A controller for suppressing electromechanical coupling resonance, comprising an Extended State Observer (ESO) integrated with a Quasi-Resonant Controller (QRC), (QRC-ESO), the QRC-ESO, configured to observe harmonic torques and rotational velocity fluctuations within a frequency range, and output suppression signals to reduce an amplitude of the harmonic torques near a resonant frequency, to reduce the impact of harmonic torques on mechanical system vibrations, wherein a state-space equation of the QRC-ESO is as follows:
- [
- z
- .
- 1
- z
- .
- 2
- ]
- =
- [
- 0
- 1
- 0
- 0
- ]
- [
- z
- 1
- z
- 2
- ]
- +
- [
- b
- 0
- 0
- ]
-
- u
- +
- [
- β
- 1
- β
- 2
- (
- 1
- +
- G
- QRC
- )
- ]
-
- (
- x
- 1
- -
- z
- 1
- )
- in the state-space equation, z1 denotes an estimated mechanical angular velocity, z2 denotes an estimated lumped disturbance, b0=1/J0, J0 denotes a nominal inertia value, x1=ωm, ωm denotes a mechanical angular velocity, x2=dn, dn denotes a lumped disturbance, u=is, is denotes a stator current, and β1 and β2 are gains of an estimation loop;
- GQRC is the representation of QRC, which is as follows:
- G
- QRC
- (
- s
- )
- =
- 2
-
- K
- r
-
- w
- c
-
- s
- s
- 2
- +
- 2
-
- w
- c
-
- s
- +
- w
- r
- 2
- in the formula, ωc denotes a cutoff frequency of the QRC controller, ωr denotes a resonant frequency of a controlled object, and Kr denotes a gain coefficient of the QRC controller;
- an error state-space equation of the QRC-ESO is:
- [
- e
- .
- 1
- e
- .
- 2
- ]
- =
- [
- β
- 1
- 1
- β
- 2
- (
- 1
- +
- G
- QRC
- )
- 0
- ]
- [
- e
- 1
- e
- 2
- ]
- +
- [
- 0
- -
- 1
- ]
-
- d
- .
- n
- in the error state-space equation, e1 denotes an angular velocity estimation error, e1=z1−ωm, e2 denotes a disturbance estimation error, and e2=z2−dn;
- a transfer function between the angular velocity estimation error e1 and a system disturbance x2 in the QRC-ESO is:
- G
- e
-
- 1
- QRC
- -
- ES
-
- 0
- (
- s
- )
- =
- e
- 1
- x
- 2
- =
- s
- s
- 2
- +
- β
- 1
-
- s
- +
- δ
-
- (
- s
- )
- in the formula, δ (s)=β2(1+GQRC(s));
- and
- a transfer function between a disturbance estimation z2 and the system disturbance x2 in the QRC-ESO is:
- G
- z
-
- 2
- QRC
- -
- ES
-
- 0
- (
- s
- )
- =
- z
- 2
- x
- 2
- =
- δ
-
- (
- s
- )
- s
- 2
- +
- β
- 1
-
- s
- +
- δ
-
- (
- s
- )
- ;
- wherein the QRC-ESO is obtained using the following steps:
- determining a mechanical system structure of an electromechanical device and a control system algorithm of the electromechanical device, and constructing a dynamic model of a mechanical system and a control algorithm model of a control system;
- constructing an electromechanical coupling model based on the dynamic model of the mechanical system and the control algorithm model of the control system:
- exchanging information between the dynamic model and a motor control model, the control algorithm model taking rotational velocity of a motor rotor and load signals of the motor rotor in the dynamic model as input signals for processing via a controller to output a motor control signal, the motor control signal driving an inverter to adjust a motor rotational velocity and an output drive torque, and the dynamic model calculating a dynamic response characteristic of the dynamic model based on a driving torque of a motor and a load torque of the motor;
- carrying out resonance characteristic analysis of an electromechanical system based on the electromechanical coupling model to determine resonance points:
- conducting modal analysis for the dynamic model of the mechanical system to obtain natural modal frequency information of drive components, analyzing a harmonic characteristic of a stator current and a harmonic characteristic of an output torque in the control algorithm to obtain a frequency distribution characteristic of a harmonic current and a frequency distribution characteristic of a harmonic torque, and performing comparative analysis on a mechanical modal frequency characteristic with a harmonic torque characteristic to determine a frequency distribution range of coupled vibrations of the electromechanical system and obtain the resonance points;
- designing a coupled vibration suppression algorithm for the resonance points;
- and
- designing an observer for a coupled vibration state of the electromechanical system based on that a resonance source in the electromechanical system is a motor harmonic torque.