CN105897097A - Current prediction control method and apparatus for permanent magnet synchronous motor (PMSM) - Google Patents

Abstract

The invention discloses a current prediction control method and apparatus for a permanent magnet synchronous motor (PMSM). The method comprises the steps: acquiring the motor stator current and stator voltage under two-phase rotating coordinates; constructing a current and perturbation sliding-mode observer, and predicting and obtaining the motor stator current and the parameter perturbation estimated value of the next moment; according to the principle that the practical current value of the next moment is equal to a current command value, obtaining a PMSM current prediction control expression; taking the current value, predicted by the observer, of the next beat, as current feedback, and obtaining the command voltage of a motor driver through calculation; and further adding the command voltage and the parameter perturbation estimated by the observer together, taking the sum as the final motor driver command voltage, and finally generating a pulse signal for controlling motion of a switch tube through an SVPWM device. The current prediction control method for a permanent magnet synchronous motor can predict the current of the next beat and estimate parameter perturbation at the same time, and can effectively restrain the current tracking static error and reduce the motor harmonic wave current and optimize the current control performance when a parameter mismatching problem exists.

Description

Permagnetic synchronous motor current predictive control method and device

Technical field

The present invention relates to motor control technology field, particularly relate to a kind of permagnetic synchronous motor predictive current control Method and device.

Background technology

Dead beat predictive current control technology is on the basis of motor discrete models, it is possible under Accurate Prediction One voltage vector controlling the cycle, so that current of electric can be in the week after applying this voltage vector In phase, accurate trace command electric current (or current-order), has excellent dynamic property and steady-state characteristic.Mesh Before, dead beat predictive current control technology has been obtained for relatively broad application.But, this control skill Art is substantially a kind of current control method based on model, and the dependency degree for motor model is higher, when During the parameter mismatch of motor model, can cause current of electric that static error and vibration occur, and then impact controls The performance of system.

To this end, the current of electric PREDICTIVE CONTROL under parameter mismatch state is studied by Chinese scholars.? Have in method, such as: patent documentation CN201510455057.5 and document " An adaptive robust Predictive current control for PMSM with online inductance identification ", pass through Inductance identification inhibits the impact that current tracking performance is produced by inductance parameters mismatch, but have ignored motor model Middle resistance and the impact of permanent magnet flux linkage parameter mismatch.Although also having some other control method can model be joined Number mismatch compensates, but needs to introduce PI regulation or integral adjustment so that control system becomes more multiple Miscellaneous, such as document " Analysis and implementation of a real-time predictive current controller for permanent-magnet synchronous servo drives》。

In order to improve electric current dynamic response performance, control to postpone system control performance currently in order to reduce a bat Impact, it is proposed that different control methods, but, these methods all cannot eliminate the electricity that parameter mismatch causes Stream static difference, such as: patent documentation CN201210379496.9.Therefore, there is presently no a kind of electric current control Method processed can meet following condition simultaneously: 1) can clap next while current value be predicted and estimate Parameter perturbation；2) compensate control time delay and electric current static error during parameter mismatch simultaneously；3) can be easy to Mutually integrated with existing current predictive control method.

Summary of the invention

In view of this, it is an object of the invention to propose a kind of permagnetic synchronous motor current predictive control method and Device, it is possible to the enhancing adaptivity to parameter of electric machine mismatch, thus electric current in the case of improve parameter mismatch The effect of PREDICTIVE CONTROL.

The permagnetic synchronous motor current predictive control method provided based on the above-mentioned purpose present invention, including:

Obtain the three-phase current of motor, by coordinate transform, obtain the motor under biphase rotating coordinate system fixed Electron current；The motor under biphase rotating coordinate system is obtained fixed from the voltage instruction of input SVPWM device Sub-voltage；

Obtain rotor angular rate and the rotor position information of motor, build electric current and disturbance sliding mode observer, Motor stator electric current under biphase rotating coordinate system and motor stator voltage are substituted into described electric current sliding with disturbance In mould observer, it was predicted that obtain the motor stator electric current of subsequent time, obtain parameter perturbation estimated value simultaneously；

According to the discrete models of permagnetic synchronous motor, and it is equal to electricity according to the actual current value of subsequent time The principle of stream command value, obtains permagnetic synchronous motor predictive current control expression formula；

Subsequent time motor stator electric current prediction obtained, inputs described permagnetic synchronous motor current forecasting control Expression formula processed, obtains voltage command signal；

The parameter perturbation estimated value obtained is added with voltage command signal, obtains the voltage command signal revised, Then the pulse signal controlling switching tube action is obtained by SVPWM device modulates.

Preferably, the formula of described coordinate transform is:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\left(k\right)\\ i_b\left(k\right)\\ i_c\left(k\right)\end{array}\right]$

$\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}cos\left(\mathrm{\θ}\right)& sin\left(\mathrm{\θ}\right)\\ -sin\left(\mathrm{\θ}\right)& cos\left(\mathrm{\θ}\right)\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]$

Wherein, i_ɑ(k), i_b(k), i_cK () is respectively the three-phase current of motor, i_α(k), i_βK () is respectively biphase quiet The only biphase current under coordinate system, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system, θ For rotor position information, k refers to current time.

Preferably, described structure electric current includes with the step of disturbance sliding mode observer:

According to the motor stator electric current under the biphase rotating coordinate system obtained and estimation electric current, obtain sliding formwork and cut Change face；

Sliding formwork exponentially approaching rule and sliding formwork diverter surface is used to obtain sliding formwork control function；

Then according to motor angular rate, cycle, stator resistance, stator inductance, permanent magnet flux linkage, electricity are controlled Machine stator electric current and motor stator voltage, in conjunction with sliding formwork control function, construct electric current and observe with disturbance sliding formwork The calculating function of device.

Further,

The expression formula of described sliding formwork diverter surface is:

Wherein, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system,WithFor the estimation electric current under biphase rotating coordinate system, s_d(k) and s_qK () is the calculating of sliding formwork diverter surface Value；

The expression formula of described sliding formwork exponentially approaching rule is:

Wherein, k₁, λ be the parameter of sliding formwork exponentially approaching rule；

The expression formula of described sliding formwork control function is:

Wherein, L be stator inductance, R be stator resistance, U_dsmo And U_qsmoIt is respectively the value of calculation of sliding formwork control function；

Described electric current with the expression calculating function of disturbance sliding mode observer is:

$\left\{\begin{array}{c}{\hat{i}}_d(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_d\left(k\right)+\frac{T_{sc}}{L}{u}_d\left(k\right)+T_{sc}{\mathrm{\ω}}_e\left(k\right)i_q\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_d\left(k\right)-\frac{T_{sc}}{L}{U}_{dsmo}\\ {\hat{f}}_d(k+1)={\hat{f}}_d\left(k\right)+T_{sc}{g}_d{U}_{dsmo}\end{array}\right.$

$\left\{\begin{array}{c}{\hat{i}}_q(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_q\left(k\right)+\frac{T_{sc}}{L}{u}_q\left(k\right)-T_{sc}{\mathrm{\ω}}_e\left(k\right)i_d\left(k\right)-\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_q\left(k\right)-\frac{T_{sc}}{L}{U}_{qsmo}\\ {\hat{f}}_q(k+1)={\hat{f}}_q\left(k\right)+T_{sc}{g}_q{U}_{qsmo}\end{array}\right.$

Wherein T_scFor controlling the cycle, R is stator resistance, and L is stator inductance, ψ_fFor permanent magnet flux linkage, u_d(k) And u_qK () is respectively motor stator voltage, ω_eK () is motor angular rate,WithThe most biphase Estimation electric current under rotating coordinate system,WithFor parameter perturbation estimated value, g_d、g_qIt is sliding formwork Observer gain, k is current time, and k+1 is subsequent time.

Preferably, described permagnetic synchronous motor predictive current control expression formula is:

$\left[\begin{array}{c}{u}_d\left(k\right)\\ u_q\left(k\right)\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]-M\left(k\right)\}$

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{T_{sc}R}{L}& T_{sc}{\mathrm{\ω}}_e\left(k\right)\\ -T_{sc}{\mathrm{\ω}}_e\left(k\right)& 1-\frac{T_{sc}R}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T_{sc}}{L}& 0\\ 0& \frac{T_{sc}}{L}\end{array}\right],M\left(k\right)=\left[\begin{array}{c}0\\ -\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein,WithIt is current-order.

Further, the expression formula of the voltage command signal of described correction is:

$\left[\begin{array}{c}{U}_d^{*}\\ U_q^{*}\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{\hat{i}}_d(k+1)\\ {\hat{i}}_q(k+1)\end{array}\right]-M\left(k\right)\}+\left[\begin{array}{c}{\hat{f}}_d(k+1)\\ {\hat{f}}_q(k+1)\end{array}\right]$

Wherein,WithIt is respectively the voltage command signal revised.

The invention also discloses a kind of permagnetic synchronous motor predictive current control device, including:

Data acquisition module, for detecting and obtain the three-phase current of motor, by coordinate transform, obtains Motor stator electric current under biphase rotating coordinate system；Obtain from the voltage instruction of input SVPWM device Motor stator voltage under biphase rotating coordinate system；Obtain rotor angular rate and the rotor position information of motor； The motor stator electric current of acquisition, motor stator voltage, rotor angular rate and rotor position information are sent to Observer builds module；

Observer builds module, for receiving motor stator electric current, the motor that described data acquisition module sends Stator voltage, rotor angular rate and rotor position information, and build electric current and disturbance sliding mode observer, will Motor stator electric current and motor stator voltage under biphase rotating coordinate system substitute into described electric current and disturbance sliding formwork In observer, it was predicted that obtain the motor stator electric current of subsequent time, obtain parameter perturbation estimated value simultaneously；Will The motor stator electric current of the subsequent time that prediction obtains is sent to voltage instruction computing module, is estimated by parameter perturbation Evaluation is sent to switch control module；

PREDICTIVE CONTROL module, for the discrete models according to permagnetic synchronous motor, and according to subsequent time Actual current value equal to the principle of current instruction value, obtain permagnetic synchronous motor predictive current control expression formula；

Voltage instruction computing module, fixed for described observer being built the motor of the subsequent time that module sends Electron current, inputs the permagnetic synchronous motor predictive current control expression formula in described PREDICTIVE CONTROL module, obtains Voltage command signal；Voltage command signal is sent to switch control module；

Switch control module, for the parameter perturbation estimated value obtained being added with voltage command signal, obtains The voltage command signal revised, then obtains the arteries and veins controlling switching tube action by SVPWM device modulates Rush signal.

From the above it can be seen that the permagnetic synchronous motor current predictive control method of present invention offer and dress Put by building electric current and disturbance sliding mode observer, it was predicted that obtain motor stator electric current and the parameter of subsequent time Disturbance estimated value, obtains permagnetic synchronous motor electric current by the discrete models structure of permagnetic synchronous motor pre- Observing and controlling expression formula, obtains voltage command signal after being substituted into by stator current, makes parameter perturbation estimated value and electricity Pressure command signal is added, and obtains the voltage command signal revised, is then obtained by SVPWM device modulates The pulse signal of switching tube action must be controlled.Described permagnetic synchronous motor current predictive control method and device lead to Overcurrent and disturbance sliding mode observer can obtain parameter perturbation estimated value simultaneously and next claps stator current, because of This compensates numerically controlled one without individually designed current observer and claps delay issue, simplifies whole system Structure；The whole parameter mismatch comprised in motor mathematical model are had robustness, only improves traditional method The current tracking static difference problem that special parameter mismatch is caused can be suppressed；Can be with existing predictive current control side Method is mutually integrated, so that existing control method still can high-performance be run in the case of parameter mismatch, extends it Range of operation.There is autgmentability strong, the advantage such as simple easily realization.

Accompanying drawing explanation

The stream of one embodiment of the permagnetic synchronous motor current predictive control method that Fig. 1 provides for the present invention Cheng Tu；

The knot of one embodiment of the permagnetic synchronous motor predictive current control device that Fig. 2 provides for the present invention Structure schematic diagram；

Another embodiment of the permagnetic synchronous motor predictive current control device that Fig. 3 provides for the present invention Structured flowchart；

The predictive current control block diagram based on electric current Yu disturbance sliding mode observer that Fig. 4 provides for the present invention；

Fig. 5 a is to be provided without electric current and the direct-axis current under parameter mismatch, quadrature axis current during disturbance observer The first simulation result schematic diagram；

Fig. 5 b is to be provided without electric current and the direct-axis current under parameter mismatch, quadrature axis current during disturbance observer The second simulation result schematic diagram；

Fig. 5 c is to be provided without electric current and the direct-axis current under parameter mismatch, quadrature axis current during disturbance observer The 3rd simulation result schematic diagram；

Direct-axis current under parameter mismatch, quadrature axis current when Fig. 6 a is to use electric current and disturbance observer First simulation result schematic diagram；

Direct-axis current under parameter mismatch, quadrature axis current when Fig. 6 b is to use electric current and disturbance observer Second simulation result schematic diagram；

Direct-axis current under parameter mismatch, quadrature axis current when Fig. 6 c is to use electric current and disturbance observer 3rd simulation result schematic diagram.

Detailed description of the invention

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, And referring to the drawings, the present invention is described in more detail.

It should be noted that the statement of all uses " first " and " second " is all in the embodiment of the present invention The parameter of entity or non-equal in order to distinguish two same names non-equal, it is seen that " first " " second " Only for the convenience of statement, should not be construed as the restriction to the embodiment of the present invention, subsequent embodiment is to this no longer Illustrate one by one.

With reference to shown in Fig. 1, for a reality of the permagnetic synchronous motor current predictive control method that the present invention provides Execute the flow chart of example.Described permagnetic synchronous motor current predictive control method, including:

Step 101, detects and obtains the three-phase current of motor, by coordinate transform, obtains in biphase rotation Motor stator electric current under coordinate system；Biphase rotation is obtained from the voltage instruction of input SVPWM device Motor stator voltage under coordinate system；

Wherein, current sensor is generally used to gather the three-phase current of motor, naturally it is also possible to by its other party Formula obtains the three-phase current of motor, and three-phase current typically refers to the stator current of motor stator here.Described seat Mark conversion refers to three-phase electricity flow valuve is transformed to the current value under two phase coordinates, finally obtains two cordic phase rotators Motor stator electric current under Xi.Described SVPWM device is that the space vector pulse width using SVPWM is adjusted Device processed, for three-phase symmetrical sine voltage power time three-phase symmetrical motor stator ideal magnetic linkage circle for ginseng Examine standard, make suitable switching with three-phase inverter difference switching mode, thus form PWM ripple, with institute The actual flux linkage vector formed follows the trail of its accurate magnetic linkage circle.Shadow electric current controlled based on impacts such as dead bands Sound is not particularly significant, therefore, in the case of ignoring the impacts such as dead band, it is possible to from the voltage instruction of input Information obtains the motor stator voltage under biphase rotating coordinate system.The voltage instruction information of described input refers to When not adding electric current with disturbance sliding mode observer, the voltage instruction controlled for electric current in system, the most also may be used Voltage instruction is obtained in the way of by other.

Step 102, detects and obtains rotor angular rate and the rotor position information of motor, build electric current with Disturbance sliding mode observer, substitutes into institute by the motor stator electric current under biphase rotating coordinate system and motor stator voltage State in electric current and disturbance sliding mode observer, it was predicted that obtain the motor stator electric current of subsequent time, joined simultaneously Number disturbance estimated value；

Wherein, motor position sensor is generally used to detect and obtain angular rate and the rotor position of rotor Confidence ceases, and described positional information is often referred to the electrical angle of rotor.According to the parameter obtained and control system Other Common Parameters, it is possible to build sliding mode observer based on electric current Yu disturbance, and obtain the table of observer Reach formula or governing equation.Motor stator electric current in step 101 and motor stator voltage are inputted described electricity Stream with in disturbance sliding mode observer, it is possible to prediction obtains the motor stator electric current of subsequent time and parameter perturbation is estimated Evaluation.

Step 103, according to the discrete models of permagnetic synchronous motor, and according to the actual electricity of subsequent time Flow valuve, equal to the principle of current instruction value, obtains permagnetic synchronous motor predictive current control expression formula；

Wherein, the discrete models of described permagnetic synchronous motor refers to that all kinds of permagnetic synchronous motor that represents runs Relational expression between parameter, is equal to the principle of current instruction value according to the actual current value of subsequent time, Mathematical model in conjunction with permagnetic synchronous motor, it is possible to derive permagnetic synchronous motor predictive current control expression formula.

Step 104, the subsequent time motor stator electric current that prediction is obtained, input described permagnetic synchronous motor Predictive current control expression formula, obtains voltage command signal；

Wherein, step 102 being predicted, the subsequent time motor stator electric current obtained inputs described permanent-magnet synchronous Current of electric PREDICTIVE CONTROL expression formula, it is possible to obtain a voltage command signal.

Step 105, is added the parameter perturbation estimated value obtained with voltage command signal, and obtains the electricity revised Pressure command signal, then obtains the pulse signal controlling switching tube action by SVPWM device modulates.

Wherein, the pulse signal of described control switching tube action is usually six road pulse signals.

From above-described embodiment, described permagnetic synchronous motor current predictive control method by build electric current with Disturbance sliding mode observer, it was predicted that obtain motor stator electric current and the parameter perturbation estimated value of subsequent time, pass through The discrete models of permagnetic synchronous motor builds and obtains permagnetic synchronous motor predictive current control expression formula, will Stator current obtains voltage command signal after substituting into, and makes parameter perturbation estimated value be added with voltage command signal, Obtain the voltage command signal revised, then obtained by SVPWM device modulates and control switching tube action Pulse signal.Described permagnetic synchronous motor current predictive control method and device, when parameter mismatch, pass through Electric current and disturbance sliding mode observer can obtain parameter perturbation estimated value simultaneously and next claps stator current, therefore Compensate numerically controlled one without individually designed current observer and clap delay issue, simplify the knot of whole system Structure.The whole parameter mismatch comprised in motor mathematical model are had robustness, and improving traditional method can only The current tracking static difference problem that suppression special parameter mismatch is caused.Meanwhile, see with disturbance sliding formwork based on electric current The current predictive control method surveying device realizes on the basis of conventional current PREDICTIVE CONTROL, of the present invention Method can be mutually integrated with existing current predictive control method, so that existing control method is at parameter mismatch In the case of still can high-performance run, extend its range of operation.There is autgmentability strong, the advantage such as simple easily realization.

In some preferred embodiments of the present invention, the formula of described coordinate transform is:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\left(k\right)\\ i_b\left(k\right)\\ i_c\left(k\right)\end{array}\right]$

$\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}cos\left(\mathrm{\θ}\right)& sin\left(\mathrm{\θ}\right)\\ -sin\left(\mathrm{\θ}\right)& cos\left(\mathrm{\θ}\right)\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]$

Wherein, i_ɑ(k), i_b(k), i_cK () is respectively the three-phase current of motor, i_α(k), i_βK () is respectively biphase quiet The only biphase current under coordinate system, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system, θ For rotor position information, k refers to current time, such as i_dK () refers to the current value in k moment.

The electric current under biphase rest frame is obtained by the three-phase current of motor stator is first passed through 3/2 conversion Value, the motor stator current value being then converted under biphase rotating coordinate system.

In some preferred embodiments of the present invention, described structure electric current and the step bag of disturbance sliding mode observer Include:

According to the motor stator electric current under the biphase rotating coordinate system obtained and estimation electric current, obtain sliding formwork and cut Change face；

Sliding formwork exponentially approaching rule and sliding formwork diverter surface is used to obtain sliding formwork control function；

Then according to motor angular rate, cycle, stator resistance, stator inductance, permanent magnet flux linkage, electricity are controlled Machine stator electric current and motor stator voltage, in conjunction with sliding formwork control function, construct electric current and observe with disturbance sliding formwork The calculating function of device.

Further, the expression formula of described sliding formwork diverter surface is:

Wherein, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system,WithFor the estimation electric current under biphase rotating coordinate system, s_d(k) and s_qK () is the calculating of sliding formwork diverter surface Value；

The expression formula of described sliding formwork exponentially approaching rule is:

Wherein, k₁, λ be the parameter of sliding formwork exponentially approaching rule, can basis Need to arrange accordingly k₁, the value of λ；

The expression formula of described sliding formwork control function is:

Wherein, L be stator inductance, R be stator resistance, U_dsmo And U_qsmoIt is respectively the value of calculation of sliding formwork control function；

Described electric current with the expression calculating function of disturbance sliding mode observer is:

$\left\{\begin{array}{c}{\hat{i}}_d(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_d\left(k\right)+\frac{T_{sc}}{L}{u}_d\left(k\right)+T_{sc}{\mathrm{\ω}}_e\left(k\right)i_q\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_d\left(k\right)-\frac{T_{sc}}{L}{U}_{dsmo}\\ {\hat{f}}_d(k+1)={\hat{f}}_d\left(k\right)+T_{sc}{g}_d{U}_{dsmo}\end{array}\right.$

$\left\{\begin{array}{c}{\hat{i}}_q(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_q\left(k\right)+\frac{T_{sc}}{L}{u}_q\left(k\right)-T_{sc}{\mathrm{\ω}}_e\left(k\right)i_d\left(k\right)-\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_q\left(k\right)-\frac{T_{sc}}{L}{U}_{qsmo}\\ {\hat{f}}_q(k+1)={\hat{f}}_q\left(k\right)+T_{sc}{g}_q{U}_{qsmo}\end{array}\right.$

Wherein T_scFor controlling the cycle, R is stator resistance, and L is stator inductance, ψ_fFor permanent magnet flux linkage, u_d(k) And u_qK () is respectively motor stator voltage, ω_eK () is motor angular rate,WithThe most biphase Estimation electric current under rotating coordinate system,WithFor parameter perturbation estimated value, g_d、g_qIt is sliding formwork Observer gain, k is current time, and k+1 is subsequent time.

In some preferred embodiments of the present invention, described permagnetic synchronous motor predictive current control expression formula is:

$\left[\begin{array}{c}{u}_d\left(k\right)\\ u_q\left(k\right)\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]-M\left(k\right)\}$

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{T_{sc}R}{L}& T_{sc}{\mathrm{\ω}}_e\left(k\right)\\ -T_{sc}{\mathrm{\ω}}_e\left(k\right)& 1-\frac{T_{sc}R}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T_{sc}}{L}& 0\\ 0& \frac{T_{sc}}{L}\end{array}\right],M\left(k\right)=\left[\begin{array}{c}0\\ -\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein,WithIt is current-order.

Further, the expression formula of the voltage command signal of described correction is:

$\left[\begin{array}{c}{U}_d^{*}\\ U_q^{*}\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{\hat{i}}_d(k+1)\\ {\hat{i}}_q(k+1)\end{array}\right]-M\left(k\right)\}+\left[\begin{array}{c}{\hat{f}}_d(k+1)\\ {\hat{f}}_q(k+1)\end{array}\right]$

Wherein,WithIt is respectively the voltage command signal revised.

With reference to shown in Fig. 2, for a reality of the permagnetic synchronous motor predictive current control device that the present invention provides Execute the structural representation of example.Described permagnetic synchronous motor predictive current control device, including:

Data acquisition module 201, for detecting and obtain the three-phase current of motor, by coordinate transform, To the motor stator electric current under biphase rotating coordinate system；From the voltage instruction of input SVPWM device Obtain the motor stator voltage under biphase rotating coordinate system；Obtain rotor angular rate and the rotor-position of motor Information；Motor stator electric current, motor stator voltage, rotor angular rate and the rotor position information that will obtain It is sent to observer and builds module 202；

Observer builds module 202, for receiving the motor stator electricity that described data acquisition module 201 sends Stream, motor stator voltage, rotor angular rate and rotor position information, and build electric current and the sight of disturbance sliding formwork Survey device, the motor stator electric current under biphase rotating coordinate system and motor stator voltage are substituted into described electric current and disturb In dynamic sliding mode observer, it was predicted that obtain the motor stator electric current of subsequent time, obtain parameter perturbation simultaneously and estimate Value；The motor stator electric current of subsequent time prediction obtained is sent to voltage instruction computing module 204, will Parameter perturbation estimated value is sent to switch control module 205；

PREDICTIVE CONTROL module 203, for the discrete models according to permagnetic synchronous motor, and according to next The actual current value in moment, equal to the principle of current instruction value, obtains permagnetic synchronous motor predictive current control table Reach formula；

Voltage instruction computing module 204, for the subsequent time described observer structure module 202 sent Motor stator electric current, input the permagnetic synchronous motor predictive current control in described PREDICTIVE CONTROL module 203 Expression formula, obtains voltage command signal；Voltage command signal is sent to switch control module 205；

Switch control module 205, for the parameter perturbation estimated value obtained is added with voltage command signal, Obtain the voltage command signal revised, then obtained by SVPWM device modulates and control switching tube action Pulse signal.

From above-described embodiment, described permagnetic synchronous motor predictive current control device passes through described observer Build module 202 and build sliding mode observer based on electric current Yu disturbance, and predict the motor obtaining subsequent time Stator current and parameter perturbation estimated value；Permanent magnet synchronous electric is obtained dynamo-electric by described PREDICTIVE CONTROL module 203 Stream PREDICTIVE CONTROL expression formula；Voltage command signal is obtained by described voltage instruction computing module 204, and then Obtain controlling the pulse signal of switching tube action by described switch control module 205.Described permanent magnet synchronous electric Dynamo-electric stream prediction control device not only simplify the structure of control system, complete to comprise in motor mathematical model Portion's parameter mismatch has robustness, improves the electric current that traditional method can only suppress special parameter mismatch to be caused Follow the tracks of static difference problem；And can be mutually integrated with existing current predictive control method, so that control Method still can high-performance be run in the case of parameter mismatch, extends its range of operation.

With reference to shown in Fig. 3, another of the permagnetic synchronous motor predictive current control device provided for the present invention The structured flowchart of embodiment.Described permagnetic synchronous motor predictive current control device includes: DC bus capacitor, Converter main circuit, permagnetic synchronous motor, speed and rotor position detection circuit, current sampling circuit, DSP digitial controller and drive circuit.Wherein, device uses photoelectric encoder detection motor rotor position DSP digitial controller is sent into velocity information and by modulate circuit.Meanwhile, Hall current sensing is used Device gathers motor three-phase current, enters DSP digitial controller and be converted to digital signal after modulate circuit. And DSP digitial controller utilizes the digital quantity gathered to complete the control algolithm of the present invention, and export six road arteries and veins Rush signal, through six the switching tube actions of overdrive circuit rear drive inverter.

With reference to shown in Fig. 4, for the current forecasting control based on electric current Yu disturbance sliding mode observer of present invention offer Block diagram processed.Described control block diagram is the control principle drawing of the present invention, and the realization of the method is DSP in figure 3 Digitial controller completes, concretely comprises the following steps:

Step 1: detection motor three-phase current i_a(k), i_b(k), i_c(k) and motor rotor position information θ (k), And the electric current i obtained under biphase rotating coordinate system by coordinate transform further_d(k) and i_q(k)；Dead ignoring Electric moter voltage u under the influence of district etc., under biphase rotating coordinate system_d(k) and u_qK () can be directly from input SVPWM Voltage instruction in device obtains；

Step 2: according to the current of electric i under biphase rotating coordinate system obtained in step 1_d(k)、i_q(k) With voltage u_d(k)、u_qK (), in conjunction with the motor speed ω of motor position sensor detection_eK () believes with rotor-position Breath θ (k), it is possible to build electric current and disturbance sliding mode observer,

Step 3: according to permagnetic synchronous motor discrete models, when clapping according to next, actual current value is equal to The principle of command value, can obtain the expression formula of permagnetic synchronous motor predictive current control；

Step 4: next obtained in step 2 is clapped current of electric predictive valueIt is input to Permagnetic synchronous motor predictive current control expression formula in step 3, replaces current sampling data i_d(k) and i_q(k), Available command voltage signal is:

Step 5: the parameter perturbation estimated value that will obtain in step 2As feedforward amount with The command voltage signal obtained in step 4 is added and obtains final command voltage signal；

Final command voltage signal produces six way control switch pipes by SVPWM device modulates further and moves The pulse drive signal made.

The superiority of the method for the invention can pass through Fig. 5 a, Fig. 5 b, Fig. 5 c and Fig. 6 a, Fig. 6 b, The contrast of Fig. 6 c simulation result draws, both test conditions are completely the same, difference be Fig. 5 a, Fig. 5 b, Fig. 5 c current predictive control method in be provided without electric current and disturbance observer, and Fig. 6 a, figure 6b, Fig. 6 c have employed the current predictive control method based on electric current Yu disturbance observer that the present invention proposes. Fig. 5 a, Fig. 5 b, Fig. 5 c are the most corresponding with Fig. 6 a, Fig. 6 b, Fig. 6 c respectively.Fig. 5 a, Fig. 5 b, figure Simulation result shown in 5c is that motor ac-dc axis electric current is (straight with the contrast waveform of its reference value under the conditions of parameter mismatch Shaft current is referenced as 0), its be the most successively inductance be actual value twice, resistance be actual value ten times And permanent magnet flux linkage is simulation result during actual value four times, wherein motor load goes out when 0.2 second with 0.35 second Now uprush and anticlimax situation.Owing to parameter mismatch causes ac-dc axis electric current in Fig. 5 a, Fig. 5 b, Fig. 5 c to produce Static error, and the current waveform bigger harmonic wave of existence.After using control method proposed by the invention, During parameter mismatch, electric current is without static error, and current waveform smooths, and harmonic wave is suppressed very well.

Those of ordinary skill in the field it is understood that the discussion of any of the above embodiment is exemplary only, It is not intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Think of in the present invention Under road, can also be combined between the technical characteristic in above example or different embodiment, step can With with random order realize, and exist the present invention as above different aspect many other change, for Simple and clear they do not provide in the details.

It addition, for simplifying explanation and discussing, and in order to obscure the invention, provided Accompanying drawing can illustrate or can not illustrate and integrated circuit (IC) chip and the known power supply of other parts / grounding connection.Furthermore, it is possible to illustrate device in block diagram form, in order to avoid obscuring the invention, And this have also contemplated that following facts, i.e. the details about the embodiment of these block diagram arrangements is highly to depend on In will implement the present invention platform (that is, these details should be completely in the reason of those skilled in the art In the range of solution).Elaborating that detail (such as, circuit) is to describe the exemplary embodiment of the present invention In the case of, it will be apparent to those skilled in the art that can there is no these details In the case of or these details change in the case of implement the present invention.Therefore, these descriptions should be recognized For being illustrative and not restrictive.

Although invention has been described to have been incorporated with the specific embodiment of the present invention, but according to above Description, these embodiments a lot of replace, amendment and modification will be for those of ordinary skills Obviously.Such as, other memory architecture (such as, dynamic ram (DRAM)) can use The embodiment discussed.

Embodiments of the invention be intended to fall within the broad range of claims all so Replacement, amendment and modification.Therefore, all within the spirit and principles in the present invention, any omission of being done, Amendment, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (7)

1. a permagnetic synchronous motor current predictive control method, it is characterised in that including:

Obtain the three-phase current of motor, obtain the motor stator under biphase rotating coordinate system by coordinate transform Electric current；The motor stator under biphase rotating coordinate system is obtained from the voltage instruction of input SVPWM device Voltage；

Obtain rotor angular rate and the rotor position information of motor, build electric current and disturbance sliding mode observer, Motor stator electric current under biphase rotating coordinate system and motor stator voltage are substituted into described electric current sliding with disturbance In mould observer, it was predicted that obtain the motor stator electric current of subsequent time, obtain parameter perturbation estimated value simultaneously；

According to the discrete models of permagnetic synchronous motor, and it is equal to electricity according to the actual current value of subsequent time The principle of stream command value, obtains permagnetic synchronous motor predictive current control expression formula；

Subsequent time motor stator electric current prediction obtained, inputs described permagnetic synchronous motor current forecasting control Expression formula processed, obtains voltage command signal；

The parameter perturbation estimated value obtained is added with voltage command signal, obtains the voltage command signal revised, Then the pulse signal controlling switching tube action is obtained by SVPWM device modulates.

Method the most according to claim 1, it is characterised in that the formula of described coordinate transform is:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\left(k\right)\\ i_b\left(k\right)\\ i_c\left(k\right)\end{array}\right]$

$\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]=\left[\begin{array}{cc}cos\left(\mathrm{\θ}\right)& sin\left(\mathrm{\θ}\right)\\ -sin\left(\mathrm{\θ}\right)& cos\left(\mathrm{\θ}\right)\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\left(k\right)\\ i_{\mathrm{\β}}\left(k\right)\end{array}\right]$

Wherein, i_ɑ(k), i_b(k), i_cK () is respectively the three-phase current of motor, i_α(k), i_βK () is respectively biphase quiet The only biphase current under coordinate system, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system, θ For rotor position information, k refers to current time.

Method the most according to claim 1, it is characterised in that described structure electric current and disturbance sliding formwork The step of observer includes:

According to the motor stator electric current under the biphase rotating coordinate system obtained and estimation electric current, obtain sliding formwork and cut Change face；

Sliding formwork exponentially approaching rule and sliding formwork diverter surface is used to obtain sliding formwork control function；

Then according to motor angular rate, cycle, stator resistance, stator inductance, permanent magnet flux linkage, electricity are controlled Machine stator electric current and motor stator voltage, in conjunction with sliding formwork control function, construct electric current and observe with disturbance sliding formwork The calculating function of device.

Method the most according to claim 3, it is characterised in that

The expression formula of described sliding formwork diverter surface is:

Wherein, i_d(k) and i_qK () is the motor stator electric current under biphase rotating coordinate system,WithFor the estimation electric current under biphase rotating coordinate system, s_d(k) and s_qK () is the calculating of sliding formwork diverter surface Value；

The expression formula of described sliding formwork exponentially approaching rule is:

Wherein, k₁, λ be the parameter of sliding formwork exponentially approaching rule；

The expression formula of described sliding formwork control function is:

Wherein, L be stator inductance, R be stator resistance, U_dsmo And U_qsmoIt is respectively the value of calculation of sliding formwork control function；

Described electric current with the expression calculating function of disturbance sliding mode observer is:

$\left\{\begin{array}{c}{\hat{i}}_d(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_d\left(k\right)+\frac{T_{sc}}{L}{u}_d\left(k\right)+T_{sc}{\mathrm{\ω}}_e\left(k\right)i_q\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_d\left(k\right)-\frac{T_{sc}}{L}{U}_{dsmo}\\ {\hat{f}}_d(k+1)={\hat{f}}_d\left(k\right)+T_{sc}{g}_d{U}_{dsmo}\end{array}\right.$

$\left\{\begin{array}{c}{\hat{i}}_q(k+1)=(1-\frac{{\mathrm{RT}}_{sc}}{L}){\hat{i}}_q\left(k\right)+\frac{T_{sc}}{L}{u}_q\left(k\right)+T_{sc}{\mathrm{\ω}}_e\left(k\right)i_d\left(k\right)-\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)-\frac{T_{sc}}{L}{\hat{f}}_q\left(k\right)-\frac{T_{sc}}{L}{U}_{qsmo}\\ {\hat{f}}_q(k+1)={\hat{f}}_q\left(k\right)+T_{sc}{g}_q{U}_{qsmo}\end{array}\right.$

Wherein T_scFor controlling the cycle, R is stator resistance, and L is stator inductance, ψ_fFor permanent magnet flux linkage, u_d(k) And u_qK () is respectively motor stator voltage, ω_eK () is motor angular rate,WithThe most biphase Estimation electric current under rotating coordinate system,WithFor parameter perturbation estimated value, g_d、g_qIt is sliding formwork Observer gain, k is current time, and k+1 is subsequent time.

Method the most according to claim 1, it is characterised in that described permagnetic synchronous motor electric current is pre- Observing and controlling expression formula is:

$\left[\begin{array}{c}{u}_d\left(k\right)\\ u_q\left(k\right)\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{i}_d\left(k\right)\\ i_q\left(k\right)\end{array}\right]-M\left(k\right)\}$

$F\left(k\right)=\left[\begin{array}{cc}1-\frac{T_{sc}R}{L}& T_{sc}{\mathrm{\ω}}_e\left(k\right)\\ -T_{sc}{\mathrm{\ω}}_e\left(k\right)& 1-\frac{T_{sc}R}{L}\end{array}\right],G=\left[\begin{array}{cc}\frac{T_{sc}}{L}& 0\\ 0& \frac{T_{sc}}{L}\end{array}\right],M\left(k\right)=\left[\begin{array}{c}0\\ -\frac{T_{sc}{\mathrm{\ψ}}_f}{L}{\mathrm{\ω}}_e\left(k\right)\end{array}\right]$

Wherein,WithIt is current-order.

Method the most according to claim 5, it is characterised in that the voltage command signal of described correction Expression formula be:

$\left[\begin{array}{c}{U}_d^{*}\\ U_q^{*}\end{array}\right]=G^{-1}\{\left[\begin{array}{c}{i}_d^{*}(k+1)\\ i_q^{*}(k+1)\end{array}\right]-F\left(k\right)\·\left[\begin{array}{c}{\hat{i}}_d(k+1)\\ {\hat{i}}_q(k+1)\end{array}\right]-M\left(k\right)\}+\left[\begin{array}{c}{\hat{f}}_d(k+1)\\ {\hat{f}}_q(k+1)\end{array}\right]$

Wherein,WithIt is respectively the voltage command signal revised.

7. a permagnetic synchronous motor predictive current control device, it is characterised in that including:

Data acquisition module, for detecting and obtain the three-phase current of motor, by coordinate transform, obtains Motor stator electric current under biphase rotating coordinate system；Obtain from the voltage instruction of input SVPWM device Motor stator voltage under biphase rotating coordinate system；Obtain rotor angular rate and the rotor position information of motor； The motor stator electric current of acquisition, motor stator voltage, rotor angular rate and rotor position information are sent to Observer builds module；

Observer builds module, for receiving motor stator electric current, the motor that described data acquisition module sends Stator voltage, rotor angular rate and rotor position information, and build electric current and disturbance sliding mode observer, will Motor stator electric current and motor stator voltage under biphase rotating coordinate system substitute into described electric current and disturbance sliding formwork In observer, it was predicted that obtain the motor stator electric current of subsequent time, obtain parameter perturbation estimated value simultaneously；Will The motor stator electric current of the subsequent time that prediction obtains is sent to voltage instruction computing module, is estimated by parameter perturbation Evaluation is sent to switch control module；

PREDICTIVE CONTROL module, for the discrete models according to permagnetic synchronous motor, and according to subsequent time Actual current value equal to the principle of current instruction value, obtain permagnetic synchronous motor predictive current control expression formula；

Voltage instruction computing module, fixed for described observer being built the motor of the subsequent time that module sends Electron current, inputs the permagnetic synchronous motor predictive current control expression formula in described PREDICTIVE CONTROL module, obtains Voltage command signal；Voltage command signal is sent to switch control module；

Switch control module, for the parameter perturbation estimated value obtained being added with voltage command signal, obtains The voltage command signal revised, then obtains the arteries and veins controlling switching tube action by SVPWM device modulates Rush signal.