CN106712629B - A kind of current control method of permanent magnet synchronous motor - Google Patents
A kind of current control method of permanent magnet synchronous motor Download PDFInfo
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- CN106712629B CN106712629B CN201611162194.0A CN201611162194A CN106712629B CN 106712629 B CN106712629 B CN 106712629B CN 201611162194 A CN201611162194 A CN 201611162194A CN 106712629 B CN106712629 B CN 106712629B
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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
Abstract
The present invention provides a kind of current control method of permanent magnet synchronous motor, belongs to Current Control Technology field, suitable for carrying out current control to the electric current loop permanent magnet synchronous motor；It include: that step S1. by quantity of state of an error parameter establishes a current diffusion limited model；Step S2. is observed error parameter using one first observer, to obtain error parameter；Step S3. handles to obtain a voltage instruction value according to the error parameter and current diffusion limited model of acquisition；Step S4. is observed the dead zone voltage of permanent magnet synchronous motor using one second observer, to obtain a dead zone voltage value；Dead zone voltage value is compared by step S5. with voltage instruction value, and is modified according to comparison result to voltage instruction value, to obtain revised voltage instruction value.Beneficial effects of the present invention: Compensation for Model Errors and dead zone voltage compensation are added in the control of existing permanent magnet synchronous motor closed loop current, effectively improves current control accuracy.
Description
Technical field
The present invention relates to Current Control Technology field more particularly to a kind of current control methods of permanent magnet synchronous motor.
Background technique
Conventional current ring be proportion of utilization adjust and integral adjustment (proportional integral controller,
PI) controller generates the voltage control signal in next pulse width modulated (Pulse Width Modulation, PWM) period
Ud (stator d shaft voltage controls signal) and Uq (stator q shaft voltage controls signal), but since PI controller belongs to the control of retarded type
Device processed can only provide control signal according to deviation, can not improve the dynamic of system.For this defect, current one kind is more
Popular current control method is current predictive control method, and concrete thought is by obtaining next switch periods start time
Reference stator current command value, and sample the stator current value of current control period, be based on permanent magnet synchronous motor model equation
Corresponding voltage instruction value is calculated, instruction value is converted into corresponding switching tube duty ratio, makes to export electric current in next week
Phase is equal to given reference current.
Current predictive control method based on dead beat thought can achieve satisfied electric current dynamic characteristic.But PREDICTIVE CONTROL
Need accurate object model that could export accurate controlling behavior, and motor object is a time-varying system, in actual motion
In the process, motor body temperature has a degree of raising, and to the very sensitive stator resistance of temperature and rotor flux value
It will change therewith, and discrete motor equation is the Approximation Discrete linearisation of non-linear DC-motor equation, ignores corresponding high-order term
There can be certain model error, will be deviateed to a certain extent using the voltage instruction value that nominal equation calculation obtains in this way
Actually required voltage value, so that current precision can not be controlled well.Therefore, how compensation model error becomes high-precision in advance
Survey the key of current control.
In addition, in actual drive system, other than model error, dead time, the on-state of switching tube of inverter
The voltage disturbance of pressure drop and DC terminal also will affect the performance of controller, and certain error and distortion are brought to stator current.
The compensation method being commonly used is to pass through dead time, PWM cycle and DC bus-bar voltage based on fixed voltage technology
Value substantially estimates lost fractional voltage Of, and the voltage value of this partial loss is then added to space voltage pulsewidth modulation
Each phase voltage command value in realize compensation.
This kind of method of dead-zone compensation method based on fixed voltage compensation is realized simply, but is not accounted for zero current clamping and asked
Topic, and the full remuneration to dead zone voltage cannot achieve using fixed voltage compensation, certain discount is beaten in performance.
Summary of the invention
For voltage brought by the perturbation of the parameter of electric machine present in existing current predictive control method and modeling error
Instruction value deviation, and dead zone voltage compensation method precision the problem of telling somebody what one's real intentions are at present, the present invention provides one kind effectively to press down
Due to Parameter Perturbation, the influence of modeling inaccuracy and dead time when predictive current control processed, operation is simple based on
The current control method of the permanent magnet synchronous motor of current predictive control method.
The present invention adopts the following technical scheme:
A kind of current control method of permanent magnet synchronous motor, suitable for being carried out to the electric current loop the permanent magnet synchronous motor
Current control；The current control method includes:
Step S1. establishes a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed the error parameter using one first observer, to obtain the error parameter；
Step S3. handles to obtain a voltage instruction value according to the error parameter and the current diffusion limited model of acquisition；
Step S4. is observed the dead zone voltage of the permanent magnet synchronous motor using one second observer, to obtain one
Dead zone voltage value；
The dead zone voltage value is compared by step S5. with the voltage instruction value, and according to comparison result to described
Voltage instruction value is modified, to obtain the revised voltage instruction value；
The revised voltage instruction value is input into a space vector pulse width modulation device and is modulated, to obtain
One for controlling the pulse signal that the switching tube in the electric current loop is acted.
Preferably, in the step S1, the current diffusion limited model is constructed in a predictive-current control device, to described
Voltage instruction value is calculated.
Preferably, in the step S1, the current diffusion limited model is indicated using following formula:
Wherein,
fc=[fd fq]T；
U=[ud uq]T；
Indicate the estimator of the current value of the stator in the electric current loop；
Indicate the estimator of the d axis component of the current value of the stator in the electric current loop；
Indicate the estimator of the q axis component of the current value of the stator in the electric current loop；
F indicates the error parameter；
Indicate the estimator of the error parameter；
fdIndicate the d axis component of the error parameter；
fqIndicate the q axis component of the error parameter；
U indicates the voltage value of the stator in the electric current loop；
udIndicate the d axis component of the voltage value of the stator in the electric current loop；
uqIndicate the q axis component of the voltage value of the stator in the electric current loop；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
Preferably, in the step S2, the error parameter is calculated using following formula:
Wherein,
U=[ud uq]T；
I indicates the current value of stator in the electric current loop；
Indicate the estimator of the current value of the stator in the electric current loop；
Indicate the estimator of the d axis component of the current value of the stator in the electric current loop；
Indicate the estimator of the q axis component of the current value of the stator in the electric current loop；
Indicate the value that the current value of the stator in the electric current loop obtains after depression of order is handled；
Indicate the estimator for the value that current value described in the electric current loop obtains after depression of order is handled；
Indicate the estimator of the error parameter；
Indicate the estimator for the value that the error parameter obtains after depression of order is handled；
U indicates the voltage value of the stator in the electric current loop；
udIndicate the d axis component of the voltage value of the stator in the electric current loop；
uqIndicate the q axis component of the voltage value of the stator in the electric current loop；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop；
G is a gain factor matrix, and g11, g12, g21 and g22 are the matrix element in the gain factor matrix.
Preferably, in the step S3, the voltage instruction value is calculated using following formula:
Wherein,
ik=[id(k) iq(k)]T；
fk=[fd(k) fq(k)]T；
ukIndicate the voltage instruction value；
ikIndicate the current sampling data of the stator of the current sample time in the electric current loop；
i* k+1Indicate the current instruction value of next sampling instant of the current sample time in the electric current loop；
id(k) d of the current sampling data of the stator of the current sample time in the electric current loop is indicated
Axis component；
iq(k) q of the current sampling data of the stator of the current sample time in the electric current loop is indicated
Axis component；
fkIndicate the error parameter of the current sample time in the electric current loop；
fd(k) the d axis component of the error parameter of the current sample time in the electric current loop is indicated；
fq(k) the q axis component of the error parameter of the current sample time in the electric current loop is indicated；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
TsIndicate the wide system control periodic quantity of pulse in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
Preferably, in the step S3, before calculating the voltage instruction value, using following formula to the error parameter
It is converted:
Wherein,
Indicate the estimator of the error parameter；
ε indicates the transformed error parameter.
Preferably, in the step S4, the dead zone voltage value is calculated using following formula:
Wherein,
Indicate the estimator for the value that the dead zone voltage value obtains after depression of order is handled；
γ is adaptation coefficient, and the adaptation coefficient is greater than zero；
eaIndicate the difference of a phase current predicted value of the stator in the electric current loop and a phase current actual value of the stator
Value；
iaIndicate a phase current actual value of the stator in the electric current loop；
LsIndicate the inductance value of the stator winding in the electric current loop.
Preferably, a phase current actual value is calculated using following formula:
Wherein,
iaIndicate a phase current actual value of the stator in the electric current loop；
Indicate the value that a phase current actual value of the stator in the electric current loop obtains after depression of order is handled；
θrIndicate the angle value of the rotor in the electric current loop；
udeadIndicate the dead zone voltage value；
ua *Indicate a phase component of the voltage instruction value；
LsIndicate the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
Preferably, a phase current predicted value is calculated using following formula:
Wherein,
iaIndicate a phase current actual value of the stator in the electric current loop；
Indicate the value that a phase predicted current value of the stator in the electric current loop obtains after depression of order is handled
Estimator；
θrIndicate the angle value of the rotor in the electric current loop；
Indicate the estimator for the value that the dead zone voltage value obtains after depression of order is handled；
ua *Indicate a phase component of the voltage instruction value；
LsIndicate the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
The beneficial effects of the present invention are: adding Compensation for Model Errors in the control of existing permanent magnet synchronous motor closed loop current
It is compensated with dead zone voltage, closed loop current control is carried out to permanent magnet synchronous motor with compensated voltage instruction value, it will be compensated
Voltage instruction value inputs space vector pulse width modulation device progress operation and obtains control, and current signal is enable to accurately track electricity
Instruction value is pressed, parameter of electric machine perturbation and voltage brought by modeling error in current predictive control method in the prior art is solved and refers to
Deviation is enabled, and the lower problem of dead-zone compensation method precision at present.
Detailed description of the invention
Fig. 1 is the model schematic of the current control of permanent magnet synchronous motor in a preferred embodiment of the present invention；
Fig. 2 is the flow chart of the current control method of permanent magnet synchronous motor in a preferred embodiment of the present invention；
Fig. 3 is a phase current waveform figure in uncompensated situation；
Fig. 4 is the stator dq axis waveform diagram in uncompensated situation；
Fig. 5 is a phase current waveform figure in the case of being fully compensated；
Fig. 6 is the stator dq axis waveform diagram in the case of being fully compensated.
Specific embodiment
It should be noted that in the absence of conflict, following technical proposals be can be combined with each other between technical characteristic.
A specific embodiment of the invention is further described with reference to the accompanying drawing:
As shown in Figs. 1-2,
A kind of current control method of permanent magnet synchronous motor, suitable for being carried out to the electric current loop above-mentioned permanent magnet synchronous motor
Current control；It is characterized in that, above-mentioned current control method includes:
Step S1. establishes a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed above-mentioned error parameter using one first observer, to obtain above-mentioned error parameter；
Step S3. handles to obtain a voltage instruction value according to the above-mentioned error parameter and above-mentioned current diffusion limited model of acquisition；
Step S4. is observed the dead zone voltage of above-mentioned permanent magnet synchronous motor using one second observer, to obtain one
Dead zone voltage value；
Above-mentioned dead zone voltage value is compared by step S5. with above-mentioned voltage instruction value, and according to comparison result to above-mentioned
Voltage instruction value is modified, to obtain revised above-mentioned voltage instruction value；
Revised above-mentioned voltage instruction value is input into a space vector pulse width modulation device and is modulated, to obtain
One for controlling the pulse signal that the switching tube in above-mentioned electric current loop is acted；
Above-mentioned current diffusion limited model is constructed in a predictive-current control device, to calculate above-mentioned voltage instruction value.
In the present embodiment, from the output of three-phase voltage source inverter (voltage source inverter, VSI)
Obtain three-phase current (a phase current i of permanent magnet synchronous motoraWith b phase current ibWith c phase current i not shown in the figurec), pass through seat
Mark transformation is obtained in motor stator electric current (the current component i on stator d axis under two-phase rotating coordinate systemdOn stator q axis
Current component iq), wherein above-mentioned coordinate transform include three-phase static coordinate system turn two-phase stationary coordinate system (3s/2s, i.e.,
CLARK transformation) and two-phase stationary coordinate system turn two-phase rotating coordinate system (2s/2r, i.e. PARK convert), will be after coordinate transform
The obtained current component i on stator d axisdWith the current component i on stator q axisqIt is input to the first observer and predicted current control
In device processed, the first observer is by being calculated error parameter (the error parameter component f on stator d axisdOn stator q axis
Error component fq) and error parameter is input in predicted current observer, meanwhile, acquire current time in current loop control
Current instruction value (the current instruction value component i on stator d axisdWith the current instruction value component i on stator q axisq), above-mentioned is pre-
Current controller is surveyed by voltage instruction value (the component u of the voltage instruction value on stator d axis is calculated* dOn stator q axis
The component u of voltage instruction value* q)。
Further, due to three-phase symmetrical, as long as the dead zone voltage of a phase can be observed, therefore, the second observer
The a phase current i of permanent magnet synchronous motor is obtained from the output of three-phase voltage source inverteraA phase dead zone electricity is first obtained by calculating
Pressure finally obtains dead zone voltage value (the dead zone voltage value u on stator d axisd,deadWith the dead zone voltage value u on stator q axisq,dead),
Voltage instruction value is modified using dead zone voltage value to obtain revised voltage instruction value, revised dead zone voltage value warp
It crosses coordinate conversion (two-phase rotating coordinate system turns two-phase stationary coordinate system 2r/2s) and obtains the voltage instruction under two-phase stationary coordinate system
Then value will be input to space vector pulse width modulation device (Space Vector by the voltage instruction value of coordinate conversion
Pulse Width Modulation, SVPWM) and be modulated, to obtain for controlling the switching tube in above-mentioned electric current loop (i.e.
Switching tube in three-phase VSI) pulse signal that is acted.
Wherein, rotary transformer is as angle position signal detection sensor, for detecting the angle position of rotor
(θrIndicate the angle value of the rotor in electric current loop,For the estimator of above-mentioned angle value) etc. information.
As seen in figures 3-6, by comparing the current waveform figure for compensating front and back above it is found that before compensation, current signal is not
It can really follow current instruct, there are certain deviations, simultaneously because the influence of dead time, dq shaft current exists certain
Pulsation.After applying compensation policy proposed by the invention, good control effect is achieved to stator current.
As seen in Figure 1, based on two parallel observers (the first observer and the second observer) to motor side
Indeterminate and dead zone voltage in journey are observed, and indeterminate is output in predictive-current control device and participates in voltage instruction value
Operation is obtained, dead zone voltage is modified the output order value of predictive-current control device, through the above steps can be to stator electricity
The raw preferable control effect of miscarriage.
Therefore, Compensation for Model Errors is added in the control of existing permanent magnet synchronous motor closed loop current and dead zone voltage is mended
It repays, closed loop current control is carried out to permanent magnet synchronous motor with compensated voltage instruction value, compensated voltage instruction value is defeated
Enter space vector pulse width modulation device progress operation and obtain control, so that current signal is accurately tracked voltage instruction value, solve
Certainly the parameter of electric machine perturbs and voltage instruction deviation brought by modeling error in current predictive control method in the prior art, and
The lower problem of dead-zone compensation method precision at present.
In the preferred embodiment of the invention, in above-mentioned steps S1, above-mentioned current diffusion limited model is indicated using following formula:
Wherein,fc=[fd fq]T；
U=[ud uq]T； It indicates in above-mentioned electric current loop
Stator current value estimator；Indicate estimating for the d axis component of the above-mentioned current value of the said stator in above-mentioned electric current loop
Metering；Indicate the estimator of the q axis component of the above-mentioned current value of the said stator in above-mentioned electric current loop；F indicates above-mentioned error
Parameter；Indicate the estimator of above-mentioned error parameter；fdIndicate the d axis component of above-mentioned error parameter；fqIndicate above-mentioned error parameter
Q axis component；U indicates the voltage value of the said stator in above-mentioned electric current loop；udIndicate the said stator in above-mentioned electric current loop
The d axis component of above-mentioned voltage value；uqIndicate the q axis component of the above-mentioned voltage value of the said stator in above-mentioned electric current loop；LdIn expression
State the d axis component of the inductance value of the stator winding in electric current loop；LqIndicate the above-mentioned of the said stator winding in above-mentioned electric current loop
The q axis component of inductance value；RsIndicate the resistance value of the said stator in above-mentioned electric current loop；Ψ r indicates to turn in above-mentioned electric current loop
The magnetic linkage value of son；ωrIndicate the tachometer value of the above-mentioned rotor in above-mentioned electric current loop.
In the present embodiment, the stator d axis fed-back current signals i at current time is sampledd(k), stator q axis feedback current is believed
Number iq(k), above formula is recycled to calculate stator current value (namely the predicted current of subsequent time of next sampling instant
Value)WithUnlike conventional motors current equation, equation joined error parameter fdAnd fq, due to accidentally
Poor parameter is 0 in the initial stage, and the resulting predicted current value of the actual current and equation calculation of sampling is not quite identical, therefore,
Error parameter f can be calculated based on this errordAnd fq。
In the preferred embodiment of the invention, in above-mentioned steps S2, above-mentioned error parameter is calculated using following formula:
Wherein,U=
[ud uq]T；I indicates the current value of stator in above-mentioned electric current loop；Indicate above-mentioned electricity
The value that the above-mentioned current value of said stator in stream ring obtains after depression of order is handled；Indicate above-mentioned electric current in above-mentioned electric current loop
The estimator for the value that value obtains after depression of order is handled；Indicate the estimator of above-mentioned error parameter；Indicate above-mentioned error parameter
The estimator of the value obtained after depression of order is handled；Indicate the estimation of the above-mentioned current value of the said stator in above-mentioned electric current loop
Amount；Indicate the estimator of the d axis component of the above-mentioned current value of the said stator in above-mentioned electric current loop；Indicate above-mentioned electric current loop
In said stator above-mentioned current value q axis component estimator；U indicates the voltage of the said stator in above-mentioned electric current loop
Value；udIndicate the d axis component of the above-mentioned voltage value of the said stator in above-mentioned electric current loop；uqIndicate above-mentioned in above-mentioned electric current loop
The q axis component of the above-mentioned voltage value of stator；LdIndicate the d axis component of the inductance value of the stator winding in above-mentioned electric current loop；LqIt indicates
The q axis component of the above-mentioned inductance value of said stator winding in above-mentioned electric current loop；RsIndicate the said stator in above-mentioned electric current loop
Resistance value；Ψ r indicates the magnetic linkage value of the rotor in above-mentioned electric current loop；ωrIndicate turning for the above-mentioned rotor in above-mentioned electric current loop
Speed value；G is a gain factor matrix, and g11, g12, g21 and g22 are the matrix element in above-mentioned gain factor matrix.
In the present embodiment, depression of order is carried out to formula (1) and obtains following formula:
Formula (2) and formula (3) are converted by formula (1), and the selection of the matrix element in G matrix determines determination
Item fdAnd fqConvergent speed, but convergence rate can not be too fast, otherwise will lead to observer and does not restrain.
In the preferred embodiment of the invention, in above-mentioned steps S3, above-mentioned voltage instruction value is calculated using following formula:
Wherein,ik=[id(k) iq(k)]T； fk=[fd(k) fq(k)]TukIndicate above-mentioned voltage instruction value；ikIndicate currently adopting in above-mentioned electric current loop
The current sampling data of the stator at sample moment；i* k+1When indicating next sampling of the above-mentioned current sample time in above-mentioned electric current loop
The current instruction value at quarter；id(k) indicate that the above-mentioned electric current of the said stator of the above-mentioned current sample time in above-mentioned electric current loop is adopted
The d axis component of sample value；iq(k) the above-mentioned current sample of the said stator of the above-mentioned current sample time in above-mentioned electric current loop is indicated
The q axis component of value；fkIndicate the above-mentioned error parameter of the above-mentioned current sample time in above-mentioned electric current loop；fd(k) above-mentioned electricity is indicated
Flow the d axis component of the above-mentioned error parameter of the above-mentioned current sample time in ring；fq(k) indicate in above-mentioned electric current loop above-mentioned works as
The q axis component of the above-mentioned error parameter of preceding sampling instant；LdIndicate the d axis point of the inductance value of the stator winding in above-mentioned electric current loop
Amount；LqIndicate the q axis component of the above-mentioned inductance value of the said stator winding in above-mentioned electric current loop；TsIt indicates in above-mentioned electric current loop
The wide system of pulse controls periodic quantity；RsIndicate the resistance value of the said stator in above-mentioned electric current loop；Ψ r is indicated in above-mentioned electric current loop
The magnetic linkage value of rotor；ωrIndicate the tachometer value of the above-mentioned rotor in above-mentioned electric current loop.
In the present embodiment, by formula (3) discretization and after transplanting, so that it may obtain control voltage (voltage instruction value)
Calculation formula (4) obtains error parameter f in the first observerkAfterwards, by fkIt is sent into predictive-current control device by formula (4)
Calculating can obtain voltage instruction value.
In the preferred embodiment of the invention, in above-mentioned steps S3, before computationally stating voltage instruction value, using following formula
Above-mentioned error parameter is converted:
Wherein,Indicate the estimator of above-mentioned error parameter；ε indicates transformed above-mentioned error parameter.
In the present embodiment, due to the presence of electric current high-frequency noises, electric current can be directly used in the first observer
Differential value can destroy the stability of observer, and above-mentioned equation does not have engineering value also, therefore, quantity of state therein be made formula
(5) transformation.
In the preferred embodiment of the invention, in above-mentioned steps S4, above-mentioned dead zone voltage value is calculated using following formula:
Wherein,Indicate the estimator for the value that above-mentioned dead zone voltage value obtains after depression of order is handled；γ is adaptive
Coefficient, above-mentioned adaptation coefficient are greater than zero；eaIndicate a phase current predicted value and said stator of the stator in above-mentioned electric current loop
The difference of a phase current actual value；iaIndicate the above-mentioned a phase current actual value of the said stator in above-mentioned electric current loop；LsIndicate above-mentioned
The inductance value of stator winding in electric current loop.
It in the present embodiment, can will be on three-phase by coordinate transform after completing the observation to single-phase dead zone voltage
Dead zone voltage be transformed into dq two-phase rotating coordinate system.Before the observer value that first observer and the second observer are obtained
It is fed in voltage command signal, so that it may complete the compensation to indeterminate and dead time.
In the preferred embodiment of the invention, above-mentioned a phase current actual value is calculated using following formula:
Wherein, iaIndicate the above-mentioned a phase current actual value of the said stator in above-mentioned electric current loop；Indicate above-mentioned electric current loop
In said stator the value that is obtained after depression of order is handled of above-mentioned a phase current actual value；θrIt indicates to turn in above-mentioned electric current loop
The angle value of son；udeadIndicate above-mentioned dead zone voltage value；ua *Indicate a phase component of above-mentioned voltage instruction value；LsIndicate above-mentioned electricity
Flow the inductance value of the said stator winding in ring；RsIndicate the resistance value of the said stator in above-mentioned electric current loop；Ψ r indicates above-mentioned
The magnetic linkage value of above-mentioned rotor in electric current loop；ωrIndicate the tachometer value of the above-mentioned rotor in above-mentioned electric current loop.
In the preferred embodiment of the invention, above-mentioned a phase current predicted value is calculated using following formula:
Wherein, iaIndicate the above-mentioned a phase current actual value of the said stator in above-mentioned electric current loop；Indicate above-mentioned electric current loop
In said stator the estimator of value that is obtained after depression of order is handled of above-mentioned a phase predicted current value；θrIndicate above-mentioned electric current
The angle value of rotor in ring；Indicate the estimator for the value that above-mentioned dead zone voltage value obtains after depression of order is handled；ua *Table
Show a phase component of above-mentioned voltage instruction value；LsIndicate the inductance value of the said stator winding in above-mentioned electric current loop；RsIndicate above-mentioned
The resistance value of said stator in electric current loop；Ψ r indicates the magnetic linkage value of the above-mentioned rotor in above-mentioned electric current loop；ωrIndicate above-mentioned
The tachometer value of above-mentioned rotor in electric current loop.
In the present embodiment, in formula (7),It is that predictive-current control device in a phase provided after overcompensation inputs electricity
It presses (component of the voltage instruction value in a phase), usesWithIt is obtained after coordinate transform, udeadBe it is unknown, can be by a phase
Actual current equation (i.e. formula 7) is used as a reference model, resettles a prediction model (i.e. formula 8),It is dead zone
The estimated value of voltage can see by comparing formula (7) above and formula (8), ifIt is mended not equal to actual dead zone
Voltage is repaid, then predicted valueWith actual value iaBetween can have error, can use the corresponding self application rate of this Deviation Design come
Estimate dead zone voltage size.For this purpose, definitionCorresponding second observer is designed (using formula 6 as sight
Survey the model of device).
In a specific embodiment, it applies the invention on electric vehicle controller, the specific implementation steps are as follows:
Electric car permanent magnet synchronous motor current equation is established to need to improve the precision of current control in electric current side
Indeterminate f is added in journeyk, available voltage accounting equation is as follows:
A linear reduced order observer (the first observer) is designed to estimate fk, detailed process is as follows:
The stator dq current value that next sampling instant is estimated using discrete electrical electromechanics flow equation, will be added not in equation
It determines item f, then will estimate stator dq current value and sampled value is compared, designed using the difference between them adaptive
Rate, the first observer concrete form are as follows:
Discretization is carried out to above formula.
Dead zone voltage observer (the second observer) is designed to estimate dead zone voltage udead, detailed process is as follows:
Due to three-phase symmetrical, as long as the dead zone voltage of a phase can be observed.With the dead zone voltage of motor stator a phase
udeadFor the second observer of object designs, it is as follows to establish a phase current equation:
Wherein, ua *It is predictive-current control device in a phase input voltage provided after overcompensation, with the electricity on stator d axis
Press the component u of instruction value* dWith the component u of the voltage instruction value on stator q axis* qIt is obtained after coordinate transform, udeadIt is unknown
, a prediction model can be resettled using a phase actual current equation as a reference model:
It can see by comparing both the above equation, ifNot equal to actual dead area compensation voltage, then predict
ValueWith actual value iaBetween can have error, for this purpose, definitionIt is as follows to design corresponding second observer:
Above-mentioned equation carries out discretization.
Permanent magnet synchronous motor electric current loop is established, by the electricity of the current instruction value of a sampling instant and this sampling instant on dq axis
It flows sampled value to be sent into the first observer, estimates indeterminate；By the current instruction value of the lower sampling instant of dq axis, this sampling
The current sampling data and indeterminate estimated value at moment are sent into predictive current control device, and voltage instruction value is calculated；It will be upper
The voltage instruction value and a phase current values at this moment at one moment are sent into dead zone voltage observer, and single-phase dead zone voltage is calculated
udead, the dead zone voltage size on dq axis is obtained after being then coordinately transformed；This dead zone voltage and voltage instruction value are carried out
It is sent into SVPWM module more afterwards and carries out operation, obtain final control signal.
By description and accompanying drawings, the exemplary embodiments of the specific structure of specific embodiment are given, based on present invention essence
Mind can also make other conversions.Although foregoing invention proposes existing preferred embodiment, however, these contents are not intended as
Limitation.
For a person skilled in the art, after reading above description, various changes and modifications undoubtedly be will be evident.
Therefore, appended claims should regard the whole variations and modifications for covering true intention and range of the invention as.It is weighing
The range and content of any and all equivalences, are all considered as still belonging to the intent and scope of the invention within the scope of sharp claim.
Claims (8)
1. a kind of current control method of permanent magnet synchronous motor, suitable for carrying out electricity to the electric current loop the permanent magnet synchronous motor
Flow control；It is characterized in that, the current control method includes:
Step S1. establishes a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed the error parameter using one first observer, to obtain the error parameter；
Step S3. handles to obtain a voltage instruction value according to the error parameter and the current diffusion limited model of acquisition；
Step S4. is observed the dead zone voltage of the permanent magnet synchronous motor using one second observer, to obtain a dead zone
Voltage value；
The dead zone voltage value is compared by step S5. with the voltage instruction value, and according to comparison result to the voltage
Instruction value is modified, to obtain the revised voltage instruction value；
The revised voltage instruction value is input into a space vector pulse width modulation device and is modulated, and is used with obtaining one
In the pulse signal that the switching tube controlled in the electric current loop is acted；
Wherein, in the step S1, the current diffusion limited model is indicated using following formula:
Wherein,
fc=[fd fq]T；
U=[ud uq]T；
Indicate the estimator of the current value of the stator in the electric current loop；
Indicate the estimator of the d axis component of the current value of the stator in the electric current loop；
Indicate the estimator of the q axis component of the current value of the stator in the electric current loop；
F indicates the error parameter；
Indicate the estimator of the error parameter；
fdIndicate the d axis component of the error parameter；
fqIndicate the q axis component of the error parameter；
U indicates the voltage value of the stator in the electric current loop；
udIndicate the d axis component of the voltage value of the stator in the electric current loop；
uqIndicate the q axis component of the voltage value of the stator in the electric current loop；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
2. current control method as described in claim 1, which is characterized in that in the step S1, in a predictive-current control
The current diffusion limited model is constructed in device, to calculate the voltage instruction value.
3. current control method as described in claim 1, which is characterized in that in the step S2, calculated using following formula
Obtain the error parameter:
Wherein,
U=[ud uq]T；
I indicates the current value of stator in the electric current loop；
Indicate the estimator of the current value of the stator in the electric current loop；
Indicate the estimator of the d axis component of the current value of the stator in the electric current loop；
Indicate the estimator of the q axis component of the current value of the stator in the electric current loop；
Indicate the value that the current value of the stator in the electric current loop obtains after depression of order is handled；
Indicate the estimator for the value that current value described in the electric current loop obtains after depression of order is handled；
Indicate the estimator of the error parameter；
Indicate the estimator for the value that the error parameter obtains after depression of order is handled；
U indicates the voltage value of the stator in the electric current loop；
udIndicate the d axis component of the voltage value of the stator in the electric current loop；
uqIndicate the q axis component of the voltage value of the stator in the electric current loop；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop；
G is a gain factor matrix, g11, g12, g21And g22It is the matrix element in the gain factor matrix.
4. current control method as claimed in claim 3, which is characterized in that in the step S3, calculated using following formula
Obtain the voltage instruction value:
Wherein,
ik=[id(k) iq(k)]T；
fk=[fd(k) fq(k)]T；
ukIndicate the voltage instruction value；
ikIndicate the current sampling data of the stator of the current sample time in the electric current loop；
i* k+1Indicate the current instruction value of next sampling instant of the current sample time in the electric current loop；
id(k) the d axis point of the current sampling data of the stator of the current sample time in the electric current loop is indicated
Amount；
iq(k) the q axis point of the current sampling data of the stator of the current sample time in the electric current loop is indicated
Amount；
fkIndicate the error parameter of the current sample time in the electric current loop；
fd(k) the d axis component of the error parameter of the current sample time in the electric current loop is indicated；
fq(k) the q axis component of the error parameter of the current sample time in the electric current loop is indicated；
LdIndicate the d axis component of the inductance value of the stator winding in the electric current loop；
LqIndicate the q axis component of the inductance value of the stator winding in the electric current loop；
TsIndicate the wide system control periodic quantity of pulse in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
5. current control method as claimed in claim 4, which is characterized in that in the step S3, refer to calculating the voltage
Before enabling value, the error parameter is converted using following formula:
Wherein,
ε indicates the transformed error parameter；
Indicate the estimator of the error parameter.
6. current control method as described in claim 1, which is characterized in that in the step S4, calculated using following formula
Obtain the dead zone voltage value:
Wherein,
Indicate the estimator for the value that the dead zone voltage value obtains after depression of order is handled；
γ is adaptation coefficient, and the adaptation coefficient is greater than zero；
eaIndicate the difference of a phase current predicted value of the stator in the electric current loop and a phase current actual value of the stator；
iaIndicate a phase current actual value of the stator in the electric current loop；
LsIndicate the inductance value of the stator winding in the electric current loop.
7. current control method as claimed in claim 6, which is characterized in that a phase electricity is calculated using following formula
Flow actual value:
Wherein,
iaIndicate a phase current actual value of the stator in the electric current loop；
Indicate the value that a phase current actual value of the stator in the electric current loop obtains after depression of order is handled；
θrIndicate the angle value of the rotor in the electric current loop；
udeadIndicate the dead zone voltage value；
Indicate a phase component of the voltage instruction value；
LsIndicate the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
8. current control method as claimed in claim 6, which is characterized in that a phase electricity is calculated using following formula
Flow predicted value:
Wherein,
iaIndicate a phase current actual value of the stator in the electric current loop；
Indicate estimating for the value that a phase predicted current value of the stator in the electric current loop obtains after depression of order is handled
Metering；
θrIndicate the angle value of the rotor in the electric current loop；
Indicate the estimator for the value that the dead zone voltage value obtains after depression of order is handled；
Indicate a phase component of the voltage instruction value；
LsIndicate the inductance value of the stator winding in the electric current loop；
RsIndicate the resistance value of the stator in the electric current loop；
Ψ r indicates the magnetic linkage value of the rotor in the electric current loop；
ωrIndicate the tachometer value of the rotor in the electric current loop.
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| JP2010252434A (en) * | 2009-04-10 | 2010-11-04 | Denso Corp | Device for control of rotary machine |
| CN101753091A (en) * | 2009-12-30 | 2010-06-23 | 重庆红宇精密工业有限责任公司 | Current loop control method of permanent magnet synchronous motor |
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