CN103731082B - A kind of permanent-magnetic synchronous motor stator magnetic linkage method of estimation based on Direct Torque Control - Google Patents
A kind of permanent-magnetic synchronous motor stator magnetic linkage method of estimation based on Direct Torque Control Download PDFInfo
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Abstract
A kind of closed loop magnetic linkage method of estimation that is applied to Direct Torque Control System for Permanent Magnet Synchronous Motor is disclosed herein. The voltage, the current signal that utilize real-time sampling to measure, calculate according to voltage method flux linkage calculation formula, draw magnetic linkage according to a preliminary estimate, then utilize pi regulator to carry out dynamic closed loop rectification as input quantity itself and target control magnetic linkage, make its final above target control magnetic linkage of following the tracks of. Wherein the given control magnetic linkage of Direct Torque Control, as the target control magnetic linkage amplitude in Flux estimator, utilizes position sensor to draw rotor position angle, this angle information is carried out to dynamic compensation, as the angle information of target control magnetic linkage. By the closed-loop adjustment to voltage method Flux estimator, can effectively eliminate the flux linkage calculation deviation that its integral element causes because of direct current biasing, initial value for integral, accurately estimate true magnetic linkage, in actual direct Torque Control, have good rapidity, robustness.
Description
Technical field
The present invention relates to a kind of magnetic linkage method of estimation of permagnetic synchronous motor, relate in particular to a kind of based on Direct Torque ControlPermanent-magnetic synchronous motor stator magnetic linkage method of estimation.
Background technology
In the middle of motor dynamics control field, Study on direct torque control technology is with its control performance fast and accurately, more and moreMany is applied in the middle of permagnetic synchronous motor, asynchronous machine and some other New-type electric machine. Dynamically control and work as in Direct TorqueIn, two direct control objects are torque and magnetic linkage, the two be all by variable quantities such as voltage, electric current, positional informations andThe parameter of electric machine calculates, because torque is to be drawn by magnetic linkage and other calculation of parameter, so the meter to two control objectsCalculating on question essence is exactly the accurate calculating to motor magnetic linkage.
Flux linkage calculation method generally can be divided into potentiometer algorithm and galvanometer algorithm. Potentiometer algorithm is comparatively simple, and it isUtilize stator voltage equation, calculate by integrator; Current method is to utilize rotor voltage equation, through conversion generationEnter, draw flux linkage calculation equation. Voltage method theoretical model is simple, but in the middle of practical application, but has some problems,The impact of the direct current biasing during as low speed in stator resistance variation, initial value for integral, sampled signal etc. Galvanometer algorithm is also depositedIn shortcoming, the dependence parameter of electric machine that current method is more, and in the middle of motor operation, along with the variation of temperature and speed, electricityMachine parameter also has certain variation, is subject in addition the impact of rotor time constant when high speed, current method magnetic linkage meter while causing high speedIt is accurate that calculation is not so good as voltage method. According to the feature of voltage method and current method, can use low speed current method, High-speed Electric platen pressAccount form, realizes the conversion of the two by wave filter, but this mode is comparatively complicated and be with two kinds of equal energy of methodIn its working region, realize accurate Calculation and be prerequisite. Numerous scholars make according to the feature of voltage method and current methodMany improving one's methods, as add low pass filter method, high-pass and low-pass filter matching method, closed loop orthosis, Kalman's filterRipple device method etc., these methods have all improved the degree of accuracy that magnetic linkage is estimated to a certain extent, but also band is served problem, addsFiltered method can be eliminated initial integration error, decaying dc biasing, but can bring phase-amplitude biasing, high low pass filteredRipple device coordinates can make the magnetic linkage estimation effect that takes on a new look to a certain extent on the basis of low pass filter, but has introduced moreParameter, when closed loop orthosis stable state, have good effect, but in the middle of actual direct Torque Control, dynamically timeThe meeting of Direct Torque Control effect and flux linkage calculation effect influence each other, and the result of double influence is held whole control system very muchEasily loss of stability, also can there is the poor problem of dynamic time effect fruit, Kalman filtering in the flux linkage calculation mode that adds wave filterDevice has been alleviated the shortcoming of current method to a certain extent, but cannot avoid the dependence to the parameter of electric machine in flux linkage calculation, this forStill can there is the error of calculation greatly in the motor that under different operating modes, the parameter of electric machine changes greatly, add Kalman filteringDevice also needs the calculating of relative complex.
Summary of the invention
Goal of the invention: for above-mentioned prior art, propose a kind of permanent-magnetic synchronous motor stator magnetic based on Direct Torque ControlChain method of estimation, crosses closed-loop adjustment to voltage method Flux estimator, effectively eliminate its integral element because of direct current biasing,The flux linkage calculation deviation that initial value for integral causes, accurately estimates true magnetic linkage.
Technical scheme: a kind of permanent-magnetic synchronous motor stator magnetic linkage method of estimation based on Direct Torque Control, in initial controlWhen computation of Period magnetic linkage, record in real time the three-phase voltage U of permagnetic synchronous motora、Ub、Uc, and three-phase currentia、ib、ic, the described voltage and current under three-phase rotating coordinate system is transformed to the voltage u of α β coordinate systemα、uβ, electricityStream iα、iβ; In control cycle of direct Torque Control according to formula (1) to described voltage uα、uβCarry out integrationCalculate, obtain magnetic linkage according to a preliminary estimate
Wherein, RsFor motor stator resistance;
By described magnetic linkage according to a preliminary estimateWith target control magnetic linkage reference valueBy PI control algolithmObtain DC offset voltage compensation rate Vα、Vβ; Wherein, obtain the integration item sum of PI control algolithm according to formula (2)α、sumβ:
Wherein, KiFor integral coefficient; sumα′、sum′βFor the integration that in direct Torque Control, a control cycle obtains, sumα′、sum′βInitial value is 0;For target control magnetic linkage reference value:
Wherein, ψ*For the given control magnetic linkage of direct Torque Control, ψ*As target control magnetic linkage amplitude; θ isThe stator magnet chain angle of target control magnetic linkage;
Obtain described DC offset voltage compensation rate V according to formula (3)α、Vβ:
Wherein, KpFor proportionality coefficient;
According to described DC offset voltage compensation rate Vα、Vβ, calculate according to formula (4) electricity that Flux estimator is estimatedMachine magnetic linkage
In the time of next control cycle, the motor magnetic linkage that utilizes a upper control cycle to estimateReplace magnetic according to a preliminary estimateChainSubstitution formula (2) is calculated, and forms closed-loop regulating system; When closed-loop regulator realizes target control magnetic linkage While dynamically tracking, the estimation magnetic linkage of described Flux estimatorBe motor magnetic linkage accurately.
As preferred version of the present invention, utilize rotor-position sensor to draw the rotor-position of motor under Direct Torque ControlAngle γ, and described rotor position angle γ is carried out, after closed-loop dynamic compensation, drawing the stator magnetic linkage of described target control magnetic linkageAngle θ; Described dynamic compensation calculates suc as formula shown in (5):
θ=γ+δ(5)
Wherein, γ is rotor position angle; δ is angle of torsion, and the offset angle of rotor position angle is equaled to described angle of torsion;
Described angle of torsion calculates suc as formula shown in (6):
Wherein,Described in serving as reasonsThe target control magnetic linkage stator magnet of utilizing arctan function to calculateChain angle;For the estimation motor magnetic linkage calculating according to described formula (2)Utilize arctan function to calculateThe stator magnet chain angle of the motor magnetic linkage drawing;
In closed loop compensation process, offset is carried out adopting while periodically calculating to the method for accumulator accumulation calculating, suc as formula(7) shown in:
sum=sum+gel(7)
Wherein sum is offset angle accumulator, and its initial value is the rotor position of 0, gel for calculating according to described formula (6)The offset angle of angle setting; Accumulator is remembered the angle compensation value of this direct Torque Control control cycle, and the lower cycle of substitutionAngle compensation realize the periodicity dynamic compensation of angle in calculating, described periodic quantity is set to 0.3-3 electric week of motorPhase.
Beneficial effect: compared with prior art, voltage, current signal that the present invention utilizes real-time sampling to measure, according to electricityPlaten press flux linkage calculation formula calculates, and draws magnetic linkage according to a preliminary estimate, then using itself and target control magnetic linkage as input quantityUtilize pi regulator to carry out dynamic closed loop rectification, make its final above target control magnetic linkage of following the tracks of. Wherein Direct Torque ControlGiven control magnetic linkage as the target control magnetic linkage amplitude in Flux estimator, utilize position sensor to draw rotor-positionAngle, carries out dynamic compensation to this angle information, as the angle information of target control magnetic linkage. By voltage method magnetic linkage is estimatedThe closed-loop adjustment of gauge, the present invention has eliminated the magnetic linkage direct current biasing in flux linkage calculation, integration initial value error problem, hasThe accuracy of the raising flux linkage calculation of effect, also can reduce the central sensitivity to stator resistance of flux linkage calculation simultaneously to a certain extentProperty, compared to adding filtering link flux linkage calculation method and there is no the closed loop flux linkage calculation method of angle compensation, the present inventionAlgorithm shows better accuracy, robustness in direct Torque Control. Magnetic in actual direct Torque ControlThe angle information accuracy of chain is the key link of whole control system stability, so the angle information of target magnetic linkage is estimated to wantAccomplish to stablize, continuously, accurately, because the basic angle information that has adopted rotor position angle to estimate as magnetic linkage in the present invention,So have good stability row, continuity, can effectively improve by angle compensation the accuracy that magnetic linkage is estimated.
Brief description of the drawings
Fig. 1 is magneto Direct Torque Control block diagram;
Fig. 2 is to be flux linkage calculation entire block diagram;
Fig. 3 is to be magnetic linkage angle compensation theory diagram;
Fig. 4 is to be magnetic linkage angle compensation computing block diagram;
Fig. 5 is for adopting the inventive method to carry out the flux linkage calculation effect of angle compensation;
Fig. 6 is the flux linkage calculation effect when not carrying out angle compensation;
The situation of change of Fig. 7 angle compensation value
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is done further and explained.
The direct Torque Control block diagram of matlab emulation embodiment of the present invention as shown in Figure 1, wherein, permanent-magnet synchronousThe parameter of motor is: number of pole-pairs p=2, stator resistance Rs=2 Ω, d-axis inductance Ld=31.06mH, quadrature axis inductanceLq=80.69mH, permanent magnetism magnetic linkageDirect Torque Control adopts switch list vector control mode,Determine the control parameter of using in control flow according to control system characteristic, in the present embodiment, matlab simulation step length arrangesBe 1 × 10-5S, dc source voltage is set to 700V, K in Flux estimatorp=100, integral coefficient Ki=200,The angle compensation cycle is 0.018s, and while carrying out angle compensation, pi regulator output violent change is [120,120], controls rotating speed and establishesDefinite value is 1300r/min, and load torque is 40Nm, and controlling flux linkage set value is 1.13Wb, in addition in voltage sampleThe direct current biasing that contains 3V.
The theory diagram of the Flux estimator entirety shown in Fig. 2, utilizes voltage method to calculate magnetic linkage, first needs to utilize sensingDevice sampled voltage, current signal, utilize position sensor sampling to draw rotor position angle γ. In the time of initial calculation magnetic linkage,Record in real time the three-phase voltage U of permagnetic synchronous motora、Ub、Uc, and three-phase current ia、ib、ic, three-phase rotation is satDescribed voltage and current under mark system transforms to the voltage u of α β coordinate systemα、uβ, current iα、iβ; Formula of Coordinate System Transformation asShown in following formula:
In control cycle of direct Torque Control, according to formula (1) to described voltage uα、uβCarry out integrating meterCalculate, obtain magnetic linkage according to a preliminary estimate
Wherein, RsFor motor stator resistance;
By described magnetic linkage according to a preliminary estimateWith target control magnetic linkage reference valueBy PI control algolithmObtain DC offset voltage compensation rate Vα、Vβ; Form a closed-loop regulating system by pi regulator, to digital controlThe integral and calculating initial value error that bring the sampling error existing in system and rotor position is dynamically rectifiedJust. Wherein, the proportional integral link of PI controller is calculated according to formula (2), formula (3); Wherein, obtain according to formula (2)To the integration item sum of PI control algolithmα、sumβ:
Wherein, KiFor integral coefficient; sumα′、sum′βFor the integration that in direct Torque Control, a control cycle obtains, sumα′、sum′βInitial value is 0;For target control magnetic linkage reference value:
Wherein, ψ*For the given control magnetic linkage of direct Torque Control, ψ*As target control magnetic linkage amplitude; θ isThe stator magnet chain angle of target control magnetic linkage;
Obtain described DC offset voltage compensation rate V according to formula (3)α、Vβ:
Wherein, KpFor proportionality coefficient;
According to described DC offset voltage compensation rate Vα、Vβ, calculate according to formula (4) electricity that Flux estimator is estimatedMachine magnetic linkage
When closed-loop regulator realizes target control magnetic linkageWhile dynamically tracking, described DC offset voltage compensationAmount Vα、VβBe 0, described magnetic linkage according to a preliminary estimateBe motor magnetic linkage accurately
Wherein, the given control magnetic linkage ψ of direct Torque Control*As target control magnetic linkage amplitude, motor is specified to be turnedIn speed range of operation, the set-point of magnetic linkage carrys out given magnetic linkage amplitude according to the principle most effective, loss is minimum, when motor turnsSpeed during higher than rated speed according to the given magnetic linkage amplitude of weak magnetic algorithm; Target control flux linkage set amplitude is shown below:
Wherein, PlFor the loss power of motor, ρ=quadrature axis inductance/d-axis inductance, i.e. motor salient pole rate, Te is motorElectromagnetic torque, f (Pl) be the flux linkage calculation amplitude drawing according to loss minimum principle, φfFor permanent magnetism magnetic linkage. When motor fortuneRow is in the time that rated speed is above, and target control magnetic linkage is set amplitude and calculated according to weak magnetic algorithm f ' (Te, n), two calculatingFunction is relevant with motor self character and working control algorithm target. The motor not waiting for ac-dc axis inductance, according to electricityMachine torque and angle of torsion change a straightforward principle and set up Maximum Constraint.
Be illustrated in figure 3 the vector schematic diagram of angle compensation, the angle information of target control magnetic linkage utilizes position sensor to surveyMeasure out, because the location information signal of measuring not is flux linkage calculation angle information signal accurately, so need contrapositionPut information signal and carry out angle compensation, draw stator magnet chain angle θ. Utilize rotor-position sensor to draw Direct Torque ControlThe rotor position angle γ of lower motor, and described rotor position angle γ is carried out after closed-loop dynamic compensation, draw described target controlThe stator magnet chain angle θ of magnetic linkage processed; Described dynamic compensation calculates suc as formula shown in (5):
θ=γ+δ(5)
Wherein, γ is rotor position angle; δ is angle of torsion, and the offset angle of rotor position angle is equaled to described angle of torsion;
Described angle of torsion calculates suc as formula shown in (6):
Wherein,Described in serving as reasonsThe target control magnetic linkage stator magnet of utilizing arctan function to calculateChain angle;For the estimation motor magnetic linkage calculating according to described formula (2)Utilize arctan function to calculateThe stator magnet chain angle of the motor magnetic linkage drawing;
In Fig. 3For stator magnetic linkage, this magnetic linkage comprises the magnetic linkage that stator current producesWith via permanent magnetism after magnetic field modulationMagnetic linkageAs can be seen from Figure 3 the stator magnet chain angle that in α β coordinate system, stator magnetic linkage is decomposed to two reference axis is for turningSub-position angle γ and angle of torsion δ sum. Can draw the torque equation of motor in conjunction with Fig. 3:
Wherein, TemFor motor electromagnetic torque, δ is rotor magnetic linkage angle, i.e. angle of torsion, and p is that stator winding is extremely rightNumber, LdFor the d-axis inductance of motor, LqFor the quadrature axis inductance of motor, ψsFor stator magnetic linkage amplitude. Can be seen by formula (7)Go out, torque is a physical quantity relevant with angle of torsion, and its physical relationship is determined according to motor relevant parameter, straight for handing overThe magneto that axle inductance is equal, the in the situation that of stator magnetic linkage constant amplitude and other parameter constants of motor, electricityThe torque of machine and sin δ are directly proportional, in the scope that δ changes at 0-90 degree, along with the increase of motor torque, angle of torsionAlso can increase thereupon. Magnetic linkage angle is angle of torsion and rotating speed position angle sum, if in the situation that not carrying out angle compensation,Be equivalent to directly using rotating speed position angle as magnetic linkage angle, one timing of stator magnetic linkage amplitude, the in the situation that of little torque operation,Because angle of torsion is less, so can not bring larger error, if the in the situation that of large torque, angle of torsion is larger, can be withCarry out very large flux linkage calculation error, thereby make whole DTC control system can not realize Expected Results, so carry out accuratelyAngle compensation be necessary, be not 1 magneto for salient pole rate, the in the situation that of large torque operation, angle of torsionLarger, if do not adopt angle compensation, flux linkage calculation error also can be very large.
In closed loop compensation process, offset is carried out adopting while periodically calculating to the method for accumulator accumulation calculating, suc as formula(8) shown in:
sum=sum+gel(8)
Wherein sum is offset angle accumulator, and its initial value is the rotor position of 0, gel for calculating according to described formula (6)The offset angle of angle setting; Accumulator is remembered the angle compensation value of this direct Torque Control control cycle, and the lower cycle of substitutionAngle compensation realize the periodicity dynamic compensation of angle in calculating, described periodic quantity is set to 0.3-3 electric week of motorPhase.
Be the detailed process of magnetic linkage angle compensation as described in Figure 4, first by the phase calculation of the magnetic linkage calculating and setting magnetic linkageOut, according to the angle calculation feature of tangent, and calculate magnetic linkage and the precedence relationship of setting magnetic linkage phase place, a point situation is examinedConsider the differential seat angle of the two, as shown in Figure 4, will estimate motor magnetic linkageUtilize arctan function to calculate its stator magnetChain angle, by target control magnetic linkageThe target control magnetic linkage stator magnetic linkage that utilizes arctan function to calculateAngle, then that the two is poor, because this angle difference under the general nominal situation of motor, should be between [pi/2, pi/2],So exceeded this scope, increased as the case may be the angle cycle π of a tangent, or reduce one-periodπ, is specially in the time of be less than-pi/2 of the difference of the two, should increase one-period, in the time that the difference of the two is greater than pi/2,Should reduce one-period, ensure that like this two difference of output necessarily drops in [pi/2, pi/2] interval. Because wholeIndividual direct Torque Control, needs certain action response time, so need to set a compensation cycle, each weekPhase compensates once, and periodic quantity arranges and generally chooses 0.3-3 motor electrical cycle, sets compensation range, i.e. a step-lengthOperating valve value upgrades offset within the scope of this, if not within the scope of this, and namely target control magnetic linkage and calculatingWhen magnetic linkage phase place is more or less the same, do not need to upgrade offset, the angle compensation value that also adopts a compensation cycle to draw, mendsRepay device and adopted an accumulator pattern, because in the time that actual value and calculated value difference angle are gel, if offset isGel, after this compensation cycle, between actual magnetic linkage and calculating magnetic linkage, phase difference approaches zero, next compensation cycleOffset angle just approaches zero, can recover again actual Direct Torque Control to the two phase difference of next compensation cycleIn system, finally the phase difference value of the two can be stabilized to gel/2, adopts an accumulator benefit to be as long as magnetic is calculated in lockingAfter phase difference between chain and actual magnetic linkage compensates, just offset is remembered in accumulator, thus reality is accuratePhase difference settle out, carry out angle compensation, make the phase difference that calculates magnetic linkage and actual magnetic linkage drop on the scope of settingIn. In addition to carry out amplitude limit to the output valve of accumulator, prevent very large compensate, cause whole control systemLoss of stability.
Fig. 5 and Fig. 6 have compared in straight moment controlling system and adopt closed loop magnetic linkage method of estimation carrying out angle compensation and do not enteringIn the situation of row angle compensation, in two-phase rotating coordinate system, the calculated case of a phase magnetic linkage, as can be seen from the figure, entersRow angle compensation can improve the estimation effect of magnetic linkage effectively.
Fig. 7 adopts after angle compensation process, the situation of change of angle compensation calculated value. As can be seen from the figure, utilizeAngle compensation computing module can be very fast the angle compensation value of locking system, realize flux linkage calculation module stability, accuratelyAngle compensation.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications are alsoShould be considered as protection scope of the present invention.
Claims (1)
1. the permanent-magnetic synchronous motor stator magnetic linkage method of estimation based on Direct Torque Control, is characterized in that: at the beginning ofWhen beginning control cycle calculates magnetic linkage, record in real time the three-phase voltage U of permagnetic synchronous motora、Ub、Uc, and three-phase electricityStream ia、ib、ic, the described voltage and current under three-phase rotating coordinate system is transformed to the voltage u of α β coordinate systemα、uβ、Current iα、iβ; In control cycle of direct Torque Control according to formula (1) to described voltage uα、uβAmassDivide and calculate, obtain magnetic linkage according to a preliminary estimate
Wherein, RsFor motor stator resistance;
By described magnetic linkage according to a preliminary estimateWith target control magnetic linkage reference valueBy PI control algolithmObtain DC offset voltage compensation rate Vα、Vβ; Wherein, obtain the integration item sum of PI control algolithm according to formula (2)α、sumβ:
Wherein, KiFor integral coefficient; sumα'、sum'βFor the integration that in direct Torque Control, a control cycle obtains, sumα'、sum'βInitial value is 0;For target control magnetic linkage reference value:
Wherein, ψ*For the given control magnetic linkage of direct Torque Control, ψ*As target control magnetic linkage amplitude; θ isThe stator magnet chain angle of target control magnetic linkage;
Wherein, utilize rotor-position sensor to draw the rotor position angle γ of motor under Direct Torque Control, and turn describedSub-position angle γ carries out after closed-loop dynamic compensation, draws the stator magnet chain angle θ of described target control magnetic linkage; Described dynamic benefitRepay and calculate suc as formula shown in (5):
θ=γ+δ(5)
Wherein, γ is rotor position angle; δ is angle of torsion, and the offset angle of rotor position angle is equaled to described angle of torsion;
Described angle of torsion calculates suc as formula shown in (6):
Wherein,Described in serving as reasonsThe target control magnetic linkage stator magnet of utilizing arctan function to calculateChain angle;For the estimation motor magnetic linkage calculating according to described formula (4)Utilize arctan function to calculateThe stator magnet chain angle of the motor magnetic linkage drawing;
In closed loop compensation process, offset is carried out adopting while periodically calculating to the method for accumulator accumulation calculating, suc as formula(7) shown in:
sum=sum+gel(7)
Wherein sum is offset angle accumulator, and its initial value is the rotor position of 0, gel for calculating according to described formula (6)The offset angle of angle setting; Accumulator is remembered the angle compensation value of this direct Torque Control control cycle, and the lower cycle of substitutionAngle compensation realize the periodicity dynamic compensation of angle in calculating, described periodic quantity is set to 0.3-3 electric week of motorPhase;
Obtain described DC offset voltage compensation rate V according to formula (3)α、Vβ:
Wherein, KpFor proportionality coefficient;
According to described DC offset voltage compensation rate Vα、Vβ, calculate according to formula (4) electricity that Flux estimator is estimatedMachine magnetic linkage
In the time of next control cycle, the motor magnetic linkage that utilizes a upper control cycle to estimateReplace magnetic according to a preliminary estimateChainSubstitution formula (2) is calculated, and forms closed-loop regulating system; When closed-loop regulator realizes target control magnetic linkage While dynamically tracking, the estimation magnetic linkage of described Flux estimatorBe motor magnetic linkage accurately.
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