CN106849769A - Motor driven systems based on sliding mode observer - Google Patents

Motor driven systems based on sliding mode observer Download PDF

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Publication number
CN106849769A
CN106849769A CN201710241602.XA CN201710241602A CN106849769A CN 106849769 A CN106849769 A CN 106849769A CN 201710241602 A CN201710241602 A CN 201710241602A CN 106849769 A CN106849769 A CN 106849769A
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voltage
comparator
inverter
output
converter units
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不公告发明人
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • 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
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/005—Arrangements for controlling doubly fed motors
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a kind of motor driven systems based on sliding mode observer, including：DC/DC converter units, inverter, magneto, MCU, angle maker and sliding mode observer；The DC/DC converter units are connected with battery, and the output end connection inverter of DC/DC converter units, inverter is connected with magneto；Detect the input voltage vin and output voltage Vo of DC/DC converter units respectively by voltage sensor, output voltage ia, ib of inverter are detected by current sensor, by sliding mode observer to the rotational speed omega of magnetomIt is observed with rotor-position, special angle is generated in the electric motor starting stage by angle maker, to enable that motor smoothly starts.The present invention improves system control effect.

Description

Motor driven systems based on sliding mode observer
Technical field
Generally the present invention relates to motor, more particularly to a kind of motor driven systems based on sliding mode observer.
Background technology
Electric vehicle, such as electric automobile, are increasingly favored by people.The driving of current electric automobile is typically used The pattern of battery+magneto, control system is using open/close control.For opened loop control, vehicle (speed) is no Can accurately follow given, be phased out.In closed-loop control, current general using velocity close-loop control mode, it is used Traditional PID regulator is adjusted to given speed with the deviation of actual speed, according to the defeated of adjustment output control inverter Go out.This control mode, system response time is slow, easily occurs overshoot during adjustment, actual speed around setting value for a long time Vibration, so results in the driver during vehicle speed-raising and feels speed wobble.Mechanical position sensor can realize rotor The high precision test of position, but generally price is high, is easily limited by environmental condition, and also it is used to there is increase rotor rotation The shortcomings of amount, increase system bulk and system reliability are reduced.In addition, current electric vehicle is typically boosted using copped wave (boost) mode is boosted to the output voltage of battery, and this mode switch pipe loss is big, and power factor is low.
The content of the invention
For the defect of prior art, the invention provides a kind of motor driven systems based on sliding mode observer.
A kind of motor driven systems based on sliding mode observer, including：DC/DC converter units, inverter, magneto, MCU, angle maker and sliding mode observer；The DC/DC converter units are connected with battery, the output end of DC/DC converter units Connection inverter, inverter is connected with magneto；Detect the input voltage of DC/DC converter units respectively by voltage sensor Vin and output voltage Vo, output voltage ia, ib of inverter is detected by current sensor, by sliding mode observer to permanent magnetism The rotational speed omega of motormIt is observed with rotor-position, special angle is generated in the electric motor starting stage by angle maker, causes Motor can smoothly start；Drive system use rotating speed outer shroud, the double circle structure of current inner loop, it include Cark conversion modules, Park conversion modules, sliding mode observer, angle maker, Fractional Order PID adjuster, current regulator, Park inverse transform modules, arteries and veins Rush width modulation module and inverter；Sliding mode observer is connected by switching S2 with transition, angle maker also with transition phase Even, transition output rotor position θ and actual speed ω m；Rotor position is sent to the rotor-position number of Park inverse transform modules According to input；Rotational speed omega m is sent to the reverse input end of first comparator, the positive input and rotational speed setup of first comparator Signal is connected, and rotational speed setup signal can be given by gas pedal；The output end of first comparator and Fractional Order PID adjuster Input is connected；The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the second comparator it is reverse Input is connected with the q shaft current output ends of Park conversion modules；Controlled using d shaft currents permanent zero, i.e., d shaft currents set-point is permanent It is zero, this set-point is connected with the positive input of the 3rd comparator, reverse input end and the Park of the 3rd comparator are converted The d shaft currents output end of module is connected；The output end of the second comparator and the 3rd comparator is connected with current regulator, and electric current is adjusted The output end for saving device is connected by Park inverse transform modules with Pulse width modulation module, Pulse width modulation module output modulation Signal to inverter, inverter receives the output voltage Vo of DC/DC converter units；Inverter is gathered by current sensor to export Wherein two-phase ia, ib, ia, ib are converted by Clark and Park is converted, and obtain permagnetic synchronous motor under dq axis coordinate systems Equivalent current id and iq；First comparator is by rotary speed setting valueIt is compared with actual speed ω m, deviation signal is through undue Number rank PID regulators regulation, the output valve of Fractional Order PID adjuster as q axles given value of current valueD shaft current set-pointsSecond comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the second comparator and the 3rd compares Comparative result compared with device sends into current regulator, obtained after current regulator is adjusted q shaft voltages under dq axis coordinate systems to Definite valueWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, it is sequentially output to arteries and veins Width modulation module and inverter are rushed, so as to obtain the three-phase input voltage of permagnetic synchronous motor, permagnetic synchronous motor fortune is driven OK；Transistor Q1 and Q2 that the DC/DC converter units include inductance L, are connected in series, inverse parallel has transistor Q1 and Q2 respectively Diode D1 and D2；Inductance L one end is connected to the positive pole of battery via switch SR1, and the other end is connected to transistor Q1 and crystal Intermediate point between pipe Q2；One end of electric capacity C1 is connected between switch SR1 and inductance L, another termination GND, capacitor C1 is smoothed to cell voltage；Transistor Q1 is in parallel with electric capacity C2 after being connected with Q2, and electric capacity C2 is used as DC/DC converter units Output capacitance, inverter is connected to the two ends of electric capacity C2；Voltage sensor V1 detects the voltage Vin of battery, and detection is obtained Voltage Vin be supplied to MCU；MCU controlling switches SR1's is opening/closing；MCU is provided to transistor Q1 and Q2 respectively in the way of PWM Trigger signal G11, G12；Voltage sensor V2 detects the output voltage Vo of DC/DC converter units, and will detect the voltage for obtaining Vo is supplied to MCU；DC/DC converter units are boosted to the voltage for carrying out sufficient power from capacitor C1, and the voltage after boosting is supplied to Capacitor C2；Capacitor C2 is smoothed to output voltage, and will it is smooth after voltage be supplied to inverter；MCU is by voltage Vo Compared with setting value Vdc, the difference according to the two adjusts the dutycycle of G11, G12, so that Vo=Vdc.
The beneficial effects of the invention are as follows：Using rotating speed outer shroud, the double-closed-loop control structure of current inner loop, rotating speed can be quick Follow given, improve system response time；DC/DC converter unit simple structures, low cost；Make by using Fractional Order PID The system of obtaining is provided with bigger adjustable range, obtains Control platform more more preferable than traditional PI D and stronger robustness；Using cunning Mould observer is observed to motor rotor position angle, and electric motor starting is carried out using angle maker, so as to instead of traditional machine Tool position sensor, reduces system cost, improves reliability；Amplitude limit and closed loop feedback link are added in electric current loop, is protected Motor even running is demonstrate,proved, it is to avoid ovennodulation occurs in motor.
Brief description of the drawings
Fig. 1 is present system overall structure diagram；
Fig. 2 is the structural representation of drive system of the present invention；
Fig. 3 is the structural representation of sliding mode observer；
Fig. 4 is saturation function curve map；
Fig. 5 is the structural representation of DC/DC converter units；
Fig. 6 is the structural representation of Fractional Order PID；
Fig. 7 adjusts flow chart for Fractional Order PID；
Fig. 8 is the structural representation of current regulation unit；
Fig. 9 compares figure for control result of the present invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention Specific embodiment be described in detail, above and other purpose of the invention, feature and advantage will be become apparent from.Complete Identical reference indicates identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair Bright purport.
System architecture of the invention is explained with reference to accompanying drawing 1 first.The invention provides a kind of electric vehicle drivetrain System, system includes：DC/DC converter units, inverter, magneto, MCU (main control unit), angle maker and sliding formwork are observed Device etc..DC/DC converter units are connected with battery, and the output end of DC/DC converter units connects inverter, inverter and magneto It is connected, drives vehicle to run by magneto.Detect the input voltage of DC/DC converter units respectively by voltage sensor Vin and output voltage Vo, output voltage ia, ib of inverter is detected by current sensor, by sliding mode observer to permanent magnetism The rotational speed omega of motormDetected with rotor-position, these detection signals are admitted to MCU, MCU distinguishes according to these detection signals To DC/DC converter units and inverter output drive signal G1, G2, so as to adjust the output of DC/DC converter units and inverter.
By one piece of MCU processors control operation, various pieces coordinated operation, human-computer exchange part can use whole system LCD and button realize (not shown).The turn-on frequency of IGBT in MCU control inverters, so as to realize permagnetic synchronous motor Coil magnetic field order change motor operating；Angle maker is used to generate special angle in the electric motor starting stage according to instruction, To enable that motor smoothly starts；Current detection circuit by the phase current of real-time detection motor coil, and with MCU processors in Electric machine theory model is compared, and realizes the closed-loop control of motor, and realizes the overvoltage of motor, overcurrent protection.
The control structure to drive system in the present invention is described in detail below, refers to Fig. 2.Drive system uses rotating speed The double circle structure of outer shroud, current inner loop, it includes Cark conversion modules, Park conversion modules, sliding mode observer, angle generation Device, Fractional Order PID adjuster, current regulator, Park inverse transform modules, Pulse width modulation module and inverter.
Wherein, sliding mode observer is connected by switching S2 with transition, and angle maker is also connected with transition, and transition is defeated Go out rotor position, actual speed ω m.Rotor position is sent to the rotor position data input of Park inverse transform modules；Turn Fast ω m are sent to the reverse input end of first comparator, and the positive input of first comparator is connected with rotational speed setup signal, are turned Fast Setting signal can be given by gas pedal.The output end of first comparator is connected with the input of Fractional Order PID adjuster. The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the reverse input end of the second comparator with The q shaft currents output end of Park conversion modules is connected.Controlled using d shaft currents permanent zero in the present invention, i.e., d shaft currents set-point is permanent It is zero, this set-point is connected with the positive input of the 3rd comparator, reverse input end and the Park of the 3rd comparator are converted The d shaft currents output end of module is connected.The output end of the second comparator and the 3rd comparator is connected with current regulator, and electric current is adjusted The output end for saving device is connected by Park inverse transform modules with Pulse width modulation module, Pulse width modulation module output modulation Signal to inverter, inverter receives the output voltage Vo of DC/DC converter units, opening/closing inverter is made according to modulated signal In IGBT, so as to export the voltage signal of variable frequency to magneto.
The rotor position of permagnetic synchronous motor, rotational speed omega m, inverter is exported wherein two are gathered by current sensor Phase ia, ib, ia, ib are converted by Clark and Park is converted, and obtain equivalent current of the permagnetic synchronous motor under dq axis coordinate systems Id and iq.First comparator is by rotary speed setting valueIt is compared with actual speed ω m, deviation signal is adjusted by Fractional Order PID Section device regulation, the output valve of Fractional Order PID adjuster as q axles given value of current valueD shaft current set-points
Second comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the second comparator and the 3rd The comparative result feeding current regulator of comparator, obtains the q shaft voltages under dq axis coordinate systems after current regulator is adjusted Set-pointWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, be sequentially output to Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drive permagnetic synchronous motor Operation.
Wherein, Clark conversion, Park conversion, Park inverse transformations is realized by following formula (1), (2), (3) respectively.
In formula, iαAnd iβIt is the equivalent current under two-phase rest frame (abbreviation α β coordinate systems), ia、ibAnd icIt is permanent magnetism The three-phase current of synchronous motor, idAnd iqIt is equivalent current of the permagnetic synchronous motor under dq axis coordinate systems, θ is permanent magnet synchronous electric The rotor-position of machine.
Emphasis is described in detail to the sliding mode observer in the present invention, angle maker and transition below, refering to Fig. 3 and Tu 4.Magneto is initially located in inactive state, and the initial position message of rotor must be obtained to smoothly startup.Initial position Order of accuarcy is related to the stability of electric motor starting, if initial position just has error, and to likely result in motor out of control.Therefore, this Invention provides initial angle using angle maker, by the way of speed open-loop start-up, when motor speed reaches the higher of setting After rotating speed, closed-loop control is switched to by transition.Specifically, direct controlled output voltage, saves speed and electric current Controlling unit, angle is given by angle maker needed for Park inverse transformations, by manual control position angle maker, make motor by State of the setting acceleration Acceleration of starting to fixed rotating speed.Phase between the angle and rotor that position angle maker gives Potential difference is θmWhen had according to torque equation：
Te=1.5pn[Ψfiq+(Ld-Lq)idiq] (4)
Wherein,
iq=i*qsinθm id=i*qcosθm
Therefore, formula 4 can be reduced to：
Te=1.5pn i*qsinθm[Ψfiq+(Ld-Lq)i*qcosθm] (5)
Wherein, Te is electromagnetic torque, TLIt is load torque, J is rotary inertia, and ω is motor angular rate, and θ turns for motor The angle of A axles when son is with initial level state, Pn is magnetic pole logarithm.From above formula, to ensure motor in nominal load Smooth to start, the given electric current of q axles should be sufficiently large in the case where ensureing no more than Rated motor electric current.Therefore, the present invention is being opened When dynamic, the given electric current of q axles is keptIt is definite value, d axles give electric currentIt is 0, angle generator given angle θdOpened by -90 degree Begin.Initial time,Phase difference θ between motor permanent magnetm=0, to reach the effect of constant acceleration startup, it is ensured that each θ in cycledIncrement be definite value.
During open-loop start-up, the position angle information of motor is given by angle maker, starts to open after high regime is accelerated to Sliding mode observer program is used, the position angle that observation is obtained does not participate in closed-loop control directly now, but first passing through transition will see The angle value for measuring mixes in proportion with angle maker set-point, to ensure from open loop to the steady of closed loop handoff procedure.Open loop During start-up course, switch S1 and switch S2 are off, and the angle value for participating in control is all given by angle maker, works as electricity When machine rotating speed reaches high regime, switch S2 closures.The angle of sliding mode observer estimation starts to mix with angle maker given angle value Close, its mixed result participates in final angle control.The mixed proportion of angle of initial time sliding mode observer estimation is 0%, and angle maker set-point proportion is 100%, the angle proportion of sliding mode observer estimation afterwards gradually increases, And angle maker set-point proportion is gradually reduced, when mixed proportion value reaches 100%, oneself departs from control to characterize angle maker State processed, control angle value now is all given by sliding mode observer.
Sliding mode observer is more commonly used in the observation of motor angle position, and general sliding mode observer observes single by electric current Unit, resistance identification unit, switch function, back-EMF observer unit and phaselocked loop are constituted, its have good stability and Extremely strong robustness.Yet with the presence of switch function so that observer has discontinuous switching characteristic in itself, and this can lead Cause system has buffeting during practical application.This buffeting not only makes the big discounting of control accuracy of system Button, except unnecessary excess loss can be caused.To use saturation function alternative switch function, sliding mode observer in this present invention Structure as shown in figure 3, wherein the curve of saturation function be Fig. 4 shown in.
Wherein, k is the gain set-point of sliding mode observer after improving；δ is error setting value.By reasonably regulation parameter The value of δ, can not only effectively reduce " buffeting " of system, and system operations process is simpler, it is easy to digitized realization.
Fig. 5 is the structural representation of DC/DC converter units in the present invention, and DC/DC converter units include that inductance L, series connection connect The transistor Q1 and Q2 for connecing, inverse parallel has diode D1 and D2 to transistor Q1 respectively with Q2.Inductance L one end connects via switch SR1 The positive pole of battery is connected to, the other end is connected to the intermediate point between transistor Q1 and transistor Q2.One end of electric capacity C1 is connected to Between switch SR1 and inductance L, another termination GND, capacitor C1 is smoothed to cell voltage.Transistor Q1 and Q2 goes here and there It is in parallel with electric capacity C2 after connection, electric capacity C2 as DC/DC converter units output capacitance, inverter is connected to the two ends of electric capacity C2. Voltage sensor V1 detects the voltage Vin of battery, and will detect that the voltage Vin for obtaining is supplied to MCU.MCU controlling switches SR1's It is opening/closing.MCU provides trigger signal G11, G12 to transistor Q1 and Q2 respectively in the way of PWM.Voltage sensor V2 detects DC/ The output voltage Vo of DC converter units, and will detect that the voltage Vo for obtaining is supplied to MCU.DC/DC converter units carry out sufficient power from capacitor The voltage of C1 is boosted, and the voltage after boosting is supplied into capacitor C2.Capacitor C2 is smoothed to output voltage, and Voltage after will be smooth is supplied to inverter.MCU compares voltage Vo with setting value Vdc, the difference regulation according to the two The dutycycle of G11, G12, so that Vo=Vdc.
Different from conventional regulator, in the present invention, the speed regulation for outer shroud uses Fractional Order PID, and its structure is such as Shown in Fig. 6.Similar to integer rank PID controller, the differential equation of Fractional Order PID Controller is:
Wherein,For Caputo is defined；λ ＞ 0, μ ＞ 0 are any real number, are the orders of fractional order control device.
Fractional calculus to Caputo definition ask Laplace transform, can obtain:
The transmission function of thus obtained Fractional Order PID Controller：
Fractional Order PID Controller includes that an integration order λ and differential order μ, wherein λ and μ can be any real numbers.It is whole Number rank PID controller is special circumstances of the Fractional Order PID Controller at λ=1 and μ=1, and PI controls are when λ=1, μ=0 Device processed, is PD control device when λ=0, μ=1.Fractional Order PID Controller many two adjustable parameters λ and μ, by reasonably selecting Parameter can just improve the control effect of system.
Refering to Fig. 7, if the preferable closed loop reference model of system is：λ, μ, kp, ki, kd lead to Cross following manner determination：
S110：The cut-off frequency ω c and order α of ideal close-loop reference model are chosen in control performance requirement according to system； The control performance requirement of system is time domain index, and time domain index can be overshoot, regulating time or time to peak；The ideal is closed Ring reference model H (s) is such that system has the desired characteristic insensitive to change in gain, is to cause cut-off when change in gain The change of frequencies omega c, system has strong robustness to change in gain, and the overshoot size of system is only relevant with α, and with gain without Close.
S120：By H (s) and Gc(S) control object model, is calculated
Wherein λ, μ take decimal.If λ=α, have
S130：Obtain the frequency domain response data of unknown actual controlled device Gp (s), it is assumed thatWith Gp (s) in ω=0 and Frequency response at ω=ω x is identical, then ω x can be chosen for the cross-over frequency of Gp (s) phase margins of original system | Gp (j ω X) |=1, λ=α is first chosen, it is meaningful at ω=0 that (now, object can keep good steady-state response, with general reality The situation of system is consistent), haveThen basisHave kp、kdIn ω=ωxPlace is with the functional relation of μ：
Wherein,
S140：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cutoff frequency To greatest extent close to the frequency domain response index of practical object Gp (s) in the range of rate；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Final To the parameter of fractional order control device.
The present invention primarily determines that the value of ω c, α, λ according to the time domain response index of system, by approaching practical object model With the frequency response characteristic of ideal object model, optimizing obtains the differential term order of Fractional Order PID, is calculated kd, ki, The value of kp, can obtain approaching the Fractional Order PID Controller of desired reference model.
Current regulator is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsThe structure of current regulator As shown in figure 8, the second comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles pi regulator being adjusted with q axles PI Device, the output voltage of d axle pi regulators is Ud, the output voltage of q axle pi regulators is Uq, Ud、Uq、VoFeeding voltage limit ring, ObtainWithMeanwhile, by the 4th comparator to UqWithIt is compared, obtains deviation △ Uq, △ UqThrough ratio module 1/ Kqp is admitted to the integration module in q axle pi regulators, so to △ UqCarry out PI regulations so thatCompare by the 5th Module is to UdWithIt is compared, obtains deviation △ Ud, △ UdThe product in d axle pi regulators is admitted to through ratio module 1/Kdp Sub-module, so to △ UdCarry out PI regulations so that
In order to ensure motor even running, it is to avoid motor ovennodulation pattern occurs, it is necessary to voltage limit ring limiting motor is electric Pressure UdqLess than busbar voltage.That is Ud、UqFollowing formula condition need to be met.
If the condition is invalid, dq shaft voltages ud, uq need to carry out equal proportion amplitude limit, such as according to busbar voltage amplitude Vo Shown in formula (14)：
Park inverse transform modules are used for willWithBe converted to α shaft voltage U α, β shaft voltages Uβ, and send to pulsewidth modulation Module；Pulse width modulation module is space vector pulse width modulation, for being calculated voltage arteries and veins according to α β shaft voltages, busbar voltage Punching, and send to inverter.
Inverter output power so is controlled by controlling d shaft currents and q shaft currents, is determined according to motor is actually required Electron current amplitude, phasor difference is done by with q shaft currents, obtains actually required q shaft currents, simplifies the control knot of q shaft currents Structure, on the premise of net side High Power Factor is realized, the robustness of strengthening system；According to busbar voltage amplitude, limiting motor reality Border stator voltage size, it is to avoid motor runs into ovennodulation, enhances the reliability of system；Adjusted by voltage error, will The current error value for obtaining feeds back to electric current loop integral element, effectively increases the rapidity of electric current loop regulation.
The control system of two close cycles+Fractional Order PID+current limit ring of the invention is adjusted with traditional digital ratio ring speed System is contrasted, and Fig. 9 is the comparison diagram of control result, and curve a is given step signal in figure, and curve b drives for the present invention The velocity-response curve of dynamic system, curve C is the response curve of traditional list closed-loop system.By contrast as can be seen that the present invention Drive system rotating speed response it is smooth, quick, there is no overshoot, the phenomenon of vibration, substantially improve system drive effect.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with The difference of other embodiment, between each embodiment identical similar part mutually referring to.For the side of the application For method embodiment, because it is substantially similar to device embodiment, so description is fairly simple, related part is referring to device reality Apply the part explanation of example.
Elaborate many details in order to fully understand the present invention in the above description.But above description is only Presently preferred embodiments of the present invention, the present invention can be implemented with being much different from other manner described here, therefore this Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously In the case of aspects, all make many possible to technical solution of the present invention using the methods and techniques content of the disclosure above Change and modify, or the Equivalent embodiments for being revised as equivalent variations.Every content without departing from technical solution of the present invention, according to this The technical spirit of invention still falls within skill of the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments In the range of the protection of art scheme.

Claims (3)

1. a kind of motor driven systems based on sliding mode observer, it is characterised in that including：DC/DC converter units, inverter, Magneto, MCU, angle maker and sliding mode observer；The DC/DC converter units are connected with battery, DC/DC converter units Output end connection inverter, inverter is connected with magneto；Detect DC/DC converter units respectively by voltage sensor Input voltage vin and output voltage Vo, output voltage ia, ib of inverter are detected by current sensor, are observed by sliding formwork Rotational speed omega of the device to magnetomIt is observed with rotor-position, specific angle is generated in the electric motor starting stage by angle maker Degree, to enable that motor smoothly starts；Drive system uses rotating speed outer shroud, the double circle structure of current inner loop, and it includes Cark Conversion module, Park conversion modules, sliding mode observer, angle maker, Fractional Order PID adjuster, current regulator, Park inversions Mold changing block, Pulse width modulation module and inverter；Sliding mode observer is connected by switching S2 with transition, angle maker also with Transition is connected, transition output rotor position θ and actual speed ω m；Rotor position is sent to turning for Park inverse transform modules Sub- position data input；Rotational speed omega m is sent to the reverse input end of first comparator, the positive input of first comparator with Rotational speed setup signal is connected, and rotational speed setup signal can be given by gas pedal；The output end and Fractional Order PID of first comparator The input connection of adjuster；The output end of Fractional Order PID adjuster connects the positive input of the second comparator, and second compares The reverse input end of device is connected with the q shaft current output ends of Park conversion modules；Controlled using d shaft currents permanent zero, i.e. d shaft currents Set-point perseverance is zero, and this set-point is connected with the positive input of the 3rd comparator, the reverse input end of the 3rd comparator with The d shaft currents output end of Park conversion modules is connected；The output end of the second comparator and the 3rd comparator and current regulator phase Even, the output end of current regulator is connected by Park inverse transform modules with Pulse width modulation module, pulse width modulation mould Block exports modulated signal to inverter, and inverter receives the output voltage Vo of DC/DC converter units；Gathered by current sensor Wherein two-phase ia, ib of inverter output, ia, ib are converted by Clark and Park is converted, and obtain permagnetic synchronous motor in dq axles Equivalent current id and iq under coordinate system；First comparator is by rotary speed setting valueIt is compared with actual speed ω m, deviation Signal is adjusted by Fractional Order PID adjuster, the output valve of Fractional Order PID adjuster as q axles given value of current valueD axles Given value of current valueSecond comparator to iq withBe compared, the 3rd comparator to id withIt is compared, second compares The comparative result feeding current regulator of device and the 3rd comparator, obtains under dq axis coordinate systems after current regulator is adjusted Q shaft voltage set-pointsWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, successively Export to Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drive permanent magnetism same Step motor operation；Transistor Q1 and Q2 that the DC/DC converter units include inductance L, are connected in series, transistor Q1 and Q2 difference Inverse parallel has diode D1 and D2；Inductance L one end is connected to the positive pole of battery via switch SR1, and the other end is connected to transistor Intermediate point between Q1 and transistor Q2；One end of electric capacity C1 is connected between switch SR1 and inductance L, and another termination battery is born Pole, capacitor C1 is smoothed to cell voltage；Transistor Q1 is in parallel with electric capacity C2 after being connected with Q2, and electric capacity C2 is used as DC/DC The output capacitance of converter unit, inverter is connected to the two ends of electric capacity C2；Voltage sensor V1 detects the voltage Vin of battery, and To detect that the voltage Vin for obtaining is supplied to MCU；MCU controlling switches SR1's is opening/closing；MCU is in the way of PWM respectively to transistor Q1 and Q2 provides trigger signal G11, G12；Voltage sensor V2 detects the output voltage Vo of DC/DC converter units, and will detection The voltage Vo for obtaining is supplied to MCU；DC/DC converter units boost to the voltage for carrying out sufficient power from capacitor C1, and by after boosting Voltage is supplied to capacitor C2；Capacitor C2 is smoothed to output voltage, and will it is smooth after voltage be supplied to inverter； MCU compares voltage Vo with setting value Vdc, and the difference according to the two adjusts the dutycycle of G11, G12, so that Vo= Vdc。
2. drive system according to claim 1, it is characterised in that the current regulator is used to calculating q shaft voltages and gives ValueWith d shaft voltage set-pointsSecond comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles PI regulations Device and q axle pi regulators, the output voltage of d axle pi regulators is Ud, the output voltage of q axle pi regulators is Uq, Ud、Uq、VoSend Enter voltage limit ring, obtainWithBy the 4th comparator to UqWithIt is compared, obtains deviation △ Uq, △ UqThrough than Example module 1/Kqp is admitted to the integration module in q axle pi regulators, to △ UqCarry out PI regulations so thatBy the 5th Comparison module is to UdWithIt is compared, obtains deviation △ Ud, △ UdIt is admitted in d axle pi regulators through ratio module 1/Kdp Integration module, to △ UdCarry out PI regulations so that
3. drive system according to claim 1, it is characterised in that the transmission function of the Fractional Order PID Controller is：Wherein parameter lambda, μ, kp, ki, kd are true in the following way It is fixed：
S110：The cut-off frequency ω c and order α of ideal close-loop reference model H (S) are chosen in control performance requirement according to system； S120：By H (s) and Gc(S) control object model, is calculatedS130：The frequency domain for obtaining actual controlled device Gp (s) rings Data are answered, ifIdentical with frequency responses of the Gp (s) at ω=0 and ω=ω x, then ω x are chosen for the Gp (s) of original system The cross-over frequency of phase margin | Gp (j ω x) |=1, first chooses λ=α, hasThen basisHavekp、kdIn ω=ωxPlace is with μ's Functional relation is：
Wherein,
S140：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cut-off frequency model To greatest extent close to the frequency domain response index of practical object Gp (s) in enclosing；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Final To the parameter of fractional order control device.
CN201710241602.XA 2017-04-13 2017-04-13 Motor driven systems based on sliding mode observer Pending CN106849769A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108429508A (en) * 2018-03-13 2018-08-21 西南石油大学 The design method and control system of switched reluctance machines fractional order sliding mode controller
CN110061666A (en) * 2018-09-29 2019-07-26 哈尔滨工程大学 PMSM Speed performance improvement method based on full rank TSM control
CN113147432A (en) * 2021-03-10 2021-07-23 东北大学 Portable electric automobile energy mutual-assistance device and control method thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108429508A (en) * 2018-03-13 2018-08-21 西南石油大学 The design method and control system of switched reluctance machines fractional order sliding mode controller
CN108429508B (en) * 2018-03-13 2020-11-24 西南石油大学 Design method and control system of fractional order sliding mode controller of switched reluctance motor
CN110061666A (en) * 2018-09-29 2019-07-26 哈尔滨工程大学 PMSM Speed performance improvement method based on full rank TSM control
CN110061666B (en) * 2018-09-29 2020-11-03 哈尔滨工程大学 Permanent magnet synchronous motor speed regulation performance improvement method based on full-order terminal sliding mode control
CN113147432A (en) * 2021-03-10 2021-07-23 东北大学 Portable electric automobile energy mutual-assistance device and control method thereof
CN113147432B (en) * 2021-03-10 2024-04-19 东北大学 Portable electric automobile energy mutual aid device and control method thereof

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