CN105932919A - Permanent magnet synchronous motor position control method based on motor model - Google Patents
Permanent magnet synchronous motor position control method based on motor model Download PDFInfo
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- CN105932919A CN105932919A CN201610404266.1A CN201610404266A CN105932919A CN 105932919 A CN105932919 A CN 105932919A CN 201610404266 A CN201610404266 A CN 201610404266A CN 105932919 A CN105932919 A CN 105932919A
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- pos
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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
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention provides a permanent magnet synchronous motor position control method based on a motor model. The method comprises the following steps: decomposing the control of the motor into the control on the d-axle current and the q-axle current, when the motor is in the position control, performing the following control of the q-axle current set: acquiring the torque set through the deviation of angle and the deviation of speed, computing the torque set as T_ref=pos_K1*Theta_err-pos_K2*W_est+T_est; (1) wherein pos_K1 and the pos_K2 are position loop control coefficient, acquiring the control coefficient according to the position loop bandwidth and motor model operation; pos_K1=J*Pos_gain*Pos_gain; (2) pos_K2=2*J*Pos_gain-B; (3). The beneficial effect is that the position loop control gain is acquired according to the motor model, the tedious testing is avoided; an estimation model of the motor has the corresponding gain regulation so as to enhance the use range of the system; the operation topology is simple and can be conveniently used for a single chip system.
Description
Technical field
The present invention relates to permagnetic synchronous motor position control method, particularly relate to a kind of based on motor model
Permagnetic synchronous motor position control method.
Background technology
Permagnetic synchronous motor is generally used in the application scenario of location at a high speed, coordinates synchronous motor driver
Motor to be controlled operates in position control mode, namely controls the position of motor shaft.Conventional control
Method is the control model that three rings are nested.Current regulator, speed controlling ring, position control ring is by interior
And outer place, and this structures shape bandwidth should the most successively reduce, the therefore bandwidth of electric current loop
I.e. limit speed ring and the bandwidth of position ring and response speed.The conventional control method of electric current loop has:
Hysteresis control, PI controls, track with zero error.The conventional control method of speed ring has: PI controls, PID
Control, the feedforward.The conventional control method of position ring has: P controls, and PI controls, the feedforward.
It addition, also there is document to propose the control method that two rings are nested.Current regulator, position control
Ring is placed from inside to outside, eliminates speed ring control.At this moment the conventional control method of electric current loop has: stagnant
Ring controls, and PI controls, track with zero error.The control method of position ring: PID controls, the feedforward.
Three traditional ring nesting control methods suffer from the drawback that
One, parameter regulation complexity.In the position control of permagnetic synchronous motor, owing to each controls ring
Between influence each other, the control parameter adjustment of each loop is complicated, often makes whole system not reach
Excellent control effect.It is typically the controller parameter according to three loops of sequential adjustment from inside to outside.
First debug electric current loop, given value of current step signal, regulation controller parameter make feedback current in response and
Overshoot aspect all reaches requirement.Electric current loop adjusts after terminating, then ring of regulating the speed.Speed ring adjusts class
It is similar to electric current loop regulation.Finally adjust position ring parameter again.Steady during in order to maintain three loops to control
Qualitative, it usually needs the output signal of three loops is done corresponding Filtering Processing.
Its two, the bandwidth of whole control system is low.The regulation of electric current loop depends on the resistance of motor
And inductance, according to motor model, the bandwidth of electric current loop can reach theoretical more than the 5khz's calculated
High bandwidth.The impact of bandwidth is mainly at speed ring.And owing to the performance of speed ring is used to motor load
Amount, external disturbance torque relevant, within the bandwidth of speed ring is typically only 400hz.Position ring be
Outside speed ring, therefore the bandwidth of position ring generally only has 200hz.Simultaneously because velocity feedback detection is subject to
To encoder accuracy and the impact of execution cycle, velocity measuring during low speed is unable to reach control accuracy
Requirement.Therefore, when position ring error is less, three close-loop control pattern easily allows system unstable, causes
System is shaken.
Another kind of two ring nesting control methods are used to equally exist following drawback:
The pid control parameter of position ring is difficult to arrange.Under this mode, the output of position ring is exactly
Electric current loop given, indefinite due to system model, the reason that the pid parameter of position ring does not responds to
Opinion value, therefore to carry out certificate parameter one by one by the method that examination is gathered the most reasonable.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of permanent magnetism based on motor model
Synchronous motor position control method.
The invention provides a kind of permagnetic synchronous motor position control method based on motor model, electricity
The control of machine is decomposed into d shaft current and the control of q shaft current, when motor is in position control, enters
The control that the following q shaft current of row is given:
The given of torque is obtained by the deviation of angle and the deviation of speed, and calculating torque is given as:
T_ref=pos_K1*Theta_err-pos_K2*W_est+T_est； (1)
Wherein pos_K1, pos_K2 are position ring control coefrficient, transport according to position ring bandwidth and motor model
Calculate and obtain control coefrficient:
Pos_K1=J*Pos_gain*Pos_gain； (2)
Pos_K2=2*J*Pos_gain-B； (3)
Build a motor model, simultaneously estimation present speed W_est and output torque T_est, estimation electricity
Machine state, formula is as follows:
Theta_corr=Theta_feed-Ts*W_est； (4)
W_est=W_est+Ts* (T_ref-T_est-B*W_est)/J+
pos_K2*Theta_corr/J； (5)
T_est=T_est-pos_K1*Theta_corr； (6)
Wherein,
Ts: the sampling time；
J: motor and load inertia summation；
B: system friction coefficient；
Theta_err: position deviation；
Theta_ref: position gives；
Theta_feed: position is fed back；
Theta_corr: position correction；
Pos_gain: position loop gain；
W_est: estimated speed；
T_est: estimation torque；
The given output of T_ref: torque.
The invention has the beneficial effects as follows: position ring controls gain and obtains according to motor model, it is to avoid numerous
Trivial test；The appraising model of motor also has corresponding gain-adjusted, enhances the range of system；
Computing topology is simple, in that context it may be convenient to be used in Single Chip Microcomputer (SCM) system.
Accompanying drawing explanation
Fig. 1 is the control of a kind of permagnetic synchronous motor position control method based on motor model of the present invention
Topological diagram.
Fig. 2 is the control of a kind of permagnetic synchronous motor position control method based on motor model of the present invention
Flow chart.
Detailed description of the invention
The present invention is further described for explanation and detailed description of the invention below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 2, a kind of permagnetic synchronous motor position control method based on motor model,
Control to have employed traditional vector control mode.According to motor control theory, the control of motor is decomposed
For d axle and the control of q shaft current.For conventional surface-mount type permagnetic synchronous motor, motor is in perseverance
When power district runs, d shaft current should control as 0A.Q shaft current is to produce the current component of torque, this
The novelty of technology is the control method that q shaft current is given.When motor is in position control, logical
Cross position deviation according to following motor model directly calculate q shaft current give, decrease traditional speed
Degree ring.
Definition relevant identifier:
Ts: the sampling time；
J: motor and load inertia summation；
B: system friction coefficient；
Theta_err: position deviation；
Theta_ref: position gives；
Theta_feed: position is fed back；
Theta_corr: position correction；
Pos_gain: position loop gain；
W_est: estimated speed；
T_est: estimation torque；
The given output of T_ref: torque.
Position control core algorithm and principle in this technology are as follows:
The given of torque is obtained by the deviation of angle and the deviation of speed.
T_ref=pos_K1*Theta_err-pos_K2*W_est+T_est； (1)
Wherein pos_K1, pos_K2 are position ring control coefrficient, transport according to position ring bandwidth and motor model
Calculate and obtain:
Pos_K1=J*Pos_gain*Pos_gain； (2)
Pos_K2=2*J*Pos_gain-B； (3)
Construct a motor model in system, estimate current angular (TH_est), present speed simultaneously
(W_est) and output torque (T_est).Formula is as follows:
Theta_corr=Theta_feed-Ts*W_est； (4)
W_est=W_est+Ts* (T_ref-T_est-B*W_est)/J+
pos_K2*Theta_corr/J； (5)
T_est=T_est-pos_K1*Theta_corr； (6)
Being understood three estimators according to motor model by formula is all to constantly update in an iterative manner.
A kind of based on motor model the permagnetic synchronous motor position control method that the present invention provides, based on
The motor model of permagnetic synchronous motor and mechanical movement principle, drawn a kind of motor position control method,
Fully according to kinematic principle, show that a set of computing is simple, the control mode of excellent performance:
One, position ring controls gain and obtains according to motor model, it is to avoid loaded down with trivial details test.
Its two, the appraising model of motor also has corresponding gain-adjusted, enhances the range of system.
Its three, the estimator of built-in motor model, use response compensate, enhance system stability and control
Precision processed.
Its four, computing topology is simple, in that context it may be convenient to be used in Single Chip Microcomputer (SCM) system.
In a word, the present invention is a kind of reliable position ring control mode according to motor model.
Above content is that to combine concrete preferred implementation made for the present invention the most specifically
Bright, it is impossible to assert the present invention be embodied as be confined to these explanations.For technology belonging to the present invention
For the those of ordinary skill in field, without departing from the inventive concept of the premise, it is also possible to if making
Dry simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (1)
1. a permagnetic synchronous motor position control method based on motor model, it is characterised in that: motor
Control be decomposed into d shaft current and the control of q shaft current, when motor is in position control, enter
The control that the following q shaft current of row is given:
The given of torque is obtained by the deviation of angle and the deviation of speed, and calculating torque is given as:
T_ref=pos_K1*Theta_err-pos_K2*W_est+T_est； (1)
Wherein pos_K1, pos_K2 are position ring control coefrficient, transport according to position ring bandwidth and motor model
Calculate and obtain control coefrficient:
Pos_K1=J*Pos_gain*Pos_gain； (2)
Pos_K2=2*J*Pos_gain-B； (3)
Build a motor model, simultaneously estimation present speed W_est and output torque T_est, estimation electricity
Machine state, formula is as follows:
Theta_corr=Theta_feed-Ts*W_est； (4)
W_est=W_est+Ts* (T_ref-T_est-B*W_est)/J+
pos_K2*Theta_corr/J； (5)
T_est=T_est-pos_K1*Theta_corr； (6)
Wherein,
Ts: the sampling time；
J: motor and load inertia summation；
B: system friction coefficient；
Theta_err: position deviation；
Theta_ref: position gives；
Theta_feed: position is fed back；
Theta_corr: position correction；
Pos_gain: position loop gain；
W_est: estimated speed；
T_est: estimation torque；
The given output of T_ref: torque.
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| CN201610404266.1A CN105932919B (en) | 2016-06-07 | 2016-06-07 | A kind of permanent magnet synchronous motor position control method based on motor model |
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| CN201610404266.1A CN105932919B (en) | 2016-06-07 | 2016-06-07 | A kind of permanent magnet synchronous motor position control method based on motor model |
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| CN105932919A true CN105932919A (en) | 2016-09-07 |
| CN105932919B CN105932919B (en) | 2018-11-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007135344A (en) * | 2005-11-11 | 2007-05-31 | Hitachi Industrial Equipment Systems Co Ltd | Method and apparatus for automatically adjusting motor controller |
| CN102468794A (en) * | 2010-11-19 | 2012-05-23 | 许伟跃 | Position current double-closed loop controller of electric bicycle |
| CN104333285A (en) * | 2013-11-21 | 2015-02-04 | 浙江理工大学 | Quasi-sensorless position servo controlling device for permanent magnet synchronous motor and method thereof |
-
2016
- 2016-06-07 CN CN201610404266.1A patent/CN105932919B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007135344A (en) * | 2005-11-11 | 2007-05-31 | Hitachi Industrial Equipment Systems Co Ltd | Method and apparatus for automatically adjusting motor controller |
| CN102468794A (en) * | 2010-11-19 | 2012-05-23 | 许伟跃 | Position current double-closed loop controller of electric bicycle |
| CN104333285A (en) * | 2013-11-21 | 2015-02-04 | 浙江理工大学 | Quasi-sensorless position servo controlling device for permanent magnet synchronous motor and method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
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| CN105932919B (en) | 2018-11-30 |
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Effective date of registration: 20170630 Address after: Nanshan District Guangdong streets Shenzhen City Xuefu Road 518000 Guangdong city of Shenzhen province software industry base 4 Building Room 513 Applicant after: Shenzhen Baisheng transmission Co., Ltd. Address before: 518000 Guangdong city of Shenzhen province Nanshan District Whitehead Road Shahe Royal Oriental Garden Building 5 8A Applicant before: Xu Hui |
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Address after: 518000 room 513, podium building 4, Xuefu Road, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Baisheng transmission Co.,Ltd. Address before: 518000 room 513, podium building 4, Xuefu Road, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Baisheng transmission Co.,Ltd. |