Design method of permanent magnet synchronous current controller based on extended state observer

Abstract

The invention discloses a design method of a permanent magnet synchronous current controller based on an extended state observer. The design method comprises the following steps: SS1, establishing a current loop active disturbance rejection controller closed loop; SS2: determining that a permanent magnet synchronous motor current loop can be decoupled and linearized approximately, obtaining the two-phase stator current of a permanent magnet synchronous motor through detection of a current sensor, obtaining direct-axis current and quadrature-axis current of the permanent magnet synchronous motor through Clarke transformation and Park transformation, and establishing a current loop mathematical model of a PMSM in a two-phase rotating coordinate system, namely, a d-q coordinate system; SS3, designing reference current conversion rate feedforward according to the quadrature-axis current value; and SS4, designing the improved active disturbance rejection controller of the current loop according to the compensation model of the total disturbance of the system observed by a first-order improved extended state observer. According to the invention, the technical requirements that the current fluctuation of the PMSM is small, the anti-motion capability of the system is improved, and the stability of the motor is improved are thoroughly met.

Description

technical field [0001] The invention relates to a design method of a permanent magnet synchronous current controller based on an extended state observer, and belongs to the technical field of servo control systems. Background technique [0002] In the high-precision servo system, due to the superior performance of the permanent magnet synchronous motor (PMSM), it is widely used in various industrial fields and high-performance servo systems, and has gradually become the mainstream of the servo system execution motor. However, the permanent magnet synchronous motor is a multivariable, nonlinear, and strongly coupled controlled object. During the actual operation of the servo system, the parameters of the motor body will change. At the same time, there are uncertainties in the load object, mainly including changes in the moment of inertia and load disturbance, etc.; in addition, there are various disturbances in the application environment of the servo system. These disturban...

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Problems solved by technology

[0010] The purpose of the present invention is to overcome the defects existing in the prior art, to solve the technical problems that the estimated disturbance amplitude of the extended state observer is too large, the change is too drastic, the precision is not high, and the self-disturbance immunity is insufficient, and a method based on the extended state is proposed. The design method of the permanent magnet synchronous current controller of the observer, so that the current fluctuation of the PMSM is smaller, the anti-dynamic ability of the system is improved, and the stability of the motor is increased.

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