CN106385216B - A kind of permanent magnet synchronous motor predictive current control steady-state error removing method and system - Google Patents
A kind of permanent magnet synchronous motor predictive current control steady-state error removing method and system Download PDFInfo
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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
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Abstract
The invention discloses a kind of permanent magnet synchronous motor predictive current control steady-state error removing method and systems, belong to the technical field of AC Servo Motor Control.It is right that the present invention passes throughdAxis/qShaft current error carries out segmented correction, after correctiondAxis/qShaft current reference value anddAxis/qAxis actual current predicts the voltage for generating inverter drive signal, current regulation steady-state error caused by model parameter inaccuracy, time-variant nonlinear can effectively be inhibited, it is recognized without on-line parameter, it avoids and increases CPU burdens because on-line calculation is big, and then limit the raising of electric current loop bandwidth.
Description
Technical field
The invention discloses a kind of permanent magnet synchronous motor predictive current control steady-state error removing method and systems, for forever
The high-performance electric flow control of magnetic-synchro motor, belongs to the technical field of AC Servo Motor Control.
Background technology
In recent years, permanent magnet synchronous motor is simple in structure with its, power density is high, torque current is more excellent than high, easy to maintain etc.
Point is increasingly becoming the mainstream of AC servo motor.Permanent magnet synchronous motor be one non-linear, close coupling, parameter time varying complexity
System in the process of running toward contact by strong external disturbance, therefore realizes the high-precision servo control of permanent magnet synchronous motor
System is very difficult.Currently, permanent magnet synchronous motor generally uses field-oriented vector control algorithm, by electric current loop, speed ring
With position ring composition cascade structure, have the characteristics that explicit physical meaning, it is simple in structure, be easy to engineering design.
With PMSM Servo System application it is increasingly extensive, the requirement to system performance is also higher and higher.Electricity
The control of machine instantaneous torque is the key that raising permanent magnet ac servo system performance, and finally to the control of motor output torque
It is attributed to the control to d, q shaft current.For durface mounted permanent magnet synchronous motor, i is generally usedd=0 control strategy.Electric current loop control
System needs to consider that the factors such as parametrical nonlinearity, dq inter-axis couplings and external disturbance, control process are extremely complex.Currently, permanent magnetism
The common control method of synchronous motor electric current loop has PID control, PREDICTIVE CONTROL and intelligent control etc..PID controller has structure
Simply, the advantages that parameter tuning is easy, it is most widely used in servo-drive system, but needed quick when actual parameter is chosen
Property and overshoot between compromise, otherwise can cause integrate saturated phenomenon.Intelligent control algorithm, such as fuzzy control, neural network
Control etc. can be related to a large amount of mathematical derivation mostly, and on-line calculation is big, it is complicated to realize, it is difficult to really in AC Servo Control
It is widely applied in system.
PREDICTIVE CONTROL may be implemented quickly to track the non-overshoot of reference signal, be a kind of electric current than having wide application prospects
Control method.But PREDICTIVE CONTROL depends on the mathematical models of controlled device more, once model parameter is inaccurate, and it is practical
Electric current will be unable to trace into current reference value, larger steady-state error occurs.In this regard, many scholars propose different improvement sides
Method.Document<Robust High Bandwidth Discrete-Time Predictive Current Control with
Predictive Internal Model>(Mohamed Y.A.-R.I.,El-Saadany E.F..A Unified
Approach for Voltage-Source PWM Converters[J].IEEE Transactions on Power
Electronics,2008,23(1):It 126-136) proposes and obtains controlled pair by the method for on-line parameter identification in electric current loop
The prediction model of elephant, eliminates influence of the parameter inaccuracy to control effect, but on-line identification brought to dsp controller it is very heavy
Computation burden, or even can also increase hardware cost.Document《Permanent magnet synchronous motor current predictive algorithm》(in ox, Yang Ming,
Liu Keshu, Xu Dianguo, Proceedings of the CSEE, 2012,06:A kind of Robust Current PREDICTIVE CONTROL calculation is proposed in 131-137)
Method reduces dependence of the system performance to model parameter, but stability margin is limited, lacks than more powerful error correction side
Method.The patent of 103780187 A of Publication No. CN proposes a kind of high dynamic response current control side based on PREDICTIVE CONTROL
Method, can effectively shorten Current controlled delay, reduce sensibility of the system to parameter, but due to using integrator output-parallel school
Correction method still may cause integral saturated phenomenon.
Therefore, the permanent magnet synchronous motor current predictive algorithm of more economical practicality is studied, especially there are both unobvious
Increase control complexity and bearing calibration of the system to sensitive model parameters can be reduced, is a current pass urgently to be resolved hurrily
Key problem.
Invention content
The goal of the invention of the present invention is the deficiency for above-mentioned background technology, and it is pre- to provide a kind of permanent magnet synchronous motor electric current
Observing and controlling steady-state error removing method and system effectively inhibit electric current tune caused by model parameter inaccuracy, time-variant nonlinear
Save steady-state error, solve the current predictive algorithm of permanent magnet synchronous motor in the prior art dependent on object accurate model,
On-line calculation is big, parameter tuning process complexity technical problem.
The present invention adopts the following technical scheme that for achieving the above object：
A kind of permanent magnet synchronous motor predictive current control steady-state error removing method provided by the invention, including following step
Suddenly：
Step 1：When permanent magnet synchronous motor is run, current sensor sampling three-phase stator current i is utilizeda、ib、ic, profit
With photoelectric coded disk detection motor rotor position θe；
Step 2：To the threephase stator electric current i obtained in step 1a、ib、icCarry out Clarke convert to obtain two-phase it is quiet
The only electric current i under α β coordinate systemsα、iβ, then to electric current iα、iβPark is carried out to convert to obtain the electricity under synchronous rotary dq coordinate systems
Flow id、iq；
Step 3：The d shaft current actual values i that will be obtained in step 2dWith reference value id *It is input to d axis input correction module
In, the q shaft current actual values i that will be obtained in step 2qWith the q shaft current reference values i of speed control outputq *It is input to q axis
It inputs in correction module, d axis/q axis inputs correction module according to the comparison result of d axis/q shaft currents error and error threshold to d
Axis/q shaft current errors carries out segmented correction, then by correcting value correct d axis/q shaft currents with reference to be worth to d axis/q shaft currents to
Definite value id **、iq **,
By d shaft current actual values idAnd given value id **With q shaft current actual values iqAnd given value iq **It is input to traditional indifference
It claps in predictive controller, by the voltage u under synchronous rotary dq coordinate systems is calculatedd *、uq *；
Step 4：To voltage u under the synchronous rotary dq coordinate systems that are obtained in step 3d *、uq *Park inverse transformations are carried out to obtain
Voltage u under the static α β coordinate systems of two-phaseα、uβ, it obtains inverter three-phase PWM using space vector modulating method and controls signal, from
And it realizes and the predictive current control steady-state error of permanent magnet synchronous motor is eliminated.
Further, the d axis described in step 3, q axis input correction module are respectively used to obtain defeated when parameter inaccuracy
Enter the d shaft current given values i to dead beat predictive controllerd **, q shaft current given values iq **, steps are as follows for calculating：
According to current reference value ix *With actual value ixThe current error e at kth moment is calculated using formula (1)x(k), it is calculating
Before current error, claps delay link using one and delay disposal is carried out to d axis/q shaft current reference values, wherein subscript x=d, q table
Show d axis, q axis components,
By the current error e at kth momentx(k) it is input in two-mode correction link, by kth moment electricity is calculated
Stream error correcting value δx(k), steps are as follows for the specific calculating of two-mode correction link：
The global variable ∑ of initial time is setx(0)=0,
According to kth moment current error ex(k) and the global variable ∑ at -1 moment of kthx(k-1), it is calculated using formula (2)
The global variable ∑ at kth momentx(k),
∑x(k)=∑x(k-1)+ex(k) (2),
Judge kth moment current error ex(k) with the relationship of current error threshold epsilon, if ex(k)>ε then belongs to pattern I,
Reset ∑x(k) and using formula (3) the current error correcting value δ at kth moment is calculatedx(k)；Otherwise belong to pattern II, utilize formula (4)
Calculate the current error correcting value δ at kth momentx(k),
δx(k)=KPx·ex(k) (3),
δx(k)=KIx·∑x(k) (4),
In formula, KPxAnd KIxProportional gain, the storage gain of two-mode correction link are indicated respectively；
According to current reference value ix *With kth moment current error correcting value δx(k), kth moment electric current is calculated using formula (5)
Given value ix **,
Further, traditional dead beat predictive current control device described in step 3 is according to dq shaft current given values
id **、iq **With actual value id、iqThe voltage u for needing to apply on corresponding axis is calculatedd *、uq *, calculation formula is：
In formula (6), Rs0For motor phase resistance nominal value, Ld0、Lq0For motor dq axle inductance nominal values, T samples for electric current loop
Time, ωeFor rotor angular rate, ψf0For the nominal value of permanent magnet flux linkage amplitude.
Above-mentioned technical proposal is a kind of general predictive current control static difference removing method, but for most common id=
0 control strategy can also use another simplified method, as described below：
D axis input straightening die two-mode correction link in the block described in step 3 can be replaced with integral element, then d
The calculating process of shaft current error correction will be reduced to：
δd(k)=KId·∑d(k) (7),
In formula (7), KIdThe storage gain of integral element in correction module is inputted for d axis.
A kind of permanent magnet synchronous motor predictive current control steady-state error elimination system, including：According to motor speed correction value
Determine speed control, current controller, Park inverse transform modules, space-vector modulator, the voltage-type of q shaft current reference values
Inverter, Park conversion modules, Clarke conversion modules, rotating speed computing module, the position sensor for detecting motor rotor position,
Clarke conversion modules, input terminal receive the sampled value of permanent magnet synchronous motor threephase stator electric current, output end
The side input terminal of Park conversion modules is connect, the electric current under output two-phase static coordinate to Park conversion modules,
Park conversion modules, other side input terminal receive motor rotor position detected value, output termination current control
The side input terminal of device, exports the electric current under synchronously rotating reference frame to current controller,
Current controller, the output end of other side input termination speed control, output termination Park inversions mold changing
The side input terminal of block, exports the voltage under synchronous rotating frame to Park inverse transform modules,
Park inverse transform modules, other side input terminal receive motor rotor position detected value, output termination space arrow
The input terminal of modulator is measured, the voltage under output two-phase stationary coordinate system to space-vector modulator,
Space-vector modulator, input terminal receive the voltage under two-phase stationary coordinate system, and output termination voltage-type is inverse
Becoming the control terminal of device, the three-phase PWM of output inverter controls signal to voltage source inverter,
Voltage source inverter, input termination direct voltage source, output termination permanent magnet synchronous motor threephase stator around
Group provides drive signal to permanent magnet synchronous motor,
Position sensor is mounted on rotor, output motor rotor-position detected value to Park inverse transform modules,
Park conversion modules, rotating speed computing module,
Rotating speed computing module carries out rotating speed operation, output speed feedback value to speed control to motor rotor position detected value
Molding block,
Rate control module calculates q shaft current reference values according to speed feedback value and speed reference, exports q shaft currents
Reference value is to current controller；
The current controller includes：Dead beat predictive controller, d axis input correction module, q axis input correction module,
D axis inputs correction module, and one input end receives d shaft current reference values, and it is real that another input terminal receives d shaft currents
Actual value, the input terminal of output termination dead beat predictive controller, output d shaft currents given value to dead beat predictive controller,
Q axis inputs correction module, and one input end receives q shaft current reference values, and it is real that another input terminal receives q shaft currents
Actual value, the input terminal of output termination dead beat predictive controller, output q shaft currents given value to dead beat predictive controller,
Dead beat predictive controller, it is practical that input terminal receives d shaft currents given value, q shaft currents given value, d shaft currents
Value, q shaft current actual values export the voltage under synchronous rotating frame.
The present invention uses above-mentioned technical proposal, has the advantages that：
(1) predictive current control steady-state error removing method of the invention can effectively inhibit model parameter inaccuracy, time-varying
Current regulation steady-state error caused by non-linear, recognizes without on-line parameter, avoids and increases CPU because on-line calculation is big
Burden, and then limit the raising of electric current loop bandwidth；
(2) predictive current control steady-state error removing method of the invention, can independently adjust current temporary state and stable state
Performance, and parameter tuning method is close with conventional PI control device, does not increase controller complexity, meanwhile, and in document
The method of PI output-parallels correction is compared, and integral saturated phenomenon is also avoided；
(3) predictive current control steady-state error removing method of the invention, the apparent attenuation systems performance of energy is to the parameter of electric machine
Degree of dependence reduce development cost without using high-precision parameter identifier instrumentation and testing method, shorten out
Send out the period；
(4) present invention carries out effective compensation to steady-state error, carries on the basis of not influencing Classical forecast control rapidity
High robustness of the control performance to the parameter of electric machine, can be widely used in the high-performance current controlling filed of permanent magnet synchronous motor
It closes.
Description of the drawings
Fig. 1 is the system block diagram of permanent magnet synchronous motor vector controlled in the prior art；
Fig. 2 is the structure diagram for the current controller predicted in the prior art based on traditional dead beat；
Fig. 3 is a kind of structure diagram of specific implementation mode of control method provided by the invention；
Fig. 4 is the structure diagram of another specific implementation mode of control method provided by the invention；
Fig. 5 is the flow chart of the specific calculating process of two-mode correction link shown in Fig. 3, Fig. 4；
Fig. 6 is the flow chart of the specific calculating process of integral element shown in Fig. 4；
Fig. 7 (a) and Fig. 7 (c) is under parameter of electric machine accurate picture using control method shown in Fig. 2 and using shown in Fig. 4
The comparison of wave shape figure of permanent magnet synchronous motor q shaft currents when control method, Fig. 7 (b) and Fig. 7 (d) are in parameter of electric machine accurate picture
It is lower using control method shown in Fig. 2 and using the comparison of wave shape figure of permanent magnet synchronous motor d shaft currents when control method shown in Fig. 4；
Fig. 8 (a) and Fig. 8 (b) is under parameter of electric machine accurate picture using control method shown in Fig. 2 and using shown in Fig. 4
The comparison of wave shape figure of permanent magnet synchronous motor a phase currents when control method；
Fig. 9 (a) and Fig. 9 (c) is to use control method shown in Fig. 2 in the case where only motor inductances are there are 50% error condition and adopt
Shown in Fig. 4 when control method permanent magnet synchronous motor q shaft currents comparison of wave shape figure, Fig. 9 (b) and Fig. 9 (d) are in only motor electricity
There are permanent magnet synchronous motor d axis when using control method shown in Fig. 2 under 50% error condition and using control method shown in Fig. 4 for sense
The comparison of wave shape figure of electric current；
Figure 10 (a) and Figure 10 (b) be in the case where only motor inductances are there are 50% error condition using control method shown in Fig. 2 with
Using permanent magnet synchronous motor a phase current waveform comparison diagrams when control method shown in Fig. 4；
Figure 11 (a) and Figure 11 (c) is to use to control shown in Fig. 2 in the case where motor inductances and magnetic linkage have 50% error condition
Method and comparison of wave shape figure using permanent magnet synchronous motor q shaft currents when control method shown in Fig. 4, Figure 11 (b) and Figure 11 (d) are
In the case where there is 50% error condition in motor inductances and magnetic linkage using control method shown in Fig. 2 and using control method shown in Fig. 4
When permanent magnet synchronous motor d shaft currents comparison of wave shape figure；
Figure 12 (a) and Figure 12 (b) is to use to control shown in Fig. 2 in the case where motor inductances and magnetic linkage have 50% error condition
Method and using permanent magnet synchronous motor a phase current waveform comparison diagrams when control method shown in Fig. 4.
Figure label explanation：1, speed control, 2, current controller, 3, Park inverse transform modules, 4, space vector tune
Device processed, 5, voltage source inverter, 6, Park conversion modules, 7, Clarke conversion modules, 8, rotating speed computing module, 9, position sensing
Device, 10, permanent magnet synchronous motor, 11, dead beat predictive controller, 12, d axis input correction module, 13, q axis input correction module,
14, one delay link is clapped, 15, two-mode correction link, 16, integral element.
Specific implementation mode
The technical solution of invention is described in detail below in conjunction with the accompanying drawings.
The system of traditional permanent magnet synchronous motor vector controlled is as shown in Figure 1, include：It is determined according to motor speed correction value
Speed control 1, current controller 2, Park inverse transform modules 3, space-vector modulator 4, the voltage-type of q shaft current reference values
Inverter 5, Park conversion modules 6, Clarke conversion modules 7, rotating speed computing module 8, the position biography for detecting motor rotor position
Sensor 9.The input terminal of Clarke conversion modules 7 receives the sampled value of 10 threephase stator electric current of permanent magnet synchronous motor, and Clarke becomes
The side input terminal of the output termination Park conversion modules 6 of block 7 is changed the mold, the other side input terminal of Park conversion modules 6 receives electricity
Machine rotor position detection value, the side input terminal of the output termination current controller 2 of Park conversion modules 6, current controller 2
The output end of other side input termination speed control 1, the side of the output termination Park inverse transform modules 3 of current controller 2
The other side input terminal of input terminal, Park inverse transform modules 3 receives motor rotor position detected value, Park inverse transform modules 3
The input terminal of output termination space-vector modulator 4, the input terminal of space-vector modulator 4 receive under two-phase stationary coordinate system
Voltage, the control terminal of the output termination voltage source inverter 5 of space-vector modulator 4, the input termination of voltage source inverter 5 are straight
Galvanic electricity potential source, the threephase stator winding of the output termination permanent magnet synchronous motor 10 of voltage source inverter 5, position sensor 9 are installed
On rotor, rotating speed computing module 8 carries out rotating speed operation to motor rotor position detected value and obtains speed feedback value, speed
Control module 1 calculates q shaft current reference values according to speed feedback value and speed reference.Clarke conversion modules 7 export two-phase
Electric current i under static coordinateα、iβTo Park conversion modules 6, Park conversion modules 6 export the electric current i under synchronously rotating reference framed、
iqTo current controller 2, current controller 2 exports the voltage u under synchronous rotating framed *、uq *To Park inverse transform modules 3,
Park inverse transform modules 3 export the voltage u under two-phase stationary coordinate systemα、uβTo space-vector modulator 4, space-vector modulator
The three-phase PWM of 4 output inverters controls signal to voltage source inverter 5, and voltage source inverter 5 is provided to permanent magnet synchronous motor 10
Drive signal, 9 output motor rotor-position detected value θ of position sensoreTo Park inverse transform modules 3, Park conversion modules 6,
Rotating speed computing module 8, rotating speed computing module 8 export speed feedback value ωeTo rate control module 1, rate control module 1 exports
Q shaft current reference values iq *To current controller 2.
Current controller 2 may be used dead beat predictive controller 11 as shown in Figure 2 and realize, dead beat predictive controller
11 according to d shaft currents reference value and actual value id *、idAnd q shaft currents reference value and actual value iq *、iqCalculating is applied to d, q axis
On voltage ud *、uq *.However, there are stable state amplitude error and delayed phase and controls for traditional dead beat predictive current control
The problem of effect is obviously deteriorated in motor model parameter inaccuracy.
To overcome the problems, such as that traditional dead beat predictive current control exists, the present invention is real using current controller shown in Fig. 3
PREDICTIVE CONTROL when existing Parameter uncertainties.Current controller 2 shown in Fig. 3 includes：Dead beat predictive controller 11, the input of d axis
Correction module 12, q axis input correction module 13, and the input terminal that d axis inputs correction module 12 receives d shaft current reference values id *, d
Another input terminal that axis inputs correction module 12 receives d shaft current actual values id, the output termination nothing of d axis input correction module 12
The input terminal of beat predictive controller 11, the input terminal that q axis inputs correction module 13 receive q shaft current reference values iq *, q axis is defeated
Another input terminal for entering correction module 13 receives q shaft current actual values iq, the output termination dead beat of q axis input correction module 13
The input terminal of predictive controller 11, the d shaft current given values that dead beat predictive controller 11 is received according to input terminalQ axis electricity
Flow given valueD shaft current actual values id, q shaft current actual values iqVoltage u under prediction output synchronous rotating framed *、
uq *。
Current controller shown in Fig. 3 is a kind of generic embodiment of the present invention, in id *When ≠ 0, d axis inputs correction module 12
With q axis input the structure of correction module 13 it is identical, include one clap delay link 14, two-mode correction link 15, adder and
Subtracter.One claps input termination d axis/q shaft current reference values i of delay link 14d */iq *, one claps the output end of delay link 14
One input terminal of subtracter is connect, another input terminal of subtracter receives d axis/q shaft current actual values id/iq, the output termination of subtracter
The input terminal of two-mode correction link 15, two-mode correction link 15 is according to d axis/q shaft current error esd(k)/eq(k) and error
The comparison result of threshold epsilon carries out segmented correction, an input termination two-mode corrector loop of adder to d axis/q shaft current errors
Another input terminal of the output end of section 15, adder receives d axis/q shaft current reference values id */iq *, the output termination nothing of adder
The input terminal of beat predictive controller 11.One, which claps the output of delay link 14 one, claps d axis/q shaft current reference values after delay disposal
To subtracter, subtracter exports d axis/q shaft current error esd(k)/eq(k) to two-mode correction link 15, two-mode correction link
15 output d axis/q shaft currents amount of error correction to adder, adder export d axis/q shaft current given valuesTo dead beat
Predictive controller 11.
I is taken in systemd *When=0 control strategy, d axis input correction module shown in Fig. 4 can be taken to miss d shaft currents
Difference is corrected.D axis shown in Fig. 4 inputs correction module, including integral element 16, adder and subtracter.The one of subtracter is defeated
Enter end and receive d shaft current reference values, another input terminal of subtracter receives d shaft current actual values, the output termination product of adder
The input terminal of link 16, the output end of integral element 16 and an input terminal of adder is divided to connect, another input terminal of adder
Meet d shaft current reference values id *, the input terminal of the output termination dead beat predictive controller 11 of adder.Subtracter exports d axis electricity
Stream error ed(k) to integral element 16, integral element 16 exports the integrated value of d shaft current errors to adder, and adder exports d
Shaft current given valueTo dead beat predictive controller 11.
Steady-state error removing method of the present invention is described below.
The discrete models of permanent magnet synchronous motor are：
In formula (8), RsFor motor phase resistance, nominal value Rs0It is taken as 2.35 Ω；Ld、LqFor motor dq axle inductances, nominal value
Ld0、Lq0It is taken as 7mH；T is the electric current loop sampling time, takes 100 μ s；ωeFor rotor angular rate, rated value 3000rpm, ψ are takenf
For permanent magnet flux linkage amplitude, nominal value ψf0It is taken as 0.0345Wb；Rotary inertia J=1 × 10-3kg.m2, friction coefficient F=3.1 ×
10-5N.m.s；Nominal torque Tn=1.28N.m；Rotor number of pole-pairs np=4.
Steady-state error removing method includes following steps：
Step 1：Sample the threephase stator electric current i of permanent magnet synchronous motora、ib、icIt is input in Clarke conversion modules 7,
α β coordinate system electric currents i is obtained after calculatingα、iβ, calculation formula is：
Step 2：The electrical angle θ rotated through according to the permanent magnet synchronous motor of detectione, Park conversion modules 6 are to α β coordinate systems
Electric current iα、iβIt carries out Park and converts to obtain electric current i under dq coordinate systemsd、iq：
Step 3：The electrical angle θ that 10 rotor of permanent magnet synchronous motor rotates througheIt is input in rotating speed computing module 8, process is micro-
Partite transport is calculated to obtain speed feedback value ωm；
Step 4：The speed feedback value ω that step 3 is obtainedmWith given speed reference ωm *As speed control
1 input, by q shaft current reference values i is calculatedq *；
Step 5：The q shaft current reference values i that step 4 is obtainedq *, previously given d shaft current reference values id *It is (general
0) and current actual value i it is set asq、idIt is input in current controller 2, the electricity applied required for d, q axis is obtained after calculating
Press ud *、uq *；
Step 6：D, q shaft voltage u that step 5 is obtainedd *、uq *The electrical angle θ rotated through with rotoreIt is inverse to be input to Park
In conversion module 3, the voltage u under two-phase stationary coordinate system is calculatedα、uβ, the control source under two-phase stationary coordinate system is arrived
In space-vector modulator 4, by the three-phase PWM duty ratio switching signal for the inverter being calculated, by three-phase PWM duty ratio
Switching signal is input in voltage source inverter 5, and the output of voltage source inverter 5 is applied on 10 threephase stator of permanent magnet synchronous motor
Voltage, voltage source inverter 5 drive permanent magnet synchronous motor 10 operate.
When current controller 2 described in above-mentioned steps five uses control structure shown in Fig. 4, specific calculating process is as schemed
Shown in 5, including following steps：
(1) according to current reference value ix *With actual value ixThe current error e at kth moment is calculated using formula (1)x(k)；
(2) the current error e that will be obtained in step (1)d(k) it is input in integral element 16, by what is obtained in step (1)
Current error eq(k) it is input in two-mode correction link 15, current error correcting value δ is respectively obtained by calculatingd(k)、δq
(k)；
(3) according to current reference value ix *The current error correcting value δ obtained with step (2)x(k) formula (5) is utilized to calculate electricity
Flow given value ix **；
(4) by the dq shaft current given values i in step (3)d **、iq **Actual value id、iqIt is input to the pre- observing and controlling of traditional dead beat
In device 11 processed, the voltage u for needing to apply on corresponding axis is calculatedd *、uq *, shown in calculation formula such as formula (6).
The detailed calculating process of above-mentioned steps (2) is as shown in fig. 6, include the following steps：
(2.1) the global variable ∑ of initial time is setx(0)=0；
(2.2) according to input current error ex(k) and the global variable ∑ at -1 moment of kthx(k-1) formula (2) is utilized to calculate the
The global variable ∑ at k momentx(k)；
(2.3) for d axis integral elements, shown in calculation formula such as formula (7)；
(2.4) it for q axis two-mode correction links, needs to judge current error eq(k) with the pass of current error threshold epsilon
System, if eq(k)>ε then belongs to pattern I, resets ∑q(k) and formula (3) calculating current amount of error correction δ is utilizedq(k)；Otherwise belong to
In pattern II, formula (4) calculating current amount of error correction δ is utilizedq(k)。
In the case that the parameter of electric machine in setting formula (6) takes nominal value, according to the parameter tuning method of conventional PI controllers
By KId、KPqAnd KIqIt adjusts separately.When the 0s moment, motor speed setting value steps to rated speed 3000rpm from 0rpm；
When the 0.5s moment, speed setting value steps to -3000rpm from 3000rpm.Using traditional dead beat current forecasting shown in Fig. 2
It controls and uses the permanent magnet synchronous motor dq shaft currents comparison of wave shape of control method of the invention shown in Fig. 4 as shown in fig. 7, a phases
Current waveform comparison is as shown in Figure 8.Even if can be seen that from Fig. 7 (a), Fig. 7 (b), Fig. 8 (a) using parameter of electric machine nominal value,
The electric current of traditional dead beat predictive current control still has certain stable state amplitude error and delayed phase, and uses the present invention
Control method after, as shown in Fig. 7 (c), Fig. 7 (d), Fig. 8 (b), can obviously eliminate steady-state error and delayed phase.
In the case that motor inductances in setting formula (6) take nominal value there are 50% error, magnetic linkage, other settings are same as above.
Using traditional dead beat predictive current control shown in Fig. 2 and using the permanent magnet synchronous motor of control method of the invention shown in Fig. 4
Dq shaft currents comparison of wave shape is as shown in figure 9, the comparison of a phase current waveforms is as shown in Figure 10.By Fig. 9 (a), Fig. 9 (b) it is found that when electricity
When feeling parameter inaccuracy, when using traditional dead beat predictive current control, dq shaft current steady-state errors become larger, and dynamic property
Deteriorate；By Figure 10 (a) it is found that a phase currents delayed phase is clearly at this time.After control method using the present invention, such as Fig. 9
(c), shown in Fig. 9 (d) and Figure 10 (b), even if current control effect remains to keep preferable when inductance parameters inaccuracy.
In the case that motor inductances, magnetic linkage in setting formula (13) have 50% error, other settings are same as above.Using figure
Traditional dead beat predictive current control shown in 2 and the permanent magnet synchronous motor dq axis electricity using control method of the invention shown in Fig. 4
It is as shown in figure 11 to flow comparison of wave shape, the comparison of a phase current waveforms is as shown in figure 12.By Figure 11 (a), Figure 11 (b), Figure 12 (a) it is found that
Even if motor inductances and magnetic linkage parameter are inaccurate, traditional dead beat predictive current control variation with obvious effects, and it is of the invention
Control method after, even if as remained to obtain when Figure 11 (c), Figure 11 (d), Figure 12 (b) motor inductances and magnetic linkage parameter are inaccurate
Obtain dynamic and steady-state behaviour well.
Control method provided by the invention is that input school is increased on the basis of traditional dead beat predictive current control device
Positive module can be effectively improved transient state and steady-state behaviour of the predictive current control device in systematic parameter inaccuracy, while the control
Method processed will not increase the complexity that computation burden and control parameter are adjusted.
The above is only a preferred embodiment of the present invention, but for professional technician in the art,
Every several equivalents carried out under the principle of technical solution of the present invention and improvement etc. also should be regarded as the protection of the present invention
Range.
Claims (8)
1. a kind of permanent magnet synchronous motor predictive current control steady-state error removing method, which is characterized in that
The threephase stator electric current of permanent magnet synchronous motor is converted to obtain the electric current under synchronous rotating frame；
D shaft current errors are corrected according to the comparison result of d shaft currents error and error threshold, with d shaft currents reference value and error
The sum of correcting value d axis is d shaft current given values, and correcting q shaft currents according to the comparison result of q shaft currents error and error threshold misses
Difference, with the sum of q shaft currents reference value and amount of error correction q axis for q shaft current given values,
When current error is more than error threshold, by expression formula：δx(k)=KPx·ex(k) correcting current error,
When current error is less than or equal to error threshold, by expression formula δx(k)=KIx·∑x(k) correcting current error, ∑x
(k)=∑x(k-1)+ex(k),
Wherein,
When x is d, δx(k) it is k moment d shaft current amount of error correction, KPxTo correct the proportional gain of d shaft currents, ex(k) be k when
D shaft current errors are carved,For k moment d shaft current reference values, ix(k) it is k moment d shaft current actual values, KIxTo correct d axis
The storage gain of electric current, ∑x(k)、∑x(k-1) be respectively the k moment, k-1 time correction d shaft currents global variable,
When x is q, δx(k) it is k moment q shaft current amount of error correction, KPxTo correct the proportional gain of q shaft currents, ex(k) be k when
Q shaft current errors are carved,For k moment q shaft current reference values, ix(k) it is k moment q shaft current actual values, KIxTo correct q axis
The storage gain of electric current, ∑x(k)、∑x(k-1) be respectively the k moment, k-1 time correction q shaft currents global variable；
Voltage under synchronous rotating frame is applied to by given value of current value and its actual value prediction；
Voltage under synchronous rotating frame is converted and is modulated to obtain the three-phase PWM control signal of inverter, inverter
Drive permanent magnet synchronous motor operation.
2. a kind of permanent magnet synchronous motor predictive current control steady-state error removing method according to claim 1, feature
It is, i is being taken to d shaft currents under synchronous rotating framedWhen=0 control strategy, by expression formula：δd(k)=KId·∑d
(k) simplify the correction of d shaft current errors.
3. a kind of permanent magnet synchronous motor predictive current control steady-state error removing method according to claim 1 or claim 2, feature
It is, voltage under synchronous rotating frame is applied to by given value of current value and its actual value prediction, under synchronous rotating frame
Voltage be：
ud *、uq *Respectively it is applied to synchronous rotating frame d axis, the voltage on q axis, Ld0、Lq0Respectively d axis, q axle inductance marks
Title value, T are the electric current loop sampling time,Respectively k+1 moment d axis, q shaft current given values, Rs0For forever
The phase resistance nominal value of magnetic-synchro motor, ωeThe angular rate of permanent-magnetic synchronous motor rotor, ψf0For the mark of permanent magnet flux linkage amplitude
Title value.
4. a kind of permanent magnet synchronous motor predictive current control steady-state error removing method according to claim 1, feature
It is, the threephase stator electric current of permanent magnet synchronous motor is converted to obtain the electric current under synchronous rotating frame, specific method
For：Clarke is first carried out to the threephase stator electric current of permanent magnet synchronous motor to convert to obtain the electric current under two-phase stationary coordinate system, then
Park is carried out to the electric current under two-phase stationary coordinate system to convert to obtain the electric current under synchronous rotating frame.
5. a kind of permanent magnet synchronous motor predictive current control steady-state error removing method according to claim 1, feature
It is, the voltage under synchronous rotating frame is converted and modulated the three-phase PWM control signal for obtaining inverter, specific side
Method is：Park inverse transformations are first carried out to the stator voltage under synchronous rotating frame obtains the voltage under two-phase stationary coordinate system,
Space vector modulation is carried out to the voltage under two-phase stationary coordinate system again and obtains the three-phase PWM control signal of inverter.
6. a kind of permanent magnet synchronous motor predictive current control steady-state error eliminates system, including：It is true according to motor speed correction value
Determine speed control (1), current controller (2), Park inverse transform modules (3), the space-vector modulator of q shaft current reference values
(4), voltage source inverter (5), Park conversion modules (6), Clarke conversion modules (7), rotating speed computing module (8), detection electricity
The position sensor (9) of machine rotor position,
Clarke conversion modules (7), input terminal receive the sampled value of permanent magnet synchronous motor threephase stator electric current, output termination
The side input terminal of Park conversion modules (6), exports the electric current under two-phase static coordinate to Park conversion modules (6),
Park conversion modules (6), other side input terminal receive motor rotor position detected value, output termination current controller
(2) side input terminal, exports the electric current under synchronously rotating reference frame to current controller (2),
Current controller (2), the output end of other side input termination speed control (1), output termination Park inverse transformations
The side input terminal of module (3), exports the voltage under synchronous rotating frame to Park inverse transform modules (3),
Park inverse transform modules (3), other side input terminal receive motor rotor position detected value, output termination space vector
The input terminal of modulator (4), exports the voltage under two-phase stationary coordinate system to space-vector modulator (4),
Space-vector modulator (4), input terminal receive the voltage under two-phase stationary coordinate system, output termination voltage-type inversion
The control terminal of device (5), the three-phase PWM of output inverter control signal to voltage source inverter (5),
Voltage source inverter (5), input termination direct voltage source, output termination permanent magnet synchronous motor threephase stator around
Group provides drive signal to permanent magnet synchronous motor,
Position sensor (9) is mounted on rotor, output motor rotor-position detected value to Park inverse transform modules (3),
Park conversion modules (6), rotating speed computing module (8),
Rotating speed computing module (8) carries out rotating speed operation, output speed feedback value to speed control to motor rotor position detected value
Module (1),
Rate control module (1) calculates q shaft current reference values, output q shaft currents ginseng according to speed feedback value and speed reference
Value is examined to current controller (2)；
It is characterized in that,
The current controller (2) includes：Dead beat predictive controller (11), d axis input correction module (12), q axis input school
Positive module (13),
D axis inputs correction module (12), and one input end receives d shaft current reference values, and it is real that another input terminal receives d shaft currents
Actual value, the input terminal of output termination dead beat predictive controller (11), output d shaft currents given value to dead beat PREDICTIVE CONTROL
Device (11),
Q axis inputs correction module (13), and one input end receives q shaft current reference values, and it is real that another input terminal receives q shaft currents
Actual value, the input terminal of output termination dead beat predictive controller (11), output q shaft currents given value to dead beat PREDICTIVE CONTROL
Device (11),
Dead beat predictive controller (11), it is practical that input terminal receives d shaft currents given value, q shaft currents given value, d shaft currents
Value, q shaft current actual values export the voltage under synchronous rotating frame.
7. a kind of permanent magnet synchronous motor predictive current control steady-state error eliminates system according to claim 6, feature exists
In the d axis input correction module (12) is identical as the structure of q axis input correction module (13), includes a bat delay link
(14), two-mode correction link (15), adder and subtracter,
One claps delay link (14), and input termination d axis/q shaft current reference values, output terminates one input terminal of subtracter, defeated
Go out d axis/q shaft currents reference value to subtracter after a bat delay disposal,
Subtracter, another input terminal receive d axis/q shaft current actual values, and output terminates the defeated of two-mode correction link (15)
Enter end, export d axis/q shaft currents error to two-mode correction link (15),
Two-mode correction link (15), an input terminal of output termination adder, according to d axis/q shaft currents error and error threshold
The comparison result of value carries out segmented correction, output d axis/q shaft currents amount of error correction to addition to d axis/q shaft current errors
Device,
Adder, another input terminal receive d axis/q shaft current reference values, output termination dead beat predictive controller (11)
Input terminal, output d axis/q shaft currents given value to dead beat predictive controller (11).
8. a kind of permanent magnet synchronous motor predictive current control steady-state error eliminates system according to claim 7, feature exists
In when system takes the control strategy of id=0, using the circuit reduction d for including integral element (16), adder and subtracter
Axis inputs the structure of correction module (12),
Subtracter, one input end receive d shaft current reference values, and another input terminal receives d shaft current actual values, output end
Connect the input terminal of integral element (16), output d shaft currents error to integral element (16),
One input terminal of integral element (16), output end and adder connects, and exports the integrated values of d shaft current errors to addition
Device,
Adder, another input terminal receive d shaft current reference values, the input of output termination dead beat predictive controller (11)
End, output d shaft currents given value to dead beat predictive controller (11).
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| CN111082726B (en) * | 2019-12-19 | 2021-09-21 | 南京航空航天大学 | Current control method of permanent magnet motor servo system |
| CN112087172B (en) * | 2020-07-20 | 2021-12-28 | 北京理工大学 | Improved dead-beat prediction current control method for permanent magnet synchronous motor |
| CN112217437A (en) * | 2020-09-17 | 2021-01-12 | 郑州轻工业大学 | Permanent magnet synchronous motor three-vector model prediction current control circuit and method |
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