KR-102962816-B1 - SYSTEM FOR CONTROLLING PERMANENT MAGNETIC SYNCHRONOUS MOTOR WITH A DISTURBANCE OBSERVER USING ROBUST MODEL PREDICTIVE SPEED CONTROL AND METHOD THEREOF

Abstract

A system for controlling the speed of a Permanent Magnetic Synchronous Motor (hereinafter PMSM) according to an embodiment of the present invention comprises: a state and disturbance observer that observes and estimates the state and disturbance of the PMSM; a controller that controls the speed of the PMSM based on the estimated state and disturbance; and an update module that performs parameter tuning for optimal iteration according to a performance indicator of the controller, wherein the state and disturbance observer is optimized and designed based on linear matrix inequalities and is designed to consider the uncertainty of the parameters based on the nominal value of the PMSM parameters and the uncertainty ratio μ.

Inventors

• 김대진
• 김병기

Assignees

• 한국에너지기술연구원

Dates

Publication Date

20260512

Application Date

20240814

Claims (14)

1. As a system for controlling the speed of a Permanent Magnetic Synchronous Motor (hereinafter PMSM), A state and disturbance observer for observing and estimating the state and disturbance of the above PMSM; A controller that controls the speed of the PMSM based on the above-mentioned estimated state and disturbance; and It includes an update module that performs parameter tuning for optimal iteration according to the performance indicators of the above controller, and The above state and disturbance observers are optimized and designed based on linear matrix inequalities, and are designed by considering the uncertainty of the parameters based on the nominal values of the parameters of the PMSM and the uncertainty ratio μ, and The above disturbance is It is defined as, is assumed to be PMSM speed control system. (Here, τ represents the disturbance, τm represents the mechanical torque, and δ represents the unknown external torque.
2. delete
3. In paragraph 1, A PMSM velocity control system in which the observed state is represented by the following state-space model. (Here, the components of matrices A and B include at least some of the parameters of the PMSM)
4. In paragraph 3, A PMSM speed control system characterized by the range of parameter uncertainty being expressed by the following mathematical formula. U o /μ ≤ U ≤ μU o (Here, μ is the uncertainty factor, parameter U includes resistance (R), inductance (L), rotational inertia (J), and flux coupling (λr), and Uo is the nominal value of parameter U)
5. In paragraph 4, A PMSM speed control system in which the above update module performs simulations for multiple uncertainty ratio μ values within the range of parameter uncertainty, analyzes response characteristics, selects the optimal uncertainty ratio μ value, and updates.
6. ◈Claim 6 was waived upon payment of the establishment registration fee.◈ In paragraph 4, A PMSM speed control system in which the above controller optimizes the controller gain matrix to reduce the cost function so that the control objective is achieved using the above estimated disturbance value.
7. ◈Claim 7 was waived upon payment of the establishment registration fee.◈ In paragraph 5, A PMSM speed control system in which at least one performance indicator among Overshoot, Undershoot, Integral of Squared Error (ISE), and Integral of Time-weighted Squared Error (ITSE) is used when selecting the above uncertainty ratio μ value.
8. A method for controlling the speed of a Permanent Magnetic Synchronous Motor (hereinafter PMSM), Step of constructing a discrete-time linear state-space model of a PMSM system; A step of designing state and disturbance observers that provide estimated state values and estimated disturbance values, taking into account the uncertainty of parameters, based on the linear state-space model constructed above; A step of designing a robust model predictive controller based on the above estimated disturbance value; A step of applying the above design results to the PMSM system and performing a simulation; A step of performing parameter tuning related to the parameter uncertainty based on the performance evaluation of the above simulation; and Steps to optimize the PMSM speed control system through iterative tuning PMSM speed control method including
9. In paragraph 8, The above state and disturbance observers are optimized and designed based on linear matrix inequalities, and are designed by considering the uncertainty of the parameters based on the nominal values of the parameters of the PMSM and the uncertainty ratio μ. PMSM speed control method.
10. In Paragraph 9, The above disturbance is It is defined as, is assumed to be PMSM speed control method. (Here, τ represents the disturbance, τm represents the mechanical torque, and δ represents the unknown external torque.
11. In Paragraph 9, A PMSM speed control method characterized in that the range of parameter uncertainty is expressed by the following mathematical formula. U o /μ ≤ U ≤ μU o (Here, μ is the uncertainty factor, parameter U includes resistance (R), inductance (L), rotational inertia (J), and flux coupling (λr), and Uo is the nominal value of parameter U)
12. In Paragraph 11, A PMSM speed control method in which the above tuning step performs a simulation for a plurality of uncertainty ratio μ values within the range of parameter uncertainty, analyzes response characteristics, and selects and tunes the optimal uncertainty ratio μ value.
13. ◈Claim 13 was waived upon payment of the establishment registration fee.◈ In Paragraph 11, A PMSM speed control method in which the above controller design step optimizes the controller gain matrix to reduce the cost function so that the control objective is achieved using the above estimated disturbance value.
14. ◈Claim 14 was waived upon payment of the establishment registration fee.◈ In Paragraph 12, A PMSM speed control method in which at least one performance indicator among Overshoot, Undershoot, Integral of Squared Error (ISE), and Integral of Time-weighted Squared Error (ITSE) is used when selecting the above uncertainty ratio μ value.

Description

System for controlling a permanent magnet synchronous motor with a robust model predicative speed control using a disturbance observer and method for controlling the same The present invention relates to a speed control system and method for a Permanent Magnetic Synchronous Motor (PMSM), and more particularly to a Robust Model Predictive Speed Control (RMPSC) system based on Linear Matrix Inequality (LMI) that considers parameter uncertainty and disturbances, and a control method using state and disturbance observers. Permanent Magnet Synchronous Motors (PMSMs) are increasingly utilized due to their various advantages, such as high efficiency, compact design, precise control, high torque-to-inertia ratio, and high power density. However, the speed control performance of PMSMs can be affected by system parameter uncertainties and disturbances. Parameter uncertainty in PMSMs can arise from manufacturing process errors, component aging, and thermal variations. These parameter variations can degrade the modeling accuracy of the PMSM and reduce controller performance. For example, changes in parameters such as resistance, inductance, and flux coupling can alter the system's dynamic characteristics, leading to discrepancies between predicted control inputs and actual operation. This can result in issues such as slowed controller response speeds, vibrations, or reduced stability. Furthermore, since PMSMs are mechanically connected to external systems, they can be affected by disturbances. These disturbances can arise from load changes, external shocks, or changes in the surrounding environment. Disturbances directly affect the speed and torque of the PMSM and can degrade the performance of the controller. Conventional control methods are unable to effectively handle these disturbances, and control performance becomes limited when the disturbance changes rapidly. Therefore, there is a need for a speed control system and method for PMSMs utilizing model predictions that are robust against parameter uncertainty and disturbances. FIG. 1 is a flowchart illustrating a robust model prediction speed control method according to an embodiment of the present invention. Figure 2 is a graph showing the simulation results according to the speed change of an embodiment of the present invention. Figure 3 is a graph showing the simulation results according to the change in disturbance of an embodiment of the present invention. Figure 4 is a graph showing the simulation results reflecting the parameter uncertainty of an embodiment of the present invention. FIG. 5 is a block diagram illustrating the configuration of a robust model prediction speed control system according to an embodiment of the present invention. The present invention will be described below with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals. Throughout the specification, when it is stated that a part is "connected (connected, in contact, combined)" with another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components. The terms used herein are merely for describing specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Embodiments of the present invention will be described in detail below with reference to the attached drawings. FIG. 1 is a flowchart illustrating a robust model prediction speed control method according to an embodiment of the present invention. In step (S110), a linear state-space model is constructed for robust model predictive control design. First, the present invention describes a mathematical model of a PMSM system to be controlled by an embodiment. In an embodiment of the present invention, the mechanical equation of motion for the generalized nonlinear system dynamics of the PMSM in a synchronous reference frame (SRF) is expressed as Equation 1. [Mathematical Formula 1] Her