CN106655903B - Double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model - Google Patents
Double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model Download PDFInfo
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- CN106655903B CN106655903B CN201610957223.6A CN201610957223A CN106655903B CN 106655903 B CN106655903 B CN 106655903B CN 201610957223 A CN201610957223 A CN 201610957223A CN 106655903 B CN106655903 B CN 106655903B
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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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
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy 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
- 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
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Fuzzy Systems (AREA)
- Control Of Multiple Motors (AREA)
- Feedback Control In General (AREA)
Abstract
The present invention discloses a kind of double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model, it is controlled using fuzzy algorithmic approach combination cloud model, and applied in the vector control system of permanent magnet synchronous motor, replace the der Geschwindigkeitkreis PI controller in permanent magnet synchronous motor vector controlled, again based on this, double permanent magnet synchronous motor cross coupling structures based on Cloud Model Controller are constructed, realize the synchronized Coordinative Control of bi-motor.By the uncertain inference of Cloud Model Controller, output control amount is respectively obtained, on-line tuning is carried out to the drive factor in above-mentioned Cloud Model Controller using fuzzy reasoning, is weighted the reality output control amount that average treatment finally obtains system.Such control method can improve the dynamic and static performance of system, and overshoot is small, enhance the coordination performance of double permanent magnet synchronous motor synchronous operations, and strong robustness.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control fields, are related to a kind of double permanent magnet synchronous motor the synchronized Coordinative Controls system
It unites, in particular to the parameter control method of der Geschwindigkeitkreis in a kind of double permanent magnet synchronous motor vector controlleds.
Background technique
Permanent magnet synchronous motor is made due to the advantages that its is small in size, performance is good, structure is simple, high reliablity, big output torque
Its application field constantly expands, however permanent magnet synchronous motor is big, non-linear with inertia, model parameter is uncertain and exists
The features such as disturbance, can encounter very big difficulty when carrying out controller design to system, and simple PID controller, which is no longer satisfied, to be wanted
It asks.
In the vector controlled based on cloud model permanent magnet synchronous motor, the drive factor of Cloud Model Controller needs manually side
Formula is adjusted, but when permanent magnet synchronous motor is by external interference, original Cloud Model Controller characteristic cannot act phase therewith
It should change, will lead to control effect variation.Therefore, in the vector controlled system of double permanent magnet synchronous motors based on cross coupling structure
In system, for the synchronously control for realizing revolving speed, how to realize that online dynamic adjusts the drive factor of Cloud Model Controller, become existing
Technology urgently problem to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of double permanent magnet synchronous motor vector controlleds based on fuzzy self-adaption cloud model
Method can improve the dynamic and static performance of system, and overshoot is small, enhance the coordination performance of double permanent magnet synchronous motor synchronous operations,
And strong robustness.
In order to achieve the above objectives, solution of the invention is:
A kind of double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model, include the following steps:
(1) two permanent magnet synchronous motors three-phase current i is acquireda、ib、ic, transform it into every permanent magnetism under d-q coordinate system
The actual current value i of synchronous motord、iq；
(2) position signal of two permanent magnet synchronous motors is acquired, and it is anti-to obtain the respective revolving speed of two permanent magnet synchronous motors
Feedback signal；
(3) according to the respective revolving speed deviation e of the two permanent magnet synchronous motors and change rate ec of deviation, using fuzzy control
Device is respectively blurred it, Fuzzy inferential decision and ambiguity solution, to the drive factor in one-dimensional Cloud Model Controller
KP、KI、KDIt optimizes, finally obtains the optimal drive factor K of suitable two permanent magnet synchronous motorsP、KI、KD；
(4) to two permanent magnet synchronous motors, respectively by respective revolving speed deviation e, the integrated value ei of deviation, the variation of deviation
Rate ec respectively obtains output control amount by cloud model uncertain inference as 3 input quantities of One-Dimension Cloud Model Mapping Processor
UP、UI、UD, drive factor K by optimizationP、KI、KDAmplification respectively, eventually pass through weighted average processing or the output of reverse cloud
And actually entering as q shaft current of summing；
(5) by obtaining given i after the parameter tuning of fuzzy self-adaption Cloud Model Controllersq *, acquire and feedback
iqDifference, then be adjusted by the pi regulator of electric current loop, obtain the electric moter voltage u given under rotating orthogonal coordinate systemd *、
uq *, then convert to obtain the electric moter voltage u given under static two-phase orthogonal coordinate system through anti-parkα *、uβ *；
(6) the given electric moter voltage u that will be obtainedα *、uβ *As the DC bus input voltage of three-phase inverter, pass through
Three-phase voltage source type inverter generates SVPWM wave, exports corresponding three-phase current ia、ib、icIt is followed to control permanent magnet synchronous motor
Given signal；
(7) the speed crossed coupling between two permanent magnet synchronous motors is realized by cross-coupling synchronous control structure,
The feedback signal of every permanent magnet synchronous motors unit includes two parts, is turned between the speed feedback and electric motor units of itself unit
Speed difference value is fed back, wherein K1、K2The respectively feedback regulation coefficient of two permanent magnet synchronous motors unit is based on mould by respective
The revolving speed ring controller of self-adaptive fuzzy cloud model carries out real-time parameter Self-tuning System, and the final revolving speed for realizing two motors is synchronous.
In above-mentioned steps (1), permanent magnet synchronous motor three-phase current ia、ib、icIt is acquired respectively by respective Hall sensor
It arrives.
In above-mentioned steps (2), the position signal of permanent magnet synchronous motor is collected by respective rotor position detector.
In above-mentioned steps (2), the speed feedback signal carries out differential by position signal and obtains.
In above-mentioned steps (3), fuzzy controller uses two-dimensional fuzzy controller, is designed as two inputs three output fuzzy control
Device, with deviation e=ω*- ω and its change rate ec=e (k)-e (k-1) of deviation is input, one-dimensional cloud model drive factor
Adjustment amount Δ KP、ΔKI、ΔKDFor output.
After adopting the above scheme, the present invention is controlled using fuzzy algorithmic approach combination cloud model, and is applied to permanent-magnet synchronous
In the vector control system of motor, replace the der Geschwindigkeitkreis PI controller in permanent magnet synchronous motor vector controlled, then based on this,
Double permanent magnet synchronous motor cross coupling structures based on Cloud Model Controller are constructed, realize the synchronized Coordinative Control of bi-motor.It is logical
The uncertain inference for crossing Cloud Model Controller respectively obtains output control amount UP、UI、UD, using fuzzy reasoning to above-mentioned cloud
Drive factor K in model controllerP、KI、KDOn-line tuning is carried out, the reality that average treatment finally obtains system is weighted
Export control amount.The present invention according to system real-time offsets e, the integrated value ei of deviation and the change rate ec of deviation, system from
Mathematical model adaptable and independent of control object, can improve the dynamic and static performance of system, and overshoot is small, enhancing
The coordination performance of bi-motor synchronous operation, and there is very strong robustness.
Detailed description of the invention
Fig. 1 is whole functional block diagram of the invention；
Fig. 2 is the functional block diagram of one-dimensional Cloud Model Controller in the present invention；
Fig. 3 is the schematic diagram of fuzzy controller in the present invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
As shown in Figure 1, the present invention provides a kind of double permanent magnet synchronous motor vector controlleds based on fuzzy self-adaption cloud model
Method by setting controller, power drive unit, permanent magnet synchronous motor (PMSM), rotor position detector (BQ) and can be surveyed
Fast feedback element (FBS) composition, specific control method include the following steps:
(1) cooperate shown in Fig. 1, acquire permanent magnet synchronous motor three-phase electricity respectively by two respective Hall sensors of motor
Flow ia、ib、ic, every permanent magnet synchronous motors under d-q coordinate system are then transformed it by Clarke transformation and Park transformation
Actual current value id、iq；
(2) position signal of permanent magnet synchronous motor is acquired by two respective rotor position detectors of motor (BQ), and
The respective speed feedback signal of two permanent magnet synchronous motors is obtained through respective speed measure feedback link (FBS)；Wherein, the survey
Fast feedback element (FBS) is the position signal of rotor-position signal detector (BQ) acquisition, and carries out differential to position signal
It can be obtained；
(3) as shown in figure 3, according to the respective revolving speed deviation e of the two motors and change rate ec of deviation, using Fuzzy Control
Device processed is respectively blurred it, Fuzzy inferential decision and ambiguity solution, to the drive in one-dimensional Cloud Model Controller
Dynamic COEFFICIENT KP、KI、KDIt optimizes, finally obtains the optimal drive factor K of suitable two permanent magnet synchronous motorsP、KI、KD；At this
In embodiment, fuzzy controller uses two-dimensional fuzzy controller, is designed as two inputs three output fuzzy controller.With deviation e=
ω*- ω and its change rate ec=e (k)-e (k-1) of deviation is input, the adjustment amount Δ K of one-dimensional cloud model drive factorP、Δ
KI、ΔKDFor output；
(4) as shown in Fig. 2, to two permanent magnet synchronous motors, respectively by respective revolving speed deviation e, the integrated value ei of deviation,
The change rate ec of deviation is respectively obtained as 3 input quantities of One-Dimension Cloud Model Mapping Processor by cloud model uncertain inference
Export control amount UP、UI、UD, drive factor K by optimizationP、KI、KDAmplification respectively, eventually pass through weighted average processing or
Reverse cloud exports and actually entering as q shaft current of summing；
In the present embodiment, the quantitative input of One-Dimension Cloud Model Mapping Processor is e, ei, ec, and output control component is UP、
UI、UD, there is ratio control, integration control and the differential control function of 3 control components of similar conventional PID controllers, but this
Matter is different.The output of one-dimensional Cloud Model Controller controls component UP、UI、UDIt can be carried out according to the variation of control target effective
Auto-adjustment control object, moreover it is possible to which the mapping of the various linear and nonlinears needed for meeting control target according to requirement of engineering is wanted
It asks.
(5) as shown in Figure 1, by obtaining given i after the parameter tuning of fuzzy self-adaption Cloud Model Controllersq *, ask
Obtain the i with feedbackqDifference, then be adjusted by the pi regulator of electric current loop (ACR), obtain under rotating orthogonal coordinate system to
Fixed electric moter voltage ud *、uq *, then convert to obtain the electric moter voltage u given under static two-phase orthogonal coordinate system through anti-parkα *、
uβ *；
(6) the given electric moter voltage u that will be obtainedα *、uβ *As the DC bus input voltage of three-phase inverter, pass through
Three-phase voltage source type inverter generates SVPWM wave, exports corresponding three-phase current ia、ib、icIt is followed to control permanent magnet synchronous motor
Given signal；
(7) the speed crossed coupling between two permanent magnet synchronous motors is realized by cross-coupling synchronous control structure,
The feedback signal of every permanent magnet synchronous motors unit includes two parts, is turned between the speed feedback and electric motor units of itself unit
Speed difference value is fed back, wherein K1、K2The respectively feedback regulation coefficient of two permanent magnet synchronous motors unit is based on mould by respective
The revolving speed ring controller of self-adaptive fuzzy cloud model carries out real-time parameter Self-tuning System, and the final revolving speed for realizing two motors is synchronous.
In summary, a kind of double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model of the present invention,
It is a kind of in the permanent magnet synchronous motor vector control system based on cross-coupling control structure, the parameter self-tuning side of der Geschwindigkeitkreis
Method combines fuzzy control to calculate on the basis of conventional motors vector controlled der Geschwindigkeitkreis uses PI controller with cloud model control
Method replaces traditional pi regulator, using Cloud Model Controller system can be according to real-time revolving speed deviation e, the integrated value of deviation
Ei, the change rate ec of deviation export corresponding control component U by cloud model reasoning ruleP、UI、UD, substantially, controlling
Physical significance on, this 3 control components have the function of 3 control components of similar conventional PID controllers, but have this again
The difference of matter.Using fuzzy control, system can be according to revolving speed deviation e, the change rate ec of deviation, by formulating fuzzy control rule
Then, the drive factor K in online dynamic adjustment Cloud Model Controller is realizedP、KI、KD.Control method proposed by the present invention is realized
Line dynamic adjusts the control component and drive components of der Geschwindigkeitkreis, improves the dynamic and static performance of system, and have very strong Shandong
Stick.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (5)
1. a kind of double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model, it is characterised in that including as follows
Step:
(1) two permanent magnet synchronous motors three-phase current i is acquireda、ib、ic, transform it into every permanent-magnet synchronous under d-q coordinate system
The actual current value i of motord、iq；
(2) position signal of two permanent magnet synchronous motors is acquired, and obtains the respective speed feedback letter of two permanent magnet synchronous motors
Number；
(3) according to the respective revolving speed deviation e of the two permanent magnet synchronous motors and change rate ec of deviation, using fuzzy controller,
It is blurred respectively, Fuzzy inferential decision and ambiguity solution, to the drive factor K in one-dimensional Cloud Model ControllerP、KI、
KDIt optimizes, finally obtains the optimal drive factor K of suitable two permanent magnet synchronous motorsP、KI、KD；
(4) to two permanent magnet synchronous motors, respectively by respective revolving speed deviation e, the integrated value ei of deviation, the change rate ec of deviation
Output control amount U is respectively obtained by cloud model uncertain inference as 3 input quantities of One-Dimension Cloud Model Mapping ProcessorP、
UI、UD, drive factor K by optimizationP、KI、KDAmplification respectively, eventually pass through weighted average processing or reverse cloud exported and asked
I is given with the input as q shaft currentsq *；
(5) i is given by obtaining the input of q shaft current after the parameter tuning of fuzzy self-adaption Cloud Model Controllersq *, acquire
With actual current value iqDifference, then be adjusted by the pi regulator of electric current loop, obtain giving under rotating orthogonal coordinate system
Electric moter voltage ud *、uq *, then convert to obtain the electric moter voltage u given under static two-phase orthogonal coordinate system through anti-parkα *、uβ *；
(6) the given electric moter voltage u that will be obtainedα *、uβ *As the DC bus input voltage of three-phase inverter, pass through three-phase electricity
Potential source type inverter generates SVPWM wave, exports corresponding three-phase current ia、ib、icCome control permanent magnet synchronous motor follow it is given
Signal；
(7) the speed crossed coupling between two permanent magnet synchronous motors is realized by cross-coupling synchronous control structure, every
The feedback signal of permanent magnet synchronous motor unit includes two parts, the rotational speed difference between the speed feedback and electric motor units of itself unit
Value is fed back, wherein K1、K2The respectively feedback regulation coefficient of two permanent magnet synchronous motors unit is based on obscuring certainly by respective
The revolving speed ring controller for adapting to cloud model carries out real-time parameter Self-tuning System, and the final revolving speed for realizing two motors is synchronous.
2. double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model as described in claim 1, special
Sign is: in the step (1), permanent magnet synchronous motor three-phase current ia、ib、icIt is acquired respectively by respective Hall sensor
It arrives.
3. double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model as described in claim 1, special
Sign is: in the step (2), the position signal of permanent magnet synchronous motor is collected by respective rotor position detector.
4. double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model as described in claim 1, special
Sign is: in the step (2), the speed feedback signal carries out differential by position signal and obtains.
5. double permanent magnet synchronous motor vector control methods based on fuzzy self-adaption cloud model as described in claim 1, special
Sign is: in the step (3), fuzzy controller uses two-dimensional fuzzy controller, is designed as two inputs three output fuzzy control
Device, with deviation e=ω*- ω and its change rate ec=e (k)-e (k-1) of deviation is input, one-dimensional cloud model drive factor
Adjustment amount Δ KP、ΔKI、ΔKDFor output.
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| CN110518848B (en) * | 2019-09-02 | 2021-12-17 | 南京工业大学 | High-speed high-precision synchronous control method for optimizing double motors based on single neuron and improved particle swarm optimization |
| CN111404424A (en) * | 2020-03-15 | 2020-07-10 | 天津理工大学 | Fuzzy master-slave feedback cooperative multi-motor closed-loop coupling cooperative control system and method |
| CN111510027A (en) * | 2020-06-01 | 2020-08-07 | 哈尔滨理工大学 | Novel multi-permanent magnet synchronous motor synchronous control method |
| CN117382504B (en) * | 2023-12-11 | 2024-03-12 | 上海新纪元机器人有限公司 | Deformed seat |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5231335A (en) * | 1991-06-28 | 1993-07-27 | Matsushita Electric Industrial Co., Ltd. | Double spindle synchronous driving apparatus |
| CN103414415A (en) * | 2013-07-05 | 2013-11-27 | 石成富 | Motor control method based on PI parameter self-tuning |
| CN105262395A (en) * | 2015-10-29 | 2016-01-20 | 华中科技大学 | Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory |
-
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- 2016-10-27 CN CN201610957223.6A patent/CN106655903B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5231335A (en) * | 1991-06-28 | 1993-07-27 | Matsushita Electric Industrial Co., Ltd. | Double spindle synchronous driving apparatus |
| CN103414415A (en) * | 2013-07-05 | 2013-11-27 | 石成富 | Motor control method based on PI parameter self-tuning |
| CN105262395A (en) * | 2015-10-29 | 2016-01-20 | 华中科技大学 | Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory |
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