Permanent magnet synchronous motor field weakening control method and device based on active disturbance rejection control

Abstract

The invention relates to a permanent magnet synchronous motor field weakening control method and device based on active disturbance rejection control. The method comprises the steps of obtaining a total disturbance quantity based on a dq-axis equation of the permanent magnet synchronous motor and a current loop equation of vector control; performing state expansion based on the total disturbance quantity and the first-order derivative of the total disturbance quantity, and constructing an enhanced expansion state observer to obtain the total disturbance quantity and an estimated value of the first-order derivative of the total disturbance quantity; and acquiring a control law according to the estimated value, and controlling the permanent magnet synchronous motor based on the control law. According to the method, state expansion is carried out based on the total disturbance quantity and the first-order derivative thereof, it is guaranteed that the observation error reaches a small convergence domain, therefore, the observation precision of disturbance is improved, meanwhile, good robustness is achieved for given rotating speed changes and load abrupt changes, and therefore the field weakening control performance of the permanent magnet synchronous motor is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a method and device for weakening magnetic field control of a permanent magnet synchronous motor based on active anti-disturbance control. Background Art

[0002] With the improvement of the manufacturing process of rare earth permanent magnet materials, and the characteristics of high efficiency, small size and simple structure, the development of permanent magnet synchronous motors has been greatly improved, especially in the fields of wind power generation, new energy vehicles, rail transportation, etc. In order to take into account the requirements of wide speed regulation range and large torque output capacity, weak magnetic control is often used to further increase the motor speed when the inverter output reaches the limit.

[0003] The weakening magnetic field control methods of permanent magnet synchronous motors mainly include feedforward weakening magnetic field method, feedback weakening magnetic field method and hybrid weakening magnetic field method. The feedforward weakening magnetic field method adjusts the reference value of the stator current vector based on the mathematical model of the motor, which is generally implemented by direct calculation method and offline table method; the feedback weakening magnetic field method uses the dq axis reference voltage difference before and after modulation or directly uses the dq axis reference voltage to adjust the reference value of the d axis current or the lead angle; the hybrid weakening magnetic field method combines the feedforward weakening magnetic field method with the feedback weakening magnetic field method, and there are both feedforward channels and feedback channels in the system. Among the three methods, the feedforward weakening magnetic field method has the fastest response speed, but its control performance depends on the accuracy of the motor parameters. The hybrid weakening magnetic field method combines the advantages of the feedforward weakening magnetic field method and the feedback weakening magnetic field method, but increases the complexity of the control structure. The feedback weakening magnetic field method has moderate response speed, simple control structure, low dependence on motor parameters, and is widely used.

[0004] Active disturbance rejection control is a technology that can estimate and compensate for the unmodeled dynamic and external position disturbance effects of the system as the "total disturbance" of the system. It is particularly suitable for nonlinear systems with system parameter changes and external disturbances. The equation between the weakening magnetic current and the reference voltage of the permanent magnet synchronous motor is a first-order dynamic equation, and it is also a nonlinear system with parameter changes and external disturbances. Therefore, the reference voltage and the feedback voltage difference can be used to obtain the weakening magnetic current using the active disturbance rejection control technology.

[0005] However, in traditional ADRC, unbiased estimation can only be achieved when the disturbance is a constant value. For time-varying disturbances, the observation accuracy of the disturbance depends on the supremum of the disturbance derivative, which usually requires the third-order infinitesimal of the disturbance. Therefore, the application scenarios of traditional ADRC are limited, and the observation accuracy is not high under some time-varying disturbances, which leads to poor control effect of permanent magnet synchronous motors. Summary of the invention

[0006] Based on this, it is necessary to provide a permanent magnet synchronous motor weak magnetic control method and device based on self-disturbance rejection control that can improve the control effect in response to the above technical problems.

[0007] In a first aspect, the present application provides a permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control. The method comprises:

[0008] Based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control, the total disturbance is obtained;

[0009] Based on the total disturbance and the first-order derivative of the total disturbance, the state is expanded, and an enhanced expanded state observer is constructed to obtain the estimation of the total disturbance and the first-order derivative of the total disturbance;

[0010] A control law is obtained according to the estimation, and the permanent magnet synchronous motor is controlled based on the control law.

[0011] In one embodiment, based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control, obtaining the total disturbance includes:

[0012] Obtain the dq axis equation of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in steady state operation;

[0013] According to the current loop transfer function and the permanent magnet synchronous motor dq axis equation, the current loop equation of vector control is obtained;

[0014] According to the current loop equation of vector control, the total disturbance is obtained.

[0015] In one embodiment, state expansion is performed based on the total disturbance and the first-order derivative of the total disturbance, and the enhanced expanded state observer is constructed to obtain the total disturbance and the first-order derivative of the total disturbance, including:

[0016] An enhanced extended state observer is constructed according to the total disturbance and the first-order derivative of the total disturbance;

[0017] A state space equation is constructed according to the enhanced extended state observer, and a gain parameter of the enhanced extended state observer is determined according to the characteristic roots of the state space equation;

[0018] Based on the enhanced extended state observer with gain parameter limitation, the estimation of total disturbance and the first-order derivative of the total disturbance is obtained.

[0019] In one embodiment, obtaining the control law according to the estimation includes:

[0020] Based on the proportional-derivative combination design, the control law is obtained according to the estimation.

[0021] In one embodiment, controlling a permanent magnet synchronous motor based on a control law includes:

[0022] Based on the control law, the weak magnetic current is obtained, and the weak magnetic current is fed back to the d-axis current setting of the vector control to obtain the d-axis setting current, and the d-axis voltage is obtained based on the d-axis setting current, the d-axis feedback current and the proportional-integral controller;

[0023] The d-axis voltage is applied to the stator winding of the permanent magnet synchronous motor to achieve magnetic field weakening control.

[0024] In a second aspect, the present application also provides a permanent magnet synchronous motor weak magnetic control device based on active disturbance rejection control. The device comprises:

[0025] A total disturbance calculation module is used to obtain the total disturbance based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control;

[0026] Enhanced extended state observer module, used for state expansion of total disturbance and first-order derivative of total disturbance, to obtain the estimation of total disturbance and first-order derivative of total disturbance;

[0027] A controller module, used for obtaining a control law according to the estimation, and obtaining a field weakening current according to the control law;

[0028] Vector control module; used for feeding back the weak magnetic current to the d-axis current setting of the vector control, obtaining the d-axis setting current, and obtaining the d-axis voltage based on the d-axis setting current, the d-axis feedback current and the proportional-integral controller;

[0029] The power electronic device module is used to apply the d-axis voltage to the stator winding of the permanent magnet synchronous motor to achieve magnetic field weakening control.

[0030] In a third aspect, the present application further provides a controller, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps in the above-mentioned permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control when executing the computer program.

[0031] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the above-mentioned permanent magnet synchronous motor weak magnetic field control method based on active disturbance rejection control when the computer program is executed by a processor.

[0032] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the steps in the above-mentioned permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control when executed by a processor.

[0033] The above-mentioned permanent magnet synchronous motor weak magnetic control method and device based on self-anti-disturbance control obtains the total disturbance based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control; performs state expansion based on the total disturbance and the first-order derivative of the total disturbance, and constructs an enhanced extended state observer to obtain the total disturbance and the first-order derivative of the total disturbance to obtain the estimated value; obtains the control law according to the estimated value, and controls the permanent magnet synchronous motor based on the control law. The present invention performs state expansion based on the total disturbance and its first-order derivative to ensure that the observation error reaches a smaller convergence domain, thereby improving the observation accuracy of the disturbance, and at the same time, has good robustness for given speed changes and load mutations, thereby improving the weak magnetic control performance of the permanent magnet synchronous motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a flow chart of a permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control in one embodiment;

[0035] Figure 2 A block diagram of a weak magnetic control system of a conventional active disturbance rejection control in an embodiment;

[0036] Figure 3 is a diagram of an equivalent voltage loop small signal model in an embodiment;

[0037] Figure 4 The figure is a block diagram of a permanent magnet synchronous motor weakening control based on active disturbance rejection control in one embodiment.

[0038] Figure 5 The u of PI control, traditional active disturbance rejection control and permanent magnet synchronous motor weak magnetic control based on active disturbance rejection control s *Response waveform comparison chart. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The present application provides a permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control, such as Figure 1 As shown, the following steps are included:

[0041] Step 102, obtaining a total disturbance based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control.

[0042] The dq axis equation of the permanent magnet synchronous motor is mainly used to analyze the electrical and mechanical dynamic characteristics of the motor. Usually, the three-phase system of the motor is converted into a two-phase dq coordinate system, where the d axis represents the direction of the magnetic field and the q axis represents the direction of the torque, thereby simplifying the analysis. This embodiment mainly constructs the dq axis equation of the permanent magnet synchronous motor for electrical dynamic characteristics, which can be constructed based on voltage or current changes.

[0043] The current loop equation of vector control adjusts the d-axis and q-axis voltages of the motor through a proportional-integral (PI) controller to make its current track the reference value and improve the dynamic response performance of the system through voltage feedforward compensation.

[0044] The disturbance of the motor can include load disturbance, parameter changes, external interference, etc. The total disturbance is a comprehensive reflection of various factors that affect the performance of the motor during operation. Through reasonable modeling and compensation, the robustness and response speed of the system can be enhanced. In practical applications, observers or state estimation methods are usually used to monitor the total disturbance in real time for subsequent optimization of the motor control strategy.

[0045] Step 104 , performing state expansion based on the total disturbance and the first-order derivative of the total disturbance, constructing an enhanced expanded state observer to obtain estimates of the total disturbance and the first-order derivative of the total disturbance.

[0046] By expanding the total disturbance, on the one hand, it is possible to track important state variables in the system, making it easier to understand the system status in real time; on the other hand, it is also possible to compensate for the total amount of disturbances inside and outside the system model in a timely manner in the form of feedback, which helps to improve the robustness of the system.

[0047] This embodiment performs state expansion on the total disturbance and its first-order derivative to ensure that the observation errors of state variables and disturbances such as position, speed, current, voltage, etc. can reach a smaller convergence domain, thereby improving the observation accuracy of the disturbance and further improving the dynamic performance, robustness and stability of the motor.

[0048] Step 106, obtaining a control law according to the estimation, and controlling the permanent magnet synchronous motor based on the control law.

[0049] After obtaining the estimation of the total disturbance and the first-order derivative of the total disturbance, the control law can be designed based on state feedback. Common forms of control law include linear state feedback control and nonlinear control. The present embodiment can also apply the calculated control law to the actual system or simulate it through simulation software (such as MATLAB / Simulink), observe the response of the system, and thus verify the effectiveness of the control law. The gain matrix or control strategy can also be continuously adjusted according to the simulation or experimental results to achieve the best control effect.

[0050] After obtaining the control law, the control input is converted into a control signal using the Space Vector Pulse Width Modulation (SVPWM) algorithm to control the inverter, thereby driving the permanent magnet synchronous motor.

[0051] This embodiment performs state expansion based on the total disturbance and its first-order derivative to ensure that the observation error reaches a smaller convergence domain, thereby improving the observation accuracy of the disturbance. At the same time, it has good robustness for given speed changes and load mutations, thereby improving the weak magnetic control performance of the permanent magnet synchronous motor.

[0052] In one embodiment, step 102 includes: obtaining the dq axis equation of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in steady-state operation; obtaining the current loop equation of vector control based on the current loop transfer function and the dq axis equation of the permanent magnet synchronous motor; and obtaining the total disturbance based on the current loop equation of vector control.

[0053] The dq axis equation of permanent magnet synchronous motor is:

[0054]

[0055] Where, R is the stator resistance of the motor, u d and u q ,i d and i q are the voltage and current of the stator dq axis respectively, L d and L q is the stator dq axis inductance, ω e is the motor electrical angular velocity, Ψ f is the permanent magnet flux.

[0056] When the motor is running, it is subject to the constraints of the inverter output and the rated current and voltage of the motor, which can be expressed as:

[0057]

[0058] Among them, I max is the maximum operating current of the motor; U max is the maximum operating voltage of the motor, k u is the gain coefficient, usually 0.9, U dc is the DC bus voltage.

[0059] When the motor is running in steady state, the resistance voltage drop and differential term can be ignored, so formula (1) can be written as:

[0060]

[0061] Substituting formula (3) into the constraint equation of formula (2), the voltage limit circle expression can be obtained:

[0062]

[0063] For surface mounted permanent magnet synchronous motors, there is usually L d =L q , let L d =L q =L s , then formula (4) can be simplified as:

[0064]

[0065] It can be seen that the center of the voltage limit circle is When the motor speed increases, the voltage limit circle shrinks, and its d-axis current moves closer to the center of the voltage limit circle. When it moves in the negative direction of the d-axis, it enters the weak magnetic control area.

[0066] The traditional field weakening current is obtained by taking the difference between the reference voltage and the feedback voltage and outputting it through the proportional integral controller, such as Figure 2 shown. Figure 2 in i d MTPA with i q MTPA is the dq axis current reference value in the maximum torque current ratio algorithm, i d * with i q * is the current loop reference value, u d * and u q * is the dq axis voltage reference value, (u s * ) 2 for u d * and u q * The sum of the squares, i d FW It is the reference value of field weakening current.

[0067] Using the small signal analysis method, the equivalent voltage loop small signal model can be obtained near the operating point as follows: Figure 3 shown. Figure 3 Where PI is the voltage loop controller, H id (s) is the current loop transfer function, which is equivalent to the first-order inertia link, G(s) is (u s * ) 2 with i d The transfer function between id (s) and G(s) are expressed as:

[0068]

[0069] Among them, ω cc is the current loop bandwidth, s is the Laplace operator; Δ represents a small change in the variable, u s 2 for u d and u q The sum of the squares, u d 0 and u q 0 Represents the static operating point.

[0070] make Then there is At this time, formula (7) can be written as:

[0071]

[0072] At this time, according to formula (3), formula (8) can be simplified to:

[0073] G(s)=2u d 0 k(-ω e 0 L s )+2u q 0 (ω e 0 L s )=2ω e 0 L s (u q 0 -u d 0 k) (9)

[0074] Among them, ω e 0 represents the static operating point, so, Figure 3 (u s * ) 2 with i d * The transfer function between can be written as:

[0075]

[0076] Where b = 2ω cc ω e 0 L s (u q 0 -u d 0k), so we have (us*) 2 Relationship with id*:

[0077]

[0078] Considering that the resistance voltage drop and differential terms are ignored in formula (3), formula (11) should be written as:

[0079]

[0080] where f d The unmodeled disturbances such as stator resistance voltage drop, inverter nonlinear characteristics, and magnetic saturation are ignored in the system.

[0081] Furthermore, since the value of b cannot be accurately obtained, we can estimate b by setting b = b0 + Δb, where b0 is the estimated value of b and Δb is the estimation error. Then, by further optimizing formula (12), we can obtain:

[0082]

[0083] Where f = Δbi d * -ω cc (u s * ) 2 +f d , defined as the total disturbance of the system.

[0084] Formula (13) can be written as the following second-order equation:

[0085]

[0086] where x1=(u s * ) 2 , is the first-order derivative of x1.

[0087] In one embodiment, step 104 includes: constructing an enhanced extended state observer based on the total disturbance and the first-order derivative of the total disturbance; constructing a state space equation based on the enhanced extended state observer, and determining a gain parameter of the enhanced extended state observer based on the characteristic roots of the state space equation; and obtaining an estimate of the total disturbance and the first-order derivative of the total disturbance based on the enhanced extended state observer limited by the gain parameter.

[0088] The extended state observer of the traditional ADRC only expands the disturbance itself into a new state, so unbiased estimation can only be achieved when the disturbance f is a constant. For time-varying disturbances, the observation accuracy of the extended state observer depends on the supremum of the disturbance, which usually requires the third-order infinitesimal of the disturbance. Based on this, the present invention proposes an enhanced ADRC, which expands the disturbance and its first-order derivative into a new state, ensuring that the observation error can reach a smaller convergence domain, thereby improving the observation accuracy of the disturbance. Let x2 = f, is the first-order derivative of f. Then we can get:

[0089]

[0090] in: is the second-order derivative of f.

[0091] According to formula (15), the enhanced extended state observer can be constructed, and we can get

[0092]

[0093] Where z1, z2, z3 are the observations of the enhanced extended state observer; l1, l2, l3 are the gains of the observer, and their parameters are selected to make the observer system stable and to ensure that z1, z2, z3 converge to x1, x2, x3 respectively. Subtracting (16) from (15) yields:

[0094]

[0095] in,

[0096] To ensure system stability, the gain parameters of l1, l2, and l3 are usually selected so that the roots of the characteristic root equation of A2 are on the negative real axis. The characteristic root equation is as follows:

[0097] α2(s)=s 3 +(l1+l2)s 2 +(l3+l1l2)s+l1l3=(s+ω o ) 3 (18)

[0098] where ω o is the bandwidth of the observer.

[0099] After the gain parameters of the enhanced extended state observer are determined, the estimation of the total disturbance and the first-order derivative of the total disturbance can be obtained.

[0100] In one embodiment, in step 106, obtaining the control law according to the estimation includes: obtaining the control law according to the estimation based on a proportional-derivative combination design.

[0101] The core of ADRC lies in how to estimate the disturbance f in real time and eliminate it, so that the differential equation of x1 in equation (14) presents a standard form of linear integrator series similar to the following equation, thus making the control simpler.

[0102]

[0103] This will give

[0104]

[0105] In general, the linear state error feedback control law can be designed using the classic proportional-integral-derivative combination. Since the observer can estimate the disturbance and compensation in real time, the integrator is no longer needed, and the linear state error feedback control law can be further simplified to the design of the proportional-derivative combination, that is,

[0106] i d0 * =k p (r-x1) (21)

[0107] Among them, k p is the control law parameter; r is the given value.

[0108] According to the designed observer, the following control law can be obtained:

[0109]

[0110] The block diagram of the control method proposed by the present invention is as follows Figure 4 shown.

[0111] By comparing the enhanced extended state observer with the traditional extended state observer, it can be found that the present invention proposes an improved active disturbance rejection controller to replace the traditional PI controller for weak magnetic current. The improved active disturbance rejection controller uses the enhanced extended state observer to observe (u s * ) 2 , and then U max 2 The difference is made with the observed value, and then the weakening magnetic current is generated through the control law, and the weakening magnetic current is fed back to the d-axis current given by the vector control to achieve weakening magnetic control.

[0112] In one embodiment, controlling the permanent magnet synchronous motor based on the control law in step 106 includes: obtaining a weak magnetic field current based on the control law, feeding the weak magnetic field current back to the d-axis current given by the vector control, obtaining a d-axis given current, and obtaining a d-axis voltage based on the d-axis given current, the d-axis feedback current and the proportional-integral controller; and applying the d-axis voltage to the stator winding of the permanent magnet synchronous motor to achieve weak magnetic field control.

[0113] In order to verify the superiority of the self-disturbance rejection control technology proposed in this application, a permanent magnet synchronous motor drive system was built on the MATLAB / Simulink simulation platform for simulation experiments. The method provided by the present invention was compared with the PI controller and the traditional self-disturbance rejection controller. The simulation conditions were set as follows: at startup, the given speed was 2000rpm and the given load was 5Nm; after 0.2s, the given speed was 7000rpm, and after 0.5s, the load was suddenly increased by 30Nm. u in the three cases s * The response waveform is as follows Figure 5 shown. Figure 5 In the figure, (a) represents the u of the PI control point s * Response waveform, (b) represents the u of the traditional ADRC s * The response waveform (c) represents the u of the new active disturbance rejection controller provided by the present invention. s * Response waveform, the horizontal axis of the three waveforms is time t, in seconds, and the vertical axis is voltage u s * , unit is V.

[0114] Since there is no need for field weakening at 2000rpm, the effect of this part is not given. Figure 5 By comparing the PI controller, it can be found that under the given speed of 7000rpm, u s * The response has a large overshoot of about 190V, and the stabilization time is about 0.05s. When the load changes suddenly, u s * The response has a large overshoot of about 88V and a stabilization time of about 0.04s. Under the traditional anti-disturbance control, at a given speed of 7000rpm, u s * The response overshoot is improved compared with the PI controller, but it is also about 170V, and the stabilization time is about 0.02s. When the load changes suddenly, u s * The response also has a large overshoot of about 90V and a settling time of about 0.01s.

[0115] Under the control method of the present invention, at a given speed of 7000 rpm, u s * The overshoot of the response has been significantly improved, about 120V, and the stabilization time is about 0.02s. When the load changes suddenly, u s * The overshoot of the response is significantly improved to about 52V, and the stabilization time is about 0.01s.

[0116] Compared with the PI controller, the method of the present invention has the following advantages: s * The response is greatly improved compared to PI, and it has better robustness for given speed changes and load mutations.

[0117] Compared with the traditional ADRC, the observation error of the proposed method can reach a smaller convergence domain, which enhances the accuracy of the observer. s * It can be seen from the response that under the given speed change and load mutation conditions, the method of the present invention has good robustness.

[0118] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0119] Based on the same inventive concept, the embodiment of the present application also provides a permanent magnet synchronous motor weak magnetic field control device based on self-disturbance rejection control for implementing the above-mentioned permanent magnet synchronous motor weak magnetic field control method based on self-disturbance rejection control. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of one or more permanent magnet synchronous motor weak magnetic field control devices based on self-disturbance rejection control provided below can refer to the limitations of the permanent magnet synchronous motor weak magnetic field control method based on self-disturbance rejection control above, and will not be repeated here.

[0120] In one embodiment, a permanent magnet synchronous motor weak magnetic field control device based on active disturbance rejection control is provided, comprising:

[0121] A total disturbance calculation module is used to obtain the total disturbance based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control;

[0122] Enhanced extended state observer module, used for state expansion of total disturbance and first-order derivative of total disturbance, so as to obtain the estimation of total disturbance and first-order derivative of total disturbance;

[0123] A controller module, used for obtaining a control law according to the estimation, and obtaining a field weakening current according to the control law;

[0124] Vector control module; used for feeding back the weak magnetic current to the d-axis current setting of the vector control, obtaining the d-axis setting current, and obtaining the d-axis voltage based on the d-axis setting current, the d-axis feedback current and the proportional-integral controller;

[0125] The power electronic device module is used to apply the d-axis voltage to the stator winding of the permanent magnet synchronous motor to achieve magnetic field weakening control.

[0126] Each module in the above-mentioned permanent magnet synchronous motor weak magnetic control device based on active disturbance rejection control can be implemented in whole or in part by software, hardware and their combination. Each of the above-mentioned modules can be embedded in or independent of the processor in the controller in the form of hardware, or can be stored in the memory in the controller in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0127] In one embodiment, a controller is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in all the above method embodiments when executing the computer program.

[0128] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in all the above method embodiments are implemented.

[0129] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in all the above method embodiments when executed by a processor.

[0130] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0131] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0132] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A permanent magnet synchronous motor weak magnetic control method based on active disturbance rejection control, characterized in that: The method comprises: Based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control, the total disturbance is obtained; Performing state expansion based on the total disturbance and the first-order derivative of the total disturbance, constructing an enhanced expanded state observer to obtain estimates of the total disturbance and the first-order derivative of the total disturbance; A control law is obtained according to the estimation, and the permanent magnet synchronous motor is controlled based on the control law.

2. The method according to claim 1, characterized in that The total disturbance is obtained based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control, including: Obtaining the dq-axis equation of the permanent magnet synchronous motor when the permanent magnet synchronous motor is in steady-state operation; According to the current loop transfer function and the permanent magnet synchronous motor dq axis equation, the current loop equation of the vector control is obtained; The total disturbance amount is obtained according to the current loop equation of the vector control.

3. The method according to claim 2, characterized in that The step of performing state expansion based on the total disturbance and the first-order derivative of the total disturbance and constructing an enhanced extended state observer to obtain the total disturbance and the first-order derivative of the total disturbance includes: constructing an enhanced extended state observer according to the total disturbance and the first-order derivative of the total disturbance; Constructing a state space equation according to the enhanced extended state observer, and determining a gain parameter of the enhanced extended state observer according to the characteristic root of the state space equation; Based on the enhanced extended state observer limited by the gain parameter, an estimate of the total disturbance and a first-order derivative of the total disturbance is obtained.

4. The method according to claim 1, characterized in that The obtaining of the control law according to the estimation comprises: Based on the proportional-derivative combination design, the control law is obtained according to the estimation.

5. The method according to claim 1, characterized in that The controlling of the permanent magnet synchronous motor based on the control law comprises: Based on the control law, a weak magnetic current is obtained, the weak magnetic current is fed back to the d-axis current setting of the vector control, a d-axis given current is obtained, and a d-axis voltage is obtained based on the d-axis given current, the d-axis feedback current and a proportional-integral controller; The d-axis voltage is applied to the stator winding of the permanent magnet synchronous motor to achieve magnetic field weakening control.

6. A permanent magnet synchronous motor weak magnetic control device based on active disturbance rejection control, characterized in that: The device comprises: A total disturbance calculation module is used to obtain the total disturbance based on the permanent magnet synchronous motor dq axis equation and the current loop equation of vector control; An enhanced extended state observer module, used for performing state expansion on the total disturbance and the first-order derivative of the total disturbance to obtain an estimate of the total disturbance and the first-order derivative of the total disturbance; A controller module, configured to obtain a control law according to the estimation, and obtain a field weakening current according to the control law; A vector control module; used for feeding back the weak magnetic current to the d-axis current setting of the vector control, obtaining the d-axis given current, and obtaining the d-axis voltage based on the d-axis given current, the d-axis feedback current and the proportional-integral controller; The power electronic device module is used to apply the d-axis voltage to the stator winding of the permanent magnet synchronous motor to achieve magnetic field weakening control.

7. A controller comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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