CN105958873A - Speed regulating system and series-wound type rotary speed controller for nine-phase brushless direct current motor of water pump - Google Patents

Abstract

The invention discloses a series-wound type rotary speed controller for a nine-phase brushless direct current motor of a water pump. The series-wound type rotary speed controller comprises a fuzzy PID parameter setting controller used for adjusting a proportion parameter, an integral parameter and a differential parameter, a first multiplying unit, a second multiplying unit, a third multiplying unit, a fractional order integrating filter module used for obtaining an actual integral order close to a given integral order and carrying out change step adjustment on the input signal according to the actual integral order, a fractional order differential filter module used for obtaining an actual differential order close to a given differential order and carrying out oscillation adjustment on the input signal according to the actual differential order, a first summing unit and a second summing unit. By adoption of the series-wound type rotary speed controller, the restraining effect of the torque pulsation and the increasing/decreasing of the rotary speed can be optimized simultaneously, and a good optimization effect is realized. The invention also discloses a speed regulating system for the nine-phase brushless direct current motor of the water pump, wherein the speed regulating system comprises the series-wound type rotary speed controller and also can achieve the effects.

Description

Nine-phase brushless DC motor speed control system for water pump and its serial speed controller

technical field

The invention relates to the field of motor speed control, in particular to a nine-phase brushless DC motor speed regulating system for a water pump and a serial speed controller thereof.

Background technique

With the rapid development of production technology, brushless DC motors are more and more used in production and life. Nowadays, due to the continuous improvement of industrial production needs, people have put forward higher control accuracy for the speed control of brushless DC motors. Require.

At present, the nine-phase brushless DC motor speed control system for water pumps uses a common PID controller to control the speed, which has the advantages of simple structure and easy implementation. In the process of speed control, certain torque ripple and certain speed increase/decrease will inevitably occur, so it is necessary to suppress the torque ripple and optimize the speed increase/decrease, but in ordinary PID control, when adjusting the speed When the torque ripple becomes smaller, the speed drop will increase, and when the adjusted speed drop becomes smaller, the torque ripple will increase, that is, the torque ripple and the speed drop cannot be optimized at the same time, and the optimization effect is poor.

Therefore, how to provide a nine-phase brushless DC motor speed control system for water pumps with a good optimization effect and its serial speed controller is a problem that those skilled in the art need to solve at present.

Contents of the invention

The purpose of the present invention is to provide a series speed controller of a nine-phase brushless DC motor for a water pump, which can better suppress torque ripple and optimize the increase/decrease of the speed at the same time, and the optimization effect is good. Another object of the present invention is to provide a speed control system for a nine-phase brushless DC motor for a water pump comprising the above serial speed controller.

In order to solve the above technical problems, the present invention provides a series speed controller of a nine-phase brushless DC motor for water pumps, including a fuzzy PID parameter tuning controller for adjusting proportional parameters, integral parameters and differential parameters, a first A multiplier, a second multiplier, a third multiplier, and a fractional-order integration filter for obtaining an actual integration order close to a given integration order, and adjusting the input signal according to the actual integration order A module, a fractional order differential filter module, a first adder, and a second adder for obtaining an actual differential order close to a given differential order, and adjusting the oscillation of the input signal according to the actual differential order, in:

The positive input end of the first adder is the given speed input end of the series speed controller, and the negative input end of the first adder is the measured speed input end of the series speed controller; The output end of the first adder is respectively connected with the input end of the fuzzy PID parameter tuning controller, the second input end of the first multiplier, the second input end of the second multiplier and the third The second input terminal of the multiplier is connected;

The proportional parameter output terminal of the fuzzy PID parameter tuning controller is connected to the first input terminal of the first multiplier, and the integral parameter output terminal of the fuzzy PID parameter tuning controller is connected to the first input terminal of the second multiplier. The input terminal is connected, and the differential parameter output terminal of the fuzzy PID parameter tuning controller is connected with the first input terminal of the third multiplier;

The output end of the second multiplier is connected to the input end of the fractional-order integral filter module;

The output end of the third multiplier is connected to the input end of the fractional order differential filter module;

The output terminal of the first multiplier, the output terminal of the fractional-order integral filter module and the output terminal of the fractional-order differential filter module are respectively connected to the three input terminals of the second adder correspondingly, so The output end of the second adder is the output end of the series speed controller.

Preferably, it also includes:

A first limiting module, the input terminal of the first limiting module is connected to the output terminal of the second adder, and the output terminal of the first limiting module is the output terminal of the series speed controller.

Preferably, the fractional-order integral filter module includes an integral approximation module for making the actual integral order approach the given integral order, and adjusting the input signal according to the actual integral order, and An integral inertia module for fine-tuning the output signal of the integral approximation module;

The input end of the integral approximation module is the input end of the fractional order integral filter module, the output end of the integral approximation module is connected with the input end of the integral inertial module, and the output end of the integral inertial module is the The output end of the fractional order integral filter module;

The fractional order differential filter module includes a differential approximation module for making the actual differential order approximate to the given differential order, and adjusting the oscillation of the input signal according to the actual differential order, and a differential approximation module for A differential inertia module for fine-tuning the output signal of the differential approximation module;

The input of the differential approximation module is the input of the fractional order differential filter module, the output of the differential approximation module is connected to the input of the differential inertia module, and the output of the differential inertia module is the The output terminal of the fractional order differential filter module described above.

In order to solve the above technical problems, the present invention also provides a nine-phase brushless DC motor speed control system for water pumps, including the series speed controller described in any one of the above items.

The invention provides a serial speed controller of a nine-phase brushless DC motor for a water pump, which adopts the method of connecting the fuzzy PID series speed controller and the fractional-order PID series speed controller in series. According to the experimental results, fuzzy The PID series speed controller has a better suppression effect on torque ripple (better than ordinary PID control and fractional-order PID speed control), and the fractional-order PID series speed controller has a better effect on speed increase/decrease. The optimization effect (better than the optimization effect of ordinary PID control and fuzzy PID speed control), so the speed deviation signal in the present invention is firstly controlled by fuzzy PID speed control, so that the suppression effect of torque ripple reaches the optimal value, and then passed through fractional order PID The rotational speed control makes the increase/decrease of the rotational speed also reach the optimal value, that is, the present invention can better restrain the torque ripple and optimize the increase/decrease of the rotational speed at the same time, and the optimization effect is good. The present invention also provides a nine-phase brushless DC motor speed control system for water pumps, which has the above beneficial effects and will not be repeated here.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the prior art and the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is the emulation structure schematic diagram of the serial speed controller of a kind of water pump nine-phase brushless DC motor provided by the present invention;

Fig. 2 is the simulation structure schematic diagram of the fuzzy PID parameter setting controller in a kind of serial speed controller provided by the present invention;

Fig. 3 is a schematic diagram of the simulation structure of a nine-phase brushless DC motor speed regulation system for water pumps provided by the present invention.

detailed description

The core of the present invention is to provide a serial speed controller of a nine-phase brushless DC motor for a water pump, which can better suppress torque ripple and optimize the increase/decrease of the speed at the same time, and the optimization effect is good. Another object of the present invention is to provide a speed control system for a nine-phase brushless DC motor for a water pump comprising the above serial speed controller.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The present invention provides a series speed controller of a nine-phase brushless DC motor for water pumps, as shown in Figure 1, which is a series speed controller of a nine-phase brushless DC motor for water pumps provided by the present invention Schematic diagram of the simulation structure; among them, n-ref—given speed, n—measured speed, Add1—first adder, Add2—second adder, fuzzy—fuzzy PID parameter tuning controller, Product—first multiplier, Product1—second multiplier, Product2—third multiplier, FKp—proportional parameter output terminal of fuzzy PID parameter tuning controller, FKi—integral parameter output terminal of fuzzy PID parameter tuning controller, FKd—fuzzy PID parameter tuning controller Differential parameter output terminal, itransfer—fractional order integral filter module, dtransfer—fractional order differential filter module, Ttransfer Fcn3—integral approximation module, Ttransfer Fcn—integral inertial module, Ttransfer Fcn4—differential approximation module, TtransferFcn2—differential inertial module , is—output.

The serial speed controller includes a fuzzy PID parameter tuning controller for adjusting proportional parameters, integral parameters and differential parameters, a first multiplier, a second multiplier, and a third multiplier for obtaining a value close to a given integral The actual integral order of the order, and the fractional order integral filter module that adjusts the input signal according to the actual integral order, is used to obtain the actual differential order close to the given differential order, and according to the actual differential order A fractional order differential filter module, a first adder, and a second adder for performing oscillation adjustment on the input signal, wherein:

The positive input end of the first adder is the given speed input end of the series speed controller, and the negative input end of the first adder is the measured speed input end of the series speed controller; the output ends of the first adder are respectively connected with The input end of the fuzzy PID parameter tuning controller, the second input end of the first multiplier, the second input end of the second multiplier and the second input end of the third multiplier are connected;

The proportional parameter output terminal of the fuzzy PID parameter tuning controller is connected with the first input terminal of the first multiplier, the integral parameter output terminal of the fuzzy PID parameter tuning controller is connected with the first input terminal of the second multiplier, and the fuzzy PID parameter tuning The differential parameter output terminal of the controller is connected with the first input terminal of the third multiplier;

The output end of the second multiplier is connected with the input end of the fractional order integral filter module;

The output end of the third multiplier is connected with the input end of the fractional order differential filter module;

The output end of the first multiplier, the output end of the fractional order integral filter module and the output end of the fractional order differential filter module are respectively connected to the three input ends of the second adder correspondingly, and the output ends of the second adder are connected in series The output terminal of the speed controller.

It can be understood that the fuzzy PID parameter tuning controller is combined with the first multiplier, the second multiplier, and the third multiplier to form a fuzzy PID serial speed controller. The first multiplier, the second multiplier, the third multiplier The three multipliers, the fractional-order integral filter module, and the fractional-order differential filter module are combined to form a fractional-order PID series speed controller, so the present invention is equivalent to a fuzzy PID series speed controller and a fractional-order PID series speed controller. Controllers are connected in series.

Among them, fuzzy control is an intelligent control method based on fuzzy set theory, fuzzy language variables and fuzzy logic reasoning. It is an intelligent control method that imitates human reasoning and thinking patterns. In this control method, the obtained signal is fuzzified first, and then the operating experience of the staff is compiled into fuzzy rules, and the fuzzy signal is fuzzy reasoned by the fuzzy rules, and then the output obtained after reasoning is output, so as to realize the simulation. Human intelligence control. The fuzzy PID speed control is the combination of fuzzy control and ordinary PID control, and adjusts the size of each parameter in the ordinary PID control through fuzzy control, so that the control result has higher precision and smaller overshoot.

According to the experimental data, the fuzzy PID speed control is better than the fractional-order PID speed control or ordinary PID control in suppressing torque ripple, and the fractional-order PID speed control is better than the fuzzy PID speed control or ordinary PID speed control in optimizing the speed increase/decrease. PID control. Therefore, in the present invention, the speed deviation signal is firstly passed through the fuzzy PID parameter setting controller to optimize the torque ripple, and then the optimized signal is further optimized for the increase/decrease of the speed through the fractional-order PID series speed controller. It can be seen that the present invention can make The suppression effect of torque ripple and the speed increase/decrease are optimized at the same time, and the optimization effect is good.

Among them, the speed increase or speed drop here refers to the changes in the speed of the nine-phase brushless DC motor used for the water pump when the load is suddenly added and the load is suddenly reduced. When the load is suddenly increased, the speed increases. Optimizing the speed increase at this time refers to suppressing the overshoot generated during the speed increase and reducing the adjustment time of the speed; when the load is suddenly reduced, the speed drops. Optimizing the speed drop refers to suppressing the maximum dynamic drop generated during the speed drop and reducing the dynamic recovery time of the speed.

It can be understood that the proportional parameters, integral parameters and differential parameters are adjusted by the fuzzy PID parameter tuning controller and output as FKp, FKi and FKd, which correspond to the adjusted proportional parameters, integral parameters and differential parameters respectively. The PID control relationship is as follows :

$\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; \&lsqb;</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{<span\; class="notranslate">\; \&Integral;</span>}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\frac{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; \&rsqb;</span>$

where K _P is the proportional parameter, is the integral parameter, K _P T _d is the differential parameter, e(t) is the input signal of the fuzzy PID parameter tuning controller. And according to the above relational expression, it can be seen that the adjusted proportional parameter, integral parameter and differential parameter are respectively multiplied and then added to the signal obtained by calculus of the input signal.

Referring to shown in Fig. 2, Fig. 2 is the emulation structure schematic diagram of the fuzzy PID parameter tuning controller in a kind of serial speed controller provided by the present invention; Wherein, e—input, Derivative—differential module, Gain1—amplification factor multiplier , Gain2—differential amplification factor multiplier, Saturation—limiting module, Zero-Order Hold—zero point holder, Fuzzy Logic Controller—fuzzy logic controller, constant—constant, Gain3—initial proportional parameter control module, Gain4—initial integral parameter Control module, Gain5—initial differential parameter control module, Gain6—proportional parameter setting amplification module, Gain7—integral parameter setting amplification module, Gain8—differential parameter setting amplification module, Add—adder.

It can be seen from Figure 2 that the input signal of the fuzzy PID parameter tuning controller is added correspondingly to the initial proportional parameter, integral parameter and differential parameter after Gain6~Gain8 are tuned, which is equivalent to adjusting the proportional parameter, integral parameter and differential parameter the size of. Wherein, the limiting range of the limiting module can be [-3V, +3V], of course, the present invention does not specifically limit this, and the present invention does not limit the numerical value of the quantization factor in Gain1～Gain8, the staff can according to actual Circumstances decide for themselves.

Preferably, the serial speed controller also includes:

The first limiting module, the input terminal of the first limiting module is connected with the output terminal of the second adder, and the output terminal of the first limiting module is the output terminal of the serial speed controller.

It is understandable that the module can modulate the amplitude of the current in the circuit to avoid burning out the nine-phase brushless DC motor for water pumps when the current is too large, and also avoid the load of the nine-phase brushless DC motor for water pumps caused by too small current amplitude. Weak ability and slow start-up speed. The limiting range here can be [-100V, +100V]. Of course, the present invention does not limit the limiting range of the amplitude of the first limiting module, and the staff can decide by themselves according to the actual situation.

It can be further known that the fractional-order integral filter module includes an integral approximation module for making the actual integral order approach a given integral order, and adjusting the input signal according to the actual integral order, and an integral approximation module for adjusting the output of the integral approximation module Integral inertia module for fine-tuning the signal;

The input end of the integral approximation module is the input end of the fractional order integral filter module, the output end of the integral approximation module is connected with the input end of the integral inertial module, and the output end of the integral inertial module is the output end of the fractional order integral filter module;

The fractional order differential filter module includes a differential approximation module for making the actual differential order approach a given differential order, and adjusting the input signal according to the actual differential order, and a differential approximation module for fine-tuning the output signal of the differential approximation module Differential inertia module;

The input end of the differential approximation module is the input end of the fractional order differential filter module, the output end of the differential approximation module is connected with the input end of the differential inertial module, and the output end of the differential inertial module is the output end of the fractional order differential filter module.

Wherein, the filter orders of the fractional-order integral filter module and the fractional-order differential filter module can be set to 7 orders, of course, the present invention does not limit this, and the staff can set the filter orders of the above two modules according to the actual situation Second-rate.

In addition, the range of the given integration order in the present invention is -0.9～-1. For example, you can set the given integration order to -0.985, at this time, the fractional order integration filter will make the actual integration order approach -0.985.

It can be understood that the effective range of a given integral order is -0.66~-1.1 through experiments, and only within this range can the normal control of the series speed controller be guaranteed; further, in order to ensure the series speed The control accuracy of the controller is high, and the given integral order needs to be within the range of -0.9 to -1. Wherein, for a given integration order, any value within the above range may be selected according to actual conditions, which is not limited in the present invention. In addition, workers can obtain the range of a given integration order according to experiments, which is not limited in the present invention.

In the present invention, the given differential order can be set to 0.985, and the size of the given differential order takes the absolute value of the given integral order. Of course, workers can obtain a suitable given differential order range according to experimental conditions, and select a suitable given differential order from within the range, which is not limited in the present invention.

The invention provides a serial speed controller of a nine-phase brushless DC motor for a water pump, which adopts the method of connecting the fuzzy PID series speed controller and the fractional-order PID series speed controller in series. According to the experimental results, fuzzy The PID series speed controller has a better suppression effect on torque ripple (better than ordinary PID control and fractional-order PID speed control), and the fractional-order PID series speed controller has a better effect on speed increase/decrease. The optimization effect (better than the optimization effect of ordinary PID control and fuzzy PID speed control), so the speed deviation signal in the present invention is firstly controlled by fuzzy PID speed control, so that the suppression effect of torque ripple reaches the optimal value, and then passed through fractional order PID The rotational speed control makes the increase/decrease of the rotational speed also reach the optimal value, that is, the present invention can better restrain the torque ripple and optimize the increase/decrease of the rotational speed at the same time, and the optimization effect is good.

The present invention also provides a nine-phase brushless DC motor speed control system for water pumps, including the above-mentioned serial speed controller. Referring to shown in Fig. 3, Fig. 3 is the simulation structure schematic diagram of a kind of water pump nine-phase brushless DC motor speed regulation system provided by the present invention; Wherein:

speed-pi, speed-pi1, speed-pi2—series speed controller, Reference Current, Reference Current1, Reference Current2—reference current module, Current Controller, Current Controller1, Current Controller2—current hysteresis control module, IGBT inverter, IGBT inverter1, IGBT inverter2—inverter module, dianjizhuti—motor main module.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

It should also be noted that in this specification, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is no such actual relationship or order between the operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (4)

1. the water pump tandem rotational speed governor of nine phase brushless DC motors, it is characterised in that bag Include the fuzzy parameter tuning being adjusted for comparative example parameter, integral parameter and differential parameter to control Device, the first multiplier, the second multiplier, the 3rd multiplier, for obtaining close to the reality of definite integral order Border integration order, and according to described actual integration order, input signal is changed the fractional order of step adjustment Integration filter module, for obtaining the actual differential order close to given differential order, and according to described reality Border differential order carries out fractional order differential filter module, the first addition that vibration adjusts to input signal Device and second adder, wherein:

The positive input terminal of described first adder is the given rotating speed input of described tandem rotational speed governor, The negative input end of described first adder is the actual measurement rotating speed input of described tandem rotational speed governor；Described The outfan of first adder respectively with the input of described fuzzy parameter tuning controller, described first The of second input of multiplier, the second input of described second multiplier and described 3rd multiplier Two inputs are connected；

The of the scale parameter outfan of described fuzzy parameter tuning controller and described first multiplier One input is connected, and the integral parameter outfan of described fuzzy parameter tuning controller is taken advantage of with described second The first input end of musical instruments used in a Buddhist or Taoist mass is connected, the differential parameter outfan of described fuzzy parameter tuning controller and institute The first input end stating the 3rd multiplier is connected；

The outfan of described second multiplier is connected with the input of described fractional order integration filter module；

The outfan of described 3rd multiplier is connected with the input of described fractional order differential filter module；

The outfan of described first multiplier, the outfan of described fractional order integration filter module and described The outfan of fractional order differential filter module respectively with the three of described second adder corresponding phases of input Even, the outfan of described second adder is the outfan of described tandem rotational speed governor.

Tandem rotational speed governor the most according to claim 1, it is characterised in that also include:

First clipping module, the input of described first clipping module and the outfan phase of described second adder Even, the outfan of described first clipping module is the outfan of described tandem rotational speed governor.

Tandem rotational speed governor the most according to claim 2, it is characterised in that described fractional order Integration filter module includes for making described actual integration order approach described to definite integral order, and according to Described actual integration order is changed the Integral Approximation module of step adjustment and for right to input signal The integration inertia module that the output signal of described Integral Approximation module is finely adjusted；

The input of described Integral Approximation module is the input of described fractional order integration filter module, described The outfan of Integral Approximation module is connected with the input of described integration inertia module, described integration inertia module The outfan that outfan is described fractional order integration filter module；

Described fractional order differential filter module includes for making described actual differential order approach described given Differential order, and according to described actual differential order, input signal carried out the differential that vibration adjusts and approach module And for described differential being approached the differential inertia module that the output signal of module is finely adjusted；

Described differential approaches the input that the input of module is described fractional order differential filter module, described The input of outfan and described differential inertia module that differential approaches module is connected, described differential inertia module The outfan that outfan is described fractional order differential filter module.

4. a water pump is by nine phase brushless DC motor governing systems, it is characterised in that include that such as right is wanted Seek the tandem rotational speed governor according to any one of 1-3.