CN105634359A - Design method of improved PI controller - Google Patents

Design method of improved PI controller Download PDF

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Publication number
CN105634359A
CN105634359A CN201610176459.6A CN201610176459A CN105634359A CN 105634359 A CN105634359 A CN 105634359A CN 201610176459 A CN201610176459 A CN 201610176459A CN 105634359 A CN105634359 A CN 105634359A
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CN
China
Prior art keywords
controller
input value
value
output value
control device
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Pending
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CN201610176459.6A
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Chinese (zh)
Inventor
牛剑博
李岩
邹会杰
李东
丁虎晨
张瑞峰
景晓东
陶良慧
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CRRC Yongji Electric Co Ltd
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CRRC Yongji Electric Co Ltd
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Priority to CN201610176459.6A priority Critical patent/CN105634359A/en
Publication of CN105634359A publication Critical patent/CN105634359A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention relates to a design method of an improved PI controller. The design method is characterized in that the magnitudes of error delta omega at an input end are collected, and compensation judgment is carried out on the delta omega; the results delta of judgment act on a compensating controller, and compensation is carried out on an original PI controller through the compensating controller. The improved PI controller is simple in structure and high in stability, and can be applied to engineering practice.

Description

The method of design of the PI controller of a kind of improvement
Technical field
The present invention relates to the method for design of the PI controller of a kind of improvement.
Background technology
The structure of conventional PI control device is simple, it is easy to realizes, has good dynamic property. But system exists the adaptive faculty difference to load change and the weak shortcoming of immunity from interference, and adjust in process at controller parameter, often rely on a large amount of engineering experiences and repeatedly debug. Therefore, dynamic property is being required higher occasion, adopting conventional PI control device will be subject to certain limitation, the requirement of related fields can not be met.
Summary of the invention
It is an object of the invention to provide the method for design of the PI controller of a kind of improvement, there is the problem that adaptive faculty is poor and immunity from interference is weak to load change to solve conventional PI control device.
The present invention adopts following technical scheme to realize: the magnitude of error gathering PI controller input terminus, and compensate judgement to gathering the magnitude of error come, the result of judgement is applied on compensatory control device, being compensated by original PI controller through compensatory control device, described method comprises following link:
1) set the magnitude of error of input terminus as �� ��, as shown in Figure 1, ��*For given input value, �� is feed back input value, then �� ��=��*-��, �� are the output value that error compensation judges, compensatory control device is a designed P controller; Setting:��1For just compensating switching point, ��2For negative compensation switches point, and ��1>0����2< 0, ��1����2For constant;
2) as �� �� >=��1, illustrate that given input value is greater than the input value of feedback, output value ��=�� that so error compensation judges1-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is applied to controlled plant below after being added with the output value of PI controller, increases the strength of adjustment to controlled plant, makes feed back input value trace into given input value faster;
3) as �� �� < ��2, illustrate that given input value is less than the input value of feedback, output value ��=�� that so error compensation judges2-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is applied to controlled plant below after being added with the output value of PI controller, reduces the strength of adjustment to controlled plant, makes feed back input value trace into given input value faster;
4) �� is worked as2�ܦ���<��1, it is believed that system cloud gray model is in optimum regime, and output value ��=0 that error compensation judges, does not compensate the output value of PI controller, reduce the complexity of system cloud gray model.
Accompanying drawing explanation
Fig. 1 is the PI controller block diagram of error compensation.
Fig. 2 is the Vector Control of Permanent Magnet Synchronous Motors block diagram of the PI control of error compensation.
Specific embodiments
The Vector Control of Permanent Magnet Synchronous Motors block diagram of the PI control of error compensation is as shown in Figure 2. Rotating speed, electric current signal needed for Controlling System are obtained by tachogenerator, current sense device respectively. Specific embodiment step:
1) adopt ripe vector control technology to realize, know by accompanying drawing 2, select idThe control mode of=0, der Geschwindigkeitkreis adopts the PI controller of error compensation. The transport function of PI controller is G (s)=K (Ts+1)/s, and in formula, K is gain factor, and T is time constant. Utilizing encoder to measure the synchronous speed �� of permanent-magnet synchronous motor, the value �� that encoder gathers out is as feedback and given rotating speed ��*Making poor �� ��, know by accompanying drawing 1, the rotation speed difference deltan �� obtained is sent into PI controller respectively and error compensation judges link. Output after PI controller regulates is as the current value i expectedq *. �� is the output value that error compensation judges link, and compensatory control device is a designed P controller, gets the parameter of P controllerSetting:��1For just compensating switching point, ��2For negative compensation switches point, and ��1>0����2< 0, ��1����2For constant.
2) as �� �� >=��1, given tachometer value �� is described*The tachometer value �� being greater than feedback, then ��=��1-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is added with the output value of PI controller, increases and expects current value iq *, make the tachometer value �� of feedback trace into given tachometer value �� faster*��
3) as �� �� < ��2, given tachometer value �� is described*The tachometer value �� being less than feedback, then error compensation judges that the output value of link is ��=��2-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is added with the output value of PI controller, reduces and expects current value iq *, make the tachometer value �� of feedback trace into given tachometer value �� faster*��
4) �� is worked as2�ܦ���<��1, it is believed that system cloud gray model is in optimum regime, and output value ��=0 that error compensation judges, does not compensate the output value of PI controller.
5) the synchronous permanent-magnet motor machine stator tri-phase current i detected out by current sense devicea��ib��ic, and through 3/2 conversion, obtain the static current i of two-phase����i��. Current i under park conversion obtains two-phase rotating frame againdAnd iq. By idAnd iqAs feedback current, by the expected value of q shaft current and feedback current iqDiffer from, obtain electric current error delta iq, the given value of current value i of d axled *=0 with feedback current idDiffer from, obtain �� id, export V respectively through two PI controllersd��Vq, Vd��VqV is exported again through Park inverse transformation����V��, exporting six road pwm signal supply invertor work finally by space vector pulse width modulation module, invertor exports DC bus-bar voltage VdcWith the form of PWM ripple, voltage is applied on permanent-magnet synchronous motor.

Claims (1)

1. the method for design of the PI controller improved, it is characterized in that the magnitude of error of Gather and input end, and compensate judgement to gathering the magnitude of error come, the result of judgement is applied on compensatory control device, being compensated by original PI controller through compensatory control device, described method comprises following link:
1) set the magnitude of error of input terminus as �� ��, ��*For given input value, �� is feed back input value, then �� ��=��*-��, �� are the output value that error compensation judges, compensatory control device is a designed P controller, setting:��1For just compensating switching point, ��2For negative compensation switches point, and ��1>0����2< 0, ��1����2For constant;
2) as �� �� >=��1, illustrate that given input value is greater than the input value of feedback, output value ��=�� that so error compensation judges1-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is added with the output value of PI controller, is applied to controlled plant below, increases the strength of adjustment to controlled plant, makes feed back input value trace into given input value faster;
3) as �� �� < ��2, illustrate that given input value is less than the input value of feedback, output value ��=�� that so error compensation judges2-�� ��, with the parameter k of �� and compensatory control device and P controllerpBeing multiplied, the result obtained is added with the output value of PI controller, is applied to controlled plant below, reduces the strength of adjustment to controlled plant, makes feed back input value trace into given input value faster;
4) �� is worked as2�ܦ���<��1, it is believed that system cloud gray model is in optimum regime, and output value ��=0 that error compensation judges, does not compensate the output value of PI controller.
CN201610176459.6A 2016-03-25 2016-03-25 Design method of improved PI controller Pending CN105634359A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610176459.6A CN105634359A (en) 2016-03-25 2016-03-25 Design method of improved PI controller

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Application Number Priority Date Filing Date Title
CN201610176459.6A CN105634359A (en) 2016-03-25 2016-03-25 Design method of improved PI controller

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CN105634359A true CN105634359A (en) 2016-06-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022134769A1 (en) * 2020-12-25 2022-06-30 中车永济电机有限公司 Control method for oscillation suppression of permanent magnet assisted synchronous reluctance motor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102969968A (en) * 2012-11-15 2013-03-13 西安理工大学 Permanent magnet synchronous motor control method
CN104270054A (en) * 2014-10-24 2015-01-07 哈尔滨工业大学 Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order
CN104467595A (en) * 2014-12-05 2015-03-25 沈阳工业大学 Second-order sliding-mode control system directly driving servo system and control method thereof
CN104953915A (en) * 2015-07-14 2015-09-30 东南大学 Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law
CN105262395A (en) * 2015-10-29 2016-01-20 华中科技大学 Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102969968A (en) * 2012-11-15 2013-03-13 西安理工大学 Permanent magnet synchronous motor control method
CN104270054A (en) * 2014-10-24 2015-01-07 哈尔滨工业大学 Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order
CN104467595A (en) * 2014-12-05 2015-03-25 沈阳工业大学 Second-order sliding-mode control system directly driving servo system and control method thereof
CN104953915A (en) * 2015-07-14 2015-09-30 东南大学 Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law
CN105262395A (en) * 2015-10-29 2016-01-20 华中科技大学 Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022134769A1 (en) * 2020-12-25 2022-06-30 中车永济电机有限公司 Control method for oscillation suppression of permanent magnet assisted synchronous reluctance motor

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