CN105337550B - A kind of permagnetic synchronous motor method for suppressing torque ripple - Google Patents
A kind of permagnetic synchronous motor method for suppressing torque ripple Download PDFInfo
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- CN105337550B CN105337550B CN201510881795.6A CN201510881795A CN105337550B CN 105337550 B CN105337550 B CN 105337550B CN 201510881795 A CN201510881795 A CN 201510881795A CN 105337550 B CN105337550 B CN 105337550B
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Abstract
The invention provides a kind of permagnetic synchronous motor Torque Ripple Reduction device, including PI controllers, dead beat current control module, permagnetic synchronous motor, torque estimator and the repeated controller based on angle, wherein, the output end of the PI controllers respectively with the dead beat current control module, repeated controller connection based on angle, the output end of the dead beat current control module is connected with the permagnetic synchronous motor, the permagnetic synchronous motor input with the repeated controller based on angle respectively, the input of torque estimator, the input connection of PI controllers.The invention provides a kind of permagnetic synchronous motor method for suppressing torque ripple.The beneficial effects of the invention are as follows：Dead beat current control and the repeatability control based on angle are combined, can not only strengthen the Torque Ripple Reduction effect under permanent rotating speed, convergence time shortens, moreover it is possible to torque pulsation also can be persistently suppressed in speed change, the transient state of varying load.
Description
Technical field
The present invention relates to motor control, more particularly to a kind of permagnetic synchronous motor method for suppressing torque ripple.
Background technology
Permagnetic synchronous motor is with its high efficiency, the features such as reliability is high, is widely used in the drive higher to performance requirement
In dynamic.Control for permagnetic synchronous motor, but it is the most frequently used with vector controlled.Vector controlled is by current regulator, speed control
Ring, position control ring are placed from inside to outside, and this structures shape bandwidth should successively reduce from the inside to the outside, therefore, electric current loop
Bandwidth is to limit the bandwidth and response speed of speed ring and position ring.The conventional control method of electric current loop has：Hysteresis control, PI
Control, track with zero error.Wherein, Hysteresis control can cause transverter open loop frequency not fixed, and dead beat current control can reach
To the bandwidth higher than PI controls.Therefore, dead beat current control is a kind of high bandwidth being known, fast-response electric current control
System.
In addition, repeatability control or iterative learning control have been applied in the suppression of periodic harmonic.It has study
Property, and do not need the accurate parameter of known system.By remembering the waveform of upper a cycle, the waveform of next cycle is predicted simultaneously
Compensate.The high-frequency signal of known periods is followed the trail of available for the pulsation or help for suppressing known periods.In existing document,
Periodically refer to the periodicity on the time more, and be directed to permagnetic synchronous motor Torque Ripple Reduction, due to most important torque arteries and veins
Dynamic is to have document to propose the repeatability control based on angle in periodic on motor rotor position.Weight based on angle
Renaturation control known need not be compensated the cycle of pulsation, and the pulsation amplitude of diverse location is turned to by remembering rotor, according to
The position feedback of encoder compensates.So that the Torque Ripple Reduction of (no longer known by the compensation pulsation period) becomes under speed change
May.
Although the repeatability control based on angle has been used in the torque pulsation of permagnetic synchronous motor by existing document,
But problems be present so that the advantage that the control remains to known torque pulsation under speed change, in transient state can not be played, also
Stability to whole system brings challenge.
Prior art by repeatability control be placed in speed ring it is in parallel with speed ring PI controllers, collocation equally using PI control
The electric current loop of device processed：
First, confronted with each other between repeated controller and PI controller in parallel.The output of speed ring is electric current loop
With reference to, it is ideally to provide all current reference low frequency components by the PI controllers of low bandwidth, and repeated controller carries
For all current reference high fdrequency components.But actual is difficult to accomplish.Under transient state, two kinds of controllers can fight for output circuit mutually
With reference to DC component, pulsation is produced on the contrary, or even cause unstable.So repeatability control could can only activate in the steady state,
This has just constrained the repeatability control based on angle and torque pulsation inhibited potentiality is remained in transient state.Even if activation repeatability control
Reaching stable state when processed, PI controllers and repeated controller can also interact, and fight for output current and refer to AC compounent, this
Convergence time can be increased.
Second, electric current loop and displacement of the mechanical connection to velocity fluctuation phase, and caused by it is unstable.Prior art is logical
Cross velocity perturbation generation amplitude and offset the current reference with fluctuation therewith, then current reference is followed the trail of by electric current loop, so as to logical
Cross and produce the opposite torque ripple of amplitude to offset original torque ripple, then output torque acts on mechanical connection and produced and turns
Speed.In this closed-loop system, equivalent to one low pass filter is mechanically connected, so velocity wave form is relative to torque profile meeting
There is phase shift.And electric current loop also has delay, caused phase shift between torque and current reference is caused.From the ripple of ssystem transfer function
It is easy to see that electric current loop and mechanical connection based on PI are different to the phase shift angle of different frequency signals in special figure.Institute
With ripple frequency have it is multiple and unknown in the case of, both phase shifts are difficult to be compensated.Once the summation of two phase shifts reaches
180 °, torque pulsation will be exaggerated on the contrary, and system will be unstable.Therefore, although the repeatability control based on angle need not be
Know by the frequency of compensation torque but due to that can not ensure stability and only permissible velocity fluctuates in a small range.
Third, PI controller bandwidth is low, limits and can compensate for torque pulsation frequency range.Although the problem of torque pulsation one
As for it is even more serious when low speed, but can not exclude to might have the higher torque pulsation of frequency and need to be compensated.Electricity
The height that the bandwidth of stream ring should try one's best, just can guarantee that torque pulsation as much as possible can be compensated.
These problems are mostly derived from the consideration lacked to repeatability control and other control interactions in vector controlled, and
Caused by it is unstable.
The content of the invention
In order to solve the problems of the prior art, the invention provides a kind of permagnetic synchronous motor Torque Ripple Reduction device
And method, combine dead beat current control and the repeatability control based on angle.
The invention provides a kind of permagnetic synchronous motor Torque Ripple Reduction device, including PI controllers, dead beat electric current
Control module, permagnetic synchronous motor, torque estimator and the repeated controller based on angle, wherein, the PI controllers
Output end is connected with the dead beat current control module, the repeated controller based on angle respectively, the dead beat electric current
The output end of control module is connected with the permagnetic synchronous motor, the permagnetic synchronous motor respectively with the weight based on angle
The input of renaturation controller, the input of torque estimator, PI controllers input connection, the torque estimator it is defeated
Go out end to be connected with the input of the repeated controller based on angle, the output of the repeated controller based on angle
End is connected with the input of the dead beat current control module.
As a further improvement on the present invention, the output end of the PI controllers, the repeated controller based on angle it
Between be connected with study trigger.
As a further improvement on the present invention, the dead beat current control module includes track with zero error device, Clark becomes
Parallel operation, transverter and Park converters, wherein, the output end of the PI controllers and the input of the track with zero error device connect
Connect, the output end of the track with zero error device is connected with the input of the Clark converters, the Clark converters it is defeated
Go out end to be connected with the input of the transverter, the output end of the transverter and the input of the permagnetic synchronous motor connect
Connect, the output end of the permagnetic synchronous motor is connected with the input of the Park converters, the output of the Park converters
End is connected with the input of the track with zero error device.
As a further improvement on the present invention, the output end of the permagnetic synchronous motor and the input of Clark converters
Connection.
Present invention also offers a kind of permagnetic synchronous motor method for suppressing torque ripple, comprise the following steps：
S1, rotor mechanical location [0,2 π] is divided into N number of section, the beginning in each sampling period has new position and adopted
Sample θmArrived with the torque error error of correspondence position, calculate section K corresponding to rotor mechanical location1=int (θm*N/
2/π)；
S2, by section K corresponding to rotor mechanical location1Area corresponding with the rotor mechanical location in previous sampling period
Between number KprevIt is compared, if identical, does not update memory array mem, if it is not the same, then utilizes the torque of previous moment
Error e rrorprevWith the torque error error at current time, by linear interpolation method, K is calculated1* the torque of 2* π/N positions
Error e rrorpredAnd a length of N memory array mem { N } K is updated according to formula (1) or (2)1Individual or (K1+1)
Individual value, wherein G are the gain of repeatability control, and Q is the forgetting factor of repeatability control, be should be less than and close to 1；
During rotating forward：mem[k1]=mem [K1]*Q+errorpred*G (1)
During reversion：mem[k1+ 1]=mem [K1+1]*Q+errorpred*G (2)
When S3, output, rotor position corresponding to estimationfutuAnd convert and arrive [0,2 π], calculate K2=int (θfutu*N/2/
π), linear interpolation obtains corresponding rotor positionfutuEquivalent memory array mem and export.
As a further improvement on the present invention, step S3 is：During output, the time delay 2*T of electric current loop follow current signals,
Torque estimator time delay, common M*Ts, according to present speed ωm, when estimating that the current reference that repeatability control currently exports comes into force,
Corresponding rotor positionfutu=θm+ωm*M*Ts, draw K2=int (θfutu* N/2/ π), and according to memory array mem (K2) with
mem(K2+ 1) corresponding rotor position, is estimated by linear interpolationfutuThe equivalent memory array mem of position is simultaneously exported, such
Effect memory array mem is then considered as the current reference that should be compensated.
The beneficial effects of the invention are as follows：By such scheme, dead beat current control and the repetition based on angle are combined
Property control, the Torque Ripple Reduction effect under permanent rotating speed can not only be made strengthen, convergence time shortening, moreover it is possible to make torque pulsation i.e.
Make also can persistently be suppressed in speed change, the transient state of varying load.
Brief description of the drawings
Fig. 1 is a kind of control topological diagram of permagnetic synchronous motor Torque Ripple Reduction device of the present invention.
Fig. 2 is a kind of flow chart of permagnetic synchronous motor method for suppressing torque ripple of the present invention.
Embodiment
The present invention is further described for explanation and embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of permagnetic synchronous motor Torque Ripple Reduction device, including PI controllers 1, dead beat electric current control
Molding block 10, permagnetic synchronous motor 5, torque estimator 8 and the repeated controller 7 based on angle, wherein, the PI controllers
1 output end is connected with the dead beat current control module 10, the repeated controller 7 based on angle respectively, the indifference
Clap current control module 10 output end be connected with the permagnetic synchronous motor 5, the permagnetic synchronous motor 5 respectively with the base
Connected in the input of the input of repeated controller 7 of angle, the input of torque estimator 8, PI controllers 1, it is described
The output end of torque estimator 8 is connected with the input of the repeated controller 7 based on angle, the weight based on angle
The output end of renaturation controller 7 is connected with the input of the dead beat current control module 10.
As shown in figure 1, pi regulator 1 is a kind of linear controller, it forms according to set-point and real output value and controlled
Deviation, the ratio (P) of deviation and integration (I) are formed into controlled quentity controlled variable by linear combination, controlled device is controlled.
As shown in figure 1, it is connected with study between the output end of the PI controllers 1, the repeated controller 7 based on angle
Trigger 9.
As shown in figure 1, the dead beat current control module 10 includes track with zero error device 2, Clark converters 3, the change of current
Device 4 and Park converters 6, wherein, the output end of the PI controllers 1 is connected with the input of the track with zero error device 2, institute
The output end for stating track with zero error device 2 is connected with the input of the Clark converters 3, the output of the Clark converters 3
End is connected with the input of the transverter 4, and the output end of the transverter 4 and the input of the permagnetic synchronous motor 5 connect
Connect, the output end of the permagnetic synchronous motor 5 is connected with the input of the Park converters 6, the Park converters 6 it is defeated
Go out end to be connected with the input of the track with zero error device 2.
As shown in figure 1, the output end of the permagnetic synchronous motor 5 is connected with the input of Clark converters 3.
As shown in figure 1, one of benefit of permagnetic synchronous motor 5 is controlled to have using vector controlled, permagnetic synchronous motor 5
Control resolved into the control to d axles and q shaft currents respectively.For conventional durface mounted permanent magnet synchronous motor 5, d shaft currents
Control, typically just needed after permagnetic synchronous motor 5 enters weak magnetic area higher than normal speed, permagnetic synchronous motor 5 for weak magnetic
D shaft currents should be controlled as 0A when being run in invariable power area.Q shaft currents are used to produce output torque.The output torque of motor can
Described with formula (1).Wherein most is as caused by q shaft currents in the stator coils caused magnetomotive force and rotor magnet
The interphase interaction generation of electromotive force, that is, the Section 1 on the right of formula equal sign.It is not difficult to find out, if the magnetic flux in air gap is non-
Sine distribution, then in diverse location magnet magnetic linkage YmDifference, torque pulsation can be caused.In addition, motor can also be due to stator teeth groove
Magnetic resistance it is different, with rotor magnet caused by electromotive force effect produce a torque component with rotor-position cyclic swing
Tcogging。
Te=k*Ym*iq+Tcogging (1)
Except above two, the production of torque pulsation is because also a variety of.Such as, the biased error due to three-phase current sampling and contracting
Put error, after carrying out Park changes, can be obtained in q shaft currents feed backs it is wrong once with two order harmonic components, therewith due to
The effect of electric current loop can the primary and secondary torque pulsation of mistake generation；Transverter it is non-linear to be applied to the voltage of motor with
The Voltage Reference of current controller output is variant and includes harmonic wave；Motor bearings abrasion causes motor breath uneven.Lucky
It is that these are pulsed all with rotor-position in periodically.
Therefore, the repeatability control based on angle has been placed in speed ring by the present invention, and it is low to make up speed loop bandwidth
Problem, for producing the q shaft currents reference with multiple frequency harmonics, to offset the torque pulsation of each frequency.And use indifference
Current control is clapped to realize to the tracking for the current reference that may contain radio-frequency component.In order to mitigate repeated controller and speed ring PI
The interaction of controller, employs dongle configuration.Add the torque estimator based on mechanical system inertia and coefficient of friction
With phase shift of the compensation speed waveform to torque profile.
Meanwhile it has been investigated that, it is normal in motor although dead beat current control controls sensitivity to the parameter of electric machine compared with PI
In the range of being changed due to parameters such as temperature rise, saturations, delay of the output current wave to reference current can be kept to be all the time
Twice of sampling period.Therefore, delay compensation is with the addition of in repeatability controls, compensate for electric current loop output current to current reference
Phase shift.
As shown in Fig. 2 present invention also offers a kind of permagnetic synchronous motor method for suppressing torque ripple, including following step
Suddenly：
Rotor mechanical location [0,2 π] is divided into N number of section, the beginning in each sampling period has new position sampling
θmArrived with the torque error error of correspondence position.
First calculate the section K of position correspondence1=int (θm* N/2/ π), the K with the previous sampling periodprevCompared
If it is different, then utilizing the torque error error of previous moment after relativelyprevWith the torque error error at current time, by linear
Interpolation method, calculate K1* the torque error error of 2* π/N positionspredAnd a length of N number is updated according to formula (2) or (3)
Group mem { N } K1Individual or (K1+ 1) individual value, wherein G for repeatability control gain, Q be repeatability control forgetting because
Son, it should be less than and close to 1.
During rotating forward：mem[k1]=mem [K1]*Q+errorpred*G (2)
During reversion：mem[k1+ 1]=mem [K1+1]*Q+errorpred*G (3)
During output, the time delay 2*T of electric current loop follow current signal should be taken into full accounts, torque estimator time delay, common M*Ts, can
According to present speed ωm, when estimating that the current reference that repeatability control currently exports comes into force, corresponding rotor positionfutu=θm+
ωm*M*Ts, draw K2=int (θfutu* N/2/ π), and according to mem (K2) and mem (K2+ 1), estimated by linear interpolation
θfutuThe mem of position.The mem is then considered as the current reference that should be compensated.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (2)
1. a kind of permagnetic synchronous motor method for suppressing torque ripple, it is characterised in that comprise the following steps：
S1, rotor mechanical location [0,2 π] is divided into N number of section, the beginning in each sampling period has new position sampling θm
Arrived with the torque error error of correspondence position, calculate section K corresponding to rotor mechanical location1=int(θm*N/2/π)；
S2, by section K corresponding to rotor mechanical location1Section number corresponding with the rotor mechanical location in previous sampling period
KprevIt is compared, if identical, does not update memory array mem, if it is not the same, then utilizes the torque error of previous moment
errorprevWith the torque error error at current time, by linear interpolation method, K is calculated1* the torque error of 2* π/N positions
errorpredAnd according to formula（1）Or（2）Update a length of N memory array mem { N } K1Individual or (K1+ 1) individual value,
Wherein G is the gain of repeatability control, and Q is the forgetting factor of repeatability control, be should be less than and close to 1；
During rotating forward：mem[k1]=mem[K1]*Q+errorpred*G (1)
During reversion：mem[k1+1]=mem[K1+1]*Q+errorpred*G (2)
When S3, output, rotor position corresponding to estimationfutuAnd convert and arrive [0,2 π], calculate K2=int(θfutu* N/2/ π), line
Property interpolation obtains corresponding rotor positionfutuEquivalent memory array mem and export.
2. permagnetic synchronous motor method for suppressing torque ripple according to claim 1, it is characterised in that step S3 is：It is defeated
When going out, the time delay 2*T of electric current loop follow current signals, torque estimator time delay, common M*Ts, according to present speed ωm, estimation weight
When the current reference that renaturation control currently exports comes into force, corresponding rotor positionfutu=θm+ωm*M*Ts, draw K2=int
(θfutu* N/2/ π), and according to memory array mem (K2) and mem (K2+ 1) corresponding rotor position, is estimated by linear interpolation
Put θfutuThe equivalent memory array mem of position is simultaneously exported, and the equivalent memory array mem is then considered as the current reference that should be compensated.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107433978A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
| CN106685276B (en) | 2016-11-29 | 2019-04-02 | 江苏大学 | A method of reducing permanent magnet synchronous motor torque pulsation |
| JP6542304B2 (en) * | 2017-08-10 | 2019-07-10 | 本田技研工業株式会社 | Control device and control method of rotating electric machine |
| CN107565862B (en) * | 2017-09-08 | 2019-09-24 | 华中科技大学 | A kind of velocity perturbation suppressing method suitable for permanent magnet synchronous motor |
| CN107979316A (en) * | 2017-11-21 | 2018-05-01 | 华南理工大学 | A kind of PMSM fluctuation of speed suppressing methods based on iterative learning |
| JP7205108B2 (en) * | 2018-08-20 | 2023-01-17 | 日本電産株式会社 | Motor control device and power steering device |
| CN109560736B (en) * | 2018-12-18 | 2020-03-31 | 东南大学 | Permanent magnet synchronous motor control method based on second-order terminal sliding mode |
| CN111969914B (en) * | 2020-07-21 | 2021-09-07 | 北方工业大学 | Dead beat current prediction control method and equipment for permanent magnet synchronous motor and storage medium |
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