CN106972798A - A kind of control method and system for suppressing torque pulsation under motor unbalanced load - Google Patents
A kind of control method and system for suppressing torque pulsation under motor unbalanced load Download PDFInfo
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- CN106972798A CN106972798A CN201710390554.0A CN201710390554A CN106972798A CN 106972798 A CN106972798 A CN 106972798A CN 201710390554 A CN201710390554 A CN 201710390554A CN 106972798 A CN106972798 A CN 106972798A
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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
Abstract
The invention discloses a kind of control method and system for suppressing torque pulsation under motor unbalanced load, the motor is that disc type birotor is to turning permagnetic synchronous motor, the control method：The position of detection two rotors of motor and rotating speed first, and motor actual current, motor dynamics master ＆ slave control d axles and q axle modulation voltages are calculated based on conventional dynamic master-slave control method；Then 5 times and 7 order harmonic components of its d axle and q axles are obtained using Fourier's analysis method, after each harmonic component is compared with 0 respectively, 5 times and 7 subharmonic voltages of d axles and q axles are obtained by cross-couplings PI adjustment modules；Finally motor dynamics master ＆ slave control modulation voltage is superimposed with harmonic voltage and obtains total modulation voltage, and is modulated using SVPWM modes, the control signal of motor is obtained.The present invention precisely can effectively suppress disc type birotor to turning torque pulsation under permagnetic synchronous motor unbalanced load by harmonic voltage.
Description
Technical field
The invention belongs in motor control technology field, more particularly to a kind of disc type birotor to turning permagnetic synchronous motor,
Specifically related to a kind of suppression disc type birotor is to turning under permagnetic synchronous motor unbalanced load the control method of torque pulsation and being
System.
Background technology
China is a land big country, the ocean big country in be also one have 1.8 ten thousand kilometers of long coastlines, and ocean is for me
There are very important economic implications and military significance in state.Party eighteen major report clearly proposes the hair of China " ocean power "
Exhibition strategy, it is indicated that " to improve marine resources development ability, Development of Marine economy protects the marine eco-environment, determines to safeguard country
Maritime rights and interests, build ocean power ", the "Oceanic" strategy has also risen to the national strategy of China.The exploitation of ocean and sea
The maintenance of foreign rights and interests needs advanced marine engineering equipment and weaponry.However, the technical merit of China's marine settings is also not
Height, China's ocean development and Marine High-technology level are overall also to fall behind 10~15 years than developed country.Ocean science achievement industry
Change level is low, and the capability of independent innovation is poor, and scientific and technological contribution rate only has 30%, Comparatively speaking, and developed country's scientific and technological progress factor exists
The developing contribution rate of marine economy is to 80% or so.In August, 2011, China issues《Marine engineering equipment re-invent industry
Development strategy (2011-2020)》, clearly propose " marine engineering equipment industry be develop marine resources material and skill
Art basis ", proposes " during " 13 ", to accelerate development novel sea engineer equipment, carry out perspective marine engineering equipment technology
Research.”
The co-axial contra rotating propeller driving system of permanent magnet motor of marine settings such as submarine navigation device, steamer etc. is double using a kind of disc type
Rotor uses tray type structure, only one of which stator and one to turning permagnetic synchronous motor, disc type birotor to turning permagnetic synchronous motor
Stator winding is covered, stator winding is wound on stator core using two-phase crossed loops around mode, and two desk permanent-magnet rotors are in machine
It is separate on tool, stator both sides are symmetrically distributed in, disc type stator are clipped in the middle with the form of " sandwich ", in stator winding
It is passed through after balanced three-phase current, stator both sides produce in opposite direction, speed identical rotating excitation field, so as to attract rotor by opposite
Direction synchronous rotary, two rotors are fixed on pedestal by bearing, within outer nested axle output, two propellers of driving are anti-
To rotation.This New-type electric machine is greatly reduced the volume and weight of equipment, improves operating efficiency, is well positioned to meet section
Energy and the requirement of speed governing, have superior runnability, therefore, there is good application in ROV and aircraft field under water
Prospect.
Disc type birotor is studied also in the starting stage the control for turning permagnetic synchronous motor, at present, on the motor both sides
The control method that reliability service is realized under laod unbalance state is all to use to be based on conventional dynamic master-slave control method (MS master-slave
In control method, main control rotor is to need to control, and need not be controlled from control rotor；Compare two rotors in real time
State, switches main control rotor and from control rotor, therefore be referred to as dynamic master-slave control in real time), but there is also torque for this method
The problems such as pulsation is big, the fluctuation of speed is big, especially in the case where laod unbalance is serious, the breath distortion of field is serious, rotor
On bigger torque pulsation occurs.Therefore, to disc type birotor to turning permagnetic synchronous motor unbalanced load running situation
Under torque pulsation carry out suppress have important practical significance.
The content of the invention
Technical problem solved by the invention is to suppress disc type birotor pair there is provided one kind in view of the shortcomings of the prior art
Turn the control method and system of torque pulsation under permagnetic synchronous motor unbalanced load, disc type birotor can not only be realized to turning
Stable operation and it can effectively suppress the torque pulsation on rotor under motor unbalanced load.
To achieve the above object, technical scheme provided by the present invention is：
A kind of control method for suppressing torque pulsation under motor unbalanced load, the motor is disc type birotor to turning forever
Magnetic-synchro motor, the control method comprises the following steps：
Step 1, motor dynamics master-slave control q axle modulation voltages u calculated based on conventional dynamic master-slave control methodqrefWith
D axle modulation voltages udref；
Step 2,5 times and 7 times using the actual current of Fourier's analysis method acquisition motor under three phase coordinate systems are humorous
Wave component (major harmonic component), converts by abc-dq coordinate systems and obtains d axles 5 times and 7 subharmonic point by LPF
Measure id5thAnd id7th, and q axles 5 times and 7 order harmonic components iq5thAnd iq7th；
Step 3, each harmonic component that step 2 is obtained is compared with 0 respectively after, obtained by cross-couplings PI adjustment modules
D axles 5 times and 7 subharmonic voltage ud5thAnd ud7th, and q axles 5 times and 7 subharmonic voltage uq5thAnd uq7th；
Step 4, by udref、ud5thAnd ud7thSuperposition obtains the total modulation voltage u of d axlesdref*；By uqref、uq5thAnd uq7thIt is folded
Plus obtain the total modulation voltage u of q axlesqref*；I.e.：
udref*=ud7th+udref+ud5th
uqref*=uq7th+uqref+uq5th
Step 5, by udrefAnd u *qref* after dq- α β coordinate transforms and modulating by SVPWM modes, motor is obtained
Control signal (trigger pulse).
Further, the step 1 is specially：
1.1) detection motor first rotor and bitrochanteric position and rotating speed, according to conventional dynamic master-slave control method
The angular position theta and rotational speed omega of main control rotor are determined, following state is in from control rotor；
1.2) rotational speed omega of main control rotor is compared with reference rotation velocity ω * obtained by Practical Project, its result is passed through
Rotating speed pi regulator obtains q shaft current reference values iq*；
1.3) the actual current i of motor is detecteda、ibAnd ic, to its actual current ia、ibAnd icCarry out coordinate transform and obtain reality
Border q shaft currents iqWith actual d shaft currents id；
1.4) by actual q shaft currents iqWith q shaft current reference values iq* it is compared, its result is adjusted by q shaft currents PI
Device obtains motor dynamics master-slave control q axle modulation voltages uqref；
1.5) by actual d shaft currents idWith d shaft current reference values id* compare, wherein id* 0 is given as, its result passes through d axles
Electric current pi regulator obtains motor dynamics master-slave control d axle modulation voltages udref。
Further, the step 1.2) in, the Proportional coefficient K of rotating speed pi regulatorp1=1.1, integral coefficient Ki1=
85；Step 1.4) in, the Proportional coefficient K of q shaft current pi regulatorsp2=1.1, integral coefficient Ki2=85；Step 1.5) in, d axles
The Proportional coefficient K of electric current pi regulatorp3=1.1, integral coefficient Ki3=85.
Further, the step 3 is specially：
3.1) by id5thAfter being compared with 0, u is output as by cross-couplings PI adjustment modulesd5th；By iq5thAfter being compared with 0,
U is exported by cross-couplings PI adjustment modulesq5th：
ud5th=(id5th-0)·(Kp4+Ki4·(1/s))·Rs+5ωLd·(iq5th-0)·(Kp5+Ki5·(1/s))
uq5th=(iq5th-0)·(Kp5+Ki5·(1/s))·Rs-5ωLd·(iq5th-0)·(Kp4+Ki4·(1/s))
Wherein, 1/s is integrating factor, and ω is the rotating speed (birotor synchronous angular velocity during stable state) of main control rotor, Kp4With
Ki4It is the ratio and integral coefficient of the subharmonic PI controllers of d axles 5 in cross-couplings PI adjustment modules；Kp5And Ki5It is cross-couplings
The ratio and integral coefficient of the subharmonic PI controllers of q axles 5 in PI adjustment modules；
3.2) by id7thAfter being compared with 0, u is exported by cross-couplings PI adjustment modulesd7th；By iq7thAfter being compared with 0, lead to
Cross cross-couplings PI adjustment modules output uq7th：
ud7th=(id7th-0)·(Kp6+Ki6·(1/s))·Rs+7ωLd·(iq7th-0)·(Kp7+Ki7·(1/s))
uq7th=(iq7th-0)·(Kp7+Ki7·(1/s))·Rs-7ωLd·(iq7th-0)·(Kp6+Ki6·(1/s))
Wherein, 1/s is integrating factor, and ω is the rotating speed of main control rotor, Kp6And Ki6In being cross-couplings PI adjustment modules
The ratio and integral coefficient of the subharmonic PI controllers of d axles 7；Kp7And Ki7It is the subharmonic PI of q axles 7 in cross-couplings PI adjustment modules
The ratio and integral coefficient of controller.
Further, the step 3.1) in, Kp4=0.8, Ki4=400, Kp5=0.8, Ki5=100；Step 3.2) in,
Kp6=0.8, Ki6=100, Kp7=0.8, Ki7=100.
Present invention also offers a kind of control system for suppressing torque pulsation under motor unbalanced load, the motor is disk
Formula birotor is to turning permagnetic synchronous motor, including two rotary transformers, selecting module, threephase current transformer, 2 abc-dq
Coordinate transformation module, 7 comparators, rotating speed pi regulator, q shaft currents pi regulator, d shaft currents pi regulator, harmonic currents
Extraction module, low-pass filtering module, cross-couplings PI adjustment modules, 2 adders, dq- α β coordinate transformation modules, SVPWM are adjusted
Molding block；
Two rotary transformer detection motor first rotors and bitrochanteric position and rotating speed, input selecting module；Choosing
The state that module compares two rotors using conventional dynamic master-slave control method is selected, main control rotor is determined, and obtain main control
The angular position theta and rotational speed omega of rotor；
The threephase current transformer is used for the actual current i for detecting motora、ibAnd ic；
First abc-dq coordinate transformation modules are by the actual current i of motora、ibAnd icCarry out coordinate transform and obtain actual q axles
Electric current iqWith actual d shaft currents id；
The rotational speed omega of main control rotor is compared by first comparator with reference rotation velocity ω * obtained by Practical Project, and it is tied
Fruit obtains q shaft current reference values i by rotating speed pi regulatorq*；Second comparator is by actual q shaft currents iqReferred to q shaft currents
Value iq* it is compared, its result obtains motor dynamics master-slave control q axle modulation voltages u by q shaft current pi regulatorsqref；
3rd comparator is by actual d shaft currents idWith d shaft current reference values id* compare, wherein id* 0 is given as, its result
Motor dynamics master-slave control d axle modulation voltages u is obtained by d shaft current pi regulatorsdref；
Harmonic current extraction module obtains 5 of the actual current of motor under three phase coordinate systems using Fourier's analysis method
Secondary and 7 order harmonic components；D axles 5 times and 7 subharmonic point are obtained by the 2nd abc-dq coordinate transformation modules and low-pass filtering module
Measure id5thAnd id7th, and q axles 5 times and 7 order harmonic components iq5thAnd iq7th；
After 4th~the 7th comparator is respectively compared 4 harmonic components with 0, input cross-couplings PI adjustment modules are obtained
D axles 5 times and 7 subharmonic voltage ud5thAnd ud7th, and q axles 5 times and 7 subharmonic voltage uq5thAnd uq7th；
First adder is by ud5th、ud7thAnd udrefSuperposition obtains the total modulation voltage u of d axlesdref*；Second adder will
uq5th、uq7thAnd uqrefSuperposition obtains the total modulation voltage u of q axlesqref*；
Dq- α β coordinate transformation modules are by udrefAnd u *qref* coordinate transform is carried out；Its result input SVPWM modulation modules enter
Row modulation, obtains the control signal (trigger pulse) of motor.
Beneficial effect：
The present invention can not only realize disc type birotor to stable operation under rotating motor unbalanced load, additionally it is possible to precisely have
Effect suppresses disc type birotor to turning torque pulsation under permagnetic synchronous motor unbalanced load；With advantages below：
1) using the method being directly injected into, simple possible, it is easy to accomplish；Ensure disc type birotor to turning permagnetic synchronous motor
Stable operation under unbalanced load；2) actual current is directly detected, harmonic voltage and the reference voltage that is added to is calculated, used
SVPWM modes are modulated, and can precisely, effectively to torque pulsation be suppressed.
Patent of the present invention is further illustrated below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is disc type birotor to turning permanent magnetic synchronous motor structure schematic diagram；
Fig. 2 is disc type birotor to turning the overall controller chassis of Torque Ripple Reduction under permagnetic synchronous motor unbalanced load
Figure；
Fig. 3 is cross-couplings PI adjustment modules；
Fig. 4 is not carry out motor output torque and speed waveform figure during Torque Ripple Reduction；
Fig. 5 is using motor output torque during control method of the present invention and torque profile figure；
Embodiment
In order that technical problem solved by the invention, technical scheme and beneficial effect are more clearly understood, below in conjunction with
The present invention will be described in further detail for accompanying drawing.It should be appreciated that specific embodiment described herein is only to explain this
Invention, is not intended to limit the present invention.
Fig. 1 is that disc type birotor uses tray type structure to turning permanent magnetic synchronous motor structure schematic diagram, motor, and two permanent magnetism turn
Son is symmetrically distributed in stator both sides, mechanically separate, and winding is wound in stator core using two-phase crossed loops around mode
On, only one of which stator and a set of stator winding are passed through after balanced three-phase current in winding, and stator both sides produce rotation in opposite direction
Turn magnetic field, so as to attract rotor to rotate in the opposite direction, two rotors are fixed on pedestal by bearing, within it is outer nested
Axle is exported, and two propellers of driving are reversely rotated；
Fig. 2 is disc type birotor to turning the overall controller chassis of Torque Ripple Reduction under permagnetic synchronous motor unbalanced load
Figure.
Detect disc type birotor to turning permanent-magnetic synchronous motor rotor 1, the position of rotor 2 and rotor 1, the rotating speed of rotor 2, root
Control to determine the angular position theta and rotational speed omega of main control rotor according to rotor flux linkage orientation MS master-slave motion vector, be in from control rotor
Following state, after rotor speed ω is compared with reference rotation velocity ω * obtained by Practical Project, q axles electricity is obtained by rotating speed pi regulator
Flow reference value iq*, the Proportional coefficient K of rotating speed pi regulatorp1=1.1, integral coefficient Ki1=85；Detect disc type birotor to turning forever
The actual current i of magnetic-synchro motora、ib、ic, actual q shaft currents i is obtained by the conversion of abc-dq coordinate systemsqWith actual d axles electricity
Flow id；Actual q shaft currents iqWith q shaft current reference values iq* after comparing, disc type birotor pair is obtained by q shaft current pi regulators
Turn permagnetic synchronous motor operation q axle modulation voltages uqref, the Proportional coefficient K of q shaft current pi regulatorsp2=1.1, integral coefficient Ki2
=85；Actual d shaft currents idWith d shaft current reference values id* after comparing, disc type birotor pair is obtained by d shaft current pi regulators
Turn permagnetic synchronous motor operation d axle modulation voltages udref, the Proportional coefficient K of d shaft current pi regulatorsp3=1.1, integral coefficient Ki3
=85；
Disc type birotor is obtained to turning the actual current i of permagnetic synchronous motor using Fourier's analysis methoda、ib、icThree
5,7 order harmonic components under phase coordinate system, d axles 5 times, 7 subharmonic are obtained by the conversion of abc-dq coordinate systems by LPF
Component id5th、id7thWith q axles 5 times, 7 order harmonic components iq5th、iq7th；
Fig. 3 is cross-couplings PI adjustment module schematic diagrames.By id5thAfter being compared with 0, pass through cross-couplings PI adjustment modules
It is output as ud5th, by iq5thAfter being compared with 0, u is output as by cross-couplings PI adjustment modulesq5th,
ud5th=(id5th-0)·(Kp4+Ki4·(1/s))·Rs+5ωLd·(iq5th-0)·(Kp5+Ki5·(1/s))
uq5th=(iq5th-0)·(Kp5+Ki5·(1/s))·Rs-5ωLd·(iq5th-0)·(Kp4+Ki4·(1/s))
Wherein 1/s is integrating factor, and ω is the rotating speed of main control rotor, Kp4、Ki4It is d in cross-couplings PI adjustment modules
The ratio of axle quintuple harmonics PI controllers, integral coefficient, Kp4=0.8, Ki4=100, Kp5、Ki5It is cross-couplings PI adjustment modules
The ratio of middle q axles quintuple harmonics PI controllers, integral coefficient, Kp5=0.8, Ki5=100；
By id7thAfter being compared with 0, u is output as by cross-couplings PI adjustment modulesd7th, by iq7thAfter being compared with 0, pass through
Cross-couplings PI adjustment modules are output as uq7th,
ud7th=(id7th-0)·(Kp6+Ki6·(1/s))·Rs+7ωLd·(iq7th-0)·(Kp7+Ki7·(1/s))
uq7th=(iq7th-0)·(Kp7+Ki7·(1/s))·Rs-7ωLd·(iq7th-0)·(Kp6+Ki6·(1/s))
Wherein 1/s is integrating factor, and ω is the rotating speed of main control rotor, Kp6、Ki6It is d in cross-couplings PI adjustment modules
The ratio of axle the seventh harmonic PI controllers, integral coefficient, Kp6=0.8, Ki6=100, Kp7、Ki7It is cross-couplings PI adjustment modules
The ratio of middle q axles the seventh harmonic PI controllers, integral coefficient, Kp7=0.8, Ki7=100；
If disc type birotor is to turning the total modulation voltage d shaft voltages of permagnetic synchronous motor for udref*, q axles modulation voltage q axles
Voltage is uqref*, then udrefAnd u *qref* it is：
udref*=udref+ud5th+ud7th
uqref*=uqref+uq5th+uq7th
By udrefAnd u *qref* disc type birotor is obtained by dq- α β coordinate transforms and after modulating by SVPWM modes to turning
Permanent magnetism control signal.
Fig. 4 is does not carry out motor output torque and speed waveform figure during Torque Ripple Reduction, using conventional dynamic MS master-slave control
System strategy.The load of rotor 1 is 10Nm, and the load of rotor 2 is 8Nm, it can be seen that the reliable and stable operation of system, turns
Sub- torque and rotating speed have than larger pulsation, and wherein torque pulsation is more prominent.
Fig. 5 is using motor output torque during control method of the present invention and torque profile figure.The load of rotor 1 is 10Nm,
The load of rotor 2 is 8Nm, it can be seen that the reliable and stable operation of system, rotor torque and rotating speed still have certain arteries and veins
It is dynamic, but it is small more than being pulsed using conventional dynamic master-slave control strategy to pulse.
Claims (6)
1. a kind of control method for suppressing torque pulsation under motor unbalanced load, it is characterised in that the motor is that disc type is double
Rotor comprises the following steps to turning permagnetic synchronous motor, the control method：
Step 1, motor dynamics master-slave control q axle modulation voltages u calculated based on conventional dynamic master-slave control methodqrefAdjusted with d axles
Voltage u processeddref；
Step 2,5 times and 7 subharmonic point using the actual current of Fourier's analysis method acquisition motor under three phase coordinate systems
Amount, converts by abc-dq coordinate systems and obtains d axles 5 times and 7 order harmonic components i by LPFd5thAnd id7th, and q axles
5 times and 7 order harmonic components iq5thAnd iq7th；
Step 3, each harmonic component that step 2 is obtained is compared with 0 respectively after, obtain d axles 5 by cross-couplings PI adjustment modules
Secondary and 7 subharmonic voltage ud5thAnd ud7th, and q axles 5 times and 7 subharmonic voltage uq5thAnd uq7th；
Step 4, by udref、ud5thAnd ud7thSuperposition obtains the total modulation voltage u of d axlesdref*；By uqref、uq5thAnd uq7thIt is superimposed
To the total modulation voltage u of q axlesqref*；I.e.：
udref*=ud7th+udref+ud5th
uqref*=uq7th+uqref+uq5th
Step 5, by udrefAnd u *qref* after dq- α β coordinate transforms and modulating by SVPWM modes, the control of motor is obtained
Signal.
2. the control method according to claim 1 for suppressing torque pulsation under motor unbalanced load, it is characterised in that institute
Stating step 1 is specially：
1.1) detection motor first rotor and bitrochanteric position and rotating speed, are determined according to conventional dynamic master-slave control method
The angular position theta and rotational speed omega of main control rotor, following state is in from control rotor；
1.2) rotational speed omega of main control rotor is compared with reference rotation velocity ω * obtained by Practical Project, its result passes through rotating speed
Pi regulator obtains q shaft current reference values iq*；
1.3) the actual current i of motor is detecteda、ibAnd ic, to its actual current ia、ibAnd icCarry out coordinate transform and obtain actual q
Shaft current iqWith actual d shaft currents id；
1.4) by actual q shaft currents iqWith q shaft current reference values iq* it is compared, its result is obtained by q shaft current pi regulators
To motor dynamics master-slave control q axle modulation voltages uqref；
1.5) by actual d shaft currents idWith d shaft current reference values id* compare, wherein id* 0 is given as, its result passes through d shaft currents
Pi regulator obtains motor dynamics master-slave control d axle modulation voltages udref。
3. the control method according to claim 2 for suppressing torque pulsation under motor unbalanced load, it is characterised in that institute
State in step 1, the proportionality coefficient of rotating speed pi regulator, q shaft currents pi regulator and d shaft current pi regulators is 1.1, integrate
Coefficient is 85.
4. the control method according to claim 2 for suppressing torque pulsation under motor unbalanced load, it is characterised in that institute
Stating step 3 is specially：
3.1) by id5thAfter being compared with 0, u is output as by cross-couplings PI adjustment modulesd5th；By iq5thAfter being compared with 0, pass through
Cross-couplings PI adjustment modules export uq5th：
ud5th=(id5th-0)·(Kp4+Ki4·(1/s))·Rs+5ωLd·(iq5th-0)·(Kp5+Ki5·(1/s))
uq5th=(iq5th-0)·(Kp5+Ki5·(1/s))·Rs-5ωLd·(iq5th-0)·(Kp4+Ki4·(1/s))
Wherein, 1/s is integrating factor, and ω is the rotating speed of main control rotor, Kp4And Ki4It is d axles 5 in cross-couplings PI adjustment modules
The ratio and integral coefficient of subharmonic PI controllers；Kp5And Ki5It is the subharmonic PI of q axles 5 controls in cross-couplings PI adjustment modules
The ratio and integral coefficient of device；
3.2) by id7thAfter being compared with 0, u is exported by cross-couplings PI adjustment modulesd7th；By iq7thAfter being compared with 0, by handing over
Fork coupling PI adjustment module outputs uq7th：
ud7th=(id7th-0)·(Kp6+Ki6·(1/s))·Rs+7ωLd·(iq7th-0)·(Kp7+Ki7·(1/s))
uq7th=(iq7th-0)·(Kp7+Ki7·(1/s))·Rs-7ωLd·(iq7th-0)·(Kp6+Ki6·(1/s))
Wherein, 1/s is integrating factor, and ω is the rotating speed of main control rotor, Kp6And Ki6It is d axles 7 in cross-couplings PI adjustment modules
The ratio and integral coefficient of subharmonic PI controllers；Kp7And Ki7It is the subharmonic PI of q axles 7 controls in cross-couplings PI adjustment modules
The ratio and integral coefficient of device.
5. the control method according to claim 4 for suppressing torque pulsation under motor unbalanced load, it is characterised in that institute
State in step 3, the proportionality coefficient of each PI controller is 0.8 in cross-couplings PI adjustment modules, and integral coefficient is 100.
6. the control system according to claim 1 for suppressing torque pulsation under motor unbalanced load, it is characterised in that institute
State motor for disc type birotor to turning permagnetic synchronous motor, including two rotary transformers, selecting module, three-phase current mutual inductances
Device, 2 abc-dq coordinate transformation modules, 7 comparators, rotating speed pi regulator, q shaft currents pi regulator, d shaft currents PI regulations
Device, harmonic current extraction module, low-pass filtering module, cross-couplings PI adjustment modules, 2 adders, dq- α β coordinate transform moulds
Block, SVPWM modulation modules；
Two rotary transformer detection motor first rotors and bitrochanteric position and rotating speed, input selecting module；Select mould
Block compares the state of two rotors using conventional dynamic master-slave control method, determines main control rotor, and obtain main control rotor
Angular position theta and rotational speed omega；
The threephase current transformer is used for the actual current i for detecting motora、ibAnd ic；
First abc-dq coordinate transformation modules are by the actual current i of motora、ibAnd icCarry out coordinate transform and obtain actual q shaft currents
iqWith actual d shaft currents id；
The rotational speed omega of main control rotor is compared by first comparator with reference rotation velocity ω * obtained by Practical Project, its result warp
Cross rotating speed pi regulator and obtain q shaft current reference values iq*；Second comparator is by actual q shaft currents iqWith q shaft current reference values iq*
It is compared, its result obtains motor dynamics master-slave control q axle modulation voltages u by q shaft current pi regulatorsqref；
3rd comparator is by actual d shaft currents idWith d shaft current reference values id* compare, wherein id* 0 is given as, its result passes through d
Shaft current pi regulator obtains motor dynamics master-slave control d axle modulation voltages udref；
Harmonic current extraction module using Fourier's analysis method obtain motor actual current 5 times under three phase coordinate systems and
7 order harmonic components；D axles 5 times and 7 order harmonic components are obtained by the 2nd abc-dq coordinate transformation modules and low-pass filtering module
id5thAnd id7th, and q axles 5 times and 7 order harmonic components iq5thAnd iq7th；
After 4th~the 7th comparator is respectively compared above-mentioned 4 harmonic components with 0, input cross-couplings PI adjustment modules are obtained
D axles 5 times and 7 subharmonic voltage ud5thAnd ud7th, and q axles 5 times and 7 subharmonic voltage uq5thAnd uq7th；
First adder is by ud5th、ud7thAnd udrefSuperposition obtains the total modulation voltage u of d axlesdref*；Second adder is by uq5th、
uq7thAnd uqrefSuperposition obtains the total modulation voltage u of q axlesqref*；
Dq- α β coordinate transformation modules are by udrefAnd u *qref* coordinate transform is carried out；Its result input SVPWM modulation modules are adjusted
System, obtains the control signal of motor.
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| CN201710390554.0A CN106972798A (en) | 2017-05-27 | 2017-05-27 | A kind of control method and system for suppressing torque pulsation under motor unbalanced load |
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| CN107968578A (en) * | 2017-12-08 | 2018-04-27 | 浙江大学 | A kind of control method of reduction MMC submodule capacitor voltage stability bandwidths |
| CN110045607A (en) * | 2019-03-29 | 2019-07-23 | 南京航空航天大学 | A kind of once per revolution vibration control method of cross-coupling antisymmetry magnetic suspension rotor system |
| CN110518852A (en) * | 2019-07-26 | 2019-11-29 | 合肥巨一动力系统有限公司 | Permanent magnet synchronous motor current harmonics suppressing method based on harmonic injection |
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| CN107844124A (en) * | 2017-12-01 | 2018-03-27 | 吉林大学 | A kind of quadrotor carries the control method of unbalanced load stabilized flight |
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| CN110045607A (en) * | 2019-03-29 | 2019-07-23 | 南京航空航天大学 | A kind of once per revolution vibration control method of cross-coupling antisymmetry magnetic suspension rotor system |
| CN110045607B (en) * | 2019-03-29 | 2020-06-30 | 南京航空航天大学 | Same-frequency vibration control method of cross-coupling antisymmetric magnetic suspension rotor system |
| CN110518852A (en) * | 2019-07-26 | 2019-11-29 | 合肥巨一动力系统有限公司 | Permanent magnet synchronous motor current harmonics suppressing method based on harmonic injection |
| CN110518852B (en) * | 2019-07-26 | 2021-10-15 | 合肥巨一动力系统有限公司 | Harmonic injection-based current harmonic suppression method for permanent magnet synchronous motor |
| CN112737441A (en) * | 2020-12-25 | 2021-04-30 | 中车永济电机有限公司 | Control method of permanent magnet auxiliary synchronous reluctance motor |
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