Permanent magnet synchronous linear motor active disturbance rejection control method, controller and medium

Abstract

This invention discloses an active disturbance rejection control method, controller, and medium for a permanent magnet synchronous linear motor (PMSM). The method includes: combining the disturbance estimation error extracted by a single-error expanded state observer with the speed observation error of the PMSM to construct a first dual-error constraint observer; embedding a resonant controller into the disturbance estimation loop of the first dual-error constraint observer to construct a second resonant-based dual-error constraint observer; during motor operation: inputting the reference speed and actual speed of the PMSM into the second dual-error constraint observer to obtain a thrust reference signal; calculating and generating a corresponding drive signal based on the thrust reference signal to drive the inverter to control the PMSM. This invention ensures both rapid dynamic response and deep suppression of periodic disturbances in the positioning force, without affecting system stability.

Description

Technical Field

[0001] This invention belongs to the field of motor drive and control technology, and more specifically, relates to a method, controller and medium for active disturbance rejection control of a permanent magnet synchronous linear motor. Background Technology

[0002] Permanent magnet synchronous linear motors (PMLSMs) eliminate the mechanical backlash, friction, and flexible deformation inherent in traditional rotary motors with lead screw drives. They feature high thrust density, high speed, and high precision, and are widely used in high-end CNC machine tools, semiconductor manufacturing equipment, and rail transportation. However, due to stator core slotting and end effects caused by the finite length of the primary winding, PMLSMs inevitably generate positioning force disturbances during operation. This positioning force is a periodic function of the mover position, manifesting as a periodic AC disturbance acting on the speed loop during constant speed operation, causing severe speed ripple and significantly limiting the system's steady-state tracking accuracy. Furthermore, the system also faces non-periodic DC or slowly varying disturbances such as friction, sudden load changes, and mover mass variations.

[0003] Traditional proportional-integral-derivative (PI-DE) control struggles to simultaneously handle complex disturbances from multiple sources. Linear active disturbance rejection (ADRC), with its extended state observer, can effectively estimate and compensate for low-frequency, slowly varying disturbances, but its suppression effect on high-frequency periodic disturbances caused by positioning forces is limited by the observer bandwidth. Introducing a quasi-resonant controller can enhance the suppression of disturbances at specific frequencies, but traditional quasi-resonant controllers introduce non-ideal resonant overshoot, which not only weakens performance in adjacent frequency bands but also easily amplifies high-frequency noise, leading to system instability. Therefore, a control method is urgently needed that can guarantee fast dynamic response, achieve deep suppression of periodic positioning force disturbances, and not compromise system stability. Summary of the Invention

[0004] The main objective of this invention is to provide a method, controller, and medium for self-disturbance rejection control of permanent magnet synchronous linear motors, in order to overcome the shortcomings of the prior art.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: The first aspect of this invention provides an active disturbance rejection control method for a permanent magnet synchronous linear motor, comprising: combining the disturbance estimation error extracted by a single error expansion state observer with the speed observation error of the permanent magnet synchronous linear motor to construct a first dual-error constraint observer; embedding a resonant controller in the disturbance estimation loop of the first dual-error constraint observer to construct a second dual-error constraint observer based on resonance, wherein the second dual-error constraint observer is used to track and estimate the periodic AC disturbance of the positioning force at the target frequency and to eliminate the irrational resonance overshoot generated by the resonant controller in the closed-loop system; during motor operation: inputting the reference speed and actual speed of the permanent magnet synchronous linear motor into the second dual-error constraint observer to obtain a thrust reference signal, and calculating and generating a corresponding drive signal based on the thrust reference signal to drive the inverter to control the permanent magnet synchronous linear motor.

[0006] Preferably, the expression for the single-error extended state observer is: ; ; in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, This is the second gain of the observer.

[0007] Preferably, the expression for the first dual-error-constrained observer is: ; ; ; in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, This is the second gain of the observer.

[0008] Preferably, the transfer function of the resonant controller is: ; in, Let be the transfer function of the resonant controller. Let Laplace be the complex frequency variable. The gain of the resonant controller, The cutoff frequency, The resonant frequency, The first gain of the observer, This is the second gain of the observer.

[0009] Preferably, the expression for the second dual-error-constrained observer is: ; ; ; ; in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, For the second gain of the observer, The extracted positioning force disturbance, The gain of the resonant controller, The cutoff frequency, The resonant frequency, For time, It is an intermediate variable.

[0010] Preferred, for: ; in, This is the proportionality coefficient. The integral coefficient is... , .

[0011] Preferred, and The settings are as follows: Set to twice the bandwidth of the single-error extended state observer; Set to the square of the bandwidth of the single-error extended state observer.

[0012] Preferably, the thrust reference signal is the q-axis reference output current; calculating and generating the corresponding drive signal based on the thrust reference signal specifically includes: setting the d-axis reference output current to 0; calculating the q-axis current deviation and d-axis current deviation based on the q-axis reference output current and the d-axis reference output current, respectively; outputting the q-axis voltage and d-axis voltage respectively after PI control of the q-axis current deviation and the d-axis voltage; performing a Park inverse transformation on the q-axis voltage and d-axis voltage using the electrical angle of a permanent magnet synchronous linear motor to obtain the α-axis voltage and β-axis voltage; and generating the corresponding PWM drive signal based on the α-axis voltage and β-axis voltage.

[0013] A second aspect of the present invention provides a permanent magnet synchronous linear motor active disturbance rejection controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the active disturbance rejection control method for the permanent magnet synchronous linear motor as described above.

[0014] A third aspect of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the active disturbance rejection control method for a permanent magnet synchronous linear motor as described above.

[0015] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention provides a method, controller, and medium for active disturbance rejection control of a permanent magnet synchronous linear motor. By constructing a first dual-error-constrained observer, the disturbance estimation error is introduced as an auxiliary correction term into the observer's dynamic equation, breaking through the limitation of traditional single-error-expanded state observers that rely solely on speed error for feedback. This significantly improves the estimation accuracy and convergence speed for lumped disturbances, including parameter perturbations, friction forces, and unmodeled dynamics. On this basis, by embedding a novel resonant controller with a specific transfer function structure into the disturbance estimation loop, matching its numerator zero with the observer gain, this not only achieves high-gain narrowband tracking of periodic AC disturbances at the fundamental frequency of the positioning force but also fundamentally eliminates the irrational resonance overshoot phenomenon caused by phase lag in traditional quasi-resonant controllers, avoiding high-frequency noise amplification and system instability risks. Finally, by combining the speed feedback control law with a complete current loop execution path, this invention achieves deep suppression of steady-state speed ripples while ensuring rapid dynamic response of the system, significantly improving the robustness and operational stability of the permanent magnet synchronous linear motor drive system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a method for self-disturbance rejection control of a permanent magnet synchronous linear motor provided in an embodiment of the present invention.

[0018] Figure 2 This is a control block diagram of the active disturbance rejection control method for a permanent magnet synchronous linear motor provided in an embodiment of the present invention.

[0019] Figure 3 The control block diagram provided for embodiments of the present invention is based on a novel resonant dual-error constraint observer (second dual-error constraint observer).

[0020] Figure 4 Bode plots of the equivalent resonant transfer functions of traditional quasi-resonance and the novel resonance of this invention.

[0021] Figure 5 Bode plots for traditional extended state observers (ESO), double-error-constrained observers (DEO), quasi-resonant double-error-constrained observers (QRDEO), and novel resonant double-error-constrained observers (NRDEO).

[0022] Figure 6 Bode plots for the corresponding active disturbance rejection controllers ESO-ADRC, DEO-ADRC, QRDEO-EADRC, and NRDEO-EADRC.

[0023] Figure 7 This is a block diagram of a permanent magnet synchronous linear motor self-disturbance rejection controller provided in an embodiment of the present invention. Detailed Implementation

[0024] In view of the shortcomings of the prior art, the inventors of this invention, through long-term research and extensive practice, have proposed the technical solution of this invention. The following will further explain and illustrate this technical solution, its implementation process, and its principles.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0026] Furthermore, in the description of this invention, it should be understood that the terms "upper," "lower," "inner," "outer," "horizontal," "vertical," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] In the description of this specification, the references to terms such as "an embodiment," "a particular embodiment," or "the embodiment" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0028] Figure 1 This is a flowchart of the active disturbance rejection control method for a permanent magnet synchronous linear motor (hereinafter referred to as "this method") provided in an embodiment of the present invention. (See attached diagram.) Figure 1 , combined Figures 2-6 This method is described in detail and includes operations S100-S300.

[0029] Operation S100 combines the disturbance estimation error extracted by the single-error expanded state observer with the speed observation error of the permanent magnet synchronous linear motor to construct the first dual-error constraint observer.

[0030] Traditional extended state observers typically rely solely on velocity observation errors to correct system states. When faced with complex lumped disturbances in permanent magnet synchronous linear motors, they often suffer from estimation lag or bandwidth limitations. This embodiment addresses this by mining disturbance estimation error information within the single-error extended state observer and feeding it back as an auxiliary correction quantity into the observer's dynamic equations, thus forming a dual constraint mechanism of velocity error and disturbance error. This design allows the observer to not only correct the state using velocity deviations but also dynamically adjust its internal model using disturbance estimation deviations. This significantly improves the observer's convergence speed and estimation accuracy for lumped disturbances, including parameter perturbations, friction, and unmodeled dynamics, laying a solid foundation for subsequent high-performance control.

[0031] Operation S200 embeds a resonant controller into the disturbance estimation loop of the first dual-error-constrained observer to construct a second dual-error-constrained observer based on resonance. The second dual-error-constrained observer is used to track and estimate the periodic AC disturbance of the positioning force at the target frequency and to eliminate the irrational resonant overshoot generated by the resonant controller in the closed-loop system.

[0032] Permanent magnet synchronous linear motors generate positioning force disturbances at specific frequencies due to cogging and end effects, which are difficult to effectively suppress with conventional observers. This embodiment does not simply connect a resonator in parallel outside the control loop; instead, it embeds the resonant controller directly into the disturbance estimation loop of the first dual-error-constrained observer, making it part of the observer's dynamic characteristics. This embedded structure enables the second dual-error-constrained observer to possess high-gain narrow-band tracking capability for the target frequency, accurately separating and estimating the periodic AC disturbances caused by the positioning force. More importantly, the resonant controller employs a special transfer function structure design, with its numerator zeros matching the observer gain. This fundamentally cancels out the inherent phase lag and amplitude bulge phenomena near the resonant frequency of traditional quasi-resonant controllers, thereby eliminating irrational resonant overshoot. This means that while the system deeply suppresses disturbances at the target frequency, it does not amplify noise in adjacent frequency bands or cause instability in the closed-loop system, achieving synergistic optimization of disturbance rejection performance and stability.

[0033] During the S300 operation, the reference speed and actual speed of the permanent magnet synchronous linear motor are input into the second dual error constraint observer to obtain the thrust reference signal. Based on the thrust reference signal, the corresponding drive signal is calculated and generated to drive the inverter to control the permanent magnet synchronous linear motor.

[0034] During actual motor operation, the control system acquires the motor's actual speed in real time and compares it with a given reference speed. Both are then fed into a pre-constructed second dual-error constraint observer. Based on the aforementioned dual constraint and resonance enhancement mechanism, the observer outputs a thrust reference signal containing positioning force compensation information in real time. Subsequently, this thrust reference signal undergoes current loop regulation and pulse width modulation processing, converting it into a drive signal for switching the inverter's power devices. Ultimately, this signal acts on the stator windings of the permanent magnet synchronous linear motor, generating electromagnetic thrust to overcome loads and various disturbances.

[0035] It should be understood that the above-described operations S100-S300 constitute a complete timing control process. Operations S100 and S200 can be either the model building process in the offline design phase or the initialization configuration process before online operation, while operation S300 is a continuous real-time closed-loop control process. Through this complete process, this embodiment can achieve deep suppression of steady-state speed ripples while ensuring the system's rapid dynamic response, significantly improving the operational stability and robustness of the permanent magnet synchronous linear motor drive system.

[0036] The electromagnetic thrust equation of a permanent magnet synchronous linear motor is: ; in, Electromagnetic thrust, The pole distance of the permanent magnet. It is a permanent magnet flux linkage. and They are d shaft and q shaft current, and They are d shaft and q The inductance of the shaft. For permanent magnet synchronous linear motors, there is... The electromagnetic thrust equation can then be further expressed as: ; in, The linear thrust coefficient, .

[0037] The equation of motion for a permanent magnet synchronous linear motor is: ; in, For the mass of the mover, Represents the differential operator, It is the velocity of the mover. It is the load tension. It is a disturbance force. Specifically, it is expressed as follows: ; in, It is the coefficient of viscous friction; It is an unmodeled disturbance force; The positioning force represents the cogging force and the end effect force. Specifically, it is expressed as follows: ; in, , These represent the Fourier series coefficients of the cogging force and the end effect force, respectively. It is a positive integer. and This represents the corresponding phase.

[0038] Furthermore, the equations of motion can be rewritten as: ; in, To control the gain, yes q Shaft reference output current, It includes parameter perturbations, frictional disturbances, positioning force disturbances, and lumped disturbances of unmodeled dynamics.

[0039] Based on the above equations of motion, in a preferred embodiment, the single-error extended state observer can be constructed as follows: ; ; in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, This is the second gain of the observer.

[0040] The lumped disturbance can be rewritten as: ; The velocity differential term can be derived as follows: ; The lumped disturbance estimation error can be derived as follows: ; Furthermore, the expression for the designed first dual-error-constrained observer is as follows: ; ; ; Furthermore, a novel resonant controller is designed and embedded based on the first dual-error-constrained observer to generate a lumped perturbation compensation signal incorporating the novel resonance and dual-error constraints. The fundamental target frequency of the positioning force perturbation is calculated in real time based on the mover velocity and pole moment of the PMLSM. The fundamental frequency of the positioning force perturbation is calculated as follows: angular frequency is The transfer function of a traditional quasi-resonant controller is as follows: ; In a preferred embodiment, the transfer function of the resonant controller is: ; in, Let be the transfer function of the resonant controller. Let Laplace be the complex frequency variable. For the gain of the resonant controller, The cutoff frequency, The resonant frequency, The first gain of the observer, This is the second gain of the observer. The positioning force perturbation is a second harmonic, therefore... .

[0041] The equivalent resonant transfer function of a traditional quasi-resonant controller is: ; The equivalent resonant transfer function of the novel resonant controller provided by this invention is: ; In traditional techniques, quasi-resonant controllers typically include a resonant term only in the denominator to provide high gain at a specific frequency, but their numerator is often a constant or a simple first-order term. This inevitably leads to phase lag and irrational amplitude spikes near the resonant frequency, the so-called "resonant overshoot" phenomenon, which easily excites high-frequency noise in the system and can even cause closed-loop instability. In contrast, the novel resonant controller designed in this embodiment explicitly introduces two zeros in the numerator that are directly related to the observer gain. and This design is not a simple mathematical fit, but rather based on a deep coupling consideration of the observer's dynamic characteristics. Because... and These are also key gain parameters of the aforementioned dual-error-constrained observer. Using them as zeros of the resonant controller essentially constructs a "zero-pole cancellation" or "phase lead compensation" mechanism in the frequency domain. When the signal flows through the resonant circuit, these two zeros in the numerator provide a precise phase lead, effectively canceling the phase lag caused by the second-order resonant term in the denominator and the observer's own dynamic characteristics. From a frequency response perspective, as... Figure 4 As shown, compared to the obvious amplitude peak at the resonant frequency of traditional quasi-resonant controllers, the novel resonant controller of this invention... The system exhibits a deep and smooth attenuation valley at the target frequency, with no abnormal bulges in adjacent frequency bands. This means that the system can not only achieve deep suppression of positioning force disturbances at the target frequency, but also completely eliminate irrational overshoot introduced by resonance, ensuring the smoothness of the current command and the robust stability of the system.

[0042] It should be understood that although this embodiment provides a transfer function form containing two specific zeros, without departing from the core concept of "eliminating resonant overshoot by utilizing observer gain-related zeros", an equivalent transformation form or discretization implementation containing the core zero characteristics can also be adopted. As long as it can achieve the same phase compensation and overshoot elimination functions, it should be considered within the scope of protection of this invention.

[0043] In a preferred embodiment, the expression for the second dual-error-constrained observer is: ; ; ; ; in, The extracted positioning force disturbance, For the gain of the resonant controller, The cutoff frequency, The resonant frequency, For time, It is an intermediate variable.

[0044] Further preferred, for: ; in, This is the proportionality coefficient. The integral coefficient is... , .

[0045] Unlike traditional methods that directly measure speed error As the input to the resonator, this embodiment constructs It contains three components: proportion, integral, and differential. The proportion term... This reflects the magnitude of the velocity observation deviation at the current moment; the integral term Accumulated historical deviation information helps eliminate small residuals under steady-state conditions, preventing the resonator from stopping its response due to excessively small input signals; differential terms This extracts the trend of error change, giving the resonant circuit the ability to proactively sense speed fluctuations. When the motor's operating conditions change abruptly or the positioning force disturbance changes rapidly, the differential term can react first, driving the resonator to adjust the output phase in advance, thereby significantly improving the dynamic tracking sensitivity to time-varying periodic disturbances.

[0046] In a preferred embodiment, and The settings are as follows: Set as single-error extended state observer bandwidth 2 times, that is ;Will Set as single-error extended state observer bandwidth square .

[0047] Furthermore, a speed feedback control law is designed based on the second dual-error constraint observer to effectively suppress the positioning force disturbance of the permanent magnet synchronous linear motor.

[0048] Let the speed tracking error be defined as , If it is a reference speed, then To ensure that the tracking error asymptotically converges to zero, the desired dynamic closed-loop error based on the feedback control law can be defined as follows: .in, This refers to the bandwidth of the speed controller. The principle block diagram of the active disturbance rejection control law proposed in this invention is as follows: Figure 3 As shown, it can be derived as follows: ; In a preferred embodiment, the thrust reference signal is the q-axis reference output current. The calculation and generation of corresponding drive signals based on the thrust reference signal specifically includes: setting the d-axis reference output current to 0; calculating the q-axis current deviation and d-axis current deviation based on the q-axis reference output current and the d-axis reference output current, respectively; outputting q-axis voltage and d-axis voltage respectively after PI control of the q-axis current deviation and d-axis current deviation; performing a Park inverse transformation on the q-axis voltage and d-axis voltage using the electrical angle of a permanent magnet synchronous linear motor to obtain the α-axis voltage and β-axis voltage; and generating corresponding PWM drive signals based on the α-axis voltage and β-axis voltage.

[0049] like Figure 2 As shown, the starting point of this execution path is the q-axis reference output current. This signal directly carries the sum of the lumped disturbance compensation estimated by the novel resonant dual-error constrained observer and the output of the speed feedback control law. In the vector control framework of the surface-mounted permanent magnet synchronous linear motor, the electromagnetic thrust is mainly proportional to the q-axis current and independent of the d-axis current. Therefore, this embodiment adopts... The control strategy involves setting the d-axis reference output current to 0. This setting not only achieves complete decoupling between thrust and excitation, but also ensures the thrust coefficient. The system exhibits consistent thrust and linearity, effectively avoiding additional copper and iron losses caused by d-axis current, thus improving overall system energy efficiency. It should be understood that although this embodiment preferably employs... While there are several strategies, under certain special operating conditions (such as when field weakening is required or maximum torque-current ratio control is needed), other d-axis current input strategies can also be adopted, as long as they can work in conjunction with the q-axis current to generate the desired electromagnetic thrust.

[0050] To visually demonstrate the advantages of the present invention over existing technologies, a comprehensive frequency and time domain comparison test was conducted on the NRDEO control strategy proposed in this invention, along with ESO, DEO, and QRDEO control strategies. Figure 5 Bode plots of the perturbation estimation errors for four different observers are shown. Figure 6 This displays the Bode plot of the disturbance suppression transfer function for the corresponding closed-loop control system.

[0051] See Figure 5It is evident that, from a frequency domain perspective, traditional ESOs exhibit good disturbance estimation capabilities in the low-frequency band, but their estimation error increases rapidly with rising frequency, failing to effectively address disturbances at the fundamental frequency of the positioning force. DEOs, by introducing a dual-error constraint mechanism, broaden the effective estimation bandwidth to some extent, but still lack sufficient gain at the target frequency. While QRDEOs achieve high gain at the target frequency, their curves show significant amplitude bulges on both sides of the resonant frequency. This is precisely the inherent irrational resonant overshoot phenomenon of traditional quasi-resonant controllers, meaning the system will overreact to noise or disturbances in adjacent frequency bands, easily leading to instability. In contrast, the NRDEO of this invention exhibits a deep and sharp attenuation valley at the target frequency, indicating its extremely strong tracking and estimation capabilities for disturbances at specific frequencies; more importantly, the transition on both sides of this attenuation valley is smooth, completely eliminating the abnormal bulges present in QRDEOs. This superior frequency domain characteristic directly confirms the effectiveness of the novel resonant controller transfer function design. Specifically, by introducing a zero in the numerator that matches the observer gain, the phase lag and amplitude distortion caused by the denominator resonant term are successfully offset, achieving a balance between deep suppression and wideband stability. Furthermore, Figure 6 The disturbance suppression characteristic curves further confirm the above conclusions from the perspective of closed-loop control. The NRDEO-EADRC system exhibits significantly better disturbance suppression depth at the target frequency than the other three schemes, and maintains a flat response characteristic in adjacent frequency bands, without any deterioration in disturbance rejection performance due to resonant overshoot.

[0052] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present invention also provides a permanent magnet synchronous linear motor active disturbance rejection controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the permanent magnet synchronous linear motor active disturbance rejection control method as described in any of the above embodiments.

[0053] Figure 7 This embodiment illustrates a more specific hardware structure of a permanent magnet synchronous linear motor active disturbance rejection controller. The device may include a processor 710, a memory 720, an input / output interface 730, a communication interface 740, and a bus 750. The processor 710, memory 720, input / output interface 730, and communication interface 740 are interconnected internally via the bus 750.

[0054] The processor 710 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0055] The memory 720 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 720 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 720 and is called and executed by the processor 710.

[0056] The input / output interface 730 is used to connect input / output modules to enable information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0057] The communication interface 740 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0058] Bus 750 includes a pathway for transmitting information between various components of the device, such as processor 710, memory 720, input / output interface 730, and communication interface 740.

[0059] It should be noted that although the above-described device only shows the processor 710, memory 720, input / output interface 730, communication interface 740, and bus 750, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0060] The permanent magnet synchronous linear motor active disturbance rejection controller of the above embodiments is used to implement the permanent magnet synchronous linear motor active disturbance rejection control method described in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0061] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present invention also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the active disturbance rejection control method for a permanent magnet synchronous linear motor as described in any of the above embodiments.

[0062] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0063] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the active disturbance rejection control method for permanent magnet synchronous linear motors as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0064] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of the invention as described above, which are not provided in the details for the sake of brevity.

[0065] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of the invention, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of the invention, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of the invention will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of the invention, it will be apparent to those skilled in the art that the embodiments of the invention may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0066] Although the invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0067] It should be understood that the above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for active disturbance rejection control of a permanent magnet synchronous linear motor, characterized in that, include: The disturbance estimation error extracted by the single-error extended state observer is combined with the speed observation error of the permanent magnet synchronous linear motor to construct the first dual-error constrained observer; A resonant controller is embedded in the disturbance estimation loop of the first dual-error-constrained observer to construct a second dual-error-constrained observer based on resonance. The second dual-error-constrained observer is used to track and estimate the periodic AC disturbance of the positioning force at the target frequency, and to eliminate the irrational resonant overshoot generated by the resonant controller in the closed-loop system. During motor operation: The reference speed and actual speed of the permanent magnet synchronous linear motor are input into the second dual error constraint observer to obtain the thrust reference signal. Based on the thrust reference signal, the corresponding drive signal is calculated and generated to drive the inverter to control the permanent magnet synchronous linear motor.

2. The method for self-disturbance rejection control of a permanent magnet synchronous linear motor according to claim 1, characterized in that, The expression for the single-error extended state observer is: ； ； in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, This is the second gain of the observer.

3. The method for active disturbance rejection control of a permanent magnet synchronous linear motor according to claim 1, characterized in that, The expression for the first dual-error-constrained observer is: ； ； ； in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, This is the second gain of the observer.

4. The method for active disturbance rejection control of a permanent magnet synchronous linear motor according to claim 1, characterized in that, The transfer function of the resonant controller is: ； in, Let be the transfer function of the resonant controller. Let Laplace be the complex frequency variable. The gain of the resonant controller, The cutoff frequency, The resonant frequency, The first gain of the observer, This is the second gain of the observer.

5. The method for self-disturbance rejection control of a permanent magnet synchronous linear motor according to claim 1, characterized in that, The expression for the second double-error-constrained observer is: ； ； ； ； in, For differential operators, For the velocity of the mover The estimated value, To control the gain, This is the q-axis reference output current. For aggregated disturbance The estimated value, This includes parameter perturbations, frictional disturbances, positioning force disturbances, and unmodeled dynamics. The first gain of the observer, For the second gain of the observer, The extracted positioning force disturbance, The gain of the resonant controller, The cutoff frequency, The resonant frequency, For time, It is an intermediate variable.

6. The method for active disturbance rejection control of a permanent magnet synchronous linear motor according to claim 5, characterized in that, for: ； in, This is the proportionality coefficient. The integral coefficient is... , .

7. The method for active disturbance rejection control of a permanent magnet synchronous linear motor according to any one of claims 2-6, characterized in that, and The settings are as follows: Set to twice the bandwidth of the single-error extended state observer; Set to the square of the bandwidth of the single-error extended state observer.

8. The method for active disturbance rejection control of a permanent magnet synchronous linear motor according to claim 1, characterized in that, The thrust reference signal is the q-axis reference output current; the corresponding drive signal is calculated and generated based on the thrust reference signal, specifically including: Set the d-axis reference output current to 0, and calculate the q-axis current deviation and d-axis current deviation based on the q-axis reference output current and the d-axis reference output current, respectively. The q-axis current deviation and the d-axis current deviation are respectively controlled by a PI controller to output the q-axis voltage and the d-axis voltage. The q-axis voltage and the d-axis voltage are obtained by performing an inverse Park transformation on the electrical angle of the permanent magnet synchronous linear motor to obtain the α-axis voltage and the β-axis voltage. The corresponding PWM drive signal is generated based on the α-axis voltage and the β-axis voltage.

9. A self-disturbance rejection controller for a permanent magnet synchronous linear motor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the active disturbance rejection control method for permanent magnet synchronous linear motors as described in any one of claims 1-8.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the active disturbance rejection control method for permanent magnet synchronous linear motors as described in any one of claims 1-8.

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