CN103051274B - Variable damping-based passive control method for two-degree-of-freedom permanent magnetic synchronous motor - Google Patents
Variable damping-based passive control method for two-degree-of-freedom permanent magnetic synchronous motor Download PDFInfo
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- CN103051274B CN103051274B CN201210496035.XA CN201210496035A CN103051274B CN 103051274 B CN103051274 B CN 103051274B CN 201210496035 A CN201210496035 A CN 201210496035A CN 103051274 B CN103051274 B CN 103051274B
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Abstract
The invention discloses a permanent magnetic synchronous motor control system under variable damping-based two-degree-of-freedom passive control. The system consists of a main circuit and a control circuit, wherein the control circuit comprises a signal detection circuit, a rotating speed control outer ring and a torque control inner ring. A rotating speed outer ring controller is designed by adopting a PI (Proportion Integration) control method, and the output is a given signal of passive control; a variable-damping two-degree-of-freedom passive control method is adopted in a torque magnetic chain inner ring controller, and the output is a two-phase alternating-current voltage on a two-phase rotary coordinate system; and passive control of the permanent synchronous motor is realized through space vector pulse width modulation conversion and a power switching device acting on a main circuit inverter. Due to the adoption of a passive control method disclosed by the invention, independent setting of the tracking performance and interference performance is realized, the rotating speed of the motor meets the requirement of accurate control, and the overall performance of the system can be improved effectively.
Description
Technical field
The invention belongs to motor control technology field, relate to a kind of passive coherent locating method of the two degrees of freedom permagnetic synchronous motor based on mutative damp.
Background technology
Permagnetic synchronous motor (permanent magnet synchronous motor, permagnetic synchronous motor) be the complex object of a multivariable, close coupling, non-linear, variable element, there is the advantages such as high accuracy, high dynamic performance, high reliability, small size, extensive use is obtained, as the field such as industrial, civilian, military in high accuracy and high reliability request occasion.Existing method for controlling permanent magnet synchronous motor substantially based on vector control or direct torque control, although higher dynamic and static performance can be obtained, vector control system exist complex structure, amount of calculation large, to problems such as Parameters variation are responsive.Direct Torque Control torque ripple when starting and low cruise is larger.To this, for obtaining high-performance permanent magnet synchronous motor control system, some utilize the control program of Nonlinear Control System Design to be suggested, as the control methods such as adaptive control, Sliding mode variable structure control, fuzzy control are studied, the performance of permagnetic synchronous motor system is enhanced, but still there are some problems.Self-adaptation control method is poor in the ability of process non linear system and system configuration change, and the application in multiple output system is still immature.Sliding mode variable structure control method can bring high dither due to frequent switching at a high speed.The control precision of fuzzy control method is not high, and stable state accuracy is low, even produces concussion.
Summary of the invention
The present invention is the weak point for overcoming existing for above-mentioned prior art, a kind of passive coherent locating method of the two degrees of freedom permagnetic synchronous motor based on mutative damp is proposed, to solve motor speed, the parameter of electric machine affects the problem of control system for permanent-magnet synchronous motor control precision and dynamic responding speed.
The present invention realizes like this, based on the passive coherent locating method of the two degrees of freedom permagnetic synchronous motor of mutative damp, for setting up permagnetic synchronous motor port control Hamilton system model, be decomposed into electrically in parallel with the feedback of machinery 2 passive subsystems, nonlinear analysis method is adopted to set up current error equation, by the Torque and speed controller of permagnetic synchronous motor, derive rotor voltage controlled quentity controlled variable; Introduce various outer that two parameter compensator technology real-time correction system is subject to and disturb d (s), adopt variable damper control method, mutative damp is realized by second-order differential tracker.
Feature of the present invention is also:
The control system that above-mentioned control method adopts comprises main circuit and control circuit, and main circuit comprises inverter module and permagnetic synchronous motor module; Control circuit comprises the outer ring controller PI module of rotating speed, mutative damp two degrees of freedom Passive Shape Control inner ring controller module, speed encoder module, two 2/2 coordinate transformation modules, 3/2 coordinate transformation module, space vector pulse width modulation module; Rotating speed needed for control system, current signal are obtained by speed probe, current sensor respectively, and concrete implementation step is as follows:
1) based on energy shaping and passive coherent locating method that is interconnected, damping configuration, the model setting up permagnetic synchronous motor Passive Shape Control is:
In formula, k
1, k
2adjustable damping parameter, L
d, L
qinductance under d-q coordinate system, ω rotor mechanical angular speed,
the magnetic linkage that permanent magnet produces, R
sfor stator resistance, n
pnumber of pole-pairs;
2) second order Nonlinear Tracking Differentiator is such dynamical system: to its input signal v (t), it is by output two signal x
1and x
2, wherein x
1follow the tracks of v (t), thus x
2as " approximate differential " of v (t), mutative damp injection value is determined by equation below:
Wherein
K in above formula
1start the damping value of wishing when starting to add, k
2be the value close to wishing to add less damping during stable state, y is damping output valve, integrating step 1, forms mutative damp Passive Shape Control device module;
3) in order to better realize tracing property and robustness, in current feedback passage, adding low pass filter Fr (s) module, Fr (s) is designed to
so far, the modeling based on mutative damp two degrees of freedom Passive Shape Control module 7 is completed;
4) control system for permanent-magnet synchronous motor workflow is as follows: by the stator winding current i of permagnetic synchronous motor module
a, i
b, i
c, be input to 3/2 coordinate transformation module in control circuit, obtain the current component i under two-phase rest frame
α, i
β, then be input to 2/2 coordinate transformation module, obtain the current component i under two-phase rotating coordinate system
d, i
q, then above-mentioned signal is delivered to mutative damp two degrees of freedom Passive Shape Control device module 7, speed encoder module 8 obtains rotor position and rotational speed omega, then gives two 2/2 coordinate transformation modules and the outer ring controller PI module of rotating speed respectively; By the desired value i of q shaft current
qrefpoor with feedback current, obtain current error Δ i
q, the given value of current value i of d axle
dref=0 is poor with the d shaft current exported, and obtains Δ i
d, through the regulation output component of voltage U of mutative damp two degrees of freedom Passive Shape Control device module 7
d, U
q, export U through 2/2 coordinate transformation module inverse transformation
α, U
β, finally by space vector pulse width modulation module, export six road pwm signal supply inverter module work, by DC bus-bar voltage U
dcbe applied in permagnetic synchronous motor module with the form of PWM ripple.
The present invention has following beneficial effect:
1, the present invention is based on energy to be shaped and passive coherent locating method that is interconnected, damping configuration, complete the modeling of the PCH system of surface permanent magnetic synchronous machine.Start with from the energy of motor, utilize the design simplifying controller without power not affecting stability, directly utilize the global stability of input and output feedback and feasible system, without singular point problem, have stronger robustness to system parameter variations and external disturbance.Select different output function and energy function, multiple Passive Shape Control device can be designed, successfully should in EL(Euler-Lagrange, EL) control system described by equation, and have antisymmetric matrix in EL model, simplify passive control law.
2, current loop control method provided by the invention, is realized by the two degrees of freedom Passive Shape Control device of mutative damp, generates and two component of voltage u accurately under control d-q rotating coordinate system
d, u
q, and without the problem of saturation integral.It achieve given rotating speed and the DAZ gene of instruction current and the real-time estimation to moment, and then control stator three-phase current accurately.
3, this invention simplifies Control system architecture, explicit physical meaning, system is easy to realize.Do not need the torque observer of design (calculated) load simultaneously etc.
4, the two degree of freedom structure of mutative damp is incorporated among Passive Shape Control by the present invention, proposes based on the binary Passive Shape Control device of mutative damp, achieves tracing property and robustness is optimized simultaneously, and the real-time adjustment of parameter also ensure that the stability of system.Effective dynamic and static state performance improving permagnetic synchronous motor, can be applicable to engineering practice field.
Accompanying drawing explanation
Fig. 1 is the passive coherent locating method block diagram of the two degrees of freedom permagnetic synchronous motor that the present invention is based on mutative damp;
Fig. 2 is second order Nonlinear Tracking Differentiator block diagram of the present invention;
Fig. 3 is permagnetic synchronous motor system block diagram of the present invention.
In figure, 1. mutative damp Passive Shape Control module, 2. low pass filter Fr (s) module, 3. inverter module, 4. permagnetic synchronous motor module, 5. control circuit, 6. the outer ring controller PI module of rotating speed, 7. mutative damp two degrees of freedom Passive Shape Control inner ring controller module, 8. speed encoder module, 9. the one 2/2 coordinate transformation module, 10. the 2 2/2 coordinate transformation module, 11.3/2 coordinate transformation module, 12. space vector pulse width modulation modules, 13. main circuits.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Based on the passive coherent locating method of the two degrees of freedom permagnetic synchronous motor of mutative damp, as shown in Figure 1, mutative damp Passive Shape Control device module 1 and low pass filter Fr (s) module 2 is comprised.
Mutative damp is realized by second-order differential tracker, as shown in Figure 2, is second-order differential tracker nonlinear function.
The present invention is based on the passive coherent locating method of the two degrees of freedom permagnetic synchronous motor of mutative damp, for setting up permagnetic synchronous motor port control Hamilton system model, be decomposed into electrically in parallel with the feedback of machinery 2 passive subsystems, nonlinear analysis method is adopted to set up current error equation, by the Torque and speed controller of permagnetic synchronous motor, derive rotor voltage controlled quentity controlled variable; Introduce various outer that two parameter compensator technology real-time correction system is subject to and disturb d (s), adopt variable damper control method, mutative damp is realized by second-order differential tracker.Its control system as shown in Figure 3, comprise main circuit 13 and control circuit 5, wherein main circuit comprises inverter module 3 and permagnetic synchronous motor module 4, control circuit 5 comprises the outer ring controller PI module 6 of rotating speed, mutative damp two degrees of freedom Passive Shape Control inner ring controller module 7, speed encoder module the 8, the 1 coordinate transformation module the 9, the 2 2/2 coordinate transformation module 10,3/2 coordinate transformation module 11, space vector pulse width modulation module 12; Its control method is for setting up permagnetic synchronous motor port control Hamilton system model, be decomposed into electrically in parallel with the feedback of machinery 2 passive subsystems, nonlinear analysis method is adopted to set up current error equation, by the Torque and speed controller of permagnetic synchronous motor, derive rotor voltage controlled quentity controlled variable; Introduce various outer that two parameter compensator technology real-time correction system is subject to disturb, arrive velocity perturbation between steady state period to overcome system, adopt variable damper control method to this, mutative damp is realized by second-order differential tracker.
It is better that the method can make dynamic property more optimize with torque and rotational speed tracking effect.
Rotating speed needed for control system, current signal are obtained by speed probe, current sensor respectively, and concrete implementation step is as follows:
1) based on energy shaping and passive coherent locating method that is interconnected, damping configuration, the model setting up permagnetic synchronous motor Passive Shape Control is:
In formula, k
1, k
2adjustable damping parameter, L
d, L
qinductance under d-q coordinate system, ω rotor mechanical angular speed,
the magnetic linkage that permanent magnet produces, R
sfor stator resistance, n
pnumber of pole-pairs;
2) second order Nonlinear Tracking Differentiator is such dynamical system: to its input signal v (t), it is by output two signal x
1and x
2, wherein x
1follow the tracks of v (t), thus x
2as " approximate differential " of v (t), as shown in Figure 2, mutative damp injection value is determined by equation below:
Wherein
K in above formula
1start the damping value of wishing when starting to add, k
2be the value close to wishing to add less damping during stable state, y is damping output valve.Integrating step 1, forms mutative damp Passive Shape Control device module 1;
3) in order to better realize tracing property and robustness, in current feedback passage, adding low pass filter Fr (s) module 2, Fr (s) is designed to
as shown in Figure 1.So far, the modeling based on mutative damp two degrees of freedom Passive Shape Control module 7 is completed;
4) control system for permanent-magnet synchronous motor workflow is as follows: by the stator winding current i of permagnetic synchronous motor module 4
a, i
b, i
c, be input to 3/2 coordinate transformation module 11 in control circuit 5, obtain the current component i under two-phase rest frame
α, i
β, then be input to the 2 2/2 coordinate transformation module 10, obtain the current component i under two-phase rotating coordinate system
d, i
q, then above-mentioned signal is delivered to mutative damp two degrees of freedom Passive Shape Control device module 7, speed encoder module 8 obtains rotor position and rotational speed omega, then gives 2/2 coordinate transformation module 9,10 and the outer ring controller PI module 6 of rotating speed respectively; By the desired value i of q shaft current
qrefpoor with feedback current, obtain current error Δ i
q, the given value of current value i of d axle
dref=0 is poor with the d shaft current exported, and obtains Δ i
d, through the regulation output component of voltage U of mutative damp two degrees of freedom Passive Shape Control device module 7
d, U
q, export U through the one 2/2 coordinate transformation module 9 inverse transformation
α, U
β, finally by space vector pulse width modulation module 12, export six road pwm signal supply inverter modules 3 and work, by DC bus-bar voltage U
dcbe applied in permagnetic synchronous motor module 4 with the form of PWM ripple.The present invention is theoretical and passive control method according to port control Hamilton system; on the port control Hamilton system modeling basis of hidden level permagnetic synchronous motor; a kind of passive governing system based on mutative damp two parameter compensator is proposed, the torque and rotational speed of real-time tracking permagnetic synchronous motor.Can meet simultaneously 1. make system have stronger robustness, optimum tracking performance to Parameters variation and external disturbance.2. system has higher dynamic and static performance.3. system configuration simple, reliable, be easy to stability analysis.4. be applied in the middle of multiple output system, and optimize permagnetic synchronous motor double loop speed-regulating system.Can be applicable in the middle of engineering practice field.
Claims (1)
1. based on the passive coherent locating method of the two degrees of freedom permagnetic synchronous motor of mutative damp, it is characterized in that: set up permagnetic synchronous motor port control Hamilton system model, be decomposed into electrically in parallel with the feedback of machinery 2 passive subsystems, nonlinear analysis method is adopted to set up current error equation, by the Torque and speed controller of permagnetic synchronous motor, derive rotor voltage controlled quentity controlled variable; Introduce various outer that two parameter compensator technology real-time correction system is subject to disturb, adopt variable damper control method, mutative damp is realized by second-order differential tracker;
The permagnetic synchronous motor system adopted comprises control system, described control system comprises main circuit (13) and control circuit (5), and described main circuit (13) comprises inverter module (3) and permagnetic synchronous motor module (4); Control circuit (5) comprises the outer ring controller PI module (6) of rotating speed, two degrees of freedom Passive Shape Control inner ring controller module (7) of mutative damp, speed encoder module (8), two 2/2 coordinate transformation modules (9,10), 3/2 coordinate transformation module (11), space vector pulse width modulation module (12); Rotating speed needed for control system, current signal are obtained by speed probe, current sensor respectively, and concrete implementation step is as follows:
1) based on energy shaping and passive coherent locating method that is interconnected, damping configuration, the model setting up permagnetic synchronous motor Passive Shape Control is:
In formula, k
1, k
2adjustable damping parameter, L
d, L
qinductance under d-q coordinate system, ω rotor mechanical angular speed,
the magnetic linkage that permanent magnet produces, R
sfor stator resistance, n
pnumber of pole-pairs;
2) second order Nonlinear Tracking Differentiator is such dynamical system: to its input signal v (t), it is by output two signal x
1and x
2, wherein x
1follow the tracks of v (t), thus x
2as " approximate differential " of v (t), mutative damp injection value is determined by equation below:
Wherein
K in above formula
1start the damping value of wishing when starting to add, k
2be the value close to wishing to add less damping during stable state, y is damping output valve, and a delimits for giving, and δ is training pace; Integrating step 1, forms mutative damp Passive Shape Control device module (1);
3) in order to better realize tracing property and robustness, in current feedback passage, adding low pass filter Fr (s) module 2, Fr (s) is designed to
so far, the modeling based on mutative damp two degrees of freedom Passive Shape Control module 7 is completed;
4) control system for permanent-magnet synchronous motor workflow is as follows: by the stator winding current i of permagnetic synchronous motor module (4)
a, i
b, i
c, be input to 3/2 coordinate transformation module (11) in control circuit 5, obtain the current component i under two-phase rest frame
α, i
β, then be input to 2/2 coordinate transformation module (10), obtain the current component i under two-phase rotating coordinate system
d, i
qthen above-mentioned signal is delivered to mutative damp two degrees of freedom Passive Shape Control device module (7), speed encoder module (8) obtains rotor position and rotational speed omega, then gives 2/2 coordinate transformation module (9,10) and the outer ring controller PI module (6) of rotating speed respectively; By the desired value i of q shaft current
qrefpoor with feedback current, obtain current error Δ i
q, the given value of current value i of d axle
dref=0 is poor with the d shaft current exported, and obtains Δ i
d, through the regulation output component of voltage u of mutative damp two degrees of freedom Passive Shape Control device module 7
d, u
q, export u through the one 2/2 coordinate transformation module (9) inverse transformation
α, u
β, finally by space vector pulse width modulation module (12), export six road pwm signal supply inverter module (3) work, by DC bus-bar voltage U
dcbe applied in permagnetic synchronous motor module (4) with the form of PWM ripple.
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| CN104320033B (en) * | 2014-11-14 | 2017-04-05 | 青岛大学 | A kind of mixing control method of permanent-magnet synchronous induction conductivity |
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| CN109617469A (en) * | 2018-12-27 | 2019-04-12 | 哈尔滨理工大学 | A kind of permanent magnet synchronous motor active disturbance rejection passive control method |
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| CN110474587B (en) * | 2019-09-03 | 2021-02-19 | 哈尔滨理工大学 | Position-sensorless control system and method for permanent magnet synchronous motor with high-frequency signal injection under passive control |
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| CN111313782B (en) * | 2020-01-20 | 2022-03-01 | 江苏新安电器股份有限公司 | Induction motor passivity control method based on immune algorithm |
| CN112737456B (en) * | 2020-12-18 | 2023-05-30 | 青岛四方庞巴迪铁路运输设备有限公司 | Traction asynchronous motor control method |
| CN113241766B (en) * | 2021-05-28 | 2022-08-30 | 燕山大学 | Transformation ratio combined type current harmonic treatment method for three-phase four-wire grid-connected inverter |
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| CN1737708A (en) * | 2005-05-18 | 2006-02-22 | 江苏大学 | Nerval net based inverse control system for permanent-magnet synchronous motor with five degrees of freedom without bearing and control method |
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