Sampled current compensation method based on extended state observer

By using a sampling current compensation method based on an extended state observer, the sampling error current of a dual three-phase permanent magnet synchronous motor is observed and compensated, which solves the problems of torque pulsation and efficiency reduction caused by current sampling error and achieves a widely applicable current loop compensation effect.

CN119865095BActive Publication Date: 2025-11-28HARBIN INST OF TECH
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Patent Information

Application Number
CN202510028993.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-01-08
Publication Date
2025-11-28
Estimated Expiration
2045-01-08

AI Technical Summary

Technical Problem

In existing dual three-phase permanent magnet synchronous motor drive control systems, torque pulsation caused by current sampling errors has not been effectively suppressed. Especially under low-speed conditions, the harmonic current is large, resulting in reduced efficiency. Existing compensation methods have limited applicability and are restricted by the number and location of current sensors.

Method used

An extended state observer-based sampling current compensation method is adopted. By observing the sampling error current in the dq and z1-z2 planes through a four-dimensional current loop extended state observer, an extended state observer model is constructed to estimate and compensate for the sampling current error, thereby realizing error compensation of the current loop.

Benefits of technology

It effectively suppresses torque pulsation, improves current waveform, enhances motor efficiency, has a wide range of applications, is not limited by the number or location of current sensors, and improves the efficiency reduction problem caused by phase current with high harmonic content.

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Abstract

The sampling current compensation method based on the extended state observer solves the problem that the current sampling compensation method based on the current loop has a small application range and is limited by the number and position of current sensors, and belongs to the field of motor driving.The application comprises the following steps: obtaining sampling current i dm 、 qm 、 z1m 、 z2m , sampling voltage u d 、 u q 、 u z1 、 u z2 , u d 、 u q 、 u z1 、 u z2 、 i dm 、 i qm 、 i z1m 、 i z2m , and error current i de 、 i qe , obtained by current observation are input into an extended state observer to obtain an estimated value, the extended state observer comprises a d-q plane extended state observer and a z1-z2 plane extended state observer; error current i de 、 i qe 、 i z1e 、 i z2e , is obtained according to the estimated value; and the error current obtained is subtracted from the sampling current in the rotating coordinate system to realize error compensation of the sampling current.The compensation method of the application is independent of the number and position of current sensors and has a wide application range.
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