LADRC permanent magnet synchronous motor control system and method based on superspiral sliding mode

Abstract

The invention relates to the technical field of motor control, and discloses an LADRC permanent magnet synchronous motor control system and method based on a superspiral sliding mode, and the system comprises a motor control inverter system which is used for receiving a dq-axis stator voltage component, and generating a three-phase current signal of a permanent magnet synchronous motor; the current acquisition subsystem is used for receiving the three-phase current signal and generating a dq-axis stator current component through Clark change and Park conversion; the first speed ring controller is used for designing a self-adaptive bandwidth function and introducing a super-spiral sliding mode algorithm according to the target rotating speed and the actual rotating speed of the motor, and generating a corrected q-axis stator current component by performing error correction on a control system; the second current loop controller is used for performing q-axis PI control to obtain a q-axis stator voltage component; the third current loop controller is used for performing d-axis PI control to obtain a d-axis stator voltage component; according to the invention, buffeting of the control system is effectively reduced, and the anti-interference capability and the control performance of the control system under different working conditions are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a LADRC permanent magnet synchronous motor control system and method based on super helical sliding mode. Background Art

[0002] Permanent magnet synchronous motors are widely used in the field of new energy vehicles due to their significant advantages such as high efficiency, high power density and low energy consumption. However, in actual operation, motor control systems are affected by complex nonlinear factors, load fluctuations and external interference. Traditional control methods, such as PID control, active disturbance rejection control and sliding mode control, have certain shortcomings in terms of fast response and anti-interference. At present, in response to sudden load changes or changes in speed requirements, permanent magnet synchronous motor control systems need to be stably adjusted to a new operating state in a short time. However, traditional PID control has poor adaptability to the nonlinearity of the control system, especially under dynamic load changes, and response delays often occur, which may lead to failure of motor torque control or reduced speed regulation accuracy. Active disturbance rejection control is divided into linear active disturbance rejection control (LADRC) and nonlinear active disturbance rejection control (ADRC). Although nonlinear active disturbance rejection control can estimate and suppress interference, its response speed depends on parameter adjustment and has limited performance in high-speed dynamic response scenarios. Secondly, when subject to external interference and internal disturbances, PID control and nonlinear ADRC have limited anti-interference capabilities. Especially under sudden interference, the control system lacks stability and is prone to large fluctuations, causing the motor system to be unable to maintain stable operation. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a LADRC permanent magnet synchronous motor control system and method based on super helical sliding mode, which improves the speed loop controller of the permanent magnet synchronous motor to solve the interference and rotation performance problems of traditional permanent magnet synchronous motors under complex and changeable working conditions, thereby improving the system's response speed, anti-interference ability and overall control accuracy.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0005] A LADRC permanent magnet synchronous motor control system based on super helical sliding mode, comprising:

[0006] A motor control inverter system for receiving a d-axis stator voltage component u d and the q-axis stator voltage component u g , and convert it into a three-phase current signal of a permanent magnet synchronous motor;

[0007] The current acquisition subsystem is used to receive the three-phase current signal of the permanent magnet synchronous motor and generate the d-axis stator current component i through Clark transformation and Park transformation. d and the q-axis stator current component i g ;

[0008] The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-helical sliding mode algorithm according to the target speed and actual speed of the motor, and to generate a corrected q-axis stator current component by performing error correction on the control system.

[0009] A second current loop controller is used to receive the corrected q-axis stator current component and the q-axis stator current component i q , perform q-axis PI control and obtain the q-axis stator voltage component u q ;

[0010] A third current loop controller is used to receive a second input parameter and the d-axis stator current component i d , perform d-axis PI control and obtain the d-axis stator voltage component u d .

[0011] Further, the motor control inverter system includes an inverse Park transformation module, an SVPWM module, and an inverter module;

[0012] Inverse Park transformation module, used to receive the d-axis stator voltage component u d and the q-axis stator voltage component u q , through the inverse Park transformation, the d-axis stator voltage component u d and the q-axis stator voltage component u q Convert to the stator voltage component in the stationary coordinate system;

[0013] SVPWM module, used for receiving the stator voltage component in the stationary coordinate system and converting it into a PWM signal;

[0014] The inverter module is used to receive the PWM signal and generate a three-phase current signal of the permanent magnet synchronous motor.

[0015] Further, the current acquisition subsystem includes a Clark transformation module and a Park transformation module;

[0016] Clark transformation module, used to receive the three-phase current signal of the permanent magnet synchronous motor, and convert it into the stator current component under the stationary coordinate through Clark transformation;

[0017] The Park transformation module is used to receive the stator current component in the stationary coordinate and convert it into the d-axis stator current component i through Park transformation. d and the q-axis stator current component i g .

[0018] Further, the first speed loop controller includes a linear tracking differentiator, a linear state error feedback module, and an improved extended state observer;

[0019] Linear tracking differentiator, used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also plays a filtering role;

[0020] A linear state error feedback module is used to design an adaptive bandwidth function using a softsign function, and to use the adaptive bandwidth function to control the control system to automatically adjust the bandwidth according to changes in the actual speed of the motor;

[0021] The improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer and to perform control optimization on the extended state observer.

[0022] Furthermore, the calculation formula of the tracking signal is:

[0023]

[0024] Where e1 represents the tracking error, z 11 The tracking signal representing the actual speed of the motor, i.e., the observed value of the actual speed of the motor, Indicates the target speed of the motor, The tracking signal z represents the actual speed of the motor 11 The first derivative of , r represents the speed factor of the linear tracking differentiator.

[0025] Furthermore, the adaptive bandwidth function is:

[0026]

[0027] Among them, α1 represents the adaptive bandwidth function, e0 represents the initial value of the current error term, and e w Represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed, e wnew represents the speed error of the motor after adjustment and update, k represents the adjustment coefficient, c1 represents the gain coefficient, c2 represents the dynamic gain coefficient, softsign represents the nonlinear activation function, and x′ represents the first intermediate variable.

[0028] Furthermore, the specific process for introducing the super-helical sliding mode algorithm to track the error signal of the extended state observer and perform control optimization on the extended state observer is as follows:

[0029] Get the relationship between the state variables and output of the control system, that is:

[0030]

[0031] Where x represents the state variable of the control system, t represents time, α and β represent unknown continuous sliding mode variable structure functions, u′ represents input, y represents output, and s represents sliding mode variable;

[0032] Assume s = yy*, then the expression of the super-helical sliding mode algorithm is:

[0033]

[0034] Among them, y* represents the reference signal, v represents the state variable of the control system after the sliding mode control algorithm is added, represents the first-order derivative of the state variable after the sliding mode control algorithm is added to the control system, k1 and k2 both represent gain terms, and r′ represents the design parameter;

[0035] The sliding surface function expression of the definition error of the improved extended state observer is obtained, namely:

[0036]

[0037] Among them, z 21 Indicates the actual speed of the motor w m The observed value, h1 represents the actual speed w of the motor m The observed value z 21 The observation error, h2, Both represent the actual speed of the motor w m The observed value z 21 The first derivative of the observation error is Indicates the actual speed of the motor w m The first-order derivative of the observed value, Indicates the actual speed of the motor w m The first derivative of ;

[0038] According to the relationship between the state variable and the output of the control system, the expression of the super-helical sliding mode algorithm, and the sliding surface function expression of the definition error of the improved extended state observer, the linear extended state observer relationship of the first speed loop controller is obtained, that is:

[0039]

[0040] Among them, v* represents the ideal speed signal of the motor, Indicates the dynamic rate of change of the motor system status indicator, Indicates the actual speed of the motor wm The observed value z 21 The second derivative of the observation error, sign represents the sign function;

[0041] Based on the linear extended state observer relationship of the first speed loop controller, the improved extended state observer expression is obtained, namely:

[0042]

[0043] Among them, z 22 represents the observed value of the disturbance term of the control system, β1 and β2 represent the gain terms of the first speed loop controller, b0 represents the second intermediate variable, and p n represents the number of motor pole pairs, J represents the motor's moment of inertia, ψ f represents the flux linkage of permanent magnet;

[0044] The control optimization of the extended state observer is carried out using the improved extended state observer expression.

[0045] A LADRC permanent magnet synchronous motor control method based on super helical sliding mode is applied, comprising the following steps:

[0046] S1. Construct a permanent magnet synchronous motor vector control model, and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component;

[0047] S2, inputting the target speed and the actual speed of the motor into the first speed loop controller, using the designed adaptive bandwidth function and the introduction of the super-helical sliding mode algorithm, by performing error correction on the control system, generating a corrected q-axis stator current component;

[0048] S3, inputting the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller to perform q-axis PI control to obtain the axis stator voltage component;

[0049] S4, inputting the second input parameter and the d-axis stator current component into the third current loop controller to perform d-axis PI control to obtain a d-axis stator voltage component;

[0050] S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate a three-phase current signal of the permanent magnet synchronous motor to realize permanent magnet synchronous motor control.

[0051] Furthermore, the permanent magnet synchronous motor vector control model in step S1 is:

[0052]

[0053] Among them, ud 、u q They represent the d-axis stator voltage component and the q-axis stator voltage component respectively, R represents the stator resistance, i d 、i q They represent the d-axis stator current component and the q-axis stator current component respectively, and L d , L q Respectively represent the d-axis inductance component and the q-axis inductance component, ω e represents the electrical angular velocity, θ represents the mechanical angular velocity, and Ψ f represents the permanent magnet flux, T e 、T L Indicates the load torque of the electromagnetic torque and the load torque of the motor, p n represents the number of motor pole pairs, J represents the moment of inertia of the motor, and B represents the damping friction factor.

[0054] The present invention has the following beneficial effects:

[0055] 1. The present invention proposes a LADRC permanent magnet synchronous motor control system based on super helical sliding mode, designs an adaptive bandwidth function and introduces a super helical sliding mode algorithm in the first speed loop controller, solves the problem of unstable performance of the permanent magnet synchronous motor in complex environments and different speed operating conditions, effectively reduces the chattering of the permanent magnet synchronous motor control system, improves the anti-interference ability of the permanent magnet synchronous motor control system under different working conditions, and improves its control performance;

[0056] 2. The introduction of adaptive bandwidth improves the stability of the permanent magnet synchronous motor control system under multiple working conditions;

[0057] 3. The super-helical sliding mode algorithm is introduced to optimize the control of the extended state observer, improve the dynamic response speed of the permanent magnet synchronous motor, improve the anti-interference ability of the permanent magnet synchronous motor control system, and significantly shorten the stabilization time of the permanent magnet synchronous motor control system;

[0058] 4. Compared with traditional nonlinear anti-disturbance control, the LADRC permanent magnet synchronous motor control method based on super-helical sliding mode proposed in the present invention reduces the dependence of the permanent magnet synchronous motor control system on parameters, reduces the uncertainty of the control system, and improves the stability of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of the structure of a LADRC permanent magnet synchronous motor control system based on super helical sliding mode proposed in the present invention;

[0060] Figure 2 It is a structural schematic diagram of the first speed loop controller;

[0061] Figure 3A schematic flow chart of a LADRC permanent magnet synchronous motor control method based on super helical sliding mode proposed in the present invention. DETAILED DESCRIPTION

[0062] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0063] like Figure 1 As shown, a LADRC permanent magnet synchronous motor control system based on super helical sliding mode includes:

[0064] A motor control inverter system for receiving a d-axis stator voltage component u d and the q-axis stator voltage component u g , and convert it into a three-phase current signal of a permanent magnet synchronous motor.

[0065] Specifically, the motor control inverter system includes an inverse Park transformation module, an SVPWM module, and an inverter module; the inverse Park transformation module is used to receive the d-axis stator voltage component u d and the q-axis stator voltage component u q , through the inverse Park transformation, the d-axis stator voltage component u d and the q-axis stator voltage component u q The SVPWM module is used to receive the stator voltage component in the stationary coordinate system and convert it into a PWM signal; the inverter module is used to receive the PWM signal and generate a three-phase current signal of the permanent magnet synchronous motor.

[0066] In this embodiment, the stator voltage components in the stationary coordinate system include Figure 1 The d-axis stator voltage component u of the inverse Park transformation is shown as β , the q-axis stator voltage component u of the inverse Park transformation α , and the three-phase current signal of the permanent magnet synchronous motor includes the A phase current i a 、B phase current i b 、C phase current i c .

[0067] The current acquisition subsystem is used to receive the three-phase current signal of the permanent magnet synchronous motor and generate the d-axis stator current component i through Clark transformation and Park transformation. d and the q-axis stator current component i g .

[0068] Specifically, the current acquisition subsystem includes a Clark transformation module and a Park transformation module;

[0069] The Clark transformation module is used to receive the three-phase current signal of the permanent magnet synchronous motor and convert it into the stator current component under the stationary coordinate through the Clark transformation; the Park transformation module is used to receive the stator current component under the stationary coordinate and convert it into the d-axis stator current component i through the Park transformation. d and the q-axis stator current component i q .

[0070] In this embodiment, the entire permanent magnet synchronous motor vector control model is constructed, and the three-phase current signal of the permanent magnet synchronous motor of the input current acquisition subsystem is obtained to obtain the d-axis stator current component i of the permanent magnet synchronous motor in the dq-axis coordinate system. d and the q-axis stator current component i q Among them, the permanent magnet synchronous motor vector control model is:

[0071]

[0072] Among them, u d 、u q They represent the d-axis stator voltage component and the q-axis stator voltage component respectively, R represents the stator resistance, i d 、i q They represent the d-axis stator current component and the q-axis stator current component respectively, and L d , L q Respectively represent the d-axis inductance component and the q-axis inductance component, ω e represents the electrical angular velocity, ω m Represents the mechanical angular velocity, T e 、T L It represents the load torque of electromagnetic torque and the load torque of the motor, and B represents the damping friction coefficient.

[0073] In addition, the stator current components in the stationary coordinate system include Figure 1 The d-axis stator current component i of the motor in the stationary coordinate system is shown as β , the q-axis stator current component i of the motor in the stationary coordinate system α .

[0074] The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-helical sliding mode algorithm according to the target speed and actual speed of the motor, and to generate a corrected q-axis stator current component by performing error correction on the control system.

[0075] In this embodiment, the first speed loop controller is actually a super-helical sliding mode anti-disturbance controller based on adaptive bandwidth design, that is, by improving the speed loop controller of the traditional permanent magnet synchronous motor control system, not only an adaptive bandwidth function is designed to control the permanent magnet synchronous motor control system to automatically adjust the bandwidth according to the change of the actual speed of the motor, but also a super-helical sliding mode algorithm (STSM) is introduced. By improving the extended state observer (LESO) in the linear auto-disturbance rejection control (LADRC), an improved extended state observer (STSM-LESO) is designed, that is, the super-helical sliding mode algorithm is used to track the error signal in the extended state observer, so that it can converge to zero quickly, so as to improve the tracking performance of the extended state observer and further improve the anti-disturbance performance of the system.

[0076] Among them, the structural principle of the first speed loop controller is as follows Figure 2 As shown: it includes a linear tracking differentiator (LTD), a linear state error feedback module (i.e., an adaptive bandwidth design module), and an improved extended state observer (STSM-LESO), and its functions are as follows:

[0077] The linear tracking differentiator is used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also acts as a filter.

[0078] Specifically, the calculation formula of the tracking signal is:

[0079]

[0080] Where e1 represents the tracking error, z 11 The tracking signal representing the actual speed of the motor, i.e., the observed value of the actual speed of the motor, Indicates the target speed of the motor, The tracking signal z represents the actual speed of the motor 11 The first derivative of , r represents the speed factor of the linear tracking differentiator.

[0081] The linear state error feedback module is used to design an adaptive bandwidth function using a softsign function, and utilize the adaptive bandwidth function to control the control system to automatically adjust the bandwidth according to changes in the actual speed of the motor.

[0082] Specifically, the adaptive bandwidth function is:

[0083]

[0084] Among them, α1 represents the adaptive bandwidth function, e0 represents the initial value of the current error term, and e w Represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed, e wnewrepresents the speed error of the motor after adjustment and update, k represents the adjustment coefficient, c1 represents the gain coefficient, c2 represents the dynamic gain coefficient, softsign represents the nonlinear activation function, and x′ represents the first intermediate variable.

[0085] In this embodiment, although the linear active disturbance rejection control (LADRC) has the advantages of simple structure and excellent control performance, the fixed bandwidth is still limited in the face of complex environmental conditions and scenarios with different speed ranges; therefore, based on the defect of the fixed bandwidth limitation of the permanent magnet synchronous motor control system, the present invention designs an adaptive bandwidth linear active disturbance rejection control method, that is, it proposes to use the Softsign function to design an adaptive bandwidth function, so that the permanent magnet synchronous motor control system can automatically adjust the bandwidth according to the change of the motor speed, thereby effectively coping with the interference of the permanent magnet synchronous motor in a complex and changeable environment, improving the stability and dynamic response performance of the motor, and further enhancing the robustness and anti-interference ability of the permanent magnet synchronous motor control system. Therefore, according to the good robustness of the permanent magnet synchronous motor control system at low speed, the bandwidth can be reduced to improve the stability of the control system, and the bandwidth can be increased at high speed to improve the robustness of the system, thereby designing an adaptive bandwidth function, specifically: Among them, the gain coefficient c1 can be adjusted with the size of the error, and the dynamic gain coefficient c2 can be adjusted according to the error value to cope with different working conditions. In this way, the first speed loop controller can increase the feedback strength when the error is large, so that the permanent magnet synchronous motor control system converges quickly, and on the contrary, reduce feedback, avoid system oscillation, and improve system stability.

[0086] The improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer and to perform control optimization on the extended state observer to improve the tracking performance of the extended state observer.

[0087] In this embodiment, the function of the improved extended state observer is to uniformly regard the internal disturbance and external disturbance of the control system as a total disturbance, and observe the total disturbance as a new state variable, that is, to expand a new state variable; the specific design is: introduce the super spiral sliding mode algorithm (STSM) in the extended state observer for control optimization, improve the extended state observer (LESO) in the linear self-disturbance rejection control, design an improved extended state observer (STSM-LESO), use the super spiral sliding mode algorithm to track the error signal in the extended state observer, so that it can quickly converge to zero, so as to improve the tracking performance of the extended state observer and further improve the anti-disturbance performance of the system. Therefore, the improved extended state observer is used to introduce the super spiral sliding mode algorithm to track the error signal of the extended state observer, and to optimize the control of the extended state observer. The specific process for improving the tracking performance of the extended state observer is as follows:

[0088] Get the relationship between the state variables and output of the control system, that is:

[0089]

[0090] Among them, x represents the state variable of the control system, t represents time, α and β represent unknown continuous sliding mode variable structure functions, u′ represents input, y represents output, and s represents sliding mode variable.

[0091] Let s = yy * , then the expression of the super helical sliding mode algorithm is:

[0092]

[0093] Among them, y* represents the reference signal, v represents the state variable of the control system after the sliding mode control algorithm is added, It represents the first-order derivative of the state variable after the sliding mode control algorithm is added to the control system, k1 and k2 both represent gain terms, and r′ represents the design parameter.

[0094] In this embodiment, the general value of the design parameter r' is 0.5.

[0095] The sliding surface function expression of the definition error of the improved extended state observer is obtained, namely:

[0096]

[0097] Among them, z 21 Indicates the actual speed of the motor w m The observed value, h1 represents the actual speed w of the motor m The observed value z 21 The observation error, h2, Both represent the actual speed of the motor w m The observed value z 21 The first derivative of the observation error is Indicates the actual speed of the motor w m The first-order derivative of the observed value, Indicates the actual speed of the motor w m The first derivative of .

[0098] According to the relationship between the state variable and the output of the control system, the expression of the super-helical sliding mode algorithm, and the sliding surface function expression of the definition error of the improved extended state observer, the linear extended state observer relationship of the first speed loop controller is obtained, that is:

[0099]

[0100] Among them, v* represents the ideal speed signal of the motor, Indicates the dynamic rate of change of the motor system status indicator, Indicates the actual speed of the motor w m The observed value z 21 The second derivative of the observation error, sign represents the sign function.

[0101] Based on the linear extended state observer relationship of the first speed loop controller, the improved extended state observer expression is obtained, namely:

[0102]

[0103] Among them, z 22 represents the observed value of the disturbance term of the control system, β1 and β2 represent the gain terms of the first speed loop controller, b0 represents the second intermediate variable, and p n represents the number of motor poles, J represents the moment of inertia of the motor, Ψ f Represents the flux linkage of a permanent magnet.

[0104] The control optimization of the extended state observer is carried out using the improved extended state observer expression to improve the tracking performance of the extended state observer.

[0105] A second current loop controller is used to receive the corrected q-axis stator current component and the q-axis stator current component i q , perform q-axis PI control and obtain the q-axis stator voltage component u q .

[0106] A third current loop controller is used to receive a second input parameter and the d-axis stator current component i d , perform d-axis PI control and obtain the d-axis stator voltage component u d .

[0107] like Figure 3 As shown, a LADRC permanent magnet synchronous motor control method based on super helical sliding mode is applied, which includes the following steps S1-S5:

[0108] S1. Construct a permanent magnet synchronous motor vector control model, and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component.

[0109] Specifically, the permanent magnet synchronous motor vector control model in step S1 is:

[0110]

[0111] Among them, ud 、u q They represent the d-axis stator voltage component and the q-axis stator voltage component respectively, R represents the stator resistance, i d 、i q They represent the d-axis stator current component and the q-axis stator current component respectively, and L d , L q Respectively represent the d-axis inductance component and the q-axis inductance component, ω e represents the electrical angular velocity, θ represents the mechanical angular velocity, and Ψ f represents the permanent magnet flux, T e 、T L Indicates the load torque of the electromagnetic torque and the load torque of the motor, p n represents the number of motor poles, J represents the motor's moment of inertia, and B represents the damping friction factor

[0112] S2. Input the target speed and actual speed of the motor into the first speed loop controller, and use the designed adaptive bandwidth function and the introduction of the super-helical sliding mode algorithm to perform error correction on the control system to generate a corrected q-axis stator current component.

[0113] S3. Input the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller to perform q-axis PI control to obtain the q-axis stator voltage component.

[0114] S4. Input the second input parameter and the d-axis stator current component into the third current loop controller to perform d-axis PI control to obtain a d-axis stator voltage component.

[0115] S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate a three-phase current signal of the permanent magnet synchronous motor to realize permanent magnet synchronous motor control.

[0116] In summary, the present invention proposes a LADRC permanent magnet synchronous motor control system and method based on super-helical sliding mode, designs an adaptive bandwidth function and introduces a super-helical sliding mode algorithm in the first speed loop controller, solves the problem of unstable performance of the permanent magnet synchronous motor in complex environments and different speed operating conditions, effectively reduces the control system jitter, improves the anti-interference ability of the control system under different operating conditions, and improves the control performance; at the same time, the introduction of adaptive bandwidth improves the stability of the control system under multiple operating conditions; the introduction of the super-helical sliding mode algorithm improves the anti-interference ability of the control system.

[0117] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0118] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A LADRC permanent magnet synchronous motor control system based on super helical sliding mode, characterized in that: include: A motor control inverter system for receiving a d-axis stator voltage component u d and the q-axis stator voltage component u q , and convert it into a three-phase current signal of a permanent magnet synchronous motor; The current acquisition subsystem is used to receive the three-phase current signal of the permanent magnet synchronous motor and generate the d-axis stator current component i through Clark transformation and Park transformation. d and the q-axis stator current component i q ; The first speed loop controller is used to design an adaptive bandwidth function and introduce a super-helical sliding mode algorithm according to the target speed and actual speed of the motor, and to generate a corrected q-axis stator current component by performing error correction on the control system. A second current loop controller is used to receive the corrected q-axis stator current component and the q-axis stator current component i q , perform q-axis PI control and obtain the q-axis stator voltage component u q ; A third current loop controller is used to receive a second input parameter and the d-axis stator current component i d , perform d-axis PI control and obtain the d-axis stator voltage component u d .

2. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 1 is characterized in that: The motor control inverter system includes an anti-Park conversion module, an SVPWM module, and an inverter module; Inverse Park transformation module, used to receive the d-axis stator voltage component u d and the q-axis stator voltage component u q , through the inverse Park transformation, the d-axis stator voltage component u d and the q-axis stator voltage component u q Convert to the stator voltage component in the stationary coordinate system; SVPWM module, used for receiving the stator voltage component in the stationary coordinate system and converting it into a PWM signal; The inverter module is used to receive the PWM signal and generate a three-phase current signal of the permanent magnet synchronous motor.

3. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 2 is characterized in that: The current acquisition subsystem includes Clark transformation module and Park transformation module; Clark transformation module, used to receive the three-phase current signal of the permanent magnet synchronous motor, and convert it into the stator current component under the stationary coordinate through Clark transformation; The Park transformation module is used to receive the stator current component in the stationary coordinate and convert it into the d-axis stator current component i through Park transformation. d and the q-axis stator current component i q .

4. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 3 is characterized in that: The first speed loop controller includes a linear tracking differentiator, a linear state error feedback module, and an improved extended state observer; Linear tracking differentiator, used to receive the target speed of the motor, extract the tracking signal and arrange the transition process, and also plays a filtering role; A linear state error feedback module is used to design an adaptive bandwidth function using a softsign function, and to control the control system to automatically adjust the bandwidth according to the actual speed change of the motor using the adaptive bandwidth function; The improved extended state observer is used to introduce a super-helical sliding mode algorithm to track the error signal of the extended state observer and to perform control optimization on the extended state observer.

5. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 4 is characterized in that: The calculation formula of the tracking signal is: Where e1 represents the tracking error, z 11 The tracking signal representing the actual speed of the motor, i.e., the observed value of the actual speed of the motor, Indicates the target speed of the motor, The tracking signal z represents the actual speed of the motor 11 The first derivative of , r represents the speed factor of the linear tracking differentiator.

6. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 5 is characterized in that: The adaptive bandwidth function is: Among them, α1 represents the adaptive bandwidth function, e0 represents the initial value of the current error term, and e w Represents the speed error of the motor, that is, the difference between the actual speed of the motor and the target speed, e wnew represents the speed error of the motor after adjustment and update, k represents the adjustment coefficient, c1 represents the gain coefficient, c2 represents the dynamic gain coefficient, softsign represents the nonlinear activation function, and x′ represents the first intermediate variable.

7. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 6 is characterized in that: The specific process for introducing the super-helical sliding mode algorithm to track the error signal of the extended state observer and to optimize the control of the extended state observer is as follows: Get the relationship between the state variables and output of the control system, that is: Where x represents the state variable of the control system, t represents time, α and β represent unknown continuous sliding mode variable structure functions, u′ represents input, y represents output, and s represents sliding mode variable; Let a = yy * , then the expression of the super helical sliding mode algorithm is: Among them, y * represents the reference signal, v represents the state variable of the control system after the sliding mode control algorithm is added, represents the first-order derivative of the state variable after the sliding mode control algorithm is added to the control system, k1 and k2 both represent gain terms, and r′ represents the design parameter; The sliding surface function expression of the definition error of the improved extended state observer is obtained, namely: Among them, z 21 Indicates the actual speed of the motor w m The observed value, h1 represents the actual speed w of the motor m The observed value z 21 The observation error, h2, Both represent the actual speed of the motor w m The observed value z 21 The first derivative of the observation error is Indicates the actual speed of the motor w m The first-order derivative of the observed value, Indicates the actual speed of the motor w m The first derivative of ; According to the relationship between the state variable and the output of the control system, the expression of the super-helical sliding mode algorithm, and the sliding surface function expression of the definition error of the improved extended state observer, the linear extended state observer relationship of the first speed loop controller is obtained, that is: Among them, v * Indicates the ideal speed signal of the motor. Indicates the dynamic rate of change of the motor system status indicator, Indicates the actual speed of the motor w m The observed value z 21 The second derivative of the observation error, sign represents the sign function; Based on the linear extended state observer relationship of the first speed loop controller, the improved extended state observer expression is obtained, namely: Among them, z 22 represents the observed value of the disturbance term of the control system, β1 and β2 represent the gain terms of the first speed loop controller, b0 represents the second intermediate variable, and p n represents the number of motor pole pairs, J represents the motor's moment of inertia, ψ f represents the flux linkage of permanent magnet; The control optimization of the extended state observer is carried out using the improved extended state observer expression.

8. A LADRC permanent magnet synchronous motor control method based on super helical sliding mode, characterized in that: A LADRC permanent magnet synchronous motor control system based on super helical sliding mode as described in any one of claims 1 to 7, comprising the following steps: S1. Construct a permanent magnet synchronous motor vector control model, and input the three-phase current signal of the permanent magnet synchronous motor into the current acquisition subsystem to obtain the d-axis stator current component and the q-axis stator current component; S2, inputting the target speed and the actual speed of the motor into the first speed loop controller, using the designed adaptive bandwidth function and the introduction of the super-helical sliding mode algorithm, by performing error correction on the control system, generating a corrected q-axis stator current component; S3, inputting the corrected q-axis stator current component and the q-axis stator current component into the second current loop controller to perform q-axis PI control to obtain the axis stator voltage component; S4, inputting the second input parameter and the d-axis stator current component into the third current loop controller to perform d-axis PI control to obtain a d-axis stator voltage component; S5. Input the d-axis stator voltage component and the q-axis stator voltage component into the motor control inverter system to generate a three-phase current signal of the permanent magnet synchronous motor to realize permanent magnet synchronous motor control.

9. The LADRC permanent magnet synchronous motor control system based on super helical sliding mode according to claim 8 is characterized in that: The permanent magnet synchronous motor vector control model in step S1 is: Among them, u d 、u q They represent the d-axis stator voltage component and the q-axis stator voltage component respectively, R represents the stator resistance, i d 、i q They represent the d-axis stator current component and the q-axis stator current component respectively, and L d , L q Respectively represent the d-axis inductance component and the q-axis inductance component, ω a represents the electrical angular velocity, θ represents the mechanical angular velocity, and Ψ f represents the permanent magnet flux, T e 、T L Indicates the load torque of the electromagnetic torque and the load torque of the motor, p n represents the number of motor pole pairs, J represents the moment of inertia of the motor, and B represents the damping friction factor.

Images