A method and system for active disturbance rejection optimization control of permanent magnet synchronous motors with speed harmonic suppression

Abstract

This invention discloses a method and system for active disturbance rejection (ADRR) optimization control of a permanent magnet synchronous motor (PMSM) with speed harmonic suppression, belonging to the field of motor technology. The method includes: constructing a state equation with speed as the state variable, defining the total disturbance as a new state variable; building a two-stage extended state observer; obtaining initial disturbance observation values ​​through the first-stage extended state observer based on the actual speed value, and obtaining residual disturbance observation values ​​through the second-stage extended state observer based on the initial disturbance observation values; determining the disturbance compensation mode through a mode selector based on the speed error value, and obtaining the disturbance compensation value; obtaining the initial current command value through an ADRR error feedback control law based on the speed state error value, and obtaining the reference current command value through disturbance compensation; and controlling the inverter output through a current controller and a space vector modulation module. This method can improve the motor's anti-interference capability, suppress speed harmonics, and improve the steady-state and dynamic performance of the system.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, and more specifically, relates to a method and system for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) offer numerous advantages, including high efficiency, high power density, wide speed range, simple structure, and convenient maintenance. They are widely used in various fields, particularly in applications requiring high motor performance and reliability, such as ships, all-electric aircraft, and electric vehicles. Currently, most high-performance servo systems utilize PMSMs as actuators in their AC servo systems, which place high demands on system noise immunity.

[0003] Due to its structure and manufacturing process, permanent magnet synchronous motors exhibit certain nonlinearity, strong coupling, and time-varying characteristics. Furthermore, influenced by factors such as cogging torque, dead-zone effect, and sampling error, permanent magnet synchronous motor drive systems are susceptible to varying degrees of interference during operation. These disturbances can be considered as a series of low-order harmonics, which adversely affect the high-performance operation of the system.

[0004] Traditional PID controllers struggle to meet disturbance rejection requirements, leading to the development of Active Disturbance Rejection (ADDR) strategies. ADDR introduces an extended state observer to observe and compensate for total disturbances, effectively improving the system's anti-interference capability. Theoretically, if the extended state observer bandwidth is large enough, all disturbances can be observed. However, real-world systems require a balance between disturbance rejection and noise immunity. To ensure high-frequency noise suppression, the observer bandwidth is often limited, resulting in speed harmonics during system operation and deteriorating dynamic and steady-state performance. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to propose an active disturbance rejection optimization control method for permanent magnet synchronous motors with speed harmonic suppression, which effectively suppresses speed harmonics during system operation and improves the steady-state and dynamic performance of the system.

[0006] To achieve the above objectives, this invention provides a method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor by suppressing speed harmonics, comprising the following steps:

[0007] S1. Based on the motion equation of the permanent magnet synchronous motor, a first-order state equation with rotational speed as the state variable is constructed. All disturbances in the motor drive system are modeled to obtain the disturbance model. The total disturbance in the disturbance model is defined as a new state variable, and a second-order state equation is constructed.

[0008] S2. Construct a two-stage extended state observer based on the second-order state equation. Based on the actual rotational speed, obtain the initial disturbance observation value through the first-stage extended state observer. Based on the initial disturbance observation value, obtain the remaining disturbance observation value through the second-stage extended state observer.

[0009] S3. The difference between the reference speed command value and the actual speed value is used to obtain the speed error value ω. err Based on the speed error value, the disturbance compensation mode is determined by the mode selector, and the disturbance compensation value is obtained through disturbance calculation.

[0010] S4. Based on the speed state error value, obtain the initial current command value through the active disturbance rejection error feedback control law, and obtain the reference current command value i through disturbance compensation. qref Based on the reference current command value, the current controller and space vector modulation module generate a switching signal to control the inverter output.

[0011] Further, step S1 includes:

[0012] Equation of motion for permanent magnet synchronous motor:

[0013]

[0014] In the formula, J is the moment of inertia of the motor, ω is the motor speed, P is the number of pole pairs of the motor, and Ψ f It is the permanent magnet flux linkage of the motor, i q It is the q-axis current, T L is the motor load torque, B is the motor viscosity coefficient, and f0 is other disturbances in the system;

[0015] Based on the above equations of motion for the permanent magnet synchronous motor, a first-order state equation with rotational speed as the state variable is constructed:

[0016]

[0017] In the formula, f is the total disturbance in the motor drive system, and b0 is the equation parameter;

[0018] Based on the above equations of motion and first-order state equations of the permanent magnet synchronous motor, a disturbance model is established:

[0019]

[0020] Define y as the system output, define the motor speed as the state variable x1, define the total disturbance f in the disturbance model as a new state variable x2, and establish the second-order state equation:

[0021]

[0022] In the formula, u is the control quantity of the state equation, i.e., the reference current command value i. qref.

[0023] Furthermore, the two-stage extended state observer in step S2 is specifically as follows:

[0024] First-level extended state observer:

[0025]

[0026] In the formula, ε1 is the state observation error of the first-stage extended state observer, z1 is the observed value of state variable x1, z2 is the observed value of state variable x2, i.e. the initial disturbance observation value, b0 is the nominal value of parameter b0, and β1 and β2 are the gain coefficients of the first-stage extended state observer.

[0027] Second-level extended state observer:

[0028]

[0029] In the formula, ε s1 β1 is the state observation error of the second-stage extended state observer, s1 is the observed value of state variable x1, s2 is the observed value of residual perturbation, β3 and β4 are the gain coefficients of the second-stage extended state observer, s is the Laplace operator, and R(s) is the state expression of the parallel resonator.

[0030]

[0031] In the formula, k r It is the resonant gain, ω r It is the resonant frequency, ω b It is the resonant bandwidth, k pi It is the resonance coefficient.

[0032] Furthermore, the gain coefficients of the two-stage extended state observer are specifically taken as follows:

[0033] First-level extended state observer:

[0034] Second-level extended state observer:

[0035] In the formula, w1 is the bandwidth of the first-level extended state observer, and w2 is the bandwidth of the second-level extended state observer.

[0036] Furthermore, step S3 specifically includes the following steps:

[0037] S3.1 Based on the speed error value ω err Determine the disturbance compensation mode:

[0038] If ω err If the absolute value is less than the mode threshold, then the disturbance compensation mode is mode 1;

[0039] If ω err If the absolute value is greater than the mode threshold, then the disturbance compensation mode is mode 2;

[0040] S3.2 Calculate the disturbance compensation value according to the compensation mode

[0041] Mode 1: The disturbance compensation value is the sum of the initial disturbance observation and the remaining disturbance observation;

[0042] Mode 2: The disturbance compensation value is the initial disturbance observation value.

[0043] Furthermore, step S4 specifically includes the following steps:

[0044] S4.1 Obtain the initial current command value i based on the active disturbance rejection error feedback control law. qref0 :

[0045] i qref0 =u0=k p (ω ref -z1)

[0046] In the formula, u0 is the initial value of the control quantity, i.e., the initial current command value i. qref0 k p It is the controller gain coefficient, ω ref It is the reference speed command value;

[0047] S4.2 The disturbance compensation value described in step S3.2 Compensation to the initial current command value i qref0 Obtain the reference current command value i qref :

[0048]

[0049] The present invention also provides a permanent magnet synchronous motor self-disturbance rejection optimization control system for speed harmonic suppression, comprising: a computer-readable storage medium and a processor;

[0050] The computer-readable storage medium is used to store executable instructions;

[0051] The processor is used to read executable instructions stored in the computer-readable storage medium and execute the above-described method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression.

[0052] In summary, the technical solution proposed in this invention can achieve the following beneficial effects compared with the prior art:

[0053] (1) Taking into account the speed operation performance of permanent magnet synchronous motor under transient and steady state conditions, it has faster dynamic performance and effectively suppresses speed harmonics during system operation, making steady-state operation more stable.

[0054] (2) It can adapt to the system operation conditions. Different compensation modes are designed according to the operation conditions to achieve smooth switching of control and enable the system to respond quickly.

[0055] (3) It maintains the strong robustness of the system and requires few model parameters. The implementation of this method only involves software and does not require adding or modifying any hardware of the control system, thus not increasing the size and cost of the system. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the system structure of an active disturbance rejection optimization control method for permanent magnet synchronous motors that suppresses speed harmonics, as proposed in this invention.

[0057] Figure 2 This is a flowchart illustrating the implementation of an active disturbance rejection optimization control method for permanent magnet synchronous motors with speed harmonic suppression proposed in this invention.

[0058] Figure 3 This is a schematic diagram of the mode selector and disturbance calculation in the active disturbance rejection optimization controller proposed in this invention;

[0059] Figure 4 This is a structural block diagram of the active disturbance rejection optimization controller proposed in this invention;

[0060] Figure 5 This invention presents a standard two-degree-of-freedom equivalent model of the active disturbance rejection optimization controller in steady state.

[0061] Figure 6 This is a Bode plot of the transfer function from the total disturbance of the active disturbance rejection controller to the motor speed proposed in this embodiment of the invention. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0063] like Figure 1 As shown, this invention proposes a system structure diagram for an active disturbance rejection optimization control method for permanent magnet synchronous motors with speed harmonic suppression. The system includes the following modules:

[0064] The reference speed command value input active disturbance rejection optimization controller module is used to generate the reference current command value; the current controller is used to generate the reference voltage command value; the Park inverter is used to transform the reference voltage command value into the reference voltage command value in the two-phase stationary coordinate system; and the space vector modulation module is used to modulate the two-phase reference voltage command value into a three-phase switching signal to control the inverter output.

[0065] This invention proposes an active disturbance rejection optimization control method for permanent magnet synchronous motors with speed harmonic suppression, such as... Figure 2 As shown, the method includes the following steps:

[0066] Step 1: Based on the motion equation of the permanent magnet synchronous motor, construct a first-order state equation with rotational speed as the state variable, model all disturbances in the motor drive system to obtain a disturbance model, define the total disturbance in the disturbance model as a new state variable, and construct a second-order state equation.

[0067] Specifically, the motion equation of the permanent magnet synchronous motor is:

[0068]

[0069] In the formula, J is the moment of inertia of the motor; ω is the motor speed; P is the number of pole pairs of the motor; Ψ f It is the permanent magnet flux linkage of the motor; i q It is the q-axis current; T L B is the motor load torque; f0 is the motor viscosity coefficient; and f0 is other disturbances in the system.

[0070] Based on the above equations of motion for the permanent magnet synchronous motor, a first-order state equation with rotational speed as the state variable is constructed:

[0071]

[0072]

[0073] In the formula, f is the total disturbance in the motor drive system; b0 is the equation parameter.

[0074] Based on the above equations of motion and first-order state equations of the permanent magnet synchronous motor, a disturbance model is established:

[0075]

[0076] Define y as the system output, define the motor speed as the state variable x1, define the total disturbance f in the disturbance model as a new state variable x2, and establish the second-order state equation:

[0077]

[0078] Step 2: Build a two-stage extended state observer. Based on the actual rotational speed, obtain the initial disturbance observation value through the first-stage extended state observer. Based on the initial disturbance observation value, obtain the remaining disturbance observation value through the second-stage extended state observer.

[0079] Specifically, the first-level extended state observer:

[0080]

[0081] In the formula, ε1 is the state observation error of the first-stage extended state observer; z1 is the observed value of state variable x1; z2 is the observed value of state variable x2, i.e., the initial disturbance observation value; b0 is the nominal value of parameter b0; u is the control variable in the state equation, i.e., the reference current command value i. qref β1 and β2 are the gain coefficients of the first-stage extended state observer.

[0082] The gain parameters of the first-stage extended state observer are tuned using the bandwidth method:

[0083]

[0084] The larger the observation bandwidth w1, the stronger the anti-disturbance performance, but at the same time the noise immunity will also decrease. Excessive bandwidth will lead to system instability. Choosing an appropriate observer bandwidth can enable the observer's state observation error to converge to zero at a faster speed, and z2 to converge to the total disturbance.

[0085] Second-level extended state observer:

[0086]

[0087] In the formula, ε s1 β1 is the state observation error of the second-stage extended state observer; s1 is the observed value of state variable x1; s2 is the observed value of residual perturbation; β3 and β4 are the gain coefficients of the second-stage extended state observer; s is the Laplace operator; R(s) is the state expression of the parallel resonator.

[0088]

[0089] In the formula, k r It is the resonant gain; ω r It is the resonant frequency, ω b It is the resonant bandwidth; k pi It is the resonance coefficient. In this embodiment, the resonant frequency is selected as 6 times the motor frequency.

[0090] Due to bandwidth limitations, the first-stage extended state observer could not fully observe the total disturbance, leaving residual disturbance values. The second-stage extended state observer detected these residual disturbance values ​​and improved the ability to observe periodic disturbances by introducing a parallel resonator.

[0091] The gain parameters of the second-stage extended state observer are tuned using the bandwidth method:

[0092]

[0093] For ease of parameter tuning, the observation bandwidth of the two extended state observers is selected to be the same.

[0094] Step 3: Subtract the reference speed command value from the actual speed value to obtain the speed error value ω. err Based on the speed error value, the disturbance compensation mode is determined by the mode selector, and the disturbance compensation value is obtained through disturbance calculation.

[0095] Specifically, Figure 3 This is a schematic diagram of the mode selector and disturbance calculation in the active disturbance rejection optimization controller proposed in this invention;

[0096] The mode selector is based on the speed error value ω err Determine the disturbance compensation mode, specifically including:

[0097] If the speed error value ω err If the absolute value is less than the mode threshold D, the disturbance compensation mode is mode 1;

[0098] If the speed error value ω err If the absolute value is greater than the mode threshold D, the disturbance compensation mode is mode 2.

[0099] Calculate the disturbance compensation value based on the compensation mode. Specifically, it includes:

[0100] Mode 1: Disturbance Compensation Value It is the sum of the initial disturbance observation z2 and the remaining disturbance observation s2;

[0101] Mode 2: Disturbance Compensation Value Let z2 be the initial disturbance observation value.

[0102] Expressed as a formula:

[0103]

[0104] Specifically, the threshold value is related to the specific operating requirements and can be selected as 5% of the motor reference speed command value.

[0105] Specifically, during system operation: under normal operating conditions, the speed error ω errIf the absolute value is less than the mode threshold D, the disturbance compensation mode is mode 1, and the disturbance compensation value is... The sum of the initial observation value z2 and the remaining observation value s2 of the total disturbance is used to suppress the speed harmonics through sufficient compensation of the disturbance; if the speed error ω err If the absolute value of the disturbance compensation value is greater than the mode threshold D, the mode selector will switch the disturbance compensation mode to mode 2, and the disturbance compensation value will be adjusted accordingly. The initial disturbance observation value z2 improved the dynamic performance of the system. After a period of time, the rotational speed error ω err When the absolute value is less than the mode threshold D, the disturbance compensation mode switches to mode 1, and the disturbance compensation value... It is the sum of the initial observation value z2 of the total disturbance and the remaining observation value s2 of the disturbance.

[0106] Step 4: Based on the speed state error value, obtain the initial current command value through the active disturbance rejection error feedback control law, and obtain the reference current command value i through disturbance compensation. qref The inverter output is controlled by generating switching signals through a current controller and a space vector modulation module.

[0107] Specifically, in this embodiment, the error feedback control law is selected as a linear error feedback control law, and the initial current command value i is obtained based on the linear error feedback control law. qref0 :

[0108] i qref0 =u0=k p (ω ref -z1)

[0109] In the formula, u0 is the initial value of the control quantity, i.e., the initial current command value i. qref0 ;k p It is the controller gain coefficient; ω ref This is a reference speed command.

[0110] The disturbance compensation value Compensation to the initial current command value i qref0 The reference current command value i is obtained. qref :

[0111]

[0112] Figure 4 This is a block diagram of the active disturbance rejection optimization controller proposed in this invention.

[0113] Specifically, to demonstrate the disturbance rejection effect of the active disturbance rejection optimization controller proposed in this invention, the steady-state disturbance rejection performance is analyzed using frequency domain analysis, and it is converted into the following... Figure 5The standard two-degree-of-freedom equivalent model shown has H(s), C(s), and P(s) as the transfer functions of each component in the equivalent model, respectively:

[0114]

[0115]

[0116]

[0117] The transfer function from the total disturbance to the disturbance observation error in steady state is:

[0118]

[0119] according to Figure 5 The transfer function from the total disturbance to the motor speed is derived as follows:

[0120]

[0121] The motor operating speed is set to 300 r / min, the motor frequency is 20 Hz, w1 = w2 = 400, and k p =80,k r =0.2, ω r =753(20*2π*6), ω b =28,k pi =0. Figure 6 The Bode plot of the transfer function from the total disturbance to the motor speed of the active disturbance rejection controller proposed in this embodiment of the invention shows that the transfer function gain decreases significantly at the resonant frequency, and the system's ability to suppress disturbances is enhanced.

[0122] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression, characterized in that, Includes the following steps: S1. Based on the motion equations of the permanent magnet synchronous motor, a first-order state equation with rotational speed as the state variable is constructed. All disturbances in the motor drive system are modeled to obtain a disturbance model. The total disturbance in the disturbance model is defined as a new state variable, and a second-order state equation is constructed. The motion equations of the permanent magnet synchronous motor are as follows: In the formula, J It is the moment of inertia of the motor. It is the motor speed. P This represents the number of pole pairs of the motor. f It is the permanent magnet flux linkage of the motor. i q yes q shaft current, T L It is the motor load torque. B It is the viscosity coefficient of the motor. f 0 represents other disturbances in the system; Based on the above equations of motion for the permanent magnet synchronous motor, a first-order state equation with rotational speed as the state variable is constructed: In the formula, f It is the total disturbance in the motor drive system. b 0 represents the equation parameter; Based on the above equations of motion and first-order state equations of the permanent magnet synchronous motor, a disturbance model is established: definition y For system output, motor speed is defined as a state variable. x 1. The total disturbance in the disturbance model f Define a new state variable x 2. Establish the second-order state equations: In the formula, u It is the control quantity in the state equation, i.e., the reference current command value. i qref ; S2. Construct a two-stage extended state observer based on the second-order state equation. Using the actual rotational speed, obtain the initial disturbance observation value through the first-stage extended state observer. Then, using the initial disturbance observation value, obtain the remaining disturbance observation value through the second-stage extended state observer. The two-stage extended state observer is as follows: First-level extended state observer: In the formula, 1 represents the state observation error of the first-stage extended state observer. z 1 is a state variable x The observed value of 1, z 2 is a state variable x The observed value of 2, i.e., the initial disturbance observed value, It is a parameter b The nominal value of 0 1. 2 is the gain coefficient of the first-stage extended state observer; Second-level extended state observer: In the formula, s1 It is the state observation error of the second-stage extended state observer. s 1 is a state variable x The observed value of 1, s 2 represents the observed value of the residual perturbation.

3. 4 is the gain coefficient of the second-stage extended state observer. s It is the Laplace operator. R ( s The state expression for a parallel resonator is as follows: In the formula, k r It is the resonant gain. r It is the resonant frequency. b It is the resonant bandwidth. k pi It is the resonance coefficient; S3. Subtract the reference speed command value from the actual speed value to obtain the speed error value. err Based on the speed error value, the disturbance compensation mode is determined by the mode selector, and the disturbance compensation value is obtained through disturbance calculation. S4. Based on the speed state error value, obtain the initial current command value through the active disturbance rejection error feedback control, and obtain the reference current command value through disturbance compensation. i qref Based on the reference current command value, the current controller and space vector modulation module generate a switching signal to control the inverter output.

2. The method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression as described in claim 1, characterized in that, The gain coefficients of the two-stage extended state observer are specifically taken as follows: First-level extended state observer: ; Second-level extended state observer: ; In the formula, w 1 is the bandwidth of the first-level extended state observer. w 2 is the bandwidth of the second-level extended state observer.

3. The method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression as described in claim 1, characterized in that, Step S3 specifically includes the following steps: S3.1 Based on the speed error value err Determine the disturbance compensation mode: like err If the absolute value is less than the mode threshold, then the disturbance compensation mode is mode 1; like err If the absolute value is greater than the mode threshold, then the disturbance compensation mode is mode 2; S3.2 Calculate the disturbance compensation value according to the compensation mode : Mode 1: The disturbance compensation value is the sum of the initial disturbance observation and the remaining disturbance observation; Mode 2: The disturbance compensation value is the initial disturbance observation value.

4. The method for optimizing the active disturbance rejection control of a permanent magnet synchronous motor with speed harmonic suppression as described in claim 3, characterized in that, Step S4 Specifically, the following steps are included: S4.1 Obtain the initial current command value based on the active disturbance rejection error feedback control law. i qref0 : In the formula, u 0 represents the initial value of the control input, i.e., the initial current command value. i qref0 , k p It is the controller gain coefficient. ref It is the reference speed command value; S4.2 The disturbance compensation value described in step S3.2 Compensation to the initial current command value i qref0 Obtain the reference current command value i qref : 。 5. A speed harmonic suppression self-disturbance rejection optimization control system for permanent magnet synchronous motors, characterized in that, include: Computer-readable storage media and processors; The computer-readable storage medium is used to store executable instructions; The processor is used to read executable instructions stored in the computer-readable storage medium and execute the automatic disturbance rejection optimization control method for permanent magnet synchronous motor with speed harmonic suppression as described in any one of claims 1 to 4.

Images