SPMSM high-order sliding mode active-disturbance-rejection control method based on quasi-proportional resonance

Abstract

The invention discloses an SPMSM high-order sliding mode active-disturbance-rejection control method based on quasi-proportional resonance, and relates to the technical field of motor control, and the method comprises the following steps: S1, obtaining a given rotating speed and an actual rotating speed of an SPMSM, and calculating a rotating speed error; the total disturbance of the system is observed and compensated in real time by using the extended state observer in the active disturbance rejection control, the disturbance rejection capability and the dynamic response performance of the system are improved, the current loop adopts the quasi-proportional resonance controller, the periodic disturbance can be accurately compensated, the torque pulsation is inhibited, and the reliability of the system is improved. Introduction of high-order sliding mode control remarkably weakens the inherent high-frequency buffeting problem of traditional sliding mode control, control precision and stability are further improved while high robustness of the system is kept, and the method can still ensure that the motor system has fast rotating speed tracking capability, excellent anti-interference performance and a stable operation state under complex working conditions, and is suitable for large-scale popularization and application. And the dynamic and steady-state performance and robustness of the SPMSM control system are comprehensively improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of motor control, in particular to a SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance. BACKGROUND

[0002] The SPMSM (Surface Permanent Magnet Synchronous Motor) is widely used in many fields due to its simple structure, high efficiency and large power density. However, the SPMSM is a nonlinear, strongly coupled multivariable system, which is easily affected by parameter changes, load disturbances, back electromotive force harmonics and inverter nonlinearities in actual operation, resulting in a decline in control performance. Although the traditional control method such as proportional-integral control has a simple structure, it is difficult to cope with internal and external disturbances, especially in dynamic response and anti-interference ability.

[0003] The existing SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance has the following defects:

[0004] 1. Patent document CN120433647A discloses a SPMSM robust speed control method based on an adaptive high-order extended sliding mode observer, which comprises the following steps: a three-order LESO system is designed and established according to the motor mathematical model, and the three-order LESO system is used to output the estimated speed actual value, the estimated acceleration and the estimated total disturbance; a non-singular fast terminal sliding mode algorithm is combined with a disturbance observer to design a non-singular fast terminal sliding mode disturbance observer and used to observe the acceleration state variable of the motor; the acceleration state variable is input into the three-order LESO system and replaces the estimated acceleration to generate a high-order extended sliding mode observer; the high-order extended sliding mode observer is combined with a linear state error feedback and a total disturbance compensation to construct an active disturbance rejection controller, and the active disturbance rejection controller is used for speed control of the motor. The application can realize high-precision observation of the disturbance under the condition that only a small amount of disturbance information is available and the disturbance frequency change is not sensitive”, but the device in the above document lacks an effective disturbance observation and compensation mechanism, and cannot accurately estimate and compensate the total disturbance of the system in real time, which leads to the technical problems that the system has a slow dynamic response speed and weak recovery ability when facing internal and external disturbances, and is difficult to maintain stable speed tracking and running state under complex working conditions. SUMMARY

[0005] The application aims to provide a SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance to solve the technical problems in the background art.

[0006] To achieve the above-mentioned purpose, the application provides the following technical scheme: a SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance, comprising the following steps:

[0007] S1, obtaining a given rotating speed of the SPMSM and an actual rotating speed , calculating a rotating speed error ;

[0008] S2, inputting the rotating speed error to a speed loop of a first-order active disturbance rejection controller, the first-order active disturbance rejection controller being arranged to transition process by a tracking differentiator and to observe and compensate for total disturbance of the system in real time by an extended state observer, and outputting a given value of q-axis current ;

[0009] S3, inputting a difference between the given value of q-axis current and an actual q-axis current , and a difference between a given value of d-axis current and an actual d-axis current to current loop controllers respectively, the current loop controllers being high-order sliding mode controllers based on a quasi-proportional resonant unit for accurate compensation for periodic disturbance and a high-order sliding mode unit for suppressing high-frequency chattering of the system and improving robustness, and finally generating voltage control signals and ;

[0010] S4, generating driving signals of an inverter according to the voltage control signals and , after coordinate transformation and pulse width modulation, and controlling the SPMSM to operate.

[0011] Preferably, the first-order active disturbance rejection controller in S2 is implemented as follows:

[0012] The tracking differentiator receives a given rotating speed and outputs a smooth signal and a differential signal of the given rotating speed

[0013] The extended state observer takes the actual rotating speed and the q-axis current as inputs, and in a discrete time domain at time k, observes and outputs system state at time k and total disturbance of the system at time k , and an iterative update process of a state equation thereof is as follows:

[0014]

[0015] wherein, is an observation error at time k, ωk is the actual speed measurement of the motor at time k, h is the sampling period of the discrete system, 、 is the gain coefficient of the extended state observer, is the gain coefficient of the control, is the q-axis current value at time k, is a nonlinear function, 、 is an adjustable parameter of the nonlinear function;

[0016] The state error feedback control rate is calculated and output according to the output of the tracking differentiator 、 and the output of the extended state observer 、 The q-axis current given value is calculated and output by nonlinear combination The calculation formula is:

[0017]

[0018] wherein, is a proportional coefficient, is a differential coefficient, is a smoothing signal of the tracking differentiator output, is a differential signal of the tracking differentiator output.

[0019] Preferably, the control rate of the high-order sliding mode controller based on quasi-proportional resonance in S3 is composed of a quasi-proportional resonance term and a high-order sliding mode term :

[0020]

[0021] The quasi-proportional resonance term is used for zero-error tracking and suppression of current harmonics of a specific frequency, and its transfer function is:

[0022]

[0023] wherein, is the output of the quasi-proportional resonance controller, is the Laplace operator, is a proportional coefficient, is a resonance coefficient, is a cutoff bandwidth, is a resonance frequency to be suppressed, is the Laplace transform of the current error signal;

[0024] The high-order sliding mode term adopts a super-spiral algorithm, and its control rate is:

[0025]

[0026] wherein, is the output of the high-order sliding mode controller, and is the sliding mode gain, is the current error, is the absolute value of the current error, sign( ) is the sign function, = 1 when > 0, = -1 when < 0, = 0 when = 0, by adjusting and to ensure that the system state reaches and stabilizes on the sliding surface in a finite time.

[0027] Preferably, the resonant frequency is set to 6k±1 times of the fundamental frequency of the motor, where k is a positive integer from 1 to n, and n is an integer greater than 1, so as to specifically suppress the specific current harmonics caused by the nonlinearity of the inverter, the dead-time effect and the back-EMF harmonics.

[0028] Preferably, the high-order sliding mode term has a sliding mode gain and which is adjusted online by an adaptive law, the adaptive law being:

[0029]

[0030] wherein, and are normal numbers, and by the adaptive law, the control gain is increased to accelerate convergence when the system state is far from the sliding surface, and the gain is reduced to further suppress chattering when approaching the sliding surface.

[0031] Preferably, after S3, a disturbance feedforward compensation step is further included: the total disturbance observed by the extended state observer is processed by a feedforward compensation coefficient and directly superimposed on the voltage control signal and to form the final composite control voltage.

[0032] Preferably, the parameters , , of the first-order active disturbance rejection controller are tuned by a particle swarm optimization algorithm, with the overshoot and settling time of the system response being the optimization objectives.

[0033] Preferably, S4 specifically includes: the voltage control signal and After Park inverse transformation and space vector pulse width modulation (SVPWM), the switching signal driving the inverter is generated to control the operation of the SPMSM.

[0034] Preferably, the d-axis current given value is set to zero, i.e. =0.

[0035] Preferably, the quasi-proportional resonant unit is configured to simultaneously suppress specific current harmonics of multiple different frequencies, including 5th, 7th and 11th harmonic frequencies of the motor fundamental frequency.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] 1. The present application effectively improves the anti-disturbance ability and dynamic response performance of the system by using the extended state observer in active disturbance rejection control to observe and compensate the total disturbance of the system in real time. Secondly, the quasi-proportional resonant controller in the current loop can accurately compensate for periodic disturbances and effectively suppress torque ripple. At the same time, the introduction of high-order sliding mode control significantly weakens the inherent high-frequency chattering problem of traditional sliding mode control, while maintaining the strong robustness of the system, further improving the control accuracy and smoothness. Finally, the method can still ensure that the motor system has fast speed tracking ability, excellent anti-disturbance performance and stable running state under complex working conditions, and comprehensively improves the dynamic and steady-state performance and robustness of the SPMSM control system.

[0038] 2. The first-order active disturbance rejection controller significantly improves the dynamic response performance and anti-interference ability of the system through multi-module cooperation and advanced optimization strategy. The tracking differentiator arranges a smooth transition process for the given speed, effectively avoiding overshoot and oscillation caused by sudden changes in the set value. The extended state observer realizes high-precision real-time observation of the system state and total disturbance in the discrete time domain through iterative update of the nonlinear function, greatly enhancing the system's ability to perceive and compensate internal and external disturbances. The state error feedback control rate is precisely generated through nonlinear combination of the current given value, further optimizing the dynamic tracking performance. In addition, by introducing a disturbance feedforward compensation mechanism, the observed total disturbance is directly fed forward to the voltage control end to form a composite control voltage, achieving active suppression of the disturbance. Finally, the key parameters of the controller are adjusted using the particle swarm optimization algorithm, with system overshoot and settling time as optimization objectives, significantly improving the efficiency of parameter adjustment and the overall performance of the control system, enabling the system to maintain high precision while having better robustness and dynamic quality.

[0039] 3. The application forms a complementary control structure with advantages by intelligently superimposing a quasi-proportional resonant term and a high-order sliding mode term, which significantly improves the control accuracy and robustness of the current loop, wherein the quasi-proportional resonant term can realize zero-error tracking and accurate suppression of current harmonics of a specific frequency, by setting the resonant frequency to 6k±1 times of the fundamental frequency of the motor, the 5th, 7th, 11th and other specific current harmonics caused by the nonlinearity of the inverter, the dead-time effect and the back electromotive force harmonics can be effectively suppressed, and the simultaneous compensation of multiple frequency harmonics is supported, which greatly improves the current waveform quality, the high-order sliding mode term adopts a super-spiral algorithm, by introducing a specific control law with absolute value and sign function, the inherent high-frequency chattering problem of traditional sliding mode control is effectively suppressed while the strong robustness of sliding mode control is retained, and the system state can quickly and smoothly reach and stabilize on the sliding mode surface in a limited time, the synergistic effect of the two makes the current loop have faster dynamic response, lower steady-state error and stronger anti-interference ability when facing periodic harmonic disturbance and parameter variation, thereby improving the control performance and operation stability of the system as a whole;

[0040] 4. The application generates the driving signal of the inverter by Park inverse transformation and space vector pulse width modulation processing of the voltage control signal And , so as to realize accurate control of the SPMSM, by adopting the SVPWM modulation technology, the utilization rate of the DC bus voltage can be effectively improved, and a voltage waveform with better harmonic components can be generated, thereby reducing the motor torque ripple and operation noise, making the motor run more smoothly and efficiently, and setting the control strategy of the d-axis current given value to zero, that is, adopting =0 vector control mode, which ensures that the permanent magnet field and the armature field are orthogonal during the operation of the motor, realizes maximum torque current ratio control, not only simplifies the control structure, but also fundamentally reduces the copper loss and improves the efficiency and torque output linearity of the system, through synergistic effect, it jointly constitutes an efficient, stable and simplified execution link, which provides reliable guarantee for the excellent dynamic and static performance of the whole control system. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a general control method flowchart of the application;

[0042] Figure 2 It is a detailed flowchart of the first-order active disturbance rejection controller of the application;

[0043] Figure 3 It is an algorithm flowchart of the extended state observer of the application;

[0044] Figure 4 It is a quasi-proportional resonant high-order sliding mode current controller flowchart of the application;

[0045] Figure 5 The adaptive sliding mode gain adjustment process schematic diagram of the application;

[0046] Figure 6 The disturbance feedforward compensation and final control process schematic diagram of the application;

[0047] Figure 7 The particle swarm parameter optimization process schematic diagram of the application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0049] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0050] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0051] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 , an embodiment provided by the application: a kind of high-order sliding mode self-disturbance control method of SPMSM based on quasi-proportional resonance, comprising the following steps:

[0052] S1, the given speed of SPMSM is obtained And actual speed , calculate speed error ;

[0053] S2, the speed error is input to the speed loop of the first-order active disturbance rejection controller, which arranges the transition process through a tracking differentiator and observes and compensates the total disturbance of the system in real time through an extended state observer, and outputs a given value of the q-axis current ;

[0054] S3, the difference between the given value of the q-axis current and the actual q-axis current , and the difference between the given value of the d-axis current and the actual d-axis current are input to the current loop controller, which adopts a high-order sliding mode controller based on a quasi-proportional resonant unit for accurate compensation of periodic disturbance and a high-order sliding mode unit for suppression of high-frequency chattering of the system and improvement of robustness, to finally generate voltage control signals and ;

[0055] S4, according to the voltage control signals and , drive signals of the inverter are generated after coordinate transformation and pulse width modulation, to control the operation of the SPMSM.

[0056] The first-order active disturbance rejection controller in S2 is implemented as follows:

[0057] The tracking differentiator receives a given speed and outputs a smoothed signal and a differential signal ;

[0058] The extended state observer takes the actual speed and the q-axis current as inputs, and in the discrete time domain at time k, observes and outputs the state of the system at time k and the total disturbance of the system at time k , and the iterative update process of the state equation is as follows:

[0059]

[0060] wherein, is the observation error at time k, is the measured value of the actual speed of the motor at time k, h is the sampling period of the discrete system, , is the gain coefficient of the extended state observer, is the control gain coefficient, is the value of the q-axis current at time k, It is a nonlinear function. , is an adjustable parameter for a nonlinear function;

[0061] The state error feedback control law is based on the output of the tracking differentiator. , and the output of the extended state observer , The q-axis current setpoint is calculated and output through nonlinear combination. The calculation formula is as follows:

[0062]

[0063] in, For proportionality coefficient, These are the differential coefficients. To track the smooth signal output of the differentiator, To track the differential signal output by the differentiator;

[0064] Following S3, a disturbance feedforward compensation step is also included: the total disturbance observed by the extended state observer. After processing with feedforward compensation coefficients, the signal is directly superimposed onto the voltage control signal. and This forms the final composite control voltage.

[0065] Parameters of a first-order active disturbance rejection controller , , The system is tuned using a particle swarm optimization algorithm, with the optimization objective being to minimize the overshoot and settling time of the system response.

[0066] Furthermore, the system is started, enabling the tracking differentiator to process the given speed command and output a smooth speed tracking signal and its derivative signal. This step effectively manages the transient process, ensuring no overshoot or only minimal overshoot during motor start-up, speed regulation, or braking, achieving a fast and stable dynamic response. This ensures the continuous operation of the extended state observer. Using the actual motor speed and q-axis current as input, the observer estimates and outputs the total system disturbance in real time. Through this step, the system gains a "panoramic view" of internal and external disturbances, laying the foundation for precise compensation. The total disturbance value observed in real time by the extended state observer is then directly superimposed onto the voltage control signal output by the current loop via a feedforward channel. This operation proactively and proactively cancels the disturbance effect, rather than waiting for the error to appear before correction, thus significantly improving the system's resistance to sudden load changes and reducing dynamic speed drop. In the current loop controller, the quasi-proportional resonant module is activated. This unit will address the issues existing in the current feedback... Precise compensation is performed for periodic ripple at specific frequencies. This step enables near-zero steady-state error tracking and suppression of periodic disturbances, significantly improving current waveform quality and reducing torque ripple. Simultaneously, a high-order sliding mode controller in the current loop is activated. This unit, through its high-order sliding surface design, effectively smooths the control signal and naturally suppresses the high-frequency chattering inherent in traditional sliding mode control. This step ensures the system's strong robustness to model uncertainties and aperiodic disturbances while guaranteeing the smoothness of the control signal and the lifespan of the actuator. During system initialization or when retuning is required, the built-in particle swarm optimization program is run. This algorithm automatically and globally searches for and sets key parameters in the first-order active disturbance rejection controller, aiming to minimize system overshoot and settling time. Through this automated step, optimal or near-optimal controller parameters can be quickly obtained without relying on tedious manual trial and error, ensuring the system always operates at its best performance.

[0067] Please see Figure 1 and Figure 4 The present invention provides an embodiment of a high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance SPMSM, comprising the following steps:

[0068] S1. Obtain the given rotational speed of SPMSM. and actual speed Calculate the speed error ;

[0069] S2, reduce speed error The input is fed into the speed loop of the first-order active disturbance rejection controller (ADRC). The ARC arranges the transient process through a tracking differentiator and uses an extended state observer to observe and compensate for the total disturbance of the system in real time, outputting the setpoint value of the q-axis current. ;

[0070] S3. Set the q-axis current value. With actual q-axis current The difference, and the d-axis current setpoint With actual d-axis current The difference is input to the current loop controller, which employs a high-order sliding mode controller based on quasi-proportional resonance. The quasi-proportional resonance unit is used to accurately compensate for periodic disturbances, while the high-order sliding mode unit is used to suppress high-frequency chattering and improve robustness, ultimately generating the voltage control signal. and ;

[0071] S4. Based on the voltage control signal and After coordinate transformation and pulse width modulation, the drive signal for the inverter is generated to control the operation of the SPMSM.

[0072] The control power of the high-order sliding mode controller based on quasi-proportional resonance in S3 From the quasi-proportional resonance term and higher-order sliding mode terms Superimposed composition:

[0073]

[0074] Quasi-proportional resonance term It is used for error-free tracking and suppression of current harmonics at a specific frequency, and its transfer function is:

[0075]

[0076] in, For the output of the quasi-proportional resonant controller, For the Laplace operator, This is the proportionality coefficient. The resonance coefficient, For cutoff bandwidth, The resonant frequency that needs to be suppressed. The Laplace transform of the current error signal;

[0077] Higher-order sliding mode terms Using the superhelical algorithm, its control law is:

[0078]

[0079] in, For high-order sliding mode controller output, and For sliding mode gain, For current error, The absolute value of the current error, sign( ) is a symbolic function. When >0, it is 1. When <0, it is -1. When =0, it is 0; by adjusting... and Ensure that the system state reaches and stabilizes on the sliding surface within a finite time;

[0080] resonant frequency Set to 6k±1 times the fundamental frequency of the motor, where k is a positive integer from 1 to n and n is an integer greater than 1, in order to specifically suppress specific subcurrent harmonics caused by inverter nonlinearity, dead zone effect and back EMF harmonics.

[0081] The quasi-proportional resonant unit is configured to simultaneously suppress multiple different frequencies of specific sub-current harmonics, including the 5th, 7th, and 11th harmonic frequencies of the motor fundamental frequency.

[0082] Furthermore, in the current loop controller, the quasi-proportional resonant unit is enabled and set to a multi-resonant-point parallel operation mode, precisely setting the resonant frequency that needs to be compensated. This process aligns the system with the 5th, 7th, and 11th harmonics of the motor's fundamental frequency. Through this step, the system can simultaneously perform zero-steady-state-error tracking and precise suppression of these three most significant periodic current harmonics, thereby significantly improving the sinusoidal nature of the current waveform, reducing torque ripple and operating noise. Simultaneously, the high-order sliding mode control unit in the current loop is activated. Employing a super-spiral algorithm as the core calculation rule for the high-order sliding mode term, this smooths the control signal, fundamentally avoiding the high-frequency chattering problem caused by traditional sliding mode control. This protects the power switching devices and improves the system's control quality and reliability. Finally, the output of the quasi-proportional resonant unit... Output of higher-order sliding mode unit Together, they form the final voltage control signal sent to the inverter, thus creating a composite control law combining "precise harmonic suppression" and "strong robust control." The quasi-proportional resonant unit is responsible for "fixed-point clearing" of periodic disturbances, while the high-order sliding mode unit is responsible for handling non-periodic disturbances such as model uncertainties. Working together, they ensure that the system maintains fast, stable, and accurate current tracking under various operating conditions. The cutoff bandwidth of the quasi-proportional resonant unit controller is fine-tuned according to the actual operating conditions. While ensuring the resonance peak is sharp enough to effectively suppress harmonics, appropriately increase The value of this value can enhance the system's adaptability to small fluctuations in grid frequency, prevent resonant point failure due to frequency shift, ensure that harmonic suppression remains reliable under different environments, and improve the sliding mode gain in the superspiral algorithm. and Tuning is performed to ensure that the system state converges and stabilizes on the sliding surface within a finite time. Parameter adjustments are made to further optimize the dynamic response process of the system, suppressing chattering while ensuring strong robustness to disturbances such as load changes and parameter perturbations, thereby improving the overall stability and dynamic performance of the system.

[0083] Please see Figure 4 and Figure 5 The present invention provides an embodiment of a high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance SPMSM, comprising the following steps:

[0084] S1. Obtain the given rotational speed of SPMSM. and actual speed Calculate the speed error ;

[0085] S2, reduce speed error The input is fed into the speed loop of the first-order active disturbance rejection controller (ADRC). The ARC arranges the transient process through a tracking differentiator and uses an extended state observer to observe and compensate for the total disturbance of the system in real time, outputting the setpoint value of the q-axis current. ;

[0086] S3. Set the q-axis current value. With actual q-axis current The difference, and the d-axis current setpoint With actual d-axis current The difference is input to the current loop controller, which employs a high-order sliding mode controller based on quasi-proportional resonance. The quasi-proportional resonance unit is used to accurately compensate for periodic disturbances, while the high-order sliding mode unit is used to suppress high-frequency chattering and improve robustness, ultimately generating the voltage control signal. and ;

[0087] S4. Based on the voltage control signal and After coordinate transformation and pulse width modulation, the drive signal for the inverter is generated to control the operation of the SPMSM.

[0088] The control power of the high-order sliding mode controller based on quasi-proportional resonance in S3 From the quasi-proportional resonance term and higher-order sliding mode terms Superimposed composition:

[0089]

[0090] Quasi-proportional resonance term It is used for error-free tracking and suppression of current harmonics at a specific frequency, and its transfer function is:

[0091]

[0092] in, For the output of the quasi-proportional resonant controller, For the Laplace operator, This is the proportionality coefficient. The resonance coefficient, For cutoff bandwidth, The resonant frequency that needs to be suppressed. The Laplace transform of the current error signal;

[0093] Higher-order sliding mode terms Using the superhelical algorithm, its control law is:

[0094]

[0095] in, For high-order sliding mode controller output, and For sliding mode gain, For current error, The absolute value of the current error, sign( ) is a symbolic function. When >0, it is 1. When <0, it is -1. When =0, it is 0; by adjusting... and Ensure that the system state reaches and stabilizes on the sliding surface within a finite time;

[0096] Higher-order sliding mode terms Sliding mode gain and An adaptive law is used for online adjustment. The adaptive law is:

[0097]

[0098] in, and As a normal number, this adaptive law increases the control gain when the system state is far from the sliding surface to accelerate convergence, and decreases the gain when it is close to the sliding surface to further suppress chattering;

[0099] Furthermore, in the high-order sliding mode controller of the current loop, an adaptive update function for the sliding mode gain is enabled to ensure that the system uses the provided formula. and To calculate gain in real time and The value of the basic coefficient in the adaptive law should be reasonably set based on the actual model of the motor and the driver. and These two parameters determine the rate and magnitude of the adaptive gain change, and are key to performance optimization. By applying a sudden load or a large change in speed command to the motor, a large current error is artificially created. During this process, the monitoring system can observe and The value of will automatically and significantly increase as the error increases, thereby automatically enhancing the control strength during dynamic processes. This ensures that the state variables converge to the sliding surface quickly and within a finite time, exhibiting excellent dynamic response speed and disturbance rejection capability. This allows the motor to operate under steady-state conditions with constant speed and load. At this point, the current error... It will remain within a very small range close to zero. Under steady state, the monitoring system will display... and The value has been automatically reduced to a very low level, which allows the system to intelligently reduce the control gain when approaching the equilibrium point, thereby fundamentally suppressing high-frequency jitter of the control signal to the greatest extent. This results in smoother electromagnetic torque, lower noise, and reduced switching stress on power devices.

[0100] Please see Figure 6 One embodiment of the present invention provides a high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance SPMSM, wherein S4 specifically includes: a voltage control signal. and After Park inverse transform and space vector pulse width modulation (SVPWM), a switching signal is generated to drive the inverter and control the operation of the SPMSM.

[0101] d-axis current setpoint The control strategy is set to zero, that is... =0;

[0102] Furthermore, in the control system parameters, the d-axis current setpoint is determined. Set it to 0, and ensure that this is true throughout the entire motor operation. The control command = 0 remains valid, which facilitates the system's automatic entry into the maximum torque-to-current ratio control mode. This means the motor will generate the required torque with minimal current, significantly reducing copper losses and heat generation, thereby directly improving the overall operating efficiency of the drive system. The voltage control signal in the rotating coordinate system output by the current loop is then... and The input is fed into the Park inverse transform module for calculation, which determines the mathematical transformation process. The internal calculation result is the two-phase stationary coordinate system voltage component used for subsequent modulation. The result of the Park inverse transform is input into the space vector pulse width modulation module. The SVPWM module calculates the optimal switching sequence and duty cycle of the inverter's six power switches based on the input voltage vector. This maximizes the utilization of the DC bus voltage and generates motor phase voltages with lower harmonic distortion and closer to the ideal sine wave. This results in smoother electromagnetic torque and higher voltage utilization. The switching signal generated by the SVPWM module is amplified by the drive circuit and directly controls the power switches of the three-phase inverter to start the motor. The motor is then subjected to various operating conditions. It is observed that the motor response is rapid and stable, with extremely low operating noise and vibration. Furthermore, under the same output power, the total system current and temperature rise are significantly lower.

[0103] The working principle is as follows: By utilizing the extended state observer in Active Disturbance Rejection (ADRF) to observe and compensate for the total system disturbance in real time, the system's disturbance rejection capability and dynamic response performance are effectively improved. Secondly, the current loop employs a quasi-proportional resonant controller, which can accurately compensate for periodic disturbances and effectively suppress torque ripple. Simultaneously, the introduction of high-order sliding mode control significantly weakens the inherent high-frequency chattering problem of traditional sliding mode control, further improving control accuracy and stability while maintaining strong system robustness. Finally, this method can still ensure that the motor system possesses rapid speed tracking capability, excellent disturbance rejection performance, and stable operating state under complex operating conditions, comprehensively improving the dynamic and steady-state performance and robustness of the SPMSM control system. By employing a first-order active disturbance rejection controller (ADRC) with multi-module collaboration and advanced optimization strategies, the system's dynamic response performance and anti-interference capability are significantly improved. The tracking differentiator arranges a smooth transition process for the given speed, effectively avoiding overshoot and oscillation caused by sudden changes in the setpoint. The extended state observer achieves high-precision real-time observation of the system state and total disturbance in the discrete-time domain through iterative updates of nonlinear functions, greatly enhancing the system's ability to perceive and compensate for internal and external disturbances. The state error feedback control law accurately generates the current setpoint through nonlinear combination, further optimizing the dynamic tracking performance. In addition, by introducing a disturbance feedforward compensation mechanism, the observed total disturbance is directly fed forward to the voltage control terminal, forming a composite control circuit. The system actively suppresses disturbances. Finally, key controller parameters are tuned using a particle swarm optimization algorithm, with system overshoot and settling time as optimization objectives. This significantly improves parameter tuning efficiency and overall control system performance, enabling the system to maintain high precision while possessing superior robustness and dynamic qualities. By intelligently superimposing quasi-proportional resonant terms and higher-order sliding mode terms, a complementary composite control structure is formed, significantly improving the control accuracy and robustness of the current loop. Specifically, the quasi-proportional resonant term can achieve zero steady-state error tracking and precise suppression of current harmonics at specific frequencies. By setting the resonant frequency to 6k±1 times the motor fundamental frequency, it effectively targets and suppresses the effects of inverter nonlinearity, dead-zone effect, and reverse current. The system effectively compensates for specific current harmonics such as the 5th, 7th, and 11th harmonics caused by electromotive force harmonics, and supports simultaneous compensation for multiple frequency harmonics, greatly improving the current waveform quality. The high-order sliding mode term employs a super-spiral algorithm, introducing a specific control law with absolute and sign functions. While retaining the strong robustness of sliding mode control, it effectively suppresses the inherent high-frequency chattering problem of traditional sliding mode, ensuring that the system state can quickly and smoothly reach and stabilize at the sliding surface within a finite time. The synergistic effect of these two mechanisms allows the current loop to exhibit faster dynamic response, lower steady-state error, and stronger anti-interference capability when facing periodic harmonic disturbances and parameter changes, thereby improving the overall control performance and operational stability of the system. This is achieved by controlling the voltage control signal... and After Park inverse transform and space vector pulse width modulation (SVPWM) processing, the inverter drive signal is generated, thereby achieving precise control of the SPMSM. By employing SVPWM modulation technology, the utilization rate of the DC bus voltage can be effectively improved, and a voltage waveform with better harmonic components can be generated, thereby reducing motor torque ripple and operating noise, making the motor run more smoothly and efficiently. The d-axis current setpoint is then... The control strategy is set to zero, that is, using The vector control method with =0 ensures that the permanent magnet magnetic field and the armature magnetic field are orthogonal during motor operation, realizing maximum torque-to-current ratio control. This not only simplifies the control structure but also fundamentally reduces copper losses, improves system efficiency and torque output linearity. Through synergistic action, they together form an efficient, stable, and simplified execution link, providing a reliable guarantee for the excellent dynamic and static performance of the entire control system.

[0104] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance SPMSM, characterized in that: Includes the following steps: S1. Obtain the given rotational speed from the SPMSM. and actual speed Calculate the speed error ; S2, reduce speed error The input is a first-order active disturbance rejection controller (ADRC). The ARC arranges the transient process through a tracking differentiator and uses an extended state observer to observe and compensate for the total disturbance, outputting the setpoint value of the q-axis current. ; S3. Set the q-axis current value. With reality The difference, and the d-axis current setpoint With reality The difference is input to the current loop controller, which employs a high-order sliding mode controller based on quasi-proportional resonance. The quasi-proportional resonance unit compensates for periodic disturbances, while the high-order sliding mode unit suppresses high-frequency chattering and improves robustness. The output voltage control signal is used. and ; S4. Based on the voltage control signal obtained in S3, the inverter drive signal is generated through coordinate transformation and pulse width modulation to control the operation of SPMSM.

2. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: The first-order active disturbance rejection controller in S2 is implemented as follows: The tracking differentiator receives a given rotational speed. and output a smooth signal. and differential signal ; The expansion state observer uses the actual rotational speed and q-axis current As input, the system state at time k in the discrete time domain is observed and output in real time. Total system disturbance at time k The iterative update process of the state equation is as follows: in, Let k be the observation error at time k. Let k be the actual measured speed of the motor at time k, and h be the sampling period of the discrete system. , For the extended state observer gain coefficient, To control the gain coefficient, Let be the q-axis current value at time k. It is a nonlinear function. , is an adjustable parameter for a nonlinear function; The state error feedback control law is based on the output of the tracking differentiator. , and the output of the extended state observer , The q-axis current setpoint is calculated and output through nonlinear combination. The calculation formula is: in, For proportionality coefficient, These are the differential coefficients. To track the smooth signal output of the differentiator, To track the differential signal output by the differentiator.

3. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: The control rate of the high-order sliding mode controller based on quasi-proportional resonance in S3 From the quasi-proportional resonance term and higher-order sliding mode terms Superimposed composition: The quasi-proportional resonance term The transfer function is used for error-free tracking and suppression of current harmonics at a specific frequency: in, For the output of the quasi-proportional resonant controller, For the Laplace operator, This is the proportionality coefficient. The resonance coefficient, For cutoff bandwidth, The resonant frequency that needs to be suppressed. The Laplace transform of the current error signal; The higher-order sliding mode item Using the superhelical algorithm, the control rate is: in, For high-order sliding mode controller output, and For sliding mode gain, For current error, The absolute value of the current error, sign( ) is a symbolic function. When >0, it is 1. When <0, it is -1. When =0, it is 0; by adjusting... and Ensure that the system state reaches and stabilizes on the sliding surface within a finite time.

4. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 3, characterized in that: The resonant frequency It is set to 6k±1 times the fundamental frequency of the motor, where k is a positive integer from 1 to n and n is an integer greater than 1, in order to specifically suppress specific subcurrent harmonics caused by inverter nonlinearity, dead zone effect and back EMF harmonics.

5. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 3, characterized in that: The higher-order sliding mode item Sliding mode gain and Online adjustment is performed using an adaptive law, which is: in, and As a normal number, this adaptive law increases the control gain to accelerate convergence when the system state is far from the sliding surface, and decreases the gain to further suppress chattering when it is close to the sliding surface.

6. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: Following S3, a disturbance feedforward compensation step is also included: the total disturbance observed by the extended state observer. After processing with feedforward compensation coefficients, the result is directly superimposed onto the voltage control signal. and This forms the final composite control voltage.

7. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: The parameters of the first-order active disturbance rejection controller , , The system is tuned using a particle swarm optimization algorithm, with the optimization objective being to minimize the overshoot and settling time of the system response.

8. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: S4 specifically includes: the voltage control signal and After Park inverse transformation and space vector pulse width modulation (SVPWM), a switching signal is generated to drive the inverter and control the operation of the SPMSM.

9. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: The d-axis current setpoint The control strategy is set to zero, that is... =0.

10. The SPMSM high-order sliding mode active disturbance rejection control method based on quasi-proportional resonance according to claim 1, characterized in that: The quasi-proportional resonant unit is configured to simultaneously suppress multiple different frequencies of specific sub-current harmonics, including the 5th, 7th, and 11th harmonic frequencies of the motor fundamental frequency.

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