Design method of permanent magnet synchronous motor position controller based on active disturbance rejection

Abstract

The invention provides a design method of an active-disturbance-rejection permanent magnet synchronous motor position controller. The design method comprises the steps of hardware circuit design and active-disturbance-rejection controller module design. The hardware circuit design comprises an alternating current power supply module, a rectifier bridge circuit module, an inverter circuit module, a permanent magnet synchronous motor module, a voltage sampling module and a current sampling module. The design steps of the active-disturbance-rejection controller module are as follows: S1, designing a current loop PI active-disturbance-rejection controller; S2, designing a rotating speed loop PI active-disturbance-rejection controller; compared with a traditional control method, the active-disturbance-rejection permanent magnet synchronous motor position controller provided by the invention has stronger disturbance rejection, rapid dynamic response, high-precision control capability and better system robustness, and can be widely applied to industrial scenes with high performance requirements.

Description

Technical Field

[0001] The present invention relates to the field of preparation of a permanent magnet synchronous motor position controller, and more specifically to a design method of a self-interference-resistant permanent magnet synchronous motor position controller. Background Art

[0002] As a type of motor, permanent magnet synchronous motor (PMSM) has the advantages of high power density, high response speed, low noise, etc. Its performance stands out among various types of motors and is widely used in automobiles, ships and other fields.

[0003] Proportional-integral-differential (PID) control is a widely used control method in practical industrial applications. It has a clear control structure, low reliance on the model information of the controlled quantity and the control object, few parameters to be adjusted, and is easy for on-site technicians to master. Its excellent characteristics make PI control still an important part of PMSM position drive system today. Nowadays, in order to achieve precise control of the motor, it is difficult to meet the industry's requirements for high-performance PMSM position service drive by relying solely on traditional PI controllers. Summary of the invention

[0004] In order to solve the problems existing in the prior art, a design method for a permanent magnet synchronous motor position controller with self-disturbance rejection is provided. The specific scheme is as follows:

[0005] A design method for a permanent magnet synchronous motor position controller with self-disturbance rejection, the design method comprising hardware circuit design and design of a self-disturbance rejection controller module; the hardware circuit comprising: an AC power supply module, a rectifier bridge circuit module, an inverter circuit module, a permanent magnet synchronous motor module, a voltage sampling module, and a current sampling module; the AC power supply module is connected to the rectifier bridge module to provide a power supply signal for the controller; the rectifier bridge module is connected to an inverter circuit module at one end and to a voltage sampling module at the other end; the inverter circuit module is connected to a permanent magnet synchronous motor module; the permanent magnet synchronous motor module is connected to a current sampling module; and the self-disturbance rejection controller module is respectively connected to the voltage sampling module, the inverter circuit module, and the current sampling module.

[0006] Furthermore, the design steps of the ADRC module are as follows:

[0007] S1. Design current loop PI self-disturbance rejection controller:

[0008] S101: Design a traditional PI current loop according to the selected motor parameters according to the traditional first-order system;

[0009] S102: When extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal;

[0010] S103: Design an extended state observer and reasonably select the observer bandwidth;

[0011] S104: Discretize the algorithm;

[0012] S2: Design the speed loop PI auto-disturbance rejection controller:

[0013] S201: Design the PI speed loop according to the traditional second-order system based on the selected motor parameters;

[0014] S202: When extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal;

[0015] S203: Design an extended state observer and reasonably select the observer bandwidth;

[0016] S204: Discretize the algorithm.

[0017] Furthermore, the AC power supply module includes a transformer and a voltage stabilizing circuit to provide a stable power supply for the controller.

[0018] Furthermore, the rectifier bridge module adopts a three-phase uncontrolled rectifier bridge with a filter capacitor.

[0019] Furthermore, the current sampling module adopts a three-resistance sampling circuit.

[0020] Furthermore, S101 is designed according to the traditional first-order system. The traditional PI current loop, the parameter setting formula is:

[0021]

[0022] Furthermore, S201 designs the PI speed loop according to the traditional second-order system, and the parameter setting formula is:

[0023]

[0024] Furthermore, when S202 extracts the current differential signal, a tracking differentiator is designed to ensure the stability of the extracted signal;

[0025]

[0026] Among them, s(t) is the input signal. This transition process eliminates high-frequency noise and is conducive to system stability.

[0027] Furthermore, S203 reasonably selects the observer bandwidth and designs the extended state observer. The reference formula is as follows:

[0028]

[0029] Z is the estimated value of the system state variable.

[0030] Furthermore, S204 discretizes the algorithm, and the controller is finally designed as follows:

[0031]

[0032] Beneficial effects:

[0033] The present invention provides a design method for a permanent magnet synchronous motor position controller with self-disturbance rejection, adopts a software and hardware combination solution, and adds a self-disturbance rejection algorithm to a traditional PI controller; compared with the traditional method, the method has a fast response speed and reduces the loss of components, and specifically includes the following advantages:

[0034] (1) The present invention can effectively resist the influence of external disturbances and internal uncertainty of the system by introducing an active disturbance rejection controller (ADRC). Compared with the traditional PI controller, the ADRC can observe and compensate for the disturbance in the system in real time, enhance the robustness and anti-disturbance ability of the system, and ensure the accuracy and stability of the motor position control.

[0035] (2) The anti-disturbance controller has the ability to estimate and adjust the system state in real time, so that the system can quickly respond to changes in external input signals. By designing reasonable current loop and speed loop PI anti-disturbance controllers, the present invention greatly improves the dynamic response speed of the PMSM position control system while ensuring system stability.

[0036] (3) By designing a tracking differentiator, the present invention can effectively extract differential information from the signal and avoid the interference of high-frequency noise. This design helps to ensure that the system responds quickly while reducing the impact of high-frequency noise on control accuracy, thereby improving the stability of the system.

[0037] (4) In the design of the current loop and the speed loop, the present invention realizes real-time estimation of the system state by designing an extended state observer, so that the adaptability and expansibility of the control system to external interference are significantly enhanced. At the same time, the observer bandwidth can be flexibly adjusted to ensure that the system can maintain good control performance under different working conditions.

[0038] (5) The present invention discretizes the algorithm to ensure that the controller can operate efficiently in a real-time industrial environment. The discretized control algorithm reduces the computational complexity of the system, enhances the real-time performance and stability of the algorithm, and enables the controller to operate reliably for a long time in complex industrial control scenarios.

[0039] Through the above improvements, the permanent magnet synchronous motor position controller of the present invention has stronger anti-interference, rapid dynamic response, high-precision control capability and better system robustness compared with traditional control methods, and can be widely used in industrial scenarios with high performance requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a logic diagram of the hardware circuit structure in the design method of a permanent magnet synchronous motor position controller with self-interference resistance.

[0041] Figure 2 The present invention is a software design logic diagram in the design method of a permanent magnet synchronous motor position controller with self-interference resistance. DETAILED DESCRIPTION

[0042] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0043] Figure 1 This is a hardware circuit structure logic diagram in the design method of a permanent magnet synchronous motor position controller with self-interference resistance, such as Figure 1 As shown:

[0044] The hardware circuit includes: an AC power supply module, a rectifier bridge circuit module, an inverter circuit module, a permanent magnet synchronous motor module, a voltage sampling module, and a current sampling module; the AC power supply module is connected to the rectifier bridge module to provide a power signal for the controller; the rectifier bridge module is connected to the inverter circuit module at one end and to the voltage sampling module at the other end; the inverter circuit module is connected to the permanent magnet synchronous motor module; the permanent magnet synchronous motor module is connected to the current sampling module; the self-disturbance rejection controller module is respectively connected to the voltage sampling module, the inverter circuit module and the current sampling module.

[0045] The AC power supply module includes a transformer and a voltage stabilizing circuit to provide a stable power supply for the controller; the rectifier bridge module adopts a three-phase uncontrolled rectifier bridge with a filter capacitor; the current sampling module adopts a classic three-resistor sampling circuit; and the controller uses ST's 32-bit F4 chip.

[0046] Figure 2 This is a software design logic diagram in the design method of a permanent magnet synchronous motor position controller with self-interference resistance, such as Figure 2 As shown:

[0047] The design steps of the active disturbance rejection controller module are as follows:

[0048] Step 1: Design of current loop PI auto-disturbance rejection controller;

[0049] Step 2: Design of speed loop PI auto-disturbance rejection controller;

[0050] The design of the current loop self-disturbance rejection PI controller includes the following steps:

[0051] Step S11: According to the selected motor parameters, the traditional PI current loop is designed according to the traditional first-order system, and the parameter setting formula is:

[0052]

[0053] Step S12: when extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal;

[0054] Step S13: designing an extended state observer and reasonably selecting the observer bandwidth;

[0055] Step S14: discretizing the algorithm;

[0056] Optionally, the speed loop self-disturbance rejection PI controller design includes the following steps:

[0057] Step S21: According to the selected motor parameters, the PI speed loop is designed according to the traditional second-order system, and the parameter setting formula is:

[0058]

[0059] Step S22: when extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal;

[0060]

[0061] Among them, s(t) is the input signal. This transition process eliminates high-frequency noise and is conducive to system stability.

[0062] Step S23: Rationally select the observer bandwidth and design the extended state observer, where Z is the estimated value of the system state variable;

[0063]

[0064] Step S24: Discretize the algorithm, and the controller is finally designed as follows:

[0065]

[0066] As a further improvement, the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A design method for a permanent magnet synchronous motor position controller with self-disturbance rejection, characterized in that: The design method includes hardware circuit design and design of an anti-disturbance control module; the hardware circuit design includes: an AC power supply module, a rectifier bridge circuit module, an inverter circuit module, a permanent magnet synchronous motor module, a voltage sampling module, and a current sampling module; the AC power supply module is connected to the rectifier bridge module to provide a power supply signal for the controller; the rectifier bridge module is connected to an inverter circuit module at one end and to a voltage sampling module at the other end; the inverter circuit module is connected to a permanent magnet synchronous motor module; the permanent magnet synchronous motor module is connected to a current sampling module; and the anti-disturbance control module is respectively connected to the voltage sampling module, the inverter circuit module, and the current sampling module.

2. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: The design steps of the active disturbance rejection controller module are as follows: S1. Design current loop PI self-disturbance rejection controller: S101: Design a traditional PI current loop according to the selected motor parameters according to the traditional first-order system; S102: When extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal; S103: Design an extended state observer and reasonably select the observer bandwidth; S104: Discretize the algorithm; S2: Design the speed loop PI auto-disturbance rejection controller: S201: Design the PI speed loop according to the traditional second-order system based on the selected motor parameters; S202: When extracting the current differential signal, design a tracking differentiator to ensure the stability of the extracted signal; S203: Design an extended state observer and reasonably select the observer bandwidth; S204: Discretize the algorithm.

3. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: The AC power supply module includes a transformer and a voltage stabilizing circuit to provide a stable power supply for the controller.

4. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: The rectifier bridge module adopts a three-phase uncontrolled rectifier bridge with a filter capacitor.

5. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: The current sampling module adopts a three-resistance sampling circuit.

6. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: S101 is designed according to the traditional first-order system. The traditional PI current loop has the following parameter setting formula:

7. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: S201 designs the PI speed loop according to the traditional second-order system, and the parameter setting formula is:

8. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: When S202 extracts the current differential signal, a tracking differentiator is designed to ensure the stability of the extracted signal. The parameter setting formula is: Among them, s(t) is the input signal. This transition process eliminates high-frequency noise and is conducive to system stability.

9. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1 is characterized in that: S203 reasonably selects the observer bandwidth and designs the extended state observer. The parameter setting formula is: Z is the estimated value of the system state variable.

10. The design method of a permanent magnet synchronous motor position controller with self-disturbance rejection according to claim 1, characterized in that: S204 discretizes the algorithm, and the final controller design is as follows:

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