CN106887986A - A kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm - Google Patents
A kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm Download PDFInfo
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- CN106887986A CN106887986A CN201710130933.6A CN201710130933A CN106887986A CN 106887986 A CN106887986 A CN 106887986A CN 201710130933 A CN201710130933 A CN 201710130933A CN 106887986 A CN106887986 A CN 106887986A
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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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- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm wave filter, belong to motor control technology field.The sef-adapting filter of motor signal control is designed for using RLS filtering algorithms；Permagnetic synchronous motor based on double-closed-loop control, according to electric current, speed ring transmission function, vector control system static dynamic performance index, the reference model of permagnetic synchronous motor is built, the Self Adaptive Control of permagnetic synchronous motor is realized to the real-time processing of feedback signal using sef-adapting filter.The present invention can make permagnetic synchronous motor auto-adaptive control scheme with more superior Control platform and stronger suppression interference performance, can effectively improve the rapidity and accuracy of motor position control.
Description
Technical field
The invention belongs to motor control technology field, specifically a kind of permagnetic synchronous motor self adaptation based on RLS algorithm
Control method.
Background technology
Permagnetic synchronous motor has and is lost that small, power density is high, power savings are good and the low advantage of pulsating torque, thus quilt
It is widely used in Alternating Current Governor System.In to the alignment system based on permagnetic synchronous motor, permagnetic synchronous motor is not required nothing more than
Quick response is made to speed command, accurate stationkeeping ability is it is also desirable to have.
Three traditional closed loop PID control strategy studys be LTI control problem.However, permagnetic synchronous motor
Itself it is the system with certain non-linear, forced coupling and time variation, its target servo there is also stronger uncertainty
With it is non-linear, and different degrees of interference is also suffered from running.In addition, permagnetic synchronous motor parameter in operation
Can change therewith.Because pid control parameter is adjusted according to the mathematical models for establishing, can not be with controlled right
The change of elephant and make corresponding adjustment, therefore, system certainly exists stable state accuracy and anti-interference shortcoming not high.
Adaptive controller is the controller on signal processing method and technology for growing up in recent decades, and it sets
Meter method is very big to the performance impact of controller.Adaptive controller is relatively fixed for controller, and it is that one kind can
The Special controlling device of adjust automatically parameter in itself.The research of adaptive control algorithm is the most active in Adaptive Signal Processing
One of research topic, linear adaption algorithm is again that practical application is most.
The content of the invention
For the problem for overcoming above-mentioned prior art to exist, it is an object of the invention to provide a kind of based on RLS algorithm
Permagnetic synchronous motor self-adaptation control method so that permagnetic synchronous motor vector controlled has more superior Control platform and stronger
Suppression interference performance, can effectively improve motor position control rapidity and accuracy.
The technical scheme that the present invention is carried：
A kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm, comprises the steps of：
Described sef-adapting filter design, sef-adapting filter is designed using RLS adaptive algorithms.
Described adaptive algorithm RLS algorithm design, obtains stablizing electric system identification, Self Adaptive Control and self adaptation letter
Number treatment.
The described reference model according to permasyn morot is filtered with speed ring transmission function through adaptive controller
The Self Adaptive Control of permagnetic synchronous motor is realized afterwards.
Beneficial effects of the present invention：
(1) parameter of electric machine is recognized using RLS adaptive algorithms, accurate parameter can be obtained, identification precision is high.
(2) using the error between the output of permagnetic synchronous motor reference model and reality output, controller parameter is entered
Row Self Adaptive Control, the control program has more superior Control platform and stronger suppression interference performance, can effectively improve electricity
The rapidity and accuracy of machine position control.
Brief description of the drawings
Fig. 1 is adaptive controller theory diagram.
Fig. 2 is RLS algorithm flow chart.
Fig. 3 is permagnetic synchronous motor Self Adaptive Control simplified pinciple block diagram.
Specific embodiment
Below in conjunction with accompanying drawing and technical scheme, the specific embodiment of the invention is further illustrated.
The design of adaptive control system：The inverse of Self Adaptive Control controlled system is moved as series controller to system
Step response makees opened loop control, and controller is a sef-adapting filter, for representing the inverse of control object, is pressed using systematic error
RLS adaptive algorithms realize regulation process.Feedback is only used in adaptive process, and is not involved in the control process of system,
Its principle assumption diagram is as shown in Figure 1.
A kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm, comprises the following steps that：
RLS adaptive filter algorithm processes：Based on criterion of least squares, RLS algorithm determine the power of sef-adapting filter to
Coefficient of discharge W (n), makes the weighted sum of squares of evaluated errorMinimum, wherein λ are forgetting factor, and 0 ＜
λ≤1；Least square method of recursion flow is as shown in Fig. 2 specific algorithm is as follows：
(1) primary condition is set：Filter length (M), forgetting factor (λ), W (0)=0, C (0)=δ-1I；
(2) permagnetic synchronous motor reference signal d (n), input signal X (n) are taken；
(3) to each moment n=1,2 ..., N, gain vector is updated, output, estimation error, filtering weight vector is filtered
Update and inverse matrix updates and is iterated calculating, formula is as follows：
Gain vector updates：G (n)=C (n-1) X (n)/[λ+XT(n)C(n-1)X(n)] (1)
Filtering output：Y (n)=WT(n-1)X(n) (2)
Estimation error：E (n)=d (n)-y (n) (3)
Filtering weight vector updates：W (n)=W (n-1)+g (n) [d (n)-X (n) WT(n-1)] (4)
Inverse matrix updates：C (n)=λ-1[C(n-1)-g(n)XT(n)C(n-1)] (5)
C (n) is autocorrelation matrix R in above formulaXXThe inverse matrix of (n)；W (n) is weight coefficient of the sef-adapting filter in moment n
Vector；X (n) is the input signal vector of moment n；Constant λ is forgetting factor, it is desirable to 0 ＜ λ≤1.
The Self Adaptive Control of permagnetic synchronous motor is realized：Adaptive inverse control uses the parameter of object in feedback control system
Perturbation and external disturbance, with reference to the Adaptive inverse control for adding feedback arrangement, build permagnetic synchronous motor adaptive control system,
Its theory diagram is as shown in Figure 3.System uses speed, current double closed-loop structure, and electric current loop uses PID control, and speed ring is used
Adaptive inverse control strategy, electric current loop is overall as control object, the input of control object for controller output namely
Given iq, it is output as velocity amplitude.The model of permagnetic synchronous motor electric current loop is set up with nonlinear adaptable filter RLS algorithm
And inversion model, the output of controller is while the model of driving current ring and electric current loop, the output of electric current loop rotating speed and object model
The difference of output is exactly noise and the disturbance of whole object, and the inverse of driving current ring model is removed with the noise and disturbance, and in control
Subtracted in its output, such that it is able to eliminate the dynamic characteristic of Parameter Perturbation and external disturbance without change object of object, it is to avoid
The instability problem that may cause by feedback, while the control to control with the object disturbance of system dynamic characteristic again can be accomplished
Make separately treatment and be independent of each other, model output is used to the weights of on-line tuning object model with the error of actual speed, its power
Value parameter is according to velocity error e (n)=ω*- ω passes through the online real-time adjustment of RLS algorithm.
It is of the present invention a kind of based on the inaccurate problem of permagnetic synchronous motor model parameter so that controller parameter can
It is adjusted according to error between model and realistic model output, effectively eliminates the Parameter Perturbation and external disturbance of object without changing
Become the dynamic characteristic of object, it is to avoid the instability problem that may cause by feedback, with stability and self adaptation higher
Property.
Claims (1)
1. a kind of permagnetic synchronous motor self-adaptation control method based on RLS algorithm, it is characterised in that RLS adaptive-filterings are calculated
Method process：Based on criterion of least squares, RLS algorithm determines weight vector coefficient W (n) of sef-adapting filter, makes evaluated error
Weighted sum of squaresMinimum, wherein λ are forgetting factor, and 0 ＜ λ≤1；Step is as follows：
(1) primary condition is set：Filter length M, forgetting factor λ, W (0)=0, C (0)=δ-1I；
(2) permagnetic synchronous motor reference signal d (n), input signal X (n) are taken；
(3) to each moment n=1,2 ..., N, gain vector is updated, output, estimation error, filtering weight vector renewal is filtered
Updated with inverse matrix and be iterated calculating, formula is as follows：
Gain vector updates：G (n)=C (n-1) X (n)/[λ+XT(n)C(n-1)X(n)] (1)
Filtering output：Y (n)=WT(n-1)X(n) (2)
Estimation error：E (n)=d (n)-y (n) (3)
Filtering weight vector updates：W (n)=W (n-1)+g (n) [d (n)-X (n) WT(n-1)] (4)
Inverse matrix updates：C (n)=λ-1[C(n-1)-g(n)XT(n)C(n-1)] (5)
Wherein, C (n) is autocorrelation matrix RXXThe inverse matrix of (n)；W (n) is weight coefficient vector of the sef-adapting filter in moment n；
X (n) is the input signal vector of moment n；Constant λ is forgetting factor, 0 ＜ λ≤1.
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Cited By (1)
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| CN113992101A (en) * | 2021-12-28 | 2022-01-28 | 成都爱旗科技有限公司 | Current compensation method and device based on vector control of permanent magnet synchronous motor |
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Application publication date: 20170623 |