CN105915144B - A kind of permanent magnet synchronous motor rotary speed tracing control method - Google Patents
A kind of permanent magnet synchronous motor rotary speed tracing control method Download PDFInfo
- Publication number
- CN105915144B CN105915144B CN201610322986.3A CN201610322986A CN105915144B CN 105915144 B CN105915144 B CN 105915144B CN 201610322986 A CN201610322986 A CN 201610322986A CN 105915144 B CN105915144 B CN 105915144B
- Authority
- CN
- China
- Prior art keywords
- motor
- voltage
- control
- permanent magnet
- chosen
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 16
- 239000013598 vector Substances 0.000 claims abstract description 35
- 238000005070 sampling Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000004907 flux Effects 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims 1
- 238000011217 control strategy Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of permanent magnet synchronous motor rotary speed tracing control methods, motor speed estimated value is obtained by extended Kalman filter first, control signal is generated according to the error of current actual value and reference value by controller again, the control to motor speed is realized finally by inverter.Realize that the control system of the above method includes：Extended Kalman filter module, rotational speed control module, current control module, inverter and controlled motor.The method of the present invention is simple and clear, accurately can carry out tracing control to permanent magnet synchronous motor rotating speed.Compared to conventional vector control method, system structure is simple, has certain application prospect.
Description
Technical field
The present invention relates to the control of permanent magnet synchronous motor and applications, and in particular to a kind of permanent magnet synchronous motor rotating speed controlling party
Method.
Background technology
The characteristics of permanent magnet synchronous motor, which has, to operate steadily, efficient, good speed adjustment features, with New-type electric machine control theory
Fast development, permasyn morot obtained rapid popularization and application in many fields.
To realize motor high-precision control, the rotor speed for knowing motor and location information are needed, is usually made at present
It is obtained with position sensor.But the use of position sensor can increase system cost, be unfavorable for safeguarding and overhaul.Severe
Under operation ring is quiet, larger error may be will produce, reduces reliability.Sensorless Control Technique utilizes motor itself
Mathematical model obtains motor rotor speed and location information by the electric moter voltage arrived, the electric current of measurement with estimating algorithm
Estimated value, therefore obtained extensive research.
Method for controlling permanent magnet synchronous motor mainly has Direct Torque Control and vector control method at present, these methods are usual
Direct torque ring including superposition and current regulator, and control signal is obtained by PI controllers, finally SVPWM is utilized to control skill
Art controls inverter.These methods rely on the accurate parameter of electric machine, and structure is complex, is not easy to apply.
Invention content
Goal of the invention：Purpose of the present invention is to provide a kind of effective permanent magnet synchronous motor method for controlling number of revolution, simplify control
System structure ensures that motor actual speed can accurately track given rotating speed.
Technical solution：A kind of permanent magnet synchronous motor rotary speed tracing control method, includes the following steps：
(1) motor speed value is estimated with extended Kalman filter, and torque reference value is obtained by PI controllers；
(2) two are arbitrarily chosen from 6 kinds of effective voltage vectors of inverter, compares and two voltage vector controls is respectively adopted
Error after signal processed between the actual current and reference current of motor, when the small voltage vector of Select Error is sampled as this
The control voltage at quarter；
(3) inverter switching states are controlled according to the small voltage vector of the error of step (2) selection, to be carried out to motor
Control；
(4) enter next sampling instant, repeat step (1)~(4).
Further, in two voltage vectors that step (2) is chosen, the corresponding current error ε of any voltage vectornIt calculates
Method is
Wherein, n is the serial number of the corresponding voltage vector chosen, and n takes 1,2；i0For the electric current gone out according to motor equation calculation
Component；vnFor the corresponding voltage vector chosen；Δ t is discrete sampling time, Ld、LqRespectively motor d, q axis equivalent inductance, i*
For reference current；Wherein, i*And i0It is respectively calculated as follows：
Wherein,For torque reference value, p is motor number of pole-pairs, and ψ is permanent magnet flux linkage, and R is stator resistance, id,k、iq,kPoint
Not Wei current sample time d, q shaft current, ωkFor motor angular rate.
Further, control voltage of the small voltage vector of Select Error as this sampling instant in step (2), specifically
For：
It enables
Wherein, θ is motor rotor position；
As T≤0, v is chosen1As control voltage；
As T ＞ 0, v is chosen2As control voltage.
Further, two voltage vectors of selection are respectively in step (2)
Wherein, VDCFor DC voltage, θ is motor rotor position.
Advantageous effect：Inverter switching device signal can be obtained by proposed method for controlling number of revolution, directly inverter is carried out
Control.SVPWM modules are eliminated, two voltages is only chosen and controls vector, simplied system structure is more advantageous to engineering construction.And
And motor speed is obtained with position by Extended Kalman filter in this method, does not need position sensor, to reduce system
Cost improves system rotating speed control response speed, improves operational reliability.
Description of the drawings
Fig. 1 is complete control system structure diagram of the present invention；
Fig. 2 is motor control method flow chart of the present invention.
Specific implementation mode
The present invention is according to permanent magnet synchronous motor idTarget current value is calculated by given rotating speed in=0 control strategy.Then
After comparing the current error that two voltage control vectors generate, chooses the smaller conduct of error and control voltage, finally by inverse
Become control of the device realization to motor speed.In conjunction with extended Kalman filter, permanent magnet synchronous motor position sensorless may be implemented
Device controls, and simplied system structure reduces cost.
Specific implementation method of the present invention is illustrated below in conjunction with the accompanying drawings.
As shown in attached drawing 1,2, convert to obtain motor d, q axis equivalent current first with Clark and Park, then pass through extension
Kalman filter obtain motor estimation rotating speed, with given tracking rotating ratio relatively after, electricity can be obtained by PI rotational speed governors
Magnetic torque given value
According to permanent magnet synchronous motor electromagnetic torque TemCalculation expression
When using idWhen=0 control strategy, reference current i is given*It is as follows：
In formula, ψ is permanent magnet flux linkage, and p is motor number of pole-pairs, id,k、iq,kRespectively current sample time d, q shaft currents,
Ld、LqRespectively motor d, q axis equivalent inductance.
Two are arbitrarily chosen from 6 kinds of effective voltage vectors that inverter exports, compares and this two voltage arrows is respectively adopted
Error after amount control signal between the actual current and reference current of motor, the small voltage vector of Select Error are adopted as this
The control voltage at sample moment.The present embodiment chooses following two voltage vectors：
Wherein, VDCFor DC voltage, θ is motor rotor position.Matrix [0 0 1]T, [0 1 0]TIt can reflect inversion
Device on off state.
Using voltage vector vnAfter controlling motor, actual current vector inFor：
In formula, n takes 1,2, i0For the current component gone out according to motor equation calculation, Δ t is the discrete sampling time；Wherein：
In formula, R is stator resistance, id,k、iq,kRespectively current sample time d, q shaft currents, ωkFor motor electric angle speed
Degree.
Next it calculates separately using after this two control voltage vectors, the corresponding actual current of each voltage vector and ginseng
Examine the error ε of electric currentnFor：
The modulus value of calculating error vector, control voltage of the small vector of Select Error as this sampling instant, specifically
For：
It enables
As T≤0, v is chosen1As control voltage；
As T ＞ 0, v is chosen2As control voltage.
Inverter switching states are controlled according to the voltage vector of selection, motor is controlled.
Subsequently into next sampling instant, repeats above step and the rotating-speed tracking control to permasyn morot can be realized
System.
But this method is simultaneously only without being limited thereto, and optional two can be used as the control that the present invention chooses in 6 kinds of effective voltage vectors
Voltage processed.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of permanent magnet synchronous motor rotary speed tracing control method, which is characterized in that include the following steps：
(1) motor speed value is estimated with extended Kalman filter, and torque reference value is obtained by PI controllers；
(2) two are arbitrarily chosen from 6 kinds of effective voltage vectors of inverter, compares and two voltage vector control letters is respectively adopted
Error after number between the actual current and reference current of motor, the small voltage vector of Select Error is as this sampling instant
Control voltage；
(3) inverter switching states are controlled according to the small voltage vector of the error of step (2) selection, to be controlled to motor
System；
(4) enter next sampling instant, repeat step (1)~(4)；
In two voltage vectors that step (2) is chosen, the corresponding current error ε of any voltage vectornComputational methods are
Wherein, n is the serial number of the corresponding voltage vector chosen, and n takes 1,2；i0For the current component gone out according to motor equation calculation；
vnFor the corresponding voltage vector chosen；△ t are discrete sampling time, Ld、LqRespectively motor d, q axis equivalent inductance, i*For reference
Electric current；Wherein, i*And i0It is respectively calculated as follows：
Wherein,For torque reference value, p is motor number of pole-pairs, and ψ is permanent magnet flux linkage, and R is stator resistance, id,k、iq,kRespectively
Current sample time d, q shaft current, ωkFor motor angular rate.
2. permanent magnet synchronous motor rotary speed tracing control method as described in claim 1, it is characterised in that：Selection misses in step (2)
Control voltage of the small voltage vector of difference as this sampling instant, specially：
It enables
Wherein, θ is motor rotor position；
As T≤0, v is chosen1As control voltage；
Work as T>When 0, v is chosen2As control voltage.
3. permanent magnet synchronous motor rotary speed tracing control method as described in claim 1, it is characterised in that：It is chosen in step (2)
Two voltage vectors are respectively
Wherein, VDCFor DC voltage, θ is motor rotor position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322986.3A CN105915144B (en) | 2016-05-16 | 2016-05-16 | A kind of permanent magnet synchronous motor rotary speed tracing control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322986.3A CN105915144B (en) | 2016-05-16 | 2016-05-16 | A kind of permanent magnet synchronous motor rotary speed tracing control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105915144A CN105915144A (en) | 2016-08-31 |
| CN105915144B true CN105915144B (en) | 2018-08-03 |
Family
ID=56749064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610322986.3A Active CN105915144B (en) | 2016-05-16 | 2016-05-16 | A kind of permanent magnet synchronous motor rotary speed tracing control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105915144B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788032B (en) * | 2016-12-28 | 2019-04-05 | 宁波欣达电梯配件厂 | Alternating current generator rotary speed tracing control method |
| CN112821844B (en) * | 2021-03-09 | 2022-06-10 | 广东威灵电机制造有限公司 | Motor control method and device, readable storage medium and electrical equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101847875A (en) * | 2010-06-18 | 2010-09-29 | 浙江大学 | Power compensation method for unbalanced direct power control of voltage controlled grid-connected inverter |
| CN104184382A (en) * | 2014-08-11 | 2014-12-03 | 天津大学 | Method for observing speed of permanent magnet motor |
-
2016
- 2016-05-16 CN CN201610322986.3A patent/CN105915144B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101847875A (en) * | 2010-06-18 | 2010-09-29 | 浙江大学 | Power compensation method for unbalanced direct power control of voltage controlled grid-connected inverter |
| CN104184382A (en) * | 2014-08-11 | 2014-12-03 | 天津大学 | Method for observing speed of permanent magnet motor |
Non-Patent Citations (1)
| Title |
|---|
| 带扰动观测器的永磁同步电机非线性预测跟踪控制;沈绍博;《南京航空航天大学学报》;20150630;第47卷(第3期);第367-371页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105915144A (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110224648B (en) | Permanent magnet synchronous motor parameter identification and position sensorless control method and system | |
| EP1835613B1 (en) | System and method for motor speed estimation using hybrid model reference adaptive system | |
| CN100590961C (en) | Motor controller, washing machine, air conditioner and electric oil pump | |
| CN106330046B (en) | The five mutually fault-tolerant magneto method for controlling position-less sensor based on certain loads | |
| EP2020743B1 (en) | Sensorless controlling apparatus for controlling a brushless motor | |
| JP4928855B2 (en) | Sensorless control device for synchronous machine | |
| CN103532465B (en) | Based on the permagnetic synchronous motor inductance identification algorithm of increment type model reference adaptive | |
| CN110071674B (en) | Position-sensor-free permanent magnet synchronous motor maximum torque current ratio control method | |
| CN110311608B (en) | High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle | |
| CN107134964A (en) | The new five mutually fault-tolerant magneto method for controlling position-less sensor based on extended state observer | |
| CN110212819B (en) | Commutation error compensation method for high-speed brushless direct current motor | |
| CN109167547A (en) | Based on the PMSM method for controlling position-less sensor for improving sliding mode observer | |
| CN104104301B (en) | Passivity-based control method for speed-senseless interpolating permanent magnet synchronous motor | |
| CN106788049B (en) | Speed sensor-free torque control system and method based on cascading sliding mode observer | |
| CN107834935A (en) | A kind of initial absolute position detection method of permanent-magnetic synchronous motor rotor | |
| CN108945373A (en) | Impeller driven system and control method under integrated water | |
| WO2009103662A1 (en) | Sensorless control of salient-pole machines | |
| CN110011587A (en) | A kind of permanent magnet synchronous motor sensor-less vector control method based on Multiparameter | |
| CN111193448A (en) | Surface-mounted permanent magnet synchronous motor load torque observation method based on extended Kalman filter | |
| CN109802617A (en) | A kind of control method of driving motor, apparatus and system | |
| CN105915144B (en) | A kind of permanent magnet synchronous motor rotary speed tracing control method | |
| CN105071736B (en) | A kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method | |
| CN107395080B (en) | Speed sensor-free torque control system and method based on cascade nonsingular terminal sliding mode observer | |
| CN109600080A (en) | A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor | |
| CN105703681B (en) | The dodecagon flux trace of brshless DC motor controls Direct Torque Control certainly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |