基于延迟校正扩张状态观测器的内置式永磁同步电机电流控制策略研究

doi:10.19595/j.cnki.1000-6753.tces.222286

Abstract
Figure/Table
References (0)
Related Citation (15)

Download: PDF (2396 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract

As to high-speed electric drives, the ratio of the switching to the fundamental frequencies is low due to the limited switching frequency allowed. As a result, the control delay negatively affects the vector control performance of the IPMSM heavily. However, the traditional control strategy usually ignores the delay, and when the motor speed increases and the carrier ratio decreases, the actual performance decreases significantly. There are three main reasons: cross-coupling between d-q axes, discretization error and control delay. To address these problems, several schemes, i.e. delay corrected extended state observers (ESOs), are designed and compared. Consequently, the estimating accuracy is enhanced. Based on the proposed ESOs, this paper proposes several current control strategies of IPMSM, producing an improved current response.
Firstly, the extended back EMF (EEMF) based IPMSM model was built, and ESOs can estimate the EEMF as well as other disturbances as a whole. It allows a symmetric model of the IPMSM, which is beneficial to analysis and design in the discrete-time domain, aiming to enhance the performance in this low ratio applications. Secondly, this paper analyzes delay effects in discrete fields, and designs and contrasizes several delay effect suppression strategies, namely the delay-corrected ESO, which improves the estimation accuracy. Finally, based on the proposed ESOs, the IPMSM discrete-domain current control strategies are designed, which significantly improves the current response characteristics. The analysis and design of the paper are verified by the EV-driven experimental platform.
Simulation results of the observer performance show that as the delay increases, the traditional ESO not only increases the error, but also makes the dynamic response process worse, and even has the risk of oscillation. Under the same bandwidth, Smith-DESO has the best observation performance, the model DESO(M-DESO) is relatively poor, and the traditional ESO and voltage delay DESO(Ud-DESO) observation results are relatively close. If the observation bandwidth continues to increase, the stability of traditional ESO and M-DESO will become significantly worse. However, Smith-DESO and Ud-DESO can still have good stability due to the synchronization of the two input signals. Smith-DESO scheme remains stable when the operating frequency is 800Hz (the carrier ratio is 5), and the disturbance suppression time is reduced from 50 ms controlled by the traditional PI scheme to 2.5 ms, indicating that the strategy can better offset the impact of the delay on the observer, and help to improve the operation stability and disturbance resistance performance under the low carrier ratio.
The following conclusions can be drawn from the oretical analysis and experimental research: 1) Traditional non-delay ESO is affected by the control delay, resulting in ESO input signal is not synchronized and poor observation performance. M-DESO is designed by the approximate delay, but there is approximate error, and current tracking and disturbance performance is not ideal. 2) Smith-DESO has the best stability and dynamic performance, but the observation effect has strong dependence on the motor parameters; Ud-DESO is less affected by the inductive parameter-mismatch than Smith-DESO, but the observation speed is slightly slower. 3) The proposed current control strategies of the IPMSM based on the above DESOs, suppress the impact of the delay on the observer, and can quickly estimate and compensate the internal and external disturbances, which helps to improve the motor stability and dynamic performance under low ratio.

Key words： Interior permanent magnet synchronous motor digital control delay extended state observer discrete domain design

PACS:

TM351

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	Zhu Yupu
	Yang Shuying
	Wang Qishuai

Cite this article:

Zhu Yupu,Yang Shuying,Wang Qishuai. Research on Current Control Strategy of Interior Permanent Magnet Synchronous Motor Based on Delay Corrected Extended State Observers[J]. Transactions of China Electrotechnical Society, 0, (): 132-132.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.222286 OR https://dgjsxb.ces-transaction.com/EN/Y0/V/I/132

[1] Gerada D, Mebarki A, Brown N L, et al. High-Speed Electrical Machines: Technologies, Trends,Developments[J]. Institute of Electrical and Electronics Engineers, 2014(6).
[2] Walz S, Lazar R, Buticchi G, et al. Dahlin-Based Fast and Robust Control of a PMSM in case of low carrier ratio[J]. IEEE Access, 2019, PP(99): 1-1.
[3] Herbst G.Practical Active Disturbance Rejection Control: Bumpless Transfer, Rate Limitation and Incremental Algorithm[J]. IEEE Transactions on Industrial Electronics, 2016, 63(3): 1-1.
[4] Holtz, Joachum, Oikonomou, et al. Fast Dynamic Control of Medium Voltage Drives Operating at Very Low Switching Frequency—An Overview.[J]. IEEE Transactions on Industrial Electronics, 2008, 55(3): 1005-1013.
[5] Morimoto S, Sanada M, Takeda Y.Wide-speed operation of interior permanent magnet synchronous motors with high-performance current regulator[J]. Industry Applications IEEE Transactions on, 1994, 30(4): 920-926.
[6] Briz F, Degner M W.Analysis and design of current regulators using complex vectors[J]. IEEE Transactions on Industry Applications, 2000, 36(3): 817-825.
[7] Diab A M, Bozhko S, Guo F, et al. Fast and Simple Tuning Rules of Synchronous Reference Frame Proportional-Integral Current Controller[J]. IEEE Access, 2021, PP(99): 1-1.
[8] Harnefors L, H.-P. N. Model-based current control of AC machines using the internal model control method[J]. IEEE Transactions on Industry Applications, 1998(1): 34.
[9] 刘宇博, 王旭东, 周凯. 基于滑模观测器的永磁同步电机电流偏差解耦控制[J]. 电工技术学报, 2020, 35(8): 11.
Liu Yubo, Wang Xvdong, Zhou Kai.Current Deviation Decoupling Control with a Sliding Mode Observer for Permanent Magnet Synchronous Motor[J]. Transactions of China Electrotechnical Society, 2020, 35(8): 11.
[10] 吴为, 丁信忠, 严彩忠. 基于复矢量的电流环解耦控制方法研究[J]. 中国电机工程学报, 2017, 37(14):8.
Wu wei, Ding Xinzhong, Yan Caizhong. Research on Control Method of Current Loop Decoupling Based on Complex Vector[J]. Transactions of China Electrotechnical Society, 2017, 37(14): 8.
[11] Hoffmann N, Fuchs F W, Kazmierkowski M P, et al.Digital current control in a rotating reference frame-Part I: System modeling and the discrete time-domain current controller with improved decoupling capabilities[J]. IEEE Transactions on Power Electronics, 2016, 31(7):5290-5305.
[12] Kim H, Degner M W, Guerrero J M, et al.Discrete-Time Current Regulator Design for AC Machine Drives[J]. Industry Applications IEEE Transactions on, 2010, 46(4):p.1425-1435.
[13] Li S, Sarlioglu B, Jurkovic S, et al.Analysis of temperature effects on performance of interior permanent magnet machines[C]//2016 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2017.
[14] Diab A, Rashed M, Li J, et al.Performance Analysis of PMSM for High-Speed Starter-Generator System[C]//2018 IEEE International Conference on ESARS-ITEC. IEEE, 2019.
[15] HAN Jingqing.From PID to active disturbance rejectioncontrol[J]. IEEE Transactions on Industrial Electronics, 2009, 56(3): 900-906
[16] 李思毅, 苏健勇, 杨贵杰. 基于自抗扰控制的永磁同步电机弱磁控制策略[J]. 电工技术学报, 2022, 37(23):10.
Li Siyi, Su Jianyong, Yang Guijie.Flux Weakening Control Strategy of Permanent Magnet Synchronous Motor Based on Active Disturbance Rejection Control[J]. Transactions of China Electrotechnical Society, 2022, 37(23):10.
[17] 朱良红, 张国强, 李宇欣,等. 基于级联扩张观测器的永磁电机无传感器自抗扰控制策略[J]. 电工技术学报, 2022(018):037.
Zhu Lianghong, Zhang Guoqiang, Li Yuxin, et al.Active Disturbance Rejection Control for Position Sensorless Permanent Magnet Synchronous Motor Drives Based on Cascade Extended State Observer[J]. Transactions of China Electrotechnical Society, 2022(018):037.
[18] 朱进权, 葛琼璇, 张波,等. 考虑悬浮系统影响的高速磁悬浮列车牵引控制策略[J]. 电工技术学报, 2022(012):037.
Zhu Jinquan, Ge Qiongxuan, Zhang Bo, et al.Traction Control Strategy of High-Speed Maglev Considering the Influence of Suspension System[J]. Transactions of China Electrotechnical Society, 2022(012):037.
[19] 刘春强, 骆光照, 涂文聪,等. 基于自抗扰控制的双环伺服系统[J]. 中国电机工程学报, 2017, 37(23):8.
Liu Chunqiang,Luo Guangzhao, Tu Wencong, et al.Servo systems with double closed-loops based on active disturbance rejection controllers[J]. Proceedings of the CSEE,2017,37(23): 8
[20] Diab A M, Bozhko S, Galea M, et al. Stable and Robust Design of Active Disturbance Rejection Current Controller for Permanent Magnet Machines in Transportation Systems[J]. IEEE Transactions on Transportation Electrification, 2020, PP(99): 1-1.
[21] 韩京清. 时滞对象的自抗扰控制[J]. 控制工程, 2008, 15(S1): 7-10, 18.
Han Jingqing.Auto-disturbances rejection control for time-delay systems[J]. Control engineering of China, 2008, 15(S1): 7-10, 18
[22] Longfei Li, Jie Xiao, Yun Zhao, Kan Liu, Xiaoyan Peng, Haozhe Luan,Kaiqing Li.“Robust Position Anti-Interference Control for PMSM Servo System With Uncertain Disturbance”, China Electrotechnical Society Transactions on Electrical Machines and Systems, vol. 4, no. 2, pp. 151-160, 2020.
[23] 章回炫, 范涛, 边元均,等. 永磁同步电机高性能电流预测控制[J]. 电工技术学报, 2022(017):037.
Guo Jing, Fan Tao, Zhang Huixuan, et al.Predictive Current Control Strategy of Permanent Magnet Synchronous Motors with High Performance[J]. Proceedings of the CSEE, 2022(017):037.
[24] 王丽君, 李擎, 童朝南,等. 时滞系统的自抗扰控制综述[J]. 控制理论与应用, 2013(12): 13.
Wang Lijun, Li Qing, Dong Chaonan, et al.Overview of active disturbance rejection control for systems with time-delay[J]. Control theory and applications, 2013, 30(12): 13
[25] Zheng Q, Gao Z.Predictive Active Disturbance Rejection Control for processes with delay[C]//Proceedings of the 32nd Chinese Control Conference. IEEE, 2013.
[26] 唐德翠, 高志强, 张绪红. 浊度大时滞过程的预测自抗扰控制器设计[J]. 控制理论与应用, 2017, 34(1): 101-108.
Tang Decui, Gao Zhiqiang, Zhang Xuhong.Design ofpredictive active disturbance rejection controller for turbidity[J]. Control Theory & Applications, 2017, 34(1): 101-108.