Transactions of China Electrotechnical Society  2025, Vol. 40 Issue (8): 2488-2503    DOI: 10.19595/j.cnki.1000-6753.tces.240590
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Research on Load Disturbance Suppression Technology of Permanent Magnet Synchronous Motor under Extended Kalman Filter
Liu Dongliang1,2, Zhao Jinyang1, Dong Xuhui1, Chen Lijun1, Wang Xiaoxiao1
1. School of Artificial Intelligence Hangzhou Dianzi University Hangzhou 310018 China;
2. Wolong Electric Group Co. Ltd Shangyu 312300 China

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Abstract  Regarding the sensorless control system of permanent magnet synchronous motors (PMSM), this paper combines extended Kalman filtering (EKF) and improved inertial active disturbance rejection control (IADRC). By establishing a mathematical model under the new coordinate system and applying the EKF algorithm, the state of the motor is accurately estimated, thus ensuring the accuracy and stability of the control system. Aiming at the current harmonic disturbance caused by the sudden load change, this paper introduces the second-order oscillation function to optimize the traditional linear active disturbance rejection control and proposes an improved IADRC strategy, which significantly attenuates the harmonic disturbances and strengthens the system's immunity to disturbances.
According to the traditional mathematical model of the PMSM motor under the $\gamma \delta $-axis, the mathematical model of the PMSM motor under the estimated rotational coordinate system $\gamma \delta $ is constructed, and the angle ${{e}_{\theta \gamma }}$ between the dq-axis and the $\gamma \delta $-axis is directly estimated, eliminating the influence of the other observers. After that, through the mutual validation of simulation and the mathematical model, the second-order oscillating function is connected in parallel to suppress current harmonics. The 3rd, 5th, and 7th periodic harmonics with high harmonic contents are suppressed. Its effectiveness and stability are proved by Bode's plot and the Nyquist curve plot, respectively.
The EKF's direct estimation method of error angle ${{e}_{\theta \gamma }}$ in $\gamma \delta $ coordinate system is verified Through simulation and experiment, speed step, sudden load addition, and starting with rated load. Meanwhile, compared with the traditional PI control and LADRC control, IADRC plays a role in suppressing the low harmonics when the motor is running stably at 1 000 r/min with rated load. The 5th and 7th harmonic contents are reduced by 50.5% and 77.4% compared to PI. The IADRC algorithm based on the LADRC algorithm can suppress specific harmonics, with a 41.3% reduction in 5th harmonic content compared to the LADRC and a 49.4% reduction in 7th harmonic content compared to the PI. Comparative analysis of the three-phase currents after a sudden change in the rated load shows that compared to PI, the 5th harmonic content of the LADRC is reduced by 70.5%, the 7th harmonic content is reduced by 79.1%, and the 3rd harmonic content is reduced by 54.8%. Meanwhile, compared to LADRC, the 5th harmonic decreases by 44%, the 7th harmonic decreases by 13%, and the 3rd harmonic decreases by 88%.
Key wordsPermanent magnet synchronous motor      inertial active disturbance rejection control      extended Kalman filter      current harmonics      a new coordinate system     
Received: 18 April 2024     
PACS: TM351  
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Liu Dongliang
Zhao Jinyang
Dong Xuhui
Chen Lijun
Wang Xiaoxiao
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Liu Dongliang,Zhao Jinyang,Dong Xuhui等. Research on Load Disturbance Suppression Technology of Permanent Magnet Synchronous Motor under Extended Kalman Filter[J]. Transactions of China Electrotechnical Society, 2025, 40(8): 2488-2503.
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