81 results about "Repetitive control" patented technology

The invention relates to the technical field of power systems, in particular to a UPQC harmonic compensation method and system based on repetitive control, and the method comprises the steps: obtaining a load current signal and a voltage signal of a power distribution network, and extracting a harmonic instruction current based on the load current signal; and inputting the harmonic instruction current into a feed-forward channel constructed based on an adaptive filter, and generating a feed-forward control quantity. The phase and frequency of the voltage signal of the power distribution network are tracked in real time through a digital phase-locked loop, the fundamental frequency of the power grid is accurately solved, and the power distribution network can be accurately controlled. The internal model period and the phase lead compensation amount of the frequency adaptive repetitive controller are dynamically calculated, and the internal model structure of the repetitive controller is always matched with the current power grid frequency by updating the two core parameters in real time, so that the compensation precision decline caused by frequency deviation is avoided; and high-precision suppression of the periodic harmonic waves can be realized in a normal fluctuation range of the fundamental wave frequency of the power grid.

The invention belongs to the technical field of power electronics of power supply or power distribution, and provides a control method of a three-phase four-wire inverter, a controller and an inversion control system. A first control component is generated by using a phase angle, an inversion side three-phase current sampling value and a proportional integral compensator; a second control component and a third control component are generated by using a power grid voltage angular frequency, a neutral line current sampling value, a repetitive controller and a proportional resonance controller, the three control components are combined to control an inverter power switch tube, a proportional integral compensator is still adopted, the algorithm is simple, parameters are easy to design, and the reliability is high. And meanwhile, a repetitive-proportional resonance (RC-PR) composite controller is utilized to realize suppression of neutral line fundamental wave and harmonic current, and the method has faster dynamic response to load abrupt change, so that optimization of dynamic performance and steady-state performance is realized.

The invention discloses an anti-rollover control method and system for a balanced heavy forklift truck, and relates to the field of forklift truck intelligent control, and the method comprises the steps: collecting forklift truck working condition data through a sensor group, transmitting the data to a central controller through a CAN bus, and carrying out the preprocessing; inputting a rollover risk assessment algorithm, calculating a boundary condition of a static stability triangle and dynamic lateral moment balance, generating a rollover risk coefficient in combination with working condition data of the forklift, and outputting a decision instruction set; dynamic load adjustment is carried out through a hydraulic servo controller, and load pose parameters are obtained; a motor controller is driven to implement torque vector distribution, a braking energy recovery unit is involved, controllable slow-release braking is applied to wheels on the inner side, and adjusted wheel motion state parameters are obtained; and comparing the theoretical prediction model to carry out residual analysis, triggering a residual correction strategy, and carrying out repetitive control. The working state of the forklift is collected in real time and dynamically analyzed, so that the safety of the forklift in the operation process is improved.

The invention relates to a multi-mode control method and device for an energy storage converter. The method comprises the following steps: aiming at the operation of an energy storage converter in a network following mode, establishing a second-order infinite impulse response IIR filter, and establishing a low-voltage ride-through control strategy based on conforming to repetitive control; for the operation of the energy storage converter in an off-grid mode, a three-phase four-bridge-arm topology is adopted to provide a zero-sequence path, and a preset proportional multi-resonance control strategy is established; establishing a parallel pre-synchronization control strategy aiming at the operation of the energy storage converter in a network construction mode; and realizing multi-mode control of the energy storage converter based on a low-voltage ride-through control strategy conforming to repetitive control, a preset proportional multi-resonance control strategy and a parallel pre-synchronization control strategy. Any resonant frequency and filtering radius can be set to suppress the harmonic peak, the system stability is ensured, meanwhile, compared with a traditional pre-synchronization method, pre-synchronization can be completed without additional control links by only utilizing the self frequency modulation characteristic, and control resources are greatly saved.

The invention relates to the technical field of power electronics, in particular to a predictive compensation quasi-sliding mode control method for a three-phase four-leg three-level inverter, and the method comprises the steps: building a continuous state space model; discretizing the continuous state space model, constructing a discrete state space model, defining an output error of the output voltage and a derivative of the output error, and defining a sliding mode function based on the output error of the output voltage and the derivative of the output error under the theory of introducing quasi sliding mode control; constructing a prediction model and predicting a sliding mode function value at a next moment, introducing an expansion model to extract a model error, and correcting a defined sliding mode function based on a deviation between a prediction value and the model error; constructing a repetitive controller to extract a periodic error component and generate a compensation signal; and fusing the compensation signal with an equivalent control quantity constructed based on the expansion model to form a final control input for the driving system. According to the method, buffeting can be suppressed to a great extent, the steady-state performance can be optimized, and fast dynamic response is taken into account while the robustness of the system is guaranteed.

The invention discloses an anti-frequency interference V2G converter low harmonic combination control method, the V2G converter is a voltage type PWM rectifier, and the method is characterized in that a voltage outer loop controller in the control method adopts a proportional integral controller, a moving average filter is directly connected in series to the output of the voltage outer loop controller; interference of periodic signals in the direct current bus voltage on the current reference signals is suppressed, so that the amplitude of the current reference signals is pure direct current quantity; in the current loop controller, a repetitive controller is used as a feedforward controller and is combined with a weighted average deadbeat controller, an insertion type composite controller is constructed, coefficients are rapidly updated by adopting a Lagrange interpolation method, and a delay value is continuously controlled, so that the repetitive controller and a moving average filter have frequency self-adaptive characteristics; the problem of performance degradation of a traditional fixed frequency controller during frequency fluctuation is solved, and the anti-frequency interference characteristic of the converter is enhanced.

The invention discloses a repetitive control-based circulating current suppression method between grid-forming type energy storage units, and relates to the technical field of power electronics and control, the method adopts three rings of power, voltage and current to regulate and control a grid-forming type multi-machine parallel inverter, a repetitive controller is introduced into a current inner ring, and the repetitive controller is introduced into a current outer ring to control the circulating current between the grid-forming type energy storage units. The method has the advantages that periodic harmonic current is accurately tracked and suppressed, meanwhile, a narrow-band resonance circuit and LC filter state feedback and pole assignment design are introduced into a current loop, LC filter resonance peaks are effectively eliminated through LC filter state feedback and pole assignment, typical harmonic circulation in a parallel system is further suppressed through the narrow-band resonance circuit, and the harmonic current suppression efficiency is improved. Efficient suppression of circulation among the units and uniform distribution of power are further realized; according to the technical scheme, the stable operation of the system can be guaranteed, the power sharing capability and the grid-connected adaptability of the energy storage unit are improved, a complex distributed communication structure is avoided, and the operation reliability of the network construction type energy storage system in a complex power grid environment is improved.

The invention discloses a hybrid active power filter system harmonic suppression method and system, and the method comprises the steps: taking the size of load harmonic and the impedance of a power grid as the input of a particle swarm optimization method, and obtaining the optimal value of a passive power filter capacitor and the optimal value of an inductor; extracting a load harmonic current ILoadh after the capacitance and inductance of the passive power filter are optimized, taking the load harmonic current ILoadh as the input of a repetitive controller and an additional damping controller, and superposing the output of the repetitive controller and the output of the additional damping controller to obtain a final harmonic compensation reference current Icxref of the active power filter; and taking the harmonic compensation reference current Icxref of the active power filter as the input of a proportional resonance controller, performing PWM (Pulse Width Modulation) on the output of the proportional resonance controller, generating a driving signal, and controlling the on-off of a switching tube of the active power filter. Harmonic amplification can be effectively eliminated, fundamental frequency resonance is suppressed, and the overall performance is improved.

The invention provides an off-line and on-line collaborative optimization MMC harmonic elimination method for harmonic constraint driving, and relates to the technical field of power electronics, S1, generating a switching angle training set and a parameter fluctuation label through clustering analysis and a differential evolution algorithm according to power grid parameters and MMC operation parameters; and S2, extracting harmonic characteristics by using a harmonic detection technology, predicting a switching angle through a neural network, and outputting a final switching angle in combination with a repetitive control link to realize harmonic suppression. According to the off-line and on-line collaborative optimization MMC harmonic elimination method based on harmonic constraint driving, an MMC under a low level number can always keep a low harmonic content level under the complex conditions of different modulation ratios and access to a new energy field station.

The invention relates to a dual three-phase permanent magnet synchronous motor model-free prediction repetitive control method and system based on a double-subspace virtual vector, and the method comprises the steps: decomposing the vector of a motor into a fundamental wave subspace and a harmonic wave subspace which are orthogonal to each other based on an obtained operation parameter, and constructing an independent super-local model in the two subspaces; constructing a linear expansion state observer in the fundamental wave subspace, and constructing a repetitive expansion state observer based on repetitive control in the harmonic wave subspace; respectively synthesizing an independent virtual voltage vector set and a decoupling virtual voltage vector set in the two subspaces; and calculating reference voltage vectors of the two subspaces, selecting an optimal virtual voltage vector and an optimal decoupling virtual voltage vector, respectively calculating optimal duty ratios, synthesizing control signals applied to each bridge arm of the inverter, and driving the dual three-phase permanent magnet synchronous motor. According to the method, model-free control of double sub-spaces is realized, model parameters of a motor system of an algorithm are controlled, and better robustness is shown when the parameters are mismatched.

This application provides a control method, system, and electronic device for a PWM rectifier. The control method includes: determining the actual current of the PWM rectifier and determining a current error based on the actual current and a reference current; obtaining a first control parameter based on the current error using a preset algorithm; determining an error compensation value based on the current error using a repetitive controller, and compensating the first control parameter with the error compensation value to obtain a second control parameter; determining the fundamental frequency of the modulation wave based on the second control parameter, and obtaining a control signal based on the fundamental frequency of the modulation wave using a discontinuous pulse width modulation (DPWM) method to control the PWM rectifier. This application introduces a repetitive controller into the discontinuous pulse width modulation (DPWM) method, which improves the problem of large current harmonics caused by periodic errors due to periodic entry into clamping state in the DPWM modulation method, thereby improving control accuracy.

The present invention discloses a method for robust complex coefficient repetitive control of a permanent magnet synchronous motor based on a position domain internal model, which relates to the technical field of permanent magnet synchronous motor control. First, the time domain periodic characteristics of the spindle speed are used to construct an improved time domain complex coefficient repetitive controller. Second, based on the position domain periodic characteristics of the cutting force, a position domain repetitive extended state observer is constructed to online estimate non-periodic disturbances such as parameter perturbations and position domain periodic disturbances caused by the cutting force. Finally, the separation design principle and the small gain theorem are applied to derive the system stability conditions, and an optimization algorithm is used to synchronously optimize the controller parameters. The system design method based on time domain complex coefficient repetitive control and position domain repetitive extended state observer of the present invention designs an improved complex coefficient repetitive control system based on the position domain repetitive extended state observer to achieve feedforward compensation for position domain periodic disturbances and non-periodic disturbances and fast and high-precision tracking of time domain periodic reference speed signals.

The invention relates to the technical field of power systems, in particular to an event-triggered proportional-integral repetitive controller and method and a related device. Two channels of the event triggering block are respectively provided with two adjusting coefficients, and tracking error signals are respectively input into a repetitive controller and a proportional-integral controller after being adjusted; when a triggering condition is met, two adjustment coefficients of a forward channel of the event triggering block change along with time; the tracking error is increased, the adjustment coefficient of the repetitive control channel is reduced, and the adjustment coefficient of the proportional-integral channel is increased; and after a trigger period, the two adjustment coefficients of the event trigger block are gradually recovered to default values along with the reduction of the tracking error signal. According to the invention, decoupling of the proportional-integral repetitive controller is realized, the dynamic performance is improved, and output distortion of multiple periods caused by mismatching of the dynamic performance of the proportional-integral controller and the repetitive controller is avoided.

The invention discloses a method for suppressing current fluctuation of a permanent magnet synchronous motor under a propeller load, and the method comprises the steps: firstly building an electromagnetic torque mathematical equation and a stator voltage and current equation of a PMSM under a dq-axis rotation coordinate according to a basic structure and a working principle of the permanent magnet synchronous motor; then, according to a blade element theory and aerodynamic characteristics of the propeller, establishing mathematical models of a'rotating speed-torque 'relation and a'rotating speed-tension' relation of the propeller; establishing a current loop mathematical model containing periodic and non-periodic disturbance; analyzing and constructing a current loop active-disturbance-rejection controller according to the current loop mathematical model containing disturbance, and analyzing the stability of the constructed current loop active-disturbance-rejection controller according to a Nyquist stability criterion; and finally, realizing high-precision control of a PMSM current loop by using a current loop active disturbance rejection controller method containing a repetitive controller, realizing accurate control of the current loop of the permanent magnet synchronous motor under a propeller load, and ensuring stable operation of the permanent magnet synchronous motor under a dynamic load and a complex working condition.

The invention provides a photovoltaic inverter harmonic suppression system and method, and the method comprises the steps: obtaining a target current error of a current period, enabling a repetitive control branch to generate a branch period delay of the current period according to the target current error, a gain coefficient corresponding to the target current error and a branch period delay of a previous period, and collecting the branch period delay as a total delay of the current period; and inputting the total delay of the current period into a PI controller, so that the PI controller generates a target voltage instruction. The tracking capability of the PI controller on the fundamental current is reserved, the current inner loop design of a common inverter is not affected, and the suppression effect on the periodic harmonic waves is enhanced through the repetitive controller. Meanwhile, by optimizing the design of the repetitive controller, the repetitive controller becomes a composite repetitive controller comprising at least two repetitive control branches, the effective bandwidth of the repetitive controller is widened, the repetitive controller can adapt to the fluctuation of the power grid frequency, and therefore the excellent grid-connected current harmonic suppression performance is kept within the wide frequency change range.

The application discloses a network-constructing energy storage converter control method based on a repetitive control inner loop, comprising the following steps: generating a power grid angular frequency reference value by integrating adjustment of an active power deviation; generating a power grid amplitude reference value by integrating adjustment of a reactive power deviation; generating an inner loop current reference instruction through a voltage loop controller according to a voltage loop voltage reference value, superposition of a power grid current feedforward branch and a voltage loop dq decoupling branch; generating a current loop voltage reference value through a current loop controller and a repetitive controller in parallel processing according to the inner loop current reference instruction, and superposition of a current loop dq decoupling branch; and generating a corresponding output current according to the current loop voltage reference value. By designing a lead compensation link and a compensator, the problem of difficult parameter setting and easy instability of a traditional repetitive controller is improved, and stable operation of the system is ensured.

The application discloses a control strategy based on combination of a pre-filter friction compensator and improved repetitive control, and specifically comprises the following steps: step 1, a pre-filter friction compensator is added to a P / PI cascade controller to improve the anti-friction interference capability of a driving system; step 2, a transfer function of an output voltage of the driving system and a tracking error is determined; step 3, specific parameters of a LuGre model in the pre-filter friction compensator are obtained; step 4, a repetitive controller is designed; step 5, an action time period of the repetitive controller determined in step 4 is set at motion commutation to obtain a segmented repetitive control; and step 6, the segmented repetitive control obtained in step 5 is combined with the designed pre-filter friction compensator to form an improved repetitive control framework. The method combines the pre-filter friction compensation control with the segmented repetitive control, greatly improves the error and convergence rate at the motion commutation of each cycle, and reduces the influence of the friction interference on the product processing quality.

The present invention provides a simulation method for a retaining ring structure in a chemical mechanical polishing process, comprising constructing a CFD model of the chemical mechanical polishing process, dividing a fluid region into discrete grids, wherein the grids are non-repetitive control volumes, and within each control volume, using a momentum equation, a continuity equation, and a VOF model to control the motion of the polishing liquid fluid, and a DPM model to control the motion of the abrasive, integrating the momentum equation, the continuity equation, and the VOF model for each control volume to obtain a discrete equation, solving the discrete equation to obtain simulation data, the simulation data including abrasive motion data, plotting the abrasive distribution and the abrasive aggregation state on the polishing pad and / or the wafer edge based on the abrasive motion data, and having the beneficial effects of visualizing the polishing liquid / abrasive flow through a finite element method, helping to understand the influence of the retaining ring on the polishing liquid flow, providing a retaining ring structure improvement to solve wafer edge over-polishing, conforming to actual production processes, and having high simulation accuracy.

This invention relates to a model-free predictive repetitive control method and system for a dual-subspace virtual vector dual-three-phase permanent magnet synchronous motor. Based on the acquired operating parameters, the motor's vectors are decomposed into mutually orthogonal fundamental and harmonic subspaces, and independent hyperlocal models are constructed in both subspaces. A linear extended state observer is constructed in the fundamental subspace, and a repetitive extended state observer based on repetitive control is constructed in the harmonic subspace. Independent virtual voltage vector sets and decoupled virtual voltage vector sets are synthesized in the two subspaces, respectively. Reference voltage vectors for the two subspaces are calculated, and the optimal virtual voltage vector and optimal decoupled virtual voltage vector are selected. The optimal duty cycle is calculated for each subspace, and control signals are synthesized and applied to each arm of the inverter to drive the dual-three-phase permanent magnet synchronous motor. This invention achieves model-free control in a dual-subspace manner, and the control algorithm for the motor system's model parameters exhibits better robustness in the event of parameter mismatch.

The invention discloses a nested odd repetition proportion controller and a design method thereof. The design method comprises the following steps: S1, determining a transfer function of a controlled object; s2, constructing a nested odd repetitive control internal model; the nested odd repetitive control internal mold comprises an external odd repetitive control internal mold and an internal odd repetitive control internal mold which are arranged in a nested manner; s3, compensating the nested odd repetition control internal model by adopting a system compensator and a phase lead compensator so as to construct a nested odd repetition controller; s4, aiming at the controlled object, adding a feedforward controller to the nested odd repetition controller to obtain a nested odd repetition proportional controller; and S5, designing and selecting nested odd repetition proportion control parameters to form a stable nested odd repetition proportion control system. According to the invention, high gain capability is realized at odd harmonics, repeated control of even harmonics can be suppressed, and harmonic suppression capability and strong robustness when power grid frequency fluctuates are improved.

The present disclosure relates to a kind of energy storage converter multi-mode control method and device.Wherein, the method includes: for energy storage converter in grid-connected mode, by creating second-order infinite impulse response IIR filter, establish low voltage ride through control strategy based on compliance repeat control;For energy storage converter in off-grid mode, three-phase four-bridge topology is used to provide zero sequence path, establish preset proportional resonant control strategy;For energy storage converter in grid-constructing mode, establish parallel pre-synchronization control strategy;Low voltage ride through control strategy based on compliance repeat control, preset proportional resonant control strategy, parallel pre-synchronization control strategy are used to realize multi-mode control to the energy storage converter.The present disclosure can set any resonant frequency and filter radius to suppress the resonant peak, ensure system stability, compared with traditional pre-synchronization method only using its frequency modulation characteristics, without additional control link can complete pre-synchronization, greatly save control resources.

The application discloses a torque ripple suppression method for a brushless doubly-fed motor, which comprises the following steps: firstly, a current loop and a rotating speed loop model of the brushless doubly-fed motor are established; then, an active disturbance rejection controller is established according to the current loop and the rotating speed loop model, wherein the active disturbance rejection controller comprises a d-axis improved current controller, a q-axis current loop active disturbance rejection controller and a rotating speed loop active disturbance rejection controller; the d-axis improved current controller comprises a d-axis current loop active disturbance rejection controller and an improved repetitive controller connected in parallel with the d-axis current loop active disturbance rejection controller; and then, the brushless doubly-fed motor is controlled by using the established active disturbance rejection controller. The active disturbance rejection controller is combined with the improved repetitive controller, the extended state observer is used for disturbance estimation, and the disturbance contains a coupling term, so that the current dynamic response is faster, and the parameter robustness is stronger; meanwhile, the improved repetitive controller connected in parallel can overcome the high-frequency current harmonics introduced by uncontrolled rectification, and can also limit the dynamic response to not produce excessive overshoot when the working condition is suddenly changed.

This invention belongs to the field of shield tunneling construction control technology, and specifically discloses a method and system for adaptive control of shield machine attitude under shield tunneling conditions. The method includes: constructing a virtual construction environment for TBM attitude adaptive control; determining the state and reward of a reinforcement learning model during TBM tunneling, wherein the TBM state is updated according to constitutive relations, and the reward is used for forward speed and TBM attitude; constructing a DGDPG model for the shield tunneling process based on the above virtual construction environment, state, and reward, and optimizing and training the DGDPG model; and evaluating the TBM tunneling process based on the optimized DGDPG model. This invention addresses the characteristics of traditional shield tunneling processes, such as non-repeatability, poor control accuracy, and low level of intelligence, by achieving high-precision adaptive control of shield machine tunneling attitude based on deep reinforcement learning methods, thereby overcoming the shortcomings of current shield machine attitude prediction and optimization methods in engineering applications.

The present invention discloses an ANPC-type three-level inverter in a train traction drive system and a control method thereof. By establishing a parametric model of the stray inductance of the power module of the train traction drive system and a mathematical model of the influence of different commutation paths on the ANPC-type three-level inverter, a power loss thermal balance method is adopted to achieve a robust controller design. Based on a thermal balance management approach and in conjunction with robust repetitive control, the actual commutation path is switched to avoid system instability caused by repeated switching of critical points of different operating states during train operation. In addition, energy exchange between internal and external tubes and clamping tubes is utilized to achieve system balance control.

The application discloses a permanent magnet synchronous motor NVH optimization method based on frequency adaptive repetitive control, and comprises the following steps: S1, an air gap magnetic field model generated by a permanent magnet and an armature reaction is established; S2, a relationship between a radial electromagnetic force order and a three-phase current harmonic order is derived according to the air gap magnetic field model; S3, a frequency adaptive repetitive control algorithm is used to suppress the harmonic of the dq-axis current; and S4, a joint simulation platform is built to verify the effect. The frequency adaptive repetitive controller and the PI controller are used to suppress the harmonic in the current loop, the harmonic content of the three-phase current of the motor is greatly reduced, and the NVH performance of the motor is improved.

The application relates to the technical field of brushless direct-current motors, in particular to an optimization control method for a permanent magnet brushless direct-current motor servo system, which comprises the following steps: S1.1: obtaining an equivalent system basic model of the permanent magnet brushless direct-current motor servo system; S1.2: improving the equivalent system basic model of the permanent magnet brushless direct-current motor servo system, and establishing a compound repetitive control law; and S1.3: optimizing control of the parameters of the equivalent system basic model of the permanent magnet brushless direct-current motor servo system. The application proposes a repetitive control system parameter optimization method based on an improved disturbance estimator compensation, establishes an optimization control model of system parameters based on the stability of the system, realizes synchronous optimization design of the parameters of a system repetitive controller, an improved disturbance estimator and a feedback controller, and makes the system simultaneously have satisfactory non-periodic disturbance suppression performance and periodic signal tracking performance.

The invention discloses a method for designing a model-free rotating speed controller of a ship propulsion permanent magnet motor, which comprises the following steps of: 1, deducing a motor motion state equation by considering torque pulsation caused by current measurement error and the like; 2, designing a model-free rotating speed controller based on the motor super-local model; 3, designing an error-based extended state observer, estimating lumped disturbance of the system and performing real-time compensation; and 4, introducing a repetitive controller to improve the estimation precision of the periodic disturbance. The method is simple in step, the estimation performance of the system on periodic and non-periodic disturbance is enhanced, and the steady-state rotating speed precision and the dynamic response speed of the system are improved.

The present invention comprises: a repetitive control unit (140) that causes units from an evaluation point setting unit (126) to a moment calculation unit (138) to operate repeatedly at a plurality of rotation angle positions of a stylus model (26M) while rotating the stylus model (26M) around a rotation axis (C); and an optimal attitude determination unit (142) that determines an optimal attitude of a stylus (26) in a direction around the rotation axis (C) on the basis of the calculation results of the moment calculation unit (138) for each rotation angle position. Units from an initial setting unit (124) to the optimal attitude determination unit (142) are made to operate repeatedly for each of a plurality of measurement path positions (On) on a measurement path (202).

The invention discloses a high-reliability complex coefficient repetitive control grid-connected inverter control system and method suitable for a power supply protection scene, and the method comprises the steps: building an LCL type grid-connected inverter mathematical model under an alpha-beta static coordinate system for a three-phase grid-connected inverter, and saving Park transformation and decoupling calculation under a dq coordinate system; a complex coefficient filter H (s) and a complex coefficient repetitive controller are designed to form a double-input double-output control structure, and a complex coefficient imaginary part omega m is set to be equal to a fundamental frequency omega 0, so that the gain of the controller at the fundamental frequency is infinite, and complete tracking of periodic signals is realized; and the dynamic response capability of the system is improved by combining an output feedback control law. According to the method, the grid-side voltage imbalance and harmonic pollution can be effectively suppressed, the grid-connected current THD can be remarkably reduced, and the method has good dynamic control performance and robustness, is suitable for a grid-connected power generation system of new energy such as solar energy and wind energy, and plays an important supporting role in improving the power supply reliability and supply guarantee capability of a power system under the new energy access background.

The present invention discloses a repetitive fractional-order auto-disturbance rejection control method and system for a permanent magnet synchronous motor, the method comprising: establishing a linear state equation for the speed loop of the permanent magnet synchronous motor; performing disturbance observation and speed tracking on the speed loop based on fractional-order auto-disturbance rejection control, and then compensating the speed loop input and substituting it into the linear state equation of the speed loop; introducing a new repetitive controller before the fractional-order auto-disturbance rejection control system to periodically reduce the system error, and the corrected speed loop is input into the fractional-order auto-disturbance rejection control system. The present application improves the extended state observer, adopts a smooth internal function, and combines fractional-order control to simplify the controller structure, and introduces repetitive control to periodically reduce the system error. While maintaining the dynamic performance of the original auto-disturbance rejection controller, the present invention simplifies the controller structure, reduces the error and jitter of the system response, and greatly improves the robustness and anti-disturbance capability of the system.