Design of nonlinear predictive controller for permanent magnet synchronous motor with disturbance observer

Abstract

The invention discloses a design of a nonlinear predictive controller for a permanent magnet synchronous motor with a disturbance observer, and belongs to the technical field of a high-performance motor driving control system. According to the invention, firstly, all model errors and external disturbances are considered under a dq coordinate system, and a nonlinear mathematical model of the PMSM (Permanent Magnet Synchronous Motor) is constructed; secondly, predictive controllers of an outer speed loop and an inner current loop are respectively designed on the basis of the model, and a disturbance observer is designed when there is a control device limitation. The design disclosed by the invention overcomes a defect that the system has limitations for processed variables and greatly depends on electric parameters of the motor on the aspect of the limiting current through designing the nonlinear model predictive controller with a cascade structure and designing the anti-saturation disturbance observer, and the disturbance is considered and compensated in predictive controller, thereby enhancing the robustness of the permanent magnet synchronous motor control system. Experiments showthat the method can enable the system to output a more accurate tracking reference trajectory, and it is considered that the current limitation can keep high robustness when there is a model parameter error or load change at the same time.

Description

technical field [0001] The invention relates to a design of a nonlinear predictive controller for a permanent magnet synchronous motor with a disturbance observer, and belongs to the technical field of high-performance motor drive control. Background technique [0002] The characteristics of high efficiency and high power density of permanent magnet synchronous motor make it occupy a very important position in practical industrial applications; however, the multivariable, nonlinear, time-varying parameters of its model and its fast dynamics make its control very difficult. complex; although a variety of advanced control methods for permanent magnet synchronous motor drive systems have been proposed based on modern control theories, such as adaptive control, self-tuning control, intelligent control, etc. The dynamics of modeling and the adaptability to disturbance are poor, and the robustness of the system needs to be further solved, so the application range is limited. [0...

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Problems solved by technology

On the other hand, usually the variables we are dealing with are limited by the saturation module

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