CN102122916A - Compound control method based on vector control system of permanent magnet synchronous motor - Google Patents
Compound control method based on vector control system of permanent magnet synchronous motor Download PDFInfo
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- CN102122916A CN102122916A CN2011100963320A CN201110096332A CN102122916A CN 102122916 A CN102122916 A CN 102122916A CN 2011100963320 A CN2011100963320 A CN 2011100963320A CN 201110096332 A CN201110096332 A CN 201110096332A CN 102122916 A CN102122916 A CN 102122916A
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Abstract
The invention discloses a compound control method based on a vector control system of a permanent magnet synchronous motor. The method comprises the following steps: converting a three-phase current of the permanent magnet synchronous motor into equivalent currents on a straight shaft and a crossed shaft by utilizing a vector conversion principle; further linearly decoupling the mathematical models of shafts d and q of the permanent magnet synchronous motor by using the method of id=0; and using fractional order PIgammaDmu control and sliding mode variable structure compound control, wherein the fractional order PIgammaDmu control and the sliding mode variable structure compound control can be used for performing joint cross-feedback control on the speed ring through a variable weighting factor alpha. The compound control method based on a vector control system of a permanent magnet synchronous motor, provided by the invention, has the advantages of both the fractional order PIgammaDmu control and the sliding mode variable structure compound control during the control of the speed ring, and the favorable factors are maximized while the unfavorable factors are minimized. Compared with the traditional PID (proportional-integral derivative) control, the fractional order PIgammaDmu control has a widened control scope, thereby more flexibly matching the sliding mode variable structure to realize the compound control to the permanent magnet synchronous motor.
Description
Technical field
The present invention relates to alternating current machine drive technology field, be specifically related to a kind of composite control method based on permanent magnet synchronous motor vector control system.
Background technology
Along with constant development of economy, automobile has become one of requisite vehicles in people's life, and automobile industry has become the important pillar industry of national economy.Electric automobile is as a kind of green traffic instrument, and it is had a clear-cut stand and takes the course of its own.In recent years, consumer and government strengthen the consciousness of environmental protection and constantly the increasing crazily of world energy sources price, and electric automobile is as a kind of new-energy automobile of Zero-discharge non-pollution, extremely motor-dom personage's favor.And motor and driving control system thereof be as the control core of electric automobile, and the quality of its control effect directly affects the quality of electric automobile whole performance.That the limited space requirement of electric automobile is selected for use is small-sized, light weight and efficiency motors, volume is little, in light weight, moment of inertia is light, power density is high, efficient is high and export advantages such as torque is big and permagnetic synchronous motor has, become a motor the most competitive in the used for electric vehicle drive motors, generally use on mixed power electric car in Japan and Europe.Simultaneously, China contains abundant rare earth resources, along with continuing to bring out of novel permanent magnetic material, the cost of permanent magnetic material is expected to reduce, thereby magneto is occupying absolute advantage in price especially than other class motors, permagnetic synchronous motor itself is exactly the multivariable system of a high-order, non-linear, close coupling, therefore is difficult to the system of such complexity is carried out accurate targeted control.Early 1970s, people such as German scholar F.Blaschke have proposed principle of vector control, controlling object at this close coupling of alternating current machine, adopt the modern control theory of parameter reconstruct to come decoupling zero, carry out transform vector, copy the DC speed regulation principle, make the dynamic and static performance of Alternating Current Governor System reach the level of DC speed regulation.Permagnetic synchronous motor for surface-mount type generally adopts direct-axis current i
d=0 method is further carried out the linearisation decoupling zero to permagnetic synchronous motor.At present, permagnetic synchronous motor (PMSM) vector control system generally adopts speed and current double closed-loop control method, the control major part of speed is utilized traditional PID controller, though the traditional PID control principle is simple, robustness, good stability, but rapidity and anti-jamming capacity are very limited.
Summary of the invention
The object of the invention is to provide a kind of composite control method based on permanent magnet synchronous motor vector control system, it can effectively improve robustness, stability and the stable state accuracy of permagnetic synchronous motor controller, and can reach the rapidity of control and strong anti-load disturbance ability.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
Composite control method based on permanent magnet synchronous motor vector control system utilizes the transform vector principle that the three-phase current of permagnetic synchronous motor is converted to d-axis, hands over the equivalent current on the axle, passes through i again
d=0 method is to the d of permagnetic synchronous motor, the further linearisation decoupling zero of Mathematical Modeling of q axle, and speed ring adopts fractional order PI
λD
μControl and synovial membrane become the compound control of structure, described fractional order PI
λD
μControl and synovial membrane become the compound control of structure and by the variable weighting factor-alpha speed ring are united intersection control.
Further, described composite control method adopts space vector pulse width modulation (SVPWM) technical modelling to approach basic magnetic linkage circle, realizes the simulation key player on a team ripple control to permagnetic synchronous motor.
Further, described fractional order PI
λD
μThe synovial membrane that control and synovial membrane become in the compound control of structure becomes structure control employing integral variable structure control strategy, and described synovial membrane becomes the switching function of structure control and introduces the State integral item, becomes structural design and is chosen as the function switching controls.
Further, described transform vector comprises Clark conversion, Park conversion and Park inverse transformation.
Further, the scope of the described variable weighting factor is 0≤α≤1.
Further, utilize the Dan Xuan of the two ends limiting value realization of α, and then adopt fractional order PI control method
λD
μControl or synovial membrane become structure control and separately speed ring are carried out whole process control.
Further, the main control chip of described composite control method employing is the TMS320LF2812 digital processing chip.
With respect to scheme of the prior art, advantage of the present invention is:
1. the composite control method based on permanent magnet synchronous motor vector control system proposed by the invention has both fractional order PI in the control of speed ring
λD
μControl and synovial membrane become structure control advantage separately, maximize favourable factors and minimize unfavourable ones, simultaneously fractional order PI
λD
μControl is widened its control range with respect to traditional PID control, becomes the compound control of structure realization to permagnetic synchronous motor thereby can remove to mate synovial membrane more flexibly;
2. the fractional order PI that is proposed among the present invention
λD
μControl and synovial membrane become the fractional order PI in the compound control of structure
λD
μControl is the popularization of traditional integer rank PID control, fractional order PI
λD
μUtilize two degrees of freedom of λ, μ the point territory control range of traditional PI D can be extended to the face territory, the existing fractional order PI that experimental results show that
λD
μControl more traditional integer rank PID control and have better control effect;
3. the present invention judges two kinds of controller operating time sections by variable weighting factor-alpha (0≤α≤1), the characteristic that satisfies requires to determine corresponding α value according to actual needs, corresponding control strategy separately in the different α value certain limits, independent synovial membrane becomes structure control (α=0) and independent fractional order PI
λD
μControl (α=1) is two kinds of special case situations of the compound control of the present invention;
4. TMS320LF2812 chip of the present invention, its efficiently data processing speed can satisfy the lot of data computing that vector control and the compound control of speed ring etc. are brought in the composite controller.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described:
Fig. 1 is a theory diagram of the present invention;
Fig. 2 presses the controller that the calculus order divides for the present invention;
The theory diagram that Fig. 3 controls speed ring for the present invention.
Embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are used to the present invention is described and are not limited to limit the scope of the invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment:
The theory diagram of the described composite control method based on permanent magnet synchronous motor vector control system of present embodiment as shown in Figure 1, at first by Clark conversion, Park conversion, make each physical quantity be transformed into synchronous rotating frame (d, q coordinate system), present embodiment actual detected biphase current i from rest frame (threephase stator coordinate system)
a, i
b,, obtain i by the Clark conversion
α, i
β, obtain direct-axis current i under the rotating coordinate system by the Park conversion again
dWith friendship shaft current i
qCurrent feedback amount as electric current loop is carried out feedback ratio, adopts i simultaneously
d=0 method is to the further linear decoupling zero of the Mathematical Modeling on permagnetic synchronous motor d, the q axle, d-axis and hand over shaft current to regulate the voltage signal u that the back produces d-axis, hands over axle by PI by feedback ratio respectively after
d, u
q, carry out the voltage u that the Park inverse transformation obtains two phase coordinates again
α, u
βAdvancing space voltage vector pulse-width modulation (SVPWM) generation six road pwm signals then controls permagnetic synchronous motor by inverter circuit, effective vector that on off state produced by suitable combination fundamental space vector on space voltage vector control (SVPWM) technical spirit of quoting approaches basic circle, promptly come the approximate simulation circle, thereby make Control of PMSM reach the control of DC effect with changeable shape.
To sum up, the photoelectric encoder that the present invention utilizes permagnetic synchronous motor to carry can record, calculate the position and the rotating speed of rotor, the position signalling of rotor is introduced the vector coordinate transform that participates in electric current loop between Park conversion and the Park inverse transformation, the rotating speed that calculates compares through feeding back with initial reference rotation velocity, and relatively the error signal after is by the fractional order PI of the present invention's proposition
λD
μBecome the structure composite controller with synovial membrane and regulate, the error signal of d, q shaft current regulates, after the Park inverse transformation, realizes key player on a team's ripple control to permagnetic synchronous motor thereby produce 6 road PWM ripples by SVPWM via PI, and fractional order PI
λD
μBecome the structure composite control method with synovial membrane and be incorporated into speed ring in permagnetic synchronous motor electric current, the speed double closed-loop control, speed ring is carried out compound control.
In the present embodiment, fractional order PI
λD
μControl becomes structure control with synovial membrane makes up mutually with a variable weighting factor-alpha (0≤α≤1), and this composite controller also can be realized fractional order PI separately
λD
μ(α=1) and synovial membrane become the control of structure (α=0) to speed ring, Fig. 3 is the concrete theory diagram of implementing, control system performance requirement according to reality, when error signal is big, get and approach 0 or equal 0 α value, allow composite controller mainly or fully be in synovial membrane and become structure control, force the state trajectory motion of system according to predetermined " sliding mode ", the controller response speed of this moment is fast, variation and external disturbance to parameter are insensitive, strong robustness becomes in the structure controller design, for saving the required acceleration signal of synovial membrane speed control at the present embodiment synovial membrane, in switching function, introduce the State integral item, become structure and adopt the function switching controls
Near the initial point of synovial membrane plane, can produce dither because synovial membrane becomes structure, in order to overcome this problem, when error signal hour, get near 1 or equal 1 α value, allow composite controller mainly or fully be in fractional order PI
λD
μControl reduces the overshoot and the vibration of system, makes controller have better controlling performance.Fig. 2 presses the controller that the calculus order divides for the present invention, visible fractional order PI
λD
μController has been Duoed λ and two degrees of freedom of μ than conventional PID controllers, and range of choice is more flexible, can better control the increase and the minimizing of differential, integral, helps further oscillation-damped.
The TMS320LF2812 chip that is adopted in the present embodiment has powerful control and signal handling capacity, can realize complicated control algolithm, and special-purpose Electric Machine Control interface is arranged, thereby is the huge help that implements of the present invention.
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalent transformations that spirit is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (7)
1. the composite control method based on permanent magnet synchronous motor vector control system is characterized in that, described composite control method utilizes the transform vector principle that the three-phase current of permagnetic synchronous motor is converted to d-axis, hands over the equivalent current on the axle, passes through i again
d=0 method is to the d of permagnetic synchronous motor, the further linearisation decoupling zero of Mathematical Modeling of q axle, and speed ring adopts fractional order PI
λD
μControl and synovial membrane become the compound control of structure, described fractional order PI
λD
μControl and synovial membrane become the compound control of structure and by the variable weighting factor-alpha speed ring are united intersection control.
2. composite control method according to claim 1 is characterized in that, described composite control method adopts space vector pulse width modulation (SVPWM) technical modelling to approach basic magnetic linkage circle, realizes the simulation key player on a team ripple control to permagnetic synchronous motor.
3. composite control method according to claim 1 is characterized in that, described fractional order PI
λD
μThe synovial membrane that control and synovial membrane become in the compound control of structure becomes structure control employing integral variable structure control strategy, and described synovial membrane becomes the switching function of structure control and introduces the State integral item, becomes structural design and is chosen as the function switching controls.
4. composite control method according to claim 1 is characterized in that, described transform vector comprises Clark conversion, Park conversion and Park inverse transformation.
5. composite control method according to claim 1 is characterized in that, the scope of described variable weighting factor-alpha is 0≤α≤1.
6. composite control method according to claim 5 is characterized in that, utilizes the Dan Xuan of the two ends limiting value realization of α to control method, and then adopts fractional order PI
λD
μControl or synovial membrane become structure control and separately speed ring are carried out whole process control.
7. according to the described composite control method of claim 1 to 6, it is characterized in that the main control chip that described composite control method adopts is the TMS320LF2812 digital processing chip.
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| CN109617482A (en) * | 2018-12-31 | 2019-04-12 | 西安科技大学 | The L2 sliding-mode control of permanent magnet synchronous motor |
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| CN117411374A (en) * | 2023-12-12 | 2024-01-16 | 杭州迪视医疗生物科技有限公司 | Motor control method, system, device and electronic equipment |
| CN117411374B (en) * | 2023-12-12 | 2024-03-22 | 杭州迪视医疗生物科技有限公司 | Motor control method, system, device and electronic equipment |
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