Current disturbance rejection method for permanent magnet synchronous motor based on generalized active disturbance rejection control

Abstract

This invention belongs to the field of permanent magnet synchronous motor current control technology, specifically disclosing a method for suppressing current disturbances in permanent magnet synchronous motors based on generalized active disturbance rejection control, including: considering the lumped disturbances of the permanent magnet synchronous motor... dq Based on the axis current equation, a generalized active disturbance rejection control (ADRC) is established, and a generalized disturbance transfer function is derived. The generalized ADRC includes the generalized form of... dq Axis-extended state observer and generalized form dq Axis control law; design the desired disturbance transfer function and derive the generalized form of the disturbance transfer function by combining the generalized form of the disturbance transfer function. dq The specific structure and generalized form of the axis-extended state observer dq The specific structure of the shaft control law enables the suppression of current disturbances in a permanent magnet synchronous motor. This invention solves the problems of limited suppression capability of existing permanent magnet synchronous motor current disturbance suppression methods for low- and medium-frequency disturbances and periodic disturbances at specific frequencies, as well as the design and implementation difficulties caused by the complex structure of the ESO and control law.

Description

Technical Field

[0001] This invention belongs to the field of permanent magnet synchronous motor current control technology, specifically relating to a method for suppressing current disturbances in permanent magnet synchronous motors based on generalized active disturbance rejection control. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in industrial automation, servo drives, and electric vehicles due to their high power density, excellent operating efficiency, and superior reliability. However, in actual operation, PMSMs are inevitably affected by various disturbances, which often leads to a decline in control performance, thus adversely affecting the system's control efficiency and stability. To enhance the control system's ability to suppress disturbances, researchers have proposed a variety of advanced control strategies, including robust control, adaptive control, sliding mode control, and the rapidly developing Active Disturbance Rejection Control (ADRC).

[0003] ADRC technology mainly comprises three core components: a tracking differentiator, an extended state observer (ESO), and a control law. Before disturbances and uncertainties significantly affect the controlled object, the ESO can estimate the disturbance online and compensate it into the control law in real time, effectively mitigating the impact of disturbances on system performance. However, traditional nonlinear ADRC suffers from difficult parameter tuning, limiting its widespread application in industry. Therefore, linear ADRC has been more widely adopted in practical engineering.

[0004] To address the insufficient suppression capability of traditional linear ADRC for periodic perturbations, researchers have proposed the following two types of methods:

[0005] The first type of method focuses on improving the control law of ADRC. In this type of method, precise suppression of disturbances at specific frequencies is achieved by introducing controllers such as resonant controllers, quasi-resonant controllers, and repetitive controllers into the control law.

[0006] The second type of method achieves accurate estimation and compensation for periodic disturbances at specific frequencies by modifying the structure of the ESO. This type of method is typically implemented by embedding resonant controllers, quasi-resonant controllers, notch filters, or complex coefficient filters into the ESO design.

[0007] However, these methods still have the following problems:

[0008] 1. The coupling between the control law gain and the disturbance transfer function results in limited system suppression capability for low- and medium-frequency disturbances;

[0009] 2. The coupling effect between the controller, such as the resonant controller, and the disturbance transfer function amplifies the disturbance near the resonant frequency;

[0010] 3. ESO structures are complex and difficult to design and implement when suppressing multi-frequency disturbances;

[0011] 4. The complex structure of ESO and control law increases the difficulty of practical engineering implementation. Summary of the Invention

[0012] The purpose of this invention is to address the problems in existing permanent magnet synchronous motor current disturbance suppression methods, such as the coupling between the control law gain and the disturbance transfer function, which leads to limited system suppression capability for low- and medium-frequency disturbances; the coupling effect between the controller and the disturbance transfer function, which amplifies disturbances near the resonant frequency; the complexity of the ESO structure in multi-frequency disturbance suppression, making design and implementation difficult; and the complexity of the ESO and control law structures, which increases the difficulty of practical engineering implementation. This invention proposes a permanent magnet synchronous motor current disturbance suppression method based on generalized active disturbance rejection control.

[0013] The technical solution of this invention is: a method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control, comprising the following steps:

[0014] Permanent magnet synchronous motor considering lumped disturbances dq Based on the axis current equation, a generalized active disturbance rejection control (ADRC) is established, and a generalized disturbance transfer function is derived. The generalized ADRC includes the generalized form of... dq Axis-extended state observer and generalized form dq Axis control law;

[0015] Design the desired perturbation transfer function;

[0016] By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis-extended state observer is used to obtain the generalized active disturbance rejection control with variable observer structure;

[0017] By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis control law is used to obtain the generalized active disturbance rejection control with a variable control law structure.

[0018] Based on the generalized active disturbance rejection control (ADRC) with variable observer structure and the generalized ADRC with variable control law structure, for permanent magnet synchronous motors... dq The shaft current is controlled to suppress current disturbances in the permanent magnet synchronous motor.

[0019] As a preferred approach, a generalized active disturbance rejection control (ADRC) is established, and the generalized form of the disturbance transfer function is derived. This process includes the following steps:

[0020] Establish a permanent magnet synchronous motor considering lumped disturbances dqAxis current equation;

[0021] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations, establishing a generalized form dq Axis expansion state observer;

[0022] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations and their generalized forms dq Axis-extended state observer, establishing a generalized form dq Axis control law;

[0023] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq Axis-extended state observer and generalized form dq The axis control law yields the generalized form of the disturbance transfer function.

[0024] Preferably, the establishment of a permanent magnet synchronous motor considering lumped disturbances dq The axis current equation is as follows:

[0025] Establish a permanent magnet synchronous motor considering unknown disturbances dq The equation for the shaft current is:

[0026]

[0027] in, Describes the differential operator. express shaft current, express shaft current, express shaft voltage, express shaft voltage, Indicates resistance. Indicates inductance. Indicates magnetic flux. This indicates the electric angular velocity of the motor. express Unknown disturbance on axis. express Unknown disturbance on axis;

[0028] Permanent magnet synchronous motor considering unknown disturbances dq The shaft current equation is rewritten to obtain the permanent magnet synchronous motor considering lumped disturbances. dq Axis current equation:

[0029]

[0030] in, express Shaft reference voltage, express Shaft reference voltage, express Lumped disturbance of axis. express Lumped disturbance of axis. , .

[0031] As a preferred option, the generalized form dq The formula for the axial expansion state observer is:

[0032]

[0033] in, Describes the differential operator. , express d shaft or q Estimated value of shaft current, , express or The estimated value, , and This indicates the transfer function to be configured.

[0034] As a preferred option, the generalized form dq The formula for the axis control law is as follows:

[0035]

[0036] in, Representing the generalized form dq Axis control law, Indicates inductance. Represents the Lagrange operator, This indicates the pass function to be configured. express dq The reference current of the shaft, , express d axis / q Estimated value of shaft current, express / The estimated value.

[0037] As a preferred option, the generalized form of the disturbance transfer function is expressed as follows:

[0038]

[0039] in, express dqAxis disturbance pair dq The transfer function of shaft current is the generalized form of the disturbance transfer function. , and This indicates the pass function to be configured. This represents the frequency domain differential operator.

[0040] Preferably, the generalized form of the perturbation transfer function is derived by combining the desired perturbation transfer function and the generalized perturbation transfer function. dq The specific structure of the axis-extended state observer, leading to the generalized active disturbance rejection control with a variable observer structure, includes the following steps:

[0041] Set the pass function middle , Representing the proportional gain, the control law is:

[0042]

[0043] This leads to the generalized form of the perturbation transfer function. :

[0044]

[0045] Design the desired perturbation transfer function. To enhance the control system's ability to suppress low- and medium-frequency disturbances and periodic disturbances at specific frequencies, the desired disturbance transfer function is... for:

[0046]

[0047] in, This represents the frequency domain differential operator. Indicates the observer bandwidth. Indicates the damping ratio. Indicates the frequency of periodic disturbances. The structure enhances the suppression capability of low- and mid-frequency disturbances by eliminating the coupling between the control law and the disturbance transfer function; notch filter. Used to enhance the ability to suppress periodic disturbances;

[0048] According to the generalized form of the disturbance transfer function and expected perturbation transfer function ,get:

[0049]

[0050] make , The structure of the observer is obtained as follows:

[0051]

[0052] in:

[0053]

[0054]

[0055] Make:

[0056]

[0057] in, express Frequency domain representation of shaft current. express Frequency domain representation of the shaft reference current. express Frequency domain representation of axis lumped perturbation. Represents the transfer function. Represents the desired perturbation transfer function;

[0058] If it is necessary to eliminate periodic disturbances at multiple frequencies, design the desired disturbance transfer function. for:

[0059]

[0060] in, Indicates the number of notch filters. For the first The frequency of a periodic disturbance, For the first Damping ratio;

[0061] Therefore, we get:

[0062]

[0063]

[0064] Achieve generalized active disturbance rejection control with variable observer structure.

[0065] Preferably, the generalized form of the perturbation transfer function is derived by combining the desired perturbation transfer function and the generalized perturbation transfer function. dq The specific structure of the axis control law, resulting in a generalized active disturbance rejection control with a variable control law structure, includes the following steps:

[0066] Select the actual measurement signal As the feedback signal, the control law is established as follows:

[0067]

[0068] in, , Indicates proportional gain. This represents the transfer function to be designed;

[0069] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq The formulation and control law of the shaft expansion state observer and This yields the generalized form of the perturbation transfer function. for:

[0070]

[0071] make , ;in, Indicates the observer bandwidth;

[0072] Design the desired perturbation transfer function. for:

[0073]

[0074] According to the generalized form of the disturbance transfer function and expected perturbation transfer function The transfer function to be designed is obtained. for:

[0075]

[0076] Make:

[0077]

[0078] To achieve generalized active disturbance rejection control with a variable control law structure, wherein... This is a transfer function.

[0079] The beneficial effects of this invention are:

[0080] 1. This invention designs a generalized form of active disturbance rejection control (ADRC), expressing the observer and control law in a generalized form and deriving the generalized disturbance transfer function. Based on the desired disturbance transfer function, an observer and control law capable of achieving the target are designed by reverse engineering. The desired transfer function for suppressing low- and medium-frequency disturbances is configured. This method eliminates the coupling between the control law gain and the disturbance transfer function in traditional methods, thereby enhancing the system's ability to suppress low- and medium-frequency disturbances.

[0081] 2. This invention, by incorporating a notch filter, achieves suppression of periodic disturbances while eliminating the amplification effect of disturbances near the resonant frequency;

[0082] 3. The generalized active disturbance rejection control method with variable control law structure proposed in this invention can effectively improve the system response speed;

[0083] 4. This invention reduces the design difficulty and implementation complexity of the observer and control law, making it easier to implement in engineering. Attached Figure Description

[0084] Figure 1 The diagram shows a flowchart of a method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control.

[0085] Figure 2 The figure shows the desired perturbation transfer function under different conditions. The Bird diagram.

[0086] Figure 3 The figure shows the desired perturbation transfer function under different conditions. The Bird diagram.

[0087] Figure 4 The transfer function is shown below. The Bird diagram.

[0088] Figure 5 The transfer function is shown below. The Bird diagram.

[0089] Figure 6 The diagram shown is a block diagram of the current disturbance control for the permanent magnet synchronous motor of the present invention. Detailed Implementation

[0090] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the embodiments shown and described in the drawings are merely exemplary and are intended to illustrate the principles and spirit of the invention, and are not intended to limit the scope of the invention.

[0091] Example 1:

[0092] like Figure 1 As shown, a method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control includes the following steps:

[0093] S1. Permanent magnet synchronous motor considering lumped disturbances dq Based on the axis current equation, a generalized active disturbance rejection control (ADRC) is established, and a generalized disturbance transfer function is derived. The generalized ADRC includes the generalized form of... dq Axis-extended state observer and generalized form dq Axis control law; specifically including the following steps:

[0094] S11. Establish a permanent magnet synchronous motor considering lumped disturbances. dq Axis current equation;

[0095] Specifically, establish a permanent magnet synchronous motor that considers unknown disturbances. dq The equation for the shaft current is:

[0096]

[0097] in, Describes the differential operator. express shaft current, express shaft current, express shaft voltage, express shaft voltage, Indicates resistance. Indicates inductance. Indicates magnetic flux. This indicates the electric angular velocity of the motor. express Unknown disturbance on axis. express Unknown disturbance on axis;

[0098] Permanent magnet synchronous motor considering unknown disturbances dq The shaft current equation is rewritten to obtain the permanent magnet synchronous motor considering lumped disturbances. dq Axis current equation:

[0099]

[0100] in, express Shaft reference voltage, express Shaft reference voltage, express Lumped disturbance of axis. express Lumped disturbance of axis. , .

[0101] S12. Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations, establishing a generalized form dq Axis expansion state observer:

[0102]

[0103] in, Describes the differential operator. express dq shaft current, , express d shaft orq Estimated value of shaft current, , express or The estimated value, , and This indicates the transfer function to be configured.

[0104] S13. Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations and their generalized forms dq Axis-extended state observer, establishing a generalized form dq Axis control law:

[0105]

[0106] in, Representing the generalized form dq Axis control law, Indicates inductance. Represents the Lagrange operator, This indicates the pass function to be configured. express dq The reference current of the shaft, , express d axis / q Estimated value of shaft current, express / The estimated value.

[0107] S14. Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq Axis-extended state observer and generalized form dq The axis control law yields the generalized form of the disturbance transfer function:

[0108]

[0109] in, express dq Axis disturbance pair dq The transfer function of shaft current is the generalized form of the disturbance transfer function. , and This indicates the pass function to be configured. This represents the frequency domain differential operator.

[0110] S2. Design the desired perturbation transfer function;

[0111] S3. Combining the desired perturbation transfer function and the generalized perturbation transfer function, we can deduce the generalized form. dq The specific structure of the axis-extended state observer is used to obtain the generalized active disturbance rejection control with variable observer structure;

[0112] Specifically, settings , Representing the proportional gain, the control law is:

[0113]

[0114] This leads to the generalized form of the perturbation transfer function. :

[0115]

[0116] Design the desired perturbation transfer function. To enhance the control system's ability to suppress low- and medium-frequency disturbances and periodic disturbances at specific frequencies, the desired disturbance transfer function is... for:

[0117]

[0118] in, Represents the Laplace operator. Indicates the observer bandwidth. Indicates the damping ratio. Indicates the frequency of periodic disturbances. The structure enhances the suppression capability of low- and mid-frequency disturbances by eliminating the coupling between the control law and the disturbance transfer function; notch filter. Used to enhance the ability to suppress periodic disturbances;

[0119] According to the generalized form of the disturbance transfer function and expected perturbation transfer function ,get:

[0120]

[0121] make , The structure of the observer is obtained as follows:

[0122]

[0123] in:

[0124]

[0125]

[0126] Make:

[0127]

[0128] in, Represents the transfer function. Represents the expected transfer function;

[0129] If it is necessary to eliminate periodic disturbances at multiple frequencies, design the desired disturbance transfer function. for:

[0130]

[0131] in, Indicates the number of notch filters. For the first The frequency of a periodic disturbance, For the first Damping ratio;

[0132] Therefore, we get:

[0133]

[0134]

[0135] Achieve generalized active disturbance rejection control with variable observer structure.

[0136] S4. Combining the desired perturbation transfer function and the generalized perturbation transfer function, we can deduce the generalized form. dq The specific structure of the axis control law is used to obtain the generalized active disturbance rejection control with a variable control law structure.

[0137] S5. Based on the generalized active disturbance rejection control (ADRC) of the variable observer structure and the generalized ADRC of the variable control law structure, for permanent magnet synchronous motors... dq The shaft current is controlled to suppress current disturbances in the permanent magnet synchronous motor.

[0138] Example 2:

[0139] Based on Example 1, this embodiment of the invention derives the generalized form of the perturbation transfer function by combining the desired perturbation transfer function and the generalized form of the perturbation transfer function. dq The specific structure of the axis control law is explained, and the specific steps of obtaining the generalized active disturbance rejection control with variable control law structure are described.

[0140] Specifically, select the actual measurement signal. As the feedback signal, the control law is established as follows:

[0141]

[0142] in, , Indicates proportional gain. This represents the transfer function to be designed;

[0143] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq The formulation and control law of the shaft expansion state observer and This yields the generalized form of the perturbation transfer function. for:

[0144]

[0145] make , ;in, Indicates the observer bandwidth;

[0146] If it is necessary to suppress a single periodic disturbance, the desired disturbance transfer function is... for:

[0147]

[0148] in, Indicates the damping ratio. Indicates the frequency of periodic disturbances;

[0149] according to Generalized form of perturbation transfer function , and The transfer function to be designed is obtained. for:

[0150]

[0151] Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq The formulation and control law of the shaft expansion state observer , , , and ,get:

[0152]

[0153] in, Represents the transfer function;

[0154] If it is necessary to eliminate periodic disturbances at multiple frequencies, the desired disturbance transfer function is... for:

[0155]

[0156] According to the generalized form of the disturbance transfer function The transfer function to be designed is obtained. for:

[0157]

[0158] Make:

[0159]

[0160] To achieve generalized active disturbance rejection control with a variable control law structure, wherein... This is a transfer function.

[0161] Example 3:

[0162] Based on Example 1, the embodiments of the present invention are as follows: Taking shaft current control as an example, the method proposed in this invention will be explained.

[0163] In this embodiment, a permanent magnet synchronous motor considering unknown disturbances is established. The equation for the shaft current is:

[0164]

[0165] in, Describes the differential operator. express shaft current, express shaft current, express shaft voltage, express shaft voltage, Indicates resistance. Indicates inductance. Indicates magnetic flux. This indicates the electric angular velocity of the motor. express Unknown disturbance on axis. express Unknown disturbance on axis.

[0166] Permanent magnet synchronous motor considering unknown disturbances The shaft current equation is rewritten to obtain the permanent magnet synchronous motor considering lumped disturbances. dq Axis current equation:

[0167]

[0168] in, express Shaft reference voltage, express Shaft reference voltage, express Lumped disturbance of axis. express Lumped disturbance of axis. , ;

[0169] by Taking shaft current control as an example, establish The axis generalized extended state observer (ESO) is:

[0170]

[0171] in, express shaft current The estimated value, express The estimated value, Represents the Lagrange operator, and This indicates the transfer function to be configured.

[0172] Permanent magnet synchronous motor considering lumped disturbances dq Axis current equation and The axis generalized extended state observer yields:

[0173]

[0174] in, express q Estimated value of shaft current, express The estimated value, express q Frequency domain representation of shaft current. This represents the frequency domain differential operator. express q Frequency domain representation of axis lumped perturbation; express Frequency domain representation of shaft current. express Frequency domain representation of the shaft reference current. express Frequency domain representation of axis lumped perturbation.

[0175] Establishing a generalized form Axis control law:

[0176]

[0177] in, This indicates the pass function to be configured. express qReference current of the shaft;

[0178] Permanent magnet synchronous motor considering lumped disturbances dq Axis current equation and in a broad sense The axis control law yields:

[0179]

[0180] in, express q Frequency domain representation of the shaft reference current;

[0181] This leads to the generalized form of the perturbation transfer function. :

[0182] .

[0183] In this embodiment, to simplify the design, the following is defined: , To represent the proportional gain, then The axis control law is:

[0184]

[0185] This leads to the generalized form of the perturbation transfer function. :

[0186]

[0187] To enhance the control system's ability to suppress low- and medium-frequency disturbances and periodic disturbances at specific frequencies, the desired disturbance transfer function is... for:

[0188]

[0189] in, Represents the Laplace operator. Indicates the observer bandwidth. Indicates the damping ratio. Indicates the frequency of periodic disturbances. The notch filter enhances the system's ability to suppress low- and mid-frequency disturbances by eliminating the coupling between the control law and the disturbance transfer function. Used to enhance the system's ability to suppress periodic disturbances. Based on the generalized form of the disturbance transfer function. and expected perturbation transfer function ,get:

[0190]

[0191] For simplicity, the embodiments of the present invention are as follows:

[0192]

[0193] in:

[0194]

[0195] Furthermore:

[0196]

[0197] in:

[0198]

[0199] according to and The structure of the observer is obtained as follows:

[0200]

[0201] This can make:

[0202]

[0203] in, Represents the transfer function. Represents the expected transfer function;

[0204] When it is necessary to eliminate periodic disturbances at multiple frequencies, the desired disturbance transfer function is... for:

[0205]

[0206] in, Indicates the number of notch filters. For the first The frequency of a periodic disturbance, For the first Damping ratio.

[0207] For simplicity, this invention takes the form of:

[0208]

[0209] but:

[0210] .

[0211] In this embodiment, for simplicity, the actual measurement signal is selected. As the feedback signal, the control law is established as follows:

[0212]

[0213] in, , This is the transfer function to be designed.

[0214] Permanent magnet synchronous motor considering lumped disturbances dq Axis current equation , Axis generalized extended state observer The control law is and This yields the generalized form of the perturbation transfer function:

[0215]

[0216] For simplicity, the embodiments of the present invention are as follows:

[0217]

[0218] When it is necessary to suppress a single periodic disturbance, the desired disturbance transfer function is: So, according to , and We can obtain:

[0219]

[0220] Permanent magnet synchronous motor considering lumped disturbances dq Axis current equation , Axis generalized extended state observer The control law is , , and We can obtain:

[0221]

[0222] It can be seen that it is only necessary to design the control law as follows: In this form, the perturbation transfer function can be configured to the desired form. Simultaneously, the transfer function... and Compared to the previous method, increased bandwidth improves response speed.

[0223] When it is necessary to eliminate periodic disturbances at multiple frequencies, the desired disturbance transfer function is: .according to We can obtain:

[0224]

[0225] Make:

[0226] .

[0227] This invention provides a method for suppressing current disturbances in permanent magnet synchronous motors based on generalized active disturbance rejection control (ADRC). By establishing a generalized ADRC method and designing the desired disturbance transfer function, the corresponding observer structure and control law structure can be derived. Through the rational design of the desired disturbance transfer function, the ability to suppress low- and medium-frequency disturbances and periodic disturbances at specific frequencies is improved.

[0228] Plot the expected perturbation transfer function Regarding differences , The Bird diagram, such as Figure 2 and Figure 3 As shown in the figure, it can be seen that the generalized active disturbance rejection control (ADRC) of the variable observer structure and the generalized ADRC of the variable control law structure proposed in this invention can effectively suppress low- and medium-frequency disturbances as well as periodic disturbances at specific frequencies. Figure 2 As shown, by adjusting the center frequency of the notch filter, the system's amplitude response at that specific frequency is significantly attenuated, thereby enhancing its ability to suppress periodic disturbances at the target frequency. Furthermore, Figure 3 This indicates that the bandwidth of the notch filter is affected by the gain parameter. The impact, with The increase in bandwidth expands the notch filter bandwidth, enabling the system to suppress not only disturbances at the center frequency but also those in adjacent frequency ranges. This bandwidth adjustability allows the system to maintain good disturbance suppression performance even when the periodic disturbance frequency drifts or is uncertain, thereby improving its adaptability and robustness to periodic disturbances. While suppressing periodic disturbances, it also solves the problem of disturbance amplification near the resonant frequency in traditional methods.

[0229] Draw the transfer function and The Bird diagram, such as Figure 4 and Figure 5 It can be seen that the bandwidth of the generalized active disturbance rejection control (ADRC) with the variable control law structure is greater than that of the generalized ADRC with the variable observer structure (which is consistent with the transfer function of the traditional method), thereby improving the current response speed.

[0230] The current control block diagram of the permanent magnet synchronous motor based on the present invention is shown below. Figure 6 .

[0231] This invention designs a generalized form of active disturbance rejection control method, which expresses the transfer function in a generalized form, making it easier to back-derive the desired transfer function.

[0232] This invention decouples the control law gain from the disturbance transfer function, thereby enhancing the system's ability to suppress low- and medium-frequency disturbances.

[0233] This invention achieves suppression of periodic disturbances by incorporating a notch filter, while simultaneously eliminating the disturbance amplification effect near the resonant frequency;

[0234] The generalized active disturbance rejection control method with variable control law structure proposed in this invention can effectively improve the system response speed;

[0235] This invention reduces the design difficulty and implementation complexity of the observer and control law, making it easier to implement in engineering.

[0236] Example 4:

[0237] Based on Embodiment 1, this embodiment of the invention provides a permanent magnet synchronous motor current disturbance suppression system based on generalized active disturbance rejection control (GMDC), which can be used to implement the GMDC-based GMDC current disturbance suppression method described in Embodiment 1. The GMDC-based GMDC current disturbance suppression system includes:

[0238] The first module is used for permanent magnet synchronous motors that take lumped disturbances into account. dq Based on the axis current equation, a generalized active disturbance rejection control (ADRC) is established, and a generalized disturbance transfer function is derived. The generalized ADRC includes the generalized form of... dq Axis-extended state observer and generalized form dq Axis control law;

[0239] The second module is used to design the desired perturbation transfer function;

[0240] The third module is used to deduce the generalized form of the perturbation transfer function by combining the desired perturbation transfer function and the generalized perturbation transfer function. dq The specific structure of the axis-extended state observer is used to obtain the generalized active disturbance rejection control with variable observer structure;

[0241] The fourth module is used to deduce the generalized form of the perturbation transfer function by combining the desired perturbation transfer function and the generalized perturbation transfer function. dq The specific structure of the axis control law is used to obtain the generalized active disturbance rejection control with a variable control law structure.

[0242] The fifth module is used for generalized active disturbance rejection control (ADRC) of permanent magnet synchronous motors based on the generalized ADRC of variable observer structure and the generalized ADRC of variable control law structure. dq The shaft current is controlled to suppress current disturbances in the permanent magnet synchronous motor.

[0243] According to embodiments of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0244] In an exemplary embodiment, the electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the current disturbance suppression method for permanent magnet synchronous motors based on generalized active disturbance rejection control as described in Embodiment 1 above.

[0245] In an exemplary embodiment, the readable storage medium may be a non-transient computer-readable storage medium storing computer instructions for causing the computer to execute the current disturbance suppression method for permanent magnet synchronous motors based on generalized active disturbance rejection control as described in Embodiment 1 above.

[0246] In an exemplary embodiment, the computer program product includes a computer program that, when executed by a processor, implements the method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control as described in Embodiment 1 above.

[0247] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0248] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0249] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0250] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0251] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0252] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control, characterized in that, Includes the following steps: Permanent magnet synchronous motor considering lumped disturbances dq Based on the axis current equation, a generalized active disturbance rejection control (ADRC) is established, and a generalized disturbance transfer function is derived. The generalized ADRC includes the generalized form of... dq Axis-extended state observer and generalized form dq Axis control law; Design the desired perturbation transfer function; By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis-extended state observer is used to obtain the generalized active disturbance rejection control with variable observer structure; By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis control law is used to obtain the generalized active disturbance rejection control with a variable control law structure. Based on the generalized active disturbance rejection control (ADRC) with variable observer structure and the generalized ADRC with variable control law structure, for permanent magnet synchronous motors... dq The shaft current is controlled to suppress current disturbances in the permanent magnet synchronous motor.

2. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 1, characterized in that, Establishing a generalized active disturbance rejection control system and deriving the generalized disturbance transfer function includes the following steps: Establish a permanent magnet synchronous motor considering lumped disturbances dq Axis current equation; Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations, establishing a generalized form dq Axis expansion state observer; Permanent magnet synchronous motor considering lumped disturbances dq Axial current equations and their generalized forms dq Axis-extended state observer, establishing a generalized form dq Axis control law; Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq Axis-extended state observer and generalized form dq The axis control law yields the generalized form of the disturbance transfer function.

3. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 2, characterized in that, The establishment of a permanent magnet synchronous motor considering lumped disturbances dq The axis current equation is as follows: Establish a permanent magnet synchronous motor considering unknown disturbances dq The equation for the shaft current is: in, Describes the differential operator. express shaft current, express shaft current, express shaft voltage, express shaft voltage, Indicates resistance. Indicates inductance. Indicates magnetic flux. This indicates the electric angular velocity of the motor. express Unknown disturbance on axis. express Unknown disturbance on axis; Permanent magnet synchronous motor considering unknown disturbances dq The shaft current equation is rewritten to obtain the permanent magnet synchronous motor considering lumped disturbances. dq Axis current equation: in, express Shaft reference voltage, express Shaft reference voltage, express Lumped disturbance of axis. express Lumped disturbance of axis. , .

4. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 3, characterized in that, broad form dq The formula for the axial expansion state observer is: in, Describes the differential operator. , express d shaft or q Estimated value of shaft current, , express or The estimated value, , and This indicates the pass function to be configured. Representing the generalized form dq Axis control law.

5. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 4, characterized in that, broad form dq The formula for the axis control law is as follows: in, Represents the Lagrange operator, This indicates the pass function to be configured. express dq The reference current of the shaft, .

6. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 5, characterized in that, The generalized form of the disturbance transfer function is expressed as follows: in, express dq Axis disturbance pair dq The transfer function of shaft current is the generalized form of the disturbance transfer function. , and This indicates the pass function to be configured. This represents the frequency domain differential operator.

7. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 6, characterized in that, By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis-extended state observer, leading to the generalized active disturbance rejection control with a variable observer structure, includes the following steps: Set the pass function middle , Representing the proportional gain, the control law is: This leads to the generalized form of the perturbation transfer function. : Design the desired perturbation transfer function. To enhance the control system's ability to suppress low- and medium-frequency disturbances and periodic disturbances at specific frequencies, the desired disturbance transfer function is... for: in, This represents the frequency domain differential operator. Indicates the observer bandwidth. Indicates the damping ratio. Indicates the frequency of periodic disturbances. The structure enhances the suppression capability of low- and mid-frequency disturbances by eliminating the coupling between the control law and the disturbance transfer function; notch filter. Used to enhance the ability to suppress periodic disturbances; According to the generalized form of the disturbance transfer function and expected perturbation transfer function ,get: make , The structure of the observer is obtained as follows: in: Make: in, express Frequency domain representation of shaft current. express Frequency domain representation of the shaft reference current. express Frequency domain representation of axis lumped perturbation. Represents the transfer function. Represents the desired perturbation transfer function; If it is necessary to eliminate periodic disturbances at multiple frequencies, design the desired disturbance transfer function. for: in, Indicates the number of notch filters. For the first The frequency of a periodic disturbance, For the first Damping ratio; Therefore, we get: Achieve generalized active disturbance rejection control with variable observer structure.

8. The method for suppressing current disturbances in a permanent magnet synchronous motor based on generalized active disturbance rejection control according to claim 6, characterized in that, By combining the expected perturbation transfer function and the generalized perturbation transfer function, the generalized form can be derived. dq The specific structure of the axis control law, resulting in a generalized active disturbance rejection control with a variable control law structure, includes the following steps: Select the actual measurement signal As the feedback signal, the control law is established as follows: in, , Indicates proportional gain. This represents the transfer function to be designed; Permanent magnet synchronous motor considering lumped disturbances dq Axial current equation, generalized form dq The formulation and control law of the shaft expansion state observer and This yields the generalized form of the perturbation transfer function. for: make , ;in, Indicates the observer bandwidth; Design the desired perturbation transfer function. for: According to the generalized form of the disturbance transfer function and expected perturbation transfer function The transfer function to be designed is obtained. for: Make: To achieve generalized active disturbance rejection control with a variable control law structure, wherein... This is a transfer function.

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