CN113809965B - Synchronous motor robust control device and method based on switching structure and controller - Google Patents
Synchronous motor robust control device and method based on switching structure and controller Download PDFInfo
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- CN113809965B CN113809965B CN202110940381.1A CN202110940381A CN113809965B CN 113809965 B CN113809965 B CN 113809965B CN 202110940381 A CN202110940381 A CN 202110940381A CN 113809965 B CN113809965 B CN 113809965B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
Abstract
The application discloses a synchronous motor robust control device, a synchronous motor robust control method and a synchronous motor robust control controller based on a switching structure, which comprise the following steps: the linear nonlinear switching active disturbance rejection control module is used for generating a quadrature axis voltage reference value; the current regulator is used for regulating the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value; the first Park inverse transformer is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and is used for transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate two-phase voltage reference values in a static coordinate system; and the SVPWM module is connected with the first Park inverse transformer and used for modulating the two-phase voltage reference value to generate a three-phase switching signal. The application has higher control precision and stronger disturbance rejection capability, can realize smooth switching of linear and nonlinear active disturbance rejection control, prevents the phenomenon of control oscillation, and can realize quick response, no overshoot, high precision and strong robust control of motor output torque.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a synchronous motor robust control device and method based on a switching structure and a controller.
Background
The permanent magnet synchronous motor has been widely used in modern ac servo systems due to the advantages of small volume, simple structure, high power density, high reliability, easy maintenance, etc., and has been paid more attention to especially in the fields of robots, aerospace, numerical control machine tools, etc. with high requirements on motor performance and control accuracy. At present, a permanent magnet synchronous motor is usually controlled linearly, but the permanent magnet synchronous motor is a typical nonlinear multivariable coupling system, particularly applied as a servo motor, can be influenced by unknown load, time-varying parameters and nonlinear magnetic fields, and the linear control is difficult to meet the requirement of high control performance. Therefore, research on the control strategy of the permanent magnet synchronous motor has important significance for the development of the application of the permanent magnet synchronous motor.
With the rapid development of power electronics technology, microelectronics technology, and particularly digital signal processing technology, a foundation is established for modern control theory and novel motor control technology implementation. The active disturbance rejection control is a robust control technology based on an extended state observer, and can effectively observe and compensate the unmodeled dynamic state of a system, uncertain factors of a controlled object and external unknown disturbance, so that the active disturbance rejection control is particularly suitable for controlling a permanent magnet synchronous motor.
The related published patents of the domestic permanent magnet synchronous motor robust control are as follows: the name is a robust fault-tolerant control method for a permanent magnet synchronous motor by adopting sliding mode estimation, and the application number is as follows: CN201910898880.1, this patent provides a robust fault-tolerant control method for permanent magnet synchronous motor using sliding mode estimation, two high-order sliding mode observers and one dimension-reducing observer are respectively designed to estimate voltage, rotor angular speed and stator current, and faults are detected by preset thresholds; the name is a robust speed control method of a permanent magnet synchronous motor adopting a cascade structure, and the application number is as follows: CN201911327065.6, this patent discloses a robust speed control method for permanent magnet synchronous motor with cascade structure, which is based on cascade controller design structure of speed current loop, and designs internal model controller for speed loop, and PI controller for current loop, so as to solve the problem of complex interference and motor parameter perturbation in actual control affecting tracking performance, and has good speed tracking performance; the name is a cascaded robust predictive current control method for a permanent magnet synchronous motor, and the application number is as follows: CN201910499568.5, the method provides a method for controlling the cascade robust predictive current of the permanent magnet synchronous motor, which connects the model predictive current control and the disturbance compensation controller in series, is a cascade composite control method, and uses the disturbance compensation controller to replace the traditional disturbance observer/parameter estimator, thereby eliminating the influence of inaccurate disturbance observation/parameter estimation on the control system. The prior art applies the robust control to the permanent magnet synchronous motor, but the adopted robust control cannot realize the optimal control of the full working range, because the technology adopts a linear method or a nonlinear method to realize the robust control, only the local optimal solution can be obtained, and the disturbance rejection capability is weak, so the control performance of the permanent magnet synchronous motor can be influenced.
Disclosure of Invention
In view of the above problems, the present application aims to provide a synchronous motor robust control device, method and controller based on a switching structure, which are used for solving the technical problems of high precision and robust control of the rotating speed of a permanent magnet synchronous motor with defects in the prior art.
The first aspect of the present application provides a robust control device for a synchronous motor based on a switching structure, wherein the synchronous motor is a permanent magnet synchronous motor, the device is connected with the permanent magnet synchronous motor, and the device comprises:
the linear nonlinear switching active disturbance rejection control module is used for generating a quadrature axis voltage reference value;
the current regulator is used for regulating the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
the first Park inverse transformer is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and is used for transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
the SVPWM module is connected with the first Park inverse transformer and used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
the voltage type inverter is connected with the SVPWM module and is used for generating a three-phase current control signal from the three-phase switching signal;
and the input end of the photoelectric encoder is connected with the permanent magnet synchronous machine, the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for acquiring the rotor angle of the permanent magnet synchronous machine, converting the rotor angle into the rotating speed and inputting the rotating speed to the linear nonlinear switching active disturbance rejection control module.
In this scheme, the linear nonlinear switching active disturbance rejection control module includes:
a tracking differentiator for obtaining a rotational speed tracking value and a rotational speed differentiating value;
the linear expansion state observer is used for outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
the nonlinear extended state observer is used for outputting a nonlinear rotating speed observation value, a nonlinear rotating speed differential observation value, a nonlinear disturbance observation value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
a linear state feedback controller connected with the tracking differentiator and the linear expansion state observer and used for outputting a linear quadrature axis voltage reference value;
a nonlinear state feedback controller connected with the tracking differentiator and the nonlinear extended state observer and used for outputting a nonlinear quadrature axis voltage reference value;
and the output end of the output weighting function unit is connected with the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and the output end of the output weighting function unit is connected with the linear extended state observer and the nonlinear extended state observer and is used for outputting the quadrature axis voltage reference value as the output of the linear nonlinear switching active disturbance rejection control module.
In this scheme, the device still includes Clark converter, connects voltage type dc-to-ac converter for the three-phase current control signal that the voltage type dc-to-ac converter produced changes the two-phase current in the stationary coordinate system of production.
In this scheme, still include the second Park converter, the input is connected the Clark converter, the output is connected the current regulator is used for with the two-phase current transformation that the Clark converter produced generates the direct-axis current, and compare direct-axis current and direct-axis current reference value, regard comparison value as the input of current regulator.
The second aspect of the present application also provides a robust control method for a synchronous motor based on a switching structure, which is applied to any one of the synchronous motor robust control devices based on a switching structure, and is characterized by comprising the following steps:
generating a quadrature axis voltage reference value;
adjusting the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
transforming the direct axis voltage reference value and the quadrature axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
modulating the two-phase voltage reference value to generate a three-phase switching signal;
generating a three-phase current control signal from the three-phase switching signal;
and collecting the rotor angle of the permanent magnet synchronous motor.
In this scheme, the generating the quadrature axis voltage reference value specifically includes:
obtaining a rotation speed tracking value and a rotation speed differential value;
outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observation value, a nonlinear rotating speed differential observation value, a nonlinear disturbance observation value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
In the scheme, the method further comprises the steps of obtaining a rotating speed given value, a speed factor and a controller step length, and controlling gain, linear differential gain, linear output voltage and linear quadrature axis voltage reference value, feedback proportional power, feedback differential power, feedback proportional linear interval and feedback differential linear interval.
In this aspect, the method further includes transforming the three-phase current control signal to generate two-phase currents in the stationary coordinate system.
In this solution, the method further includes transforming the two-phase current to generate the direct-axis current, comparing the direct-axis current with a direct-axis current reference value, and taking the comparison value as the direct-axis voltage reference value.
A third aspect of the present application provides a robust controller for a synchronous motor based on a switching structure, which is characterized by comprising: the synchronous motor robust control device based on the switching structure according to any one of the above.
The synchronous motor robust control device, method and controller based on the switching structure disclosed by the application have the following beneficial effects:
1. the application is based on the active disturbance rejection control, and compared with the traditional PI control, the active disturbance rejection control has higher control precision and stronger disturbance rejection capability and is insensitive to the parameters of the permanent magnet synchronous motor;
2. in the control process, the method distributes weights of the linear quadrature voltage reference value and the nonlinear quadrature voltage reference value on the basis of errors and disturbance to obtain the quadrature voltage reference value, so that smooth switching of linear nonlinear active disturbance rejection control is realized, and the phenomenon of control oscillation is prevented;
3. the application adopts linear nonlinear switching active disturbance rejection control, combines the advantages of linear active disturbance rejection control and nonlinear active disturbance rejection control through a reasonable switching strategy, namely the characteristics of large error quick response and small error large gain, and simultaneously avoids the defects of the large error quick response and the small error large gain, thereby achieving the optimal control of the full working range and realizing the quick response, no overshoot, high precision and strong robust control of the motor output torque.
Drawings
Fig. 1 shows a schematic structural diagram of a robust control device for a synchronous motor based on a switching structure according to the present application;
fig. 2 shows a schematic structural diagram of a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure;
FIG. 3 is a schematic diagram of the construction of a tracking differentiator in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure;
FIG. 4 is a schematic diagram of a linear non-linear switching auto-disturbance rejection control module of a synchronous motor robust control device based on a switching architecture;
FIG. 5 is a schematic diagram of the construction of a nonlinear extended state observer in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure;
FIG. 6 is a schematic diagram of the linear state feedback controller in the linear nonlinear switching active disturbance rejection control module of the synchronous motor robust control device based on the switching structure;
FIG. 7 is a schematic diagram of the nonlinear state feedback controller in the linear nonlinear switching active disturbance rejection control module of the robust control device of the synchronous motor based on the switching structure;
FIG. 8 is a schematic diagram of the construction of an output weighting function unit in a linear nonlinear switching active disturbance rejection control module of a synchronous motor robust control device based on a switching structure;
fig. 9 is a flow chart of steps of a robust control method of a synchronous motor based on a switching structure of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Fig. 1 shows a schematic structural diagram of a robust control device for a synchronous motor based on a switching structure.
Referring to fig. 1, in an embodiment of the application, a robust control device for a synchronous motor based on a switching structure of the present application includes:
the linear nonlinear switching active disturbance rejection control module 1 is used for generating a quadrature axis voltage reference value;
a current regulator 2 for regulating the difference between the direct current and the direct current reference value to generate a direct voltage reference value;
the first Park inverse transformer 3 is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and is used for transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
the SVPWM module 4 is connected with the first Park inverse transformer and is used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
a voltage type inverter 5 connected to the SVPWM module for generating a three-phase current control signal from the three-phase switching signal;
and the input end of the photoelectric encoder 7 is connected with the permanent magnet synchronous machine, the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for acquiring the rotor angle of the permanent magnet synchronous machine, converting the rotor angle into the rotating speed and inputting the rotating speed to the linear nonlinear switching active disturbance rejection control module.
According to an embodiment of the present application, the synchronous motor robust control device based on the switching structure further includes a Clark converter 8 connected to the voltage-type inverter, and configured to convert the three-phase current control signal generated by the voltage-type inverter to generate two-phase currents in the stationary coordinate system.
The Clark converter 8 is used for converting the three-phase current i a ，i b ，i c Transforming to generate two-phase currents i in a stationary coordinate system α And i β And the two-phase current i in the static coordinate system α And i β As input to said second Park converter 9.
According to an embodiment of the present application, the robust control device for a synchronous motor based on a switching structure further includes a second Park converter 9, an input end of the second Park converter is connected to the Clark converter, an output end of the second Park converter is connected to the current regulator, and the second Park converter is configured to convert the two-phase current generated by the Clark converter to generate the direct-axis current, compare the direct-axis current with a direct-axis current reference value, and use the comparison value as an input of the current regulator.
The second Park converter 9 is used to convert the two-phase current i in the stationary coordinate system α And i β Transforming to generate the direct axis current i d The straight axis current i is then applied d And the direct axis current reference value i dref The compared value of the comparison is used as input of the current regulator 2.
As shown in fig. 1, the linear nonlinear switching active disturbance rejection control module 1, the current regulator 2, the first Park inverse transformer 3, the SVPWM module 4, the voltage type inverter 5, the photoelectric encoder 7, the Clark converter 8 and the second Park converter 9 are combined to form a complete synchronous motor robust control device based on a switching structure; the permanent magnet synchronous motor 6 converts the angular position theta of the motor rotor m The rotation speed omega is obtained by inputting the rotation speed omega into the photoelectric encoder 7 m As input to the linear nonlinear switching active disturbance rejection control module 1, the rotational speed setpoint ω is simultaneously input ref Outputting the quadrature axis voltage reference value u to the linear nonlinear switching active disturbance rejection control module 1 q Forming a rotating speed closed loop; sampling the three-phase current i a ，i b ，i c As input to the Clark converter 8, the Clark converter 8 outputs a two-phase current i in a stationary coordinate system α And i β As an input to the second Park converter 9, the second Park converter 9 outputs a direct-axis current i d And the straight axis current i d And the direct axis current set point i dref Is not equal to the direct axis current difference Δi d As an input to the current regulator 2, the current regulator 2 outputs the direct-axis voltage reference u d Forming a current loop, wherein the application adopts i d Control mode of =0,thus i dref =0; the quadrature axis voltage reference value u q And the direct axis voltage reference value u d As input to the first Park inverse transformer 3, the first Park inverse transformer 3 outputs a two-phase voltage reference value u in a stationary coordinate system α And u β As an input to the SVPWM module 4, the SVPWM module 4 outputs the three-phase switching signal S abc As an input to the voltage-type inverter 5, the voltage-type inverter 5 outputs the three-phase current i a ，i b ，i c The permanent magnet synchronous motor 6 is controlled, and the input end of the permanent magnet synchronous motor 6 is connected with the voltage type inverter 5 and is used for receiving the three-phase current control signal and working according to the three-phase current control signal.
According to an embodiment of the present application, as shown in fig. 2, the linear nonlinear switching active disturbance rejection control module 1 includes:
a tracking differentiator 11 for obtaining a rotation speed tracking value and a rotation speed differentiation value;
a linear extended state observer 12 for outputting a linear rotation speed observation value, a linear rotation speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
a nonlinear extended state observer 13, configured to output a nonlinear rotation speed observation value, a nonlinear rotation speed differential observation value, a nonlinear disturbance observation value, and a nonlinear observation error, so as to form a nonlinear active disturbance rejection control closed loop;
a linear state feedback controller 14 connected to the tracking differentiator and the linear extended state observer for outputting a linear quadrature voltage reference value;
a nonlinear state feedback controller 15 connected to the tracking differentiator and the nonlinear extended state observer for outputting a nonlinear quadrature voltage reference value;
and the output weighting function unit 16 has an input end connected with the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and an output end connected with the linear extended state observer and the nonlinear extended state observer and used for outputting the quadrature axis voltage reference value as the output of the linear nonlinear switching active disturbance rejection control module.
As shown in fig. 3, a schematic diagram of the tracking differentiator 11 is constructed, and the rotation speed is given by the value ω ref Arranging a transition process for the actual behavior of the device to follow the transition process to achieve a control objective while giving the rotational speed a given value omega ref The approximate differential signal, thereby solving the problem that the device is impacted by the excessive control quantity due to the excessive error of the initial state of the device, and constructing the tracking differentiator 11 according to the approximate differential signal:wherein the tracking differentiator 11 takes the form of a fhan function, the expression of which is as follows:
wherein x is 1 、x 2 、d、a 0 、y、a 1 、a 2 、a 3 、a 4 And a 5 As an intermediate variable of fhan function, the rotation speed given value omega is set ref The rotational speed tracking value v is obtained by inputting the tracking differentiator 11 1 And the rotational speed differential value v 2 As input to the linear state feedback controller 14, the linear speed observation z is then used l1 Said linear rotational speed differential observation z l2 And the linear disturbance observer z l3 Is input to the linear state feedback controller 14.
As shown in fig. 4, which is a schematic diagram of the structure of the linear expansion state observer 12, the linear rotation speed observed value z is observed by a linear mechanism l1 Said linear rotational speed differential observation z l2 The linear disturbance observed value z l3 The disturbance tracking performance does not change with the disturbance amplitude, and the linear expansion state observer 12 is constructed based on this:wherein omega m For the rotation speed e l Is a linear observation error, beta l1 、β l2 、β l3 Gain for linear observer, b 0 To control the gain, the linear-extended-state observer 12 outputs the linear rotation speed observation z l1 Said linear rotational speed differential observation z l2 The linear disturbance observed value z l3 And the linear observation error e l Forming a linear active disturbance rejection control closed loop; tracking the rotation speed of the motor by the rotation speed tracking value v 1 The rotational speed differential value v 2 Said nonlinear rotation speed observation z n1 Said linear rotational speed differential observation z n2 And the linear disturbance observer z n3 Is input to the nonlinear state feedback controller 15.
As shown in fig. 5, which is a schematic diagram of the construction of the nonlinear extended state observer 13, the nonlinear rotation speed observed value z is observed by a nonlinear mechanism n1 Said nonlinear rotational speed differential observation z n2 Said nonlinear disturbance observer z n3 The tracking performance is related to the disturbance amplitude, the characteristics of large error and small error and large gain are provided, the nonlinear function adopts the fal function, and the nonlinear extended state observer 13 is constructed according to the fal function:wherein omega m For the rotation speed e n Is nonlinear observation error, beta n1 、β n2 、β n3 Gain for nonlinear observer, b 0 To control the gain, u q For quadrature axis voltage reference value, alpha e1 Is the rotation speed power of a nonlinear observer, alpha e2 Is the differential power of the rotation speed of the nonlinear observer, alpha e3 To the power of the disturbance of the nonlinear observer, delta e1 Is the rotation speed linear interval delta of the nonlinear observer e2 Is the rotation speed differential linear interval delta of the nonlinear observer e3 For the nonlinear observer to perturb the linear interval, the nonlinear extended state observer 13 outputs the nonlinear rotation speed observation value z n1 Nonlinear rotational speed differential observation z n2 Nonlinear disturbance observed value z n3 And nonlinear observation error e n Forming a nonlinear active disturbance rejection control closed loop; will be linear quadrature axis voltage reference value u lq Nonlinear quadrature axis voltage reference value u nq Linear observation error e l Nonlinear observation error e n Linear disturbance observed value z l3 And nonlinear disturbance observation z n3 To the output of the weighting function unit 16.
As shown in fig. 6, the rotation speed tracking value v is shown as a schematic diagram of the linear state feedback controller 14 1 And the linear rotation speed observation z l1 Ratio of deviation, rotational speed differential value v 2 And the linear rotational speed differential observation z l2 The proportions of the deviations form a linear output voltage u by linear combination l0 Adding the linear disturbance observed value z again l3 Is used for obtaining the reference value u of the linear quadrature axis voltage lq The linear state feedback control 14 is constructed accordingly:wherein k is l1 Is a linear proportional gain, k l2 Is a linear differential gain, b 0 To control the gain, the linear state feedback controller 14 outputs the linear quadrature axis voltage reference value u lq The rotation speed omega is calculated m And the quadrature axis voltage reference value u q Is input into the linear extended state observer 12.
As shown in fig. 7, the rotation speed tracking value v is shown as a schematic diagram of the nonlinear state feedback controller 15 1 And the nonlinear rotation speed observation value z n1 Deviation, the rotational speed differential value v 2 And said nonlinear rotational speed differential observation z n2 The deviation is linearly combined by the proportion of the nonlinear fal function to form the nonlinear output voltage u n0 Adding the nonlinear disturbance observed value z n3 Is used for obtaining the nonlinear quadrature axis voltage reference value u nq The nonlinear state feedback controller 15 is constructed accordingly:wherein, the fal function expression is as follows: />Wherein e is the deviation, alpha i To the power, alpha s1 Is the power of feedback proportion alpha s2 Is feedback differential power, delta is linear interval, delta s1 Is a feedback proportion linear interval delta s2 For feedback differential linear interval, b 0 To control the gain, the nonlinear state feedback controller 15 outputs the nonlinear quadrature axis voltage reference value u nq The rotation speed omega is calculated m And the quadrature axis voltage reference value u q Is input to the nonlinear extended state observer 13.
As shown in fig. 8, to construct the schematic diagram of the output weighting function unit 16, the linear quadrature voltage reference value u is calculated lq And a nonlinear quadrature axis voltage reference value u nq Assigning weights based on errors and disturbances to obtain quadrature voltage reference values u q Thus, smooth switching of linear nonlinear active disturbance rejection control is realized, and the phenomenon of control oscillation is prevented; when the error maximum e or the interference maximum z 3 When larger, the linear quadrature axis voltage reference value u lq The occupied weight is larger, the control characteristic of the large error quick response of the linear active disturbance rejection control meets the control requirement, and when the error maximum value e or the disturbance maximum value z 3 When smaller, the nonlinear quadrature axis voltage reference value u nq The occupied weight is larger, and the control characteristic of the nonlinear active disturbance rejection control small error and the large gain meets the control requirement; the output weighting function module 16 is constructed accordingly, as follows:
wherein lambda is the total weight, alpha is the error weight, beta is the disturbance weight, e 1 Is the lower error limit, e 2 Is the upper error limit, D 1 Is the lower disturbance limit D 2 Is the upper disturbance limit e l For linear observation errors, e n Is nonlinear observation error, z l3 Is the linear disturbance observed value, z n3 Is a nonlinear disturbance observation.
Fig. 9 shows a flowchart of a synchronous motor robust control method based on a switching structure of the present application.
As shown in fig. 9, the application discloses a synchronous motor robust control method based on a switching structure, which comprises the following steps:
s902, generating a quadrature axis voltage reference value;
s904, adjusting the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
s906, transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
s908, modulating the two-phase voltage reference value to generate a three-phase switching signal;
s910, generating a three-phase current control signal from the three-phase switch signal;
s912, collecting the rotor angle of the permanent magnet synchronous motor.
It should be noted that, the method steps of generating the quadrature axis voltage reference value in the step S302 specifically include:
obtaining a rotation speed tracking value and a rotation speed differential value;
outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observation value, a nonlinear rotating speed differential observation value, a nonlinear disturbance observation value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
Since the specific implementation manner of the embodiment corresponds to the foregoing device embodiment, the same details will not be repeated here.
A third aspect of the present application provides a robust controller for a synchronous motor based on a switching structure, which is characterized by comprising: the synchronous motor robust control device based on the switching structure according to any one of the above.
The synchronous motor robust control device, method and controller based on the switching structure disclosed by the application have the following beneficial effects:
1. the application is based on the active disturbance rejection control, and compared with the traditional PI control, the active disturbance rejection control has higher control precision and stronger disturbance rejection capability and is insensitive to the parameters of the permanent magnet synchronous motor;
2. in the control process, the method distributes weights of the linear quadrature voltage reference value and the nonlinear quadrature voltage reference value on the basis of errors and disturbance to obtain the quadrature voltage reference value, so that smooth switching of linear nonlinear active disturbance rejection control is realized, and the phenomenon of control oscillation is prevented;
3. the application adopts linear nonlinear switching active disturbance rejection control, combines the advantages of linear active disturbance rejection control and nonlinear active disturbance rejection control through a reasonable switching strategy, namely the characteristics of large error quick response and small error large gain, and simultaneously avoids the defects of the large error quick response and the small error large gain, thereby achieving the optimal control of the full working range and realizing the quick response, no overshoot and high-precision control of the motor output torque.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Claims (9)
1. A synchronous motor robust control device based on a switching structure, wherein the synchronous motor is a permanent magnet synchronous motor, the device is connected with the permanent magnet synchronous motor, the device comprises:
the linear nonlinear switching active disturbance rejection control module is used for generating a quadrature axis voltage reference value;
the current regulator is used for regulating the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
the first Park inverse transformer is connected with the linear nonlinear switching active disturbance rejection control module and the current regulator and is used for transforming the direct-axis voltage reference value and the quadrature-axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
the SVPWM module is connected with the first Park inverse transformer and used for modulating the two-phase voltage reference value to generate a three-phase switching signal;
the voltage type inverter is connected with the SVPWM module and is used for generating a three-phase current control signal from the three-phase switching signal;
the input end of the photoelectric encoder is connected with the permanent magnet synchronous motor, the output end of the photoelectric encoder is connected with the linear nonlinear switching active disturbance rejection control module, and the photoelectric encoder is used for acquiring the rotor angle of the permanent magnet synchronous motor, converting the rotor angle into the rotating speed and inputting the rotating speed to the linear nonlinear switching active disturbance rejection control module;
the linear nonlinear switching active disturbance rejection control module comprises:
a tracking differentiator for obtaining a rotational speed tracking value and a rotational speed differentiating value;
the linear expansion state observer is used for outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
the nonlinear extended state observer is used for outputting a nonlinear rotating speed observation value, a nonlinear rotating speed differential observation value, a nonlinear disturbance observation value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
a linear state feedback controller connected with the tracking differentiator and the linear expansion state observer and used for outputting a linear quadrature axis voltage reference value;
a nonlinear state feedback controller connected with the tracking differentiator and the nonlinear extended state observer and used for outputting a nonlinear quadrature axis voltage reference value;
and the output end of the output weighting function unit is connected with the linear extended state observer, the nonlinear extended state observer, the linear state feedback controller and the nonlinear state feedback controller, and the output end of the output weighting function unit is connected with the linear extended state observer and the nonlinear extended state observer and is used for outputting the quadrature axis voltage reference value as the output of the linear nonlinear switching active disturbance rejection control module.
2. The switching architecture based synchronous motor robust control apparatus of claim 1, further comprising a Clark converter coupled to the voltage-type inverter for converting the three-phase current control signals generated by the voltage-type inverter to generate two-phase currents in the stationary coordinate system.
3. The switching architecture based synchronous motor robust control apparatus of claim 2, further comprising a second Park converter having an input coupled to the Clark converter and an output coupled to the current regulator for converting the two-phase current generated by the Clark converter to generate the direct current, and comparing the direct current with a direct current reference, the comparison being used as an input to the current regulator.
4. A synchronous motor robust control method based on a switching structure, which is applied to the synchronous motor robust control device based on the switching structure as claimed in any one of claims 1 to 3, and is characterized by comprising the following steps:
generating a quadrature axis voltage reference value;
adjusting the difference value between the direct-axis current and the direct-axis current reference value to generate a direct-axis voltage reference value;
transforming the direct axis voltage reference value and the quadrature axis voltage reference value to generate two-phase voltage reference values in a static coordinate system;
modulating the two-phase voltage reference value to generate a three-phase switching signal;
generating a three-phase current control signal from the three-phase switching signal;
and collecting the rotor angle of the permanent magnet synchronous motor.
5. The method for robust control of synchronous motor based on switching architecture as claimed in claim 4, wherein said generating the quadrature axis voltage reference value specifically comprises:
obtaining a rotation speed tracking value and a rotation speed differential value;
outputting a linear rotating speed observation value, a linear rotating speed differential observation value, a linear disturbance observation value and a linear observation error to form a linear active disturbance rejection control closed loop;
outputting a nonlinear rotating speed observation value, a nonlinear rotating speed differential observation value, a nonlinear disturbance observation value and a nonlinear observation error to form a nonlinear active disturbance rejection control closed loop;
outputting a linear quadrature axis voltage reference value;
outputting a nonlinear quadrature axis voltage reference value;
and outputting the quadrature axis voltage reference value.
6. The method of claim 5, further comprising obtaining a rotation speed set point, a speed factor, a controller step size, a control gain, a linear differential gain, a linear output voltage, a linear quadrature axis voltage reference value, and a feedback proportional power, a feedback differential power, a feedback proportional linear interval, and a feedback differential linear interval.
7. The method of switching architecture based synchronous motor robust control of claim 5, further comprising transforming the three-phase current control signal to generate two-phase currents in the stationary coordinate system.
8. The method of claim 7, further comprising transforming the two-phase current to generate the direct current and comparing the direct current to a direct current reference, and using the comparison as the direct voltage reference.
9. A synchronous motor robust controller based on a switching structure, comprising: the synchronous motor robust control device based on a switching structure according to any one of claims 1 to 3.
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