An active disturbance rejection control method for permanent magnet synchronous motor

Abstract

The present invention relates to the field of motor control technology, and specifically provides an auto-disturbance rejection control method for a permanent magnet synchronous motor. Aiming at non-periodic and periodic disturbances existing in the speed loop of the permanent magnet synchronous motor, a cascaded extended state observer and a quasi-resonant controller are combined to design a two-level error correction (CESO) based on an improved QRC. The improved quasi-resonant controller is constructed by introducing a differential term of the mechanical angular velocity observation error of a first-level observer subsystem into the quasi-resonant controller. The first-level observer subsystem is used to perform an initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor. The observed values ​​of the mechanical angular velocity and the lumped disturbance output by the first-level observer subsystem are then used as inputs of a second-level observer subsystem to perform a secondary observation of the residual lumped disturbance. The present invention can effectively suppress the periodic and non-periodic disturbances existing in the speed loop of the permanent magnet synchronous motor, thereby improving the anti-interference capability and steady-state performance of the motor.

Description

Technical Field

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

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in electric vehicles, CNC machine tools, and robotic servo control due to their high power density, minimal energy loss, and high precision. However, in practical PSM systems, various disturbances exist, which can be categorized as both aperiodic and periodic. These disturbances severely impact system performance, manifesting as torque ripple and speed fluctuation.

[0003] Currently, resonant controllers, repetitive controllers, and iterative learning controllers are effective methods for suppressing periodic disturbances in permanent magnet synchronous motors. Quasi-resonant controllers are widely used in practical systems due to their superior performance. For non-periodic disturbances in permanent magnet synchronous motors, widely used control strategies include active disturbance rejection control (ADRC), intelligent control, and sliding mode control. Among them, the extended state observer (ESO), the core of ADRC, is an effective method for suppressing non-periodic disturbances. However, due to the fixed coupling relationship between the zeros and poles of traditional ESOs, parameter adjustment typically relies on pole configuration, ignoring the impact of zeros on observer performance and limiting system performance improvements. Summary of the Invention

[0004] In view of this, the present invention aims to provide a self-disturbance rejection control method for a permanent magnet synchronous motor. For the non-periodic and periodic disturbances existing in the speed loop of the permanent magnet synchronous motor, CESO and QRC are combined to perform secondary error correction, which effectively suppresses the non-periodic 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 created by the present invention is implemented as follows:

[0006] The present invention provides an active disturbance rejection control method for a permanent magnet synchronous motor, comprising:

[0007] Establish a permanent magnet synchronous motor speed loop model including disturbances, and establish an extended state model of the permanent magnet synchronous motor kinematic equations;

[0008] A two-stage error correction cascade extended state observer based on an improved quasi-resonant controller is designed based on an extended state model. The two-stage error correction cascade extended state observer includes a first-stage observer subsystem and a second-stage observer subsystem. The first-stage observer subsystem is provided with an improved quasi-resonant controller. The improved quasi-resonant controller introduces a differential term of the mechanical angular velocity observation error of the first-stage observer subsystem into the quasi-resonant controller. The first-stage observer subsystem is used to perform an initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor. The second-stage observer subsystem uses the observed values ​​of the mechanical angular velocity and the lumped disturbance output by the first-stage observer subsystem as input to perform a secondary observation of the residual lumped disturbance.

[0009] Preferably, the aggregated disturbance includes periodic disturbance and non-periodic disturbance.

[0010] Preferably, the permanent magnet synchronous motor speed loop model including disturbance is:

[0011] ;

[0012] in, represents the reference current, represents the lumped disturbance, , represents a non-periodic disturbance, represents a 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.

[0013] Preferably, the expanded state model of the kinematic equation of the permanent magnet synchronous motor is:

[0014] ;

[0015] in, and is the state variable, , , To control the output, , is the derivative of the lumped perturbation, , Output of the system.

[0016] Preferably, the first-level observer subsystem is:

[0017] ;

[0018] in, Represents the first-level observer subsystem's response to the state variable The observed value of Represents the first-level observer subsystem's response to the state variable The first observation value of Represents the first-level observer subsystem's response to the state variable The observation error, that is, the mechanical angular velocity observation error, represents the observed value of the periodic disturbance, and represents the observer gain of the first-level observer subsystem, is the 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 cutoff frequency of the improved quasi-resonant controller, represents the resonant frequency of the improved quasi-resonant controller.

[0019] Preferably, the second-level observer subsystem is:

[0020] ;

[0021] in, Represents the second-level observer subsystem's response to the state variable The observed value of Represents the second-level observer subsystem's response to the state variable The residual observations of represents the gain of the introduced double error correction term, and represents the observer gain of the second-level observer subsystem, It represents the second-level observer subsystem’s double error correction term for the state variable Observation error.

[0022] Preferably, the method further includes: designing an auto-disturbance rejection control law based on feedback control to suppress the observed lumped disturbance.

[0023] Preferably, the observed lumped disturbance is .

[0024] Preferably, the active disturbance rejection control law is:

[0025] ;

[0026] in, Indicates the speed reference input value, represents the speed loop control gain, Indicates the differential of the speed reference input value.

[0027] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0028] The present invention combines a cascaded extended state observer (CESO) and a quasi-resonant controller (QRC) to innovatively propose an enhanced active disturbance rejection control method based on a two-level error correction CESO with an improved QRC. A two-level cascade observer design is adopted to perform two-level error correction on the state observation. Specifically, the first-level observer subsystem introduces an additional differential term of the first-level observation error on the basis of QRC to form an improved QRC, and the improved QRC is embedded in the first-level observer subsystem to perform an initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor; and the observed value is used as the input of the second-level observer subsystem to perform a 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 secondary.

[0029] The two-stage error-corrected CESO designed in this paper introduces the observation error of a two-stage observer into the two-stage ESO, breaking the coupling relationship between the zeros and poles of the traditional state observer. This significantly improves the ability to observe disturbances in the permanent magnet synchronous motor system without increasing the order of the observer system. Compared with traditional methods, more accurate observations can be achieved for both low- and high-frequency disturbances, especially periodic harmonics and non-periodic load variations, thereby improving the permanent magnet synchronous motor system's anti-interference capability and steady-state performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0031] 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;

[0032] Figure 2 is a flow chart of an active disturbance rejection control method for a permanent magnet synchronous motor provided in an embodiment of the present invention;

[0033] Figure 3 1. A block diagram of a CESO active disturbance rejection control structure based on improved QRC and two-level error correction according to an embodiment of the present invention;

[0034] Figure 4 is the zero point of the secondary error correction CESO provided according to an embodiment of the present invention Follow Motion trajectory diagram of value change;

[0035] Figure 5 is the observation error transfer function provided by the embodiment of the present invention Follow Bode plot of value changes;

[0036] Figure 6 is the observation error transfer function after adding QRC according to the embodiment of the present invention Bode diagram;

[0037] Figure 7 1s step load speed curve and steady-state speed fluctuation curve under three different control methods provided in an embodiment of the present invention;

[0038] Figure 8 1s ramp load and acceleration load curves under three different control methods provided in an embodiment of the present invention;

[0039] Figure 9 3 is a comparison diagram of steady-state output torque curves and their Fourier analysis under three different control methods provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with 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 use associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present invention to be better understood. 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, or methods. In some cases, some operations related to the present invention are not shown or described in the specification. This is to avoid the core part of the present invention being overwhelmed by too much description. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0041] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various orders in the description and the drawings are only for the purpose of clearly describing a certain embodiment and are not intended to be a required order, unless otherwise specified that a certain order must be followed.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are 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 cannot be understood as a limitation on 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 indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0043] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0045] In one embodiment of the present invention, a method for active disturbance rejection control of a permanent magnet synchronous motor based on a secondary error correction CESO with improved QRC is provided. The method is specifically applied to Figure 1 In the permanent magnet synchronous motor system shown in FIG, periodic and non-periodic disturbances are accurately observed to achieve enhanced active disturbance rejection control. Figure 1 In the permanent magnet synchronous motor system represented by , the current loop controller is a PI controller, i.e. 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, so that the system can accurately track the speed command in steady state. SVPWM (Space Vector Pulse Width Modulation) is used to receive the speed error. The voltage command in the coordinate system is used to calculate the signals that control the inverter switches, achieving six PWM waveform outputs. The inverter, composed of multiple power switches, converts DC power into three-phase AC power based on the switching signals output by the SVPWM module. This power is used to drive the three-phase windings of the permanent magnet synchronous motor, ensuring normal motor rotation. An encoder is mounted on the shaft of the permanent magnet synchronous motor and accurately measures the position of the motor rotor. Angle differentiation and speed filtering perform differential calculations on the rotor angle signal measured by the encoder and filter the resulting speed signal. The speed loop (speed loop) is responsible for regulating the motor speed. Through feedback control, the actual motor speed quickly and accurately tracks the reference speed, improving the accuracy and stability of motor speed regulation. However, periodic and non-periodic disturbances exist in permanent magnet synchronous motors, which seriously affect the performance of the observer in the speed loop.

[0046] To resolve the above issues, please refer to Figure 2 The embodiment of the present invention provides an active disturbance rejection control method for a permanent magnet synchronous motor, comprising the following steps:

[0047] S1: First, the kinematic equation of the permanent magnet synchronous motor is established and expressed as:

[0048] (1)

[0049] in, represents the lumped disturbance, , represents a non-periodic disturbance, represents a periodic disturbance, represents the mechanical angular velocity of the motor, represents the motor torque coefficient, is the motor torque coefficient, Indicates the number of pole pairs of the motor, represents the permanent magnet flux, represents the moment of inertia, represents the q-axis current, Represents the load torque of the motor, represents the coefficient of viscous friction.

[0050] Lumped disturbance of the speed loop The main disturbances include periodic disturbances caused by factors such as flux harmonics and inverter nonlinearity, and non-periodic disturbances caused by factors such as load torque, cogging torque, and motor parameter changes. In response to the above disturbances, the embodiment of the present invention introduces a disturbance term based on the kinematic equation (1) to construct a permanent magnet synchronous motor speed loop model including disturbances:

[0051] (2)

[0052] in, represents the speed loop control gain, , Indicates the reference current.

[0053] According to formula (2), the permanent magnet synchronous motor speed loop model is further expanded and analyzed, and the extended state model of the permanent magnet synchronous motor kinematic equation is constructed. ,, , , , the expansion state model is obtained as:

[0054] (3)

[0055] in, and is the state variable, To control the output, is the derivative of the lumped perturbation, Output of the system.

[0056] S2: Based on the extended state model expressed in Equation (3), combined with the cascaded extended state observer and the quasi-resonant controller (QRC), the design is as follows Figure 3 The two-stage error correction CESO based on the improved QRC is shown in the figure. The cascaded extended state observer includes two-stage observer subsystems, namely the first-stage observer subsystem and the second-stage observer subsystem. The first-stage observer subsystem is innovatively designed based on the traditional quasi-resonant controller. Specifically, the differential term of the observation error of the first-stage observer subsystem is additionally introduced into the quasi-resonant controller to form an improved quasi-resonant controller. The improved quasi-resonant controller is then embedded in the first-stage observer subsystem. The first-stage observer subsystem is used to perform the initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor. The first-stage observer subsystem is specifically expressed as:

[0057] (4)

[0058] in, Represents the first-level observer subsystem's response to the state variable The observed value of Represents the first-level observer subsystem's response to the state variable The first observation value of Represents the first-level observer subsystem's response to the state variable The observation error, that is, the mechanical angular velocity observation error, represents the observed value of the periodic disturbance, and represents the observer gain of the first-level observer subsystem, is the 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 cutoff frequency of the improved quasi-resonant controller, represents the resonant frequency of the improved quasi-resonant controller.

[0059] For the second-level observer subsystem cascaded with the first-level observer subsystem, the embodiment of the present invention uses the observation value output by the first-level observer subsystem as the input of the second-level observer subsystem, that is, the first-level observer subsystem observes the state variable Observed values and the first-level observer subsystem for the state variables The first observation value of At this point, the constructed second-level observer subsystem is expressed as:

[0060] (5)

[0061] in, Represents the second-level observer subsystem's response to the state variable The observed value of Represents the second-level observer subsystem's response to the state variable The residual observations of represents the gain of the introduced double error correction term, and represents the observer gain of the second-level observer subsystem, It represents the second-level observer subsystem’s double error correction term for the state variable Observation error.

[0062] This design not only improves the traditional quasi-resonant controller, but also uses the observation output of the first-level observer subsystem as the input of the second-level observer subsystem, that is, the second-level observer subsystem The residual observations is the observed output of the first-level observer subsystem Based on the further disturbance estimation, the total disturbance is observed to be , which can effectively observe the disturbances that are not fully observed by the first-level observer subsystem, that is, the residual non-periodic disturbances and periodic disturbances of the remaining part of the initial observation.

[0063] In terms of observer form, the two-stage error correction CESO based on the improved QRC in the embodiment of the present invention is the same as the traditional ESO (single extended state observer) when the improved QRC and the second-stage observer subsystem are not effective; ,and When , both the improved QRC and the dual error correction terms do not work, and it is the same as the traditional CESO (Cascaded Extended State Observer).

[0064] The two-stage error correction cascade extended state observer based on the improved quasi-resonant controller of the present invention combines the cascade extended state observer and the quasi-resonant controller, and introduces the observation error of the observer in each stage of the ESO, breaking the coupling relationship between the zero and the pole of the CESO, overcoming the drawbacks of the traditional fixed coupling relationship between the zero and the pole, and relying on the pole configuration for parameter adjustment. Without increasing the system order, the observation capability is significantly enhanced. In order to verify the effectiveness and progress of the two-stage error correction cascade extended state observer based on the improved quasi-resonant controller proposed in the embodiment of the present invention, first, the relevant variables and parameters are initialized, so that Then, according to the mathematical relationship between Equations (3), (4) and (5), the disturbance-observation error transfer function of the secondary error correction CESO is derived: for:

[0065] (6)

[0066] in, 、 and Respectively 、 and The Laplace transform of represents the Laplace complex variable.

[0067] According to the pole placement strategy of the extended state observer, the observer gain value can be determined, and the observer gain value is adjusted according to the pole placement strategy as follows:

[0068] (7)

[0069] in, Indicates the i The observer bandwidth of the first-level observer subsystem.

[0070] Substituting equation (7) into equation (6), and using the pole placement strategy to tune the parameters, we get the transfer function for:

[0071] (8)

[0072] in, represents the bandwidth of the two-stage error correction CESO.

[0073] From formula (8), we can see that the extreme point is , and the zero point is:

[0074] (9)

[0075] in, are two zero points at the origin of the complex plane, are the other two zero points, whose positions are determined by the parameters and observer bandwidth Determine, its position will follow , thus affecting the frequency characteristics of the observation error transfer function.

[0076] From this we can draw Figure 4 The zero point of the secondary error correction CESO is shown Follow The trajectory of the value change and the observation error transfer function Follow Bode plot of the value change, where the observer bandwidth The value is 200rad / s. Figure 4 and Figure 5 It can be seen that the bandwidth Under the condition of no change, The value increases from -0.8 to 0, and the zero point of the CESO perturbation observation error transfer function with the introduction of the secondary error correction term Will be by location and position 0 gradually towards The error transfer function amplitude curve moves from right to left and is close to When the maximum slope is +60dB / dec at low frequency, compared with the traditional CESO ( ) has a slope of +40dB / dec, and the secondary error correction CESO has a lower amplitude-frequency characteristic at low frequencies, which shows that the secondary error correction CESO of the present invention can better suppress low-frequency disturbances; The value continues to increase, zero exist Separated at , moving away from the real axis, and Time, zero o'clock ,4Move to Department, j is an imaginary unit, and the observed error transfer function amplitude curve has no obvious change, so The value does not need to be set too large. In summary, without increasing the system order, the two-stage error correction CESO of the present invention introduces the observation error of the two-stage observer into the two-stage ESO, changes the coupling relationship between the zero and pole of the CESO observation error transfer function, further increases the slope at low frequencies, and improves the CESO's disturbance observation capability at low frequencies.

[0077] The advancement of the improved quasi-resonant controller designed in the two-stage error correction cascade extended state observer based on the improved quasi-resonant controller proposed in the present invention is demonstrated as follows:

[0078] exist and When both are not equal to 0, the disturbance observation error transfer function of the two-stage error correction cascade extended state observer based on the improved quasi-resonant controller proposed in the present invention is rewritten as:

[0079] (10)

[0080] in, for and When both are not equal to 0, the rewritten disturbance observation error transfer function , is a transfer function used to design improved resonance suppression, .

[0081] The value is -0.8, and the Bode diagram with and without improved QRC is drawn according to formula (10). Figure 6 As shown, the observer bandwidth Take 200rad / s, the resonant frequency Take 400rad / s, cutoff frequency Take 1rad / s, the resonant gain Take 4, the differential resonant gain Take 0.01 ( Take 0 for traditional quasi-resonance).

[0082] Depend on Figure 6 As can be seen from the figure, the introduction of the error differential term causes the improved QRC to produce amplitude attenuation only at the resonant 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 does not significantly amplify disturbance signals with frequencies other than the resonant frequency. From the above, it can be seen that 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 state observer, and significantly improves the ability to observe disturbances in the permanent magnet synchronous motor system without increasing the order of the observer system.

[0083] S3: The aggregate disturbance is obtained by observing S2 Based on the feedback control idea, an enhanced linear active disturbance rejection control law is established to eliminate the observed lumped disturbance. Specifically, the speed reference input and error are first defined, and the speed reference input is used to The speed error is expressed as According to the dynamic characteristics of the system, the dynamic equation of the speed error can be obtained as:

[0084] (11)

[0085] According to the feedback control idea, for the speed error The control target approaches zero. Therefore, the feedback control law is designed as:

[0086] (12)

[0087] in, represents the speed loop control gain. Substituting the feedback control law (12) into the dynamic equation of the speed error (11), the reference control current can be obtained. The expression is:

[0088] (13)

[0089] Aggregate disturbance observed using S2 replace , the reference control current can be further Rewritten as:

[0090] (14)

[0091] Through the above steps, an enhanced linear active disturbance rejection controller is established based on the feedback control principle. This controller estimates the system's lumped disturbance through an observer and uses the feedback control law to suppress and eliminate the effects of the disturbance, thereby achieving precise speed control.

[0092] To verify the disturbance observation capability of the active disturbance rejection control method for a permanent magnet synchronous motor proposed in an embodiment of the present invention, simulations were performed under the same conditions using traditional active disturbance rejection control, traditional CESO-based active disturbance rejection control, and the enhanced active disturbance rejection control for a permanent magnet synchronous motor proposed in this invention. This verifies that the design of the present invention has more accurate disturbance observation capabilities. The verification results are as follows:

[0093] Permanent magnet synchronous motor at 150rpm ( ) under the reference speed, the speed change of the above three different control methods under 1s step load and the speed fluctuation in steady state are as follows Figure 7 As shown in the figure, it can be seen that:

[0094] The traditional ESO active disturbance rejection control has a large speed drop and a slow recovery time. The active disturbance rejection control based on traditional CESO+QRC is second, while the enhanced active disturbance rejection control based on the improved QRC two-level error correction CESO has a smaller speed drop and a relatively fast recovery time. In addition, compared with the other two control methods, the steady-state of the enhanced active disturbance rejection control of the present invention also has relatively small speed fluctuations, which shows that the enhanced active disturbance rejection control has strong anti-interference ability and better steady-state characteristics.

[0095] Permanent magnet synchronous motor at 150rpm ( ) under the reference speed, the speed changes of 1s ramp load and acceleration load under the above three different control methods are as follows Figure 8 As shown in the figure, it can be seen that:

[0096] Under a ramp load, the traditional ESO ADRC system experiences a speed drop and is unable to recover. Both the traditional CESO+QRC-based ADRC and the enhanced ADRC with improved QRC-based two-level error correction CESO can recover to 150 rpm. The enhanced ADRC system experiences a smaller speed drop and a relatively faster recovery time. Under an acceleration load, the traditional ESO ADRC and the traditional CESO+QRC-based ADRC system experience a speed drop and are unable to recover. However, the enhanced ADRC with improved QRC-based two-level error correction CESO can recover to 150 rpm without a significant speed drop. This demonstrates that the enhanced ADRC with improved QRC-based two-level error correction CESO effectively suppresses ramp and acceleration disturbances, whereas the traditional ESO ADRC and the traditional CESO+QRC ADRC cannot fully suppress them.

[0097] Permanent magnet synchronous motor at 150rpm ( ) at the reference speed, the steady-state output torque curves and Fourier analysis under the above three different control methods are as follows Figure 9 As shown in the figure, it can be seen that:

[0098] The traditional ESO active disturbance rejection control has large torque fluctuations and the largest THD value among the three control methods. The active disturbance rejection control based on traditional CESO+QRC is second. The enhanced active disturbance rejection control based on the second-level error correction CESO with improved QRC has the smallest torque ripple and THD value among the three control methods. This shows that the enhanced active disturbance rejection control has better periodic disturbance suppression capability.

[0099] In summary, the enhanced active disturbance rejection control based on the improved QRC-based secondary error correction CESO proposed in the embodiment of the present invention has a stronger disturbance observation capability than the traditional active disturbance rejection control and the active disturbance rejection control based on the traditional CESO+QRC, and can more effectively suppress periodic harmonics, which helps to further improve the anti-disturbance capability and steady-state performance of the permanent magnet synchronous motor system.

[0100] In short, the above description is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included in the scope of protection of this specification.

[0101] The systems, devices, modules, or units described in one or more of the above embodiments may be implemented by a computer chip or entity, or by a product having a certain function. 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 smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0102] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0103] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0104] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A method for controlling an active disturbance rejection of a permanent magnet synchronous motor, characterized in that: include: Establish a permanent magnet synchronous motor speed loop model including disturbances, and establish an extended state model of the permanent magnet synchronous motor kinematic equations; Based on the extended state model, a two-level error correction cascade extended state observer based on an improved quasi-resonant controller is designed, which includes: a first-level observer subsystem and a second-level observer subsystem, wherein the first-level observer subsystem is provided with an improved quasi-resonant controller, and the improved quasi-resonant controller introduces a differential term of the mechanical angular velocity observation error of the first-level observer subsystem into the quasi-resonant controller, and the first-level observer subsystem is used to perform initial observation of the mechanical angular velocity and lumped disturbance of the permanent magnet synchronous motor; the first-level observer subsystem is: ； in, Represents the first-level observer subsystem's response to the state variable The observed value of , represents the mechanical angular velocity of the motor, Represents the first-level observer subsystem's response to the state variable The first observation value of , represents the lumped disturbance, Represents the first-level observer subsystem's response to the state variable The observation error, that is, the mechanical angular velocity observation error, represents the observed value of the periodic disturbance, and represents the observer gain of the first-level observer subsystem, is an intermediate variable, represents the resonant gain of the improved quasi-resonant controller, represents the differential resonance gain of the mechanical angular velocity observation error of the improved quasi-resonant controller, represents the cutoff frequency of the improved quasi-resonant controller, represents the resonant frequency of the improved quasi-resonant controller, represents the speed loop control gain, To control the output, , Indicates the reference current; The second-level observer subsystem takes the observed value of the mechanical angular velocity and the observed value of the lumped disturbance output by the first-level observer subsystem as input, and performs a secondary observation on the residual lumped disturbance.

2. The active disturbance rejection control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The lumped disturbance includes periodic disturbance and non-periodic disturbance.

3. The active disturbance rejection control method of a permanent magnet synchronous motor according to claim 1, characterized in that: The permanent magnet synchronous motor speed loop model including disturbance is: ； in, represents the reference current, represents the lumped disturbance, , represents a non-periodic disturbance, represents a 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 active disturbance rejection control method of a permanent magnet synchronous motor according to claim 3, characterized in that: The expanded state model of the kinematic equation of the permanent magnet synchronous motor is: ； in, and is the state variable, , , To control the output, , is the derivative of the lumped perturbation, , Output of the system.

5. The active disturbance rejection control method of a permanent magnet synchronous motor according to claim 4, characterized in that: The second-level observer subsystem is: ； in, Represents the second-level observer subsystem's response to the state variable The observed value of Represents the second-level observer subsystem's response to the state variable The residual observations of represents the gain of the introduced double error correction term, and represents the observer gain of the second-level observer subsystem, It represents the second-level observer subsystem’s adjustment of the state variable after introducing the double error correction term. Observation error.

6. The active disturbance rejection control method of a permanent magnet synchronous motor according to claim 5, characterized in that: Also includes: An active disturbance rejection control law based on feedback control is designed to suppress the observed lumped disturbance.

7. The active disturbance rejection control method for a permanent magnet synchronous motor according to claim 6, characterized in that: The observed aggregate disturbance is .

8. The active disturbance rejection control method for a permanent magnet synchronous motor according to claim 6 or 7, characterized in that: The active disturbance rejection control law is: ； in, Indicates the speed reference input value, represents the speed loop control gain, Indicates the differential of the speed reference input value.

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