denote the differential operator. δ L represents the air gap flux linkage. sl Indicates the leakage inductance of the motor stator winding; Step 12: The air gap flux linkage equation from Step 11 is expressed as follows: ； in, , L am and L ao L represents the armature reaction inductance of the motor's M-axis and the armature reaction inductance of the motor's T-axis, respectively. ad and L aq This represents the d-axis armature reaction inductance and q-axis armature reaction inductance of the motor, where δ represents the load angle, and i f This represents the excitation current of the rotor winding.

4. The active disturbance rejection control method for an electrically excited synchronous motor based on co-simulation as described in claim 1, characterized in that, The specific process of step four is as follows: Step 22: Design a speed loop PI controller for the electrically excited synchronous motor control system, with the corresponding output being the stator torque current setpoint, thereby building a three-closed-loop control system model for the motor. Step 23: Based on the control loop design content in Steps 18 to 22, and combined with the control model content in Steps 9 and 10, build a complete motor control system. Then connect the interface corresponding to the S-Function module to the signal output of the motor control model. The input of the S-Function module is 6 inverter control signals and load torque interface, and the output is stator three-phase current and rotor angle, motor mechanical angular velocity and motor torque interface. Step 24: Design the solver parameters in Simulink, keeping the parameter settings consistent with those in Simplier. Then, click the simulation button in Simulink, and both software programs will start running the simulation simultaneously to debug and verify the motor control algorithm.

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