Active-disturbance-rejection control method of permanent magnet synchronous motor

Abstract

The invention relates to the technical field of motor control, in particular to an active-disturbance-rejection control method of a permanent magnet synchronous motor, which aims at non-periodic and periodic disturbance existing in a rotating speed ring of the permanent magnet synchronous motor, combines a cascade expansion state observer and a quasi-resonance controller, and designs secondary error correction CESO based on improved QRC. An improved quasi-resonance controller is constructed by introducing a differential term of a mechanical angular velocity observation error of a first-stage observer subsystem into the quasi-resonance controller, and the first-stage observer subsystem is used for carrying out primary observation on the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor; and taking the observation value of the mechanical angular velocity and the observation value of the lumped disturbance output by the first-stage observer subsystem as the input of the second-stage observer subsystem, and carrying out secondary observation on the residual lumped disturbance. According to the method, periodic disturbance and non-periodic disturbance existing in a rotating speed ring of the permanent magnet synchronous motor can be effectively suppressed, so that the anti-interference capability and the steady-state performance of the motor are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and particularly relates to an auto-disturbance rejection control method for a permanent magnet synchronous motor. Background Art

[0002] Due to the advantages of high power density, less power loss, and high precision, permanent magnet synchronous motors are widely used in fields such as electric vehicles, numerical control machine tools, and robot servo control. However, in an actual permanent magnet synchronous motor system, there are various disturbances, which can be divided into aperiodic disturbances and periodic disturbances. The existence of these disturbances seriously affects the system performance, directly manifested as torque ripple and speed fluctuation.

[0003] Currently, for periodic disturbances in permanent magnet synchronous motors, resonant controllers, repetitive controllers, and iterative learning controllers are effective methods for suppressing periodic disturbances. The quasi-resonant controller is widely used in actual systems due to its excellent performance. For aperiodic disturbances in permanent magnet synchronous motors, widely used control strategies include auto-disturbance rejection control, intelligent control, and sliding mode control, etc. Among them, the core extended state observer (ESO) of auto-disturbance rejection control is an effective method for suppressing aperiodic disturbances. However, due to the fixed coupling relationship between the zeros and poles of the traditional ESO, the method of relying on pole configuration is usually adopted during parameter adjustment, ignoring the influence of zeros on the performance of the observer, which limits the improvement of system performance. Summary of the Invention

[0004] In view of this, the present invention aims to provide an auto-disturbance rejection control method for a permanent magnet synchronous motor. For the aperiodic and periodic disturbances existing in the speed loop of the permanent magnet synchronous motor, combined with CESO and QRC for secondary error correction, it effectively suppresses aperiodic and periodic disturbances, and improves the anti-interference ability and steady-state performance of the permanent magnet synchronous motor system.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows: The present invention provides an auto-disturbance rejection control method for a permanent magnet synchronous motor, including: Establish a speed loop model of the permanent magnet synchronous motor including disturbances, and establish an extended state model of the kinematic equation of the permanent magnet synchronous motor; Design a second - order error - correcting cascaded extended state observer based on an improved quasi - resonant controller based on the extended state model, which includes: a first - order observer subsystem and a second - order observer subsystem. Among them, the first - order observer subsystem is provided with an improved quasi - resonant controller, and the improved quasi - resonant controller is to introduce the derivative of the mechanical angular velocity observation error of the first - order observer subsystem into the quasi - resonant controller. The first - order observer subsystem is used to initially observe the mechanical angular velocity and lumped disturbance of the permanent - magnet synchronous motor; the second - order observer subsystem takes the observed values of the mechanical angular velocity and lumped disturbance output by the first - order observer subsystem as inputs and performs a secondary observation on the remaining lumped disturbance.

[0006] Preferably, the lumped disturbance includes periodic disturbance and aperiodic disturbance.

[0007] Preferably, the speed - loop model of the permanent - magnet synchronous motor containing disturbance is: ; Among them, represents the reference current, represents the lumped disturbance, , represents the aperiodic disturbance, represents the periodic disturbance, represents the mechanical angular velocity of the motor, represents the speed - loop control gain, , represents the motor torque coefficient, represents the moment of inertia.

[0008] Preferably, the extended state model of the permanent - magnet synchronous motor kinematic equation is: ; Among them, and are state variables, , , are control outputs, , is the derivative of the lumped disturbance, , is the system output.

[0009] Preferably, the first - order observer subsystem is: ; Among them, represents the observed value of the state variable by the first - order observer subsystem, represents the initial observed value of the state variable by the first - order observer subsystem, represents the observation error of the state variable by the first-level observer subsystem , that is, the observation error of the mechanical angular velocity represents the observed value of the periodic disturbance and represent the observer gains of the first-level observer subsystem is an intermediate variable represents the resonant gain of the improved quasi-resonant controller represents the resonant gain of the derivative term of the mechanical angular velocity observation error of the improved quasi-resonant controller represents the cut-off frequency of the improved quasi-resonant controller represents the resonant frequency of the improved quasi-resonant controller

[0010] Preferably, the second-level observer subsystem is ; wherein represents the observed value of the state variable by the second-level observer subsystem represents the residual observed value of the state variable by the second-level observer subsystem represents the introduced double-error correction term gain and represent the observer gains of the second-level observer subsystem represents the observation error of the state variable by the second-level observer subsystem after introducing the double-error correction term

[0011] Preferably, it further includes: designing an active disturbance rejection control law based on feedback control to suppress the observed lumped disturbance

[0012] Preferably, the observed lumped disturbance is .

[0013] Preferably, the active disturbance rejection control law is ; wherein represents the rotational speed reference input value represents the rotational speed loop control gain represents the derivative of the rotational speed reference input value

[0014] Compared with the prior art, the present invention can achieve the following beneficial effects ​​The present invention innovatively proposes an enhanced active disturbance rejection control method based on a secondary error-corrected cascaded extended state observer (CESO) and a quasi-resonant controller (QRC). By using a secondary cascaded observer design for secondary error correction of state observation, in the first-stage observer subsystem, a differential term of the first-stage observation error is additionally introduced on the basis of the QRC to form an improved QRC, and the improved QRC is embedded into the first-stage observer subsystem for the initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor. The observed value is used as the input of the second-stage observer subsystem for the secondary observation of the mechanical angular velocity of the permanent magnet synchronous motor, and the initial and secondary observations of the mechanical angular velocity are corrected, and the residual lumped disturbance of the permanent magnet synchronous motor is observed twice.

[0015] The secondary error-corrected CESO designed in the present invention introduces the observation errors of the two-stage observers into the secondary ESO, breaking the coupling relationship between the zeros and poles of the traditional extended state observer. Without increasing the order of the observer system, it significantly improves the observation ability of the disturbance in the permanent magnet synchronous motor system. Compared with the traditional method, more accurate observations can be achieved for disturbances in both the low-frequency and high-frequency bands, especially for periodic harmonics and non-periodic load changes, thereby improving the anti-interference ability and steady-state performance of the permanent magnet synchronous motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a control block diagram of a permanent magnet synchronous motor based on enhanced active disturbance rejection control according to an embodiment of the present invention; Figure 2 is a flowchart of an active disturbance rejection control method for a permanent magnet synchronous motor according to an embodiment of the present invention; Figure 3 is a block diagram of an active disturbance rejection control structure based on a secondary error-corrected CESO with an improved QRC according to an embodiment of the present invention; Figure 4 is the zero point of the secondary error-corrected CESO according to an embodiment of the present invention with the value change locus diagram; Figure 5 is the observation error transfer function according to an embodiment of the present invention with the value change Bode diagram; Figure 6 is the observation error transfer function after adding the QRC according to an embodiment of the present invention Bode plot; Figure 7 is the rotational speed curve and the rotational speed fluctuation curve at steady state under a 1s step load under three different control methods provided by the embodiments of the present invention; Figure 8 is the rotational speed curve under a 1s ramp load and an acceleration load under three different control methods provided by the embodiments of the present invention; Figure 9 is the steady-state output torque curve and its Fourier analysis comparison chart under three different control methods provided by the embodiments of the present invention. Specific embodiments

[0017] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention. Similar elements in different embodiments are labeled with related similar element numbers. In the following embodiments, many details are described to enable a better understanding of the present invention. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present invention are not shown or described in the specification to avoid the core part of the present invention being overwhelmed by excessive description. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0018] It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other to form various embodiments. At the same time, the steps or actions in the method description can also be adjusted in the order that is obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for clearly describing a certain embodiment and do not mean that they are the necessary order, unless it is stated that a certain order must be followed.

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0021] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0022] In one embodiment of the present invention, a self-disturbance rejection control method for a permanent magnet synchronous motor based on an improved QRC two-stage error correction CESO is provided. This method is specifically applied to a permanent magnet synchronous motor system as shown in Figure 1 to accurately observe periodic and aperiodic disturbances and achieve enhanced self-disturbance rejection control. Figure 1 In the permanent magnet synchronous motor system shown, the current loop controller is a PI controller, that is, a proportional-integral controller. The PI controller receives the speed error obtained by comparing the actual speed with the speed command, and processes the error through proportional and integral operations to enable the system to accurately track the speed command in the steady state. SVPWM (Space Vector Pulse Width Modulation) is used to receive The voltage command under the coordinate system is used to calculate the signal for controlling the inverter switching tubes, realizing the output of 6-channel PWM waveforms. The inverter, which is composed of multiple power switching tubes, converts direct current into three-phase alternating current according to the switching signals output by the SVPWM module, and is used to drive the three-phase windings of the permanent magnet synchronous motor, enabling the motor to rotate normally. The encoder is installed on the shaft of the permanent magnet synchronous motor, and precisely measures the position of the motor rotor through it. Angle differentiation and speed filtering perform differential operations on the motor rotor angle signal measured by the encoder, and filter the speed signal obtained through angle differentiation. The speed loop (rotational speed loop) is responsible for regulating the rotational speed of the motor. Through feedback control, the actual rotational speed of the motor can quickly and accurately track the reference rotational speed, improving the accuracy and stability of motor speed regulation. However, there are periodic disturbances and aperiodic disturbances in the permanent magnet synchronous motor, seriously affecting the performance of the observer in the speed loop.

[0023] To solve the above problems, please refer to Figure 2 , the embodiment of the present invention provides an active disturbance rejection control method for a permanent magnet synchronous motor, including the following steps: S1: First, establish the kinematic equation of the permanent magnet synchronous motor, which is expressed as: (1) Among them, represents the lumped disturbance, , represents the aperiodic disturbance, represents the periodic disturbance, represents the mechanical angular velocity of the motor, represents the motor torque coefficient, is the motor torque coefficient, represents the number of pole pairs of the motor, represents the permanent magnet flux linkage, represents the moment of inertia, represents the q-axis current, represents the load torque of the motor, represents the viscous friction coefficient.

[0024] The lumped disturbance of the speed loop mainly includes periodic disturbances caused by factors such as flux linkage harmonics and inverter nonlinearity, and aperiodic disturbances caused by factors such as load torque, cogging torque, and motor parameter changes. In view of the above disturbances, the embodiment of the present invention introduces a disturbance term on the basis of the kinematic equation (1) to construct a speed loop model of the permanent magnet synchronous motor including disturbances as: (2) Among them, represents the speed loop control gain, , represents the reference current.

[0025] Further expand and analyze the speed loop model of the permanent magnet synchronous motor according to Equation (2), construct an extended state model of the kinematic equation of the permanent magnet synchronous motor. For Equation (2), take ,, , , , and obtain the extended state model as: (3) Among them, and are state variables, is the control output, is the derivative of the lumped disturbance, is the system output.

[0026] S2: Based on the extended state model represented by Equation (3), combined with the cascaded extended state observer and the quasi-resonant controller (QRC), design the two-stage error correction CESO based on the improved QRC as shown in Figure 3 . The cascaded extended state observer includes two levels of observer subsystems, namely the first-level observer subsystem and the second-level observer subsystem. Among them, the first-level observer subsystem is innovatively designed on the basis of the traditional quasi-resonant controller. Specifically, the differential term of the observation error of the first-level observer subsystem is additionally introduced into the quasi-resonant controller to form an improved quasi-resonant controller, and the improved quasi-resonant controller is embedded in the first-level observer subsystem. The first-level observer subsystem is used to initially observe the mechanical angular velocity and the lumped disturbance of the permanent magnet synchronous motor. The first-level observer subsystem is specifically expressed as: (4) Among them, represents the observed value of the state variable by the first-level observer subsystem, represents the initial observed value of the state variable by the first-level observer subsystem, represents the observation error of the state variable by the first-level observer subsystem, that is, the mechanical angular velocity observation error, represents the observed value of the periodic disturbance, and represent the observer gains of the first-level observer subsystem, is an intermediate variable, represents the resonant gain of the improved quasi-resonant controller, represents the differential term resonant gain of the mechanical angular velocity observation error of the improved quasi-resonant controller, represents the cut-off frequency of the improved quasi-resonant controller, Indicates the resonant frequency of the improved quasi-resonant controller.

[0027] For the second-stage observer subsystem cascaded with the first-stage observer subsystem, in the embodiment of the present invention, the observed value output by the first-stage observer subsystem is used as the input of the second-stage observer subsystem, that is, the first-stage observer subsystem observes the state variable Observed value And the first-stage observer subsystem observes the state variable Initial observed value . At this time, the second-stage observer subsystem is constructed as: (5) Wherein, Represents the observed value of the second-stage observer subsystem for the state variable , Represents the residual observed value of the second-stage observer subsystem for the state variable , Represents the introduced double error correction term gain, And Represents the observer gain of the second-stage observer subsystem, Represents the observation error of the second-stage observer subsystem for the state variable After introducing the double error correction term.

[0028] This design not only improves the traditional quasi-resonant controller, but also uses the observation output of the first-stage observer subsystem as the input of the second-stage observer subsystem, that is, the residual observed value Of the second-stage observer subsystem for the state variable Is a further disturbance estimation based on the observation output Of the first-stage observer subsystem, and the lumped disturbance is observed as , which can effectively observe the disturbance not fully observed by the first-stage observer subsystem, that is, the residual aperiodic disturbance and periodic disturbance of the remaining part of the initial observation.

[0029] In terms of the observer form, when the improved QRC and the second-stage observer subsystem of the second-order error correction CESO based on the improved QRC in the embodiment of the present invention do not work, it is the same as the traditional ESO (single extended state observer) at this time; when , and , both the improved QRC and the double error correction term do not work, and it is the same as the traditional CESO (cascaded extended state observer) at this time.

[0030] The second - order error - correction cascaded extended state observer based on an improved quasi - resonant controller of the present invention combines a cascaded extended state observer and a quasi - resonant controller, and introduces the observation error of the observer into each - stage ESO, breaking the coupling relationship between the zeros and poles of the CESO, overcoming the drawback that there is a fixed coupling relationship between the traditional zeros and poles and relying on pole configuration for parameter adjustment. Without increasing the system order, the observation ability is significantly enhanced. To verify the effectiveness and progressiveness of the second - order error - correction cascaded extended state observer based on the improved quasi - resonant controller proposed in the embodiments of the present invention, first, relevant variables and parameters are initialized so that , and then, according to the mathematical relationships of equations (3), (4), and (5), the disturbance observation error transfer function of the second - order error - correction CESO is derived as : (6) Wherein, , and respectively represent the Laplace transforms of , and , and represents the Laplace complex variable.

[0031] According to the pole - configuration strategy of the extended state observer, the observer gain value can be determined, and the observer gain value is tuned according to the pole - configuration strategy as: (7) Wherein, represents the observer bandwidth of the i -th - stage observer subsystem.

[0032] Substituting equation (7) into equation (6) and using the pole - configuration strategy for parameter tuning, the transfer function is obtained as: (8) Wherein, represents the bandwidth of the second - order error - correction CESO.

[0033] It can be seen from equation (8) that the poles are , and the zeros are: (9) Wherein, are two zeros existing at the origin of the complex plane, are the other two zeros, and their positions are determined by the parameters and the observer bandwidth , and their positions will change with the change of , thus affecting the frequency characteristics of the observation error transfer function.

[0034] Thus, the zero points of the second-order error-corrected CESO as shown in Figure 4 can be plotted, along with the locus of the motion varying with the value, and the Bode plot of the observer error transfer function varying with the value. Here, the observer bandwidth Figure 4 is taken as 200 rad / s. From Figure 5 and , it can be seen that, with the bandwidth remaining unchanged, as the value increases from -0.8 to 0, the zero points of the disturbance observer error transfer function of the CESO with the second-order error correction term will gradually approach the position from the position and the 0 position. The amplitude curve of the observer error transfer function moves from right to left, and at , a maximum slope of +60 dB / dec is obtained at low frequencies. Compared with the +40 dB / dec slope of the traditional CESO ( ), the second-order error-corrected CESO has a lower amplitude-frequency characteristic at low frequencies, indicating that the second-order error-corrected CESO of the present invention can better suppress low-frequency disturbances. As the value continues to increase, the zero point separates at the position and moves away from the real axis. At , the zero point moves to the j position, where is the imaginary unit, and there is no obvious change in the amplitude curve of the observer error transfer function. Therefore, the

[0035] value does not need to be set too large. In summary, without increasing the system order, the second-order error-corrected CESO of the present invention changes the coupling relationship between the zero points and poles of the CESO observer error transfer function by introducing the observer errors of two-level observers in the second-order ESO, further increasing the slope at low frequencies and improving the disturbance observation ability of the CESO at low frequencies. Regarding the progressiveness of the improved quasi-resonant controller designed in the second-order error-corrected cascade extended state observer based on the improved quasi-resonant controller proposed by the present invention, the proof of the role of introducing the improved quasi-resonant controller is as follows: and are both not equal to 0, the disturbance observer error transfer function of the second-order error-corrected cascade extended state observer based on the improved quasi-resonant controller proposed by the present invention is rewritten as: (10) Among them, is and When both are not equal to 0, the rewritten disturbance observation error transfer function , is a transfer function for designing improved resonance suppression, .

[0036] Taking the value of -0.8, the Bode plots with and without the improved QRC are plotted according to formula (10) as Figure 6 shown, the observer bandwidth is taken as 200 rad / s, the resonance frequency is taken as 400 rad / s, the cut-off frequency is taken as 1 rad / s, the resonance gain is taken as 4, and the resonance gain of the differential term is taken as 0.01 ( taking 0 is the traditional quasi-resonance).

[0037] It can be seen from Figure 6 that the introduction of the error differential term makes the improved QRC only generate amplitude attenuation at the resonance frequency, which shows that the two-stage error correction CESO based on the improved QRC proposed in the embodiment of the present invention can more effectively suppress periodic disturbances and will not significantly amplify the disturbance signals with frequencies other than the resonance frequency. As can be seen from the above, the two-stage error correction cascade extended state observer based on the improved quasi-resonant controller proposed in the embodiment of the present invention breaks the coupling relationship between the zeros and poles of the traditional extended state observer, and significantly improves the disturbance observation ability of the permanent magnet synchronous motor system without increasing the order of the observer system.

[0038] S3: After obtaining the lumped disturbance by observation through S2, an enhanced linear active disturbance rejection control law is established based on the feedback control idea to eliminate the observed lumped disturbance. Specifically, first, the speed reference input and error are defined. The speed reference input is represented by , and the speed error is represented as . According to the dynamic characteristics of the system, the dynamic equation of the speed error can be obtained as: (11) According to the feedback control idea, the control objective for the speed error tends to zero. For this purpose, the feedback control law is designed as: (12) Among them, Denote the rotational speed loop control gain. Substituting the feedback control law in Equation (12) into the dynamic equation of the rotational speed error in Equation (11), the reference control current can be obtained. The expression of (13) Using the lumped disturbance observed by S2 to replace , the reference control current can be further rewritten as: (14) Through the above steps, an enhanced linear active disturbance rejection controller is established based on the feedback control idea. This controller estimates the lumped disturbance of the system through an observer and uses the feedback control law to suppress and eliminate the influence of the disturbance, thereby achieving precise control of the rotational speed.

[0039] To verify the disturbance observation ability of the active disturbance rejection control method for the permanent magnet synchronous motor proposed in the embodiments of the present invention, traditional active disturbance rejection control, active disturbance rejection control based on traditional CESO, and the enhanced active disturbance rejection control of the permanent magnet synchronous motor proposed in the present invention are respectively used for simulation under the same conditions. To verify that the design of the present invention has a more accurate disturbance observation ability, the verification results are as follows: For the permanent magnet synchronous motor at a reference rotational speed of 150 rpm ( ), the speed change and rotational speed fluctuation at steady state of the above three different control methods under a 1 s step load are as Figure 7 shown. It can be seen from the figure that: The speed drop of the traditional ESO active disturbance rejection control is relatively large and the recovery time is slow. The active disturbance rejection control based on traditional CESO+QRC is the second. The enhanced active disturbance rejection control based on the improved QRC two-stage error correction CESO has a relatively small speed drop and a relatively fast recovery time. In addition, compared with the other two control methods, the enhanced active disturbance rejection control of the present invention also has a relatively small rotational speed fluctuation at steady state, which indicates that the enhanced active disturbance rejection control has strong anti-disturbance ability and good steady-state characteristics.

[0040] For the permanent magnet synchronous motor at a reference rotational speed of 150 rpm ( ), the rotational speed changes of the above three different control methods under a 1 s ramp load and acceleration load are as Figure 8 shown. It can be seen from the figure that: Under ramp load, the speed of traditional Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) drops and cannot recover. Both the ADRC based on traditional Composite Extended State Observer (CESO) + Quadratic Resonant Controller (QRC) and the enhanced ADRC based on improved QRC with secondary error correction CESO can recover to 150 rpm. Moreover, the enhanced ADRC has a smaller speed drop and a relatively faster recovery time. Under acceleration load, the speed of traditional ESO based ADRC and the ADRC based on traditional CESO + QRC drops and cannot recover, while the enhanced ADRC based on improved QRC with secondary error correction CESO can return to 150 rpm with no obvious speed drop. This shows that the enhanced ADRC based on improved QRC with secondary error correction CESO can effectively suppress ramp and acceleration disturbances, while traditional ESO based ADRC and traditional CESO + QRC based ADRC cannot completely suppress them.

[0041] For a permanent magnet synchronous motor at a reference speed of 150 rpm ( ), the steady-state output torque curves and their Fourier analysis under the above three different control methods are as Figure 9 shown. It can be seen from the figure that: The torque ripple of traditional ESO based ADRC is relatively large and the Total Harmonic Distortion (THD) value is the largest among the three control methods. The ADRC based on traditional CESO + QRC ranks second, while the enhanced ADRC based on improved QRC with secondary error correction CESO has the smallest torque ripple and THD value among the three control methods. This indicates that the enhanced ADRC has better periodic disturbance suppression ability.

[0042] In summary, the enhanced ADRC based on improved QRC with secondary error correction CESO proposed in the embodiments of the present invention has stronger disturbance observation ability compared with traditional ADRC and ADRC based on traditional CESO + QRC, and can more effectively suppress periodic harmonics, which helps to further improve the disturbance rejection ability and steady-state performance of the permanent magnet synchronous motor system.

[0043] In conclusion, the above description is only a preferred embodiment of this specification and is not intended to limit the protection scope of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the protection scope of this specification.

[0044] The systems, devices, modules or units described in one or more of the above embodiments may be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0045] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0046] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0047] The specific embodiments of this specification are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A self-disturbance rejection control method for a permanent magnet synchronous motor, characterized in that, Including: Establish a speed loop model of a permanent magnet synchronous motor including perturbations, and establish an extended state model of the kinematic equation of the permanent magnet synchronous motor; Design a second-order error correction cascaded extended state observer based on an improved quasi-resonant controller based on the extended state model, which includes: a first-order observer subsystem and a second-order observer subsystem. Among them, the first-order observer subsystem is provided with an improved quasi-resonant controller, and the improved quasi-resonant controller introduces the differential term of the mechanical angular velocity observation error of the first-order observer subsystem into the quasi-resonant controller. The first-order observer subsystem is used for the initial observation of the mechanical angular velocity and lumped perturbations of the permanent magnet synchronous motor; the second-order observer subsystem takes the observed values of the mechanical angular velocity and lumped perturbations output by the first-order observer subsystem as inputs and performs secondary observation on the remaining lumped perturbations.

2. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, wherein The lumped perturbations include periodic perturbations and aperiodic perturbations.

3. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 1, wherein, The speed loop model of the permanent magnet synchronous motor including perturbations is: ； Among them, represents the reference current, represents the lumped disturbance, , represents the aperiodic disturbance, represents the periodic disturbance, represents the mechanical angular velocity of the motor, represents the speed loop control gain, , represents the motor torque coefficient, represents the moment of inertia.

4. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 3, characterized in that, The extended state model of the kinematic equation of the permanent magnet synchronous motor is: ； Among them, and are state variables, , , are control outputs, , is the derivative of the lumped disturbance, , is the system output.

5. The auto-disturbance rejection control method for the permanent magnet synchronous motor according to claim 4, wherein The first-order observer subsystem is: ； Among them, represents the observed value of the state variable by the first-stage observer subsystem, represents the initial observed value of the state variable by the first-stage observer subsystem, represents the observation error of the state variable by the first-stage observer subsystem, that is, the mechanical angular velocity observation error, represents the observed value of the periodic disturbance, and represent the observer gains of the first-stage observer subsystem, is an intermediate variable, represents the resonant gain of the improved quasi-resonant controller, represents the differential resonant gain of the mechanical angular velocity observation error of the improved quasi-resonant controller, represents the cut-off frequency of the improved quasi-resonant controller, represents the resonant frequency of the improved quasi-resonant controller.

6. The auto-disturbance rejection control method for a permanent magnet synchronous motor according to claim 5, characterized in that, The second-order observer subsystem is: ； wherein, represents the observed value of the state variable by the second-level observer subsystem, represents the residual observed value of the state variable by the second-level observer subsystem, represents the introduced double error correction term gain, and represents the observer gain of the second-level observer subsystem, represents the observation error of the state variable after the double error correction term is introduced by the second-level observer subsystem.

7. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 6, characterized in that, Also including: Design an active disturbance rejection control law based on feedback control to suppress the observed lumped perturbations.

8. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 7, characterized in that The observed lumped perturbation is .

9. The auto-disturbance rejection control method of the permanent magnet synchronous motor according to claim 7 or 8, characterized in that, The active disturbance rejection control law is: ； Among them, represents the rotational speed reference input value, represents the rotational speed loop control gain, represents the differential of the rotational speed reference input value.

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