High-order auto disturbance rejection speed control method for inertia adaptive asynchronous servo motor system

Abstract

The application relates to a high-order self-disturbance resistant rotating speed control method of an inertia adaptive asynchronous servo motor system, and belongs to the technical field of asynchronous motor control. The method constructs an improved high-order extended state observer in a speed loop, introduces filter factors in a disturbance estimation channel and a disturbance differential estimation channel, and designs corresponding parameter configuration and an adaptive adjustment mechanism of the filter factors, so that the system considers dynamic response, anti-disturbance performance and steady-state accuracy under the conditions of rotating inertia change or parameter mismatch, thereby improving the control robustness and operation performance of the asynchronous motor driving system under complex working conditions.

Description

Technical Field

[0001] This invention belongs to the field of asynchronous motor control technology, and relates to a high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system. Background Technology

[0002] Asynchronous motor systems, with their high reliability, high overload capacity, and low cost, are widely used in industrial applications such as drive systems for fans and pumps, air conditioning compressors, CNC machine tools, hub motors for new energy vehicles, and train traction systems. As the demand for precision control under complex working conditions continues to grow, higher requirements are being placed on the anti-interference performance and parameter robustness of asynchronous motor dynamic speed regulation. Drive systems not only need good steady-state accuracy but also need to maintain strong dynamic response and anti-interference performance under parameter perturbations, load abrupt changes, and operating condition switching. Typical asynchronous motor drive systems employ field-oriented control (FOC) strategies; however, their control effectiveness is affected not only by external factors such as load torque, friction torque, and current tracking errors but also by significant degradation due to mismatches between controller parameters and the actual controlled object. Among these, moment of inertia mismatch is a particularly common and significant problem in engineering applications.

[0003] To improve the robustness and disturbance rejection capability of asynchronous motor speed control systems, advanced methods such as sliding mode control, model predictive control, and active disturbance rejection control (ADRC) have been extensively studied. Among them, ADRC uses an extended state observer to estimate and compensate for lumped disturbances in the system online and in real time, demonstrating good engineering adaptability in handling model uncertainties, multi-source disturbances, and parameter variations. However, traditional speed loop ADRC typically employs a second-order extended state observer, which essentially still represents a low-pass estimation structure for disturbances. This method can achieve good results when disturbances change slowly; however, under conditions such as inertia mismatch, acceleration / deceleration, and sudden acceleration / unloading, stronger rapid time-varying disturbance components appear within the system. The reconstruction capability of traditional observers for such disturbances is limited, thus weakening the compensation effect and leading to a decline in control performance.

[0004] In practical applications, the total moment of inertia of an asynchronous motor drive system often changes with the load connection method, mechanical transmission chain state, and operating task. The nominal inertia parameters used in the controller are difficult to consistently match the actual moment of inertia. Inertia mismatch directly alters the speed loop control gain and closed-loop dynamic characteristics, reducing system damping and creating a weak frequency band in the mid-frequency range that is more easily excited. This manifests as increased speed overshoot, exacerbated low-damped oscillations, prolonged recovery time, and deteriorated disturbance rejection performance. Furthermore, using higher-order extended state observers to improve time-varying disturbance estimation capabilities may introduce new problems such as insufficient damping, increased noise sensitivity, and steady-state errors. Therefore, for inertia mismatch scenarios, how to simultaneously consider disturbance observation accuracy, system damping, disturbance rejection capability, and steady-state accuracy in asynchronous motor self-disturbance rejection speed control remains a key technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a high-order active disturbance rejection speed control method for asynchronous motors under inertia mismatch scenarios, solving the problems of increased low-damping oscillations, weakened disturbance rejection performance, and difficulty in suppressing steady-state errors in existing asynchronous motor active disturbance rejection speed control methods under inertia mismatch scenarios. This method constructs an improved high-order extended state observer in the speed loop, introduces filter factors into the disturbance estimation channel and the disturbance differential estimation channel, and designs corresponding parameter configurations and adaptive adjustment mechanisms for the filter factors. This enables the system to balance dynamic response, disturbance rejection performance, and steady-state accuracy under conditions of changing moment of inertia or parameter mismatch, thereby improving the control robustness and operating performance of the asynchronous motor drive system under complex operating conditions.

[0006] To achieve the above objectives, the present invention provides the following technical solution: Solution 1: A high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system, comprising the following steps: S1: Obtain the measured speed of the asynchronous motor drive system ω r and q-axis reference current And calculate the speed observation error. ; S2: Construct an improved high-order extended state observer in the velocity loop. The improved high-order extended state observer introduces filter factors into the perturbation estimation channel and the perturbation differential estimation channel, respectively. k 1 and k 2. To estimate the mechanical speed of the motor rotor. ω r disturbance f and perturbation differential h The observed values; among them k 1 is used for the disturbance estimation channel. k 2. Disturbance differential estimation channel; S3: Filter factor k 2. The filter factor is set to a fixed value, and the adaptive law is used to adjust the filter factor according to the actual operating conditions of the asynchronous motor. k 1. Perform online dynamic adjustment to balance the dynamic damping and steady-state accuracy of the system; S4: Generate the velocity loop controller output based on the disturbance observations estimated by the improved high-order extended state observer. u The feedforward compensation is used to suppress the low-damping oscillation of the asynchronous servo system and achieve smooth control of the asynchronous motor speed in the inertia mismatch scenario.

[0007] Furthermore, in step S2, the expression for the improved higher-order extended state observer is:

[0008] in, b 0 represents the control gain, a state variable. z 1. z 2. z 3 are for rotational speed ω r disturbance f and perturbation differential h The observed values, , , They are respectively z 1. z 2. z The differential of 3, β 1. β 2. β 3 represents the observation gain. k 1 and k 2 represents the filter factors introduced into the perturbation estimation channel and the perturbation derivative estimation channel, respectively. This is achieved by introducing filter factors into the two estimation channels. k 1 and k 2. The closed-loop characteristic equation under the inertia mismatch condition can be reconstructed to include... k 1 and k The characteristic equation of equation 2 causes the low-damped conjugate poles caused by inertia mismatch to move to the left half of the complex plane, thereby improving the damping margin of the closed-loop system and suppressing low-damped oscillations during the speed tracking process and disturbance recovery process.

[0009] Furthermore, in step S2, the improved higher-order extended state observer introduces filtering factors into the perturbation estimation channel and the perturbation differential estimation channel, respectively. k 1 and k 2. Reconstruct the closed-loop characteristic equation under the inertia mismatch condition into a characteristic equation containing the filter factor; wherein, the filter factor k 1 andk 2. This is used to increase the damping margin of the closed-loop system, causing the low-damping conjugate poles caused by inertia mismatch to move to the left half of the complex plane, thereby suppressing low-damping oscillations during speed tracking and disturbance recovery.

[0010] Furthermore, in step S3, the filter factor k 2. The value is determined to be a fixed positive value using an offline tuning method, specifically including the following process: given the observer bandwidth... ω 0. Motor inertia ratio to load inertia ρ and filter factor k Given a preset value of 1, let the filter factor... k 2. Take values ​​sequentially within the preset range; based on the included filter factor. k 1 and k The closed-loop characteristic equation of 2 is used to calculate different... k The closed-loop eigenvalues ​​are determined under the given values, and the corresponding pole trajectories are obtained. Based on the real part, imaginary part, and damping variation trend of the dominant pole in the pole trajectory, the dominant closed-loop poles are selected to move away from the imaginary axis and avoid the low-damping oscillation region. k 2. Value selection; the selected value k 2 is applied as a fixed positive value to the perturbation differential estimation channel of the improved higher-order extended state observer. Because... k 2. Primarily provides auxiliary damping adjustment, while online frequent adjustments are possible. k 2. It is not conducive to the numerical robustness of discrete implementation, therefore, in this invention, k 2. Fixed after pre-setting, only for k 1. Perform online adaptive adjustment.

[0011] Furthermore, in step S3, the filter factor k 1. Online adaptive law is used for tuning. To balance the enhanced damping during the dynamic phase, the disturbance rejection performance under load disturbances, and the error elimination during the steady-state phase, the speed tracking error is first defined as:

[0012] in, ω ref (k) represents the rotational speed setpoint at the k-th sampling time. ω r (k) represents the actual mechanical speed of the motor at the k-th sampling time. To distinguish between the speed transient process caused by changes in the reference input and the speed recovery process caused by external load disturbances, a reference change detection signal is defined. Γ (k) is:

[0013] in, δ ωUse the change detection threshold as a reference. Further define the pattern variables. μ (k) is:

[0014] in, μ (k)=1 indicates that the system is in the speed transition phase caused by the change in reference input. μ (k)=0 indicates that the system is in a non-reference change condition, which includes the load disturbance suppression stage and the steady-state operation stage. δ 3 is the threshold for determining the end of the speed transition process.

[0015] To prevent noise, short-time zero crossings, or transient fluctuations from affecting the filter factor k 1. Prematurely released, constructing a steady-state counter. N s (k):

[0016] in, δ 2 represents the steady-state error band. N d The minimum number of consecutive samples required to confirm that the system has reached a steady state. When N s (k)≥ N d At that point, it is determined that the system has truly entered the steady-state region.

[0017] Based on the pattern variables μ (k) Steady-state counter N s (k) and speed tracking error e ω (k), the filter factor is tuned according to the following adaptive law. k 1:

[0018] Where k is the current sampling time, K The preset high damping value is used to enhance system damping during the speed transition phase and the unloading rebound phase. k 1(k-1) represents the value of the filter factor at the previous sampling time. The meaning of the adaptive law is: when the system has continuously met the steady-state error requirement, it will... k 1. Set to zero to release leakage in the disturbance estimation channel and eliminate steady-state error; when the system is in the speed transition phase caused by reference change, k 1 is set to high damping value K To improve damping and suppress oscillations and overshoot; when the system is in the speed drop recovery phase after load is applied, kSet 1 to zero to avoid weakening the low-frequency disturbance compensation capability; when the system is in the bounce phase after unloading, k 1. Reset to high damping value K To suppress low-damped oscillations caused by unloading; otherwise, maintain k 1 represents the value at the previous sampling time, in order to avoid frequent switching near the threshold.

[0019] Furthermore, the current operating condition of the asynchronous motor is determined by the conditions... A ,condition B and conditions C The following conditions are met:

[0020] in, δ 1 is the preset large error threshold, and satisfies δ 1> δ 3> δ 2>0; ω (k) represents the speed tracking error. e ω Discrete differential components or first-order difference components of (k). Conditions A The conditions for the large error convergence process during the corresponding speed transition phase are as follows: B The corresponding speed drop and recovery process after load is applied, conditions C This corresponds to the overshoot and rebound process after unloading. Through the above adaptive adjustment mechanism, it is possible to balance the system's dynamic damping, disturbance suppression capability, and steady-state control accuracy under different operating conditions such as changes in speed setpoint, load input, load removal, and steady-state operation.

[0021] Option 2: A high-order active disturbance rejection speed control system for an inertia-adaptive asynchronous servo motor system, comprising an asynchronous servo motor, an inverter drive circuit, a speed detection unit, a current sampling unit, and a DSP (digital signal processing) control unit.

[0022] The inverter drive circuit is electrically connected to the asynchronous servo motor and receives the PWM drive signal output by the DSP control unit, converting DC bus power into three-phase AC power to drive the asynchronous servo motor. The asynchronous servo motor outputs torque and speed under the drive of the inverter drive circuit. The speed detection unit is connected to the asynchronous servo motor and detects the rotor mechanical speed, feeding back the measured speed signal to the DSP control unit. The current sampling unit is connected to the inverter drive circuit and the stator side of the asynchronous servo motor, collecting the phase current or the d-axis and q-axis current feedback after coordinate transformation, and sending the sampling results to the DSP control unit. Based on the speed signal output by the speed detection unit and the current feedback output by the current sampling unit, the DSP control unit performs improved high-order extended state observation, adaptive parameter update, speed loop control, current loop control, and SVPWM modulation calculations, and then outputs control signals to the inverter drive circuit, thus forming a closed-loop control data flow relationship of "speed / current detection—DSP control calculation—inverter drive—motor operation".

[0023] The DSP control unit is used to run the FOC (Focus Vector Control) program, which includes an initialization program and an ePWM (Enhanced Pulse Width Modulation) periodic interrupt program. The initialization program is used to complete the configuration of the control system peripherals, load control parameters, and set the filter factor. k 2. Preset of fixed values. The ePWM periodic interrupt program is used to periodically execute: speed measurement, current sampling, calculation of the improved high-order extended state observer, and filter factor. k 1. Adaptive updates, speed loop control, current loop control, and SVPWM (space vector pulse width modulation) updates.

[0024] The improved higher-order extended state observer introduces a filtering factor into the perturbation estimation channel. k 1. Introduce a preset fixed filter factor into the perturbation differential estimation channel. k 2, the filter factor k 1. Adjust the system online according to the current speed tracking error and its duration, based on a preset adaptive law, to improve system damping in the dynamic phase and reduce steady-state error in the steady-state phase; The speed loop control is used to generate the q-axis current setpoint based on the speed setpoint, the measured speed, and the disturbance observation value output by the improved high-order extended state observer. The current loop control is used to generate voltage commands based on the q-axis current setpoint and the current sampling feedback. The SVPWM modulation update is used to update the PWM duty cycle according to the voltage command and output to the inverter drive circuit to drive the asynchronous servo motor.

[0025] Solution 3: A non-transitory computer-readable storage medium storing a control program or instructions suitable for execution by a DSP controller, characterized in that, when the control program or instructions are executed by the DSP controller, a high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system as described in Solution 1 is implemented.

[0026] The beneficial effects of this invention are as follows: This invention is applicable to high-order active disturbance rejection speed control of asynchronous motors under inertia mismatch scenarios. An improved high-order extended state observer is constructed in the speed loop, and a filter factor is introduced into the disturbance estimation channel and the disturbance differential estimation channel to improve the pole distribution and damping characteristics of the closed-loop system under inertia mismatch scenarios, which can effectively suppress low-damped oscillations and dynamic overshoot. Furthermore, a corresponding adaptive adjustment mechanism for parameter configuration and filter factor is designed to enable the system to balance dynamic response, disturbance rejection performance and steady-state accuracy under conditions of rotational inertia change or parameter mismatch, thereby improving the control robustness and operating performance of the asynchronous motor drive system under complex working conditions.

[0027] Experimental results demonstrate that the method of this invention exhibits superior speed reference tracking performance and load disturbance suppression performance under various inertia mismatch conditions: it effectively suppresses overshoot and underdamped oscillations and shortens settling time during acceleration, deceleration, and sudden changes in load; it significantly reduces speed drop and accelerates recovery under step loads, and maintains stable convergence even with a large inertia ratio. Therefore, the method of this invention effectively improves the dynamic performance, disturbance rejection capability, and operational robustness of asynchronous motor drive systems under inertia mismatch scenarios without the need for an additional inertia identification module. It has a relatively simple structure and good robustness and engineering applicability.

[0028] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 The zero-pole distribution diagram of the drive active disturbance rejection control system under inertia mismatch; Figure 2 Block diagram of the improved higher-order extended state observer (HESO); Figure 3 The conjugate dominant pole varies with the filter factor k 1. k2. Changing movement trajectory; Figure 4 Filtering factor k 1. Flowchart of the adaptive law; Figure 5 Reference tracking performance of the three methods under different moment of inertia ratios; Figure 6 The disturbance rejection performance of the three methods under step load is shown. Detailed Implementation

[0030] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Please see Figures 1-6 This invention proposes a high-order active disturbance rejection (AH-ADRC) speed control method for asynchronous motors under inertia mismatch scenarios. An improved high-order extended state observer is constructed in the speed loop, and filter factors are introduced into the disturbance estimation channel and the disturbance differential estimation channel. Corresponding parameter configuration and adaptive adjustment mechanism of filter factors are designed to enable the system to balance dynamic response, disturbance rejection performance and steady-state accuracy under conditions of rotational inertia change or parameter mismatch, thereby improving the control robustness and operation performance of asynchronous motor drive system under complex working conditions.

[0032] An asynchronous motor drive system mainly consists of three parts: the motor body, the transmission mechanism, and the load. Since the precise moments of inertia of the load and the transmission mechanism are often difficult to obtain, the control gain of actual active disturbance rejection (ADNR) control systems is often tuned solely based on the moment of inertia of the motor rotor. This results in a mismatch between the nominal moment of inertia and the actual system inertia in ADNR-based electric drive systems. Furthermore, the movement of the transmission mechanism during operation causes changes in the moment of inertia, exacerbating the time-varying nature of the system inertia mismatch. Because achieving accurate online identification of the moment of inertia is quite difficult, it is crucial to improve the parameter robustness of asynchronous motor drive systems under inertia mismatch scenarios.

[0033] Traditional asynchronous motor speed loop active disturbance rejection control uses a second-order ESO (Extended State Observer) to estimate lumped disturbances. Essentially, this is a second-order low-pass filter for the lumped disturbances, thus its ability to estimate disturbances with strong time-varying characteristics and high frequencies is weak. (Definition of inertia ratio) ρ = J / J 0=b 0 / b , J This represents the actual inertia of the electric drive system. J 0 represents the given value of the moment of inertia. Ignoring flux linkage estimation errors, the total system disturbance can be expressed as: (1) As shown in equation (1), inertia mismatch leads to the presence of control variables in the total disturbance. u The strong time-varying components of the drive make it difficult for traditional ESOs to accurately estimate disturbances. Specifically, the transfer function expressions of the system from reference to speed and from load to speed under inertia mismatch are shown in equations (2) and (3), respectively, which characterize the system's reference tracking performance and disturbance rejection performance. Reference Tracking Transfer Function G tr (s) and disturbance rejection transfer function G dr The zero-pole distribution law of (s) is as follows Figure 1 As shown, where, Figure 1 (a) represents different inertia ratios ρ Reference tracking transfer function under conditions of 1, 3, 6, and 10 G tr Pole-zero distribution plot of (s), Figure 1 (b) shows different inertia ratios ρ Disturbance rejection transfer function under conditions of 1, 3, 6, and 10 G dr Pole-zero distribution plot of (s); Figure 1 In the diagram, “×” represents the pole and “○” represents the zero. The inset is a magnified view of the area near the imaginary axis.

[0034] (2) (3) Depend on Figure 1 It can be seen that the mismatch in rotational inertia introduces a pair of conjugate poles close to the imaginary axis in the system's characteristic equation. With... As the value of the real part of the dominant pole increases, the absolute value of the real part decreases, the system damping becomes smaller and smaller, which leads to phenomena such as overshoot and low-frequency oscillation of the asynchronous motor speed in the dynamic stage, slower convergence, and weak frequency bands in the anti-disturbance performance.

[0035] To improve the system's ability to observe rapid time-varying disturbances in scenarios of rotational inertia mismatch, an improved third-order HESO (Higher-Order Extended State Observer) was constructed, the structure of which is as follows: Figure 2 As shown. The improved HESO expression is: (4) in, e1 represents the speed observation error. ω r To measure the rotational speed, i sqref This is the q-axis reference current. b 0 represents the control gain, a state variable. z 1. z 2. z 3 are for rotational speed ω r disturbance f and perturbation differential h The observed values, β 1. β 2. β 3 represents the observation gain. k 1. k 2 is the filter factor, used to change the system's zero-pole distribution to actively adjust the system damping. k 2 is tuned to the observer bandwidth. ω Fixed multiples of 0, while k 1. Adjustment is achieved through the designed adaptive law.

[0036] After using the improved HESO, the transfer function expressions for the system's reference tracking and disturbance suppression become: (5) (6)

[0037] Let the characteristic equations of the two transfer functions have a common factor Q (s)=0, Q (s)= ρs 3 + a 1 s 2 + a 2 s + a 3. Using the bandwidth method to tune the observation gain, we obtain: (7) According to the Routh-Hurwitz criterion, consider Δ= α 1 α 2- α 3, because k 1, k Since 2 > 0, we can obtain the inequality: (8) According to equations (7) and (8), since the coefficients of the lower power terms in the characteristic equation... α 1, α 2 introduces non-constant ρ The increase and decrease ( k 1+ k 2) k 1 k 2 items, s 2 The coefficients of the s-term are always kept sufficiently large, thus ensuring that the Routh-Hurwitz stability margin of the system is strictly increased. Figure 3 The system's conjugate poles are shown to follow k 1, k 2. The trajectory of change. As shown in the graph, k Damping adjustment of the conjugate poles plays a dominant role, while k The pole position can be adjusted within a limited range, thus it can be fixed. k 2. Adaptive adjustment based on actual working conditions. k 1.

[0038] The steady-state error of the system under a unit step load disturbance is shown in equation (9): (9) From equation (9), it can be seen that when k 1 、 k When both 2 are non-zero, the system will exhibit a steady-state error. Therefore, to eliminate the steady-state error, it is necessary to... k Set 1 to zero.

[0039] Based on the above analysis, it can be concluded that k The design of an adaptive law should satisfy three objectives: a large speed during transitions. k 1. To enhance damping and release quickly when load is applied. k 1. To maintain disturbance suppression, and to force the true steady state to be reached. k The value is reduced to zero to eliminate steady-state error. The adaptive law expression designed accordingly is as follows: (10) When the absolute value of the speed tracking error is | e ω |<δ2 and the duration is t d When the above is reached, it is determined that the system has entered a steady state. k 1. Zeroing; when the motor is accelerating or in the speed increase phase after unloading, k 1 is set to the set value K This is done to maximize system damping, suppress oscillations and overshoot, while otherwise maintaining... k 1 represents the value at the previous moment. The actual operating condition of the asynchronous motor is determined by conditions A, B, and C, which must satisfy: (11) Where δ1>δ2>0. The flowchart of the designed adaptive law is as follows. Figure 4 As shown.

[0040] Comparative experiment: The following is a simulation verification of the method proposed in this invention, and a comparative experiment was conducted with LADRC and HADRC at the same gain.

[0041] Figure 5 The reference tracking performance of the three methods was compared under different inertia ratios. At 0.1s, the motor speed was increased to 200 rpm using a ramp reference of 4000 rpm, and then at 0.4s, the speed was increased again to 550 rpm using a step reference of 350 rpm. When the filter factor is 3, the experimental groups based on the LADRC and HADRC methods exhibited significant overshoot and oscillations during acceleration, while the proposed AHADRC method showed better performance in terms of adaptive filter factor. k No oscillations or overshoot were observed under the influence of 1, with a settling time of 0.053 s, a 70% improvement compared to LADRC. When When the speed is 6, HADRC can no longer converge to the reference speed, LADRC shows a larger overshoot, while the AHADRC method can still stably and quickly track the speed reference.

[0042] Figure 6 Three methods were demonstrated at 15N. The disturbance rejection performance under a step load is shown in the figure. As can be seen from the figure, due to the influence of inertia mismatch, the maximum speed drop of the LADRC and HADRC methods under a step load disturbance reaches 69.5 rpm and 31 rpm, respectively, and obvious oscillations occur during the speed recovery process. In contrast, the maximum speed drop depth of the proposed method under the same step disturbance is only 17.5 rpm, which is 74.8% and 43.5% lower than the other two methods, respectively. Furthermore, it basically eliminates the low-damped oscillations, which greatly shortens the recovery time to 3.9 ms.

[0043] In summary, the AH-ADRC method proposed in this invention exhibits superior speed reference tracking performance and load disturbance suppression performance under various inertia mismatch conditions: it effectively suppresses overshoot and low-damped oscillations and shortens settling time during acceleration, deceleration, and sudden changes in load; it significantly reduces speed drop and accelerates recovery under step load conditions, and maintains stable convergence even with a large inertia ratio. This demonstrates that this method can effectively improve the dynamic performance, disturbance rejection capability, and operational robustness of asynchronous motor drive systems under inertia mismatch scenarios without additional inertia identification, and has significant engineering application value.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system, characterized in that, The method includes the following steps: S1: Obtain the measured speed of the asynchronous motor drive system ω r and q-axis reference current And calculate the speed observation error. ; S2: Construct an improved high-order extended state observer in the velocity loop. The improved high-order extended state observer introduces filter factors into the perturbation estimation channel and the perturbation differential estimation channel, respectively. k 1 and k 2. To estimate the rotational speed ω r disturbance f and perturbation differential h The observed values; among which k 1 is used for the disturbance estimation channel. k 2. Disturbance differential estimation channel; S3: Filter factor k 2. The filter factor is set to a fixed value, and the adaptive law is used to adjust the filter factor according to the actual operating conditions of the asynchronous motor. k 1. Perform online dynamic adjustment to balance the dynamic damping and steady-state accuracy of the system; S4: Generate the velocity loop controller output based on the disturbance observations estimated by the improved high-order extended state observer. u The feedforward compensation is used to suppress the low-damping oscillation of the asynchronous servo system and achieve smooth control of the asynchronous motor speed in the inertia mismatch scenario.

2. The high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system according to claim 1, characterized in that, In step S2, the expression for the improved higher-order extended state observer is: in, b 0 represents the control gain, a state variable. z 1. z 2. z 3 are for rotational speed ω r disturbance f and perturbation differential h The observed values, , , They are respectively z 1. z 2. z The differential of 3 β 1. β 2. β 3 represents the observation gain.

3. The high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system according to claim 1, characterized in that, In step S2, the improved higher-order extended state observer introduces filtering factors into the perturbation estimation channel and the perturbation differential estimation channel, respectively. k 1 and k 2. Reconstruct the closed-loop characteristic equation under the inertia mismatch condition into a characteristic equation containing the filter factor; wherein, the filter factor k 1 and k 2. This is used to increase the damping margin of the closed-loop system, causing the low-damping conjugate poles caused by inertia mismatch to move to the left half of the complex plane, thereby suppressing low-damping oscillations during speed tracking and disturbance recovery.

4. The high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system according to claim 3, characterized in that, In step S3, the filter factor k The tuning method for 2 is as follows: given the observer bandwidth... ω 0. Motor inertia ratio to load inertia ρ and filter factor k Given a preset value of 1, let the filter factor... k 2. Take values ​​sequentially within the preset range; Based on the presence of filter factors k 1 and k The closed-loop characteristic equation of 2 is used to calculate different... k The closed-loop eigenvalues ​​under the given values ​​are obtained, and the corresponding pole trajectories are acquired. Based on the real part, imaginary part, and damping variation trend of the dominant pole in the pole trajectory, a region is selected that keeps the closed-loop dominant pole away from the imaginary axis and avoids low-damped oscillations. k 2. Values; Selected k 2 is applied as a fixed positive value to the perturbation differential estimation channel of the improved higher-order extended state observer.

5. The high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system according to claim 1, characterized in that, In step S3, the filtering factor k 1. Tuning is performed using an online adaptive law, which specifically includes: tuning based on the velocity loop reference input and observation error. e 1. Determine the running mode variables μ The value of (k), μ (k)=1 indicates that the system is in the dynamic speed regulation stage. μ (k)=0 indicates that the velocity reference has not changed; Constructing a steady-state counter N s (k) is used to prevent transient zero crossings or noise disturbances from causing... k 1. Premature release N d For the counter threshold; when | e 1 | Less than the threshold for determining the steady state stage δ At 2 o'clock, N s (k) Start counting, if during the counting period | e 1| If the steady-state determination threshold is exceeded, then N s (k) Clear and reset the count; Based on runtime mode variables μ (k) Steady-state counter N s (k) and speed tracking error e ω (k) is tuned according to the following adaptive law. k 1: in, K The preset high damping value is used to enhance system damping during the speed transition phase or the rebound phase after load removal; k 1(k 1) is the value of the filter factor at the previous sampling time; condition A The condition for determining whether the system is in the speed regulation phase is as follows: B The condition for determining the speed drop recovery phase after load is applied is as follows: C These are the criteria for determining overshoot and bounce phenomena after unloading.

6. The high-order active disturbance rejection speed control method for an inertia-adaptive asynchronous servo motor system according to claim 5, characterized in that, In step S3, the actual operating condition of the asynchronous motor is determined by conditions A, B, and C, which must be satisfied: in, δ 1 represents the preset large error threshold. δ 2 is the threshold for determining the steady-state phase, and it satisfies... δ 1>δ2>0; Speed ​​tracking error, for The minute components.

7. A high-order active disturbance rejection speed control system for an inertia-adaptive asynchronous servo motor system, characterized in that, It includes an asynchronous servo motor, an inverter drive circuit, a speed detection unit, a current sampling unit, and a DSP control unit; where DSP stands for Digital Signal Processing. The inverter drive circuit is electrically connected to the asynchronous servo motor and is used to receive the PWM drive signal output by the DSP control unit, and convert the DC bus power into three-phase AC power to drive the asynchronous servo motor. The asynchronous servo motor outputs torque and speed under the drive of the inverter drive circuit. The speed detection unit is connected to the asynchronous servo motor and is used to detect the rotor mechanical speed of the asynchronous servo motor and feed the measured speed signal back to the DSP control unit. The current sampling unit is connected to the inverter drive circuit and the stator side of the asynchronous servo motor and is used to collect the phase current of the asynchronous servo motor or the d-axis and q-axis current feedback after coordinate transformation, and send the sampling result to the DSP control unit. The DSP control unit performs improved high-order extended state observation, adaptive parameter update, speed loop control, current loop control and SVPWM modulation calculation based on the speed signal output by the speed detection unit and the current feedback output by the current sampling unit, and then outputs control signals to the inverter drive circuit, thereby forming a closed-loop control data flow relationship of "speed / current detection - DSP control calculation - inverter drive - motor operation". The DSP control unit is used to run the FOC program, which includes an initialization program and an ePWM periodic interrupt program. The initialization program is used to complete the configuration of the control system peripherals, loading of control parameters, and setting of filter factors. k 2. Fixed value preset; the ePWM periodic interrupt program is used to periodically execute: speed measurement, current sampling, calculation of the improved high-order extended state observer, and filter factor. k 1. Adaptive update, speed loop control, current loop control, and SVPWM update; where FOC represents motor vector control, ePWM represents enhanced pulse width modulation, and SVPWM represents space vector pulse width modulation. The improved higher-order extended state observer introduces a filtering factor into the perturbation estimation channel. k 1. Introduce a preset fixed filter factor into the perturbation differential estimation channel. k 2, the filter factor k 1. Adjust online according to the current speed tracking error and its duration according to the preset adaptive law, so as to improve damping in the dynamic stage and reduce steady-state error in the steady-state stage; The speed loop control is used to generate the q-axis current setpoint based on the speed setpoint, the measured speed, and the disturbance observation value output by the improved high-order extended state observer. The current loop control is used to generate voltage commands based on the q-axis current setpoint and the current sampling feedback. The space vector pulse width modulation update is used to update the PWM duty cycle according to the voltage command and output to the inverter drive circuit to drive the asynchronous servo motor.

8. A computer-readable storage medium having a control program stored thereon that is suitable for execution by a DSP controller, characterized in that, When the control program or instruction is executed by the DSP controller, the DSP controller implements the high-order active disturbance rejection speed control method for the inertia adaptive asynchronous servo motor system as described in any one of claims 1 to 6.

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