A high-order active disturbance rejection speed controller and method for permanent magnet synchronous motor

Abstract

The application discloses a high-order active-disturbance-rejection speed controller and method for a permanent magnet synchronous motor, the controller comprising a rotating speed error calculation unit, a rotating speed error regulator, a high-order extended state observer and a q-axis reference current calculation module; the high-order extended state observer comprising a real-time position estimation unit, a real-time rotating speed estimation unit, a real-time disturbance estimation unit and a real-time disturbance differential estimation unit; and the q-axis reference current calculation module comprising a q-axis initial reference current calculation unit and a q-axis reference current limiting unit. Compared with the prior art, the controller changes the extended differential term of the state observer, thereby improving the damping characteristic of the anti-disturbance function of the control system and improving the dynamic response of the high-order active-disturbance-rejection speed controller to the step disturbance.

Description

Technical Field

[0001] This application relates to the field of motor controller technology, and in particular to a high-order active disturbance rejection speed controller and method for permanent magnet synchronous motors. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in various electrical drive applications due to their advantages such as high power density, high efficiency, and high control precision. Speed ​​control is the most common operating mode for PMSMs. When the motor system operates in speed control mode, in addition to responding quickly and accurately to speed commands, it should also possess excellent noise immunity and noise reduction performance.

[0003] For a speed control system of a permanent magnet synchronous motor, the controlled object can be represented by a simple first-order inertial element. However, the system is also affected by various disturbances, including uncertain disturbances (such as parameter changes and sudden load changes), periodic disturbances (such as current sampling deviations, inverter nonlinearity, motor cogging effect, and space magnetic field harmonics), etc. These factors will lead to problems such as slow dynamic speed adjustment and large steady-state fluctuations. Therefore, improving the disturbance rejection characteristics of the controller is crucial to improving the dynamic characteristics and control accuracy of the system.

[0004] To address this, scholars both domestically and internationally have proposed various advanced control schemes, including adaptive control, sliding mode variable structure control, internal model control, and active disturbance rejection control. Among these, active disturbance rejection control innovatively introduces the concept of lumped disturbances, reconstructing the controlled object into a form combining the integral cascaded canonical form and the lumped disturbance, greatly simplifying the controller design.

[0005] Figure 1 This is a block diagram of a typical active disturbance rejection speed controller for permanent magnet synchronous motors in the prior art, where C(s) is the speed error feedback controller, G1(s) is the current loop transfer function, G2(s) is the equivalent model of the controlled object, and T... d It is a torque disturbance. The speed is given. This is the q-axis reference current. The extended state observer utilizes the motor position θ. m The model information is used to estimate the motor speed and torque disturbances in real time, and the estimated speed is used to estimate the speed. Feedback is sent to the speed setpoint for error adjustment, estimating the disturbance. Converted to load torque current Feedback is sent to the q-axis reference current side to compensate for torque disturbances.

[0006] Extended state observers enhance system noise immunity to some extent through their disturbance observation and compensation mechanisms. Generally, higher observer gain correlates with stronger noise immunity. However, the selection of observer gain is constrained by measurement noise; excessively high gain will degrade the system's noise suppression performance. With limited gain, the controller's response rate to uncertain disturbances is slow, resulting in large speed changes and long recovery times during sudden load changes. Furthermore, traditional extended state observers can only asymptotically unbiased estimate disturbances where the first derivative approaches zero, failing to accurately observe time-varying disturbances. This leads to a lower ability of the speed controller to attenuate periodic disturbances.

[0007] To address the aforementioned issues, scholars both domestically and internationally have conducted extensive research. The literature “Zhang Lei, Lu Kai, Tian Wei, et al. Design of a variable gain active disturbance rejection controller for a permanent magnet synchronous motor servo system [J]. Micromotors, 2020, 48(08): 35-38” designed a variable gain active disturbance rejection controller to improve the controller's resistance to load disturbances. However, the variable gain structure increases the complexity of the controller, making it inconvenient for theoretical analysis and practical application. The literature “H.Sira-Ramírez, J.Linares-FloresC, García-Rodríguez, et al. On the Control of the Permanent Magnet Synchronous Motor: An Active Disturbance Rejection Control Approach [J]. IEEE Trans.Control Syst.Technol, 2014, 22(05), 2056-2063” proposed a generalized integral observer (GPIO) to estimate disturbances. This observer is essentially a higher-order form of the extended state observer, which includes the estimation of the higher-order derivative of the disturbance, thus improving the accuracy of disturbance estimation. However, the generalized integral observer exhibits significant peak behavior, resulting in substantial overshoot in the speed response when a step disturbance occurs in the load. The literature “G. Wang, R. Liu, N. Zhao et al. Enhanced LinearADRC Strategy for HF Pulse Voltage Signal Injection-Based Sensorless IPMSM Drives[J].IEEE Trans. Power Electron., 2019, 34(01), 514-525” proposes cascading two extended state observers to enhance the system's ability to suppress ramp load disturbances. However, the cascaded observer essentially increases the order of the extended state observer, and overshoot cannot be avoided when suppressing step disturbances. Summary of the Invention

[0008] This application provides a high-order active disturbance rejection speed controller and method for permanent magnet synchronous motors. Compared with existing solutions, this controller changes the extended differential term of the state observer, thereby improving the damping characteristics of the disturbance rejection function of the control system and improving the dynamic response of the high-order active disturbance rejection speed controller to step disturbances.

[0009] The technical solution of this application is as follows:

[0010] This application provides a high-order active disturbance rejection speed controller for a permanent magnet synchronous motor, including a speed error calculation unit, a speed error regulator, a high-order extended state observer, and a q-axis reference current calculation module; the high-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit; the q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit;

[0011] The input of the higher-order extended state observer is the position acquisition signal θ containing quantization noise n. m The first output of the higher-order extended state observer is connected to the speed error calculation unit, and the second output of the higher-order extended state observer is connected to the q-axis reference current calculation module.

[0012] The output of the speed error calculation unit is connected to the input of the speed error regulator.

[0013] The output terminal of the speed error regulator is connected to the input terminal of the q-axis reference current calculation module;

[0014] The real-time disturbance differential estimation unit of the high-order extended state observer introduces a damping factor. The position estimation error is amplified and then filtered by a low-pass filter containing the damping factor to obtain the disturbance differential estimate. The speed estimation variable is calculated by combining the current feedback position, the current acquisition current, and the disturbance differential estimate. and load torque current compensation value Signal.

[0015] Furthermore, the speed estimation variable is obtained. and load torque current compensation value The signal implementation method includes the following steps:

[0016] Step 1) Acquire the digital pulse m from the encoder mounted on the shaft end of the permanent magnet synchronous motor, and convert it into the angle value in radians for the current motor cycle. The motor angle value θ m The calculation formula is:

[0017]

[0018] Among them, P PRIt is the number of pulses from the motor encoder per mechanical cycle;

[0019] Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable

[0020] Step 3), calculate the position estimation bias e(k), the formula is as follows:

[0021]

[0022] in, This is the estimated position value from the previous cycle;

[0023] Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimate and the estimated value of the perturbation differential Its iterative formula is:

[0024]

[0025] Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle;

[0026] Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows:

[0027]

[0028] Furthermore, the method for implementing the speed error regulator includes the following steps:

[0029] Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is:

[0030]

[0031] in, It is the setpoint for the rotational speed;

[0032] Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows:

[0033]

[0034] Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth;

[0035] Step 3), calculate the output value spd_P_out(k) of the speed error regulator:

[0036] spd_P_out(k)=K p *spd_e(k).

[0037] Furthermore, the implementation of the q-axis reference current calculation module includes the following steps:

[0038] Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows:

[0039]

[0040] Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows:

[0041]

[0042] in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

[0043] Furthermore, the damping factor 'a' of the higher-order extended state observer takes the range of values ​​a∈(ω). spd 1.5ω spd ).

[0044] This application also provides a high-order active disturbance rejection speed control method for permanent magnet synchronous motors, including the following steps:

[0045] The system includes a speed error calculation unit, a speed error regulator, a higher-order extended state observer, and a q-axis reference current calculation module. The higher-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit. The q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit.

[0046] The input of the higher-order extended state observer is the position acquisition signal θ containing quantization noise n. m The first output of the higher-order extended state observer is connected to the speed error calculation unit, and the second output of the higher-order extended state observer is connected to the q-axis reference current calculation module.

[0047] The output of the speed error calculation unit is connected to the input of the speed error regulator.

[0048] The output terminal of the speed error regulator is connected to the input terminal of the q-axis reference current calculation module;

[0049] The real-time disturbance differential estimation unit of the high-order extended state observer introduces a damping factor. The position estimation error is amplified and then filtered by a low-pass filter containing the damping factor to obtain the disturbance differential estimate. The speed estimation variable is calculated by combining the current feedback position, the current acquisition current, and the disturbance differential estimate. and load torque current compensation value Signal.

[0050] Furthermore, the speed estimation variable is obtained. and load torque current compensation value The signal implementation method includes the following steps:

[0051] Step 1) Acquire the digital pulse m from the encoder mounted on the shaft end of the permanent magnet synchronous motor, and convert it into the angle value in radians for the current motor cycle. The motor angle value θ m The calculation formula is:

[0052]

[0053] Among them, P PR It is the number of pulses from the motor encoder per mechanical cycle;

[0054] Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable

[0055] Step 3), calculate the position estimation bias e(k), the formula is as follows:

[0056]

[0057] in, This is the estimated position value from the previous cycle;

[0058] Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimate and the estimated value of the perturbation differential Its iterative formula is:

[0059]

[0060] Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle;

[0061] Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows:

[0062]

[0063] Furthermore, the method for implementing the speed error regulator includes the following steps:

[0064] Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is:

[0065]

[0066] in, It is the setpoint for the rotational speed;

[0067] Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows:

[0068]

[0069] Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth;

[0070] Step 3), calculate the output value spd_P_out(k) of the speed error regulator:

[0071] spd_P_out(k)=K p *spd_e(k).

[0072] Furthermore, the implementation of the q-axis reference current calculation module includes the following steps:

[0073] Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows:

[0074]

[0075] Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows:

[0076]

[0077] in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

[0078] Furthermore, the damping factor 'a' of the higher-order extended state observer takes the range of values ​​a∈(ω). spd 1.5ω spd ).

[0079] In summary, the beneficial effects of this application are as follows:

[0080] 1. Enhanced ability to suppress uncertain disturbances. While maintaining similar noise suppression characteristics, the present invention has better disturbance rejection capability than traditional active disturbance rejection controllers. The proposed solution has a faster disturbance suppression rate, reduces speed variation caused by load changes, and shortens recovery time.

[0081] 2. Improved dynamic response to resist step disturbances: When torque step disturbances occur in the speed loop, the proposed solution has a smaller reverse overshoot than traditional high-order active disturbance rejection controllers.

[0082] 3. The structure is simple and flexible. The damping factor introduced in this application will not increase the complexity of the observer. The error feedback control law only uses a linear proportional regulator. Therefore, the structure is simple and the parameter adjustment is convenient. Attached Figure Description

[0083] Figure 1 This is a structural block diagram of a typical permanent magnet synchronous motor self-disturbance rejection speed controller in the prior art;

[0084] Figure 2 This is a structural block diagram of a typical high-order active disturbance rejection speed controller for permanent magnet synchronous motors in the prior art;

[0085] Figure 3 This is a structural block diagram of a high-order active disturbance rejection speed controller for a permanent magnet synchronous motor according to this application;

[0086] Figure 4 These are speed command tracking waveforms for the three comparative schemes in this application;

[0087] Figure 5 These are waveforms of the three comparative schemes in this application resisting step load changes;

[0088] Figure 6 This is a distribution diagram of the zero poles of the disturbance rejection transfer function of a high-order active disturbance rejection speed controller for a permanent magnet synchronous motor according to this application, as a function of the damping factor. Detailed Implementation

[0089] The specific embodiments of this application are described in detail below with reference to the accompanying drawings.

[0090] Example: Reference Figure 3 A high-order active disturbance rejection speed controller for a permanent magnet synchronous motor includes a speed error calculation unit, a speed error regulator, a high-order extended state observer, and a q-axis reference current calculation module; the high-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit; the q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit.

[0091] The input of the higher-order extended state observer is the position acquisition signal θ containing quantization noise n. m The first output of the higher-order extended state observer is connected to the speed error calculation unit, and the second output of the higher-order extended state observer is connected to the q-axis reference current calculation module.

[0092] The output of the speed error calculation unit is connected to the input of the speed error regulator.

[0093] The output of the speed error regulator is connected to the input of the q-axis reference current calculation module.

[0094] The higher-order extended state observer calculates the smoothed rotational speed based on the current position feedback and sampled current. and load torque current compensation value The signal, and its implementation method includes the following steps:

[0095] Step 1) Acquire the digital pulse m from the encoder mounted on the shaft end of the permanent magnet synchronous motor, and convert it into the angle value in radians for the current motor cycle. The motor angle value θ m The calculation formula is:

[0096]

[0097] Among them, P PR It is the number of pulses from the motor encoder per mechanical cycle;

[0098] Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable

[0099] Step 3), calculate the position estimation bias e(k), the formula is as follows:

[0100]

[0101] in, This is the estimated position value from the previous cycle;

[0102] Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimate and the estimated value of the perturbation differential Its iterative formula is:

[0103]

[0104] Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle;

[0105] Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows:

[0106]

[0107] The method for implementing the speed error regulator includes the following steps:

[0108] Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is:

[0109]

[0110] in, It is the setpoint for the rotational speed;

[0111] Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows:

[0112]

[0113] Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth;

[0114] Step 3), calculate the output value spd_P_out(k) of the speed error regulator:

[0115] spd_P_out(k)=K p *spd_e(k) (7)

[0116] Based on the above calculation results, the q-axis reference current calculation module is implemented. The implementation of the q-axis reference current calculation module includes the following steps:

[0117] Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows:

[0118]

[0119] Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows:

[0120]

[0121] in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

[0122] The working mechanism of this controller will be further explained below. From Figure 3 As can be seen, after adding a damping factor to the higher-order extended state observer, the relationship between the estimated state and the actual variables of the higher-order extended state observer is as follows:

[0123]

[0124] In equation (10), the transfer functions represent the transfer functions from actual speed to estimated speed, from disturbance torque to estimated speed, from actual speed to estimated disturbance, and from disturbance torque to estimated disturbance, respectively. Ignoring the dynamics of the current loop, the disturbance rejection transfer function of the speed closed-loop system can be derived as follows:

[0125]

[0126] Based on (11), draw the zero-pole distribution diagram of the disturbance rejection function as follows: Figure 6 As shown. By Figure 6 It can be seen that the system's disturbance rejection transfer function includes four zeros z1, z2, z3, z4 and five poles p1, p2, p3, p4, p5. When the damping factor a is zero, the zeros z3 and z4 are both at the origin. At this point, the system's dynamic response is relatively fast, but the damping is low, leading to a tendency for overshoot in the disturbance rejection response. When the damping factor a increases, as... Figure 6 As shown, the zero point z4 begins to move towards the negative real axis, which helps improve the damping characteristics of the system and solves the overshoot problem of the disturbance rejection response. With increasing damping, although poles p2, p3, p4, and p5 will move away from the negative real axis, their damping is large enough that they will not cause dynamic oscillations. In summary, introducing a damping factor effectively shifts the position of the zero point of the disturbance rejection function in the moving velocity loop, thus improving the dynamic performance of the active disturbance rejection speed controller in suppressing disturbances.

[0127] Finally, the damping factor of the proposed scheme is determined as follows:

[0128] according to Figure 6 The disturbance rejection function of the velocity closed-loop system can also be expressed as a product of factors as shown in formula (12).

[0129]

[0130] Where K is the transfer function gain, G f1 It is the dominant transfer function, and its zeros and poles are relatively close to the imaginary axis of the complex plane, which is relevant to G. DR The dynamic response of (s) plays a dominant role; G f2 It is a non-dominant transfer function, and its zeros and poles are far from the imaginary axis of the complex plane, compared to G. f1 For G DRThe dynamic influence of (s) is relatively small, so the influence of the damping factor can be ignored.

[0131] According to formula (11), the dominant transfer function G can be obtained. f1 The correspondence between the controller parameters is as follows:

[0132]

[0133] Among them, the speed loop design bandwidth ω spd Below the observer design bandwidth ω o and the extreme point p 2，3 natural frequency ω n .

[0134] The impact of the range of values ​​for 'a' on the dynamic response to disturbances will be discussed in the following cases:

[0135] ① When a < ω spd When, the conjugate pole p 2，3 Approximately equal to -ω o Therefore, (13) can be simplified to

[0136]

[0137] The step response corresponding to this function is

[0138]

[0139] Among them, h f1 (0)=0,h' f1 (0) = -1, and h f1 (t) = 0 must have a non-zero solution. Therefore, when a < ω spd At that time, the transfer function G f1 The step response will have inverse overshoot. Additionally, due to... Therefore, the smaller the damping factor α, the greater the reverse overshoot.

[0140] ②When a=ω spd At that time, G f1 (s) can be simplified to

[0141]

[0142] The step response at this time is

[0143]

[0144] Because the damping ratio ζ < 1, therefore G f1 The step response will have a small inverse overshoot, but the overshoot amount is lower than in case ①.

[0145] ③ When a>ω spd At that time, because p2，3 The damping ratio ζ is relatively large, G f1 The step response is approximately as follows

[0146]

[0147] As we can see, h1(t) < 0, h2(t) < 0, so h f1 (t) There is no inverse overshoot. Additionally, because... Therefore, the larger the damping factor a, the greater the G. f1 The greater the drop in the speed of the step response, the slower the dynamic response; therefore, the value of a should not be too large.

[0148] In summary, from the perspective of reducing inverse overshoot and improving disturbance rejection dynamic response, the range of values ​​for the damping factor a is set as a∈(ω spd 1.5ω spd ).

[0149] To further illustrate the technical effects of the present invention, the appendix is ​​attached. Figure 1 The prior art shown in Comparative Example 1 is a typical automatic disturbance rejection speed controller for permanent magnet synchronous motors, with an attached... Figure 2 The prior art high-order active disturbance rejection speed controller for permanent magnet synchronous motors shown in Example 2 is compared with the experimental results of a high-order active disturbance rejection speed controller for permanent magnet synchronous motors with optimized damping characteristics proposed in this application. The experimental conditions for the three schemes are the same. Figure 4 This is the no-load command tracking curve, with a speed command of 100 r / min; Figure 5 This is the disturbance suppression curve, under a sudden load torque of 1 N·m at a speed command of 100 r / min. From Figure 4 It can be seen that the three schemes have the same dynamic response to command tracking, indicating that the scheme proposed in this application does not change the tracking characteristics and maintains the fast tracking and overshoot-free control quality of the active disturbance rejection controller. Figure 5 It can be seen that traditional active disturbance rejection controllers (ADRCs) experience significant speed drops when subjected to sudden load increases, and take a long time to recover to the reference command. Higher-order ADRCs have faster recovery times, but suffer from large inverse overshoot and unsatisfactory dynamic characteristics. The controller proposed in this application exhibits small speed drops when the load changes and a smooth recovery process, eliminating the inverse overshoot phenomenon, indicating that the proposed solution has the optimal disturbance rejection response.

[0150] This application also provides a high-order active disturbance rejection speed control method for a permanent magnet synchronous motor, including the following steps:

[0151] The system includes a speed error calculation unit, a speed error regulator, a higher-order extended state observer, and a q-axis reference current calculation module. The higher-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit. The q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit.

[0152] The input of the higher-order extended state observer is the position acquisition signal θ containing quantization noise n. m The first output of the higher-order extended state observer is connected to the speed error calculation unit, and the second output of the higher-order extended state observer is connected to the q-axis reference current calculation module.

[0153] The output of the speed error calculation unit is connected to the input of the speed error regulator.

[0154] The output terminal of the speed error regulator is connected to the input terminal of the q-axis reference current calculation module;

[0155] The real-time disturbance differential estimation unit of the high-order extended state observer introduces a damping factor. The position estimation error is amplified and then filtered by a low-pass filter containing the damping factor to obtain the disturbance differential estimate. The speed estimation variable is calculated by combining the current feedback position, the current acquisition current, and the disturbance differential estimate. and load torque current compensation value Signal.

[0156] Furthermore, the speed estimation variable is obtained. and load torque current compensation value The signal implementation method includes the following steps:

[0157] Step 1) Acquire the digital pulse m from the encoder mounted on the shaft end of the permanent magnet synchronous motor, and convert it into the angle value in radians for the current motor cycle. The motor angle value θ m The calculation formula is:

[0158]

[0159] Among them, P PR It is the number of pulses from the motor encoder per mechanical cycle;

[0160] Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable

[0161] Step 3), calculate the position estimation bias e(k), the formula is as follows:

[0162]

[0163] in, This is the estimated position value from the previous cycle;

[0164] Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimate and the estimated value of the perturbation differential Its iterative formula is:

[0165]

[0166] Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle;

[0167] Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows:

[0168]

[0169] Furthermore, the method for implementing the speed error regulator includes the following steps:

[0170] Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is:

[0171]

[0172] in, It is the setpoint for the rotational speed;

[0173] Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows:

[0174]

[0175] Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth;

[0176] Step 3), calculate the output value spd_P_out(k) of the speed error regulator:

[0177] spd_P_out(k)=K p *spd_e(k).

[0178] Furthermore, the implementation of the q-axis reference current calculation module includes the following steps:

[0179] Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows:

[0180]

[0181] Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows:

[0182]

[0183] in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

[0184] Furthermore, the damping factor 'a' of the higher-order extended state observer takes the range of values ​​a∈(ω). spd 1.5ω spd ).

[0185] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of this application, and these all fall within the protection scope of this application.

Claims

1. A high-order self-disturbance rejection speed controller for a permanent magnet synchronous motor, characterized in that, It includes a speed error calculation unit, a speed error regulator, a higher-order extended state observer, and a q-axis reference current calculation module; the higher-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit; the q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit; The input end of the high-order extended state observer is connected with a position acquisition signal θ containing quantization noise n m The first output end of the high-order extended state observer is connected with a speed error calculation unit, and the second output end of the high-order extended state observer is connected with a q-axis reference current calculation module. The output of the speed error calculation unit is connected to the input of the speed error regulator. The output terminal of the speed error regulator is connected to the input terminal of the q-axis reference current calculation module; The real-time disturbance differential estimation unit of the high-order extended state observer introduces a damping factor. The position estimation error is amplified and then filtered by a low-pass filter containing the damping factor to obtain the disturbance differential estimate. The speed estimation variable is calculated by combining the current feedback position, the current acquisition current, and the disturbance differential estimate. and load torque current compensation value Signal; Obtain the speed estimation variable and load torque current compensation value The signal implementation method includes the following steps: Step 1), collect the digital pulse m of the permanent magnet synchronous motor shaft end installation encoder, convert it to the angle value of the current period radian system of the motor, the motor angle value θ m The calculation formula is: Among them, P PR It is the number of pulses from the motor encoder per mechanical cycle; Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable ; Step 3), calculate the position estimation bias e(k), the formula is as follows: in, This is the estimated position value from the previous cycle; Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimates and the estimated value of the perturbation differential Its iterative formula is: Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle; Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows: 。 2. The high-order active disturbance rejection speed controller for permanent magnet synchronous motors according to claim 1, characterized in that, The method for implementing the speed error regulator includes the following steps: Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is: in, It is the setpoint for the rotational speed; Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows: Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth; Step 3), calculate the output value spd_P_out(k) of the speed error regulator: 。 3. The high-order active disturbance rejection speed controller for permanent magnet synchronous motors according to claim 2, characterized in that, The implementation of the q-axis reference current calculation module includes the following steps: Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows: Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows: in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

4. The high-order active disturbance rejection speed controller for permanent magnet synchronous motors according to claim 3, characterized in that, The damping factor 'a' of the higher-order extended state observer takes the range a∈(ω spd , 1.5ω spd ).

5. A high-order active disturbance rejection speed control method for a permanent magnet synchronous motor, characterized in that, Includes the following steps: The system includes a speed error calculation unit, a speed error regulator, a higher-order extended state observer, and a q-axis reference current calculation module. The higher-order extended state observer includes a real-time position estimation unit, a real-time speed estimation unit, a real-time disturbance estimation unit, and a real-time disturbance differential estimation unit. The q-axis reference current calculation module includes a q-axis initial reference current calculation unit and a q-axis reference current limiting unit. The input of the higher-order extended state observer is the position acquisition signal θ containing quantization noise n. m The first output of the higher-order extended state observer is connected to the speed error calculation unit, and the second output of the higher-order extended state observer is connected to the q-axis reference current calculation module. The output of the speed error calculation unit is connected to the input of the speed error regulator. The output terminal of the speed error regulator is connected to the input terminal of the q-axis reference current calculation module; The real-time disturbance differential estimation unit of the high-order extended state observer introduces a damping factor. The position estimation error is amplified and then filtered by a low-pass filter containing the damping factor to obtain the disturbance differential estimate. The speed estimation variable is calculated by combining the current feedback position, the current acquisition current, and the disturbance differential estimate. and load torque current compensation value Signal; Obtain the speed estimation variable and load torque current compensation value The signal implementation method includes the following steps: Step 1) Acquire the digital pulse m from the encoder mounted on the shaft end of the permanent magnet synchronous motor, and convert it into the angle value in radians for the current motor cycle. The motor angle value θ m The calculation formula is: Among them, P PR It is the number of pulses from the motor encoder per mechanical cycle; Step 2), define and initialize the state variables of the higher-order extended state observer as the position estimation variables of the motor. Speed ​​estimation variables Perturbation Estimated Variables and the disturbance differential estimate variable ; Step 3), calculate the position estimation bias e(k), the formula is as follows: in, This is the estimated position value from the previous cycle; Step 4), calculate the position estimate for the current period. Speed ​​estimate Disturbance estimates and the estimated value of the perturbation differential Its iterative formula is: Among them, T s It is a control cycle; This is the estimated rotational speed value from the previous cycle. This is the estimated disturbance value from the previous cycle. β1 is the differential estimate of the perturbation in the previous cycle; β2 is the first gain of the higher-order extended state observer, β3 is the second gain of the higher-order extended state observer, β4 is the fourth gain of the higher-order extended state observer; a is the damping factor of the higher-order extended state observer; K tn It is the nominal value of the torque coefficient of a permanent magnet synchronous motor, J. n The nominal value of the sum of the rotor inertia and load inertia of a permanent magnet synchronous motor; q (k) is the q-axis current of the permanent magnet synchronous motor in the current cycle; Step 5): Based on the disturbance estimate obtained in Step 4), calculate the load torque current compensation value. The calculation formula is as follows: 。 6. The high-order active disturbance rejection speed control method for permanent magnet synchronous motors according to claim 5, characterized in that, The method for implementing the speed error regulator includes the following steps: Step 1), obtain the motor speed using a higher-order extended state observer. Therefore, the formula for calculating the current speed tracking error spd_e(k) is: in, It is the setpoint for the rotational speed; Step 2), the speed error regulator uses a proportional regulator, and the proportional coefficient of the regulator is set as follows: Among them, K p It is the proportional coefficient of the error proportional controller, ω spd It is the speed loop design bandwidth; Step 3), calculate the output value spd_P_out(k) of the speed error regulator: 。 7. The high-order active disturbance rejection speed control method for permanent magnet synchronous motors according to claim 6, characterized in that, The implementation of the q-axis reference current calculation module includes the following steps: Step 1): Calculate the initial reference current of the q-axis based on the output value of the speed error regulator and the load torque current compensation value of the higher-order extended state observer. as follows: Step 2) Limit the amplitude of the initial q-axis reference current to obtain the q-axis current reference value. The limiting formula is as follows: in, This is the limiting value for the q-axis current. This is the current reference value after limiting.

8. The high-order active disturbance rejection speed control method for permanent magnet synchronous motors according to claim 7, characterized in that, The damping factor 'a' of the higher-order extended state observer takes values ​​ranging from 'a' to '(ω'). spd , 1.5ω spd ).

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