CN104579088B - A kind of highly reliable electric drive motor control method - Google Patents
A kind of highly reliable electric drive motor control method Download PDFInfo
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- CN104579088B CN104579088B CN201410827262.5A CN201410827262A CN104579088B CN 104579088 B CN104579088 B CN 104579088B CN 201410827262 A CN201410827262 A CN 201410827262A CN 104579088 B CN104579088 B CN 104579088B
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Abstract
The invention discloses a kind of highly reliable electric drive motor control methods, the control method employs fuzzy PR adjusters to replace traditional speed PI controllers in speed adjusting, the adaptive ability and Ability of Resisting Disturbance of system are added, there is good tracking effect；Predictive controller is employed in current regulation to replace traditional electric current PI controllers, the hysteresis characteristic for solving conventional current PI controllers improves the bandwidth and dynamic property of system；The control method of SVM combination four-arm converters is finally employed to improve the reliability of system, enables the system to remain to normal operation in case of a fault.The present invention has the characteristics that quick dynamic response capability, adaptive ability are strong, disturbance rejection is strong, tracking effect is good, reliability is high, suitable for driving occasion to the higher motor of dynamic property and reliability requirement.
Description
Technical field
The present invention relates to the field of electric machines control technology, more particularly, to a kind of highly reliable electric drive motor controlling party
Method.
Background technology
With Power Electronic Technique, Electric Drive technology it is growing, electric drive motor system has obtained extensively
General application.But in recent years, with the continuous development of new energy and science and technology, many motors driving occasions to its dynamic property with
And higher requirement is proposed in reliability.
There are still some shortcomings or parts to be modified for electric drive motor control method at present：Its speed PI used is controlled
There are adaptive ability is poor, Ability of Resisting Disturbance is weak, the general deficiency of tracking effect for device；Its electric current PI controller used exists
Intrinsic hysteresis characteristic, so as to influence the increase of the dynamic property of system and limitation system bandwidth, response speed is limited；It is
The poor reliability of system control, can not be worked normally after running into motor and winding open circuit fault occur, seriously affect motor
Output performance.
The content of the invention
The purpose of the present invention is overcoming drawbacks described above in the prior art, a kind of highly reliable electric drive electricity is provided
Machine control method makes it have stronger adaptive ability and Ability of Resisting Disturbance and tracking effect, while can have system
Dynamic property well reduces lagging influence, and system can be made to have higher reliability, even if remaining in case of a fault just
Often operation drives occasion so as to be allowed to be suitable for the motor higher to dynamic property and reliability requirement.
To achieve these goals, the present invention provides a kind of highly reliable electric drive motor control method, this method
Include the following steps：
(1) the electric current i of motor is gathered by Hall sensora、ib, it is then obtained into d-q by abc/dq converters and is sat
The lower actual current value i of mark systemdAnd iq；
(2) the position signal θ of motor is gathered by position detector, and the speed that differential is fed back is carried out to position signal
Spend signal rotor machinery angular velocity omegar；
(3) by given rotational speed omegar *With the speed omega of feedbackrIt is sent into fuzzy PR adjusters to be handled, obtains having certainly
Adaptable and Ability of Resisting Disturbance it is strong give constant current iq *, this, which obscures PR adjusters, can make motor speed have tracking well
Effect；
(4) by given d-q shaft currents iq *And id *It is sent into predictive controller, wherein id *=0, while will be last defeated
The d-q shaft voltages U gone outd *(k-1)、Uq *(k-1) and the last electric current i fed backd(k-1) and iq(k-1) it is sent into together
Predictive controller, the d-q shaft voltages U predictedd *(k) and Uq *(k), prediction expression is：
Ud *(k)=A1id(k-1)+A2id *(k)+A3iq(k-1)+A4Ud *(k-1)
Uq *(k)=B1iq(k-1)+B2iq *(k)+B3id(k-1)+B4Uq *(k-1)
Wherein, k is k-th of controlling cycle, and k-1 represents -1 cycle of kth, i.e., upper a cycle, Ud *(k) and Uq *(k) divide
The d-q shaft voltages for k-th of the controlling cycle that Wei do not predict, id *(k) and iq *(k) it is respectively to be given in k-th of controlling cycle
D-q shaft currents, A1、A2、A3、A4For Ud *(k) adjustment parameter, B1、B2、B3、B4For Uq *(k) adjustment parameter, according to motor certainly
The different characteristic of body determines；
(5) the d-q shaft voltages U predicted that will be obtainedd *(k) and Uq *(k), static two-phase is obtained after Park inverse transformations
The electric moter voltage u given under orthogonal coordinate systemα *、uβ *, when the system is normal, obtained by Realization of pulse width modulation based on voltage space vector (SVM)
The pulse-width signal S for opening, turning off to the power tube of tri- bridge arms of a, b, ca、Sb、Sc, then by driving four bridge legs inversion
Tri- bridge arms of a, b, c in device make it export corresponding three-phase current ia、ib、icTo control motor that Setting signal is followed normally to transport
Row；
(6) when a phase winding open circuit fault occurs in system, such as after open circuit fault occur in a phase windings, at this moment will with
The four bridge legs n that motor three-phase windings central point is connected replaces a bridge arms to break down, cuts away a bridge arms, while by failure
The voltage vector of phase a is replaced by four bridge legs n, i.e., is obtained by Realization of pulse width modulation based on voltage space vector (SVM) under open circuit fault state
The power tube pulse-width signal S that opens, turn offn、Sb、Sc, then by driving n, b, c tri- in four-leg inverter
Bridge arm makes it export corresponding three-phase current in、ib、icControl motor that Setting signal is followed to run, make motor under the failure still
It can normally run.
Compared with prior art, main advantage of the invention is：
The present invention provides a kind of highly reliable electric drive motor control method, which adopts in speed adjusting
Traditional speed PI controllers are replaced with fuzzy PR adjusters, add the adaptive ability and Ability of Resisting Disturbance of system,
With good tracking effect；Predictive controller is employed in current regulation to replace traditional electric current PI controllers, is solved
The hysteresis characteristics of conventional current PI controllers improves the bandwidth and dynamic property of system；SVM is finally employed with reference to four bridges
The control method of arm converter improves the reliability of system, enables the system to remain to normal operation in case of a fault.The present invention
Have the characteristics that quick dynamic response capability, adaptive ability are strong, disturbance rejection is strong, tracking effect is good, reliability is high, be suitable for
The motor driving occasion higher to dynamic property and reliability requirement.
Description of the drawings
Fig. 1 is the control principle block diagram of the present invention.
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with attached drawing, so as to those skilled in the art more
Understand the present invention well.
As shown in Figure 1, it is a kind of specific embodiment party of highly reliable electric drive motor control method of the present invention
Formula, specific implementation step are：
(1) the electric current i of motor is gathered by Hall sensora、ib, it is then obtained into d-q by abc/dq converters and is sat
The lower actual current value i of mark systemdAnd iq；
(2) the position signal θ of motor is gathered by position detector, and the speed that differential is fed back is carried out to position signal
Spend signal rotor machinery angular velocity omegar；
(3) by given rotational speed omegar *With the speed omega of feedbackrIt is sent into fuzzy PR adjusters to be handled, obtains having certainly
Adaptable and Ability of Resisting Disturbance it is strong give constant current iq *, this, which obscures PR adjusters, can make motor speed have tracking well
Effect；
(4) by given d-q shaft currents iq *And id *It is sent into predictive controller, wherein id *=0, while will be last defeated
The d-q shaft voltages U gone outd *(k-1)、Uq *(k-1) and the last electric current i fed backd(k-1) and iq(k-1) it is sent into together
Predictive controller, the d-q shaft voltages U predictedd *(k) and Uq *(k), prediction expression is shown as：
Ud *(k)=A1id(k-1)+A2id *(k)+A3iq(k-1)+A4Ud *(k-1)
Uq *(k)=B1iq(k-1)+B2iq *(k)+B3id(k-1)+B4Uq *(k-1)
Wherein, k is k-th of controlling cycle, and k-1 represents -1 cycle of kth, i.e., upper a cycle, Ud *(k) and Uq *(k) divide
The d-q shaft voltages for k-th of the controlling cycle that Wei do not predict, id *(k) and iq *(k) it is respectively to be given in k-th of controlling cycle
D-q shaft currents, A1、A2、A3、A4For Ud *(k) adjustment parameter, B1、B2、B3、B4For Uq *(k) adjustment parameter, according to motor certainly
The different characteristic of body determines；
(5) the d-q shaft voltages U predicted that will be obtainedd *(k) and Uq *(k), static two-phase is obtained after Park inverse transformations
The electric moter voltage u given under orthogonal coordinate systemα *、uβ *, when the system is normal, obtained by Realization of pulse width modulation based on voltage space vector (SVM)
The pulse-width signal S for opening, turning off to the power tube of tri- bridge arms of a, b, ca、Sb、Sc, then by driving four bridge legs inversion
Tri- bridge arms of a, b, c in device make it export corresponding three-phase current ia、ib、icTo control motor that Setting signal is followed normally to transport
Row；
(6) when a phase winding open circuit fault occurs in system, such as after open circuit fault occur in a phase windings, at this moment will with
The four bridge legs n that motor three-phase windings central point is connected replaces a bridge arms to break down, cuts away a bridge arms, while by failure
The voltage vector of phase a is replaced by four bridge legs n, i.e., is obtained by Realization of pulse width modulation based on voltage space vector (SVM) under open circuit fault state
The power tube pulse-width signal S that opens, turn offn、Sb、Sc, then by driving n, b, c tri- in four-leg inverter
Bridge arm makes it export corresponding three-phase current in、ib、icControl motor that Setting signal is followed to run, make motor under the failure still
It can normally run.
The control method employs fuzzy PR adjusters to replace traditional speed PI controllers in speed adjusting, increases
The adaptive ability and Ability of Resisting Disturbance of system has good tracking effect；PREDICTIVE CONTROL is employed in current regulation
Device replaces traditional electric current PI controllers, the hysteresis characteristic that solves conventional current PI controllers, improves the bandwidth of system
And dynamic property；The control method of SVM combination four-arm converters is finally employed to improve the reliability of system, is enabled the system to
Normal operation is remained in case of a fault.The present invention have quick dynamic response capability, adaptive ability is strong, disturbance rejection is strong,
The features such as tracking effect is good, reliability is high, suitable for driving occasion to the higher motor of dynamic property and reliability requirement.
Embodiment of above is merely illustrative of the invention's technical idea, it is impossible to protection scope of the present invention is limited with this, it is all
It is any change for being done on the basis of technical solution according to technological thought proposed by the present invention, each falls within present invention protection model
Within enclosing.
Claims (1)
1. a kind of highly reliable electric drive motor control method, which is characterized in that comprise the following steps：
(1) the electric current i of motor is gathered by Hall sensora、ib, it is then obtained into d-q coordinate systems by abc/dq converters
Lower actual current value idAnd iq；
(2) the position signal θ of motor is gathered by position detector, and the speed that differential is fed back is carried out to position signal and is believed
Number rotor machinery angular velocity omegar；
(3) by given rotational speed omegar *With the speed omega of feedbackrIt is sent into fuzzy PR adjusters to be handled, obtains having adaptive
Ability by force and Ability of Resisting Disturbance it is strong to constant current iq *, this, which obscures PR adjusters, can make motor speed that there is tracking well to imitate
Fruit；
(4) by given d-q shaft currents iq *And id *It is sent into predictive controller, wherein id *=0, while the last time is exported
D-q shaft voltages Ud *(k-1)、Uq *(k-1) and the last electric current i fed backd(k-1) and iq(k-1) prediction is sent into together
Controller, the d-q shaft voltages U predictedd *(k) and Uq *(k), prediction expression is：
Ud *(k)=A1id(k-1)+A2id *(k)+A3iq(k-1)+A4Ud *(k-1)
Uq *(k)=B1iq(k-1)+B2iq *(k)+B3id(k-1)+B4Uq *(k-1)
Wherein, k is k-th of controlling cycle, and k-1 represents -1 cycle of kth, i.e., upper a cycle, Ud *(k) and Uq *(k) it is respectively
The d-q shaft voltages of k-th of the controlling cycle predicted, id *(k) and iq *(k) it is respectively d-q given in k-th of controlling cycle
Shaft current, A1、A2、A3、A4For Ud *(k) adjustment parameter, B1、B2、B3、B4For Uq *(k) adjustment parameter, according to motor itself not
Same characteristic determines；
(5) the d-q shaft voltages U predicted that will be obtainedd *(k) and Uq *(k), the orthogonal seat of static two-phase is obtained after Park inverse transformations
The lower given electric moter voltage u of mark systemα *、uβ *, when the system is normal, by Realization of pulse width modulation based on voltage space vector (SVM) obtain a, b,
The pulse-width signal S that the power tube of tri- bridge arms of c is opened, turned offa、Sb、Sc, then by driving in four-leg inverter
A, tri- bridge arms of b, c make it export corresponding three-phase current ia、ib、icMotor to be controlled to follow Setting signal normal operation；
(6) when a phase winding open circuit fault occurs in system, such as after open circuit fault occur in a phase windings, at this moment will use and motor
The four bridge legs n that three-phase windings central point is connected replaces a bridge arms to break down, cuts away a bridge arms, while by failure phase a
Voltage vector by four bridge legs n replace, i.e., the work(under open circuit fault state is obtained by Realization of pulse width modulation based on voltage space vector (SVM)
The pulse-width signal S that rate pipe is opened, turned offn、Sb、Sc, then by driving tri- bridge arms of n, b, c in four-leg inverter
It is made to export corresponding three-phase current in、ib、icIt controls motor that Setting signal is followed to run, so that the motor is remained to just under failure
Often run.
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| CN201410827262.5A CN104579088B (en) | 2014-12-25 | 2014-12-25 | A kind of highly reliable electric drive motor control method |
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| CN104579088B true CN104579088B (en) | 2018-05-22 |
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| CN108089442B (en) * | 2017-12-12 | 2020-12-15 | 浙江大学宁波理工学院 | PI controller parameter self-tuning method based on prediction function control and fuzzy control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938246A (en) * | 2010-09-29 | 2011-01-05 | 重庆交通大学 | Fuzzy fusion identification method of rotating speed of sensorless motor |
| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
| CN103199790A (en) * | 2013-05-03 | 2013-07-10 | 哈尔滨理工大学 | Control system and control method for three-phase four-bridge-arm permanent magnet synchronous motor |
| CN103904972A (en) * | 2014-04-16 | 2014-07-02 | 杨飏 | Novel fuzzy and deadbeat algorithm vector control system of permanent magnet synchronous motor |
-
2014
- 2014-12-25 CN CN201410827262.5A patent/CN104579088B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101938246A (en) * | 2010-09-29 | 2011-01-05 | 重庆交通大学 | Fuzzy fusion identification method of rotating speed of sensorless motor |
| CN102904520A (en) * | 2012-10-09 | 2013-01-30 | 华东建筑设计研究院有限公司 | Current predictive control method of permanent magnet synchronous motor |
| CN103199790A (en) * | 2013-05-03 | 2013-07-10 | 哈尔滨理工大学 | Control system and control method for three-phase four-bridge-arm permanent magnet synchronous motor |
| CN103904972A (en) * | 2014-04-16 | 2014-07-02 | 杨飏 | Novel fuzzy and deadbeat algorithm vector control system of permanent magnet synchronous motor |
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Inventor after: Liu Kunming Inventor after: Luo Jixing Inventor before: Shi Yongli Inventor before: Li Xisheng Inventor before: Xiong Longhui |
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Effective date of registration: 20180418 Address after: 621000 incubator, incubator, No. 213, Sichuan Chuang Chuang Park, Chuang Chuang, Mianyang Applicant after: Mianyang sai'en Amperex Technology Limited Address before: 400055 Banan District, Chongqing flower Bay No. 5, attached No. 7 Applicant before: Shi Yongli |
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