CN106330038A - Sensorless control method for PMLSM (permanent magnet synchronous linear motor) based on self-adaptive gain sliding mode observer - Google Patents
Sensorless control method for PMLSM (permanent magnet synchronous linear motor) based on self-adaptive gain sliding mode observer Download PDFInfo
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- CN106330038A CN106330038A CN201610928325.5A CN201610928325A CN106330038A CN 106330038 A CN106330038 A CN 106330038A CN 201610928325 A CN201610928325 A CN 201610928325A CN 106330038 A CN106330038 A CN 106330038A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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Abstract
The invention discloses a sensorless control method for PMLSM based on a self-adaptive gain sliding mode observer, belonging to the field of linear motor control technique. In order to obtain the control signal of a linear motor, the sensorless control method for PMLSM based on the self-adaptive gain sliding mode observer designed in the invention can realize estimating counter electromotive force, active cell speed and magnetic pole position of the linear motor quickly and accurately under the condition that the control system of PMLSM exists parameter perturbation and load disturbance, the anti-jamming capability of the system can be improved effectively, the inherent defect buffeting of the sliding-mode observer is weakened by changing the function of the sliding-mode switch,improving the sliding-mode surface and designing the self-adaptive gain, and the system reliability is improved.
Description
Technical field
The present invention relates to a kind of permanent magnetic linear synchronous motor based on adaptive gain sliding mode observer without sensor controlMethod, belongs to linear electric motors control technology field.
Background technology
The development of modern industry is more and more higher to straight-line acceleration and rate request, and traditional electric rotating machine coordinatesThe drive mechanism of roller screw makes entire system stiffness degradation, and intermediate transmission link also reduces the robustness that causes system,Servo performance declines. And electric energy is directly converted to rectilinear motion by straight-line electric function, without any need for intermediate link, overcome withUpper shortcoming, is widely used on Digit Control Machine Tool, magnetic suspension train at present, and its speed also improves decades of times compared with electric rotating machine.
Control system based on permanent magnetic linear synchronous motor need to obtain rotor position and the rate signal of motor, at present shouldHave the device such as linear encoder and grating sensor with commonplace position sensor, the use of these devices has not only increasedThe volume of system and cost, also affected the reliability of system, the application scenario of having limited permanent magnetic linear synchronous motor. Without sensingVoltage that the control method utilization of device easily detects, current signal, in conjunction with motor mathematical model, are estimated position and speedMethod, become gradually a study hotspot of linear electric motors control field, especially in the high speed operation occasion of motor. Based onBeing widely used without sensor control method of sliding mode observer.
Having in the complication systems such as systematic parameter perturbation, load disturbance, the rapidity of traditional sliding mode observer and anti-Interference performance is all greatly affected, the precision of control system and speed variation thereupon. In order to meet the high-precision of Numeric Control TechnologyDegree, high-speed servo-drive system performance requirement, need to design be applicable to permanent magnetic linear synchronous motor high-speed, high accuracy andThe control method of strong robustness, so the present invention proposes a kind of permanent synchronous linear based on adaptive gain sliding mode observerMotor is without sensor control method.
Summary of the invention
The defect existing for prior art, the present invention proposes a kind of permanent magnetism based on adaptive gain sliding mode observerLinear synchronous motor is without sensor control method, and object is to make control system having the complexity such as Parameter Perturbation, load disturbanceIn the situation of system, also can realize to permanent magnetic linear synchronous motor counter electromotive force, rotor position and speed fast, accurately estimate,And can effectively improve the antijamming capability of system.
To achieve these goals, the present invention proposes a kind of permanent magnet synchronous direct based on adaptive gain sliding mode observerLine motor, without sensor control method, specifically comprises the following steps.
Step (1): utilize current transformer to measure the three-phase current of permanent magnetic linear synchronous motor, and carry outClark conversion, is converted toEquivalent current under coordinate, utilize universal meter to measure three of permanent magnetic linear synchronous motorPhase voltage is also carried out Clark conversion, is converted toEquivalent voltage under coordinate。
Step (2): according in step (1)Equivalent current under coordinate systemAndUnder coordinateEquivalent voltageStructure sliding mode observer, by its outputCounter electromotive force observation under coordinate system。
Step (3): utilize in step (2)Counter electromotive force observation under coordinate systemRealize moverThe estimation of speed and motor pole position, and then obtain mover velocity estimation valueWith motor pole location estimation value。
Step (4): according to the mover moving speed estimation value in step (3)With motor pole location estimation value, by electricityMotor-driven sub-moving speed estimation valueWith with speed target valueCompare the difference obtainingRecycling PID controller carries out speedDegree regulates, thereby obtainsCoordinate systemThe set-point of shaft current, willThe given current value of axleWithAxle reality is defeatedGo out current valueCompare, its difference is usedShaft current regulates to be processed, and producesShaft voltage output valve. WillShaft current is givenValueWithAxle actual output current valueCompare, its difference is usedShaft current regulates to be processed, and producesShaft voltage output valve. By above-mentionedVoltage output value under coordinate systemWithCarry out Park inversion process, thereby produceSitEquivalent voltage control under mark system is givenWith, to described equivalent voltage control set-pointWithCarry out space vectorPulsewidth modulation, produces SVPWM signal, utilizes above-mentioned signal to make three-phase inverter produce three-phase voltage, and then controls permanent-magnet synchronousThe operation of linear electric motors.
As a kind of optimization method of the present invention: in described step (2), the sliding mode observer of structure is non-for realityThe adaptive gain sliding formwork observation that has the situations such as parameter uncertainty, external disturbance and system perturbation in linear system and designDevice. Its concrete model is shown in formula (1).
(1)
Wherein,Be respectivelyEquivalent current estimated value under coordinate system,For the winding of permanent magnetic linear synchronous motorResistance,For permanent magnetic linear synchronous motor winding inductance,Be respectivelyThe adaptive gain of phase,，，Be respectivelyThe deviation of phase current estimated value and actual current measured value,，，，，BeJust be switched toThat for the momentThe value of carving,BeJust be switched toThe value in that moment.
Further, for more tallying with the actual situation, the sliding-mode surface of the sliding mode observer of design in described step (2)Determined by formula (2).
(2)
Further, in described step (2), sliding mode observer is selectedSigmoid function isSwitching signal under coordinate system, expression formula is determined by formula (3).
(3)
Use the switch function of this form can farthest weaken buffeting, improve control accuracy, improve systematic function.
Further, in described step (2)Counter electromotive force observation under coordinate systemRespectively from switching signalWith in the product of adaptive gain, obtain, and can remove partial noise signal by filtering, it calculates suc as formula (4) instituteShow.
(4)
Wherein,For counter electromotive force of motor,For permanent magnet flux linkage,For linear electric motors pole span.
As a kind of optimization method of the present invention: the sliding mode observer of design gain in described step (2), can adjust voluntarily according to the variation of extraneous state, ensure in real time in optimum gain state as far as possible, thereby obtain betterControl effect. WithBe example mutually, its algorithm is achieved as follows.
If,ForSolution.
Wherein,，，For the deviate of current estimation value and actual current measured value.
If，Meet
(5)
Wherein,，，，BeJust be switched toThat momentValue.
The permanent magnetic linear synchronous motor based on adaptive gain sliding mode observer that the present invention proposes is without sensor controlling partyIn method, described step (3) comprises following concrete steps.
Step (3-1): by the counter electromotive force observation obtaining in claim 5Carry out first-order filtering.
Step (3-2): because position of magnetic pole and counter electromotive force have following relation.
(6)
The cycle of magnetic pole can be divided into 8 parts, and then judge the residing position of current obtained counter electromotive force.
Step (3-3): utilize the ratio obtaining, in conjunction with the residing position of current counter electromotive force, utilize arc tangent formula,Obtain the estimated value of position of magnetic pole。
The present invention compared with prior art tool has the following advantages.
1. the adaptive gain sliding mode observer proposing in the present invention selects sigmoid function as switch function, comparesIn the switch function of traditional sliding mode observer, can weaken to a great extent buffeting situation, obtain respond well counter electromotive force and estimateEvaluation, and then improve motor position estimated accuracy.
2. adaptive gain sliding mode observer proposed by the invention is better than traditional sliding mode observer, and its gain adopts firstThe adaptive algorithm of entering realizes, and can change in real time turn off gain according to the situation of real system, for having system disturbance and ginsengThe system of the uncertain factors such as number perturbation has good robustness, therefore can be applied to better permanent magnetic linear synchronous motorWithout sensor control.
Fig. 1 is structural principle block diagram of the present invention.
Fig. 2 is adaptive gain sliding mode observer structured flowchart.
Fig. 3 is the lower counter electromotive force observation of adaptive gain sliding mode observer coordinates computed system in the present inventionPrinciple frameFigure.
Fig. 4 is that in the present invention, adaptive gain sliding mode observer calculatesCounter electromotive force observation under coordinate system'sTheory diagram.
Fig. 5 is the FB(flow block) of adaptive gain algorithm in adaptive gain sliding mode observer in the present invention.
Fig. 6 utilizes adaptive gain sliding mode observer of the present invention and other modules estimation permanent magnetic linear synchronous motor magnetic poleThe theory diagram of position.
Fig. 7 is system while there is Parameter Perturbation and load disturbance, utilizes the adaptive gain sliding mode observer in the present inventionThe counter electromotive force observer of outputOscillogram.
Fig. 8 is system while there is Parameter Perturbation and load disturbance, the motor of position of magnetic pole estimation block output in the present inventionPosition of magnetic pole estimated valueWith the actual position of magnetic pole of motorComparison schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in further detail.
Fig. 1 is structural principle block diagram of the present invention. As shown in the figure, in the present embodiment, the method for the invention concreteStep is as follows.
Step (1): input linear electric motors speed preset value, as target, utilizes current transformer to measure permanent synchronous linearThe three-phase current of motor, and carry out Clark conversion, be converted intoEquivalent current under coordinate system, utilize universal meter measure the three-phase voltage of permanent magnetic linear synchronous motor and carry out Clark conversion, be converted toUnder coordinateEquivalent voltage。
Step (2): according in step (1)Equivalent current under coordinate systemAndUnder coordinateEquivalent voltageStructure sliding mode observer, by its outputCounter electromotive force observation under coordinate system。
Step (3): utilize in step (2)Counter electromotive force observation under coordinate systemRealize moverThe estimation of speed and motor pole position, and then obtain mover velocity estimation valueWith motor pole location estimation value。
Step (4): according to the mover moving speed estimation value in step (3)With motor pole location estimation value, by electricityMotor-driven sub-moving speed estimation valueWith with speed target valueCompare the difference obtainingRecycling PID controller carries out speedDegree regulates, thereby obtainsCoordinate systemThe set-point of shaft current, willThe given current value of axleWithAxle reality is defeatedGo out current valueCompare, its difference is usedShaft current regulates to be processed, and producesShaft voltage output valve. WillShaft current is givenValueWithAxle actual output current valueCompare, its difference is usedShaft current regulates to be processed, and producesShaft voltage output valve. By above-mentionedVoltage output value under coordinate systemWithCarry out Park inversion process, thereby produceSitEquivalent voltage control under mark system is givenWith, to described equivalent voltage control set-pointWithCarry out space vectorPulsewidth modulation, produces SVPWM signal, utilizes above-mentioned signal to make three-phase inverter produce three-phase voltage, and then controls permanent-magnet synchronousThe operation of linear electric motors.
As shown in Figure 2, the model of the adaptive gain sliding mode observer in step (2) is shown below.
(7)
Wherein,Be respectivelyEquivalent current observation under coordinate system,For the winding of permanent magnetic linear synchronous motorResistance,For permanent magnetic linear synchronous motor winding inductance,Be respectivelyThe adaptive gain of phase,，，Be respectivelyThe deviation of phase current estimated value and actual current measured value,，，，，BeJust be switched toThat for the momentThe value of carving,BeJust be switched toThe value in that moment. In above-mentioned modelOpening under coordinate systemClose signalFor sigmoid function, expression formula is as follows.
(8)
Sliding-mode surface in modelDetermined by following formula.
(9)
As shown in Figure 3, Figure 4, in described step (2)Counter electromotive force observation under coordinate systemRespectively from openingClose signalWith in the product of adaptive gain, obtain, and can remove partial noise signal by filtering. As shown in the formula instituteShow.
(10)
Wherein,For counter electromotive force of motor,For permanent magnet flux linkage,For linear electric motors pole span.
Sliding mode observer gain can adaptive change in described step (2), can, according to the variation of external condition, become voluntarilyChange gain size, find optimum gain, better control effect thereby obtain. As shown in Figure 5, withBe example mutually, its algorithm is realizedAs follows.
If,ForSolution.
Wherein,，，For the deviate of current estimation value and actual current measured value.
If，Meet following formula.
(11)
Wherein,，，，BeJust be switched toThat momentValue.
As shown in Figure 6, described step (3) comprises following concrete processing.
Step (3-1): by the counter electromotive force observation obtaining in claim 5Carry out first-order filtering.
Step (3-2): because position of magnetic pole and counter electromotive force have following relation.
(12)
The cycle of magnetic pole can be divided into 8 parts, and then judge the residing position of current obtained counter electromotive force.
Step (3-3): utilize the ratio obtaining, in conjunction with the residing position of current counter electromotive force, utilize arc tangent formula,Obtain the estimated value of position of magnetic pole。
As shown in Figure 7, be system while there is Parameter Perturbation and load disturbance, utilize adaptive gain sliding formwork in the present invention to seeSurvey the counter electromotive force observation of device outputOscillogram.
Fig. 8 is system while there is certain Parameter Perturbation and load disturbance, position of magnetic pole estimation block output in the present inventionMotor pole location estimation valueWith the actual position of magnetic pole of motorComparison schematic diagram.
As can be seen from Figures 7 and 8, in the time that system exists Parameter Perturbation and load disturbance, utilize of the present invention adaptiveThe sliding mode observer that should gain can estimate counter electromotive force observation accurately, fast, also can export accurately and rapidlyThe estimated value of motor movement speed and position of magnetic pole, and it is fast to have speed output response, and the feature that overshoot is little, sends out in disturbanceWhen raw, can carry out in time speed adjusting, maintenance speed is followed set-point.
Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, everyThe technological thought proposing according to the present invention, any change of doing on technical scheme basis, all falls into protection domain of the present inventionWithin.
Claims (3)
1. the permanent magnetic linear synchronous motor based on adaptive gain sliding mode observer is without a sensor control method, and its feature existsIn, utilize adaptive gain sliding mode observer, provide a kind of without sensor control method to realize permanent magnetic linear synchronous motorHigh-speed, high precision Position Control, specifically comprises the steps:
Step (1): utilize electric current, voltage detecting and modular converter to obtainEquivalent voltage under coordinate；
Step (2): according in step (1)Equivalent current under coordinate systemAndEquivalence under coordinateVoltageCombining adaptive algorithm construction adaptive sliding mode observer, is observed by described sliding mode observer output counter electromotive forceValue；
Step (3): utilize in step (2)Counter electromotive force observation under coordinate systemRealize electric moverThe estimation of speed and position of magnetic pole, obtains mover moving speed estimation valueWith motor pole location estimation value；
Step (4): according to the mover moving speed estimation value in step (3)With motor pole location estimation value, utilize targetSet-point, electric current, voltage coordinate modular converter and electric current, voltage regulator, finally obtainEquivalent voltage under coordinate systemControl set-pointWith, and to described equivalent voltage control set-pointWithCarry out space vector pulse width modulation, produceRaw SVPWM signal, utilizes above-mentioned signal controlling three-phase inverter to produce three-phase voltage, and then control permanent magnetic linear synchronous motorOperation.
2. a kind of permanent magnetic linear synchronous motor based on adaptive gain sliding mode observer according to claim 1 is without sensingDevice control method, is characterized in that, in described step (2), the sliding mode observer of structure is for depositing in actual nonlinear systemThe adaptive gain sliding mode observer designing in situations such as parameter uncertainty, external disturbance and system perturbations, specifically observationDevice model is:
(1)
Wherein,Be respectivelyEquivalent current estimated value under coordinate system,For the winding electric of permanent magnetic linear synchronous motorResistance,For permanent magnetic linear synchronous motor winding inductance,Be respectivelyThe adaptive gain of phase;
Wherein, the sliding-mode surface of sliding mode observerDetermined by following formula:
(2)
Wherein, sliding mode observer is selectedSigmoid function isSwitch letter under coordinate systemNumber, expression formula is determined by formula (3):
(3)。
3. a kind of permanent magnetic linear synchronous motor based on adaptive gain sliding mode observer according to claim 2 is without sensingDevice control method, is characterized in that, the sliding mode observer gain in described step (2), can be according to extraneous shapeThe variation of state and adjusting voluntarily, and ensures that its value is in real time in optimum gain state, thereby obtains better control effect, withUnder coordinate systemBe example mutually, its algorithm is achieved as follows:
If,ForSolution,
Wherein,，，For the deviate of current estimation value and actual current measured value;
If，Meet
(4)
Wherein,，，，BeJust be switched toThe value in moment.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107579690A (en) * | 2017-08-28 | 2018-01-12 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for estimating rotating speed based on sliding formwork observation |
| CN108183651A (en) * | 2018-01-18 | 2018-06-19 | 南京理工大学 | A kind of control method of permanent magnet linear synchronous motor position-sensor-free |
| CN108258946A (en) * | 2018-03-08 | 2018-07-06 | 青岛大学 | A kind of Speed Sensorless Control Method of permanent magnetic linear synchronous motor |
| CN110649849A (en) * | 2019-11-01 | 2020-01-03 | 南京航空航天大学 | Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer |
| CN112068444A (en) * | 2020-09-22 | 2020-12-11 | 中国人民解放军海军航空大学 | Aircraft attack angle control method adopting nonlinear self-adaptive sliding mode |
| CN113206623A (en) * | 2021-05-06 | 2021-08-03 | 大连理工大学 | Permanent magnet synchronous motor finite time speed regulation control method based on fast integral terminal sliding mode and interference estimation |
| CN114726277A (en) * | 2022-04-21 | 2022-07-08 | 西北工业大学 | Switched reluctance motor position-sensorless control method based on gain optimization sliding-mode observer |
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Cited By (11)
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| CN107579690A (en) * | 2017-08-28 | 2018-01-12 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for estimating rotating speed based on sliding formwork observation |
| CN107579690B (en) * | 2017-08-28 | 2019-07-02 | 南京理工大学 | A kind of ultrahigh speed permanent magnet synchronous motor method for estimating rotating speed based on sliding formwork observation |
| CN108183651A (en) * | 2018-01-18 | 2018-06-19 | 南京理工大学 | A kind of control method of permanent magnet linear synchronous motor position-sensor-free |
| CN108258946A (en) * | 2018-03-08 | 2018-07-06 | 青岛大学 | A kind of Speed Sensorless Control Method of permanent magnetic linear synchronous motor |
| CN110649849A (en) * | 2019-11-01 | 2020-01-03 | 南京航空航天大学 | Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer |
| CN112068444A (en) * | 2020-09-22 | 2020-12-11 | 中国人民解放军海军航空大学 | Aircraft attack angle control method adopting nonlinear self-adaptive sliding mode |
| CN112068444B (en) * | 2020-09-22 | 2022-02-15 | 中国人民解放军海军航空大学 | Aircraft attack angle control method adopting nonlinear self-adaptive sliding mode |
| CN113206623A (en) * | 2021-05-06 | 2021-08-03 | 大连理工大学 | Permanent magnet synchronous motor finite time speed regulation control method based on fast integral terminal sliding mode and interference estimation |
| CN113206623B (en) * | 2021-05-06 | 2022-12-20 | 大连理工大学 | Permanent magnet synchronous motor finite time speed regulation control method based on fast integral terminal sliding mode and interference estimation |
| CN114726277A (en) * | 2022-04-21 | 2022-07-08 | 西北工业大学 | Switched reluctance motor position-sensorless control method based on gain optimization sliding-mode observer |
| CN114726277B (en) * | 2022-04-21 | 2024-02-06 | 西北工业大学 | Control method for switch reluctance motor without position sensor |
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