基于ESO的PMSM无差拍预测电流控制研究

在永磁同步电机调速系统中,优良的电流控制效果对系统的控制性能至关重要。为解决数字控制中存在的采样、滤波等因素带来的控制延迟,基于永磁同步电机在同步旋转坐标系下的数学模型,提出一种基于最小电流误差的无差拍预测电流控制策略。同时,为解决预测电流控制存在的对模型参数尤其是电机电感的参数鲁棒性较低的问题,结合自抗扰控制技术,在无差拍预测电流控制中引入了扩张状态观测器,对系统的内部和外部扰动进行观测并补偿。扩张状态观测器的引入不仅解决了系统参数鲁棒性较低的问题,同时也提高了系统的抗负载扰动能力。最终设计的系统具有转速跟踪性能良好、抗扰能力强、参数鲁棒性大大提高等优点。最后,通过仿真和实验验证了所提控制策略的可行性和正确性。

Research on Deadbeat Predictive Current Control of PMSM Based on ESO

In the permanent magnet synchronous motor speed control system,excellent current control effects are critical to the control performance of the system.In order to solve the control delay caused by sampling,filtering and other factors in digital control,based on the mathematical model of permanent magnet synchronous motor in synchronous rotating coordinate system,a deadbeat prediction current control strategy based on minimum current error was proposed.At the same time,in order to solve the problem that the predictive current control has low robustness to the parameters of the model parameters,especially the motor inductance,combined with the auto disturbance rejection control technology,the extended state observer was introduced in the deadbeat prediction current control to observe and compensate for internal and external disturbances of the system.The introduction of ESO not only solves the problem of low robustness of system parameters,but also improves the system's ability to resist load disturbances.The final designed system has the advantages of good speed tracking performance,strong anti-interference ability and greatly improved parameter robustness.Finally,the feasibility and correctness of the proposed control strategy were verified by simulation and experiment.