Motor angular velocity calibration method, motor control method and motor control system

Abstract

The application provides a motor angular velocity calibration method, a motor control method and a motor control system, relates to the technical field of motor control, and the calibration method comprises the following steps: acquiring angular position information and angular velocity information output by a rotary transformer; constructing a discrete extended state observer DESO; obtaining initial ideal angular velocity based on the DESO, the angular position information and the angular velocity information; and processing the initial ideal angular velocity based on a closed-loop transfer function of a same-frequency extractor to obtain ideal angular velocity. The motor control method comprises the following steps: combining a linear sliding surface with a nonlinear sliding surface to construct dynamic non-singular terminal sliding mode control. The application improves the contradiction between sliding mode approaching speed and chattering, solves the problem that it is difficult to extract a rotational speed base frequency under normal operation of a CMG system, improves the precision of a rotary transformer output signal, and realizes high-precision speed control of a motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a motor angular velocity calibration method, a motor control method and a motor control system. BACKGROUND

[0002] The control moment gyro (CMG) has the advantages of large output torque, high precision, no need to consume working medium, long service life, etc., and is widely used in the attitude control field of large space vehicles such as space stations, space telescopes and super-agile maneuvering satellites. The control moment gyro is composed of a high-speed rotor system and a frame system, and its basic working principle is: the high-speed rotation of the high-speed rotor outputs torque, thereby controlling the attitude of the spacecraft. Since the angular momentum of the gyro is constant, the attitude control precision of the spacecraft and the output torque precision of the gyro are determined by the precision of the angular velocity of the frame system.

[0003] The resolver is suitable for the CMG control system with high measurement precision due to its high precision and strong anti-interference characteristics. The output signal of the resolver is demodulated and converted into a digital signal by a resolver-to-digital converter (RDC) chip, but is disturbed by various factors, resulting in errors such as quadrature error, inductance harmonic and amplitude imbalance in the output signal. However, due to the limitation of the space structure of the CMG, another accurate sensor cannot be used for compensation.

[0004] In order to avoid repeated disassembly, the online error extraction method is used for correction and compensation in the prior art, and the signal reconstruction method is used to process the noise in the output signal of the resolver. This method proves the feasibility of online correction, but due to the particularity of the CMG frame system, an integrated RDC chip is usually used for the shaft angle decoding system, so this method is not suitable for the CMG system.

[0005] The sliding mode control is suitable for the CMG control system due to its insensitivity to external uncertain disturbances and strong robustness, but there is always a contradiction between the approaching speed and the chattering. SUMMARY

[0006] The purpose of the present application is to provide a motor angular velocity calibration method, a motor control method and a motor control system, which improves the precision of the output signal of the resolver and solves the problem of contradiction between the approaching speed and the chattering in the traditional sliding mode control.

[0007] A motor angular velocity calibration method based on DESO and a same-frequency extractor, comprising:

[0008] Obtaining the angular position information and angular velocity information output by the resolver;

[0009] construct a discrete extended state observer DESO, obtain an initial ideal angular velocity based on the discrete extended state observer, the angular position information and the angular velocity information;

[0010] The discrete extended state observer expression is:

[0011]

[0012] In the formula, u(t) is an initial ideal angular velocity at t moment, ω raw (t) is an original angular velocity at t moment, z2(t) is an angular velocity error estimation value at t moment, e(t) is a discrete extended state observer estimation error at t moment, y(t) is an original angular position at t moment, z1(t) is an angular position estimation value at t moment, z1(t-1) is an angular position estimation value at t-1 moment, z2(t-1) is an angular velocity error estimation value at t-1 moment, h is an integral step, u(t-1) is an initial ideal angular velocity at t-1 moment, β1 is a first parameter of the discrete extended state observer, e(t-1) is a discrete extended state observer estimation error at t-1 moment, β2 is a second parameter of the discrete extended state observer, m is an integral point quantity, and η is a convergence speed coefficient of z2(t-m) at t-m moment;

[0013] The initial ideal angular velocity is processed based on a same-frequency extractor closed-loop transfer function to obtain an ideal angular velocity; the expression is:

[0014] ω(t) = u(t) * H(t);

[0015] In the formula, ω(t) is an ideal angular velocity at t moment, H(t) is a transfer function at t moment, when u(t) = ω0, H(t) = 1, when u(t) ≠ ω0, ω0 is a base frequency of the initial ideal angular velocity, j is an imaginary unit, and ε is a same-frequency extractor coefficient.

[0016] The application also provides a permanent magnet synchronous motor control method based on the ideal angular velocity.

[0017] A permanent magnet synchronous motor mathematical model in a d-q rotating coordinate system is constructed; the permanent magnet synchronous motor mathematical model expression is:

[0018]

[0019] In the formula, u d is a motor d-axis voltage, i d is a motor d-axis current, u q is a motor q-axis voltage, i q is a motor q-axis current, L d is a motor d-axis stator inductance, and Lq is the motor q-axis stator inductance, R is the motor stator inductance, p n is the stator resistance of the motor, J is the moment of inertia of the motor, is the permanent magnet flux of the motor, B is the magnetic damping coefficient, t is the time, T e is the electromagnetic torque of the motor, T L is the motor load torque, ω m is the motor speed, obtained based on the ideal angular velocity of claim 1;

[0020] Based on i d =0, processing the permanent magnet synchronous motor mathematical model using a magnetic field oriented control method to obtain a motor processing mathematical model;

[0021] Considering the lumped disturbance F, the state variable model of the permanent magnet synchronous motor is constructed; the expression is:

[0022]

[0023] Where: x1 is the first state variable, x2 is the second state variable, is the first derivative of x2, is the first derivative of x1,

[0024] A non-singular terminal sliding surface model is constructed based on the state variable model, and the expression is:

[0025]

[0026] Where: ζ is the constructed non-singular terminal sliding surface, x′1=s, is the first derivative of x′1, s=cx1+x2 is the linear sliding surface, c is the parameter of the linear sliding surface s, β is the first sliding parameter, β>0, p is the second parameter of the sliding mode, q is the third parameter of the sliding mode, 1<p / q<2, p and q are positive odd numbers;

[0027] The non-singular terminal sliding surface model is derived to obtain a non-singular terminal sliding surface derivative model; the expression is:

[0028]

[0029] Will Substituting into the non-singular terminal sliding surface derivative model, a dynamic non-singular terminal sliding surface model is obtained;

[0030] Constructing the exponential reaching law of the dynamic non-singular terminal sliding surface model A controller is constructed based on the exponential reaching law and the dynamic non-singular terminal sliding surface model, and the expression is:

[0031]

[0032] In the formula: is a controller output value, is a motor q-axis input current, is a first coefficient, and n is a second coefficient.

[0033] Optionally, the motor processing mathematical model expression is:

[0034]

[0035] Optionally, a state variable model of a permanent magnet synchronous motor is constructed by considering lumped disturbance F, including:

[0036] An initial state variable model is constructed; the expression is:

[0037]

[0038] In the formula: is a motor reference speed;

[0039] Load disturbance, magnetic damping disturbance, and permanent magnet flux linkage disturbance are added to the motor processing mathematical model to obtain a motor disturbance mathematical model; the expression is:

[0040]

[0041] In the formula: is a permanent magnet flux linkage disturbance, ΔT L is a load disturbance, and ΔB is a magnetic damping disturbance;

[0042] Load disturbance, magnetic damping disturbance, and permanent magnet flux linkage disturbance are equivalent to lumped disturbance F, and the motor disturbance mathematical model is substituted into the initial state variable model and derived to obtain the state variable model.

[0043] Optionally, an extended state observer is constructed, and linearization processing is performed thereon to obtain a linearized extended state observer; the expression is:

[0044]

[0045] In the formula: e is an observation error, z1 is an observation value of y z , y z = ω m , and δ is a Fal filter function parameter value, l1 = 2ω r , ω r is a bandwidth of a control system.

[0046] Optionally, a motor disturbance observation model is constructed; the expression is:

[0047]

[0048] In the formula: x z1 is an intermediate parameter;

[0049] Based on the motor disturbance observation model, an extended state observer is constructed, and linearization processing is performed thereon to obtain an initial linearization extended state observer, and the expression is:

[0050]

[0051] Based on the Fal filter function, the initial linearization extended state observer is improved to obtain the linearization extended state observer;

[0052] Based on the linearization extended state observer, the value of the lumped disturbance F is obtained.

[0053] The application also provides a permanent magnet synchronous motor control system based on the ideal angular velocity, which comprises:

[0054] A model construction module is configured to construct a permanent magnet synchronous motor mathematical model in a d-q rotating coordinate system; and the expression of the permanent magnet synchronous motor mathematical model is:

[0055]

[0056] In the formula: u d is a motor d-axis voltage, i d is a motor d-axis current, u q is a motor q-axis voltage, i q is a motor q-axis current, L d is a motor d-axis stator inductance, L q is a motor q-axis stator inductance, R is a motor stator inductance, p n is a motor stator resistance, J is a motor moment of inertia, is a motor permanent magnet flux linkage, B is a magnetic damping coefficient, t is time, T e is a motor electromagnetic torque, T L is a motor load torque, ω m is a motor speed, and the ideal angular velocity is obtained based on claim 1;

[0057] A model processing module is configured to process the permanent magnet synchronous motor mathematical model based on a magnetic field oriented control method of i d =0 to obtain a motor processing mathematical model;

[0058] A state variable module is configured to construct a state variable model of the permanent magnet synchronous motor by considering the lumped disturbance F; and the expression is:

[0059]

[0060] wherein: x1 is a first state variable, x2 is a second state variable, is a first order derivative of x2, is a first order derivative of x1,

[0061] a sliding mode surface module configured to construct a non-singular terminal sliding mode surface model based on the state variable model, expressed as:

[0062]

[0063] wherein: ζ is the constructed non-singular terminal sliding mode surface, x'1 = s, is a first order derivative of x'1, s = cx1 + x2 is a linear sliding mode surface, c is a parameter of the linear sliding mode surface s, β is a first parameter of the sliding mode, β > 0, p is a second parameter of the sliding mode, q is a third parameter of the sliding mode, 1 < p / q < 2, p and q are positive odd numbers;

[0064] a derivation module configured to derive the non-singular terminal sliding mode surface model to obtain a non-singular terminal sliding mode surface derivation model; expressed as:

[0065]

[0066] a dynamic non-singular terminal sliding mode surface model module configured to substitute into the non-singular terminal sliding mode surface derivation model to obtain a dynamic non-singular terminal sliding mode surface model;

[0067] a control module configured to construct an exponential reaching law of the dynamic non-singular terminal sliding mode surface model and construct a controller based on the exponential reaching law and the dynamic non-singular terminal sliding mode surface model, expressed as:

[0068]

[0069] wherein: is a controller output value, is a motor q-axis input current, is a first coefficient, n is a second coefficient.

[0070] Optionally, the motor processing mathematical model is expressed as:

[0071]

[0072] Optionally, the state variable module comprises:

[0073] a first state variable unit configured to construct an initial state variable model; expressed as:

[0074]

[0075] wherein: is the reference speed of the motor;

[0076] a disturbance unit, configured to add load disturbance, magnetic damping disturbance and permanent magnet flux disturbance in the motor processing mathematical model to obtain a motor disturbance mathematical model; the expression is:

[0077]

[0078] wherein: is the permanent magnet flux disturbance, ΔT L is the load disturbance, and ΔB is the magnetic damping disturbance;

[0079] a second state variable unit, configured to equivalently convert the load disturbance, the magnetic damping disturbance and the permanent magnet flux disturbance into a lumped disturbance F, and substitute the motor disturbance mathematical model into the initial state variable model and derive to obtain the state variable model.

[0080] Optionally, a motor disturbance observation model is constructed; the expression is:

[0081]

[0082] wherein: x z1 is an intermediate parameter;

[0083] An extended state observer is constructed based on the motor disturbance observation model, and linearization processing is performed on the extended state observer to obtain an initial linearized extended state observer; the expression is:

[0084]

[0085] The initial linearized extended state observer is improved based on a Fal filter function to obtain the linearized extended state observer; the expression is:

[0086]

[0087] wherein: e is an observation error, z1 is an observation value of y z , y z = ω m , and δ is a Fal filter function parameter value; l1=2ω r , ω r is the bandwidth of the control system;

[0088] The value of the lumped disturbance F is obtained based on the linearized extended state observer.

[0089] Effects of the present application are as follows:

[0090] The application is based on a motor angular velocity calibration method of DESO and a same frequency extractor, and the speed error in the original angular velocity is obtained through a discrete extended state observer DESO, so that more accurate angular velocity information is obtained, and the angular velocity information is further processed through the same frequency extractor, so that the harmonic components are suppressed while the fundamental frequency signal is retained, so that accurate angular velocity information is obtained.

[0091] The application is based on a motor angular velocity calibration method of DESO and a same frequency extractor, and can be applied to a CMG system, extracts the rotational speed fundamental frequency under normal working of the CMG system, and solves the problem of limited compensation effect caused by bandwidth limitation and phase lag of each physical quantity filtering in the frame servo system of the control moment gyro due to the traditional observer method.

[0092] The application is based on a permanent magnet synchronous motor control method of ideal angular velocity, and the linear sliding mode surface is derived as a new variable by adopting the control idea of combining dynamic sliding mode and non-singular terminal sliding mode, and a new nonlinear sliding mode surface, i.e. a non-singular terminal sliding mode surface, is constructed, so that the discontinuous term of the control input is put into the first derivative of the control input and then integrated, the chattering of the system and the degree of chattering of the controller output are reduced on the basis of retaining the high dynamic response performance of the traditional terminal sliding mode, and the singular phenomenon is avoided.

[0093] The application is based on a permanent magnet synchronous motor control method of ideal angular velocity, and the dynamic response performance and the degree of chattering of the sliding mode control system are considered, so that the contradiction between the sliding mode control approaching speed and the chattering is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0094] Figure 1 The application is based on a motor angular velocity calibration method of DESO and a same frequency extractor flow chart;

[0095] Figure 2 The application discloses a same frequency extractor schematic diagram;

[0096] Figure 3 The application is based on a motor angular velocity calibration method of DESO and a same frequency extractor schematic diagram;

[0097] Figure 4 The application is based on a permanent magnet synchronous motor control method of ideal angular velocity schematic diagram;

[0098] Figure 5 The application is based on a same frequency extractor filtering effect schematic diagram;

[0099] Figure 6 The application is based on a control speed response curve schematic diagram;

[0100] Figure 7The controller output curve schematic diagram of the application. DETAILED DESCRIPTION

[0101] Embodiments of the application will be described below with reference to the accompanying drawings.

[0102] Figure 1 is a flow chart of the motor angular velocity calibration method based on DESO and the same frequency extractor of the application, Figure 3 is a principle diagram of the motor angular velocity calibration method based on DESO and the same frequency extractor of the application. Figure 1 and Figure 3 The application provides a motor angular velocity calibration method based on DESO and the same frequency extractor, which comprises the following steps:

[0103] S1, obtaining the angular position information and the angular velocity information output by the resolver.

[0104] S2, constructing a discrete extended state observer DESO, and obtaining an initial ideal angular velocity based on the discrete extended state observer, the angular position information and the angular velocity information. Figure 3 In the formula, ω g (t) is the angular velocity after the differential processing of θ(t).

[0105] The expression of the discrete extended state observer is:

[0106]

[0107] In the formula, u(t) is the initial ideal angular velocity at t, ω raw (t) is the original angular velocity at t, z2(t) is the angular velocity error estimation value at t, e(t) is the estimation error of the discrete extended state observer at t, y(t) is the original angular position at t, z1(t) is the angular position estimation value at t, z1(t-1) is the angular position estimation value at t-1, z2(t-1) is the angular velocity error estimation value at t-1, h is the integral step, u(t-1) is the initial ideal angular velocity at t-1, β1 is the first parameter of the discrete extended state observer, e(t-1) is the estimation error of the discrete extended state observer at t-1, β2 is the second parameter of the discrete extended state observer, m is the integral point quantity, and η is the convergence speed coefficient of z2(t-m) at t-m.

[0108] The relatively accurate angular velocity information is obtained through the DESO, that is, the angular velocity fundamental frequency information is obtained; in actual application, when the bandwidth method is used to configure the parameters, the greater the bandwidth, the higher the estimation accuracy, but the greater the influence of noise, and it is difficult to guarantee 100% accuracy, so further processing is required.

[0109] S3, processing the initial ideal angular velocity based on the closed loop transfer function of the same frequency extractor to obtain an ideal angular velocity, and the expression is:

[0110] ω(t) = u(t) * H(t);

[0111] In the formula, ω(t) is the ideal angular velocity at t moment, H(t) is the transfer function at t moment, when u(t) = ω0, H(t) = 1, when u(t) ≠ ω0, ω0 is the fundamental frequency of the initial ideal angular velocity, j is the imaginary unit, and ε is the coefficient of the same frequency extractor, the size of ε affects the performance of the same frequency extractor, and needs to be selected according to the actual situation.

[0112] Specifically, the principle of the same frequency extractor is as shown in Figure 2 The input of the same frequency extractor is u(t), and the output is ω(t), Figure 2 Among them, A0sinω1t is the first reference signal, A0cosω1t is the second reference signal, V sin (t)1 is the mixed signal of A0sinω1t and u(t), V sin (t)2 is the mixed signal of A0cosω1t and u(t), ε a is the gain factor of V sin (t)1, ε b is the gain factor of V sin (t)2, s = α + jφ is a complex frequency domain operator, α is the gain from time domain to complex frequency domain, and φ is the phase of the gain from time domain to complex frequency domain.

[0113] When u(t) = ω0, the gain of the closed loop transfer function of the same frequency extractor is 1, and the value of the fundamental frequency of the initial ideal angular velocity is unchanged after processing.

[0114] When u(t) ≠ ω0, the gain of the closed loop transfer function of the same frequency extractor is less than 1, and the harmonic angular velocity in the initial ideal angular velocity is attenuated to different degrees after processing.

[0115] Therefore, after the initial ideal angular velocity input is processed by the same frequency processor, the fundamental frequency angular velocity is normally output, and the noise signals at the remaining harmonic frequencies are suppressed to different degrees, the filtering effect is realized, the accuracy of the output angular velocity is improved, and the ideal angular velocity is obtained, and the filtering effect is as shown in Figure 5 .

[0116] As shown in Figure 4 The application also provides a permanent magnet synchronous motor control method based on the above ideal angular velocity, which comprises:

[0117] S10, constructing a permanent magnet synchronous motor mathematical model in a d-q rotating coordinate system. The expression of the permanent magnet synchronous motor mathematical model is:

[0118]

[0119] wherein: u d is the motor d-axis voltage, i d is the motor d-axis current, u q is the motor q-axis voltage, i q is the motor q-axis current, L d is the motor d-axis stator inductance, L q is the motor q-axis stator inductance, R is the motor stator resistance, p n is the motor stator resistance, J is the motor moment of inertia, is the motor permanent magnet flux linkage, B is the magnetic damping coefficient, t is time, T e is the motor electromagnetic torque, T L is the motor load torque, ω m is the motor speed, based on the ideal angular velocity of claim 1.

[0120] S20, the motor processing mathematical model is obtained by processing the mathematical model of the permanent magnet synchronous motor based on the field-oriented control method of i d = 0.

[0121] The expression of the motor processing mathematical model is:

[0122]

[0123] S30, the state variable model of the permanent magnet synchronous motor is constructed by considering the lumped disturbance F. The expression is:

[0124]

[0125] wherein: x1 is the first state variable, x2 is the second state variable, is the first order derivative of x2, is the first order derivative of x1,

[0126] Specifically, S30 includes:

[0127] S301, the initial state variable model is constructed. The expression is:

[0128]

[0129] wherein: is the motor reference speed.

[0130] S302, the load disturbance, the magnetic damping disturbance and the permanent magnet flux linkage disturbance are added in the motor processing mathematical model, and the motor disturbance mathematical model is obtained. The expression is:

[0131]

[0132] In the formula: is the permanent magnet flux linkage disturbance, ΔT L is the load disturbance, ΔB is the magnetic damping disturbance.

[0133] S303, the load disturbance, the magnetic damping disturbance and the permanent magnet flux linkage disturbance are equivalent to the lumped disturbance F, and the motor disturbance mathematical model is substituted into the initial state variable model and the derivative is obtained to obtain the state variable model.

[0134] S40, a non-singular terminal sliding mode surface model is constructed based on the state variable model, and the expression is:

[0135]

[0136] In the formula: ζ is the non-singular terminal sliding mode surface constructed, x'1=s, s=cx1+x2 is a linear sliding mode surface, c is the parameter of the linear sliding mode surface s, β is the first parameter of the sliding mode, β>0, is the first derivative of x'1, p is the second parameter of the sliding mode, q is the third parameter of the sliding mode, 1

[0137] S50, the non-singular terminal sliding mode surface model is differentiated to obtain the derivative of the non-singular terminal sliding mode surface model; the expression is:

[0138]

[0139] S60, the derivative of the non-singular terminal sliding mode surface model is substituted into the derivative of the non-singular terminal sliding mode surface model to obtain the dynamic non-singular terminal sliding mode surface model.

[0140] S70, the exponential reaching law of the dynamic non-singular terminal sliding mode surface model is constructed Based on the exponential reaching law and the dynamic non-singular terminal sliding mode surface model, a controller is constructed. The expression is:

[0141]

[0142] In the formula: is the output value of the controller, is the input current of the motor q axis, is the first coefficient, n is the second coefficient.

[0143] Specifically, the method for obtaining the lumped disturbance F is as follows:

[0144] An extended state observer is constructed, and linearization processing is performed thereon to obtain a linearized extended state observer LESO. The expression is:

[0145] ​

[0146] Where: e is the observation error, z1 is y z The observed value, y z =ω m ,δ is the parameter value of Fal filter function, l1=2ω r , ω r is the bandwidth of the control system.

[0147] Specifically, a motor disturbance state variable model is constructed. The expression is:

[0148]

[0149] Where: x z1 is the intermediate parameter.

[0150] The initial extended state observer is constructed based on the motor disturbance observation model and linearized to obtain the initial linearized extended state observer. The expression is:

[0151]

[0152] The initial linearized extended state observer is improved based on the Fal filter function to obtain the linearized extended state observer.

[0153] The value of the lumped disturbance F is obtained based on the linearized extended state observer.

[0154] Specifically, a simulation experiment is conducted to compare the method of the present invention with the existing method under the condition of adding 500 Hz sinusoidal noise. The parameters of the dynamic non-singular terminal sliding mode controller of the present invention in the simulation are shown in Table 1.

[0155] Table 1 Parameters of dynamic non-singular terminal sliding mode controller

[0156]

[0157] The speed response curve of the control system is as follows: Figure 6 As shown, the controller output curve is as follows Figure 7 As shown in the figure, it can be seen that the proposed method retains the high dynamic response performance of non-singular terminal sliding mode to a certain extent, and its response speed is similar to that of traditional sliding mode control, with a difference of only 1ms. However, its chatter suppression effect is significantly better than that of non-singular terminal sliding mode, meeting the performance requirements of CMG control systems.

[0158] The present invention also provides a permanent magnet synchronous motor control system based on the above-mentioned ideal angular velocity, which includes:

[0159] A model construction module is configured to construct a permanent magnet synchronous motor mathematical model in a d-q rotating coordinate system.

[0160]

[0161] In the formula, u d is a motor d-axis voltage, i d is a motor d-axis current, u q is a motor q-axis voltage, i q is a motor q-axis current, L d is a motor d-axis stator inductance, L q is a motor q-axis stator inductance, R is a motor stator resistance, p n is a motor stator resistance, J is a motor moment of inertia, is a motor permanent magnet flux linkage, B is a magnetic damping coefficient, t is time, T e is a motor electromagnetic torque, T L is a motor load torque, ω m is a motor speed, and is obtained based on an ideal angular velocity of claim 1.

[0162] A model processing module is configured to process the permanent magnet synchronous motor mathematical model based on a field-oriented control method of i d = 0 to obtain a motor processing mathematical model.

[0163] A state variable module is configured to construct a state variable model of the permanent magnet synchronous motor by considering a lumped disturbance F, and the expression is as follows:

[0164]

[0165] In the formula, x1 is a first state variable, x2 is a second state variable, is a first order derivative of x2, is a first order derivative of x1,

[0166] A sliding mode surface module is configured to construct a non-singular terminal sliding mode surface model based on the state variable model, and the expression is as follows:

[0167]

[0168] In the formula, ζ is the constructed non-singular terminal sliding mode surface, x'1 = s, s = cx1 + x2 is a linear sliding mode surface, c is a parameter of the linear sliding mode surface s, β is a first sliding mode parameter, β > 0, is a first order derivative of x'1, p is a second sliding mode parameter, q is a third sliding mode parameter, 1 < p / q < 2, and p and q are positive odd numbers.

[0169] A derivation module is configured to derive the non-singular terminal sliding mode surface model to obtain a non-singular terminal sliding mode surface derivation model. The expression is as follows:

[0170]

[0171] A dynamic non-singular terminal sliding mode surface model module is configured to substitute the non-singular terminal sliding mode surface derivation model into the dynamic non-singular terminal sliding mode surface model.

[0172] A control module is configured to construct an exponential reaching law of the dynamic non-singular terminal sliding mode surface model and construct a controller based on the exponential reaching law and the dynamic non-singular terminal sliding mode surface model.

[0173] The expression is as follows:

[0174]

[0175] In the expression, is a controller output value, is a motor q-axis input current, is a first coefficient, and n is a second coefficient.

[0176] Specifically, the motor processing mathematical model expression is as follows:

[0177]

[0178] Preferably, the state variable module includes:

[0179] A first state variable unit is configured to construct an initial state variable model. The expression is as follows:

[0180]

[0181] In the expression, is a motor reference speed.

[0182] A disturbance unit is configured to add load disturbance, magnetic damping disturbance and permanent magnet flux disturbance in the motor processing mathematical model to obtain a motor disturbance mathematical model. The expression is as follows:

[0183]

[0184] In the expression, is a permanent magnet flux disturbance, ΔT L is a load disturbance, and ΔB is a magnetic damping disturbance.

[0185] A second state variable unit is configured to equivalently convert the load disturbance, the magnetic damping disturbance and the permanent magnet flux disturbance into a lumped disturbance F, and substitute the motor disturbance mathematical model into the initial state variable model to obtain a state variable model.​

[0186] Specifically, a motor disturbance state variable model is constructed. The expression is:

[0187]

[0188] In the formula: x z1 is an intermediate parameter.

[0189] Based on the motor disturbance observation model, an initial extended state observer is constructed, and linearization processing is performed to obtain an initial linearized extended state observer. The expression is:

[0190]

[0191] Based on the Fal filter function, the initial linearized extended state observer is improved to obtain a linearized extended state observer. The expression is:

[0192]

[0193] In the formula: e is an observation error, z1 is an observation value of y z , y z = ω m , and δ is a Fal filter function parameter value, l1=2ω r , ω r is a bandwidth of a control system.

[0194] Based on the linearized extended state observer, a value of the lumped disturbance F is obtained.

[0195] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the present application defined by the claims.

Claims

1. A motor angular velocity calibration method based on DESO and frequency extractor, characterized in that: It includes: Obtain the angular position information and angular velocity information output by the resolver; constructing a discrete extended state observer (DESO), and obtaining an initial ideal angular velocity based on the discrete extended state observer (DESO), the angular position information, and the angular velocity information; The discrete extended state observer expression is: Where: u(t) is the initial ideal angular velocity at time t, ω raw (t) is the original angular velocity at time t, z2(t) is the estimated angular velocity error at time t, e(t) is the estimated error of the discrete extended state observer at time t, y(t) is the original angular position at time t, z1(t) is the estimated angular position at time t, z1(t-1) is the estimated angular position at time t-1, z2(t-1) is the estimated angular velocity error at time t-1, h is the integration step size, u(t-1) is the initial ideal angular velocity at time t-1, β1 is the first parameter of the discrete extended state observer, e(t-1) is the estimated error of the discrete extended state observer at time t-1, β2 is the second parameter of the discrete extended state observer, m is the number of integration points, and η is the convergence rate coefficient of z2(tm) at time tm; Processing the initial ideal angular velocity based on a closed-loop transfer function of a same-frequency extractor to obtain an ideal angular velocity; The expression is: ω(t)=u(t)×H(t); Where: ω(t) is the ideal angular velocity at time t, H(t) is the transfer function at time t, when u(t) = ω0, H(t) = 1, when u(t) ≠ ω0, ω0 is the fundamental frequency of the initial ideal angular velocity, j is the imaginary unit, and ε is the coefficient of the same frequency extractor.

2. A permanent magnet synchronous motor control method based on the motor angular velocity calibration method according to claim 1, characterized in that: It includes: Construct a mathematical model of a permanent magnet synchronous motor in a dq rotating coordinate system; the mathematical model expression of the permanent magnet synchronous motor is: Where: u d is the motor d-axis voltage, i d is the motor d-axis current, u q is the motor q-axis voltage, i q is the motor q-axis current, L d is the stator inductance of the motor d-axis, L q is the motor q-axis stator inductance, R is the motor stator inductance, p n is the stator resistance of the motor, J is the moment of inertia of the motor, is the permanent magnet flux of the motor, B is the magnetic damping coefficient, t is the time, T e is the electromagnetic torque of the motor, T L is the motor load torque, ω m is the motor speed, which is obtained based on the ideal angular velocity ω(t); Based on i d =0, processing the permanent magnet synchronous motor mathematical model using a magnetic field oriented control method to obtain a motor processing mathematical model; Considering the lumped disturbance F, the state variable model of the permanent magnet synchronous motor is constructed; the expression is: Where: x1 is the first state variable, x2 is the second state variable, is the first derivative of x2, is the first derivative of x1, A non-singular terminal sliding surface model is constructed based on the state variable model, and the expression is: Where: σ is the constructed non-singular terminal sliding surface, x′1=s, s=cx1+x2 is the linear sliding surface, c is the parameter of the linear sliding surface s, β is the first sliding parameter, β>0, is the first derivative of x′1, p is the second parameter of the sliding mode, q is the third parameter of the sliding mode, 1<p / q<2, p and q are positive odd numbers; The non-singular terminal sliding surface model is derived to obtain a non-singular terminal sliding surface derivative model; the expression is: Will Substituting into the non-singular terminal sliding surface derivative model, a dynamic non-singular terminal sliding surface model is obtained; Constructing the exponential reaching law of the dynamic non-singular terminal sliding surface model A controller is constructed based on the exponential reaching law and the dynamic non-singular terminal sliding surface model, and the expression is: Where: is the controller output value, is the motor q-axis input current, and n is the second coefficient.

3. The permanent magnet synchronous motor control method according to claim 2, characterized in that: The motor processing mathematical model expression is:

4. The permanent magnet synchronous motor control method according to claim 2, characterized in that: Considering the lumped disturbance F, the state variable model of the permanent magnet synchronous motor is constructed, including: Construct the initial state variable model; the expression is: Where: is the motor reference speed; The load disturbance, magnetic damping disturbance and permanent magnet flux disturbance are added to the motor processing mathematical model to obtain the motor disturbance mathematical model; the expression is: Where: is the permanent magnet flux disturbance, ΔT L is the load disturbance, ΔB is the magnetic damping disturbance; The load disturbance, magnetic damping disturbance and permanent magnet flux disturbance are equivalent to a lumped disturbance F, and the motor disturbance mathematical model is substituted into the initial state variable model and derived to obtain the state variable model.

5. The permanent magnet synchronous motor control method according to claim 2, characterized in that: An extended state observer is constructed and linearized to obtain a linearized extended state observer; a lumped disturbance F is obtained based on the linearized extended state observer; The linearized extended state observer expression is: Where: e is the observation error, z1 is y z The observed value, y z =ω m ,δ is the parameter value of Fal filter function, l1=2ω r , ω r is the bandwidth of the control system.

6. The permanent magnet synchronous motor control method according to claim 5, characterized in that: Construct the motor disturbance state variable model; the expression is: Where: x z1 is the intermediate parameter; An initial extended state observer is constructed based on the motor disturbance state variable model and linearized to obtain an initial linearized extended state observer, which is expressed as: The initial linearized extended state observer is improved based on the Fal filter function to obtain the linearized extended state observer.

7. A permanent magnet synchronous motor control system based on the motor angular velocity calibration method according to claim 1, characterized in that: It includes: The model building module is used to build a mathematical model of the permanent magnet synchronous motor in the dq rotating coordinate system; the mathematical model expression of the permanent magnet synchronous motor is: Where: u d is the motor d-axis voltage, i d is the motor d-axis current, u q is the motor q-axis voltage, i q is the motor q-axis current, L d is the stator inductance of the motor d-axis, L q is the motor q-axis stator inductance, R is the motor stator inductance, p n is the stator resistance of the motor, J is the moment of inertia of the motor, is the permanent magnet flux of the motor, B is the magnetic damping coefficient, t is the time, T e is the electromagnetic torque of the motor, T L is the motor load torque, ω m is the motor speed, which is obtained based on the ideal angular velocity ω(t); Model processing module for i-based d =0, processing the permanent magnet synchronous motor mathematical model using a magnetic field oriented control method to obtain a motor processing mathematical model; The state variable module is used to construct the state variable model of the permanent magnet synchronous motor considering the lumped disturbance F; the expression is: Where: x1 is the first state variable, x2 is the second state variable, is the first derivative of x2, is the first derivative of x1, The sliding surface module is used to construct a non-singular terminal sliding surface model based on the state variable model, and the expression is: Where: σ is the constructed non-singular terminal sliding surface, x′1=s, s=cx1+x2 is the linear sliding surface, c is the parameter of the linear sliding surface s, β is the first sliding parameter, β>0, is the first derivative of x′1, p is the second parameter of the sliding mode, q is the third parameter of the sliding mode, 1<p / q<2, p and q are positive odd numbers; The derivation module is used to derive the non-singular terminal sliding surface model to obtain a non-singular terminal sliding surface derivative model; the expression is: Dynamic non-singular terminal sliding surface model module is used to Substituting into the non-singular terminal sliding surface derivative model, a dynamic non-singular terminal sliding surface model is obtained; A control module for constructing an exponential convergence law of the dynamic non-singular terminal sliding surface model A controller is constructed based on the exponential reaching law and the dynamic non-singular terminal sliding surface model, and the expression is: Where: is the controller output value, is the motor q-axis input current, and n is the second coefficient.

8. The permanent magnet synchronous motor control system according to claim 7, characterized in that: The motor processing mathematical model expression is:

9. The permanent magnet synchronous motor control system according to claim 7, characterized in that: The state variable module includes: The first state variable unit is used to construct the initial state variable model; the expression is: Where: is the motor reference speed; The disturbance unit is used to add load disturbance, magnetic damping disturbance and permanent magnet flux disturbance to the motor processing mathematical model to obtain the motor disturbance mathematical model; the expression is: Where: is the permanent magnet flux disturbance, ΔT L is the load disturbance, ΔB is the magnetic damping disturbance; The second state variable unit is used to equate the load disturbance, magnetic damping disturbance and permanent magnet flux disturbance to a lumped disturbance F, and substitute the motor disturbance mathematical model into the initial state variable model and derive it to obtain the state variable model.

10. The permanent magnet synchronous motor control system according to claim 7, characterized in that: Construct the motor disturbance state variable model; the expression is: Where: x z1 is the intermediate parameter; An initial extended state observer is constructed based on the motor disturbance state variable model and linearized to obtain an initial linearized extended state observer, which is expressed as: The initial linearized extended state observer is improved based on the Fal filter function to obtain the linearized extended state observer; the expression is: Where: e is the observation error, z1 is y z The observed value, y z =ω m ,δ is the parameter value of Fal filter function, l1=2ω r , ω r is the bandwidth of the control system; The value of the lumped disturbance F is obtained based on the linearized extended state observer.

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