CN104283478B - A kind of Over Electric Motor with PMSM current control system and control method - Google Patents

A kind of Over Electric Motor with PMSM current control system and control method Download PDF

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CN104283478B
CN104283478B CN201410588607.6A CN201410588607A CN104283478B CN 104283478 B CN104283478 B CN 104283478B CN 201410588607 A CN201410588607 A CN 201410588607A CN 104283478 B CN104283478 B CN 104283478B
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current
motor
control
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value
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CN104283478A (en
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张承慧
李珂
刘旭东
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山东大学
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Abstract

The invention discloses a kind of Over Electric Motor with PMSM current control system and control method, rotating speed/position detecting module, for detecting tachometer value ω and the angular position theta of permagnetic synchronous motor;Current sensor, the first coordinate transformation module, the second coordinate transformation module, PI speed ring controller, for motor speed value ω and given motor speed value ω that rotating speed/position detecting module are obtainedrQ shaft current reference value is obtained through PI computingElectric current loop PREDICTIVE CONTROL module, sliding formwork disturbance observation module, the 3rd coordinate transformation module space vector pulse width modulation module, for by uαAnd uβIt is calculated six road pwm signal outputs, and is controlled inverter by pwm signal, thus obtain three-phase output voltage to drive the operation of motor.Use advanced continuous-time generalised predictive control method in the current follow-up control of Over Electric Motor with PMSM, there is amount of calculation little, control the advantages such as effective.

Description

A kind of Over Electric Motor with PMSM current control system and control method

Technical field

The present invention relates to Over Electric Motor with PMSM (PMSM) curren tracing control method, particularly relate to a kind of base In generalized predictive control (GPC) and the PMSM electric current used for electric vehicle with strong tracking and robustness of sliding formwork disturbance observer Control system and control method.

Background technology

Along with energy shortage and the aggravation of problem of environmental pollution, electric automobile becomes the main development of 21 century auto industry Direction.Efficiency is high, specific power is big, power factor is high, reliability is high and is easy to maintenance etc., electronic because having for permagnetic synchronous motor The applications such as automobile have been considered to have the great potential competed mutually with asynchronous motor.Although PMSM has above-mentioned advantage, But when electric automobile runs, road conditions are complicated, and working environment is complicated and changeable, the performance requirement that it drives electric system is the harshest, That adds that motor itself has is non-linear, and multivariate, the characteristic such as close coupling, traditional vector control method based on PI is the most not Requirement high performance to motor can be met.Therefore, the control theory of some advanced persons, such as: modified feedback linearization control, sliding formwork controls, Self Adaptive Control, the method such as Reverse Step Control, it is applied to this domain variability and achieves many achievements in research, but these methods are to electricity The dependency of machine parameter is strong, and for the Parameters variation of motor, load disturbance etc., the method for design disturbance observer is widely used in During motor controls, by estimating disturbed value, and in the Compensation Design of controller, suppressing Parameters variation, load disturbance etc. is made The motor speed become, the fluctuation of torque.In recent years, Model Predictive Control is as a kind of new control strategy, because it has control Effective, strong robustness, optimize model exactness is less demanding etc., more and more paid attention to.Model Predictive Control profit The output of future time instance is predicted with the inputoutput data of system, then by optimizing containing output variable and the cost of reference locus Function, obtains Predictive control law, and has been supplied in the control fields such as robot, motor, power inverter.Equally, model prediction Control method also demonstrates its effectiveness in PMSM control, but currently for the control of permagnetic synchronous motor, is to use mostly PREDICTIVE CONTROL based on system discrete time model, and consider system constraints, realize by solving quadratic programming problem Line optimizes, although improves PMSM control performance, there is computationally intensive problem simultaneously, to the configuration requirement of control system relatively Height, limits its application in the contour dynamic non linear system of power drive system.

Summary of the invention

For solving the deficiency that prior art exists, the invention discloses a kind of Over Electric Motor with PMSM electric current control System processed and control method, the method based on continuous-time generalised predictive control and sliding formwork disturbance observer used for electric vehicle forever Magnetic-synchro current of electric control method, it is achieved the fast and stable of electric current is followed the tracks of, is that a kind of utilization advanced algorithm realizes current of electric The new method controlled.

For achieving the above object, the concrete scheme of the present invention is as follows:

A kind of Over Electric Motor with PMSM current control method, comprises the following steps:

Step one: utilize rotating speed/position detecting module to obtain rotational speed omega and the angular position theta of permagnetic synchronous motor, by position Angle θ value is input in the second coordinate transformation module and the 3rd coordinate transformation module, by the rotational speed omega value of motor and given motor Tachometer value ωrIt is input in PI control module, obtains q shaft current reference value through PI computing

Step 2: utilize current sensor to collect the biphase output electric current i of permagnetic synchronous motoraAnd ibAnd will output electricity Stream iaAnd ibIt is input in the first coordinate transformation module, first exports the null principle of three-phase current sum according to motor, try to achieve Third phase electric current ic, then utilize motor three-phase current ia, ibAnd ic, through coordinate transform, obtain under biphase rest frame Electric current iαAnd iβ, the i that finally will try to achieve in the first coordinate transformation moduleα, iβAnd angular position theta is input to the second coordinate transform Module obtains idAnd iq

Step 3: q shaft current reference value will be obtained through PI computing in step oneGiven d shaft current reference valueWith And second i that obtain of coordinate transformation moduled, iqIt is input to predictive current control module and obtains output voltage values;By id, iqAnd Permagnetic synchronous motor tachometer value ω is input to sliding formwork disturbance observer module, obtains permanent magnetism through sliding formwork disturbance observer module same The estimated value of step motor disturbanceWith

Step 4: output voltage values step 3 obtained deducts the estimated value of permagnetic synchronous motor disturbanceWithObtain Control voltage signal ud, uq, by ud, uqAnd θ is input to the 3rd coordinate transformation module and obtains uαAnd uβ

Step 5: by uαAnd uβIt is input to space vector pulse width modulation module, obtains six road pwm signal outputs, and by PWM Signal controls inverter, inverter the three-phase output voltage obtained is to drive the operation of permagnetic synchronous motor.

Described permagnetic synchronous motor mathematical model under d-q synchronous rotating frame is expressed as:

ud=Lddid/dt+Rsid-npωLqiq-fd

(1)

uq=Lqdiq/dt+Rsiq+npωLdid+npωΦ-fq

In formula, LdAnd LqFor the stator inductance under d-q synchronous rotating frame, id, iq, ud, uqIt is respectively under d-q coordinate system Stator current and voltage, RsFor stator resistance, npFor number of pole-pairs, ω is rotor mechanical angle speed, and Φ is the magnetic that permanent magnet produces Chain, fd, fqFor the disturbance quantity caused by Parameters variation.

The mathematical model of described permagnetic synchronous motor is expressed as nonlinear system, writ state variable x=[Ldid Lqiq]T, defeated Enter variable u=[ud uq]T, disturbance quantity d=[fd fq]T, output variable y=h (x)=[id iq]T, obtain nonlinear system:

x · = f ( x ) + g 1 ( x ) u + d y = h ( x ) = g 2 ( x ) x - - - ( 2 )

Wherein, g 1 ( x ) = 1 0 0 1 , g 2 ( x ) = 1 L d 0 0 1 L q , f ( x ) = - R s i d + n p ωL q i q - R s i q - n p ωL d i d - n p ωΦ

Definition cost function J = 1 2 ∫ 0 T ( y ^ ( t + τ ) - y r ( t + τ ) ) T ( y ^ ( t + τ ) - y r ( t + τ ) ) dτ , Wherein, T is prediction time domain,yr(t+ τ) is respectively prediction output electric current and the reference current of system.

In described step 3, for not considering the nominal system of disturbance d, system output id, iqRelative order to input is ρ =1, take the control rank r=0 of system input, and will outputρ derivation is arrived in the 0 of time, prediction is exportedAt t Moment presses Taylor series expansion, until ρ+r time:

y ^ ( t + τ ) = 1 0 τ 0 0 1 0 τ y ^ ( t ) y ^ · ( t ) - - - ( 3 )

Then above formula (3) is expressed asForm, in like manner, with reference to output by Taylor series expansion Obtain y r ( t + τ ) = Γ ( τ ) Y ‾ r ( t ) , Wherein, Y ‾ r ( t ) = y r ( t ) T y · r ( t ) T T ;

Order Γ ‾ ( T ) = ∫ 0 T Γ T ( τ ) Γ ( τ ) dτ , Then cost function is represented by J = 1 2 [ Y ‾ ( t ) - Y ‾ r ( t ) ] T Γ ‾ ( T ) [ Y ‾ ( t ) - Y ‾ r ( t ) ]

For making cost function minimize, the predictive current control thus obtaining nominal system is restrained:

u = - G - 1 ( x ) ( KM ρ + L f h ( x ) - y · r ) - - - ( 4 )

Wherein,

G ( x ) = L g 11 h ( x ) L g 12 h ( x ) = 1 L d 0 0 1 L q , M ρ = [ h ( x ) - y r ( t ) ] = i d - i d * i q - i q * ,

L f h ( x ) = 1 L d 0 0 1 L q f ( x ) , For reference current, g11And g12For g1The column vector of (x), K ∈ R2×2Be by Front two row composition matrix, and Γ ‾ ( T ) = Γ ‾ ρρ Γ ‾ ρr Γ ‾ ρr T Γ ‾ rr , Wherein, Γ ‾ ρρ ∈ R 2 × 2 , Γ ‾ ρr ∈ R 2 × 2 , Γ ‾ rr ∈ R 2 × 2 .

In described step 3, in the case of considering actual disturbance quantity d, the generalized predictive control rule of system is expressed as u = - G - 1 ( x ) ( KM ρ + L f h ( x ) - y · r + G 1 · d ^ ) - - - ( 5 )

Wherein, G 1 = ∂ h ( x ) ∂ x = 1 L d 0 0 1 L d , Observation for compound disturbance.

The detailed process of asking for of described compound disturbance observation value is:

First structure sliding formwork disturbance observer s = x - z z · = g 1 u - v d ^ = - ( v + f ) - - - ( 6 )

In formula, s=[s1 s2]T,I.e.I= 1,2

Obtained by formula (6) s · = x · - z · = f + g 1 u + d - g 1 u + v = f + d + v - - - ( 7 )

Take the Lyapunov function of sliding formwork disturbance observerMake ξ=f+d=[ξ1 ξ2]T, thenDefinitionIf ChooseThen V · i ≤ 0 , ThusSo sliding formwork disturbance observation value

A kind of Over Electric Motor with PMSM current control system, including:

Rotating speed/position detecting module, for detecting tachometer value ω and the angular position theta of permagnetic synchronous motor;

Current sensor, is used for gathering permagnetic synchronous motor biphase output electric current iaAnd ibAnd it is input to the first coordinate transform Module;

First coordinate transformation module, for by biphase output electric current iaAnd ibObtain at biphase static seat through coordinate transform Electric current i under mark systemαAnd iβ

Second coordinate transformation module, for by iα, iβAnd angular position theta becomes through the biphase static coordinate to biphase rotation Get i in returndAnd iq

PI speed ring controller, for motor speed value ω and the given motor that rotating speed/position detecting module are obtained Tachometer value ωrQ shaft current reference value is obtained through PI computing

Electric current loop PREDICTIVE CONTROL module, for by q shaft current reference valueGiven d shaft current reference valueAnd second The i that coordinate transformation module obtainsd, iqIt is predicted computing and obtains output voltage values;

Sliding formwork disturbance observation module, for just id, iqAnd motor speed value ω is as input, obtains through observer The estimated value of permagnetic synchronous motor disturbanceWith

3rd coordinate transformation module, for being individually subtracted disturbance by the output voltage values that electric current loop PREDICTIVE CONTROL module obtains Estimated valueWithThe control voltage signal u obtainedd, uq, and θ rotates to biphase static coordinate transform through biphase Obtain uαAnd uβ

Space vector pulse width modulation module, for by uαAnd uβIt is calculated six road pwm signal outputs, and by pwm signal control Inverter processed, thus obtains three-phase output voltage to drive the operation of motor.

Beneficial effects of the present invention:

The present invention uses generalized forecast control method based on sliding formwork disturbance observer to substitute electric current during conventional vector controls The PI control method of ring, the controller obtained regulation parameter is few, controls to be more easy to regulation than PI, and the present invention uses based on continuously The forecast Control Algorithm of time model, compared with the forecast Control Algorithm based on discrete model considering constraint, has amount of calculation Little, low to the configuration requirement of controller, it is easier to the advantages such as realization, the introducing of sliding formwork disturbance observer adds the anti-interference of system Dynamic performance, when system parameter variations, the disturbed value of the effective estimating system of energy, and for the Front feedback control of controller, System is made to have stronger robust performance.

1, use advanced continuous-time generalised predictive control method for the electric current of Over Electric Motor with PMSM In tracing control, having controller design simple, amount of calculation is little, controls the advantages such as effective.

2, for adapting to the parameter perturbation that during electric automobile runs, severe working condition brings to electric machine control system, in conjunction with Sliding formwork disturbance observer method estimates disturbance quantity, and for the compensation control of electric current so that system has stronger robustness Energy.

Accompanying drawing explanation

Accompanying drawing explanation

The overall structure block diagram of the carried control method of Fig. 1 present invention;

D shaft current aircraft pursuit course when Fig. 2 a load torque and the parameter of electric machine are constant;

Q shaft current aircraft pursuit course when Fig. 2 b load torque and the parameter of electric machine are constant;

Dq shaft current tracking error curve when Fig. 2 c load torque and the parameter of electric machine are constant;

D shaft current aircraft pursuit course during the change of Fig. 3 a load torque;

Q shaft current aircraft pursuit course during the change of Fig. 3 b load torque;

Dq shaft current tracking error curve during the change of Fig. 3 c load torque;

Phase current curve during the change of Fig. 3 d load torque;

D shaft current aircraft pursuit course during the change of Fig. 4 a parameter of electric machine;

Q shaft current aircraft pursuit course during the change of Fig. 4 b parameter of electric machine;

Dq shaft current tracking error curve figure during the change of Fig. 4 c parameter of electric machine;

In figure, 1, current sensor, the 2, first coordinate transformation module, the 3, second coordinate transformation module, 4, rotating speed/position inspection Survey module, 5, PI speed ring controller, 6, electric current loop PREDICTIVE CONTROL module, 7, sliding formwork disturbance observation module, the 8, the 3rd coordinate becomes Die change block, 9, space vector pulse width modulation module, 10, inverter, 11, permagnetic synchronous motor.

Detailed description of the invention:

The present invention is described in detail below in conjunction with the accompanying drawings:

As it is shown in figure 1, a kind of Over Electric Motor with PMSM current control method, comprise the following steps:

1) in PMSM running, rotational speed omega and the position of permagnetic synchronous motor is obtained through rotating speed/position detecting module 4 Angle setting θ, and θ value is input in the second coordinate transformation module 3 and the 3rd coordinate transformation module 8, the permanent magnet synchronous electric that will obtain Machine tachometer value ω and given motor speed value ωrIt is input in PI speed ring controller 5, obtains q shaft current through PI computing Reference value

2) the motor biphase output electric current i that current sensor 1 will collectaAnd ibIt is input to for three phase static to biphase First coordinate transformation module 2 of static coordinate transform, first according to three-phase current sum equal to zero, tries to achieve third phase electric current ic, and through coordinate transform, obtain the electric current i under biphase rest frameαAnd iβ, then iα, iβAnd angular position theta is input to Second coordinate transformation module 3, carries out the biphase static coordinate transform to biphase rotation and obtains idAnd iq

3) the q shaft current reference value that PI speed ring controller 5 is obtainedGiven d shaft current reference valueAnd second The i that coordinate transformation module 3 obtainsd, iqIt is input to predictive current control module 6, through the predictive current control device being described below, Obtain output voltage values.By id, iqAnd motor speed value ω is input to sliding formwork disturbance observer module 7, obtain through observer The estimated value of motor disturbanceWith

4) by the 3rd) output voltage values that obtains in step deducts the control voltage signal u that the disturbed value of estimation obtainsd, uq, with And θ is input to obtain u for biphase the 3rd coordinate transformation module 8 rotating to biphase static coordinate transformαAnd uβ

5) by uαAnd uβIt is input to space vector pulse width modulation module 9 i.e. SVPWM module, obtains six road PWM letters of controller Number output, and by pwm signal control inverter 10, thus obtain three-phase output voltage to drive the operation of motor.

In test, der Geschwindigkeitkreis uses PI to control, and electric current loop uses generalized forecast control method, and uses sliding formwork disturbance to see Survey device and estimate that disturbed value controls for the compensation of electric current loop.The present invention uses i at electric current loopdThe control method of=0, result of the test As in Figure 2-4.

Fig. 2 is given motor speed 800rmp, and load torque is 0.5N m, in the case of the parameter of electric machine is constant with load, Motor dq shaft current aircraft pursuit course, Fig. 2 a is d shaft current aircraft pursuit course, and Fig. 2 b is q shaft current aircraft pursuit course, and Fig. 2 c is dq axle electricity Stream tracking error curve, as seen from the figure, motor output electric current can be good at following the tracks of given dq shaft current curve.

Fig. 3 is given motor speed 800rmp, and load torque is 0.5N m, and when t=1s, load torque is by 0.5N m Becoming current curve during 1N m, Fig. 3 a is d shaft current aircraft pursuit course, and Fig. 3 b is q shaft current aircraft pursuit course, and Fig. 3 c is dq axle Current track error curve, Fig. 3 is phase current curve during load torque change, goes out from the experimental results, and load torque changes Time, dq shaft current has good tracking performance.

In order to verify that the current control method that the present invention proposes does not mates time control at motor actual parameter and controller parameter The robust performance of device processed, becomes the parameter of electric machine set in controller: Rst=0.5*Rs, Ldt=0.75*Ld, Lqt=0.75* Lq, Φt=1.2* Φ, Fig. 4 are the current tracking curve after corresponding parameter of electric machine change, and wherein, Fig. 4 a is that d shaft current is followed the tracks of Curve, Fig. 4 b is q shaft current aircraft pursuit course, and Fig. 4 c is dq shaft current tracking error curve, as seen from the figure, when in controller The parameter of electric machine change after, electric current still is able to quickly follow the tracks of given current curve, test result indicate that, the electric current in the present invention with Track control method has good robust control performance.

Predictive current control module 6 and sliding formwork disturbance observer module 7 are as follows:

Initially with continuous time model generalized forecast control method, according to system continuous time model, utilize Taylor's level Number launches the system output in prediction finite time-domain, is tried to achieve the generalized predictive control rate of system by the cost function of definition.

By rotor field-oriented theory, PMSM mathematical model under d-q synchronous rotating frame is represented by

ud=Lddid/dt+Rsid-npωLqiq-fd

(1)

uq=Lqdiq/dt+Rsiq+npωLdid+npωΦ-fq

In formula, LdAnd LqFor the stator inductance under d-q synchronous rotating frame, id, iq, ud, uqIt is respectively under d-q coordinate system Stator current and voltage, RsFor stator resistance, npFor number of pole-pairs, ω is rotor mechanical angle speed, and Φ is the magnetic that permanent magnet produces Chain, fd, fqFor the disturbance quantity caused by Parameters variation.The purpose of order invention be the electric current seeking control system for permanent-magnet synchronous motor with Track controller, makes x=[Ldid Lqiq]T, u=[ud uq]T, d=[fd fq]T, y=h (x)=[id iq]T, by permanent magnet synchronous electric The mathematical model of machine is expressed as the form of nonlinear system and obtains

x · = f ( x ) + g 1 ( x ) u + d y = h ( x ) = g 2 ( x ) x - - - ( 2 )

Wherein, g 1 ( x ) = 1 0 0 1 , g 2 ( x ) = 1 L d 0 0 1 L q , f ( x ) = - R s i d + n p ωL q i q - R s i q - n p ωL d i d - n p ωΦ

Definition cost function J = 1 2 ∫ 0 T ( y ^ ( t + τ ) - y r ( t + τ ) ) T ( y ^ ( t + τ ) - y r ( t + τ ) ) dτ , Wherein, T is prediction time domain,yr(t+ τ) is respectively prediction output electric current and the reference current of system.

For not considering the nominal system of disturbance d, system output id, iqRelative order to input is ρ=1, takes system input Control rank r=0, and will outputρ derivation is arrived in the 0 of time, prediction is exportedIn t by Taylor series Launch, until ρ+r time

y ^ ( t + τ ) = 1 0 τ 0 0 1 0 τ y ^ ( t ) y ^ · ( t ) - - - ( 3 )

Then above formula is expressed asForm, in like manner, with reference to output obtained by Taylor series expansion Arrive y r ( t + τ ) = Γ ( τ ) Y ‾ r ( t ) , Wherein, Y ‾ r ( t ) = y r ( t ) T y · r ( t ) T T

Order Γ ‾ ( T ) = ∫ 0 T Γ T ( τ ) Γ ( τ ) dτ , Then cost function can be expressed as again J = 1 2 [ Y ‾ ( t ) - Y ‾ r ( t ) ] T Γ ‾ ( T ) [ Y ‾ ( t ) - Y ‾ r ( t ) ]

For making cost function minimize, the predictive current control that thus can obtain nominal system is restrained:

u = - G - 1 ( x ) ( KM ρ + L f h ( x ) - y · r ) - - - ( 4 )

Wherein,

G ( x ) = L g 11 h ( x ) L g 12 h ( x ) = 1 L d 0 0 1 L q , M ρ = [ h ( x ) - y r ( t ) ] = i d - i d * i q - i q * ,

L f h ( x ) = 1 L d 0 0 1 L q f ( x ) , For reference current, g11And g12For g1The column vector of (x), K ∈ R2×2Be by Front two row composition matrix, and Γ ‾ ( T ) = Γ ‾ ρρ Γ ‾ ρr Γ ‾ ρr T Γ ‾ rr , Wherein, Γ ‾ ρρ ∈ R 2 × 2 , Γ ‾ ρr ∈ R 2 × 2 , Γ ‾ rr ∈ R 2 × 2 .

Formula (4) has tried to achieve the electric current control law using generalized predictive control theoretical in the case of not considering disturbance, but in reality Motor for Electric Automobile drive system in, the disturbance of system is inevitable, as working environment change cause motor ginseng Number change modeling is inaccurate, and in the case of considering actual disturbance d, the generalized predictive control rule of system is expressed as:

u = - G - 1 ( x ) ( KM ρ + L f h ( x ) - y · r + G 1 · d ^ ) - - - ( 5 )

Wherein, G 1 = ∂ h ( x ) ∂ x = 1 L d 0 0 1 L d , For compound disturbance observation value.

In formula (5), there is the disturbance quantity of the unknown, in order to try to achieve control law, need to first obtain the value of disturbance quantity, to this end, this Invention devises a kind of novel disturbance observer based on sliding-mode method disturbance variable in estimating system.

First structure sliding formwork disturbance observer s = x - z z · = g 1 u - v d ^ = - ( v + f ) - - - ( 6 )

In formula, s=[s1 s2]T,I.e.I= 1,2

Obtained by formula (6) s · = x · - z · = f + g 1 u + d - g 1 u + v = f + d + v - - - ( 7 )

Take the Lyapunov function of sliding formwork disturbance observerMake ξ=f+d=[ξ1 ξ2]T, thenDefinitionIf ChooseThenThus V &CenterDot; < 0 .

Sliding formwork disturbance observer according to the provable structure of Liapunov stability law is asymptotically stable, and sliding formwork is disturbed In-motion viewing measured valueThe robustness of system is improve by the design of sliding formwork disturbance observer.Although the studies above is demonstrate,proved Understand the stability of sliding formwork disturbance observer, but do not prove that whole hybrid system is at generalized predictive control rule and sliding formwork disturbance observation Stability under device effect.Will be proven below hybrid system stability under generalized predictive control rule (5) effect.

Obtained by formula (2)Make e=y (t)-yr, and then can obtain

e &CenterDot; = y &CenterDot; ( t ) - y &CenterDot; r = - KM &rho; + G 1 ( d - d ^ ) = - Ke + G 1 ( d - d ^ )

The error equation of closed loop system is represented byWherein, A=-K, B=G1, define sliding formwork disturbance The observation error of observer is ed=s=x-z, is expressed as the error vector of closed loop system E = e T e d T T Take system Lyapunov function is V 1 = 1 2 E T P &OverBar; E , P &OverBar; = P 0 0 I d , Wherein P=diag{P1 P2, PiFor symmetric positive definite matrix And meetI=1,2, and then can release Therefore hybrid system is asymptotically stable.Finally build the test platform of control system, demonstrate the present invention by test and carried The effectiveness of method.

Claims (6)

1. an Over Electric Motor with PMSM current control method, is characterized in that, comprises the following steps:
Step one: utilize rotating speed/position detecting module to obtain rotational speed omega and the angular position theta of permagnetic synchronous motor, by angular position theta value It is input in the second coordinate transformation module and the 3rd coordinate transformation module, by the rotational speed omega of motor and given motor speed ωr It is input in PI control module, obtains q shaft current reference value through PI computing
Step 2: utilize current sensor to collect the biphase output electric current i of permagnetic synchronous motoraAnd ib, and will output electric current ia And ibIt is input in the first coordinate transformation module, first exports the null principle of three-phase current sum according to motor, try to achieve the Three-phase current ic, then utilize motor three-phase current ia, ibAnd ic, through coordinate transform, obtain under biphase rest frame Electric current iαAnd iβ, the i that finally will try to achieve in the first coordinate transformation moduleα, iβAnd angular position theta is input to the second coordinate transform mould Block obtains idAnd iq
Step 3: q shaft current reference value will be obtained through PI computing in step oneGiven d shaft current reference valueAnd the The i that two coordinate transformation modules obtaind, iqIt is input to predictive current control module and obtains output voltage values, by id, iqAnd permanent magnetism Synchronous motor rotational speed omega is input to sliding formwork disturbance observation module, obtains permagnetic synchronous motor disturbance through sliding formwork disturbance observation module Estimated valueWith
For not considering the nominal system of disturbance d, system output id, iqRelative order to input is ρ=1, takes the control of system input Rank r=0 processed, and will outputTo the time 0 to ρ derivation, prediction is exportedIn t by Taylor series expansion, Until ρ+r time
y ^ ( t + &tau; ) = 1 0 &tau; 0 0 1 0 &tau; y ^ ( t ) y ^ &CenterDot; ( t ) - - - ( 3 )
Then above formula (3) is expressed asForm, in like manner, with reference to output obtained by Taylor series expansionWherein,OrderThen cost function represents For
For making cost function minimize, the predictive current control thus obtaining nominal system is restrained:
u = - G - 1 ( x ) ( KM &rho; + L f h ( x ) - y &CenterDot; r ) - - - ( 4 )
Wherein,
G ( x ) = L g 11 h ( x ) L g 12 h ( x ) = 1 L d 0 0 1 L q , M &rho; = &lsqb; h ( x ) - y r ( t ) &rsqb; = i d - i d * i q - i q * ,
For reference current, g11And g12For g1The column vector of (x), K ∈ R2×2Be byFront two row composition matrix, andWherein, LdAnd LqFor the stator inductance under d-q synchronous rotating frame,τ is Definition cost functionIn integration variable,Γ (τ) is according to formulaThe variable of definition,
Step 4: output voltage values step 3 obtained deducts the estimated value of permagnetic synchronous motor disturbanceWithControlled Voltage signal ud, uq, by ud, uqAnd θ is input to the 3rd coordinate transformation module and obtains uαAnd uβ
Step 5: by uαAnd uβIt is input to space vector pulse width modulation module, obtains six road pwm signal outputs, and by pwm signal Control inverter, inverter the three-phase output voltage obtained is to drive the operation of permagnetic synchronous motor.
2. Over Electric Motor with PMSM current control method as claimed in claim 1 a kind of, is characterized in that, described forever Magnetic-synchro motor mathematical model under d-q synchronous rotating frame is expressed as:
u d = L d di d / d t + R s i d - n p &omega;L q i q - f d u q = L q di q / d t + R s i q + n p &omega;L d i d + n p &omega; &Phi; - f q - - - ( 1 )
In formula, LdAnd LqFor the stator inductance under d-q synchronous rotating frame, id, iq, ud, uqIt is respectively determining under d-q coordinate system Electron current and voltage, RsFor stator resistance, npFor number of pole-pairs, ω is rotor mechanical angle speed, and Φ is the magnetic linkage that permanent magnet produces, fd, fqFor the disturbance quantity caused by Parameters variation.
3. Over Electric Motor with PMSM current control method as claimed in claim 2 a kind of, is characterized in that, described forever The mathematical model of magnetic-synchro motor is expressed as nonlinear system, makes x=[Ldid Lqiq]T, u=[ud uq]T, d=[fd fq]T, y =h (x)=[id iq]T, obtain nonlinear system:
x &CenterDot; = f ( x ) + g 1 ( x ) u + d y = h ( x ) = g 2 ( x ) x - - - ( 2 )
Wherein,
4. a kind of Over Electric Motor with PMSM current control method as claimed in claim 1, is characterized in that, described step In three, in the case of considering disturbance d, the generalized predictive control rule of system is expressed as
Wherein, For disturbance observation value.
5. Over Electric Motor with PMSM current control method as claimed in claim 4 a kind of, is characterized in that, described in disturb The detailed process of asking for of in-motion viewing measured value is:
First structure sliding formwork disturbance observer
In formula, s=[s1 s2]T,I.e.I=1,2, S1s2 is auxiliary sliding-mode surface, and z is the estimated value of variable x, v1, and v2 is sliding formwork switching function,For sliding formwork handoff gain, f For defined function, and
Obtained by formula (6)
Take the Lyapunov function of sliding formwork disturbance observerMake ξ=f+d=[ξ1 ξ2]T, thenDefinitionIf ChooseThenThusSo disturbance observation value
The control system of a kind of Over Electric Motor with PMSM current control method the most as claimed in claim 1, it is special Levy and be, including:
Rotating speed/position detecting module, for detecting tachometer value ω and the angular position theta of permagnetic synchronous motor;
Current sensor, is used for gathering permagnetic synchronous motor biphase output electric current iaAnd ibAnd it is input to the first coordinate transformation module;
First coordinate transformation module, for by biphase output electric current iaAnd ibObtain in biphase rest frame through coordinate transform Under electric current iαAnd iβ
Second coordinate transformation module, for by iα, iβAnd angular position theta obtains through the biphase static coordinate transform to biphase rotation To idAnd iq
PI control module, for motor speed value ω and given motor speed value ω that rotating speed/position detecting module are obtainedr Q shaft current reference value is obtained through PI computing
Predictive current control module, for by q shaft current reference valueGiven d shaft current reference valueAnd second coordinate become The i that die change block obtainsd, iqIt is predicted computing and obtains output voltage values;
Sliding formwork disturbance observation module, for by id, iqAnd motor speed value ω is as input, obtains permanent magnetism through observer same The estimated value of step motor disturbanceWith
3rd coordinate transformation module, for being individually subtracted estimating of disturbance by the output voltage values that electric current loop PREDICTIVE CONTROL module obtains EvaluationWithObtain controlling voltage signal ud, uq, by ud, uqAnd θ rotates to biphase static coordinate transform through biphase Obtain uαAnd uβ
Space vector pulse width modulation module, for by uαAnd uβIt is calculated six road pwm signal outputs, and is controlled by pwm signal inverse Become device, thus obtain three-phase output voltage to drive the operation of motor.
CN201410588607.6A 2014-10-28 2014-10-28 A kind of Over Electric Motor with PMSM current control system and control method CN104283478B (en)

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CN104601071B (en) * 2015-01-30 2017-06-06 福州大学 Permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer
CN105591575B (en) * 2016-01-11 2017-12-26 同济大学 A kind of direct character control system of non-salient pole permanent magnet synchronous motor and control method
CN105680755B (en) * 2016-03-17 2017-12-26 合肥工业大学 The model-free current control device and method of a kind of permagnetic synchronous motor
CN105897097B (en) * 2016-04-18 2018-03-23 北方工业大学 Permagnetic synchronous motor current predictive control method and device
CN105915147B (en) * 2016-04-20 2018-12-18 同济大学 A kind of cage type induction motor control system and method based on direct character control
CN106169893B (en) * 2016-07-22 2018-08-07 扬州大学 A kind of method of permanent magnet synchronous motor sliding moding structure position control
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