CN106160613A - A kind of method for designing of discrete domain rheonome - Google Patents

Abstract

The invention discloses the method for designing of a kind of discrete domain rheonome, comprise the steps: the discrete domain mathematical model according to alternating current generator current inner loop, design is containing the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter kAnd for discrete domain actuatorIn adjustable parameter k, with non-overshoot amount as optimization aim, according to formula calculate, obtain optimal valueSubstitute intoObtain the discrete domain actuator of optimizationEliminate d axle, the cross-couplings of two, q axle control ring, solve traditional linear pi regulator and can not realize being completely independent the problem of design, and need not Feedforward Decoupling link.Avoid and carry out, after continuous domain design actuator, the error that discretization is brought.Consider the impact that numerical control system postpones simultaneously.Give the design formula of controller adjustable parameter k accurately, it is achieved the step response non-overshoot of electric current loop, it is not necessary to repeatedly debug, have good versatility and practicality.

Description

A kind of method for designing of discrete domain rheonome

Technical field

The present invention relates to high-performance AC electric machine speed regulation control field, particularly relate to setting of a kind of discrete domain rheonome Meter method.

Background technology

Raising performance and the control accuracy of governing system required along with modern industry application, vector control technology quilt It is widely used in the occasion needing that alternating current generator is carried out high performance control.Vector controlled is at rotor field-oriented synchronous rotary Stator current is decomposed under coordinate system excitation component and torque component, and recycling pi regulator realizes the independence to the two and adjusts Joint, finally utilizes space vector pulse width modulation (SVPWM) isopulse modulation algorithm comprehensive reference voltage, thus realizes alternating current generator High performance control.But, cross-couplings, this coupling terms when electric parameters transforms to synchronous coordinate system, can be produced between d, q axle Being directly proportional to synchro angle frequency, traditional linear pi regulator can not realize being completely independent design.In applying due to reality mostly Using numerical control system, traditional method the most also needs to carry out sliding-model control based on the actuator that continuous domain designs, can not keep away Introduce error with exempting from.Meanwhile, there is control time delay in numerical control system, reduce further the performance of control system.

For solving the cross-linked problem of stator current between d, q axle, scholar is had to propose some solutions, but these Method is the most more complicated.Come as document " Current Decoupling of vector control system and design of Regulator thereof " introduces nonlinear compensation Offsetting coupling terms, calculation expression is sufficiently complex and parameter tuning process is loaded down with trivial details.For avoiding the Uncoupled procedure of complexity, some sides Method designs actuator based on complex vector, such as document " Design of fast and robust current regulators For high-power drives based on complex state variables ", separately have certain methods directly from Dissipate the error that territory design current actuator is avoided bringing during discretization, such as document " Discrete-Time Current Regulator Design for AC Machine Drives》.But these methods do not provide specifically setting of adjustable parameter k Meter method, still needs to rule of thumb in actual applications, and repetition test adjusts and just can determine that.Still do not have at present the preferable method can Meet: 1 simultaneously) eliminate two, d, q axle control ring cross-couplings；2) directly actuator is designed in discrete domain, it is to avoid discretization Error；3) impact that numerical control system postpones is considered；4) design formula of controller adjustable parameter k accurately is given.Therefore, Need to develop a kind of simple and practical method, while obtaining more preferable control performance, improve versatility and the practicality of method Property.

Summary of the invention

In view of this, it is an object of the invention to propose a kind of while obtaining more preferable control performance, improve method Versatility and the simple and practical method of practicality.

Method for designing based on a kind of discrete domain rheonome that the above-mentioned purpose present invention provides, comprises the steps:

Step A: according to the discrete domain mathematical model of alternating current generator current inner loop a, it is considered to bat of numerical control system is prolonged Late, design is containing the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

Step B: for discrete domain actuatorIn adjustable parameter k, with non-overshoot amount as optimization aim, according to public affairs Formula calculates, and obtains optimal valueSubstitute in step AObtain the discrete domain actuator of optimization

Further, described step A includes:

Step (a1): according to the mathematical model of alternating current generator, by counter electromotive force as distracter, obtains alternating current generator quiet The only transmission function under coordinate system

$G_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)=\frac{I_{\mathrm{\α}\mathrm{\β}}\left(s\right)}{U_{\mathrm{\α}\mathrm{\β}}\left(s\right)}=\frac{1}{Ls+R}$

Wherein, I_αβS () is Laplce (Laplace) conversion of current of electric, U_αβS () is the La Pula of electric moter voltage This (Laplace) converts, and R is motor stator resistance, and L is motor stator inductance, and s is complex frequency.

Step (a2): according to the transmission function in step (a1), inverter is equivalent to zero-order holder, through transform, Obtain the alternating current generator discrete model under inverter power supply, rest frame

$G_{\mathrm{\α}\mathrm{\β}}^s\left(z\right)=Z\[\frac{1-e^{-{\mathrm{sT}}_s}}{s}{G}_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)\]=\frac{1-e^{-T_s/T}}{(z-e^{-T_s/T})R}$

Wherein,T_sFor controlling the cycle, Z represents and carries out transform, and s is complex frequency, and z is transform operator, and e is nature Logarithm.

Step (a3): the discrete model in step (a2) transforms to synchronous rotating frame, compensates numerical control system One bat postpone, obtain the discrete domain mathematical model of current inner loop under alternating current generator synchronous rotating frame

$G_{dq}^e\left(z\right)=\frac{1-e^{-T_s/T}}{R\·z\·e^{{\mathrm{j\ω}}_s{T}_s}(z\·e^{{\mathrm{j\ω}}_e{T}_s}-e^{-T_s/T})}$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

Step (a4): according to the mathematical model in step (a3), method for designing based on pole zero cancellation, directly design contains There is the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

$G_{cc}^e\left(z\right)=\frac{k\·R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Further, described step B includes:

Step (b1): according to the discrete domain mathematical model obtained in step (a3)With step (a4) obtains from Dissipate territory actuatorThe open-loop transfer function of available system

$G_{op}^e\left(z\right)=G_{dq}^e\left(z\right)\·G_{cc}^e\left(z\right)=\frac{k\·(1-e^{-T_s/T})}{z(z-1)}$

Wherein,R is motor stator resistance, and L is motor stator inductance, T_sFor controlling the cycle, k is adjustable parameter, z For transform operator, e is natural logrithm.

Step (b2): according to the open-loop transfer function obtained in step (b1), can obtain the closed loop transform function of system:

$z^2-z-k\·(1-e^{-T_s/T})=0$

Step (b3): according to Automatic Control Theory, when two roots of closed loop transform function are respectively positioned on real axis in step (b2), System non-overshoot amount, now needs to meet:

$1-4k\·(1-e^{-T_s/T})=0$

Step (b4): the equation in solution procedure (b3), must realize the optimal value of the adjustable parameter k of system non-overshoot

$k_{op}^z=\frac{1}{4(1-e^{-T_s/T_{\mathrm{\σ}}})}$

Optimal value by calculated adjustable parameter kSubstitute into the discrete domain actuator in step AI.e. obtain The discrete domain actuator of current inner loop under synchronous rotating frame

$G_{ccop}^e\left(z\right)=\frac{k_{op}^{z}R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^j{\mathrm{\ω}}_e{T}_s$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

From the above it can be seen that the method for designing of a kind of discrete domain rheonome of present invention offer, including such as Lower step: according to the discrete domain mathematical model of alternating current generator current inner loop a, it is considered to bat of numerical control system postpones, and design contains There is the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter kAnd for discrete domain actuatorIn adjustable parameter k, with non-overshoot amount as optimization aim, according to formula calculate, obtain optimal valueSubstitute intoI.e. The discrete domain actuator that must optimizeThe method for designing of the discrete domain rheonome that the present invention provides, eliminates d axle, q axle Two cross-couplings controlling rings, solve traditional linear pi regulator and can not realize being completely independent the problem of design, and not Need Feedforward Decoupling link.Avoid and carry out, after continuous domain design actuator, the error that discretization is brought.Consider simultaneously The impact that numerical control system postpones.Give the design formula of controller adjustable parameter k accurately, it is achieved the step of electric current loop Response non-overshoot, it is not necessary to repeatedly debug, have good versatility and practicality.

Accompanying drawing explanation

Fig. 1 is the asynchronous motor drive control system hardware structure diagram schematic diagram of the embodiment of the present invention；

Fig. 2 is the control block diagram based on discrete domain actuator of the embodiment of the present invention；

Fig. 3 is that the embodiment of the present invention is by asynchronous machine d shaft current reference valueIt is fixed as 3.2A, q shaft current reference valueGive When being set to sawtooth waveforms, use the d axle of conventional current actuator, the simulation waveform figure of q shaft current；

Fig. 4 is that the embodiment of the present invention is by asynchronous machine d shaft current reference valueIt is fixed as 3.2A, q shaft current reference valueGive When being set to sawtooth waveforms, use the d axle of discrete domain actuator, the simulation waveform figure of q shaft current；

Fig. 5 is that the embodiment of the present invention uses 5kHz sample rate, under asynchronous machine quiescent conditions, d based on discrete domain actuator The step response experimental waveform of shaft current；

Fig. 6 is to use 5kHz sample rate, no load test ripple during Rotational Speed of Asynchronous Motor 1500rpm based on discrete domain actuator Shape；

Fig. 7 is to use 5kHz sample rate, fully loaded experiment ripple during Rotational Speed of Asynchronous Motor 1500rpm based on discrete domain actuator Shape；

Fig. 8 is to use 5kHz sample rate, fully loaded experimental waveform during Rotational Speed of Asynchronous Motor 6rpm based on discrete domain actuator；

Fig. 9 is to use 5kHz sample rate based on discrete domain actuator, asynchronous machine from static start to 1500rpm time reality Test waveform；

Figure 10 is to use 5kHz sample rate based on discrete domain actuator, and Rotational Speed of Asynchronous Motor is from 1500rpm to-1500rpm Rotating experimental waveform.

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 reference Accompanying drawing, the present invention is described in more detail.

The method for designing of a kind of discrete domain rheonome that the present invention provides, including following two steps:

Step A: according to the discrete domain mathematical model of alternating current generator current inner loop a, it is considered to bat of numerical control system is prolonged Late, design is containing the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

Step B: for discrete domain actuatorIn adjustable parameter k, with non-overshoot amount as optimization aim, according to public affairs Formula calculates, and obtains optimal valueSubstitute in step AObtain the discrete domain actuator of optimization

The method for designing of the discrete domain rheonome that the present invention provides, eliminates d axle, the intersection coupling of two, q axle control ring Close, solve traditional linear pi regulator and can not realize being completely independent the problem of design, and need not Feedforward Decoupling link.Keep away Exempt to carry out, after continuous domain design actuator, the error that discretization is brought.Consider the shadow that numerical control system postpones simultaneously Ring.Give the design formula of controller adjustable parameter k accurately, it is achieved the step response non-overshoot of electric current loop, it is not necessary to anti- Polyphony tries, and has good versatility and practicality.

As one embodiment of the present of invention, step A in above-described embodiment specifically includes:

Step (a1): according to the mathematical model of alternating current generator, by counter electromotive force as distracter, obtains alternating current generator quiet The only transmission function under coordinate system

$G_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)=\frac{I_{\mathrm{\α}\mathrm{\β}}\left(s\right)}{U_{\mathrm{\α}\mathrm{\β}}\left(s\right)}=\frac{1}{Ls+R}$

Wherein, I_αβS () is Laplce (Laplace) conversion of current of electric, U_αβS () is the La Pula of electric moter voltage This (Laplace) converts, and R is motor stator resistance, and L is motor stator inductance, and s is complex frequency.

Step (a2): according to the transmission function in step (a1), inverter is equivalent to zero-order holder, through transform, Obtain the alternating current generator discrete model under inverter power supply, rest frame

$G_{\mathrm{\α}\mathrm{\β}}^s\left(z\right)=Z\[\frac{1-e^{-{\mathrm{sT}}_s}}{s}{G}_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)\]=\frac{1-e^{-T_s/T}}{(z-e^{-T_s/T})R}$

Wherein,T_sFor controlling the cycle, Z represents and carries out transform, and s is complex frequency, and z is transform operator, and e is nature Logarithm.

Step (a3): the discrete model in step (a2) transforms to synchronous rotating frame, compensates numerical control system One bat postpone, obtain the discrete domain mathematical model of current inner loop under alternating current generator synchronous rotating frame

$G_{dq}^e\left(z\right)=\frac{1-e^{-T_s/T}}{R\·z\·e^{{\mathrm{j\ω}}_e{T}_s}(z\·e^{{\mathrm{j\ω}}_e{T}_s}-e^{-T_s/T})}$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

Step (a4): according to the mathematical model in step (a3), method for designing based on pole zero cancellation, directly design contains There is the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

$G_{cc}^e\left(z\right)=\frac{k\·R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Step B in above-mentioned enforcement specifically includes:

Step (b1): according to the discrete domain mathematical model obtained in step (a3)With step (a4) obtains from Dissipate territory actuatorThe open-loop transfer function of available system

$G_{op}^e\left(z\right)=G_{dq}^e\left(z\right)\·G_{cc}^e\left(z\right)=\frac{k\·(1-e^{-T_s/T})}{z(z-1)}$

Wherein,R is motor stator resistance, and L is motor stator inductance, T_sFor controlling the cycle, k is adjustable parameter, z For transform operator, e is natural logrithm.

Step (b2): according to the open-loop transfer function obtained in step (b1), can obtain the closed loop transform function of system:

$z^2-z-k\·(1-e^{-T_s/T})=0$

Step (b3): according to Automatic Control Theory, when two roots of closed loop transform function are respectively positioned on real axis in step (b2), System non-overshoot amount, now needs to meet:

$1-4k\·(1-e^{-T_s/T})=0$

Step (b4): the equation in solution procedure (b3), must realize the optimal value of the adjustable parameter k of system non-overshoot

$k_{op}^z=\frac{1}{4(1-e^{-T_s/T_{\mathrm{\σ}}})}$

Optimal value by calculated adjustable parameter kSubstitute into the discrete domain actuator in step AI.e. obtain The discrete domain actuator of current inner loop under synchronous rotating frame

$G_{ccop}^e\left(z\right)=\frac{k_{op}^{z}R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

One as the present invention is embodied as, and the method for designing of described discrete domain rheonome includes:

Step 101: according to the mathematical model of alternating current generator, by counter electromotive force as distracter, obtains alternating current generator quiet The only transmission function under coordinate system

$G_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)=\frac{I_{\mathrm{\α}\mathrm{\β}}\left(s\right)}{U_{\mathrm{\α}\mathrm{\β}}\left(s\right)}=\frac{1}{Ls+R}$

Wherein, I_αβS () is Laplce (Laplace) conversion of current of electric, U_αβS () is the La Pula of electric moter voltage This (Laplace) converts, and R is motor stator resistance, and L is motor stator inductance, and s is complex frequency.

Step 102: according to the transmission function in step 101, inverter is equivalent to zero-order holder, through transform, Alternating current generator discrete model under inverter power supply, rest frame

$G_{\mathrm{\α}\mathrm{\β}}^s\left(z\right)=Z\[\frac{1-e^{-{\mathrm{sT}}_s}}{s}{G}_{\mathrm{\α}\mathrm{\β}}^s\left(s\right)\]=\frac{1-e^{-T_s/T}}{(z-e^{-T_s/T})R}$

Wherein,T_sFor controlling the cycle, Z represents and carries out transform, and s is complex frequency, and z is transform operator, and e is nature Logarithm.

Step 103: the discrete model in step 102 transforms to synchronous rotating frame, compensates numerical control system One claps delay, obtains the discrete domain mathematical model of current inner loop under alternating current generator synchronous rotating frame

$G_{dq}^e\left(z\right)=\frac{1-e^{-T_s/T}}{R\·z\·e^{{\mathrm{j\ω}}_e{T}_s}(z\·e^{{\mathrm{j\ω}}_e{T}_s}-e^{-T_s/T})}$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

Step 104: according to the mathematical model in step 103, method for designing based on pole zero cancellation, directly design contains The discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

$G_{cc}^e\left(z\right)=\frac{k\·R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Step 105: according to the discrete domain mathematical model obtained in step 103Discrete with what step 104 obtained Territory actuatorThe open-loop transfer function of available system

$G_{op}^e\left(z\right)=G_{dq}^e\left(z\right)\·G_{cc}^e\left(z\right)=\frac{k\·(1-e^{-T_s/T})}{z(z-1)}$

Wherein,R is motor stator resistance, and L is motor stator inductance, T_sFor controlling the cycle, k is adjustable parameter, z For transform operator, e is natural logrithm.

Step 106: according to the open-loop transfer function obtained in step 105, can obtain the closed loop transform function of system:

$z^2-z-k\·(1-e^{-T_s/T})=0$

Step 107: according to when two roots of closed loop transform function are respectively positioned on real axis in Automatic Control Theory, step 106, be System non-overshoot amount, now needs to meet:

$1-4k\·(1-e^{-T_s/T})=0$

Step 108: the equation in solution procedure 107, must realize the optimal value of the adjustable parameter k of system non-overshoot

$k_{op}^z=\frac{1}{4(1-e^{-T_s/T_{\mathrm{\σ}}})}$

Step 109: by calculated optimal valueSubstitute into the discrete domain actuator in step 104I.e. obtain The discrete domain actuator of current inner loop under synchronous rotating frame:

$G_{ccop}^e\left(z\right)=\frac{k_{op}^{z}R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.

The present invention has following features and an advantage:

Eliminate d axle, the cross-couplings of two, q axle control ring, solve traditional linear pi regulator and can not realize completely The problem of independent design, and need not Feedforward Decoupling link.

Directly design actuator, relatively conventional scheme in discrete domain, it is to avoid carry out after continuous domain design actuator from The error that dispersion is brought.

The impact that numerical control system postpones is considered in design of Regulator.

Give the design formula of controller adjustable parameter k accurately, it is achieved the step response non-overshoot of electric current loop, be not required to Repeatedly to debug, to have good versatility and practicality.

Fig. 1 is the hardware circuit figure of the present invention, including three-phase voltage source, asynchronous machine, three-phase diode rectifier bridge, DC bus capacitor, asynchronous machine, voltage x current sample circuit, three-phase inverter, dsp controller and drive circuit.Voltage x current Sample circuit utilizes voltage hall sensor and current Hall sensor to gather DC voltage and asynchronous machine a, b phase respectively Electric current, sampled signal enters dsp controller after signal conditioning circuit and is converted to digital signal.Dsp controller completes this The computing of bright proposed method, exports six way switch pulses, obtains six switching tubes of inverter after being then passed through drive circuit Finally drive signal.

Fig. 2 is the control principle block diagram of the present invention, G in figure_dThe delay link produced for numerical control system, dash area For alternating current generator equivalent model, this control method realizes on the dsp controller of Fig. 1 the most successively:

Step 201: the d shaft current reference value of vector control systemObtained by outer shroud magnetic linkage pi regulator；Q shaft current Reference valueObtained by speed outer shroud pi regulator.D axle, q shaft current reference value are combined into complex vectorAs The current reference value of discrete domain rheonome, wherein j is imaginary unit.

Step 202: the motor actual current recorded obtains d shaft current actual value I through Park Transformation_d, q shaft current actual Value I_q, d axle, q shaft current actual value are combined into complex vector I=I_d+jI_qAs the controlled volume of discrete domain rheonome, wherein J is imaginary unit.

Step 203: according to the discrete domain mathematical model of asynchronous machine current inner loop, the bat compensating numerical control system is prolonged Late, design is containing the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

$G_{cc}^e\left(z\right)=\frac{kR(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Wherein,T_sFor controlling the cycle, R is stator resistance, L_sFor stator inductance, L_rFor rotor electricity Sense, L_mFor mutual inductance between stator, rotor, ω_eFor synchronizing angular rate, k is adjustable parameter, and z is transform operator, and e is natural logrithm, J is imaginary unit.

Step 204: according to parameter and the control cycle T of numerical control system of asynchronous machine_s, with step response non-overshoot Amount is optimization aim, the optimal value of adjustable parameter k in calculation procedure 203:

$k_{op}^z=\frac{1}{4(1-e^{-T_s/T})}$

Wherein,T_sFor controlling cycle, R_sFor stator resistance, L_sFor stator inductance, L_rFor rotor Inductance, L_mFor mutual inductance between stator, rotor, e is natural logrithm.

Step 205: by the optimal value of adjustable parameter k calculated in step 204Substitute in step 203 is discrete Territory actuatorObtain the discrete domain actuator of current inner loop under synchronous rotating frame.

$G_{ccop}^e\left(z\right)=\frac{k_{op}^{z}R(e^{{\mathrm{j\ω}}_e{T}_s}-z^{-1}{e}^{-T_s/T})}{(1-z^{-1})}{e}^{{\mathrm{j\ω}}_e{T}_s}$

Step 206: the controlled volume obtained in the current reference value obtained in step 201 and step 202 is done difference, obtains electricity Stream error signal I_err:

$I_{err}=I_{dq}^{*}-I_{dq}$

Step 207: the current error signal I that will obtain in step 206_errThe discrete domain being applied to obtain in step 205 is adjusted Joint deviceI.e. obtain the complex vector reference voltage instruction needed for vector control system

Step 208: according to the complex vector reference voltage instruction obtained in step 207Use space vector pulse width modulation Etc. (SVPWM) method i.e. can obtain driving the driving signal of inverter switching device pipe.

The effectiveness of method proposed by the invention can pass through comparison diagram 3, the simulation result of Fig. 4 and Fig. 5, Fig. 6, Fig. 7, Experimental result shown in Fig. 8, Fig. 9, Figure 10 draws.Fig. 3 is that asynchronous machine d shaft current reference value is fixed as 3.2A, q shaft current When reference value is given as sawtooth waveforms, use the d axle of conventional current pi regulator, the simulation waveform figure of q shaft current, in this process Middle motor speed changes between 750rpm to 1500rpm；Fig. 4 is then under similarity condition, uses the discrete domain in the present invention The simulation waveform figure of rheonome.It is found that d axle based on conventional current pi regulator is electric from the contrast of Fig. 3 and Fig. 4 Stream is constantly subjected to the q shaft current impact of change, and during based on the inventive method, d shaft current is quickly recovered to reference value.Fig. 5 is this Method described in invention under asynchronous machine quiescent conditions, the step response experimental waveform of d shaft current, it can be seen that system respond There is no overshoot and d shaft current command value on about the 4ms time can follow the tracks of.

Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 are based on discrete domain actuator of the present invention, and asynchronous machine is used vector control System, the experimental result under 5kHz sample rate.Fig. 6 is no load test waveform during rotating speed 1500rpm, and Fig. 7 is rotating speed 1500rpm Time fully loaded experimental waveform, it can thus be seen that this discrete domain actuator is unloaded and band carry in the case of operational excellence, current waveform Smooth sine.Fully loaded experimental waveform when Fig. 8 is rotating speed 6rpm, it can be seen that this discrete domain actuator has good low speed Energy.Fig. 9 be from static start to 1500rpm time experimental waveform, for realizing system, there is enough load capacities on startup, Carry out DC pre-excitation process before activation, even q shaft current is zero and with constant d axle direct current, motor is carried out excitation, Motor can be started when air-gap flux reaches setting value.From fig. 9, it can be seen that the response of d, q shaft current is rapidly, at dynamic process In over control does not occur.Figure 10 is the rotating speed rotating experimental waveform from 1500rpm to-1500rpm, it can be seen that q axle Electric current is rapidly increased to maximum, and overshoot reforming phenomena does not occur, and d shaft current becomes at whole q shaft current waveform During change, all-the-time stable is in reference value, thus demonstrate rheonome based on discrete domain design can be at dynamic process The middle uneoupled control realizing d, q shaft current.It addition, rotating speed is smooth in null range switching excessively, show that whole system has good Dynamic property.

It should be noted that the statement of all uses " first " and " second " is for distinguishing two in the embodiment of the present invention The entity of individual same names non-equal or the parameter of non-equal, it is seen that " first " " second ", only for the convenience of statement, should not Being interpreted as the restriction to the embodiment of the present invention, this is illustrated by subsequent embodiment the most one by one.

Those of ordinary skill in the field are it is understood that the discussion of any of the above embodiment is exemplary only, not It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the present invention, above example Or can also be combined between the technical characteristic in different embodiments, step can realize with random order, and exists such as Other change of the many of the different aspect of the upper described present invention, in order to concisely they do not provide in details.

It addition, for simplifying explanation and discussing, and in order to obscure the invention, can in the accompanying drawing provided To illustrate or can not illustrate and integrated circuit (IC) chip and the known power supply/grounding connection of other parts.Furthermore, it is possible to Device is shown in block diagram form, in order to avoid obscuring the invention, and this have also contemplated that following facts, i.e. about this The details of the embodiment of a little block diagram arrangements be the platform that depends highly on and will implement the present invention (that is, these details should In the range of being completely in the understanding of those skilled in the art).Elaborating that detail (such as, circuit) is to describe the present invention's In the case of exemplary embodiment, 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 are considered as explanation Property rather than restrictive.

Although invention has been described to have been incorporated with the specific embodiment of the present invention, but according to retouching above Stating, a lot of replacements, amendment and the modification of these embodiments will be apparent from for those of ordinary skills.Example As, other memory architecture (such as, dynamic ram (DRAM)) can use discussed embodiment.

Embodiments of the invention be intended to fall into all such replacement within the broad range of claims, Amendment and modification.Therefore, all within the spirit and principles in the present invention, any omission of being made, amendment, equivalent, improvement Deng, should be included within the scope of the present invention.

Claims (3)

1. the method for designing of a discrete domain rheonome, it is characterised in that comprise the steps:

Step A: according to the discrete domain mathematical model of alternating current generator current inner loop a, it is considered to bat of numerical control system postpones, if Meter is containing the discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

Step B: for discrete domain actuatorIn adjustable parameter k, with non-overshoot amount as optimization aim, according to formula meter Calculate, obtain optimal valueSubstitute in step AObtain the discrete domain actuator of optimization

Method the most according to claim 1, it is characterised in that described step A includes:

Step (a1): according to the mathematical model of alternating current generator, by counter electromotive force as distracter, obtains alternating current generator at static seat Transmission function under mark system

Wherein, I_αβS () is Laplce (Laplace) conversion of current of electric, U_αβS () is the Laplce of electric moter voltage (Laplace) conversion, R is motor stator resistance, and L is motor stator inductance, and s is complex frequency；

Step (a2): according to the transmission function in step (a1), inverter is equivalent to zero-order holder, through transform, obtains Alternating current generator discrete model under inverter power supply, rest frame

Wherein,T_sFor controlling the cycle, Z represents and carries out transform, and s is complex frequency, and z is transform operator, and e is natural logrithm；

Step (a3): the discrete model in step (a2) transforms to synchronous rotating frame, compensates the one of numerical control system Clap and postpone, obtain the discrete domain mathematical model of current inner loop under alternating current generator synchronous rotating frame

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit；

Step (a4): according to the mathematical model in step (a3), method for designing based on pole zero cancellation, directly design contains The discrete domain actuator of current inner loop under the synchronous rotating frame of adjustable parameter k

。

Method the most according to claim 2, it is characterised in that described step B includes:

Step (b1): according to the discrete domain mathematical model obtained in step (a3)With the discrete domain obtained in step (a4) ActuatorThe open-loop transfer function of available system

Wherein,R is motor stator resistance, and L is motor stator inductance, T_sFor controlling the cycle, k is adjustable parameter, and z is that Z becomes Conversion, e is natural logrithm；

Step (b2): according to the open-loop transfer function obtained in step (b1), can obtain the closed loop transform function of system:

Step (b3): according to Automatic Control Theory, when two roots of closed loop transform function are respectively positioned on real axis in step (b2), system Non-overshoot amount, now needs to meet:

Step (b4): the equation in solution procedure (b3), must realize the optimal value of the adjustable parameter k of system non-overshoot

Optimal value by calculated adjustable parameter kSubstitute into the discrete domain actuator in step AI.e. synchronized The discrete domain actuator of current inner loop under rotating coordinate system

Wherein, ω_eFor synchronizing angular rate, j is imaginary unit.