CN106487300B - A kind of AC servo motor based on the control of magnetic linkage angle - Google Patents
A kind of AC servo motor based on the control of magnetic linkage angle Download PDFInfo
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- CN106487300B CN106487300B CN201611027394.5A CN201611027394A CN106487300B CN 106487300 B CN106487300 B CN 106487300B CN 201611027394 A CN201611027394 A CN 201611027394A CN 106487300 B CN106487300 B CN 106487300B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, 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
- 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
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of permanent magnet synchronous servo motor control method, by using the angled relationships between stator and rotor flux, determines the input of SVPWM units, and then realize the control to permanent magnet synchronous servo motor.The three-phase current exported by detecting inverter, consider that the electromagnetic torque of permanent magnet synchronous servo motor is calculated in the coordinate transform under dq coordinate systems and control law.By Voltage-Current model it is estimated that the amplitude of stator magnetic linkage.Because the angle of change stator, rotor flux can realize direct torque, i.e., compensate torque error by controlling angle error.Speed control then uses nonlinear control method, and by exporting the reference value of electromagnetic torque after speed regulator, the controlled quentity controlled variable of angle is then obtained by the torque value with calculating more afterwards for velocity error.Voltage control instructions are obtained by voltage equation again, the action time of the voltage vector of selection are calculated using SVPWM, and then by the switch controlling signal of output inverter, realize the direct torque to permanent magnet synchronous servo motor.
Description
【Technical field】
The present invention relates to motor control technology field, more particularly to a kind of permanent magnet synchronous servo motor based on direct torque
Control method.
【Background technology】
Permanent-magnet material is recognized by everybody very early, in recent years, rare earth permanent-magnetic material because its higher residual flux density, rectify
Stupid power and high energy product and be applied in the design of synchronous motor.Permagnetic synchronous motor (PMSM) itself fills in the absence of excitation
Put, just without excitation loss, its mechanical property is harder, and disturbance rejection effect is good, and this make it that its security, stability and power are close
Degree etc. is greatly improved.Meanwhile in speed regulating control, permagnetic synchronous motor has larger speed adjustable range and higher power
Factor.Based on above advantage, permagnetic synchronous motor can meet runnability and the higher servo-drive control of technical indicator demand
System processed.
At present, the more popular control method of permanent magnet synchronous servo motor is the vector control using speed and current double closed-loop
System, speed ring substantially utilize traditional PI controllers, and PI controls have algorithm simple, and parameter adjustment is convenient, but PI controls this
It is a kind of linear control method in matter, and permanent magnet synchronous servo motor has the nonlinear characteristic of the change of parameter, this just makes
It is not high to obtain PI control accuracies, desired performance indications when can not keep designing, can not also solve dynamic characteristic and stable state accuracy
Between contradiction, its system robustness is poor.
In addition, in the prior art, servo-control system also includes direct torque mode.In direct torque mode, application
That more is controller loading SVPWM, i.e. space vector pulse width modulation (Space Vector Pulse Width
Modulation) algorithm, and traditional SVPWM algorithms are realized based on Orthogonal Decomposition voltage vector, it generally passes through
Sector where voltage vector and action time are solved, need to carry out quadrature component complex calculation, operation in calculating process
Time is longer, and control system operational efficiency is relatively low.
【The content of the invention】
In order to solve the problems, such as existing permanent magnet synchronous servo motor control, the invention provides one kind to be based on direct torque
Permanent magnet synchronous servo motor control method.
Technical scheme is as follows：Present invention employs a kind of new permanent magnet synchronous servo motor control strategy, pass through determination
The relation of stator and rotor flux angle, to determine the input of SVPWM units, and then by controlling stator and rotor flux angle
To realize the control to permanent magnet synchronous servo motor.The three-phase current exported by detecting inverter, considers under dq coordinate systems
The electromagnetic torque of permanent magnet synchronous servo motor is calculated in coordinate transform and control law.It can be evaluated whether by Voltage-Current model
Go out the amplitude of stator magnetic linkage.Because the angle δ of change stator, rotor flux can realize direct torque, i.e. by controlling Δ δ
Compensate torque error Δ TeSpeed control then uses nonlinear control method, and velocity error after speed regulator then by exporting
The reference value of electromagnetic torque, obtain the controlled quentity controlled variable of angle more afterwards by the torque value with calculating.Obtained again by voltage equation
Voltage control instructions, the action time of the voltage vector of selection, and then the switch for passing through output inverter are calculated using SVPWM
Control signal, realize the direct torque to permanent magnet synchronous servo motor.
Its derivation is as follows：
Clarke transformation for mula is：
Park is transformed to：
Shown in change such as formula (3) between dq coordinate systems and abc coordinate systems：
After being decoupled by coordinate transform, the mathematical modeling for obtaining permanent magnet synchronous servo motor in dq coordinate systems is described as follows：
Voltage equation：
Flux linkage equations：
Electromagnetic torque equation：Tem=pn(ψpmiq-ψpmid)=pn[ψpmiq+(Ld-Lq)·idiq] (6)
Wherein：δ is stator, the angle of rotor flux, and Δ δ is variable angle amount, RsFor stator resistance, ud、idFor on d axles
Component of voltage, current component；uq、iqFor the component of voltage on q axles, current component；ωrAngular frequency is rotated for dq coordinate systems；
ψd、ψqFor magnetic linkage of the permanent magnet on dq axles；L is the equivalent armature inductance on dq coordinate systems；ψsFor stator magnetic linkage, ψpmFor permanent magnetism
Magnetic linkage caused by body；pnFor magnetic pole logarithm；
With magnetic linkage ψ under d axlesdExemplified by, it is assumed that t stator magnetic linkage is ψs(δ), after a period of time, determining to t+ time Δts
Sub- magnetic linkage is changed into ψs(δ+Δ δ), if reference value isMagnetic linkage is ψ under d axlesd(δ+Δ δ), TsFor switch periods.Then：
It is also possible to obtain with magnetic linkage ψ under q axlesq(δ+Δ δ), the above results are substituted into formula (4), you can realize
The control of SVPWM input blocks.
Speed control ring obtains the output of speed by the method for nonlinear Control, it is assumed that there are a controlled quentity controlled variable V1, then
Its output difference is：
Wherein, J is rotary inertia, and B is coefficient of viscosity, TLFor load torque,
Using first-order system configuration parameter V1, i.e.,Wherein, K1For control parameter undetermined,For
Rotor velocity set-point；Then：
Pass through governing speed parameter V1, export iqSet-point, it is final to obtain torque reference value.
Beneficial effects of the present invention：Present invention employs a kind of new permanent magnet synchronous servo motor control strategy, pass through
The relation of stator and rotor flux angle is determined, to determine the input of SVPWM units, and then by controlling stator and rotor flux
Angle realizes the control to permanent magnet synchronous servo motor.Employ by controlling Δ δ to compensate torque error Δ TeWith it is non-linear
After controlling speed method, the response speed of motor control is improved, the Ability of Resisting Disturbance of system is enhanced, suppresses trembling for speed
It is dynamic, it can be operated in complex environment.And solve needs to quadrature component in traditional SVPWM algorithm calculating process
Carry out complex calculation, the problem of run time is longer, and control system operational efficiency is relatively low.
【Brief description of the drawings】
Accompanying drawing described herein be for providing a further understanding of the present invention, forming the part of the application, but
Inappropriate limitation of the present invention is not formed, in the accompanying drawings：
Fig. 1 is the flux linkage vector figure of the permanent magnet synchronous servo motor of the present invention
Fig. 2 is the voltage vector computing block diagram of the permanent magnet synchronous servo motor of the present invention
Fig. 3 is the torque simulation curve of the present invention
【Embodiment】
The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment, illustrative examples therein and is said
It is bright to be only used for explaining the present invention, but it is not intended as inappropriate limitation of the present invention.
Referring to accompanying drawing 1, abc is three-phase static coordinate system, and α β are two-phase stator coordinate, and dq is rotor coordinate, selectes α
Direction of principal axis is consistent with motor stator a phase winding axis, and θ is the rotor space of rotor magnetic pole d axles relative stator a phase windings or α axles
Position angle；δ is stator and rotor flux linkage vector angle.
Clarke transformation for mula is：
Park is transformed to：
Change between dq coordinate systems and abc coordinate systems is as shown by the equation：
After being decoupled by coordinate transform, the mathematical modeling for obtaining permanent magnet synchronous servo motor in dq coordinate systems is described as follows：
Voltage equation：
Flux linkage equations：
Electromagnetic torque equation：Tem=pn(ψpmiq-ψpmid)=pn[ψpmiq+(Ld-Lq)·idiq]
Wherein：δ is stator, the angle of rotor flux, and Δ δ is variable angle amount, RsFor stator resistance, ud、idFor on d axles
Component of voltage, current component；uq、iqFor the component of voltage on q axles, current component；ωrAngular frequency is rotated for dq coordinate systems；
ψd、ψqFor magnetic linkage of the permanent magnet on dq axles；L is the equivalent armature inductance on dq coordinate systems；ψsFor stator magnetic linkage, ψpmFor permanent magnetism
Magnetic linkage caused by body；pnFor magnetic pole logarithm；
With magnetic linkage ψ under d axlesdExemplified by, it is assumed that t stator magnetic linkage is ψs(δ), after a period of time, determining to t+ time Δts
Sub- magnetic linkage is changed into ψs(δ+Δ δ), if reference value isMagnetic linkage is ψ under d axlesd(δ+Δ δ), TsFor switch periods.Then：
It is also possible to obtain with magnetic linkage ψ under q axlesq(δ+Δ δ), the above results are updated in voltage equation, you can are realized
The control of SVPWM input blocks.
Speed obtains the output of speed by the method for nonlinear Control, it is assumed that there are a controlled quentity controlled variable V1, then its output
Difference is：
Wherein, J is rotary inertia, and B is coefficient of viscosity, TLFor load torque,
Using first-order system configuration parameter V1, i.e.,Wherein, K1For control parameter undetermined,For
Rotor velocity set-point；Then：
Pass through governing speed parameter V1, export iqSet-point, it is final to obtain torque reference value.
Fig. 2 is the voltage vector computing block diagram of the permanent magnet synchronous servo motor of the invention, wherein, 1 is permanent magnet magnetic
Magnetic linkage, 2 be the angle δ of stator, rotor flux, and 3 be rotation angular frequencyr, 4,5 be d, q axle magnetic linkage ψd、ψq, 6,7 be d, q axle electricity
Flow id、iq, 11,12 be d, q shaft voltage ud、uq, 13 be magnetic linkage computing unit.Fig. 3 is to select gain of parameter according to above-mentioned steps
Torque simulation curve.
Described above is only the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (1)
1. a kind of permanent magnet synchronous servo motor control method, it is characterised in that speed control is obtained by nonlinear control method
Output valve, using the angled relationships between stator and rotor flux, the input of SVPWM units is determined, and then by controlling stator
The control to permanent magnet synchronous servo motor is realized with rotor flux angle；The three-phase current exported by detecting inverter, is examined
Consider the coordinate transform under dq coordinate systems and the electromagnetic torque of permanent magnet synchronous servo motor is calculated in control law；Pass through voltage electricity
Flow model estimates the amplitude of stator magnetic linkage；Because the angle δ of change stator, rotor flux can realize direct torque, i.e. logical
Cross control Δ δ compensation torque error Δs Te；Speed control then uses nonlinear control method, and velocity error is then adjusted by speed
The reference value of electromagnetic torque is exported after device, obtains the controlled quentity controlled variable of angle more afterwards by the torque value with calculating；Pass through electricity again
Pressure equation obtains voltage control instructions, and the action time of the voltage vector of selection is calculated using SVPWM, and then inverse by exporting
Become the switch controlling signal of device, realize the direct torque to permanent magnet synchronous servo motor；
Wherein, speed obtains the output of speed by the method for nonlinear Control, it is assumed that there are a controlled quentity controlled variable V1, then its output
Difference is：
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Using first-order system configuration parameter, i.e.,Wherein, K1For control parameter undetermined,For rotor angle
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Controlled using SVPWM, the input of SVPWM units is calculated as:
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T stator magnetic linkage is ψs(δ), after a period of time, being changed into ψ to t+ time Δt stator magnetic linkagess(δ+Δ δ), if stator
The reference value of magnetic linkage isMagnetic linkage is ψ under d axlesd(δ+Δ δ), TsFor switch periods；δ is stator, the angle of rotor flux, Δ δ
For variable angle amount, RsFor stator resistance, ud、idFor the component of voltage on d axles, current component；uq、iqFor the voltage on q axles point
Amount, current component；ψd、ψqFor magnetic linkage of the permanent magnet on dq axles；L is the equivalent armature inductance on dq coordinate systems；ψsFor stator magnet
Chain.
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| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
| CN103427749A (en) * | 2012-05-22 | 2013-12-04 | 北京航天发射技术研究所 | Permanent magnet synchronous motor servo control method based on per unit value design |
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| JP6451984B2 (en) * | 2014-12-26 | 2019-01-16 | 日本電産株式会社 | Motor controller |
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| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
| CN103427749A (en) * | 2012-05-22 | 2013-12-04 | 北京航天发射技术研究所 | Permanent magnet synchronous motor servo control method based on per unit value design |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
| CN105610372A (en) * | 2016-01-21 | 2016-05-25 | 华中科技大学 | Direct torque control method and system for surface permanent magnet synchronous motor |
| CN105915137A (en) * | 2016-06-22 | 2016-08-31 | 广东工业大学 | Permanent magnet synchronous motor control method and device based on sliding mode variable structure |
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