CN106452265B - A kind of field weakening control method adjusted based on observation compensation and coupling - Google Patents
A kind of field weakening control method adjusted based on observation compensation and coupling Download PDFInfo
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- CN106452265B CN106452265B CN201610929590.5A CN201610929590A CN106452265B CN 106452265 B CN106452265 B CN 106452265B CN 201610929590 A CN201610929590 A CN 201610929590A CN 106452265 B CN106452265 B CN 106452265B
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
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- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of field weakening control method adjusted based on observation compensation and coupling, the weak magnetic for being suitable for servo motor controls.For the strong coupling technological difficulties of the cross, straight shaft current equation of servo motor, it is proposed that be divided into the technical solution of following four step：First, judge that weak magnetic is enabled by comparing the size of weak magnetic limiting voltage and motor terminal voltage；Secondly, if weak magnetic is enabled, observing unit is coupled by d-axis and estimates d-axis disturbance；Again, if weak magnetic is enabled, direct-axis voltage is obtained by direct-axis voltage generation unit；Finally, if weak magnetic is enabled, quadrature-axis voltage is obtained by quadrature-axis voltage generation unit.Form of the present invention is simple, easy to implement, and can improve the deficiency of prior art dynamic property, and the weak magnetic for effectively promoting servo motor controls dynamic property.
Description
Technical field
The invention belongs to technical field of electromechanical control, specially a kind of motor weak magnetic adjusted based on observation compensation and coupling
Control method.
Background technology
With the fast development of power electronic technique, microelectric technique and modern control theory, servo motor is each
A industry has obtained extensive concern and application, especially machine-building, robot industry, metallurgy, numerical control and aerospace etc.
To the higher field of control accuracy requirement.And recently as the continuous development of permanent-magnet material, permanent magnet degaussing ability obtains
It is further to reinforce, it lays a good foundation for the further development of servo motor weak magnetic control；Numerically controlled processing equipment, industrial robot
Equal application scenarios, in order to pursue higher working efficiency, it is desirable that servo motor can be with even running in higher velocity interval, this
New opportunity is provided for the development and application of servo motor weak magnetic control.
So far, it is negative i to study more weak magnetic algorithm in the artdPenalty method bears idPenalty method is a kind of straight
Axis, quadrature axis double-current ring adjust algorithm, specific again including look-up table, computing method of formula, gradient descent method and Voltage Feedback compensation
Method etc..Negative idPenalty method is just faced with d-axis, quadrature axis due to needing while designing two d-axis, quadrature axis current loop control algorithms
The strong coupling problem of electric current loop, it is this it is strong coupling the high rotating speed of motor, high overload operation when show to become apparent.Directly
Axis, the strong coupling of quadrature axis current ring make this weak magnetic algorithm be difficult to the dynamic effect obtained, this also becomes negative id and mends
Repay the research puzzle of method.
Another weak magnetic algorithm of the art is that the single electric current ring adjusted based on coupling adjusts weak magnetic algorithm, document
【Single electric current adjuster permanent magnet synchronous motor weak magnetic control based on ac-dc axis current coupling】Elaborate this algorithm：Specifically exist
Only adjust direct-axis current when servo motor weak magnetic field operation, quadrature axis current be then directly using the coupling of d-axis, quadrature axis current ring come
Control.Single electric current ring adjusts weak magnetic algorithm due to directly being adjusted using coupling, directly solves straight in double-current ring adjusting algorithm
Close coupling problem of the axis to quadrature axis；And due to the control algolithm that quadrature axis current ring is omitted, single electric current ring adjusts weak magnetic algorithm
Also more succinct than double-current ring adjusting algorithm in control.Therefore single electric current ring adjust weak magnetic algorithm have by coupling influence it is small,
The succinct advantage of control algolithm.
Although single electric current ring, which adjusts weak magnetic algorithm, has the advantages that the above uniqueness, also direct-axis current control algolithm is carried
Higher requirement is gone out, this is because under the frame that single electric current ring adjusts algorithm, quadrature axis current is directly adjusted by coupling, no
There are closed-loop control error, control error embodies a concentrated reflection of in direct-axis current control algolithm.Therefore, single electric current ring adjusts algorithm and wants
Ask direct-axis current control algolithm that there is higher control accuracy and better dynamic property.In addition, specifically adjusting direct-axis current
When, there is also quadrature axis to the strong coupling problem of d-axis, and traditional single electric current ring adjusts algorithm and still used to direct-axis current
PI is controlled, it is difficult to which strong coupling as solving the problems, such as, the dynamic property of algorithm is unsatisfactory.
Invention content
Goal of the invention：The problem to be solved in the present invention is to improve existing servo motor single electric current ring to adjust the dynamic of weak magnetic algorithm
State property energy, it is proposed that a kind of field weakening control method adjusted based on observation compensation and coupling obtains better dynamic property.
Technical solution：A kind of field weakening control method adjusted based on observation compensation and coupling, is included the following steps：
Step 1：Weak magnetic enables judging unit, acquires weak magnetic limiting voltage u according to DC bus-bar voltage firstsmax, then
Compare weak magnetic limiting voltage and motor terminal voltage usSize, judge whether weak magnetic algorithm enables；
Step 2：D-axis couples observing unit, and designing d-axis according to direct-axis voltage equation couples observation algorithm, obtains d-axis
Couple estimated value
Step 3：Direct-axis voltage generation unit couples estimated value by the d-axis that step 2 obtainsIt is adjusted with direct-axis current
Device generates direct-axis voltage ud；
Step 4：Quadrature-axis voltage generation unit, the weak magnetic limiting voltage u obtained according to step 1smaxIt is obtained with step 3
Direct-axis voltage udGenerate quadrature-axis voltage uq。
Further, the step 1 is specially：
If us≥usmax, then weak magnetic is enabled, enters step two；If us＜ usmax, then weak magnetic do not enable, use id=0 control.
Further, the step 2 is specially：
Following direct-axis voltage equation is initially set up,
In formula, UdIndicate the direct-axis voltage in direct-axis voltage equation；LdIndicate d axle inductances；LqIndicate q axle inductances；R is fixed
Sub- resistance；ω is the rotating speed of servo motor；idFor direct-axis current；iqFor quadrature axis current；
Enable d=Rid-ωLqiqIt is coupled for d-axis, design observer obtains the estimated value of dObserver form is according to specific
Demand selects；
Further, the form of the observer is：
In formula, z is that voltage observes intermediate variable,For the differential of z,Estimated value is coupled for d-axis, L is d-axis disturbance observation
Device gain, u are that the control of observation object inputs, and x is the state variable of observation object, and choosing suitable L can ensureIt levels off to
d。
Further, the step 3 is specially：
Enable ud1By use direct-axis current adjuster output, the d-axis obtained in conjunction with step 2 couples estimated valueI.e.
Producible direct-axis voltage is
Further, the step 4 is specially：
Enable uqFor quadrature-axis voltage, the weak magnetic limiting voltage u obtained in conjunction with step 1smaxThe direct-axis voltage obtained with step 3
ud, generating quadrature-axis voltage at once is
Advantageous effect：
The present invention can way of realization be simple, the better AC servo current control of dynamic property, the specific table of advantageous effect
It is now：
(1) form is simple, easy to implement.Compared with existing single electric current ring adjusts weak magnetic algorithm, control logic of the invention
Do not become excessively complicated, is equally easily achieved in engineering.
(2) it is adjusted by disturbance observation and coupling, eliminates that the cross, straight shaft current ring of servo motor is non-linear and close coupling pair
The adverse effect that dynamic property is brought.
(3) advantageous effect in Fig. 3 comparative illustrations present invention.As can be seen from Figure 3 existing single electric current ring is adjusted weak
The control mode of magnetic algorithm and the present invention all have good stability, steady-state error ≈ 0, and in dynamic property, the present invention
It is substantially better than the prior art.
Description of the drawings
Fig. 1 is the step flow chart illustration of the present invention.
Fig. 2 is control principle drawing after the weak magnetic of the present invention is enabled, and undefined variable is well known in the art in figure
Definition mode, therefore be not repeated to define.
Fig. 3 is beneficial effects of the present invention analogous diagram.Wherein solid line indicates that given rotating speed, dotted line indicate existing single electric current ring
The control effect of weak magnetic algorithm is adjusted, dotted line indicates the control effect of the present invention.
Specific implementation mode
The present invention is further described below in conjunction with the accompanying drawings.
The present invention is a kind of field weakening control method of servo motor, specifically a kind of to be compensated and coupled adjusting based on observation
Field weakening control method, steps flow chart is as shown in Figure 1, be as follows：
Step 1：Weak magnetic enables judging unit, acquires weak magnetic limiting voltage u according to DC bus-bar voltage firstsmax, then
Compare weak magnetic limiting voltage and motor terminal voltage usSize.If us≥usmax, then weak magnetic is enabled, enters step two；If us＜
usmax, then weak magnetic do not enable, use id=0 algorithm.
Step 2：D-axis couples observing unit, and designing d-axis according to direct-axis voltage equation couples observation algorithm, estimates straight
Axis disturbs
Step 3：Direct-axis voltage generation unit couples estimated value by the d-axis that step 2 obtainsIt is adjusted with direct-axis current
Device generates direct-axis voltage ud；
Step 4：Quadrature-axis voltage generation unit, the weak magnetic limiting voltage u obtained according to step 1smaxIt is obtained with step 3
Direct-axis voltage udGenerate quadrature-axis voltage uq。
In order to illustrate the specific implementation mode of the present invention, it is illustrated with reference to Matlab R2014a softwares.Emulation electricity
Machine parameter is set as：Stator resistance R is 0.968 Ω；Number of pole-pairs nPIt is 4；D axle inductances LdFor 2.16mH；Q axle inductances LqFor
2.16mH；Rated current is 4A；Rated speed is 3000rpm, and the current loop control period is 50 μ s.
Detailed design step explanation is made to the embodiment of the present invention below in conjunction with the accompanying drawings.
Step 1：Weak magnetic enables judging unit, first according to DC bus-bar voltage udcAcquire weak magnetic limiting voltage usmax, so
After compare weak magnetic limiting voltage and terminal voltage usSize.If us≥usmax, then weak magnetic is enabled, enters step two；If us＜ usmax,
Then weak magnetic does not enable, and does not use weak magnetic algorithm, and uses id=0 algorithm.
The weak magnetic limiting voltage usmaxIt is the exportable maximum voltage amplitude of control major loop inverter of servo motor,
The DC bus-bar voltage udcIt is voltage added on DC bus on the control major loop of servo motor, weak magnetic limiting voltage
usmaxIt can be according to DC bus-bar voltage udcIt acquires, shown in concrete mode such as formula (1).
The terminal voltage usIt can be by the direct-axis voltage u of servo motordWith quadrature-axis voltage uqIt acquires, concrete mode such as formula (2) institute
Show.
If terminal voltage is greater than or equal to weak magnetic limiting voltage, i.e. us≥usmax, then weak magnetic is enabled, using Step 2: three,
The four weak magnetic algorithms indicated；If terminal voltage is less than weak magnetic limiting voltage, i.e. us＜ usmax, then weak magnetic do not enable, do not use step
Two, three, the four weak magnetic algorithm indicated, and use existing id=0 algorithm.
The existing idIt is 0 that=0 algorithm, which refers to d-axis, to constant current, and quadrature axis is the output of motor speed ring to constant current
A kind of traditional control method.
Step 2：D-axis couples observing unit, and designing d-axis according to direct-axis voltage equation couples observation algorithm, estimates straight
Axis disturbs
Shown in the direct-axis voltage equation such as formula (3),
In formula, UdIndicate the direct-axis voltage in direct-axis voltage equation；LdIndicate d axle inductances；LqIndicate q axle inductances；R is fixed
Sub- resistance；ω is the rotating speed of servo motor；idFor direct-axis current；iqFor quadrature axis current.
Ri in formula (3)d-ωLqiqBy the prior art it is difficult to simply and accurately find out.Enable d=Rid-ωLqiqIt is straight
Axis couples, and the present invention estimates that d, observer form are selected according to specific requirements by designing observer.For example choose following sight
Survey device equation：
In formula, z is that voltage observes intermediate variable,For the differential of z,Estimated value is coupled for d-axis, L is d-axis disturbance observation
Device gain, u are that the control of observation object inputs, and x is the state variable of observation object.Choosing suitable L can ensureIt levels off to
d。
Step 3：Direct-axis voltage generation unit couples estimated value by the d-axis that step 2 obtainsIt is adjusted with direct-axis current
Device generates direct-axis voltage ud。
Common direct-axis current pi regulator may be used in the direct-axis current adjuster, can also use other forms
Adjuster.Here by the art frequently with direct-axis current pi regulator for, illustrate the algorithm embodiment party of this step
Formula.Shown in the form such as formula (5) of direct-axis current pi regulator used,
In formula, ud1For the output of direct-axis current pi regulator,It is d-axis to constant current, KpFor proportional gain, KiFor integral
Gain.
According to the output u of direct-axis current pi regulatord1The d-axis obtained with step 2 couples estimated valueIt produces straight
Shaft voltage ud, as shown in formula (6).
Step 4：Quadrature-axis voltage generation unit, the weak magnetic limiting voltage u obtained according to step 1smaxIt is obtained with step 3
Direct-axis voltage udGenerate quadrature-axis voltage uq。
Here after entering weak magnetic due to servo motor, terminal voltage reaches capacity, it is possible to directly pass through the weak magnetic limit
Voltage usmaxThe direct-axis voltage u obtained with step 3dGenerate quadrature-axis voltage uq, as shown in formula (7).
Advantageous effect analogous diagram as of the invention shown in figure 3.Wherein solid line indicates that given rotating speed, dotted line indicate existing list
Electric current loop adjusts the control effect of weak magnetic algorithm (prior art), and dotted line indicates the control effect of the present invention.In order to illustrate dynamic
Response performance, using overshoot and regulating time as dynamic indicator, the dynamic property of the present invention and the prior art is compared such as following table institute
Show, wherein regulating time is on the basis of entering 5% error band.
| The present invention | The prior art | |
| Overshoot (%) | 0.5 | 2.5 |
| Regulating time (ms) | 12 | 86 |
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of field weakening control method adjusted based on observation compensation and coupling, which is characterized in that include the following steps：
Step 1：Weak magnetic enables judging unit, acquires weak magnetic limiting voltage u according to DC bus-bar voltage firstsmax, then compare
Weak magnetic limiting voltage and motor terminal voltage usSize, if us≥usmax, then weak magnetic is enabled, two is entered step, if us＜ usmax, then
Weak magnetic does not enable, and uses id=0 control；
Step 2：D-axis couples observing unit, and designing d-axis according to direct-axis voltage equation couples observation algorithm, obtains d-axis coupling
Estimated valueStep 2 is specially：
Following direct-axis voltage equation is initially set up,
In formula, UdIndicate the direct-axis voltage in direct-axis voltage equation；LdIndicate d axle inductances；LqIndicate q axle inductances；R is stator electricity
Resistance；ω is the rotating speed of servo motor；idFor direct-axis current；iqFor quadrature axis current；
Enable d=Rid-ωLqiqIt is coupled for d-axis, design observer obtains the estimated value of dObserver form is according to specific requirements
Selection；
The form of the observer is：
In formula, z is that voltage observes intermediate variable,For the differential of z,Estimated value is coupled for d-axis, L increases for d-axis disturbance observer
Benefit, u are that the control of observation object inputs, and x is the state variable of observation object, and choosing suitable L can ensureLevel off to d；
Step 3：Direct-axis voltage generation unit couples estimated value by the d-axis that step 2 obtainsIt is raw with direct-axis current adjuster
At direct-axis voltage ud；
Step 4：Quadrature-axis voltage generation unit, the weak magnetic limiting voltage u obtained according to step 1smaxThe d-axis obtained with step 3
Voltage udGenerate quadrature-axis voltage uq。
2. the field weakening control method according to claim 1 adjusted based on observation compensation and coupling, which is characterized in that described
Step 3 is specially：
Enable ud1By use direct-axis current adjuster output, the d-axis obtained in conjunction with step 2 couples estimated valueProduce
Direct-axis voltage is
3. the field weakening control method according to claim 2 adjusted based on observation compensation and coupling, which is characterized in that described
Step 4 is specially：
Enable uqFor quadrature-axis voltage, the weak magnetic limiting voltage u obtained in conjunction with step 1smaxThe direct-axis voltage u obtained with step 3d, i.e.,
Carving generation quadrature-axis voltage is
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| CN107359834B (en) * | 2017-02-23 | 2020-06-19 | 北京交通大学 | Square wave single-ring weak magnetic control method for asynchronous traction motor of high-speed train |
| CN108494305B (en) * | 2018-04-11 | 2020-03-06 | 深圳市道通智能航空技术有限公司 | Motor acceleration method and device, electronic speed regulator and unmanned aerial vehicle |
| CN110838810A (en) * | 2019-11-27 | 2020-02-25 | 四川虹美智能科技有限公司 | Motor control method and device |
| CN113517834B (en) * | 2021-07-14 | 2023-03-21 | 中国第一汽车股份有限公司 | Motor control method, device and system |
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