CN103904972A - Novel fuzzy and deadbeat algorithm vector control system of permanent magnet synchronous motor - Google Patents

Abstract

The invention provides a novel fuzzy and deadbeat algorithm vector control system of a permanent magnet synchronous motor. The novel fuzzy and deadbeat algorithm vector control system comprises a fuzzy PI controller, a deadbeat current predictive control module, a space pulse width vector modulation module, a three-phase two-level inverter, a permanent magnet synchronous motor module and a 3s/2r changing module. The novel fuzzy and deadbeat algorithm vector control system can be well applied to a digital control system, and has good application prospects.

Description

The fuzzy dead beat algorithm of a kind of novel permanent magnetic synchronous motor vector control system

Technical field

The present invention relates to permagnetic synchronous motor control field, particularly a kind of novel permanent magnetic synchronous motor vector control system that adopts PI type Fuzzy, dead beat current forecasting combinational algorithm.

Background technology

Permanent magnet synchronous motor (Permanent Magnent Synchronous Motor, PMSM) is non-linear a, time variation and probabilistic complex control object.In traditional vector control (id=0), adopt the two PID Closed-loop Control Strategies of speed ring and electric current loop.Determine but traditional pid parameter is more difficult, and dynamic property is poor.In service at permanent magnet synchronous motor, due to the variation of parameter, Mathematical Modeling changes, and traditional PID controller cannot on-line tuning, causes the decline of control performance.Therefore adopt the permagnetic synchronous motor vector control algorithm of unconventional PID controller to be with a wide range of applications.

Summary of the invention

Goal of the invention: the object of the invention is to for the deficiencies in the prior art, a kind of novel permanent magnetic synchronous motor vector control system that adopts PI type Fuzzy, dead beat current forecasting combinational algorithm is provided.

Technical scheme: the invention provides the fuzzy dead beat algorithm of a kind of novel permanent magnetic synchronous motor vector control system, it is characterized in that: comprise that Fuzzy PI Controller (101), dead beat current forecasting control module (102), space pulsewidth Vector Modulation module (SVPWM) (103), three-phase two-level inverter (104), permagnetic synchronous motor model (105) and 3s/2r change module (106); The input access speed command value ω of described Fuzzy PI Controller (101) ^*and be connected with the output of permagnetic synchronous motor model (105); The input of described dead beat current forecasting control module (102) is connected with the output of Fuzzy PI Controller (101), permagnetic synchronous motor model (105) and 3s/2r conversion module (106) respectively; The input of described space pulsewidth Vector Modulation module (SVPWM) (103) is connected with the output of dead beat current forecasting control module (102) and permagnetic synchronous motor model (105) respectively; The input of described three-phase two-level inverter (104) is connected with the output of space pulsewidth Vector Modulation module (SVPWM) (103); The input of described permagnetic synchronous motor model (105) is connected with the output of three-phase two-level inverter (104); The input that described 3s/2r changes module (106) is connected with the output of three-phase two-level inverter (104) and 3s/2r variation module (106) respectively.

As improvement, described Fuzzy PI Controller adopts general Fuzzy PI Controller, obfuscation, fuzzy reasoning and fuzzy decision, sharpening process, the empirical rule that fuzzy rule adopts typical step response to derive.

Improve as another kind, described dead beat current forecasting control module adopts the governing equation under discrete state:

Calculate k+1 moment current forecasting value by the electric current and voltage value of input, its computing formula is:

$\left\{\begin{array}{c}{i_d}^{\′}=(1-\frac{{\mathrm{RT}}_S}{L})i_d\left(k\right)+T_s\mathrm{\ω}\left(k\right)i_q\left(k\right)+\frac{T_s}{L}{u}_d\left(k\right)\\ {i_q}^{\′}=-T_s\mathrm{\ω}\left(k\right)i_d\left(k\right)+(1-\frac{T_{s}R}{L})i_q\left(k\right)+\frac{T_s}{L}{u}_q\left(k\right)\end{array}\right.;$

Derive the k moment by current forecasting value and be applied to stator voltage command value in the pulsewidth Vector Modulation module of space, its computing formula is:

$\left\{\begin{array}{c}{\stackrel{\‾}{u}}_d\left(k\right)=(R-\frac{L}{T_s})i_d\left(k\right)-\mathrm{L\ω}\left(k\right)i_q\left(k\right)\\ {\stackrel{\‾}{u}}_q\left(k\right)=\frac{L}{T_s}{i}_q*+\mathrm{L\ω}\left(k\right)i_d\left(k\right)+(R-\frac{L}{T_s})i_q\left(k\right)\end{array}\right.$

In formula, i _d*, i _q* be current reference value and the i in k moment _d', i _q' equivalence; i _d(k), i _q(k) be the current value obtaining of sampling in the k moment; ω (k) is motor k moment tachometer value; Ts is the systematic sampling time; L is motor stator inductance value, and R is stator resistance value;

for stator voltage command value.

Beneficial effect: the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor provided by the invention vector control system, with respect to prior art, has following outstanding advantage:

(1) save speed ring, the electric current loop in traditional PID controller, removed loaded down with trivial details PI parameter pre-tuning from;

(2) adopt Fuzzy PI Controller, dead beat controller can have good dynamic and static state performance, the PI parameter of can adjusting fast, has removed loaded down with trivial details PI parameter from and has gathered examination process, thereby reached optimal control results, and had good antijamming capability.

(3) this control system can well be applied in numerical control system, has good application prospect.

Accompanying drawing explanation

Fig. 1 is the illustraton of model of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system;

Fig. 2 is the structure chart of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system;

Fig. 3 is the predicted current structure chart of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system;

Fig. 4 is the stator voltage command value structure chart of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system;

Fig. 5 is the waveform effect comparison diagram of waveform effect and the traditional control system of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system; The waveform effect that wherein (a) is the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system; (b) be the waveform effect of traditional control system.

Embodiment

Below technical solution of the present invention is elaborated, but protection scope of the present invention is not limited to described embodiment.

The fuzzy dead beat algorithm of novel permanent magnetic synchronous motor vector control system, see Fig. 1 and Fig. 2, comprising: Fuzzy PI Controller (101), dead beat current forecasting control module (102), space pulsewidth Vector Modulation module (SVPWM) (103), three-phase two-level inverter (104), permagnetic synchronous motor model (105), 3s/2r change module (106).

Fuzzy PI Controller (101) one end access speed command value ω ^*be connected with permagnetic synchronous motor model (105) output, the other end is connected with dead beat current forecasting control module (102) one end.

Fuzzy PI Controller (101) one end access speed command value ω ^*be connected with the output of permagnetic synchronous motor model (105), the other end is connected with one end of dead beat current forecasting control module (102), dead beat current forecasting control module (102) is connected with the detection output (105) of 3s/2r conversion module (106) output, permagnetic synchronous motor simultaneously, and the other end is connected with space pulsewidth Vector Modulation module (SVPWM) (103).

Space pulsewidth Vector Modulation module (SVPWM) (103) one end is connected with dead beat current forecasting module (102), 3s/2r conversion module (106), the other end is connected with three-phase two-level inverter (104) one end, and three-phase two-level inverter (104) other end changes module (106) one end with permagnetic synchronous motor model (105), 3s/2r and is connected.3s/2r changes module (106) other end and is connected with permagnetic synchronous motor model (105) input/output terminal, dead beat current forecasting control module (102) input.

Fuzzy PI Controller (101) adopts general Fuzzy PI Controller, obfuscation, fuzzy reasoning and fuzzy decision, sharpening process, the empirical rule that fuzzy rule adopts typical step response to derive.

Utilize the predicted current of the fuzzy dead beat controller in the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system, see Fig. 3.

Dead beat controller adopts the governing equation under discrete state, by the electric current and voltage value of input, calculates k+1 moment current forecasting value, and its computing formula is:

$\left\{\begin{array}{c}{i_d}^{\′}=(1-\frac{{\mathrm{RT}}_S}{L})i_d\left(k\right)+T_s\mathrm{\ω}\left(k\right)i_q\left(k\right)+\frac{T_s}{L}{u}_d\left(k\right)\\ {i_q}^{\′}=-T_s\mathrm{\ω}\left(k\right)i_d\left(k\right)+(1-\frac{T_{s}R}{L})i_q\left(k\right)+\frac{T_s}{L}{u}_q\left(k\right)\end{array}\right.$

In formula: i _d', i _q' be the current forecasting value in k moment; i _d(k), i _q(k) be the current value obtaining of sampling in the k moment; ω (k) is motor k moment tachometer value; Ts is the systematic sampling time; L is motor stator inductance value, and R is stator resistance value;

Utilize the predicted voltage of the fuzzy dead beat controller in the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system, see Fig. 4.Derive the k moment by predicted current value and be applied to stator voltage command value in SVPWM module, its computing formula is:

$\left\{\begin{array}{c}{\stackrel{\‾}{u}}_d\left(k\right)=(R-\frac{L}{T_s})i_d\left(k\right)-\mathrm{L\ω}\left(k\right)i_q\left(k\right)\\ {\stackrel{\‾}{u}}_q\left(k\right)=\frac{L}{T_s}{i}_q*+\mathrm{L\ω}\left(k\right)i_d\left(k\right)+(R-\frac{L}{T_s})i_q\left(k\right)\end{array}\right.$

In formula: i _d*, i _q* be current reference value and the i in k moment _d', i _q' equivalence; Ts is the systematic sampling time; L is motor stator inductance value, and R is stator resistance value,

for stator voltage command value; ω (k) is motor k moment tachometer value;

Fig. 5 provided the waveform effect of the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system with the waveform effect comparison diagram of traditional control system; As shown in Figure 5: the fuzzy dead beat algorithm of novel permanent magnetic synchronous motor of the present invention vector control system has faster system dynamic responding speed compared with traditional control system, and overshoot is less, has certain anti-interference.

Claims (2)

1. the fuzzy dead beat algorithm of a novel permanent magnetic synchronous motor vector control system, is characterized in that: comprise that Fuzzy PI Controller (101), dead beat current forecasting control module (102), space pulsewidth Vector Modulation module (103), three-phase two-level inverter (104), permagnetic synchronous motor model (105) and 3s/2r change module (106); The input access speed command value ω of described Fuzzy PI Controller (101) ^*and be connected with the output of permagnetic synchronous motor model (105); The input of described dead beat current forecasting control module (102) is connected with the output of Fuzzy PI Controller (101), permagnetic synchronous motor model (105) and 3s/2r conversion module (106) respectively; The input of described space pulsewidth Vector Modulation module (103) is connected with the output of dead beat current forecasting control module (102) and permagnetic synchronous motor model (105) respectively; The input of described three-phase two-level inverter (104) is connected with the output of space pulsewidth Vector Modulation module (103); The input of described permagnetic synchronous motor model (105) is connected with the output of three-phase two-level inverter (104); The input that described 3s/2r changes module (106) is connected with the output of three-phase two-level inverter (104) and 3s/2r variation module (106) respectively.

2. the fuzzy dead beat algorithm of a kind of novel permanent magnetic synchronous motor according to claim 1 vector control system, it is characterized in that: described dead beat current forecasting control module adopts the governing equation under discrete state: calculate k+1 moment current forecasting value by the electric current and voltage value of input, its computing formula is:

$\left\{\begin{array}{c}{i_d}^{\′}=(1-\frac{{\mathrm{RT}}_S}{L})i_d\left(k\right)+T_s\mathrm{\ω}\left(k\right)i_q\left(k\right)+\frac{T_s}{L}{u}_d\left(k\right)\\ {i_q}^{\′}=-T_s\mathrm{\ω}\left(k\right)i_d\left(k\right)+(1-\frac{T_{s}R}{L})i_q\left(k\right)+\frac{T_s}{L}{u}_q\left(k\right)\end{array}\right.;$

Derive the k moment by current forecasting value and be applied to stator voltage command value in the pulsewidth Vector Modulation module of space, its computing formula is:

$\left\{\begin{array}{c}{\stackrel{\‾}{u}}_d\left(k\right)=(R-\frac{L}{T_s})i_d\left(k\right)-\mathrm{L\ω}\left(k\right)i_q\left(k\right)\\ {\stackrel{\‾}{u}}_q\left(k\right)=\frac{L}{T_s}{i}_q*+\mathrm{L\ω}\left(k\right)i_d\left(k\right)+(R-\frac{L}{T_s})i_q\left(k\right)\end{array}\right.$

In formula, i _d*, i _q* be current reference value and the i in k moment _d', i _q' equivalence; i _d(k), i _q(k) be the current value obtaining of sampling in the k moment; ω (k) is motor k moment tachometer value; Ts is the systematic sampling time; L is motor stator inductance value, and R is stator resistance value;

for stator voltage command value.

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