PMSM Speed Loop Control With FOPD-GESO Disturbance Decoupling
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Solution Overview
Problem
Existing controllers for permanent magnet synchronous motors, such as PI controllers, fail to meet the increasing demands for performance improvement due to limitations in parameter changes and load torque dynamics, and the tuning complexity of Active Disturbance Rejection Control (ADRC) technology restricts its application.
Innovation Solution
A fractional-order proportional derivative (FOPD)-generalized extended state observer (GESO) controller (FOPD-GESO) is designed, which separates tracking performance from anti-disturbance performance, allowing independent calculation of unknown parameters and utilizing frequency-domain indices to achieve non-overshoot tracking and improved anti-disturbance capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If PI controllers are adopted for the speed loop, then the control structure is simple, but the control performance cannot meet the increasing requirements for performance improvement
Solution Approach 1:
The patent applies parameter changes by transitioning from integer-order PI controller parameters to fractional-order PID controller parameters. The fractional-order parameters (proportional gain Kp, integral gain Ki, derivative gain Kd, and fractional orders λ and μ) provide additional degrees of freedom for optimization, enabling superior control performance while maintaining a relatively simple controller structure. This resolves the contradiction by enhancing performance through parameter expansion rather than structural complexity.
Solution Approach 2:
The patent introduces dynamics by implementing a dynamic parameter adjustment mechanism where the fractional-order parameters are optimized based on operating conditions. The controller adapts its parameters in real-time to handle parameter changes and load torque variations, transforming the static PI controller into a dynamic fractional-order PID controller that maintains both simplicity and high performance.
2Reliability
If ADRC technology is adopted, then the disturbance rejection performance is high, but the parameter tuning complexity restricts its application
Solution Approach 1:
The patent applies segmentation by separating the controller into distinct functional modules: the fractional-order PID control module and the disturbance compensation module. This modular structure allows independent tuning of each module's parameters, reducing the overall tuning complexity while maintaining high disturbance rejection performance. The segmentation enables operators to adjust parameters systematically rather than dealing with a monolithic complex system.
Solution Approach 2:
The patent reduces parameter tuning complexity by establishing systematic relationships between parameters. The fractional-order parameters are linked to physical system characteristics, and the disturbance compensation parameters are derived from observer design principles. This parameter transformation approach converts complex tuning problems into more manageable parameter selection based on system specifications and performance requirements.
3Reliability
If fractional-order controller is combined with ADRC, then the control performance is improved, but the controller structure becomes more complex
Solution Approach 1:
The patent merges the fractional-order PID controller and the disturbance observer into a unified FOPD-GESO controller structure. The merging is achieved by integrating the disturbance estimation and compensation functions directly into the fractional-order control framework, creating a cohesive controller that achieves improved performance without proportionally increasing structural complexity. The combined structure shares computational resources and parameter spaces between the two functions.
Solution Approach 2:
The patent implements multi-functionality by designing the FOPD-GESO controller to simultaneously perform tracking control and disturbance rejection functions. The fractional-order PID portion handles reference tracking while the generalized extended state observer portion handles disturbance estimation and compensation. This universal controller structure eliminates the need for separate controllers, reducing overall system complexity while maintaining enhanced performance.
Data Source
AI summary
A designing method for a fractional order proportional derivative (FOPD)-generalized extended state observer (GESO) controller includes the following steps: S1, selecting an FOPD controller and a GESO to control a motor speed loop, and designing the FOPD controller and the GESO; S2, performing compensation and simplification on a control object of the speed loop by using total disturbance estimated by the GESO to obtain a compensated speed loop control model, the compensated speed loop control model reflecting the characteristics that tracking performance is only related to the FOPD controller, and that anti-interference performance is only related to a bandwidth ωo of the GESO; and S3, respectively solving unknown parameters in the FOPD controller and the GESO. The present method achieves non-overshoot tracking of the speed of a permanent magnet synchronous motor, has excellent anti-interference performance, and resists external load and model changes.