Permanent magnet synchronous motor double-filter type active disturbance rejection speed control method and system

Abstract

This invention belongs to the field of active disturbance rejection speed control technology for permanent magnet synchronous motors (PMSMs). Specifically, it discloses a dual-filter type active disturbance rejection speed control method and system for PMSMs, comprising: constructing a dual-filter extended state observer including a PI-type observer structure and a dual-filter PI-type observer structure; acquiring the input error of the dual-filter extended state observer, performing dual filtering on the input error to obtain the filtered error; determining the current stage of the observer based on the filtered error, and then using a control law based on a switching mechanism to achieve dual-filter type active disturbance rejection speed control for the PMSM. This invention solves the problems of weak transient disturbance rejection capability of motor speed under instantaneous disturbances, lack of distinction between transient and steady-state control in speed control, poor steady-state current control performance, insufficient transient disturbance rejection capability, poor steady-state noise immunity, low stability margin, and poor system robustness in existing methods.

Description

Technical Field

[0001] This invention belongs to the field of active disturbance rejection speed control technology for permanent magnet synchronous motors, specifically relating to a dual-filter type active disturbance rejection speed control method and system for permanent magnet synchronous motors. Background Technology

[0002] Surface-mounted permanent magnet synchronous motors (SPMSMs) are widely used in industrial, aerospace, robotics, and electric vehicle applications due to their high power density, high efficiency, and high reliability. However, in actual operation, SPMSMs are inevitably affected by parameter uncertainties, load torque variations, and other external disturbances, which reduce the control accuracy and dynamic performance of the drive system. To improve the overall control performance of SPMSM drive systems, much research has focused on designing high-performance control strategies. In recent years, Active Disturbance Rejection Control (ADRC) has received increasing attention in the field of motor control due to its strong disturbance estimation and compensation capabilities, as well as its low dependence on the accurate mathematical model of the controlled object. Therefore, numerous ADRC-based methods have been proposed to enhance the disturbance rejection performance of motor speed control systems.

[0003] ADRC mainly consists of three parts: a nonlinear tracking differentiator, an extended state observer (ESO), and a feedback control law. The ESO is used to observe unknown disturbances during speed control and compensate them into the feedback control law, thereby enhancing the system's disturbance rejection capability. Existing research on enhancing the disturbance rejection performance of SPMSM based on ADRC can be roughly divided into four categories. The first category modifies the control law, that is, improves the system's disturbance rejection performance by changing the control gain in the traditional feedback control law. The second category improves the ESO structure, enhancing disturbance tracking speed and estimation capability through cascaded design, structural reconstruction, and adaptive parameter tuning. Furthermore, resonant control, quasi-resonant control, vector controllers, and repetitive control can be introduced into the observer to enhance the suppression capability against periodic disturbances. The third category integrates iterative learning control, RBF neural networks, and other additional methods into the traditional ADRC framework to further improve disturbance rejection performance. The fourth category employs a switching strategy, using different control methods during the motor's transient and steady-state processes to enhance the overall disturbance rejection capability of the system.

[0004] However, in the actual control process of the motor speed loop, the sampled speed is usually obtained by differentiating the sampled rotor position, thus inevitably containing a large amount of differential noise. While improving the speed loop's disturbance rejection capability, the system's noise suppression capability is often correspondingly weakened. In addition, since SPMSMs typically employ a cascaded control structure, the speed loop output affected by differential noise will further transmit the noise to the current loop, thereby deteriorating the current control performance.

[0005] To alleviate the trade-off between interference immunity and noise suppression capabilities, a large number of related studies have been proposed.

[0006] Scheme 1 employs a switching strategy between linear and nonlinear ESOs. When the speed tracking error is large, a linear ESO is used to achieve fast convergence and strong disturbance rejection; when the speed tracking error is small, a nonlinear ESO is used to enhance the system's noise suppression performance. However, this method does not structurally improve the linear and nonlinear ESOs themselves, so its improvement in disturbance rejection performance remains limited. Furthermore, although this method improves noise suppression performance in the steady-state phase, its steady-state disturbance rejection capability is significantly weaker compared to the linear ESO. Scheme 2 replaces the nonlinear gain in the nonlinear ESO with a novel nonlinear function with a switching mechanism, enabling the system to have fast convergence and strong disturbance rejection when the observation error is large, while possessing strong noise suppression capability when the observation error is small. However, this method still suffers from a problem similar to the first method: the system's transient disturbance rejection capability remains limited, and the improvement in steady-state noise suppression performance comes at the cost of sacrificing steady-state disturbance rejection capability. Scheme 3 proposes a low-power high-order ESO (LHESO), which can significantly reduce the impact of noise. However, compared to traditional ESOs and cascaded ESOs, LHESOs exhibit weaker transient immunity and experience larger output voltage drops under sudden disturbances. Scheme 4 introduces a first-order low-pass filter into the ESO construction to improve the system's noise suppression performance. Specifically, the observer estimation error is first processed by the first-order filter, and then the filtered signal is fed back to the observer, thereby reducing the impact of noise on the ESO state and disturbance estimates and improving the system's noise immunity. However, embedding a first-order low-pass filter in the ESO introduces significant phase hysteresis, noticeably reducing the system's stability margin and weakening its robustness.

[0007] Scheme 5 points out that in the traditional ADRC framework, the zeros and poles of the disturbance transfer function are determined by the observer bandwidth, and therefore cannot be adjusted independently. To overcome this limitation, Scheme 5 uses the weighted sum of the position estimation error and the velocity estimation error as the ESO output, thereby achieving decoupled adjustment of the zeros and poles of the disturbance transfer function and improving the system's disturbance rejection capability. However, this improvement is also accompanied by a certain degree of decrease in noise suppression capability.

[0008] Inspired by Scheme 5, Scheme 6 proposes an enhanced ESO with a parameter switching mechanism, making the zero point of the disturbance transfer function adjustable. Specifically, when the speed tracking error is large, the variable parameter... Switch to 0.8 to enhance anti-interference capability; when the speed tracking error is small, Switching to option 2 enhances noise suppression. However, this scheme only analyzes the impact of noise on disturbance estimation at the observer level, while still using the actual sampled rotational speed for negative feedback in the control law. This further weakens the system's noise suppression performance. Furthermore, The switching mechanism may cause the system to repeatedly switch between two operating modes, thereby increasing the risk of instability. Furthermore, the scheme uses the error between the reference rotational speed and the actual sampled rotational speed as the input to the proposed RBFNN to compensate for periodic disturbances, which further exacerbates the noise effect.

[0009] Scheme 7 proposes a Variable Structure Active Disturbance Rejection Control (VSADRC) method, aiming to simultaneously improve disturbance rejection and noise suppression performance. However, under sudden load disturbances, this method exhibits oscillatory convergence, leading to prolonged system settling time and degraded dynamic performance. Furthermore, its noise transfer function exhibits a significant amplification peak near the corner frequency, greatly amplifying noise in this frequency band. Simultaneously, the VSADRC method has a low stability margin, making it prone to large oscillations and even instability under parameter mismatch conditions. Summary of the Invention

[0010] The purpose of this invention is to address the problems of weak transient immunity of motor speed under instantaneous disturbances, lack of distinction between transient and steady-state control in speed control, poor steady-state current control performance, insufficient transient immunity, poor steady-state noise immunity, low stability margin, and poor system robustness of existing methods. This invention proposes a dual-filter type self-disruption speed control method and system for permanent magnet synchronous motors.

[0011] The technical solution of this invention is: a dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors, comprising the following steps: Based on the mechanical motion equations of a permanent magnet synchronous motor considering lumped disturbances, a dual-filter extended state observer is constructed, which includes a PI-type observer structure and a dual-filter PI-type observer structure. Obtain the input error of the dual-filter extended state observer, and perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error; Based on the filter error, the current stage of the observer is determined, and then a control law based on the switching mechanism is adopted to realize the dual-filter type self-disturbance rejection speed control of the permanent magnet synchronous motor.

[0012] As a preferred option, the mechanical motion equations of the permanent magnet synchronous motor considering lumped disturbances are as follows:

[0013]

[0014] in, Indicates the mechanical speed of a permanent magnet synchronous motor The differential, and Representing load torque and shaft current, and These represent the moment of inertia and viscosity coefficient, respectively. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively. , express Shaft reference current, This indicates a lumped disturbance.

[0015] Preferably, a PI-type observer structure is used to generate the first perturbation estimate. A dual-filtered PI-type observer is used to generate the second disturbance estimate. .

[0016] As a preferred embodiment, the dual-filter extended state observer is specifically:

[0017] in, The derivative of the estimated rotational speed is given by... Indicates the sampling rotation speed. , This indicates the mechanical speed of the permanent magnet synchronous motor. Indicates sampling noise. This represents the estimated rotational speed. This represents the first disturbance estimate. This represents the second disturbance estimate. and As an auxiliary variable, The filtering error is obtained after processing with a dual-filter structure. and Represents the derivative of the auxiliary variable. and These are the parameters for the dual-filter extended state observer. It is the cutoff frequency of the filter. , Represents the moment of inertia. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively.

[0018] As a preferred method, the specific approach to determine whether the observer is currently in a transient or steady-state phase based on the filtering error is as follows: like The observer is in a transient state. Indicates a preset threshold; like The observer is in a steady state. As a preferred option, the control law for the transient phase is:

[0019] in, Indicating the transient phase Shaft reference current, , Indicates proportional gain. Indicates the reference speed. Represents the moment of inertia. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively.

[0020] As a preferred option, the control law for the steady-state phase is:

[0021] in, Representing the steady state stage Shaft reference current, , Indicates proportional gain. Indicates the reference speed. Represents the moment of inertia. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively.

[0022] The beneficial effects of this invention are: 1. Transient Strong Disturbance Rejection Control Mechanism. A transient disturbance observation and compensation mechanism based on PI-type ESO was constructed, which can quickly estimate and compensate for disturbances when the system is subjected to sudden disturbances, thereby effectively improving the system's transient disturbance rejection capability and dynamic response speed.

[0023] 2. Steady-state strong noise immunity control mechanism. A dual-filter PI-type ESO structure is introduced in the steady-state stage. While maintaining disturbance rejection performance similar to linear ADRC, it effectively suppresses the transmission of sampling noise to the speed loop and current loop, thereby improving the system's steady-state noise immunity and current control performance. 3. Robust and smooth switching mechanism. By using a parallel observation structure and a switching strategy based on filtering errors, a smooth transition between transient and steady-state control modes is achieved, avoiding oscillations and instability problems caused by traditional switching methods, and improving the system's stability margin and parameter robustness.

[0024] Secondly, a dual-filter type self-disturbance rejection speed control system for a permanent magnet synchronous motor includes: The first module is used to construct a dual-filter extended state observer based on the mechanical motion equation of a permanent magnet synchronous motor considering lumped disturbances. The dual-filter extended state observer includes a PI-type observer structure and a dual-filter PI-type observer structure. The second module is used to obtain the input error of the dual-filter extended state observer, and to perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error. The third module is used to determine the current stage of the observer based on the filtering error, and then adopts a control law based on the switching mechanism to realize the dual-filter type active disturbance rejection speed control of the permanent magnet synchronous motor.

[0025] Thirdly, an electronic device is provided, comprising: 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 method as described in the first aspect.

[0026] Fourthly, a non-transitory computer-readable storage medium is provided that stores computer instructions for causing a computer to perform the method as described in the first aspect. Attached Figure Description

[0027] Figure 1 The diagram shows a flowchart of a dual-filter type self-disturbance rejection speed control method for a permanent magnet synchronous motor.

[0028] Figure 2 The diagram shows the structure of the dual-filter extended state observer.

[0029] Figure 3 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0030] Figure 4 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0031] Figure 5 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0032] Figure 6 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0033] Figure 7 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0034] Figure 8 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0035] Figure 9 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0036] Figure 10 The following shows different Below, LADRC and DFADRC ( )exist hour, arrive Bode plot of transfer function.

[0037] Figure 11 The image shown is in , and Bode plots of the open-loop transfer functions of LADRC, VSADRC, and DFADRC under the given conditions.

[0038] Figure 12 The image shown is in , and Under the given conditions, a locally enlarged Bode plot of the open-loop transfer function of LADRC, VSADRC, and DFADRC. Detailed Implementation

[0039] 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.

[0040] Example 1: like Figure 1 As shown, a dual-filter type active disturbance rejection speed control method for a permanent magnet synchronous motor includes the following steps: S1. Based on the mechanical motion equations of a permanent magnet synchronous motor considering lumped disturbances, a dual-filter extended state observer is constructed. The dual-filter extended state observer includes a PI-type observer structure and a dual-filter PI-type observer structure. S2. Obtain the input error of the dual-filter extended state observer, and perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error; S3. Determine the current stage of the observer based on the filtering error, and then use a control law based on the switching mechanism to realize the dual-filter type active disturbance rejection speed control of the permanent magnet synchronous motor; the current stage of the observer includes the transient stage and the steady-state stage.

[0041] In this embodiment, the mechanical motion equation of the permanent magnet synchronous motor is:

[0042] in, Indicates the mechanical speed of a permanent magnet synchronous motor The differential, , They are respectively the load torque and shaft current, , These are the moment of inertia and the viscosity coefficient, respectively. , These are the number of pole pairs and the flux linkage of the motor, respectively.

[0043] The mechanical motion equations of the permanent magnet synchronous motor are rewritten in the form that considers lumped disturbances:

[0044]

[0045] in, , for Shaft reference current, This is a lumped disturbance.

[0046] The structure of the dual-filter extended state observer (DFESO) is as follows: Figure 2 As shown. DFESO is established as follows:

[0047] in, The derivative of the estimated rotational speed is given by... Indicates the sampling rotation speed. , This indicates the mechanical speed of the permanent magnet synchronous motor. Indicates sampling noise. This represents the estimated rotational speed. This represents the first disturbance estimate. This represents the second disturbance estimate. and As an auxiliary variable, The filtering error is obtained after processing with a dual-filter structure. and Represents the derivative of the auxiliary variable. and These are the parameters for the dual-filter extended state observer. It is the cutoff frequency of the filter.

[0048] Based on the dual-filter extended state observer, the control law with switching mechanism is further constructed as follows:

[0049] in, For proportional gain, The reference rotational speed is used. To effectively distinguish between the transient and steady-state phases of the observer, a threshold is defined. .when At this time, it is assumed that the observer is in a transient phase, and at this time, the following is adopted: As a feedback compensation disturbance, it improves the system's transient disturbance rejection capability. When At this time, it is assumed that the observer is in a steady state, and at this time, the following is adopted: As a feedback compensation disturbance, it enhances the system's steady-state noise suppression capability. Since phase switching is achieved through comparison... and This is achieved through [the process], therefore at the switching moment, and All have reached a steady state. This ensures the continuity of disturbance compensation during the switching process and avoids deviations in motor operating state caused by sudden changes in the compensation signal.

[0050] This invention proposes a dual-filtered active disturbance rejection control (DFADRC) method based on a dual-filtered ESO (DFESO) and a transient / steady-state switching mechanism. This method is designed according to the different control requirements of the system in the transient and steady-state phases, and coordinates the trade-off between disturbance rejection capability and noise suppression capability by configuring different observer structures. Specifically, in the transient phase, a PI-type ESO structure is used to improve the ability to quickly observe and compensate for disturbances, thereby enhancing the system's transient disturbance rejection performance. When the system enters the steady-state phase, a PI-type ESO structure processed by dual filters is used to further enhance the system's noise suppression capability while maintaining the disturbance suppression level of traditional ADRC. Furthermore, to avoid oscillations or even instability caused by repeated switching of the observer between different operating modes under traditional switching mechanisms, this invention uses a PI-type observer and a dual-filtered PI-type observer in parallel to observe disturbances. This ensures the smoothness of the switching process and improves the stability of system operation. Furthermore, traditional methods typically use observer input error or system tracking error as the transient / steady-state switching criterion. However, both types of error signals are highly susceptible to sampling noise, leading to inaccurate system state determination. Therefore, this invention uses the filtered error obtained by processing the observer input error through a dual-filter structure as the switching criterion. This design not only reduces the impact of noise on state determination but also ensures that after the system enters steady state, the disturbance observation of the dual-filter PI structure also reaches steady state synchronously, thus guaranteeing good continuity of the disturbance estimation compensated into the control law.

[0051] DFESO can provide velocity estimates simultaneously. And two disturbance estimates, namely and .in, Generated from a PI-type observer structure, used in the transient phase to enhance the system's disturbance rejection capability; and Generated by a dual-filter PI-type observer structure, it is used in the steady-state phase to improve the system's noise suppression capability. Based on the bandwidth method, and Can be adjusted to and Combining the mechanical motion equations of the permanent magnet synchronous motor considering lumped disturbances and the dual-filter extended state observer, we can obtain:

[0052] in:

[0053] in, express Representation in the Laplace domain, express Representation in the Laplace domain, express Representation in the Laplace domain, express Representation in the Laplace domain, express Representation in the Laplace domain, express right The transfer function, express right The transfer function, express right The transfer function, express right The transfer function, express right The transfer function, express right The transfer function, Represents the Lagrange operator, This indicates the observer bandwidth.

[0054] Based on DFESO and the switching control law, the transfer functions corresponding to the two operating conditions can be further derived as follows:

[0055] in, = , express right The transfer function, express right The transfer function, Indicates reference speed Representation in the Laplace domain, express right The transfer function, express right The transfer function, This represents the selected disturbance estimate used for compensation. When hour, The compensation item is provided by Construction; when hour, The compensation item is provided by Construct, and:

[0056] Figure 3 , Figure 4 , Figure 5 and Figure 6 It gives in Under these conditions, disturbances and noise to right The Bode plot of the transfer function of the influence. (From...) Figure 3 , Figure 4 , Figure 5 and Figure 6 It can be seen that, in the same Under these conditions, DFADRC exhibits significantly stronger disturbance rejection capability than Linear Active Disturbance Rejection Control (LADRC), and it does not display the significant disturbance rejection peak exhibited by VSADRC. However, under this operating condition, disturbances and noise pose a significant challenge to [the system / entity]. The impact and noise on The impact is also exacerbated accordingly. To balance disturbance rejection performance and noise suppression performance, the system switches to [a new mode] after the observer enters the steady-state phase. The steady-state operation mode.

[0057] Figure 7 , Figure 8 , Figure 9 and Figure 10 Give different Below, LADRC and DFADRC ( )exist Bode plot at time.

[0058] The open-loop transfer function of DFADRC can be further expressed in the following form:

[0059] Figure 11 and Figure 12 The LADRC, VSADRC, and DFADRC are given in and Bode plots of the open-loop transfer function under two conditions. Compared to VSADRC, DFADRC exhibits a higher stability margin in both cases. At this point, the stability margin of DFADRC is even higher than that of LADRC, indicating that it has stronger parameter robustness. At that time, although the stability margin of DFADRC was slightly lower than that of LADRC, it was still within a reasonable engineering design range. Furthermore, when At that time, the cutoff frequency of DFADRC was significantly higher than that of LADRC and VSADRC.

[0060] Example 2: Based on Embodiment 1, this embodiment of the invention provides a dual-filter type active disturbance rejection speed control system for a permanent magnet synchronous motor, which can be used to implement the dual-filter type active disturbance rejection speed control method for a permanent magnet synchronous motor as described in the foregoing embodiments. The system includes: The first module is used to construct a dual-filter extended state observer based on the mechanical motion equation of a permanent magnet synchronous motor considering lumped disturbances. The dual-filter extended state observer includes a PI-type observer structure and a dual-filter PI-type observer structure. The second module is used to obtain the input error of the dual-filter extended state observer, and to perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error. The third module is used to determine the current stage of the observer based on the filtering error, and then adopts a control law based on the switching mechanism to realize the dual-filter type active disturbance rejection speed control of the permanent magnet synchronous motor.

[0061] According to embodiments of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0062] In an exemplary embodiment, an 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 method as described in Embodiment 1 above.

[0063] In an exemplary embodiment, the readable storage medium may be a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method described in Embodiment 1 above.

[0064] In an exemplary embodiment, the computer program product includes a computer program that, when executed by a processor, implements the method described in Embodiment 1 above.

[0065] 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.

[0066] 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.

[0067] 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).

[0068] 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.

[0069] 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.

[0070] 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 dual-filter type self-disturbance rejection speed control method for a permanent magnet synchronous motor, characterized in that, Includes the following steps: Based on the mechanical motion equations of a permanent magnet synchronous motor considering lumped disturbances, a dual-filter extended state observer is constructed, which includes a PI-type observer structure and a dual-filter PI-type observer structure. Obtain the input error of the dual-filter extended state observer, and perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error; Based on the filter error, the current stage of the observer is determined, and then a control law based on the switching mechanism is adopted to realize the dual-filter type self-disturbance rejection speed control of the permanent magnet synchronous motor.

2. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 1, characterized in that, The mechanical motion equations of a permanent magnet synchronous motor considering lumped disturbances are as follows: in, Indicates the mechanical speed of a permanent magnet synchronous motor The differential, and Representing load torque and shaft current, and These represent the moment of inertia and viscosity coefficient, respectively. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively. , express Shaft reference current, This indicates a lumped disturbance.

3. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 1, characterized in that, The PI-type observer structure is used to generate the first disturbance estimate. ; A dual-filter PI-type observer structure is used to generate the second perturbation estimate. .

4. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 3, characterized in that, The dual-filter extended state observer is specifically as follows: in, The derivative of the estimated rotational speed is given by... Indicates the sampling rotation speed. , This indicates the mechanical speed of the permanent magnet synchronous motor. Indicates sampling noise. This represents the estimated rotational speed. This represents the first disturbance estimate. This represents the second disturbance estimate. and As an auxiliary variable, The filtering error is obtained after processing with a dual-filter structure. and Represents the derivative of the auxiliary variable. and These are the parameters for the dual-filter extended state observer. It is the cutoff frequency of the filter. , Represents the moment of inertia. , These represent the number of pole pairs and flux linkage of a permanent magnet synchronous motor, respectively.

5. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 4, characterized in that, The method for determining whether the observer is currently in a transient or steady-state phase based on the filtering error is as follows: like The observer is in a transient state. Indicates a preset threshold; like The observer is in a steady state.

6. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 5, characterized in that, The control law for the transient phase is: in, Indicating the transient phase Shaft reference current, Indicates proportional gain. Indicates the reference rotational speed.

7. The dual-filter type self-disturbance rejection speed control method for permanent magnet synchronous motors according to claim 5, characterized in that, The control law for the steady-state phase is: in, Representing the steady state stage Shaft reference current, Indicates proportional gain. Indicates the reference rotational speed.

8. A dual-filter type self-disturbance rejection speed control system for a permanent magnet synchronous motor, characterized in that, include: The first module is used to construct a dual-filter extended state observer based on the mechanical motion equation of a permanent magnet synchronous motor considering lumped disturbances. The dual-filter extended state observer includes a PI-type observer structure and a dual-filter PI-type observer structure. The second module is used to obtain the input error of the dual-filter extended state observer, and to perform dual filtering on the input error of the dual-filter extended state observer to obtain the filtered error. The third module is used to determine the current stage of the observer based on the filtering error, and then adopts a control law based on the switching mechanism to realize the dual-filter type active disturbance rejection speed control of the permanent magnet synchronous motor.

9. An electronic device, characterized in that, include: 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 cause the at least one processor to perform the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

Images