CN106887987A - A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain - Google Patents
A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain Download PDFInfo
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- CN106887987A CN106887987A CN201710254914.4A CN201710254914A CN106887987A CN 106887987 A CN106887987 A CN 106887987A CN 201710254914 A CN201710254914 A CN 201710254914A CN 106887987 A CN106887987 A CN 106887987A
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- gain
- sliding mode
- scheduling
- handoff
- mode controller
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain；The control system is adjusted in real time using the method that gain scheduling and self adaptation are combined to the handoff gain of permanent-magnetic synchronous motor stator electric current sliding mode controller；The method according to the bounds of adaptive law on-line tuning handoff gain coefficient, while using on d-axis, quadrature axis current Integral Sliding Mode surface function as scheduling variable, allowing to carry out gain scheduling to handoff gain coefficient in bounds；Designed method weakens system chatter on the premise of the control system robustness is ensured, improves control performance.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain.
Background technology
Have benefited from new rare earth permanent-magnetic material to succeed in developing, the performance of permagnetic synchronous motor occurs in that the lifting of matter,
Many fields are obtained for extensive use；Permagnetic synchronous motor is a multivariable, non-linear, close coupling system, to system
Inner parameter perturb and the extremely sensitive therefore traditional linear control method of external disturbance cannot accurate description system stable state,
Dynamic process, also cannot adaptive system parameter change, so as to be difficult to ensure that operation of the motor in global rotating speed, torque range
Quality.
Sliding formwork control is a kind of special nonlinear Control, and it has response quickly, robustness are good, engineering practicability is strong etc.
Advantage；However, System with Sliding Mode Controller can there is a problem of buffeting, the source of buffeting is mainly handoff gain, if slided in convergence
Carrying out appropriate adjustment to handoff gain during die face can just eliminate buffeting.
The content of the invention
The present invention is that the deficiency for making up System with Sliding Mode Controller proposes a kind of permanent-magnet synchronous with gain scheduling handoff gain
Motor control method.
Above-mentioned purpose is realized by following technical scheme.
A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain, is sweared with permagnetic synchronous motor
Rotating speed, current double closed-loop control system based on amount control, wherein electric current loop use sliding mode controller, and overall system structure is such as
Shown in Fig. 1；Wherein electric current sliding mode controller utilize sliding formwork control principle, effectively the response speed of safeguards system, robustness with
And engineering practicability.
The electric current sliding mode controller is with d, q axle stator current errore d 、e q It is fixed with d, q axle as the state variable of input
Sub- voltageu d 、u q As the output of controller；The design of control law uses Integral Sliding Mode face, can reach weakening systematic steady state and miss
The purpose of difference and raising control accuracy；And in order to obtain velocity of approach higher, using exponentially approaching rule, while can also weaken
Buffet.
The handoff gain coefficient of the control law will choose a desired value, and this is to ensure dynamic responding speed and having
Effect weakens buffets, if the too small speed that can cause motor point convergence sliding-mode surface of coefficient is smaller, crosses conference and causes larger system
Buffet；The present invention is proposed given according to quadrature axis current to solve this problemi dr And angular rateTo handoff gain coefficient
The bounds method that carries out self-adaptive sites；And the method using gain scheduling in the scope is cut to sliding formwork control
Gain is changed to be adjusted；So can be remotely taking larger coefficient apart from sliding-mode surface to improve the speed that is becoming tight, close to sliding formwork
Smaller coefficient is chosen when face is nearer to reduce system chatter.
Brief description of the drawings
Accompanying drawing 1 is system construction drawing of the invention.
Accompanying drawing 2 is electric current sliding mode controller structured flowchart of the invention.
Specific embodiment
For the technical characterstic of this programme can be described in detail, below by specific embodiment and with reference to accompanying drawing, to the present invention
It is described in detail.
A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain, be with sliding mode controller
Core；The sliding mode controller input is stator current error, is output as stator voltage under rotating coordinate system.
Stator voltage equation of the known permagnetic synchronous motor in d-q synchronous rotating frames be
(1)
In formula：u d 、u q Respectively d, q axle stator voltage；i d 、i q Respectively d, q axle stator current；L d 、L q Respectively d, q axle stator
Inductance；R s It is stator phase resistance；It is rotor flux；It is rotor angular rate.
For current loop control system, by d, q axle stator current errore d 、e q State variable is defined as, by d, q axle stator
Voltageu d 、u q Control input is defined as, then the state space equation that can obtain d-q shaft current control systems by formula (1) is
(2)
In formula：；；；
(i dr 、i qr Respectively d, q shaft current give).
The sliding mode controller is designed using Integral Sliding Mode face；The design of Integral Sliding Mode face can run into random outer in system
When portion disturbs, the steady-state error of system is eliminated, improve control accuracy, reach the performance indications required by design.
For d-q shaft current control systems, Integral Sliding Mode face is expressed as
(3)
In formula：c 1 、c 2 The respectively integral coefficient of d, q axle sliding-mode surface.
The sliding mode controller uses exponentially approaching rule, and so can also weaken system while rapid advance is obtained trembles
Shake, improve system control performance.
For d-q shaft current control systems, exponentially approaching rule is expressed as
(4)
In formula：、The respectively handoff gain coefficient of d, q axle Reaching Law；、The respectively Reaching Law index coefficient of d, q axle.
In sum, by equation of state (2), sliding-mode surface expression formula (3) and Reaching Law expression formula (4), willd 1 、d 2 It is regarded as
Distracter, the control law for trying to achieve d-q shaft current sliding mode controllers is
(5)
According to control law formula (5), the structured flowchart of design current sliding mode controller is as shown in Figure 2.
According to Lyapunov Theory of Stability, the existence and accessibility condition of sliding mode are expressed as
(6)
For d-q shaft current System with Sliding Mode Controller,, then above formula can be rewritten as
(7)
Equation of state (2), sliding-mode surface expression formula (3) and control law expression formula (5) are substituted into above formula, electric current sliding formwork control can be obtained
The Robust Stability Conditions of system are
(8)
In formula：；；；。
It can thus be seen that in control law formula (5), handoff gain coefficient、Need with disturbing in Parameter Perturbation and outside
Dynamic change, could meet system robustness condition；However, increase handoff gain coefficient can aggravate system chatter, and reduce switching
Gain coefficient can delay system dynamic response；Accordingly, it would be desirable to weighing both the above situation selects suitable handoff gain coefficient.
In order to solve the problems, such as system chatter, the present invention is carried out whole using the method for gain scheduling to handoff gain coefficient
It is fixed；Described gain scheduling rule is as follows：If handoff gain coefficientIt is smaller, then the speed of motor point convergence sliding-mode surface
Smaller, the system chatter for causing is smaller；And ifLarger, then speed during motor point arrival sliding-mode surface is larger, the system for causing
Buffet also larger；Therefore, handoff gain coefficientGain scheduling rule be：Remotely choosing larger apart from sliding-mode surface,
To ensure rapid advance；And more nearby choosing less apart from sliding-mode surface, to reduce system chatter.
The control laws transformation gain coefficient is adjusted according to gain scheduling approach；This method does not need to determine typical work
Make a little, more optimized parameter need not one by one be found by emulation or experimental study on each exemplary operation point, and only need to use
Suitable method for designing determines the bounds of control parameter, and is being allowed in bounds to control using suitable interpolation method
Parameter processed carries out gain scheduling.
The present invention is with the absolute value of q axle sliding-mode surface functionsAs scheduling variable, it is considered to handoff gain coefficientShould be located at
Allow boundsIt is interior, then on q axle handoff gain coefficientsGain scheduling rule be designed as
(9)
In formula：s qmaxIt is q axle scheduling variablesMaximum, meet。
Similarly, on d axle handoff gain coefficientsGain scheduling rule be designed as
(10)
In formula：s dmaxIt is scheduling variableMaximum, meet；、 Respectively d axles handoff gain
CoefficientUpper and lower border.
The present invention proposes given according to quadrature axis currenti dr And angular rateTo handoff gain coefficientBounds carry out
The method of self-adaptive sites.
If it is considered that motor is in electric operation pattern, d shaft currents give, q shaft currents give；General feelings
Under condition, motor electromagnetic parameter meets；Ignore distracter、In relatively event、；So,,
；Therefore, understood according to formula (8), d axle handoff gain coefficientsBounds withIt is unrelated；And q axle handoff gain coefficientsSide
Boundary's scope will considerLimitation, if that is,Value is too small, then cannot ensure the robustness of System with Sliding Mode Controller；IfValue
It is excessive, then it is unfavorable for reducing system chatter.
In view of factors above, will be on handoff gain coefficientBorderSelf-adaptative adjustment rule be designed as
(11)
In formula：k s It is the regulation coefficient on handoff gain border,k s It is the constant more than 1.
On the premise of sliding formwork existence and accessibility condition formula (8) is met, it is considered to a certain degree of Parameter Perturbation, outside
Interference and tachometric survey error etc., it is comprehensive to weigh the dynamic indicators, regulation coefficient such as system chatter and overshoot, regulating timek s One
As take 1.3-2.2；Therefore, q axles handoff gain coefficientBounds be represented by
(12)
Control system for permanent-magnet synchronous motor of the present invention, its clear principle is understandable；It is proposed by the present invention a kind of with gain
The permagnetic synchronous motor System with Sliding Mode Controller for dispatching handoff gain has the characteristics of realizing easy；Overcome using adaptive approach
Conventional gain dispatching method by a large amount of simulation studies it needs to be determined that exemplary operation point and worked to the shortcoming of control parameter optimizing；
It is scheduling variable to use sliding-mode surface function, coefficient is adjusted in real time according to gain scheduling rule so that system is transported in the overall situation
There is good control characteristic in line range.
All it is experimenter both knows about in this area content in place of the present invention is not described；Chatted more than
State, the user of this area is aware of the preferable part of this invention；Should be stated, not departed from core of the invention
In the case of, it is any type of to be relatively easy to deformation and change all within protection scope of the present invention.
Claims (3)
1. a kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain, it is characterised in that：With vector control
Based on system and electric current, rotating speed two close cycles, using rotating speed PI regulations, torque capacity electric current ratio and electric current sliding formwork control principle.
2. electric current sliding mode controller according to claim 1 is characterised by：By d, q axle stator current errore d 、e q As control
The state variable of device input processed, by d, q axle stator voltageu d 、u q Used as the output of controller, inside is set using Integral Sliding Mode face
Meter scheme uses the scheme of exponentially approaching rule to improve velocity of approach and weaken buffeting to eliminate systematic steady state error.
3. electric current sliding mode controller according to claim 1 and 2 handoff gain it is characterized in that：Using adaptive approach
The bounds of on-line tuning handoff gain coefficient, with sliding-mode surface function as scheduling variable, according to gain scheduling rule to switching
Gain coefficient is adjusted in real time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710254914.4A CN106887987A (en) | 2017-04-19 | 2017-04-19 | A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain |
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| CN201710254914.4A CN106887987A (en) | 2017-04-19 | 2017-04-19 | A kind of permagnetic synchronous motor System with Sliding Mode Controller with gain scheduling handoff gain |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109600084A (en) * | 2018-11-29 | 2019-04-09 | 武汉理工大学 | A kind of permanent magnet synchronous motor vector control system and method for fuzzy sliding mode tracking control |
| CN109828478A (en) * | 2019-03-05 | 2019-05-31 | 哈尔滨理工大学 | A kind of synovial membrane control method of magnetic suspension system |
| CN113708672A (en) * | 2021-07-14 | 2021-11-26 | 中国南方电网有限责任公司超高压输电公司广州局 | Control method for high-voltage high-speed switch driving motor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104953915A (en) * | 2015-07-14 | 2015-09-30 | 东南大学 | Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law |
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2017
- 2017-04-19 CN CN201710254914.4A patent/CN106887987A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104953915A (en) * | 2015-07-14 | 2015-09-30 | 东南大学 | Permanent magnet synchronous motor sliding-mode control strategy based on novel reaching law |
Non-Patent Citations (1)
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| 金宁治 等: "具有增益调度切换增益的永磁同步电机滑模控制", 《电气传动》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109600084A (en) * | 2018-11-29 | 2019-04-09 | 武汉理工大学 | A kind of permanent magnet synchronous motor vector control system and method for fuzzy sliding mode tracking control |
| CN109828478A (en) * | 2019-03-05 | 2019-05-31 | 哈尔滨理工大学 | A kind of synovial membrane control method of magnetic suspension system |
| CN113708672A (en) * | 2021-07-14 | 2021-11-26 | 中国南方电网有限责任公司超高压输电公司广州局 | Control method for high-voltage high-speed switch driving motor |
| CN113708672B (en) * | 2021-07-14 | 2023-08-04 | 中国南方电网有限责任公司超高压输电公司广州局 | Control method for high-voltage high-speed switch driving motor |
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Application publication date: 20170623 |