CN106602950B - Electric current loop decoupling control method and system based on complex vector - Google Patents
Electric current loop decoupling control method and system based on complex vector Download PDFInfo
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- CN106602950B CN106602950B CN201611118335.9A CN201611118335A CN106602950B CN 106602950 B CN106602950 B CN 106602950B CN 201611118335 A CN201611118335 A CN 201611118335A CN 106602950 B CN106602950 B CN 106602950B
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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
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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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Abstract
The present invention relates to permanent magnet synchronous motor control fields, disclose a kind of electric current loop decoupling control method and system based on complex vector.In the present invention, according to the d axis of permanent magnet synchronous motor, q shaft voltage equation, the first complex vector transmission function of the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor is constructed on d-q coordinate system；The current rotating speed of permanent magnet synchronous motor is introduced to the electric current loop of the complex vector model of permanent magnet synchronous motor, construction one has the second complex vector transmission function of the complex vector decoupling controller of plural zero point；The core parameter for setting the second complex vector transmission function of complex vector decoupling controller, so that the plural zero point of the second complex vector transmission function and the pole of the first complex vector transmission function of electric current loop controlled device offset completely；It is controlled using electric current loop of the complex vector decoupling controller to permanent magnet synchronous motor, the control performance of electric current loop can be effectively improved.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control fields, in particular to the electric current loop decoupling control method based on complex vector
And system.
Background technique
Permanent magnet synchronous motor (permanent magnet synchronous motors, PMSM) is because its is high-efficient, volume
Small, the features such as power density is big, torque pulsation is small and be widely used in AC servo field.Vector controlled it is high performance forever
Magnetic-synchro SERVO CONTROL field has been widely used, and the synchronous proportional based on synchronous coordinate system integrates (proportional
Integral, PI) controller can realize the adjusting and tracking of current-order, and steady track in the biggish range of speeds
Can be good, thus become the industrial standard of alternating current generator current control.
Under synchronous rotating frame, there are cross-couplings for d-q axis, and with the raising of revolving speed, and coupled voltages account for fixed
The specific gravity of sub- voltage is gradually increased, and the influence of coupling also can be increasingly severe.Electric voltage feed forward decoupling control (voltage
Feed forward decoupling control, VFDC) using feedback current and revolving speed calculating coupling terms, use electric voltage feed forward
To offset the coupling terms of rotating coordinate transformation introducing.Compared with traditional Current Feedback Control, response speed can be improved and move
Step response.But electric voltage feed forward decoupling control is sensitive to Parameters variation.In system operation, the variation of the parameter of electric machine be will lead to
The inaccuracy of cross decoupling item in voltage equation, and when low switching frequency, it also can not be full decoupled, and then lead to current regulation
The dynamic property of device is not very ideal.
To improve decoupling effect, scholars propose different schemes: d, q shaft current is may be implemented in dynamic decoupling strategy
Systematic steady state performance is decoupled and improved, but needs biggish proportional gain, easily causes overshoot；Decoupling controller based on internal model
It is a kind of decoupling method with robustness, but needs to do between decoupling effect and response speed to compromise；Solution based on deviation
The advantages of coupling controller has Internal Model Decoupling concurrently, but system enter stable state before will appear reforming phenomena；Decoupling neural network based
Method needs to find rule in advance, it has not been convenient to promote the use of.
Summary of the invention
The purpose of the present invention is to provide a kind of electric current loop decoupling control method and system based on complex vector, can effectively mention
The control performance of high current ring.
In order to solve the above technical problems, embodiments of the present invention provide a kind of electric current loop decoupling control based on complex vector
Method processed comprising the steps of:
Obtain the first complex vector transmission function of the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor；
The current rotating speed of permanent magnet synchronous motor is introduced to the electric current loop of the complex vector model of permanent magnet synchronous motor, constructs one
There is the second complex vector transmission function of the complex vector decoupling controller of plural zero point；
The core parameter of the second complex vector transmission function of complex vector decoupling controller is set, so that the second complex vector is transmitted
The plural zero point of function and the pole of the first complex vector transmission function of electric current loop controlled device offset completely；
It is controlled using electric current loop of the complex vector decoupling controller to permanent magnet synchronous motor.
Embodiments of the present invention additionally provide a kind of electric current loop decoupling and controlling system based on complex vector, include: multiple arrow
Measure decoupling controller, SVPWM inverter, permanent magnet synchronous motor and speed ring PI controller, complex vector decoupling controller with
SVPWM inverter, speed ring PI controller and permanent magnet synchronous motor connection, permanent magnet synchronous motor are connect with SVPWM inverter,
Speed ring PI controller is also connect with permanent magnet synchronous motor, wherein the electric current loop of the complex vector model of permanent magnet synchronous motor is controlled
The plural number zero of second complex vector transmission function of the pole and complex vector decoupling controller of the first complex vector transmission function of object
Point offsets completely.
Embodiment of the present invention in terms of existing technologies, obtains the electric current loop of the complex vector model of permanent magnet synchronous motor
First complex vector transmission function of controlled device；The current rotating speed of permanent magnet synchronous motor is introduced to the complex vector of permanent magnet synchronous motor
The electric current loop of model, construction one have the second complex vector transmission function of the complex vector decoupling controller of plural zero point；Setting is multiple
The core parameter of second complex vector transmission function of vector decoupling control device, so that the plural zero point of the second complex vector transmission function
It is offseted completely with the pole of the first complex vector transmission function of electric current loop controlled device；Using complex vector decoupling controller to permanent magnetism
The electric current loop of synchronous motor is controlled, and the control performance of electric current loop can be effectively improved.
In addition, the electric current loop that the current rotating speed of permanent magnet synchronous motor introduces the complex vector model of permanent magnet synchronous motor is constructed
Complex vector decoupling controller complex vector model:
The complex vector model of complex vector decoupling controller complex vector model and permanent magnet synchronous motor is subtracted each other, is eliminated anti-electronic
Gesture item obtains the second complex vector transmission function of complex vector decoupling controller are as follows:
Wherein, Kp、Ka、KiFor the core parameter of complex vector decoupling controller, s is differential operator, by adjusting complex vector solution
The core parameter of coupling controller, can control the zero point of the second complex vector transmission function and the first of electric current loop controlled device is sweared again
The pole of amount transmission function offsets completely, effectively improves the control performance of electric current loop.
In addition, the core parameter of the second complex vector transmission function of setting complex vector decoupling controller, so that the second multiple arrow
The pole for measuring the plural zero point and the first complex vector transmission function of electric current loop controlled device of transmission function offsets completely, comprising:
Work as Ka=1/Kp+jωe/KiWhen, in the second complex vector transmission function of complex vector decoupling controllerBefore
The coefficient in face can offset a zero pole point；
The plural zero point of second complex vector transmission function of complex vector decoupling controller is-Ki/Kp-jωe, work as Kp/Ki=
Ls/RsWhen, plural zero point offsets completely with the pole in the first complex vector transmission function, can effectively improve the controlling of electric current loop
Energy.
In addition, the electric current loop decoupling control method based on complex vector further include: according to the second of complex vector decoupling controller
The voltage and current vector of d axis, q axis, contravariant changes scalar into complex vector transmission function again, realizes complex vector decoupling controller, can have
Effect improves the control performance of electric current loop.
Detailed description of the invention
Fig. 1 is the process signal of the electric current loop decoupling control method based on complex vector of first embodiment according to the present invention
Figure；
Fig. 2 is the flow diagram of step S10 in Fig. 1；
Fig. 3 is the complex vector model schematic of the motor of first embodiment according to the present invention；
Fig. 4 is the complex vector model schematic of the complex vector decoupling controller of first embodiment according to the present invention；
Fig. 5 is the achievable dq shaft current ring model schematic diagram of first embodiment according to the present invention；
Fig. 6 is the structural schematic diagram of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention；
Fig. 7 is the current tracking emulation of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention
Effect diagram；
Fig. 8 is the revolving speed simulated effect of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention
Schematic diagram；
Fig. 9 is the current tracking waveform diagram of electric voltage feed forward decoupling and controlling system in the prior art；
Figure 10 is the current tracking wave of the electric current loop decoupling and controlling system based on complex vector of second embodiment of the invention
Shape schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to each reality of the invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order to make the reader understand this application better, many technical details are proposed.But even if without these technical details and base
In the various changes and modifications of following embodiment, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of electric current loop decoupling control method based on complex vector.Detailed process is such as
Shown in Fig. 1, the electric current loop decoupling control method based on complex vector includes:
Step S10: the first complex vector transmitting of the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor is obtained
Function.
In embodiments of the present invention, by taking the permanent magnet synchronous motor of surface-mount type as an example, using idWhen=0 control, permanent magnetism is same
Walk d axis, the q shaft voltage equation of motor are as follows:
Wherein, the flux linkage equations of d, q axis are as follows:
ψd、ψqIt is d, q axis magnetic linkage, i respectivelyd、iqIt is d, q shaft current, L respectivelyd、LqIt is d, q axis synchronous inductance, ψ respectivelyfIt is
Rotor flux, ωeIt is electromagnetism rotating, R is stator resistance.
Define complex vectorThen permanent magnet synchronous motor voltage and current complex vector can respectively indicate are as follows:
Referring to fig. 2, in step slo, comprising:
Step S100: according to the d axis of permanent magnet synchronous motor, q shaft voltage equation, permanent-magnet synchronous is constructed on d-q coordinate system
The complex vector model of motor:
Wherein, for the permanent magnet synchronous motor of surface-mount type, Ld=Lq=Ls, R=Rs, p is differential operator,WithPoint
It is not the voltage and current of complex vector.
Step S101: it is passed according to the first complex vector that the complex vector model of permanent magnet synchronous motor obtains electric current loop controlled device
Delivery function:
Wherein, by counter electromotive force e=j ωeψfAs disturbance term.It is known that the first complex vector transmission function from above formula
Pole be-Rs/Ls-jωe。
The open-loop transfer function of electric current loop controlled device only exists a complex poles, p=-Rs/Ls-jωe.When output frequency
When rate is 0, pole is located at negative real axis；With the increase of output frequency, the position of pole on a complex plane can be gradually deviated from negative real
Axis.
After being converted into complex vector, the mathematical model of permanent magnet synchronous motor is for conversion by original multi-input multi-output system
Equivalent single-input single-output system, the block diagram of the complex vector model of corresponding motor is referring to Fig. 3.
The current rotating speed of permanent magnet synchronous motor: being introduced the electric current loop of the complex vector model of permanent magnet synchronous motor by step S11,
Construction one has the second complex vector transmission function of the complex vector decoupling controller of plural zero point.
In step s 11, increase an imaginary axis zero point with velocity variations, allow the zero point and quilt of complex vector decoupling controller
Control the pole p=-R of objects/Ls-jωeIt offsets completely, obtains the electric current ring structure based on complex vector decoupling controller referring to figure
4.E andIt is the counter electromotive force item of counter electromotive force item and estimation respectively；In addition, being folded in the output item of complex vector decoupling controller
Rotation decoupling item is addedWith the counter electromotive force item of estimation
Wherein, the complex vector model of controlled device part is as follows:
The current rotating speed of permanent magnet synchronous motor is introduced into answering for the electric current loop construction of the complex vector model of permanent magnet synchronous motor
The complex vector model of vector decoupling control device are as follows:
The complex vector model of complex vector decoupling controller complex vector model and permanent magnet synchronous motor is subtracted each other, i.e., by (6),
(7) formula eliminates counter electromotive force item, obtains the second complex vector transmission function of complex vector decoupling controller to subtracting are as follows:
Wherein, Kp、Ka、KiFor the core parameter of complex vector decoupling controller, s is differential operator.
In Fig. 4, the output voltage of d, q axis is input to inverter PWM Inverter simultaneously and carries out clipping, inverter PWM
The output voltage of Inverter is limited within hexagon, if the output voltage of complex vector decoupling controllerExceed
Hexagonal boundaries, then the output voltage after modulation can rest at hexagonal boundaries, therefore, after clipping in each reference axis
Voltage be mutually to decouple, and eliminate integral amplitude limit link.
Step S12: the core parameter of the second complex vector transmission function of setting complex vector decoupling controller, so that second is multiple
The plural zero point of vector transmission function and the pole of the first complex vector transmission function of electric current loop controlled device offset completely.
It is found that taking K from (8) formulaa=1/Kp+jωe/KiWhen,The multiple arrow of the second of complex vector decoupling controller
It measures in transmission functionThe coefficient of front can offset a zero pole point, and (8) formula can turn at this time:
From (9) formula it is found that the plural zero point of the second complex vector transmission function of complex vector decoupling controller is-Ki/Kp-j
ωe, and the position of zero point changes with speed.
Work as Kp/Ki=Ls/RsWhen, the plural zero point and first of the second complex vector transmission function of complex vector decoupling controller
Pole in complex vector transmission function offsets completely, at this point, (9) formula can turn to:
The coupling terms generated during in this way, counteracting rotating coordinate transformation in full speed range
Step S13: it is controlled using electric current loop of the complex vector decoupling controller to permanent magnet synchronous motor.
In step s 13, according to the second complex vector transmission function of complex vector decoupling controller d axis, the voltage electricity of q axis
Contravariant changes scalar into flow vector again, realizes complex vector decoupling controller.Finally obtained achievable dq shaft current ring model is such as
Shown in Fig. 5, wherein the electric current of d axis, q axisIt is passed after the processing of the complex vector decoupling controller of d axis, q axis respectively
Inverter PWM Inverter is transported to, PMSM is transmitted to after inverter PWM Inverter conversion, to control the electric current of PMSM
Ring.
The embodiment of the present invention is multiple by obtain the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor first
Vector transmission function；The current rotating speed of permanent magnet synchronous motor is introduced to the electric current loop of the complex vector model of permanent magnet synchronous motor, structure
Make the second complex vector transmission function of the complex vector decoupling controller that one has plural zero point；Set complex vector decoupling controller
The core parameter of second complex vector transmission function, so that the plural zero point of the second complex vector transmission function and electric current loop controlled device
The pole of the first complex vector transmission function offset completely；Using complex vector decoupling controller to the electric current loop of permanent magnet synchronous motor
It is controlled, the control performance of electric current loop can be effectively improved.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as comprising identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
Second embodiment of the present invention is related to a kind of electric current loop decoupling and controlling system based on complex vector.As shown in fig. 6,
Electric current loop decoupling and controlling system based on complex vector includes: complex vector decoupling controller, SVPWM inverter, permanent magnet synchronous motor
(PMSM) and speed ring PI controller.
Complex vector decoupling controller is connect with SVPWM inverter, speed ring PI controller and permanent magnet synchronous motor.Permanent magnetism
Synchronous motor is connect with SVPWM inverter, and speed ring PI controller is also connect with permanent magnet synchronous motor, wherein permanent magnet synchronous electric
The pole of first complex vector transmission function of the electric current loop controlled device of the complex vector model of machine and complex vector decoupling controller
The plural zero point of second complex vector transmission function offsets completely.
In embodiments of the present invention, by taking the permanent magnet synchronous motor of surface-mount type as an example, using idWhen=0 control, permanent magnetism is same
Walk d axis, the q shaft voltage equation of motor are as follows:
Wherein, the flux linkage equations of d, q axis are as follows:
ψd、ψqIt is d, q axis magnetic linkage, i respectivelyd、iqIt is d, q shaft current, L respectivelyd、LqIt is d, q axis synchronous inductance, ψ respectivelyfIt is
Rotor flux, ωeIt is electromagnetism rotating, R is stator resistance；
Permanent magnet synchronous motor voltage and current complex vector can respectively indicate are as follows:
The complex vector model of permanent magnet synchronous motor is d axis, the q shaft voltage equation according to permanent magnet synchronous motor, in d-q coordinate
Construction is fastened to be formed:
Wherein, for the permanent magnet synchronous motor of surface-mount type, Ld=Lq=Ls, R=Rs, p is differential operator,WithPoint
It is not the voltage and current of complex vector；
First complex vector transmission function of the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor is according to permanent magnetism
The complex vector model of synchronous motor obtains:
Wherein, counter electromotive force e=j ωeψfFor disturbance term, it is known that the pole of the first complex vector transmission function from above formula
Point is-Rs/Ls-jωe。
As it can be seen that the open-loop transfer function of electric current loop controlled device only exists a complex poles, p=-Rs/Ls-jωe.When
When output frequency is 0, pole is located at negative real axis；With the increase of output frequency, the position of pole on a complex plane can gradually partially
From negative real axis.After being converted into complex vector, the mathematical model of permanent magnet synchronous motor is transformed by original multi-input multi-output system
For equivalent single-input single-output system.
In embodiments of the present invention, increase an imaginary axis zero point with velocity variations, allow complex vector decoupling controller
The pole p=-R of zero point and controlled devices/Ls-jωeIt offsets completely, obtains the electric current loop knot based on complex vector decoupling controller
Structure.Preferably, the second complex vector transmission function is by the way that the current rotating speed of permanent magnet synchronous motor is introduced permanent magnet synchronous motor
The electric current loop of complex vector model constructs to be formed:
Wherein, Kp、Ka、KiFor the core parameter of complex vector decoupling controller.
Specifically, the complex vector model of controlled device part is as follows:
The current rotating speed of permanent magnet synchronous motor is introduced into answering for the electric current loop construction of the complex vector model of permanent magnet synchronous motor
The complex vector model of vector decoupling control device are as follows:
The complex vector model of complex vector decoupling controller complex vector model and permanent magnet synchronous motor subtracts each other, and can eliminate anti-electronic
Gesture item is to get the second complex vector transmission function for arriving complex vector decoupling controller.
In embodiments of the present invention, the core of the second complex vector transmission function of complex vector decoupling controller can be set
Parameter, so that the pole of the first complex vector transmission function of the plural zero point of the second complex vector transmission function and electric current loop controlled device
Point offsets completely.
Specifically, in the second complex vector transmission function of complex vector decoupling controller, K is takena=1/Kp+jωe/KiWhen,In second complex vector transmission function of complex vector decoupling controllerThe coefficient of front can offset one
A zero pole point, the second complex vector transmission function can turn to:
From above formula it is found that the plural zero point of the second complex vector transmission function of complex vector decoupling controller is-Ki/Kp-j
ωe, and the position of zero point changes with speed.
Work as Kp/Ki=Ls/RsWhen, the plural zero point and first of the second complex vector transmission function of complex vector decoupling controller
Pole in complex vector transmission function offsets completely, at this point, the second complex vector transmission function can turn to:
The coupling terms generated during in this way, counteracting rotating coordinate transformation in full speed rangeCan have
Effect improves the control performance of electric current loop.
In embodiments of the present invention, further, complex vector decoupling controller is according to complex vector decoupling controller
The voltage and current vector of d axis, q axis, contravariant changes scalar realization into second complex vector transmission function again.Finally obtained realization
In dq shaft current ring model, the electric current of d axis, q axisRespectively by the complex vector decoupling controller processing of d axis, q axis
After be transmitted to SVPWM inverter, through SVPWM inverter conversion after be transmitted to PMSM, to control the electric current loop of PMSM.
In embodiments of the present invention, the output voltage of d, q axis is input to SVPWM inverter simultaneously and carries out clipping, SVPWM
The output voltage of inverter is limited within hexagon, if the output voltage of complex vector decoupling controllerBeyond six
Side shape boundary, then the output voltage after modulation can rest at hexagonal boundaries, therefore, after clipping in each reference axis
Voltage has been mutually to decouple, and eliminate integral amplitude limit link.
It is decoupled to compare the complex vector decoupling controller in embodiment of the present invention and electric voltage feed forward in the prior art
The control effect of current loop controller carries out emulation experiment.The parameter of permanent magnet synchronous motor is as shown in table 1 below in emulation；Two kinds
In current loop controller, desired bandwidth is set as 1.5KHz, TiIt is set as L/R.
1 permanent magnet synchronous motor simulation parameter of table
The load torque starting for applying a 0.5Nm to permanent magnet synchronous motor, when given q shaft current is according to iq=
When the rule variation of 10sin (1000t), current tracking waveform when what is obtained is respectively adopted two kinds of controllers is as shown in Figure 7；From
Start within 0 second, motor obtains revolving speed simulation waveform such as Fig. 8 of corresponding two kinds of controllers with the rotating speed of target starting with full load of 1000rpm
It is shown.
From simulation result as can be seen that compared with electric voltage feed forward decoupling current ring controller, complex vector decoupling controller pair
The control of electric current loop can achieve better control effect, response speed faster, and non-overshoot phenomenon.
Complex vector decoupling controller is further demonstrated to the control effect of permanent magnet synchronous motor, with no load test platform come
The speed stabilizing control precision and sinusoidal current tracking performance of access control device, electric current when being mutated with load test platform validation torque
Tracking performance.
The parameter of electric machine of no load test platform is as shown in table 2.Electric current loop PI controller desired bandwidth is set as 1500Hz, speed
Degree ring allows permanent magnet synchronous motor idle running under velocity mode using same control parameter on no load test platform, point
Rotating speed of target is not set as 10%, 50%, 100% rated speed, acquires speed preset using upper computer software and speed is anti-
Feedback, given value of current and current feedback, sampling interval are 100us.
The parameter of electric machine of 2 no load test platform of table
In rated speed, revolving speed control precision when using complex vector decoupling controller reaches ± 1.5 ‰, current precision
Reach ± 2.75%；And when conventional voltage feedforward decoupling controller, it is ± 2 ‰ that revolving speed, which controls precision, and current precision is ± 4%,
As it can be seen that complex vector decoupling controller can effectively improve no-load current stable state accuracy.
In torque mode, setting torque instruction is the volume that an amplitude is fixed as 10% for permanent magnet synchronous motor idle running
Determine torque, frequency is fixed as the sine wave of 1500Hz, acquire given value of current with upper computer software and current feedback, sampling interval be
50us.It is the current tracking waveform diagram of comparison voltage feedforward decoupling controller referring to Fig. 9 and Figure 10, Fig. 9, Figure 10 is complex vector solution
Current tracking waveform diagram when coupling controller.Wherein, a, b, c respectively indicate electricity when revolving speed is 1000Hz, 1500Hz, 2000Hz
Stream tracking waveform diagram.Comparison diagram 9 and Figure 10 it is found that when using complex vector decoupling controller, can effectively enhance transient current with
Track control ability；And when using complex vector decoupling controller, the delay of tracking is smaller.
The permanent magnet synchronous motor parameter of load test platform is as shown in table 3, on load test platform, first allows permanent-magnet synchronous
Empty load of motor operates in revolving speed mode, and rotating speed of target is set as 10% rated speed, then gives permanent magnet synchronous motor impact one
The load torque of 20Nm acquires speed preset with upper computer software and feedback, given value of current and feedback, sampling interval is 100us.
The parameter of electric machine of 3 no load test platform of table
When using complex vector decoupling controller, speed stabilizing current fluctuation is ± 2%, effectively enhances the electric current under loading condition
Stable state accuracy, and the delay of electric current loop tracking is about 150us, illustrates that complex vector decoupling controller does not cause electric current loop
The lag of tracking.
Therefore, the electric current of permanent magnet synchronous motor is controlled using the complex vector decoupling controller of the embodiment of the present invention
When, the speed of current tracking can be improved, and reduce the delay of current tracking；And current wave when speed stabilizing can also be reduced
It is dynamic, and the lag that the promotion of electric current stable state accuracy does not cause electric current loop to track.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (7)
1. a kind of electric current loop decoupling control method based on complex vector characterized by comprising
Obtain the first complex vector transmission function of the electric current loop controlled device of the complex vector model of permanent magnet synchronous motor；
The current rotating speed of the permanent magnet synchronous motor is introduced to the electric current loop of the complex vector model of the permanent magnet synchronous motor, is constructed
Second complex vector transmission function of one complex vector decoupling controller for having a plural zero point；
The core parameter of the second complex vector transmission function of the complex vector decoupling controller is set, so that second complex vector
The pole of the plural zero point and the first complex vector transmission function of electric current loop controlled device of transmission function offsets completely；
The electric current loop of the permanent magnet synchronous motor is controlled using the complex vector decoupling controller；Wherein, the permanent magnetism
D axis, the q shaft voltage equation of synchronous motor are as follows:
Wherein, the flux linkage equations of d, q axis are as follows:
ψd、ψqIt is d, q axis magnetic linkage, i respectivelyd、iqIt is d, q shaft current, L respectivelyd、LqIt is d, q axis synchronous inductance, ψ respectivelyfIt is rotor
Magnetic linkage, ωeIt is electromagnetism rotating, R is stator resistance；
The permanent magnet synchronous motor voltage and current complex vector can respectively indicate are as follows:
First complex vector transmission function of the electric current loop controlled device of the complex vector model for obtaining the permanent magnet synchronous motor,
Include:
According to the d axis of permanent magnet synchronous motor, q shaft voltage equation, the multiple arrow of the permanent magnet synchronous motor is constructed on d-q coordinate system
Measure model:
Wherein, Ld=Lq=Ls, R=Rs, p is differential operator,WithIt is the voltage and current of complex vector respectively；
Wherein, the first complex vector transmitting of the electric current loop controlled device of the complex vector model for obtaining the permanent magnet synchronous motor
Function, comprising:
Letter is transmitted according to first complex vector that the complex vector model of the permanent magnet synchronous motor obtains electric current loop controlled device
Number:
Wherein, by counter electromotive force e=j ωeψfAs disturbance term, the pole of the first complex vector transmission function is-Rs/Ls-j
ωe。
2. the electric current loop decoupling control method according to claim 1 based on complex vector, which is characterized in that it is described will be described
The current rotating speed of permanent magnet synchronous motor introduces the electric current loop of the complex vector model of the permanent magnet synchronous motor, and construction one has plural number
Second complex vector transmission function of the complex vector decoupling controller of zero point, comprising:
The current rotating speed of the permanent magnet synchronous motor is introduced to the electric current loop construction of the complex vector model of the permanent magnet synchronous motor
Complex vector decoupling controller complex vector model:
The complex vector model of the complex vector decoupling controller complex vector model and the permanent magnet synchronous motor is subtracted each other, is eliminated anti-
Electromotive force item obtains the second complex vector transmission function of the complex vector decoupling controller are as follows:
Wherein, Kp、Ka、KiFor the core parameter of complex vector decoupling controller, s is differential operator.
3. the electric current loop decoupling control method according to claim 2 based on complex vector, which is characterized in that the setting institute
The core parameter of the second complex vector transmission function of complex vector decoupling controller is stated, so that the second complex vector transmission function
The pole of the plural number zero point and the first complex vector transmission function of electric current loop controlled device offsets completely, comprising:
Work as Ka=1/Kp+jωe/KiWhen, in the second complex vector transmission function of the complex vector decoupling controllerThe coefficient of front can offset a zero pole point；
The plural zero point of the second complex vector transmission function of the complex vector decoupling controller is-Ki/Kp-jωe, work as Kp/Ki
=Ls/RsWhen, the plural number zero point offsets completely with the pole in the first complex vector transmission function.
4. the electric current loop decoupling control method according to claim 1 based on complex vector, which is characterized in that described based on multiple
The electric current loop decoupling control method of vector further include:
According to the second complex vector transmission function of the complex vector decoupling controller d axis, q axis voltage and current vector again
Contravariant changes scalar into, realizes the complex vector decoupling controller.
5. a kind of electric current loop decoupling and controlling system based on complex vector characterized by comprising complex vector decoupling controller,
SVPWM inverter, permanent magnet synchronous motor and speed ring PI controller, the complex vector decoupling controller and the SVPWM are inverse
Become device, the speed ring PI controller and permanent magnet synchronous motor connection, the permanent magnet synchronous motor and the SVPWM are inverse
Become device connection, the speed ring PI controller is also connect with the permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is answered
The of the pole of first complex vector transmission function of the electric current loop controlled device of vector model and the complex vector decoupling controller
The plural zero point of two complex vector transmission functions offsets completely
Wherein, the d axis of the permanent magnet synchronous motor, q shaft voltage equation are as follows:
Wherein, the flux linkage equations of d, q axis are as follows:
ψd、ψqIt is d, q axis magnetic linkage, i respectivelyd、iqIt is d, q shaft current, L respectivelyd、LqIt is d, q axis synchronous inductance, ψ respectivelyfIt is rotor
Magnetic linkage, ωeIt is electromagnetism rotating, R is stator resistance；
The permanent magnet synchronous motor voltage and current complex vector can respectively indicate are as follows:
The complex vector model of the permanent magnet synchronous motor is d axis, the q shaft voltage equation according to permanent magnet synchronous motor, in d-q coordinate
Construction is fastened to be formed:
Wherein, Ld=Lq=Ls, R=Rs, p is differential operator,WithIt is the voltage and current of complex vector respectively；
First complex vector transmission function of the electric current loop controlled device of the complex vector model of the permanent magnet synchronous motor is according to institute
The complex vector model for stating permanent magnet synchronous motor obtains:
Wherein, by counter electromotive force e=j ωeψfAs disturbance term, the pole of the first complex vector transmission function is-Rs/Ls-j
ωe。
6. the electric current loop decoupling and controlling system according to claim 5 based on complex vector, which is characterized in that
The second complex vector transmission function is by the way that the current rotating speed of the permanent magnet synchronous motor is introduced the permanent-magnet synchronous
The electric current loop of the complex vector model of motor constructs to be formed:
Wherein, Kp、Ka、KiFor the core parameter of complex vector decoupling controller.
7. the electric current loop decoupling and controlling system according to claim 6 based on complex vector, which is characterized in that
The complex vector decoupling controller is the second complex vector transmission function according to the complex vector decoupling controller d
Axis, q axis voltage and current vector again contravariant change into scalar realization.
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