CN103236814A - Fractional integral sliding mode-based speed control method and device for permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a fractional integral sliding mode-based speed control method for a permanent magnet synchronous motor. The fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor comprises the following steps of constructing a fractional integral sliding mode surface S, and designing a fractional integral sliding mode rotary speed controller for performing rotary speed regulation. The invention also discloses a fractional integral sliding mode-based speed control device for the permanent magnet synchronous motor. According to the fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor disclosed by the invention, high-performance speed following control of the motor can be realized under the condition that parameter perturbation and load disturbance exist in a control system for the permanent magnet synchronous motor, and the defect that an integral saturation effect and the transient performance are reduced due to a big initial error or actuator saturation in traditional integral sliding mode control is overcome.

Description

Permagnetic synchronous motor method for control speed and device based on the fractional order integration sliding formwork

Technical field

The present invention relates to a kind of permagnetic synchronous motor method for control speed and device based on the fractional order integration sliding formwork, belong to the AC Servo Motor Control technical field.

Background technology

Permagnetic synchronous motor has advantages such as compact conformation, power density height, energy conversion efficiency height, speed adjustable range be wide, in light weight, is widely used in fields such as industrial, civilian, military affairs.

Because permagnetic synchronous motor is typical non-linear, a multivariable coupled system, and its performance is subjected to external loading disturbance, inner parameter variation, not probabilistic influence such as modeling and non-linear dynamic characteristic of object.In order to obtain good dynamic response, some robust control strategies such as nonlinear Control, adaptive control, H _∞Control, sliding formwork control etc. are introduced in the Study of AC Servo System in succession.Wherein sliding formwork control with its strong robustness, response fast, advantage such as physics realization is simple and obtain researcher's attention.

Sliding formwork control is as a kind of variable structure control method, when system's phase path when designed sliding-mode surface moves, indeterminate and the external interference of system parameters had very strong robustness.Since the mid-90 in 20th century, successively there is research that Sliding mode variable structure control is applied in the control of AC servo.In order further to solve the steady-state error problem that exists in traditional sliding formwork control, can in the design of sliding-mode surface, introduce the integration item.Adding the integration item in the sliding-mode surface can allow the systematic steady state error reduce, effectively weaken the effect of buffeting, the stability that strengthens controller.

At the speed control of permagnetic synchronous motor, the designed Integral Sliding Mode face S of prior art is defined as follows:

$S=e\left(t\right)+{\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="130427101550.png,130427101610.png"\; state="\{\{state\}\}">C</figure-callout>}}_1{\&Integral;}_0^{t}e\left(\mathrm{\&tau;}\right)\mathrm{d\&tau;},$

The designed Integral Sliding Mode face S of prior art is based on the integer rank integration of velocity error as can be seen, therefore the Integral Sliding Mode controller that obtains also is the integer rank, when big initial error or actuator are saturated, can cause degradation problem under integration saturation effect and the transient performance.

Among the present invention, fractional calculus based on state variable, constructed non-linear fractional order integration sliding-mode surface, and design a kind of new fractional order integration sliding mode controller, be applied in the speed following control system of permagnetic synchronous motor, when keeping traditional integer rank Integral Sliding Mode controller, effectively overcome degradation problem under integration saturation effect and the transient performance.

Summary of the invention

Technical problem to be solved by this invention provides a kind of can the existence under parameter perturbation, the load disturbance situation at control system for permanent-magnet synchronous motor, realization is followed control to the high-performance speed of motor, and overcomes in the existing Integral Sliding Mode control because permagnetic synchronous motor method for control speed and the device based on the fractional order integration sliding formwork that big initial error or the saturated integration saturation effect that causes of actuator and transient performance descend.

The present invention adopts following technical scheme to solve the problems of the technologies described above: the present invention has designed a kind of permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork, comprises following concrete steps:

Step (1): the three-phase current i that gathers permagnetic synchronous motor _a, i _b, i _c, and carry out the Clark conversion, be converted into the equivalent current i under the alpha-beta coordinate system _aAnd i _β

Step (2): the motor actual motion speed omega and the rotor position that obtain permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in the step (2), with the equivalent current i under the alpha-beta coordinate system in motor rotor position θ and the step (1) _aAnd i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q

Step (4): utilize motor actual motion speed omega and speed set-point ω in the step (2) _RefDifference e (t) relatively, structure fractional order integration sliding-mode surface S;

Step (5): carry out rotational speed regulation according to the design of the fractional order integration sliding-mode surface S in the step (4) fractional order integration sliding formwork rotational speed governor, thereby obtain q shaft current set-point under the d-q coordinate system

Step (6): to q shaft current set-point

With q axle actual output current value i _qDifference is relatively carried out the q shaft current and is regulated processing, produces q shaft voltage output valve u _q, to d shaft current set-point With d axle actual output current value i _dDifference is relatively carried out the d shaft current and is regulated processing, produces d shaft voltage output valve u _d, with the voltage output value u under the above-mentioned d-q coordinate system _dAnd u _qCarry out the PARK inversion process, thereby obtain the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, to described equivalent voltage control set-point u _αAnd u _βCarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal control three-phase inverter to produce three-phase voltage signal, and utilize the operation of described three-phase voltage signal control permagnetic synchronous motor.

As a kind of optimization method of the present invention: the Clark conversion in the described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

As a kind of optimization method of the present invention: the PARK conversion in the described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right].$

As a kind of optimization method of the present invention: the fractional order integration sliding-mode surface S of structure represents with following formula in the described step (4):

$S=e\left(t\right)+{\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="130427101550.png,130427101610.png"\; state="\{\{state\}\}">C</figure-callout>}}_1\&CenterDot;{}_{0}D_t^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right)=e\left(t\right)+C_1{C}^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right),$

Wherein, e (t) is defined as speed set-point ω _RefWith the difference of motor actual speed ω after relatively, t is defined as time variable, sliding formwork coefficient C ₁0,

Be defined as the fractional order integration value of difference e (t), u is defined as the order of fractional order integration sliding-mode surface, and 0＜u＜1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n〉and 0, and

With

Be respectively initial value and the fractional order integration value of difference e (t) when t=0.

As a kind of optimization method of the present invention: the model of the fractional order integration sliding formwork rotational speed governor of design is in the described step (5):

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor first characteristic coefficient

Motor second characteristic coefficient P is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fBe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient;

Be defined as the derivative of speed set-point, sgn () is sign function, and ε is defined as handoff gain, and ε〉0.

As a kind of optimization method of the present invention: the PARK inverse transformation is expressed as matrix in the described step (6):

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

The present invention has also designed a kind of permagnetic synchronous motor speed control unit based on the fractional order integration sliding formwork, comprise current acquisition module, position transducer, Clark conversion module, first comparator, second comparator, the 3rd comparator, PARK conversion module, q shaft current controller, d shaft current controller, PARK inverse transform module, space vector pulse width modulation module, three-phase inverter and permagnetic synchronous motor, also comprise fractional order integration sliding formwork rotational speed governor, wherein:

Described current acquisition module is used for gathering motor threephase stator current i _a, i _bAnd i _c, and transfer to the Clark conversion module;

Described Clark conversion module is used for motor threephase stator current i _a, i _bAnd i _cBe transformed to the equivalent current i under the alpha-beta coordinate system _aAnd i _β, and with i _aAnd i _βTransfer to the PARK conversion module;

Described position transducer obtains motor actual motion speed omega and the rotor position of permagnetic synchronous motor, and described motor rotor position θ transferred to PARK conversion module and PARK inverse transform module respectively, described motor speed of service ω is transferred to first comparator;

Described PARK conversion module is with the rotor position that receives and the equivalent current i under the alpha-beta coordinate system _a, i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q, and with d axle actual output current value i _dTransfer to the 3rd comparator, with q axle actual output current value i _qTransfer to second comparator;

Described first comparator is with speed set-point ω _RefTransfer to fractional order integration sliding formwork rotational speed governor with the difference e (t) of motor actual motion speed omega after relatively, described fractional order integration sliding formwork rotational speed governor carries out rotational speed regulation to be handled, q shaft current set-point under the output d-q coordinate system And transfer to second comparator, described q shaft current set-point

With q axle actual output current value i _qInput to q shaft current controller through the difference of second comparator after relatively, described q shaft current controller produces q shaft voltage output valve u _q, and transfer to the PARK inverse transform module;

D shaft current set-point

With d axle actual output current value i _dInput to d shaft current controller through the difference of the 3rd comparator after relatively, described d shaft current controller produces d shaft voltage output valve u _d, and transfer to the PARK inverse transform module;

Described PARK inverse transform module is with the q shaft voltage output valve u that receives _qWith d shaft voltage output valve u _dCarry out the PARK inverse transformation, produce the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, and with u _αAnd u _βTransfer to the space vector pulse width modulation module;

Equivalent voltage control set-point u under the alpha-beta coordinate system that the utilization of described space vector pulse width modulation module receives _αAnd u _βProduce pwm signal, and transfer to three-phase inverter, described pwm signal control three-phase inverter produces three-phase voltage signal, and three-phase inverter utilizes the operation of described three-phase voltage signal control permagnetic synchronous motor.

The present invention compared with prior art has following advantage:

1. in the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork that proposes among the present invention, the order u of fractional order integration sliding formwork rotational speed governor is adjustable, can obtain best control performance by choosing suitable order u;

2. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork that proposes among the present invention, can overcome in the Integral Sliding Mode control method of traditional integer rank, because big initial error or the saturated integration saturation effect that causes of actuator and transient performance descend;

3. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork that proposes among the present invention when system exists load disturbance and parameter perturbation, have better dynamic property and disturbance rejection ability, and more accurate speed is followed precision.

Description of drawings

Fig. 1 is theory diagram of the present invention;

Fig. 2 be mid-score of the present invention rank Integral Sliding Mode rotational speed governor theory diagram;

Fig. 3 is that the Integral Sliding Mode control of mid-score of the present invention rank is controlled with the traditional quadrature sliding formwork, the ramp response comparison diagram of PI control;

Fig. 4 is the partial enlarged drawing of a part among Fig. 3;

Fig. 5 is the sinusoidal response comparison diagram of the Integral Sliding Mode control of mid-score of the present invention rank and the control of traditional quadrature sliding formwork;

Fig. 6 is the partial enlarged drawing of b part among Fig. 5;

Fig. 7 is the sinusoidal tracking Error Graph of the Integral Sliding Mode control of mid-score of the present invention rank and the control of traditional quadrature sliding formwork.

Embodiment

The present invention is described in further detail below in conjunction with accompanying drawing:

As shown in Figure 1, the present invention has designed a kind of permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork, comprises following concrete steps:

Step (1): the three-phase current i that gathers permagnetic synchronous motor _a, i _b, i _c, and carry out the Clark conversion, be converted into the equivalent current i under the alpha-beta coordinate system _aAnd i _β

Step (2): the motor actual motion speed omega and the rotor position that obtain permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in the step (2), with the equivalent current i under the alpha-beta coordinate system in motor rotor position θ and the step (1) _aAnd i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q

Step (4): utilize motor actual motion speed omega and speed set-point ω in the step (2) _RefDifference e (t) relatively, structure fractional order integration sliding-mode surface S;

Step (5): carry out rotational speed regulation according to the design of the fractional order integration sliding-mode surface S in the step (4) fractional order integration sliding formwork rotational speed governor, thereby obtain q shaft current set-point under the d-q coordinate system

Step (6): to q shaft current set-point

With q axle actual output current value i _qDifference is relatively carried out the q shaft current and is regulated processing, produces q shaft voltage output valve u _q, to d shaft current set-point

With d axle actual output current value i _dDifference is relatively carried out the d shaft current and is regulated processing, produces d shaft voltage output valve u _d, with the voltage output value u under the above-mentioned d-q coordinate system _dAnd u _qCarry out the PARK inversion process, thereby obtain the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, to described equivalent voltage control set-point u _αAnd u _βCarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal control three-phase inverter to produce three-phase voltage signal, and utilize the operation of described three-phase voltage signal control permagnetic synchronous motor.

As a kind of optimization method of the present invention: the Clark conversion in the described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

As a kind of optimization method of the present invention: the PARK conversion in the described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right].$

As a kind of optimization method of the present invention: the fractional order integration sliding-mode surface S of structure represents with following formula in the described step (4):

$S=e\left(t\right)+{\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="130427101550.png,130427101610.png"\; state="\{\{state\}\}">C</figure-callout>}}_1\&CenterDot;{}_{0}D_t^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right)=e\left(t\right)+C_1{C}^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right),$

Wherein, e (t) is defined as speed set-point ω _RefWith the difference of motor actual speed ω after relatively, t is defined as time variable, sliding formwork coefficient C ₁0,

Be defined as the fractional order integration value of difference e (t), u is defined as the order of fractional order integration sliding-mode surface, and 0＜u＜1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n〉and 0, and

With

Be respectively initial value and the fractional order integration value of difference e (t) when t=0, in sum, to initial condition e (0) arbitrarily, be carved with S=0 when t=0, namely the initial condition of system just is on the sliding-mode surface, has eliminated arrival process.

As a kind of optimization method of the present invention: the model of the fractional order integration sliding formwork rotational speed governor of design is in the described step (5):

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor first characteristic coefficient Motor second characteristic coefficient

P is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fBe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient;

Be defined as the derivative of speed set-point, sgn () is sign function, and ε is defined as handoff gain, and ε〉0.

As a kind of optimization method of the present invention: the PARK inverse transformation is expressed as matrix in the described step (6):

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

In specific embodiment, the step that we design fractional order integration sliding formwork rotational speed governor as shown in Figure 2:

Step a: the mechanical movement equation of permagnetic synchronous motor under the d-q coordinate system can be written as

$\stackrel{\&CenterDot;}{\mathrm{\&omega;}}+\mathrm{g\&omega;}+\mathrm{\&Gamma;}={\mathrm{hi}}_q,$

Wherein, motor the 3rd characteristic coefficient

T _LBe defined as the load torque of permagnetic synchronous motor, consider the uncertain amount of parameter in the motor operation course, the mechanical movement equation of permagnetic synchronous motor can further be written as

$\stackrel{\&CenterDot;}{\mathrm{\&omega;}}+(g+\mathrm{\&Delta;g})\mathrm{\&omega;}+(\mathrm{\&Gamma;}+\mathrm{\&Delta;\&Gamma;})=(h+\mathrm{\&Delta;h})i_q,$

Wherein, Δ h is defined as the variable quantity of the motor first characteristic coefficient h, and Δ g is defined as the variable quantity of the motor second characteristic coefficient g, and Δ Γ is defined as the variable quantity of motor the 3rd characteristic coefficient Γ;

To permagnetic synchronous motor speed set-point ω _RefDifferentiate with the difference e (t) of motor actual speed ω after relatively

Wherein, procedure function Disturbing function δ (t)=Δ g ω+Δ Γ+Γ-Δ hi _q

Step b: fractional order integration sliding-mode surface S is differentiated and can get:

$\stackrel{\&CenterDot;}{S}=\stackrel{\&CenterDot;}{e}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right);$

Step c: when system has when sliding-mode surface moves And utilize and obtain among the step a

Then have:

Thereby obtain,

Steps d: adopt constant speed convergence rate, design fractional order integration sliding formwork control law is as follows:

Step e: try to achieve q shaft current controlled quentity controlled variable by following formula and be output as:

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right));$

Step f: prove the stability of designed fractional order integration sliding formwork rotational speed governor, be defined as follows the Lyapunov function and be:

$V=\frac{1}{2}{S}^2,$

Differentiated in above-mentioned Lyapunov function limit, and utilize the q shaft current controlled quentity controlled variable output that obtains among the step e, can get:

We can find out that ε satisfies ε when handoff gain〉| δ (t) | the time, have

Then according to the Lyapunov Theory of Stability as can be known, this moment, designed fractional order integration sliding formwork rotational speed governor was stable, and system can reach diverter surface from the arbitrary initial state in finite time.

The present invention has also designed a kind of permagnetic synchronous motor speed control unit based on the fractional order integration sliding formwork, comprise current acquisition module, position transducer, Clark conversion module, first comparator, second comparator, the 3rd comparator, PARK conversion module, q shaft current controller, d shaft current controller, PARK inverse transform module, space vector pulse width modulation module, three-phase inverter and permagnetic synchronous motor, also comprise fractional order integration sliding formwork rotational speed governor, wherein:

Described current acquisition module is used for gathering motor threephase stator current i _a, i _bAnd i _c, and transfer to the Clark conversion module;

Described Clark conversion module is used for motor threephase stator current i _a, i _bAnd i _cBe transformed to the equivalent current i under the alpha-beta coordinate system _aAnd i _β, and with i _aAnd i _βTransfer to the PARK conversion module;

Described position transducer obtains motor actual motion speed omega and the rotor position of permagnetic synchronous motor, and described motor rotor position θ transferred to PARK conversion module and PARK inverse transform module respectively, described motor speed of service ω is transferred to first comparator;

Described PARK conversion module is with the rotor position that receives and the equivalent current i under the alpha-beta coordinate system _a, i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q, and with d axle actual output current value i _dTransfer to the 3rd comparator, with q axle actual output current value i _qTransfer to second comparator;

Described first comparator is with speed set-point ω _RefTransfer to fractional order integration sliding formwork rotational speed governor with the difference e (t) of motor actual motion speed omega after relatively, described fractional order integration sliding formwork rotational speed governor carries out rotational speed regulation to be handled, q shaft current set-point under the output d-q coordinate system

, and transfer to second comparator, described q shaft current set-point

With q axle actual output current value i _qInput to q shaft current controller through the difference of second comparator after relatively, described q shaft current controller produces q shaft voltage output valve u _q, and transfer to the PARK inverse transform module;

D shaft current set-point

With d axle actual output current value i _dInput to d shaft current controller through the difference of the 3rd comparator after relatively, described d shaft current controller produces d shaft voltage output valve u _d, and transfer to the PARK inverse transform module;

Described PARK inverse transform module is with the q shaft voltage output valve u that receives _qWith d shaft voltage output valve u _dCarry out the PARK inverse transformation, produce the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, and with u _αAnd u _βTransfer to the space vector pulse width modulation module;

Equivalent voltage control set-point u under the alpha-beta coordinate system that the utilization of described space vector pulse width modulation module receives _αAnd u _βProduce pwm signal, and transfer to three-phase inverter, described pwm signal control three-phase inverter produces three-phase voltage signal, and three-phase inverter utilizes the operation of described three-phase voltage signal control permagnetic synchronous motor.

As shown in Figure 3, be the ramp response comparison diagram of Integral Sliding Mode control in mid-score of the present invention rank with the control of traditional quadrature sliding formwork, PI control;

Fig. 4 is the partial enlarged drawing of a part among Fig. 3;

As shown in Figure 5, be the sinusoidal response comparison diagram of Integral Sliding Mode control in mid-score of the present invention rank with the control of traditional quadrature sliding formwork;

Fig. 6 is the partial enlarged drawing of b part among Fig. 5;

As shown in Figure 7, be the sinusoidal tracking Error Graph of Integral Sliding Mode control in mid-score of the present invention rank with the control of traditional quadrature sliding formwork;

As can be seen, when there was load disturbance in system, institute's extracting method had better dynamic property than the control of traditional quadrature sliding formwork and conventional PI control from Fig. 3-Fig. 7, stronger disturbance rejection ability, and more accurate speed is followed precision.

Above embodiment only for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought that proposes according to the present invention, and any change of doing on the technical scheme basis all falls within the protection range of the present invention.

Claims (7)

1. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork is characterized in that, comprises following concrete steps:

Step (1): the three-phase current i that gathers permagnetic synchronous motor _a, i _b, i _c, and carry out the Clark conversion, be converted into the equivalent current i under the alpha-beta coordinate system _aAnd i _β

Step (2): the motor actual motion speed omega and the rotor position that obtain permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in the step (2), with the equivalent current i under the alpha-beta coordinate system in motor rotor position θ and the step (1) _aAnd i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q

Step (4): utilize motor actual motion speed omega and speed set-point ω in the step (2) _RefDifference e (t) relatively, structure fractional order integration sliding-mode surface S;

Step (5): carry out rotational speed regulation according to the design of the fractional order integration sliding-mode surface S in the step (4) fractional order integration sliding formwork rotational speed governor, thereby obtain q shaft current set-point under the d-q coordinate system

Step (6): to q shaft current set-point

With q axle actual output current value i _qDifference is relatively carried out the q shaft current and is regulated processing, produces q shaft voltage output valve u _q, to d shaft current set-point

With d axle actual output current value i _dDifference is relatively carried out the d shaft current and is regulated processing, produces d shaft voltage output valve u _d, with the voltage output value u under the above-mentioned d-q coordinate system _dAnd u _qCarry out the PARK inversion process, thereby obtain the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, to described equivalent voltage control set-point u _αAnd u _βCarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal control three-phase inverter to produce three-phase voltage signal, and utilize the operation of described three-phase voltage signal control permagnetic synchronous motor.

2. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork according to claim 1 is characterized in that, the Clark conversion in the described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

3. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork according to claim 1 is characterized in that, the PARK conversion in the described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right].$

4. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork according to claim 1 is characterized in that, the fractional order integration sliding-mode surface S of structure represents with following formula in the described step (4):

$S=e\left(t\right)+C_1\&CenterDot;{}_{0}D_t^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right)=e\left(t\right)+C_1{C}^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right),$

Wherein, e (t) is defined as speed set-point ω _RefWith the difference of motor actual speed ω after relatively, t is defined as time variable, sliding formwork coefficient C ₁0,

Be defined as the fractional order integration value of difference e (t), u is defined as the order of fractional order integration sliding-mode surface, and 0＜u＜1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n〉and 0, and

With

Be respectively initial value and the fractional order integration value of difference e (t) when t=0.

5. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork according to claim 1 is characterized in that, the model of the fractional order integration sliding formwork rotational speed governor of design is in the described step (5):

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor first characteristic coefficient Motor second characteristic coefficient P is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fBe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient;

Be defined as the derivative of speed set-point, sgn () is sign function, and ε is defined as handoff gain, and ε〉0.

6. the permagnetic synchronous motor method for control speed based on the fractional order integration sliding formwork according to claim 1 is characterized in that, the PARK inverse transformation is expressed as matrix in the described step (6):

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

7. permagnetic synchronous motor speed control unit based on the fractional order integration sliding formwork, comprise current acquisition module, position transducer, Clark conversion module, first comparator, second comparator, the 3rd comparator, PARK conversion module, q shaft current controller, d shaft current controller, PARK inverse transform module, space vector pulse width modulation module, three-phase inverter and permagnetic synchronous motor, it is characterized in that, also comprise fractional order integration sliding formwork rotational speed governor, wherein:

Described current acquisition module is used for gathering motor threephase stator current i _a, i _bAnd i _c, and transfer to the Clark conversion module;

Described Clark conversion module is used for motor threephase stator current i _a, i _bAnd i _cBe transformed to the equivalent current i under the alpha-beta coordinate system _aAnd i _β, and with i _aAnd i _βTransfer to the PARK conversion module;

Described position transducer obtains motor actual motion speed omega and the rotor position of permagnetic synchronous motor, and described motor rotor position θ transferred to PARK conversion module and PARK inverse transform module respectively, described motor speed of service ω is transferred to first comparator;

Described PARK conversion module is with the rotor position that receives and the equivalent current i under the alpha-beta coordinate system _a, i _βCarry out the PARK conversion, produce the actual output current value i under the d-q coordinate system _dAnd i _q, and with d axle actual output current value i _dTransfer to the 3rd comparator, with q axle actual output current value i _qTransfer to second comparator;

Described first comparator is with speed set-point ω _RefTransfer to fractional order integration sliding formwork rotational speed governor with the difference e (t) of motor actual motion speed omega after relatively, described fractional order integration sliding formwork rotational speed governor carries out rotational speed regulation to be handled, q shaft current set-point under the output d-q coordinate system

And transfer to second comparator, described q shaft current set-point With q axle actual output current value i _qInput to q shaft current controller through the difference of second comparator after relatively, described q shaft current controller produces q shaft voltage output valve u _q, and transfer to the PARK inverse transform module;

D shaft current set-point

With d axle actual output current value i _dInput to d shaft current controller through the difference of the 3rd comparator after relatively, described d shaft current controller produces d shaft voltage output valve u _d, and transfer to the PARK inverse transform module;

Described PARK inverse transform module is with the q shaft voltage output valve u that receives _qWith d shaft voltage output valve u _dCarry out the PARK inverse transformation, produce the equivalent voltage control set-point u under the alpha-beta coordinate system _αAnd u _β, and with u _αAnd u _βTransfer to the space vector pulse width modulation module;

Equivalent voltage control set-point u under the alpha-beta coordinate system that the utilization of described space vector pulse width modulation module receives _αAnd u _βProduce pwm signal, and transfer to three-phase inverter, described pwm signal control three-phase inverter produces three-phase voltage signal, and three-phase inverter utilizes the operation of described three-phase voltage signal control permagnetic synchronous motor.

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