A method for suppressing disturbances in the speed loop of a permanent magnet synchronous motor system

Abstract

The present invention relates to the field of motor control technology, and in particular to a method for suppressing disturbances in a speed loop of a permanent magnet synchronous motor. The method comprises: calculating a reference voltage based on a q-axis reference current and a measured current through a current loop controller; a signal conversion module performs signal conversion processing on the reference voltage to generate a switching signal; based on the switching signal, an inverter drives the permanent magnet synchronous motor to work; an encoder detects the rotation information of the permanent magnet synchronous motor and feeds it back to an enhanced self-disturbance rejection speed controller to achieve closed-loop speed control of the permanent magnet synchronous motor. The present application improves the controller's resistance to periodic disturbances, can reduce the speed harmonics of the permanent magnet synchronous motor, and effectively improves the speed tracking performance and robustness of the permanent magnet synchronous motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method for suppressing disturbances in a speed loop of a permanent magnet synchronous motor system. Background Art

[0002] Permanent magnet synchronous motors have been widely used in electric vehicles, wind power generation, industrial robots and other fields due to their advantages such as high efficiency, high power density, low temperature rise and strong tolerance. Speed ​​loop control is an important part of permanent magnet synchronous motor control. It can ensure that the motor maintains a stable speed under different loads, thereby improving the performance and reliability of the system. Through speed loop control, the permanent magnet synchronous motor can be precisely controlled to meet the needs of different applications. Therefore, speed control with high dynamic response and high steady-state accuracy is the key to achieving high-quality operation of permanent magnet synchronous motor drive systems.

[0003] However, there are two types of disturbances in the speed loop of permanent magnet synchronous motors: periodic and non-periodic. Non-periodic disturbances are mainly caused by motor parameter changes or mismatches, load changes, and friction. Periodic disturbances are mainly caused by cogging torque, permanent magnet flux harmonics, and current measurement errors. These various disturbances increase the difficulty of achieving high-performance speed control.

[0004] In recent years, ADRC has the characteristics of simple structure, fast response speed and good robustness through real-time estimation of lumped disturbances and timely active compensation. It does not require an accurate system model, so it has unparalleled advantages in the anti-disturbance ability of permanent magnet synchronous servo systems compared with other control strategies, and has been widely studied in the field of permanent magnet synchronous motor control. However, the linear extended state observer in the ADRC has limited observation bandwidth for disturbances, resulting in conventional ADRC can only effectively compensate for non-periodic disturbances in permanent magnet synchronous motor control, and it is difficult to accurately compensate for high-frequency periodic disturbances. These periodic disturbances will cause speed fluctuations and reduce the steady-state control accuracy of the permanent magnet synchronous motor speed.

[0005] Therefore, the prior art has deficiencies and needs to be further improved. Summary of the invention

[0006] The embodiment of the present invention provides a method for suppressing disturbances in a speed loop of a permanent magnet synchronous motor system, so as to at least solve the technical problem that periodic disturbances may cause speed fluctuations and reduce the steady-state control accuracy of the speed of the permanent magnet synchronous motor.

[0007] According to an embodiment of the present invention, a method for suppressing disturbance of a speed loop of a permanent magnet synchronous motor system is provided. The permanent magnet synchronous motor system comprises:

[0008] Enhanced automatic disturbance rejection speed controller, connected to permanent magnet synchronous motor;

[0009] The current loop controller is connected with the enhanced automatic disturbance rejection speed controller;

[0010] A signal conversion module connected to the current loop controller;

[0011] An inverter, one end of which is connected to the switch signal module, and the other end of which is connected to the permanent magnet synchronous motor;

[0012] An encoder connected to a permanent magnet synchronous motor and an enhanced anti-disturbance speed controller;

[0013] The disturbance suppression method includes the following steps:

[0014] The current loop controller calculates a reference voltage based on the q-axis reference current and the measured current; wherein the q-axis reference current is output by the enhanced self-disturbance rejection speed controller, and the measured current is the current of the permanent magnet synchronous motor currently detected;

[0015] The signal conversion module performs signal conversion processing on the reference voltage to generate a switch signal;

[0016] Based on the switch signal, the inverter drives the permanent magnet synchronous motor to work;

[0017] The encoder detects the speed information of the permanent magnet synchronous motor and feeds it back to the enhanced active disturbance rejection speed controller to achieve closed-loop speed control of the permanent magnet synchronous motor.

[0018] In one embodiment, a reference voltage is calculated based on a q-axis reference current and a measured current, wherein the q-axis reference current is output by an enhanced auto-disturbance rejection speed controller, and the measured current is a current of a currently detected permanent magnet synchronous motor. Specifically, the following steps are performed:

[0019] Establish an enhanced automatic disturbance rejection speed controller of a permanent magnet synchronous motor, the enhanced automatic disturbance rejection speed controller includes a proportional feedback control law;

[0020] Calculate the q-axis reference current based on the proportional feedback control law;

[0021] The proportional feedback control law is:

[0022]

[0023] in, is the q-axis reference current, b 0 =K t / J 0 , K t Represents the torque coefficient, J 0 Indicates the nominal value of the moment of inertia, K p represents the proportional gain, is the reference value of the rotor angular velocity w, and They correspond to the estimated values ​​of the rotor angular velocity and the lumped disturbance respectively.

[0024] In one embodiment, the enhanced active disturbance rejection speed controller includes a reduced-order and second-order extended state observer model based on an iterative learning strategy;

[0025] The reduced-order extended state observer model based on iterative learning strategy is:

[0026]

[0027] The second-order extended state observer model is:

[0028]

[0029] Among them, IL-ESO1 is a reduced-order extended state observer model based on iterative learning strategy, IL-ESO2 is a second-order extended state observer model based on iterative learning strategy, ω m represents the measured rotor angular velocity, ω m =ω+δ n ; δ n represents the speed measurement noise; and denote the estimated values ​​of rotor angular velocity and lumped disturbance respectively; represents the estimated error of the rotor angular velocity; z j-1 and z j They represent the internal states of the observer at the j-1th and jth iterations, respectively; 0≤γ<1 represents the forgetting factor; λ, λ 1 and λ 2 They represent the gains of the observer respectively.

[0030] In one embodiment, the transient response of the reduced-order and second-order extended state observer models based on iterative learning strategies is provided by an adaptive switching law;

[0031] The adaptive switching law is:

[0032]

[0033] Where abs(·) represents the absolute value function; σ represents the preset switching threshold, z j-1 and z j They represent the internal states of the observer in the j-1th and jth iteration cycles respectively. In the case of 0≤γ<1, γ represents the forgetting factor.

[0034] In one embodiment, before the current loop controller calculates the reference voltage based on the q-axis reference current and the measured current, the method further includes:

[0035] Establish the mathematical model of permanent magnet synchronous motor;

[0036] Calculate the q-axis reference current based on the mathematical model;

[0037] The mathematical model is:

[0038]

[0039] Where, J represents the moment of inertia; ω represents the angular velocity of the rotor; B represents the viscous friction coefficient; K t represents the torque coefficient; i q represents the q-axis current; T L Indicates load torque; T ripple It represents the harmonic torque including the cogging torque, permanent magnet flux harmonics and current measurement error; T k and Respectively represent the amplitude and phase angle of the k-order harmonic torque; θ e Indicates the electrical angle of the motor.

[0040] In one embodiment, the signal conversion module includes:

[0041] The Park inverse transformation module and the current loop controller are used to perform inverse transformation on the reference voltage;

[0042] The space vector pulse width modulation module has one end connected to the park inverse transformation module and the other end connected to the inverter, and is used to process the reference voltage after the inverse transformation and generate a switching signal.

[0043] In one embodiment, the permanent magnet synchronous motor system further includes:

[0044] The position and speed detection module has one end connected to the enhanced active disturbance rejection speed controller and the other end connected to the permanent magnet synchronous motor, and is used to send the data detected by the encoder to the enhanced active disturbance rejection speed controller.

[0045] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the disturbance suppression method of the speed loop of a permanent magnet synchronous motor system as described in any one of the above items.

[0046] A terminal device comprises: a processor, a memory and a communication bus; the memory stores a computer-readable program executable by the processor;

[0047] The communication bus realizes the connection and communication between the processor and the memory;

[0048] When the processor executes the computer-readable program, the processor implements the steps in any one of the above-mentioned methods for suppressing disturbances in the speed loop of a permanent magnet synchronous motor system.

[0049] In the disturbance suppression method of the speed loop of the permanent magnet synchronous motor system in the embodiment of the present invention, the reference voltage is calculated based on the q-axis reference current and the measured current by the current loop controller; the signal conversion module performs signal conversion processing on the reference voltage to generate a switching signal; based on the switching signal, the inverter drives the permanent magnet synchronous motor to work; the encoder detects the rotation information of the permanent magnet synchronous motor and feeds back to the enhanced self-disturbance rejection speed controller to achieve closed-loop speed control of the permanent magnet synchronous motor. This application improves the controller's resistance to periodic disturbances, can reduce the speed harmonics of the permanent magnet synchronous motor, and effectively improves the speed tracking performance and robustness of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0051] Figure 1 It is a flow chart of the disturbance suppression method of the speed loop of the permanent magnet synchronous motor system of the present invention;

[0052] Figure 2 It is a control block diagram of the enhanced active disturbance rejection controller based on IL-ESO1 of the present invention;

[0053] Figure 3 It is a control block diagram of the enhanced active disturbance rejection controller based on IL-ESO2 of the present invention;

[0054] Figure 4 Bode plots to compare the disturbance estimation performance of different extended state observers;

[0055] Figure 5 Bode plots to compare the disturbance resistance performance of different extended state observers;

[0056] Figure 6 Bode plots to compare the noise suppression performance of different extended state observers;

[0057] Figure 7 This is a control block diagram of a permanent magnet synchronous motor system based on an enhanced active disturbance rejection controller according to the present invention;

[0058] Figure 8 The analysis diagram of the estimation results of LESO, IL-ESO1 and IL-ESO2 for the lumped disturbance respectively according to the present invention;

[0059] Fig. 9 The steady-state speed response diagram of the conventional active disturbance rejection controller provided by the present invention;

[0060] Fig.10It is the steady-state speed response diagram of the enhanced active disturbance rejection controller based on IL-ESO1 of the present invention;

[0061] Fig.11 It is the steady-state speed response diagram of the enhanced active disturbance rejection controller based on IL-ESO2 of the present invention;

[0062] Fig.12 This is a diagram of the terminal device of the present invention. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0064] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0065] Example 1

[0066] According to an embodiment of the present invention, a method for suppressing disturbances in a speed loop of a permanent magnet synchronous motor system is provided. Figure 1 , the permanent magnet synchronous motor system includes:

[0067] Enhanced anti-disturbance speed controller, connected with encoder and current loop controller;

[0068] The current loop controller is connected with the enhanced automatic disturbance rejection speed controller;

[0069] A signal conversion module connected to the current loop controller;

[0070] An inverter, one end of which is connected to the switch signal module, and the other end of which is connected to the permanent magnet synchronous motor;

[0071] An encoder connected to a permanent magnet synchronous motor and an enhanced anti-disturbance speed controller;

[0072] The disturbance suppression method includes the following steps:

[0073] S100: The current loop controller calculates a reference voltage based on a q-axis reference current and a measured current; wherein the q-axis reference current is output by an enhanced anti-disturbance speed controller, and the measured current is a current of a currently detected permanent magnet synchronous motor;

[0074] S200: The signal conversion module performs signal conversion processing on the reference voltage to generate a switch signal;

[0075] S300: Based on the switch signal, the inverter drives the permanent magnet synchronous motor to work;

[0076] S400: The encoder detects the rotation information of the permanent magnet synchronous motor and feeds it back to the enhanced anti-disturbance speed controller to achieve closed-loop speed control of the permanent magnet synchronous motor.

[0077] The present invention calculates a reference voltage based on the q-axis reference current and the measured current through a current loop controller; a signal conversion module performs signal conversion processing on the reference voltage to generate a switch signal; based on the switch signal, an inverter drives the permanent magnet synchronous motor to work; an encoder detects the rotation information of the permanent magnet synchronous motor and feeds back to the enhanced self-disturbance rejection speed controller to achieve closed-loop speed control of the permanent magnet synchronous motor. The present application improves the controller's resistance to periodic disturbances, can reduce the speed harmonics of the permanent magnet synchronous motor, and effectively improves the speed tracking performance and robustness of the permanent magnet synchronous motor.

[0078] The technical solution of the present invention specifically includes the following steps:

[0079] Step 1, establishing a mathematical model of the permanent magnet synchronous motor;

[0080] The motion equation of the permanent magnet synchronous motor mathematical model is as follows:

[0081]

[0082] Where, J represents the moment of inertia; ω represents the angular velocity of the rotor; B represents the viscous friction coefficient; K t represents the torque coefficient; i q represents the q-axis current; T L Indicates load torque; T ripple It represents the harmonic torque including the cogging torque, permanent magnet flux harmonics and current measurement error; T k and Respectively represent the amplitude and phase angle of the k-order harmonic torque; θ e Indicates the electrical angle of the motor.

[0083] With the rotor angular velocity ω as output, the q-axis reference current As control input, the following formula can be obtained:

[0084]

[0085] in, represents the control gain, represents the nominal disturbance, B is the viscous friction coefficient, J is the moment of inertia, ω represents the angular velocity of the rotor, K t represents the torque coefficient, i q represents the q-axis current, T L represents the load torque, Represents the q-axis reference current.

[0086] When affected by the time-varying load torque in actual engineering, the parameters of the permanent magnet synchronous motor system may be mismatched, and the value of the moment of inertia J may differ by several times compared with the viscous friction coefficient B. Therefore, the motion equation of the permanent magnet synchronous motor can be rewritten as the following general form:

[0087]

[0088] in, represents the lumped disturbance including periodic disturbance and non-periodic disturbance; b 0 =K t / J 0 represents the nominal value of the control gain, J 0 Indicates the nominal value of the moment of inertia, K t represents the torque coefficient, Represents the q-axis reference current.

[0089] Step 2, establishing an enhanced active disturbance rejection speed controller of the permanent magnet synchronous motor, the enhanced active disturbance rejection speed controller includes a proportional feedback control law, a reduced-order second-order extended state observer based on an iterative learning strategy;

[0090] The reference of the rotor angular velocity is defined as The tracking error of the rotor angular velocity can be expressed as Derivative of the tracking error of the rotor angular velocity, we can get the following formula:

[0091]

[0092] Proportional feedback control law

[0093]

[0094] Among them, K p Represents proportional gain.

[0095] Combining equations (4) and (5), the q-axis reference current can be derived as:

[0096]

[0097] The reduced-order and second-order extended state observers based on iterative learning strategies are as follows:

[0098]

[0099]

[0100] Among them, IL-ESO1 is a reduced-order extended state observer model based on an iterative learning strategy, and IL-ESO2 is a second-order extended state observer model based on an iterative learning strategy; ω m represents the measured rotor angular velocity, ω m =ω+δ n ; δ n represents the speed measurement noise; and denote the estimated values ​​of rotor angular velocity and lumped disturbance respectively; represents the estimated error of the rotor angular velocity; z j-1 and z j They represent the internal states of the observer at the j-1th and jth iterations, respectively; 0≤γ<1 represents the forgetting factor; λ, λ 1 and λ 2 They represent the gains of the observer respectively.

[0101] In order to suppress the periodic disturbance in the permanent magnet synchronous motor, the iteration period needs to satisfy τ=2π / ω e ,ω e It is the fundamental angular frequency of the periodic disturbance of the permanent magnet synchronous motor.

[0102] The lumped disturbance d is obtained from the extended state observer based on the iterative learning strategy. t After the estimated value of the rotor angular velocity ω, the proportional feedback control law is:

[0103]

[0104] in, is the q-axis reference current, b 0 =K t / J 0 represents the nominal value of the control gain, K t Represents the torque coefficient, J 0 Indicates the nominal value of the moment of inertia, K p represents the proportional gain, is the reference value of the rotor angular velocity ω, and They correspond to the estimated values ​​of the rotor angular velocity and the lumped disturbance respectively.

[0105] To further illustrate the performance of the extended state observer based on iterative learning strategy, the following analysis will be conducted from the frequency domain perspective.

[0106] Figure 2 and Figure 3 It is a control block diagram of the enhanced active disturbance rejection controller proposed by the present invention drawn according to equations (7), (8) and (9). Figure 2 and Figure 3 Can get, The Pull-type transformation of and ω can be expressed as follows:

[0107]

[0108]

[0109]

[0110]

[0111] The Bode diagrams of the ADRC using the traditional linear extended state observer (LESO, traditional ADRC) and the reduced-order (IL-ESO1) and second-order extended state observer (IL-ESO2) based on iterative learning strategies are as follows: Figures 4 to 6 As shown. Figures 4 to 6 It can be seen that IL-ESO1 and IL-ESO2 can improve the estimation performance of periodic disturbances of the specified base frequency without amplifying high-frequency noise. The enhanced auto-disturbance rejection controller using these two new extended state observers (reduced-order and second-order extended state observers based on iterative learning strategies) has a stronger ability to resist periodic disturbances. Among them, the difference between IL-ESO1 and IL-ESO2 is that they have different high-frequency periodic disturbance resistance performance and high-frequency noise suppression performance. Compared with IL-ESO2, the enhanced auto-disturbance rejection controller using IL-ESO1 has higher high-frequency periodic disturbance resistance performance, but also sacrifices a certain high-frequency noise suppression performance.

[0112] When there is an initial disturbance estimation error or a non-periodic disturbance mutation, the learning transient of IL-ESO1 and IL-ESO2 will become worse. To improve the transient response of IL-ESO1 and IL-ESO2, the adaptive switching law is designed as follows

[0113]

[0114] Where abs() represents the absolute value function; σ represents the preset switching threshold, z j-1 and z jThey represent the internal states of the observer in the j-1th and jth iteration cycles respectively; when the internal states of two adjacent iteration cycles are greater than the switching threshold, the iterative learning strategy will not be adopted; when the internal states of two adjacent iteration cycles are less than the switching threshold, the iterative learning strategy will take effect, and the information of the previous iteration cycle will help obtain the estimated value of the lumped disturbance.

[0115] Step three, after the permanent magnet synchronous motor outputs the q-axis reference current through the speed enhancement anti-disturbance controller in step two, the reference voltage is calculated according to the reference current and the measured current through the current controller.

[0116] After obtaining the reference voltage, it is processed by the Park inverse transformation module and the space vector pulse width modulation module SVPWM in turn to generate six switching signals of the inverter, and then the permanent magnet synchronous motor is driven to work normally through the inverter. The speed information of the permanent magnet synchronous motor is measured and detected by the encoder, and the measured speed information is fed back to the enhanced active disturbance rejection controller to realize the speed closed-loop control of the permanent magnet synchronous motor.

[0117] In order to verify the effectiveness of the speed harmonic suppression method proposed in the present invention, the traditional auto-disturbance rejection algorithm and the enhanced auto-disturbance rejection controller algorithm using IL-ESO1 / IL-ESO2 proposed in the present invention are simulated under the same load and harmonic torque conditions, the motor speed is compared and analyzed, the fast Fourier transform is performed and the total harmonic distortion is calculated. The simulation results are shown in Figure 2. Figures 8 to 11 shown. Figure 8 The estimation results of LESO, IL-ESO1 and IL-ESO2 for the lumped disturbance are given respectively. It can be seen from the figure that the proposed IL-ESO1 and IL-ESO2 can estimate the periodic disturbance more accurately. Figures 9 to 11 They correspond to the steady-state speed responses of the traditional ADRC, the enhanced ADRC based on IL-ESO1 and IL-ESO2, respectively. Figures 9 to 11 It can be seen that the enhanced anti-disturbance method can effectively suppress the harmonics of the permanent magnet synchronous motor speed and ensure the control accuracy of the permanent magnet synchronous motor speed.

[0118] See also Figure 7 , which is a control block diagram of the permanent magnet synchronous motor system based on the enhanced anti-disturbance control system of the present invention. It consists of a permanent magnet synchronous motor, a three-phase inverter, a position and speed detection module, an enhanced anti-disturbance control system, a current loop controller, a coordinate transformation and a space vector pulse width modulation module ( Figure 7 The SVPWM in it is composed of

[0119] The enhanced anti-disturbance controller inputs the reference rotor angular velocity, the measured rotor angular velocity and the q-axis reference current. This application adopts the enhanced anti-disturbance controller of IL-ESO1 and IL-ESO2, which can improve the estimation performance of the periodic disturbance of the specified base frequency without amplifying the high-frequency noise. The enhanced anti-disturbance controller using these two new extended state observers has a stronger resistance to periodic disturbances. The structural block diagram of the enhanced anti-disturbance controller of IL-ESO1 and IL-ESO2 corresponds to the reference Figure 2 and Figure 3 In this embodiment, the current loop adopts traditional proportional-integral control.

[0120] Example 2

[0121] Based on the above-mentioned disturbance suppression method for the speed loop of the permanent magnet synchronous motor system, this embodiment provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps in the disturbance suppression method for the speed loop of the permanent magnet synchronous motor system as in the above-mentioned embodiment.

[0122] Example 3

[0123] A terminal device comprises: a processor, a memory and a communication bus; the memory stores a computer-readable program that can be executed by the processor; the communication bus realizes the connection and communication between the processor and the memory; when the processor executes the computer-readable program, the steps in the above-mentioned method for suppressing the disturbance of the speed loop of the permanent magnet synchronous motor system are realized.

[0124] Based on the above-mentioned method for suppressing disturbance of the speed loop of the permanent magnet synchronous motor system, the present application provides a terminal device, such as Fig.12 As shown, it includes at least one processor (processor) 20; display screen 21; and memory (memory) 22, and may also include a communications interface (Communications Interface) 23 and a bus 24. Among them, the processor 20, the display screen 21, the memory 22 and the communication interface 23 can communicate with each other through the bus 24. The display screen 21 is configured to display a preset user guide interface in the initial setting mode. The communication interface 23 can transmit information. The processor 20 can call the logic instructions in the memory 22 to execute the method in the above embodiment.

[0125] In addition, the logic instructions in the memory 22 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0126] The memory 22 is a computer-readable storage medium that can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes functional applications and data processing by running the software programs, instructions or modules stored in the memory 22, that is, implementing the methods in the above embodiments.

[0127] The memory 22 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 22 may include a high-speed random access memory and may also include a non-volatile memory. For example, a variety of media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, may also be a transient storage medium.

[0128] In addition, the specific process of loading and executing the multiple instruction processors in the above-mentioned storage medium and the terminal device has been described in detail in the above-mentioned method, and will not be described one by one here.

[0129] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for suppressing disturbances in a speed loop of a permanent magnet synchronous motor system, characterized in that: The permanent magnet synchronous motor system comprises: Enhanced automatic disturbance rejection speed controller, connected to permanent magnet synchronous motor; A current loop controller connected to the enhanced active disturbance rejection speed controller; A signal conversion module connected to the current loop controller; An inverter, one end of which is connected to the signal conversion module, and the other end of which is connected to the permanent magnet synchronous motor; An encoder connected to the permanent magnet synchronous motor and the enhanced active disturbance rejection speed controller; The disturbance suppression method comprises the following steps: S100 The current loop controller calculates a reference voltage based on a q-axis reference current and a measured current; wherein the q-axis reference current is output by the enhanced self-disturbance rejection speed controller, and the measured current is the current of the permanent magnet synchronous motor currently detected; S200: the signal conversion module performs signal conversion processing on the reference voltage to generate a switch signal; S300: based on the switch signal, the inverter drives the permanent magnet synchronous motor to operate; S400: the encoder detects the speed information of the permanent magnet synchronous motor and feeds back the information to the enhanced anti-disturbance speed controller to implement closed-loop speed control of the permanent magnet synchronous motor; The enhanced active disturbance rejection speed controller includes a reduced-order or second-order extended state observer model based on an iterative learning strategy; Providing a transient response of the reduced-order or second-order extended state observer model based on an iterative learning strategy through an adaptive switching law; The adaptive switching law is: in, represents the estimated value of the lumped disturbance, abs() represents the absolute value function; σ represents the preset switching threshold, z j-1 and z j They represent the internal states of the observer in the j-1th and jth iteration cycles respectively. In the case of 0≤γ<1, γ represents the forgetting factor.

2. The method for suppressing disturbances in the speed loop of a permanent magnet synchronous motor system according to claim 1, characterized in that: The reference voltage is calculated based on the q-axis reference current and the measured current, wherein the q-axis reference current is output by the enhanced anti-disturbance speed controller, and the measured current is the current of the permanent magnet synchronous motor currently detected. Specifically, the method includes: Establishing an enhanced active disturbance rejection speed controller of the permanent magnet synchronous motor, wherein the enhanced active disturbance rejection speed controller includes a proportional feedback control law; The q-axis reference current is calculated based on the proportional feedback control law.

3. The method for suppressing disturbance of the speed loop of a permanent magnet synchronous motor system according to claim 1, characterized in that: Before the current loop controller calculates the reference voltage based on the q-axis reference current and the measured current, the method further includes: Establishing a mathematical model of the permanent magnet synchronous motor; Calculating a q-axis reference current based on the mathematical model; The mathematical model is: Where, J represents the moment of inertia; ω represents the angular velocity of the rotor; B represents the viscous friction coefficient; K t represents the torque coefficient; i q represents the q-axis current; T L Indicates load torque; T ripple represents the harmonic torque including the cogging torque and the permanent magnet flux harmonics and current measurement errors; T k and Respectively represent the amplitude and phase angle of the k-order harmonic torque; θ e Indicates the electrical angle of the motor.

4. The method for suppressing disturbance of the speed loop of a permanent magnet synchronous motor system according to claim 1, characterized in that: The signal conversion module comprises: A Park inverse transformation module, and the current loop controller, for performing an inverse transformation process on the reference voltage; A space vector pulse width modulation module, one end of which is connected to the Park inverse transformation module and the other end of which is connected to the inverter, is used to process the reference voltage after inverse transformation and generate the switching signal.

5. The method for suppressing disturbance of the speed loop of a permanent magnet synchronous motor system according to claim 1, characterized in that: The permanent magnet synchronous motor system further comprises: A position and speed detection module, one end of which is connected to the enhanced active disturbance rejection speed controller, and the other end of which is connected to the permanent magnet synchronous motor, is used to send the data detected by the encoder to the enhanced active disturbance rejection speed controller.

6. A computer-readable medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the disturbance suppression method of the speed loop of the permanent magnet synchronous motor system as described in any one of claims 1-5.

7. A terminal device, characterized in that: include: Processor, memory and communication bus; The memory stores a computer-readable program executable by the processor; The communication bus realizes the connection and communication between the processor and the memory; When the processor executes the computer-readable program, the processor implements the steps in the disturbance suppression method of the speed loop of the permanent magnet synchronous motor system as described in any one of claims 1 to 5.

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