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

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

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (5044 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 and 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, enhancing the performance in low-ratio applications. Secondly, this paper analyzes delay effects in discrete fields. Several delay effect suppression strategies are designed to improve the estimation accuracy, namely the delay-corrected ESO. Finally, based on the proposed ESOs, the IPMSM discrete-domain current control strategies are designed, significantly improving the current response characteristics. The EV-driven experimental platform verifies the analysis and design.
Simulation results of the observer performance show that as the delay increases, the traditional ESO increases the error, worsens the dynamic response process, and even has the risk of oscillation. Under the same bandwidth, Smith-DESO has the best observation performance, the model DESO (M-DESO) is poor, and the observation results of the traditional ESO and voltage delay DESO (Ud-DESO) are 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). 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 delay impact on the observer, which helps to improve the operation stability and disturbance resistance performance under the low carrier ratio.
The following conclusions can be drawn from theoretical analysis and experimental research: (1) Traditional non-delay ESO is affected by the control delay, and the ESO input signal is unsynchronized and has poor observation performance. M-DESO is designed by the approximate delay, but there is an 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 depends 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 suppress the delay impact on the observer, which quickly estimates and compensates for internal and external disturbances. It helps to improve motor stability and dynamic performance under low ratios.

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

Received: 12 December 2022

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. Current Control Strategy of Interior Permanent Magnet Synchronous Motor Based on Delay Corrected Extended State Observers[J]. Transactions of China Electrotechnical Society, 2024, 39(6): 1698-1712.

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.222286 OR https://dgjsxb.ces-transaction.com/EN/Y2024/V39/I6/1698

[1] Gerada D, Mebarki A, Brown N L, et al.High-speed electrical machines: technologies, trends, and deve- lopments[J]. IEEE Transactions on Industrial Elec- tronics, 2014, 61(6): 2946-2959.
[2] Walz S, Lazar R, Buticchi G, et al.Dahlin-based fast and robust current control of a PMSM in case of low carrier ratio[J]. IEEE Access, 2019, 7: 102199-102208.
[3] Herbst G.Practical active disturbance rejection control: bumpless transfer, rate limitation, and incremental algorithm[J]. IEEE Transactions on Industrial Electronics, 2016, 63(3): 1754-1762.
[4] Holtz J, Oikonomou N.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]. IEEE Transactions on Industry Applications, 1994, 30(4): 920-926.
[6] Briz F, Degner M W, Lorenz R D.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 Feng, et al.Fast and simple tuning rules of synchronous reference frame proportional-integral current controller[J]. IEEE Access, 2021, 9: 22156-22170.
[8] Harnefors L, Nee H P.Model-based current control of AC machines using the internal model control method[J]. IEEE Transactions on Industry Appli- cations, 1998, 34(1): 133-141.
[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): 1642-1652.
Liu Yubo, Wang Xudong, 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): 1642-1652.
[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): 4184-4191, 4298.
Wu Wei, Ding Xinzhong, Yan Caizhong.Research on control method of current loop decoupling based on complex vector[J]. Proceedings of the CSEE, 2017, 37(14): 4184-4191, 4298.
[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 capa- bilities[J]. IEEE Transactions on Power Electronics, 2016, 31(7): 5290-5305.
[12] Kim H, Degner M, Guerrero J M, et al.Discrete-time current regulator design for AC machine drives[C]//2009 IEEE Energy Conversion Congress and Expo- sition, San Jose, CA, USA, 2009: 1317-1324.
[13] Li Silong, Sarlioglu B, Jurkovic S, et al.Analysis of temperature effects on performance of interior permanent magnet machines for high variable temperature applications[C]//IEEE Transactions on Industry Applications, 2017: 4923-4933.
[14] Diab A, Rashed M, Li Jing, et al.Performance analysis of PMSM for high-speed starter-generator system[C]//2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS- ITEC), Nottingham, UK, 2019: 1-7.
[15] Han Jingqing.From PID to active disturbance rejection control[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): 6135-6144.
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): 6135-6144.
[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, 37(18): 4614-4624.
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, 37(18): 4614-4624.
[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, 37(12): 3087-3096.
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, 37(12): 3087-3096.
[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): 7032-7039, 7095.
Liu Chunqiang, Luo Guangzhao, Tu Wencong, et al.Servo systems with double closed-loops based on active disturbance rejection controllers[J]. Pro- ceedings of the CSEE, 2017, 37(23): 7032-7039, 7095.
[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, 6(4): 1421-1433.
[21] 韩京清. 时滞对象的自抗扰控制[J]. 控制工程, 2008, 15(增刊2): 7-10, 18.
Han Jingqing.Auto-disturbances rejection control for time-delay systems[J]. Control Engineering of China, 2008, 15(S2): 7-10, 18.
[22] Li Longfei, Xiao Jie, Zhao Yun, et al.Robust position anti-interference control for PMSM servo system with uncertain disturbance[J]. China Electrotechnical Society Transactions on Electrical Machines and Systems, 2020, 4(2): 151-160.
[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, 37(17): 4335-4345.
Zhang Huixuan, Fan Tao, Bian Yuanjun, et al.Predictive current control strategy of permanent magnet synchronous motors with high performance[J]. Transactions of China Electrotechnical Society, 2022, 37(17): 4335-4345.
[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, 30(12): 1521-1533.
Wang Lijun, Li Qing, Tong Chaonan, et al.Overview of active disturbance rejection control for systems with time-delay[J]. Control Theory & Applications, 2013, 30(12): 1521-1533.
[25] Zheng Qinling, Gao Zhiqiang.Predictive active disturbance rejection control for processes with delay[C]//Proceedings of the 32nd Chinese Control Conference, Xi’an, China, 2013: 4108-4113.
[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 of predictive active disturbance rejection controller for turbidity[J]. Control Theory & Applications, 2017, 34(1): 101-108.