CN106533297B - A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering - Google Patents
A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering Download PDFInfo
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- CN106533297B CN106533297B CN201611197932.5A CN201611197932A CN106533297B CN 106533297 B CN106533297 B CN 106533297B CN 201611197932 A CN201611197932 A CN 201611197932A CN 106533297 B CN106533297 B CN 106533297B
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- adjustable magnetic
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- kalman filtering
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- logical value
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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
Abstract
The stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering that the invention discloses a kind of.This method is using both ends of filter capacitor voltage and adjustable magnetic around group pulse as state variable, filter inductance electric current will be flowed through as input quantity simultaneously, by Kalman filtering algorithm on being adjusted by the adjustable magnetic pulse of control noise and measurement noise influence, the adjustable magnetic pulse after adjustment is then subjected to two-way quantitative control again.Present invention improves adjustable magnetic impulse waveforms, improve adjustable magnetic pulse precision, and predict current estimated value by previous moment state value, improve the dynamic following performance of adjustable magnetic pulse.Thus, suitable for drive and the stator permanent magnetic type memory electrical machine debugging system of online adjustable magnetic Collaborative Control.
Description
Technical field
The stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering that the present invention relates to a kind of belonging to motor driving
With online adjustable magnetic control technology field.
Background technology
Stator permanent magnetic type memory electrical machine adjustable magnetic pulse determines the size of the adjustable permanent magnet flux linkage of magnetized state, and then influences
The overall performance of the system of driving and online adjustable magnetic Collaborative Control.Thus, how to obtain more accurate adjustable magnetic pulse becomes note
Recall motor can high-performance operation key.Currently, adjustable magnetic pulse quantitative control method is to be applied to stator permanent magnetic type memory electricity
A kind of method of machine closed loop adjustable magnetic control.This method can realize the two-way quantitative control of adjustable magnetic pulse, but in feedback control procedure
In, measurement noise reduces the control accuracy of PI controllers with control noise, so that controller parameter is difficult to adjust automatically, works as interference
When serious, poor adjustable magnetic impulse waveform cannot be satisfied driving and the control of online adjustable magnetic requires.
Invention content
Goal of the invention：In view of the above shortcomings of the prior art, a kind of stator permanent magnetic type note based on Kalman filtering is proposed
Recall motor adjustable magnetic method, can well suppression system measurement noise and control noise, improve adjustable magnetic pulse output waveform.
Technical solution：A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering, includes the following steps：
1) sensor acquisition both ends of filter capacitor voltage u is used0, adjustable magnetic is around group pulse i0And flow through filter inductance electric current iL；
2) relationship that voltage and current can be obtained according to Kirchhoff's law is：
In formula, C0For filter capacitor capacitance, R0And L0Respectively adjustable magnetic winding equivalent resistance and inductance value；
3) when with u0And i0For state variable, iLFor input quantity when, state equation is as follows：
In formula：For the first derivative of state variable, x (t)=[i0(t),u0(t)]T, w (t) and v (t) difference are in order to control
Noise and measurement noise vector, matrix A, B, C are respectively
C=[1,0]
4) when the sampling period be T when, to matrix A, B, C carry out sliding-model control, it is discrete after by A1、B1、C1It indicates：
5) the Kalman state equation of discretization is
In formula, x (k)=[i0(k),u0(k)]T, y (k)=i0(k)；
6) by step 1)~5) described in Kalman filtering after, can be obtained what uncontrolled noise and measurement noise influenced
Adjustable magnetic pulse i0, i0With given adjustable magnetic pulseDeviation obtain signal epsilon after pi regulator is handled and be divided into two-way, all the way with three
Angle wave carrier signal signal generates drive signal η, η and obtains drive signal η after symbol decision and the dead time more afterwards1；It is another
Road obtains output logical value λ, λ after first comparator judges the bias direction of signal epsilon and obtains logical value by logic " non-"
The logical value λ and η1λ η are obtained through the second multiplying1, the logical valueWith η1It is obtained through the first multiplying
7) adjustable magnetic pulse is givenThe logical value γ and λ η obtained by the second comparator1After the first logical "and"
Obtain drive signal g1And g4Control the power tube V of single-phase full-bridge inverter1And V4Break-make, and the logical value γ withThrough
Drive signal g is obtained after second logical "and"2And g3Control the power tube V of single-phase full-bridge inverter2And V3Break-make.
Advantageous effect：A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering of the present invention has such as
Lower advantage：
1. can effectively inhibit to control the influence of noise and measurement noise to control system, improves adjustable magnetic impulse waveform, carry
Lofty tone magnetic field impulse precision；
2. Kalman filter predicts current estimated value by previous moment state value, improve the dynamic of adjustable magnetic pulse with
With performance.
Description of the drawings
Fig. 1 is a kind of stator permanent magnetic type memory electrical machine adjustable magnetic method control system block diagram based on Kalman filtering；
The simulation waveform of given adjustable magnetic pulse and tracking adjustable magnetic pulse deviation when Fig. 2 is positive adjustable magnetic；
The simulation waveform of given adjustable magnetic pulse and tracking adjustable magnetic pulse deviation when Fig. 3 is reversed adjustable magnetic.
Specific implementation mode
Further explanation is done to the present invention below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering, magnetism-regulating structure packet
It is u to include output voltagedDC power supply, direct voltage output connect single-phase full-bridge inverter input terminal, single-phase full bridge inversion
The output of device is connected to the adjustable magnetic winding of stator permanent magnetic type memory electrical machine through LC filter circuits.
A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering, includes the following steps：
1) sensor acquisition both ends of filter capacitor voltage u is used0, adjustable magnetic is around group pulse i0And flow through filter inductance electric current iL；
2) relationship that voltage and current can be obtained according to Kirchhoff's law is：
In formula, C0For filter capacitor capacitance, R0And L0Respectively adjustable magnetic winding equivalent resistance and inductance value；
3) when with u0And i0For state variable, iLFor input quantity when, state equation is as follows：
In formula：For the first derivative of state variable, x (t)=[i0(t),u0(t)]T, w (t) and v (t) difference are in order to control
Noise and measurement noise vector, matrix A, B, C are respectively
C=[1,0]
4) when the sampling period be T when, to matrix A, B, C carry out sliding-model control, it is discrete after by A1、B1、C1It indicates：
5) the Kalman state equation of discretization is
In formula, x (k)=[i0(k),u0(k)]T, y (k)=i0(k)；
6) by step 1)~5) described in Kalman filtering after, can be obtained what uncontrolled noise and measurement noise influenced
Adjustable magnetic pulse i0, i0With given adjustable magnetic pulseDeviation obtain signal epsilon after pi regulator is handled and be divided into two-way, all the way with three
Angle wave carrier signal signal generates drive signal η, η and obtains drive signal η after symbol decision and the dead time more afterwards1；It is another
Road obtains output logical value λ, λ after first comparator judges the bias direction of signal epsilon and obtains logical value by logic " non-"
The logical value λ and η1λ η are obtained through the second multiplying1, the logical valueWith η1It is obtained through the first multiplying
7) adjustable magnetic pulse is givenThe logical value γ and λ η obtained by the second comparator1After the first logical "and"
Obtain drive signal g1And g4Control the power tube V of single-phase full-bridge inverter1And V4Break-make, and the logical value γ withThrough
Drive signal g is obtained after second logical "and"2And g3Control the power tube V of single-phase full-bridge inverter2And V3Break-make.
A kind of stator permanent magnetic type memory electricity based on Kalman filtering has been built using Matlab/Simulink simulation softwares
Machine adjustable magnetic method, Fig. 2 and Fig. 3 provide the emulation wave of given adjustable magnetic pulse and tracking adjustable magnetic pulse deviation when forward and reverse adjustable magnetic respectively
Shape.By Fig. 2 and Fig. 3 it is found that the present invention realizes adjustable magnetic pulse is more accurately controlled, be conducive to improve stator permanent magnetic type memory
The adjustable magnetic effect of motor.
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 (1)
1. a kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering, it is characterised in that：Include the following steps：
1) sensor acquisition both ends of filter capacitor voltage u is used0, adjustable magnetic is around group pulse i0And flow through filter inductance electric current iL；
2) relationship that voltage and current can be obtained according to Kirchhoff's law is：
In formula, C0For filter capacitor capacitance, R0And L0Respectively adjustable magnetic winding equivalent resistance and inductance value；
3) when with u0And i0For state variable, iLFor input quantity when, state equation is as follows：
In formula：For the first derivative of state variable, x (t)=[i0(t),u0(t)]T, w (t) and v (t) distinguish noise in order to control
With measurement noise vector, matrix A, B, C are respectively
4) when the sampling period be T when, to matrix A, B, C carry out sliding-model control, it is discrete after by A1、B1、C1It indicates：
5) the Kalman state equation of discretization is
In formula, x (k)=[i0(k),u0(k)]T, y (k)=i0(k)；
6) by step 1)~5) described in Kalman filtering after, the adjustable magnetic that uncontrolled noise and measurement noise influence can be obtained
Pulse i0, i0With given adjustable magnetic pulseDeviation obtain signal epsilon after pi regulator is handled and be divided into two-way, all the way with triangular wave
Carrier signal generates drive signal η, η and obtains drive signal η after symbol decision and the dead time more afterwards1；Another way passes through
First comparator judges that obtain output logical value λ, λ after the bias direction of signal epsilon obtains logical value by logic " non-"It is described
Logical value λ and η1λ η are obtained through the second multiplying1, the logical valueWith η1It is obtained through the first multiplying
7) adjustable magnetic pulse is givenThe logical value γ and λ η obtained by the second comparator1It is obtained after the first logical "and"
Drive signal g1And g4Control the power tube V of single-phase full-bridge inverter1And V4Break-make, and the logical value γ withThrough second
Drive signal g is obtained after logical "and"2And g3Control the power tube V of single-phase full-bridge inverter2And V3Break-make.
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| CN201611197932.5A CN106533297B (en) | 2016-12-22 | 2016-12-22 | A kind of stator permanent magnetic type memory electrical machine adjustable magnetic method based on Kalman filtering |
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| US7276877B2 (en) * | 2003-07-10 | 2007-10-02 | Honeywell International Inc. | Sensorless control method and apparatus for a motor drive system |
| CN102176653A (en) * | 2011-01-19 | 2011-09-07 | 哈尔滨工业大学 | Method for observing rotary speed of induction motor of Kalman filter with index fading factor |
| CN103296959B (en) * | 2013-05-29 | 2015-10-28 | 西安交通大学 | Permagnetic synchronous motor senseless control system and method |
| CN103414416A (en) * | 2013-07-11 | 2013-11-27 | 中国大唐集团科学技术研究院有限公司 | Permanent magnet synchronous motor sensorless vector control system based on EKF |
| CN103956956B (en) * | 2014-05-13 | 2017-01-04 | 北京理工大学 | A kind of brshless DC motor method for estimating state based on extended Kalman filter |
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