LADRC-based current source inverter high-speed permanent magnet synchronous motor control method and system

Abstract

The invention discloses a current source inverter high-speed permanent magnet synchronous motor control method and system based on LADRC, and the system part comprises a position estimation module, a rotating speed regulator, a current sensor, a voltage sensor, a coordinate transformation matrix, a current regulator, a current generation module and a space vector pulse width modulation module. According to the control method, a second-order LADRC current regulator is designed to calculate a current reference value of the inverter, d-q axis decoupling is realized in the regulator, the dynamic performance of the current source inverter is improved, current harmonics are effectively reduced, and the anti-interference capability and robustness of the system are improved. According to the method, the problem of system instability caused by high control order and serious coupling of the motor under the high-speed working condition can be solved, the robustness and dynamic performance of the system are improved, the problems of high cost and low reliability of a traditional position sensor during high-speed operation are solved, the hardware cost of the system is reduced, and the response speed is increased. The invention relates to a motor control technology.

Description

Technical Field

[0001] The present invention relates to motor control technology, in particular to a current source inverter high-speed permanent magnet synchronous motor control method and system based on LADRC (Linear Active Disturbance Rejection Control). Background Art

[0002] High-speed permanent magnet motors have the advantages of high power density and small volume and mass, and are widely used in aerospace, flywheel energy storage, high-speed spindles and other fields. The use of current source inverters can effectively suppress the problem of large output current ripple, reduce torque pulsation, and thus reduce motor rotor loss and motor heating. However, there are the following problems in the current source inverter high-speed motor drive system: on the one hand, the order of the control object of the system changes from first order to second order, and the motor and capacitor will produce coupling phenomenon, and the coupling will be further aggravated at high speed, which will endanger the normal operation of the motor. In addition, the application of a large number of energy storage components also deteriorates the dynamic performance of the system; on the other hand, high speed aggravates the influence of discrete error and control delay of the numerical control system, reduces the control accuracy of the system, and the position sensor suitable for high-speed permanent magnet motors has the problems of high cost and poor reliability. Solving the above problems of the current source inverter system is very necessary for the application of high-speed permanent magnet synchronous motors.

[0003] Current research directions for improving the control performance of current source inverter high-speed motor drive systems include the use of new wide bandgap devices, new circuit topologies, and high-performance control algorithms. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention further proposes a current source inverter high-speed permanent magnet synchronous motor control system and method based on LADRC.

[0005] The technical solution adopted by the present invention to solve the above problems is:

[0006] The present invention provides a method for controlling a high-speed permanent magnet synchronous motor using a current source inverter based on LADRC, comprising the following steps:

[0007] Step 1, sampling the three-phase current and voltage of the motor stator, and performing coordinate transformation on the sampled signal according to the current position information to obtain the AC and DC axis current feedback and the AC and DC axis voltage feedback of the motor;

[0008] Step 2: Substitute ω and i sd The coupling effect on the q-axis current loop is used as the disturbance of the q-axis current loop, and the input quadrature-axis voltage and current u sq and i sq , the real-time rotor position angle and speed are estimated through the LADRC-based position-free algorithm processing;

[0009] Step 3, input the difference between the real-time speed ω and the given speed ω* into the speed regulator to obtain the quadrature-axis current reference value of the motor;

[0010] Step 4: Set the quadrature axis current feedback value i sq With the quadrature axis current reference value i sq * Input the q-axis second-order LADRC current regulator to obtain the quadrature-axis current reference value of the filter capacitor and convert the direct-axis current feedback value i sd With the direct axis voltage reference value i sd * =0 Input d-axis second-order LADRC current regulator to obtain the direct-axis current reference value of the filter capacitor;

[0011] Step 5, add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor respectively to obtain the AC and DC axis current reference values ​​of the inverter, and obtain the amplitude and phase of the current required for modulating the inverter through Park inverse transformation;

[0012] Step 6: According to the amplitude and phase of the current required for modulating the inverter and the estimated angle information, a switching signal is obtained in combination with the space vector pulse width modulation technology, thereby driving and adjusting the amplitude and phase of the inverter current;

[0013] Step 7: Repeat steps 1 to 6 to achieve real-time inverter current amplitude, phase adjustment tracking, and rapid speed adjustment.

[0014] Furthermore, the position-free algorithm described in step 2 estimates the position information of the motor rotor, including the following:

[0015] The mathematical model of the permanent magnet synchronous motor of the q-axis in the synchronous rotating coordinate system is:

[0016]

[0017] Where: u sq is the q-axis voltage of the stator winding; i sd 、i sq is the dq axis current of the electronic winding; L q is the q-axis inductance of the stator winding; R s is the stator resistance; ψ f is the magnetic potential generated by the rotor permanent magnet;

[0018] Therefore, a position sensorless algorithm based on LADRC can be designed to convert ω and i d Coupling effect on the q-axis current loop The disturbance w(t) of the q-axis current loop is observed by LESO.

[0019]

[0020] The LESO observation disturbance can be designed:

[0021]

[0022] in i d = 0 control strategy,

[0023] The z of the second-order linear extended state observer 11 for i sq The real-time observation quantity of z 12 It is the real-time observation of the disturbance w(t), denoted as when When the motor speed ω is accurately estimated, the motor rotor position θ can be obtained by integrating the speed.

[0024] The estimated speed is:

[0025] The estimated rotor position is:

[0026] The above algorithm can be used to estimate the real-time speed and position angle information of the motor relatively easily.

[0027] Furthermore, the speed regulator described in step 3 is a PI regulator, and its transfer function is:

[0028]

[0029] In the formula, k p is the proportional gain coefficient, k i is the integral gain coefficient.

[0030] Furthermore, the dq axis second-order LADRC current regulator described in step 4 is designed as follows:

[0031] The motor stator voltage equation is:

[0032]

[0033] In the rotating dq axis coordinate system, the bridge arm current equation of the current source inverter is:

[0034]

[0035]

[0036] Among them, u sd 、u sq Represents the dq-axis component of the AC filter capacitor voltage; i sd 、i sq Represents the dq-axis component of the motor stator current; icd 、i cq Represents the dq-axis component of the capacitor current; i wd 、i wq represents the dq-axis component of the inverter output current; ω represents the synchronous angular velocity; ψ f represents the motor rotor flux; C represents the filter capacitance; p is the differential operator; L d , L q represents the motor d-axis and q-axis inductance. For a non-salient-pole permanent magnet synchronous motor, L d =L q =L.

[0037] Furthermore, the dq axis second-order LADRC current regulator described in step 4 is designed as follows:

[0038] The motor stator voltage equation is:

[0039]

[0040] In the rotating dq axis coordinate system, the bridge arm current equation of the current source inverter is:

[0041]

[0042]

[0043] Among them, u sd 、u sq Represents the dq-axis component of the AC filter capacitor voltage; i sd 、i sq Represents the dq-axis component of the motor stator current; i cd 、i cq Represents the dq-axis component of the capacitor current; i wd 、i wq represents the dq-axis component of the inverter output current; ω represents the synchronous angular velocity; ψ f represents the motor rotor flux; C represents the filter capacitance; p is the differential operator; L d , L q represents the motor d-axis and q-axis inductance. For a non-salient-pole permanent magnet synchronous motor, L d =L q =L.

[0044] Furthermore, we can set z1 to be i sdq The tracking signal, z2 is u sdq The tracking signal of z3 is the tracking signal of the unknown disturbance of the dq axis. The second-order dq axis LADRC regulator is designed as:

[0045] The regulator consists of LESO (Linear Extended State Observer) and LESF (Linear Error Feedback Control Law). The LESO part of the d-axis LADRC is designed as follows:

[0046]

[0047] The LESO part of the q-axis LADRC is designed as follows:

[0048]

[0049] Among them, β1, β2, and β3 are LESO gains.

[0050] The LESF part of the dq-axis LADRC is designed as follows:

[0051]

[0052] where k p , k d , b0 is the LESF parameter.

[0053] The estimated capacitor current reference value is added to the sampled motor stator current to obtain the inverter input current i wdq The estimated value of .

[0054] The present invention discloses a LADRC-based current source inverter high-speed permanent magnet synchronous motor control system comprising:

[0055] The position estimation module inputs the q-axis voltage and current, and then estimates the motor speed and position angle signals through the LADRC algorithm;

[0056] The speed regulator is used to adjust the difference between the real-time speed and the given speed to obtain the quadrature-axis current reference value of the motor;

[0057] A current sensor is used to sample the three-phase current of the motor stator;

[0058] A voltage sensor is used to sample the three-phase voltage of the motor stator;

[0059] A coordinate transformation matrix is ​​used to transform the coordinates of the current sensor sampling signal according to the current position information to obtain the quadrature-axis current feedback and direct-axis current feedback of the motor; and is also used to transform the coordinates of the voltage sensor sampling signal according to the current position information to obtain the quadrature-axis voltage feedback and direct-axis voltage feedback of the motor;

[0060] The current regulator adopts a second-order LADRC algorithm to adjust the quadrature-axis current feedback value of the motor and the quadrature-axis current reference value and other known quantities to obtain the quadrature-axis filter capacitor current reference value, and to adjust the direct-axis filter capacitor current reference value according to the difference between the direct-axis current feedback value of the motor and the zero reference current;

[0061] The current generation module is used to add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor to obtain the AC and DC axis current reference values ​​of the inverter, and obtain the amplitude and phase of the current required for the modulation inverter through Park inverse transformation;

[0062] The space vector pulse width modulation module is used to obtain a switching signal according to the amplitude and phase of the current required by the modulation inverter and the current position information, combined with the space vector pulse width modulation technology, so as to drive and adjust the inverter current amplitude and phase.

[0063] The beneficial effects of the present invention are:

[0064] 1. The present invention is different from the traditional control strategy that uses position sensors when the high-speed motor is running, which has control delays and low reliability problems. Instead, the LADRC position estimation algorithm is used to estimate the speed and position angle of the motor, which greatly reduces the hardware cost while speeding up the calculation speed.

[0065] 2. The method of the present invention is different from the traditional multi-closed-loop control strategy that controls the stator current and capacitor voltage of the high-speed permanent magnet synchronous motor separately through a PI regulator and a P regulator. Instead, the second-order LADRC current regulator is directly designed to calculate the inverter current reference value, and dq axis decoupling is realized inside the regulator, thereby improving the dynamic performance of the current source inverter, effectively reducing current harmonics, and improving the anti-interference ability and robustness of the system.

[0066] 3. The present invention can not only solve the problem of system instability caused by high control order and severe coupling of the motor under high-speed conditions, improve the robustness and dynamic performance of the system, but also solve the problems of high cost and low reliability of traditional position sensors when running at high speed, reduce the hardware cost of the system, and speed up the response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is a flow chart of a high-speed motor current source inverter control method provided by the present invention;

[0068] Figure 2 This is the structure diagram of the position sensorless algorithm based on LADRC;

[0069] Figure 3 This is the structure diagram of the second-order LADRC current regulator taking the d-axis as an example;

[0070] Figure 4 This is the three-phase current waveform of the high-speed permanent magnet synchronous motor during steady-state operation;

[0071] Figure 5 High-speed permanent magnet synchronous motor estimated and actual speed waveform;

[0072] Figure 6 It is a position angle estimation diagram without position algorithm. DETAILED DESCRIPTION

[0073] Specific implementation method 1: This implementation method describes a high-speed permanent magnet synchronous motor control method based on LADRC current source inverter, such as Figure 1 As shown, the following steps are included:

[0074] Step 1: Sample the three-phase current and voltage of the motor stator, and transform the sampled signal according to the current position information to obtain the quadrature and direct axis current feedback of the motor i sd 、i sq , totaling to i sdq , and the voltage feedback of the AC and DC filter capacitors u sd 、u sq , the total is u sdq .

[0075] Step 2: Use the LADRC-based position-free algorithm to estimate the position information of the motor rotor. This step specifically includes:

[0076] According to the mathematical model of the permanent magnet synchronous motor of the q-axis in the synchronous rotating coordinate system,

[0077]

[0078] Where: u sq is the q-axis voltage of the stator winding; i sd 、i sq is the dq axis current of the electronic winding; L q is the q-axis inductance of the stator winding; R s is the stator resistance; ψ f is the magnetic potential generated by the rotor permanent magnet;

[0079] Therefore, a position sensorless algorithm based on LADRC can be designed to convert ω and i d Coupling effect on the q-axis current loop The disturbance w(t) of the q-axis current loop is observed by LESO.

[0080]

[0081] Design LESO observation disturbance:

[0082]

[0083] in i d = 0 control strategy,

[0084] where β 11 , β 12 is the LESO gain, all closed-loop poles are assigned to -ω0, and the observer gain can be parameterized, and β1 can be set to 2ω0.

[0085] The z of the second-order linear extended state observer 11 for i sq The real-time observation quantity of z 12 It is the real-time observation of the disturbance w(t), denoted as when When the motor speed ω is accurately estimated, the motor rotor position θ can be obtained by integrating the speed.

[0086] The estimated speed is:

[0087] The estimated rotor position is:

[0088] From this, the real-time speed and position angle information of the motor can be estimated.

[0089] Step 3: Convert the real-time speed ω and the given speed ω * The difference is input into the speed regulator to obtain the quadrature-axis current reference value of the motor;

[0090] The speed regulator is a PI regulator, and its transfer function is:

[0091]

[0092] In the formula, k p is the proportional gain coefficient, k i is the integral gain coefficient.

[0093] Step 4: Set the quadrature axis current feedback value i sq With the quadrature axis current reference value i sq * Input the q-axis second-order LADRC current regulator to obtain the quadrature-axis current reference value of the filter capacitor, and convert the direct-axis current feedback value i sd With the direct axis voltage reference value i sd * =0 Input d-axis second-order LADRC current regulator to obtain the direct-axis current reference value of the filter capacitor;

[0094] The dq axis second-order LADRC current regulator is designed as follows:

[0095] The motor stator voltage equation is:

[0096]

[0097] In the rotating dq axis coordinate system, the bridge arm current equation of the current source inverter is:

[0098]

[0099]

[0100] Among them, u sd 、u sq Represents the dq-axis component of the AC filter capacitor voltage; i sd 、i sq Represents the dq-axis component of the motor stator current; i cd 、i cq Represents the dq-axis component of the capacitor current; i wd 、i wq represents the dq-axis component of the inverter output current; ω represents the synchronous angular velocity; ψ f represents the motor rotor flux; C represents the filter capacitance; p is the differential operator; L d , L q represents the motor d-axis and q-axis inductance. For a non-salient-pole permanent magnet synchronous motor, L d =L q =L.

[0101] We can let z1 be i sdq The tracking signal, z2 is u sdq , z3 is the tracking signal of the unknown disturbance of dq axis, and a second-order dq axis LADRC regulator is designed.

[0102] The regulator consists of LESO (Linear Extended State Observer) and LESF (Linear Error Feedback Control Law).

[0103] The LESO part of the d-axis LADRC is designed as follows:

[0104]

[0105] The LESO part of the q-axis LADRC is designed as follows:

[0106]

[0107] Among them, β1, β2, and β3 are LESO gains, the observer bandwidth is ω0, all closed-loop poles are assigned to -ω0, and the observer gain can be parameterized. It can be set that β1=3ω0, β2=3ω0 2, β3=ω0 3 .

[0108] The LESF part of the dq-axis LADRC is designed as follows:

[0109]

[0110] where k p , k d , b0 is the LESF parameter. Assume the controller bandwidth is ω c , the controller gain is b0, we can set: k p =2ω c , Controller bandwidthω c It can be selected as ω0=3~10ω c .

[0111] Step 5: Set the filter capacitor AC and DC current reference values ​​i cdq Corresponding to the AC and DC axis current feedback of the motor i sdq Add together to get the inverter's quadrature and direct axis current reference values ​​i wdq , and the amplitude and phase of the current required for modulating the inverter are obtained through Park inverse transformation;

[0112] Step 6: According to the amplitude and phase of the current required for modulating the inverter and the estimated angle information, a switching signal is obtained in combination with the space vector pulse width modulation technology, thereby driving and adjusting the amplitude and phase of the inverter current;

[0113] Step 7: Repeat steps 1 to 6 to achieve real-time inverter current amplitude, phase adjustment tracking, and rapid speed adjustment.

[0114] Specific implementation method 2: This implementation method provides a current source inverter high-speed permanent magnet synchronous motor control system based on LADRC, including:

[0115] The position estimation module inputs the q-axis voltage and current, and then estimates the motor speed and position angle signals through the LADRC algorithm;

[0116] Speed ​​regulator, used to adjust the real-time speed ω and the given speed ω * The difference is adjusted to obtain the quadrature-axis current reference value of the motor;

[0117] A current sensor is used to sample the three-phase current of the motor stator;

[0118] A voltage sensor is used to sample the three-phase voltage of the motor stator;

[0119] A coordinate transformation matrix is ​​used to transform the coordinates of the current sensor sampling signal according to the current position information to obtain the quadrature-axis current feedback and direct-axis current feedback of the motor; and is also used to transform the coordinates of the voltage sensor sampling signal according to the current position information to obtain the quadrature-axis voltage feedback and direct-axis voltage feedback of the motor;

[0120] The current generation module is used to add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor to obtain the AC and DC axis current reference values ​​of the inverter, and obtain the amplitude and phase of the current required for the modulation inverter through Park inverse transformation;

[0121] The space vector pulse width modulation module is used to obtain a switching signal according to the amplitude and phase of the current required by the modulation inverter and the current position information, combined with the space vector pulse width modulation technology, so as to drive and adjust the inverter current amplitude and phase.

[0122] In order to verify the effect of the method proposed in the present invention, a simulation model was built in the tool MATLAB / Simulink, and some simulation parameters are shown in Table 1:

[0123] Table 1

[0124]

[0125] Figure 4 This is the three-phase current waveform of the high-speed permanent magnet synchronous motor during steady-state operation, indicating that the second-order LADRC current regulator proposed in this scheme has a good regulation effect on the motor current.

[0126] Figure 5 It is a waveform diagram of the estimated and actual speed of the high-speed permanent magnet synchronous motor, indicating that the scheme of the present invention is more accurate in estimating the actual speed.

[0127] Figure 6 It is a position angle estimation diagram of the position-free algorithm, which shows that the position-free algorithm based on LADRC proposed in the present invention estimates the position angle information more accurately.

[0128] The system described in this embodiment corresponds one-to-one to the method described in the first embodiment. For any incomplete details, please refer to the description of the method and will not be repeated here.

[0129] Based on the mathematical model of the high-speed motor current source inverter drive system, the present invention realizes the direct decoupling control of the current source inverter second-order system by introducing the current regulator and position estimation algorithm based on LADRC, thereby improving the dynamic performance of the current source inverter. The control performance of the system is optimized by better parameter selection, the harmonics of the motor stator current are reduced, and the anti-interference and robustness of the system are improved. At the same time, the position sensorless algorithm based on LADRC has a simple structure and high estimation accuracy. It reduces the hardware cost of the system while improving the reliability, avoiding the control delay and easy damage problems of the traditional position sensor when running at high speed, which endanger the normal operation of the high-speed motor. The present invention can not only solve the problem of system instability caused by the high control order and severe coupling of the motor under high-speed working conditions, improve the robustness and dynamic performance of the system, but also solve the problems of high cost and low reliability of the traditional position sensor when running at high speed, reduce the hardware cost of the system, and improve the dynamic performance.

[0130] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A current source inverter high-speed permanent magnet synchronous motor control method based on LADRC, characterized in that: The method comprises the following steps: Step 1, sampling the three-phase current and voltage of the motor stator, and performing coordinate exchange on the sampled signals according to the current position information to obtain the AC and DC axis current feedback and the AC and DC axis voltage feedback of the motor; Step 2: Substitute ω and i sd The coupling effect on the q-axis current loop is used as the disturbance of the q-axis current loop, and the input quadrature-axis voltage and current u sq and i sq , the real-time rotor position angle and speed are estimated through the LADRC-based position-free algorithm processing; Step 3, input the difference between the real-time speed ω and the given speed ω* into the speed regulator to obtain the quadrature-axis current reference value of the motor; Step 4: Set the quadrature axis current feedback value i sq With the quadrature axis current reference value i sq * Input the q-axis second-order LADRC current regulator to obtain the quadrature-axis current reference value of the filter capacitor and convert the direct-axis current feedback value i sd With the direct axis voltage reference value i sd * =0 Input d-axis second-order LADRC current regulator to obtain the direct-axis current reference value of the filter capacitor; Step 5, add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor respectively to obtain the AC and DC axis current reference values ​​of the inverter, and obtain the amplitude and phase of the current required for modulating the inverter through Park inverse transformation; Step 6: According to the amplitude and phase of the current required for modulating the inverter and the estimated angle information, a switching signal is obtained in combination with the space vector pulse width modulation technology, thereby driving and adjusting the amplitude and phase of the inverter current; Step 7: Repeat steps (1) to (6) to achieve real-time inverter current amplitude and phase adjustment tracking, as well as rapid adjustment of the speed.

2. The method for controlling a high-speed permanent magnet synchronous motor using a current source inverter based on LADRC according to claim 1, characterized in that: In step 2, the position-free algorithm estimates the position information of the motor rotor as follows: The mathematical model of the permanent magnet synchronous motor of the q-axis in the synchronous rotating coordinate system is: Where: u sq is the q-axis voltage of the stator winding; i sd 、i sq is the dq axis current of the electronic winding; L q is the q-axis inductance of the stator winding; R s is the stator resistance; ψ f is the magnetic potential generated by the rotor permanent magnet; Therefore, a position sensorless algorithm based on LADRC can be designed to convert ω and i d Coupling effect on the q-axis current loop As the disturbance w(t) of the q-axis current loop, it is observed by the linear extended state observer; A linear extended state observer can be designed to observe the disturbance: in i d = 0 control strategy, The z of the second-order linear extended state observer 11 for i sq The real-time observation of z 12 It is the real-time observation of the disturbance w(t), denoted as when When the motor speed ω is accurately estimated, the motor rotor position θ can be obtained by integrating the speed. The estimated speed is: The estimated rotor position is: The above algorithm can be used to estimate the real-time speed and position angle information of the motor relatively easily.

3. The method for controlling a high-speed permanent magnet synchronous motor using a current source inverter based on LADRC according to claim 1, characterized in that: The speed regulator described in step 3 is a PI regulator, and its transfer function is: In the formula, k p is the proportional gain coefficient, k i is the integral gain coefficient.

4. The method for controlling a high-speed permanent magnet synchronous motor using a current source inverter based on LADRC according to claim 1, characterized in that: The dq-axis second-order LADRC current regulator described in step 4 is designed as follows: The motor stator voltage equation is: In the rotating dq axis coordinate system, the bridge arm current equation of the current source inverter is: Among them, u sd 、u sq Represents the dq-axis component of the AC filter capacitor voltage; i sd 、i sq Represents the dq-axis component of the motor stator current; i cd 、i cq Represents the dq-axis component of the capacitor current; i wd 、i wq represents the dq-axis component of the inverter output current; ω represents the synchronous angular velocity; ψ f represents the motor rotor flux; C represents the filter capacitance; p is the differential operator; L d , L q represents the motor d-axis and q-axis inductance; for a hidden-pole permanent magnet synchronous motor, L d =L q =L.

5. The method for controlling a high-speed permanent magnet synchronous motor using a current source inverter based on LADRC according to claim 3 is characterized in that: Let z1 be i sdq The tracking signal, z2 is u sdq The tracking signal of z3 is the tracking signal of the unknown disturbance of the dq axis. The second-order dq axis LADRC regulator is designed as: The regulator is composed of a linear extended state observer and a linear error feedback control law; The linear expansion state observer part of the d-axis LADRC is designed as follows: The linear expansion state observer part of the q-axis LADRC is designed as follows: Among them, β1, β2, and β3 are the linear extended state observer gains; The LESF part of the dq-axis LADRC is designed as follows: where k p , k d , b0 is the LESF parameter; The estimated capacitor current reference value is added to the sampled motor stator current to obtain the inverter input current i wdq The estimated value of .

6. A current source inverter high-speed permanent magnet synchronous motor control system based on LADRC, characterized in that: The system comprises: The position estimation module inputs the q-axis voltage and current, and estimates the motor speed and position angle signals through the LADRC algorithm; The speed regulator is used to adjust the difference between the real-time speed and the given speed to obtain the quadrature-axis current reference value of the motor; A current sensor is used to sample the three-phase current of the motor stator; A voltage sensor is used to sample the three-phase voltage of the motor stator; A coordinate transformation matrix is ​​used to transform the coordinates of the current sensor sampling signal according to the current position information to obtain the quadrature-axis current feedback and direct-axis current feedback of the motor; and is also used to transform the coordinates of the voltage sensor sampling signal according to the current position information to obtain the quadrature-axis voltage feedback and direct-axis voltage feedback of the motor; The current regulator adopts a second-order LADRC algorithm to adjust the quadrature-axis current feedback value of the motor and the quadrature-axis current reference value and other known quantities to obtain the quadrature-axis filter capacitor current reference value, and to adjust the direct-axis filter capacitor current reference value according to the difference between the direct-axis current feedback value of the motor and the zero reference current; The current generation module is used to add the AC and DC axis current reference values ​​of the filter capacitor to the AC and DC axis current feedback values ​​of the motor to obtain the AC and DC axis current reference values ​​of the inverter, and obtain the amplitude and phase of the current required for the modulation inverter through Park inverse transformation; The space vector pulse width modulation module is used to obtain a switching signal according to the amplitude and phase of the current required by the modulation inverter and the current position information, combined with the space vector pulse width modulation technology, so as to drive and adjust the inverter current amplitude and phase.

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