CN105932926B - Speed-sensorless backstepping control method for permanent magnet synchronous motor based on dimensionality-reduced observer - Google Patents
Speed-sensorless backstepping control method for permanent magnet synchronous motor based on dimensionality-reduced observer Download PDFInfo
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Abstract
本发明提出了一种基于降维观测器的永磁同步电机无速度传感器反推控制方法，是在建立永磁同步电机(PMSM)d‑q坐标系下的数学模型的基础上，首先利用Lyapunov稳定性理论并结合线性矩阵不等式(LMI)处理技巧设计降维观测器，实现PMSM在d‑q轴坐标下转子机械角速度的观测与重构，然后通过设计包含重构变量的虚拟控制输入，将系统分解为多个子系统，并运用反推控制策略来设计闭环系统控制器，实现电机转速输出对期望输出信号的高精度跟踪。与现有方法不同的是，降维观测器的应用降低了传感器的个数，从而节约了成本；同时，基于LMI与反推原理的控制器集成设计，优化控制器参数，提高无速度传感器的PMSM跟踪精度。
The invention proposes a speed sensorless reverse thrust control method of permanent magnet synchronous motor based on dimension reduction observer, which is based on the establishment of a mathematical model in the permanent magnet synchronous motor (PMSM) d-q coordinate system, and firstly uses Lyapunov Stability theory combined with Linear Matrix Inequality (LMI) processing techniques to design a dimensionality-reduced observer to realize the observation and reconstruction of the rotor mechanical angular velocity under the d-q axis coordinates of PMSM. The system is decomposed into multiple subsystems, and a closed-loop system controller is designed using the reverse thrust control strategy to achieve high-precision tracking of the motor speed output to the desired output signal. Different from the existing methods, the application of the dimensionality reduction observer reduces the number of sensors, thus saving the cost; at the same time, the integrated design of the controller based on the principle of LMI and inversion can optimize the controller parameters and improve the speed sensorless speed. PMSM tracking accuracy.
Description
Technical field
The present invention relates to a kind of, and the permanent magnet synchronous motor Speedless sensor based on reduced dimension observer is counter pushes away control method.
Background technique
With the development of semiconductor power device, permanent magnetism magnetic material and control theory, permasyn morot (PMSM)
Increasingly important role is played in currently, in small-power motion control.Permasyn morot has compact-sized, Gao Gong
The advantages that rate density, high air-gap flux and high torque (HT) inertia ratio.However, there is such as stator currents, electromagnetism to turn by PMSM itself
Many unfavorable factors such as the coupling of square, rotor flux, Parameter Perturbation and external disturbance, can directly result in the dynamic of control system
Performance decline.For the torque response and tracking performance for improving PMSM, occur a variety of improved system structures and design in recent years
Method, such as modified feedback linearization control, Sliding mode variable structure control, Passive Shape Control, counter push away control and self adaptive control.In these controls
In system strategy, assume that PMSM electric current and motor position can accurately be surveyed mostly.Most common means are utilized on armature spindle and install
Sensor directly measures.But the installation for crossing multisensor will increase the complexity and operating cost of system.
Chinese patent 201410564140 " a kind of adaptive sliding-mode observer method of varying load PMSM Speed "
Describe a kind of speed regulation adaptive sliding-mode observer method of permanent magnet synchronous motor.The speed tracking control strategy of this method is using cunning
Mould control, and system robustness is improved using self-adaptive link.Since there are HF switches in sliding mode controller, so that motor is defeated
There are certain jitter phenomenons for revolving speed out.
Chinese patent 201410404242 " a kind of no sensor PMSM Speed control strategy " describes one kind
Permanent magnet synchronous motor sensor speed regulating control strategy, this method are passed through by the three-phase current of detection permanent magnet synchronous motor
Clarke converts to obtain the electric current under alpha-beta coordinate system, converts by Park, obtains the electric current under d-q coordinate system, and with electric current structure
Make full micr oprocessorism.But this method separately designs full micr oprocessorism with controller, to reduce the stability of system.
Summary of the invention
The purpose of the present invention is overcoming the prior art, a kind of Speedless sensor based on reduced dimension observer is proposed
It is counter to push away speed tracking control method.The present invention is for designing varying load PMSM speed regulating control strategy, to improve PMSM control system
Reliability, and further raising efficiency and reduce operating cost.
The technical scheme of the present invention is realized as follows: the permanent magnet synchronous motor Speedless sensor based on reduced dimension observer
It is counter to push away control method, comprising the following steps:
1) sample information of permanent magnet synchronous motor parameter is obtained by system parameter on-line identification method；
2) parameter in step 1) is arranged, and establishes the vector model under permanent magnet synchronous motor d-q coordinate system；
3) reduced dimension observer is designed, realizes the observation and reconstruct of rotor machinery angular speed and d shaft current；
4) angular speed is exported and reconstructed using current of electric as control input variable, simultaneously for multiple subsystems by system decomposition
Control strategy design controller is pushed away using counter.
As a kind of perferred technical scheme, the step 1) collects related ginseng in PMSM actual operating mode environment
Numerical example information, with linear least squares method algorithm identifying motor relevant parameter, the parameter includes PMSM stator resistance, stator electricity
Sense, rotary inertia and viscous friction coefficient relevant parameter sample information.
As a kind of perferred technical scheme, the step 2) arranges the parameter in step 1), according to mechanics original
Reason and Circuit Theorem, using d-q shaft current, rotor machinery angular speed as system state variables, q shaft current is defeated as system
Out, load torque establishes the vector model under PMSM d-q coordinate system as external disturbance.
As a kind of perferred technical scheme, the observation and reconstruct of the rotor machinery angular speed of the step 3), use
Observer is dimensionality reduction, and observer gain design method is the design method based on linear matrix inequality.
As a kind of perferred technical scheme, the step 4) integrated manipulator design, be with current of electric output and
Angular speed is reconstructed as control input variable, system decomposition is multiple subsystems and pushes away control strategy design control using counter
Device.
Using above-mentioned technical proposal, the invention has the benefit that the present invention is for designing varying load PMSM speed regulation control
System strategy, to improve the reliability of PMSM control system, and further raising efficiency and reduction operating cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 controller design flow chart of the present invention；
Fig. 2 Control system architecture block diagram of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Controller design flow chart of the present invention is as shown in Figure 1, the Control system architecture block diagram such as Fig. 2 institute being related to
Show.Step 1 is that parameter of electric machine sample information is obtained and recognized.Step 2 model under d-q coordinate system to PMSM, obtains
System state space equation, wherein as system state variables, q shaft current conduct can measure system for d-q shaft current, motor speed
Output, load torque are as external disturbance.Step 3 carries out Design of Reduced-Order Observers for Lipschitz and variable reconstructs.Specific design procedure is as follows:
(1) the PMSM mathematical vector model established for step 2 carries out controllability STRUCTURE DECOMPOSITION；
(2) to subsystem can not be surveyed, reduced dimension observer is constructed, and establish dynamic observation error system
(3) Lyapunov stability principle and LMI disposal skill are applied, Design of Reduced-Order Observers for Lipschitz and its solution side are obtained
Method；
(4) variable is carried out to not measurable variable using reduced dimension observerReconstruct.
On the basis of step 3 obtains reconstruct variable, step 4 carries out Tracking Control Design.Specific design procedure is as follows:
(1) it gives expectation revolving speed and exports ω*, define tracking error eω=ω*-ω.In conjunction with motor speed dynamics observation side
Journey considers error dynamics subsystemWherein iqIt directly measures, ω and idRespectively byIt provides；
(2) it is directed to subsystemChoose suitable Lyapunov function and virtual q shaft current functionAt inequality
Reason is skilful, so that the subsystem Asymptotic Stability；
(3) q shaft current tracking error is definedAnd corresponding error dynamics systemChoose suitable Lyapunov
Function and q axis stator voltage functionMake subsystemAsymptotic Stability；
(4) d axis ideal current is setDefine tracking errorIn conjunction with d shaft current dynamics observation side
Journey considers error dynamics subsystemWith (1), wherein iqIt directly measures, ω and idRespectively byIt provides；
(5) suitable Lyapunov function and d axis stator voltage function are chosenMake subsystemAsymptotic Stability.
By the above design procedure, the available reduced order observer design method based on LMI, with previous POLE PLACEMENT USING side
Unlike method, this method can easily be solved by the tool box LMI in Matlab.In addition, application is counter to push away control strategy
Obtained virtual current, q axis stator voltage, d axis stator voltage input function can make subsystems Asymptotic Stability, to make forever
Magnetic-synchro motor realizes the high precision tracking of electric current and the output of desired revolving speed.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (1)
1. the permanent magnet synchronous motor Speedless sensor based on reduced dimension observer is counter to push away control method, which is characterized in that including with
Lower step:
1) sample information of permanent magnet synchronous motor parameter is obtained by system parameter on-line identification method；
2) parameter in step 1) is arranged, and establishes the vector model under permanent magnet synchronous motor d-q coordinate system；
3) reduced dimension observer is designed, realizes the observation and reconstruct of rotor machinery angular speed and d shaft current；
4) angular speed is exported and reconstructed using current of electric as control input variable, is multiple subsystems by system decomposition and is used
It is counter to push away control strategy design controller；
The step 1) is collected relevant parameter sample information in PMSM actual operating mode environment, is calculated with linear least squares method
Method identifying motor relevant parameter, the parameter include PMSM stator resistance, stator inductance, rotary inertia and viscous friction coefficient
Relevant parameter sample information；
The step 2), the parameter in step 1) is arranged, according to mechanics principle and Circuit Theorem, with d-q shaft current, electricity
Machine rotor machinery angular speed is as system state variables, and q shaft current is exported as system, load torque is as external disturbance, builds
Vector model under vertical PMSM d-q coordinate system；
The observation and reconstruct of the rotor machinery angular speed of the step 3), the observer of use are dimensionality reduction, observer gain
Design method is the design method based on linear matrix inequality；
The integrated manipulator of the step 4) designs, and is to be exported and reconstructed angular speed using current of electric as controlling input variable,
System decomposition is multiple subsystems and controller is designed using the anti-control strategy that pushes away.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107294137A (en) * | 2017-08-24 | 2017-10-24 | 北方民族大学 | Dual feedback wind power generation system pusher side current transformer is counter to push away variable structure control system and method |
| CN108123648B (en) * | 2017-11-30 | 2020-11-20 | 沈阳工业大学 | Linear Servo Position Tracking Control Based on Linear Matrix Inequality and Sliding Mode Control |
| CN108768238A (en) * | 2018-06-27 | 2018-11-06 | 江南大学 | Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter |
| CN117498745B (en) * | 2023-11-10 | 2024-06-21 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
Citations (3)
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| CN102843089A (en) * | 2012-08-23 | 2012-12-26 | 四川长虹电器股份有限公司 | Control method of permanent magnet synchronous motor (PMSM) for frequency conversion refrigerator |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
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| CN102843089A (en) * | 2012-08-23 | 2012-12-26 | 四川长虹电器股份有限公司 | Control method of permanent magnet synchronous motor (PMSM) for frequency conversion refrigerator |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
| CN105227017A (en) * | 2015-10-27 | 2016-01-06 | 青岛远洋船员职业学院 | A kind of method and system for the angle of rake high-order MFAC of boats and ships gondola SSP |
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