CN107017817A - A kind of high speed IPM synchronous motor current decoupling control method - Google Patents
A kind of high speed IPM synchronous motor current decoupling control method Download PDFInfo
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- CN107017817A CN107017817A CN201710416268.7A CN201710416268A CN107017817A CN 107017817 A CN107017817 A CN 107017817A CN 201710416268 A CN201710416268 A CN 201710416268A CN 107017817 A CN107017817 A CN 107017817A
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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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- 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
Abstract
The present invention relates to a kind of high speed IPM synchronous motor current decoupling control method.The control method is on the basis of existing Precise Discrete mathematical modeling, introduce discrete sliding mode control (D SMC), discrete sliding mode control is combined with ideal current decoupling controller, when control system is influenceed by factors such as Parameter Perturbations and external disturbance, still the coupling of dq shaft currents can effectively be eliminated, the ideal current decoupling controller technical problem that dq shaft currents decoupling effect is deteriorated when there is Parameter Perturbation and external disturbance is solved, so as to improve the parameter adaptation and robustness of control system.
Description
Technical field
The present invention relates to IPM synchronous motor control technology field, and in particular to embedded forever to a kind of high speed
Magnetic-synchro current of electric decoupling control method.
Background technology
IPM synchronous motor (english abbreviation is IPMSM, hereinafter referred to as permagnetic synchronous motor or motor) is high with it
The characteristic of efficiency, high power density and high ratio of inertias is widely used in the various industrial occasions such as electric automobile, heavy industrial machines.
IPMSM has rotor structure special, the characteristics of magnetic pole protrudes, and the reluctance torque produced by the asymmetry of its rotor structure is helped
In the overload capacity for improving motor, it is more easily than with durface mounted permanent magnet synchronous motor (english abbreviation is SPMSM) and utilizes armature
Weak magnetic control is realized in reaction, expands the range of speeds, is enable under motor runs at higher speeds.
High speed IPM synchronous motor is because its volume is smaller, weight lighter, power density is higher, and increasingly by
Pay attention to, but its high frequency of supply fn also causes control difficulty increase.
On the one hand, it is many using rotating speed, current double closed-loop vector control technology in embedded control system at present.In vector
In control technology, the voltage coupling amount relevant with speed can be introduced when carrying out coordinate transform, and with the rise of rotating speed, coupling
Closing the proportion of voltage can be continuously increased, also can be more serious on stability of a system influence.Conventional current PI controls are only to handing over straight (dq)
2 electric current loops of axle individually work, and do not account for cross-couplings item, when under motor operation to high-speed case, and coupling terms can be by
Gradually increase, have a strong impact on control effect；Harnefors L teach (Harnefors L, Nee H P.Model-based
current control of A C machines using the internal model control method[J]
.IEEE Transactions on Industry Applications,1995,34(1):133-141.) propose based on interior
The Current Decoupling strategy of mould, decoupling effect is preferable, and feedforward benefit is carried out yet with using the integrated rear voltage that obtains of current error
Repay, be very easy to cause system to be shaken.
On the other hand, in high-speed cruising (motor speed reaches 10000 turns/more than min) parameter of electric machine is (such as：Ac-dc axis
Inductance (Ld,Lq), resistance Rs, permanent magnet flux linkage ψf) change very big, wherein ac-dc axis inductance excursion can reach 20%, mesh
Preceding decoupling the scheme such as decoupling of deviation de-couple, current feedback, internal model control etc. is stronger to parameter of electric machine dependence, when parameter becomes
Improve the limited in one's ability of current coupling characteristic during change.
In addition, using conventional indirect control strategy more than current electric system control strategy, i.e., first in continuous domain
Design current decoupling control policy and then discretization application, this indirect control strategy are proved under most application scenarios
It is applicable.But in high speed operation of motor, due to what is brought when carrying out discretization using methods such as Euler or bilinearitys
Truncated error becomes can not ignore, and can largely reduce the robustness of system, influences system stable operation.Fernando
Briz teaches (Kim H, Degner M W, Fernando Briz, Guerrero J M, et al.Discrete-Time
Current Regulator Design for AC Machine Drives[J].IEEE Transactions on
Industry Applications,2011,46(4):1425-1435.) utilize accurate discrete permagnetic synchronous motor model, root
According to pole zero cancellation principle, a kind of new stray currents control strategy is proposed using Direct Design Method, that is, obtains desired electrical
Decoupling controller is flowed, ac-dc axis Current Decoupling is inherently solved the problems, such as, it is to avoid the influence of truncated error, relative to above
The decoupling strategy mentioned, control effect is obviously improved, but this control program is built upon accurate motor model base
On plinth, when the parameter of electric machine changes, the control performance of system can be equally reduced, system is even resulted in unstable.
The content of the invention
For existing permagnetic synchronous motor Current Decoupling method under motor high speed Shortcomings, the skill that intends to solve of the present invention
Art problem is to provide a kind of high speed IPM synchronous motor current decoupling control method.The control method is existing accurate
On the basis of discrete models, discrete sliding mode control (D-SMC) is introduced, by discrete sliding mode control and ideal current uneoupled control
Device is combined, and when control system is influenceed by factors such as Parameter Perturbations and external disturbance, still can effectively eliminate dq axles
Current coupling, solves ideal current decoupling controller dq shaft currents decoupling effect when there is Parameter Perturbation and external disturbance and becomes
The technical problem of difference, so as to improve the parameter adaptation and robustness of control system.
The present invention is for solution above-mentioned technical problem the technical scheme adopted is that providing a kind of high speed built-in permanent magnetic synchronization
Current of electric decoupling control method, this method comprises the following steps：
The first step, set up permagnetic synchronous motor Precise Discrete mathematical modeling：
After digital control delay factor is considered, permagnetic synchronous motor Precise Discrete mathematical modeling, i.e. formula (6) are obtained：
Wherein：ud,uqRespectively d, q shaft voltage, j are complex fields, and z is discrete domain, TsFor sampling time, RsFor stator electricity
Resistance, weFor rotor angular rate, Ld,LqFor d, q axle inductances；
Second step, structure high-speed permanent magnetic synchronous motor current decoupled control device：
2-1, build ideally current of electric decoupling controller：
Assuming that in the ideal case, i.e., Parameter Perturbation does not occur for permagnetic synchronous motor and during by external disturbance, according to
The permagnetic synchronous motor Precise Discrete mathematical modeling that the first step is obtained, using pole zero cancellation principle, is obtained by Direct Design Method
To formula (7), formula (7) is ideally current of electric decoupling controller under rotating coordinate system,
Wherein：kd,kqRespectively d, q axis controller gain,Current value is given for d, q axle； id,iqFor d, q spindle motor actual current value of feedback；
K-th of sampling instant d that ideally permagnetic synchronous motor is exported is defined, q axle ideal currents are：idk sim,
iqk sim, the d that ideally permagnetic synchronous motor is exported, q axles desired voltage is udk sim,uqk sim, then ideally synchronous rotation
The equivalent equation for turning coordinate system permagnetic synchronous motor Precise Discrete mathematical modeling is formula (8),
Permagnetic synchronous motor discrete model under 2-2, structure actual conditions：
Changed by the parameter of electric machine when control system, when the factor such as external disturbance is influenceed, actual conditions synchronous rotating frame
The equivalent equation of lower permagnetic synchronous motor is formula (9),
Wherein：
In formula：ΔRs、ΔLd、ΔLq、ΔRs、ΔψfRespectively Rs、Ld、Lq、Rs、ψfVariable quantity；ηd、ηqFor various outsides
Disturbance is equivalent with unmodel parts；K is k-th of sampling instant in discrete domain；X is disturbance variable；
2-3, introducing discrete sliding mode control, build high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions：
In order to solve ideal current decoupling controller dq shaft current decoupling effects when there is Parameter Perturbation and external disturbance
The problem of variation, discrete sliding mode control (D-SMC) is introduced, it is combined with ideally current of electric decoupling controller；
In preferable control law udk sim,uqk simOn the basis of increase by one can eliminate dq axles disturbance hd(x,k)、hqThe control of (x, k)
System rule udk real,uqk realSo that motor is in original state, and the state trajectory of formula (9) is consistent with the state trajectory of formula (8), then
Actual control law udk,uqkFormula (10) is met,
To make the whole motion process of motor all be operated in the sliding formwork stage, d shaft current discrete sliding modes are set up according to formula (11)
Face, the sliding-mode surface can guarantee that control system state trajectory in the incipient stage just on sliding-mode surface, it is to avoid convergence motion；
D axle sliding-mode surfaces：
Formula (12) is obtained after formula (11) deformation：
To improve the dynamic quality of control system, using the dispersion index type Reaching Law of formula (13)；
sdk+1-sdk=-λ Tssdk-εTssgn(sdk) (13)
In formula, λ, ε are constant, and sgn () is sign function；
Then according to formula (8), formula (12) and formula (13), d shaft current discrete sliding modes control law is obtained for formula (14)：
udk=[- λ sdk-εsgn(sdk)]Ld+udk sim (14)
Wherein：εLd＞ | hd|, λ ＞ 0, udk real=[- λ sdk-εsgn(sdk)]Ld；
Q shaft current discrete sliding modes face is similarly set up by formula (15), and q axle dispersion index type convergences are used according to formula (16)
Rule, q shaft current discrete sliding modes control law is obtained for formula (17) according to formula (8), formula (15) and formula (16)：
sqk+1-sqk=-λ Tssqk-εTssgn(sqk) (16),
uqk=[- λ sqk-εsgn(sqk)]Lq+uqk sim(17),
Wherein：εLq＞ | hq|, λ ＞ 0, uqk real=[- λ sqk-εsgn(sqk)]Lq；
Above-mentioned sdkFor k moment d shaft current sliding-mode surfaces, sqkFor k moment q shaft current sliding-mode surfaces, Zdk、ZqkIt is integral term；Formula
(11), formula (14) and formula (15), formula (17) constitute discrete sliding mode control, formula (6), formula (7), formula (11), formula (14), formula (15) and
Formula (17) constitutes high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions.
Compared with prior art, the beneficial effects of the invention are as follows：
For under high speed, when control system is by Parameter Perturbation and external disturbance, there are dq shaft current decoupling effects and paying no attention to
Situation about thinking, ideally current of electric decoupling controller and discrete cunning that the present invention proposes Fernando professors Briz
Mould control combines, and devises corresponding discrete sliding mode face so that control system all works in whole motion process
In the sliding formwork stage, dq shaft currents decoupling effect was not only ensured but also had improved system robustness and parameter adaptation.This new electricity
Stream decoupling control method is simply transformed on the basis of former stray currents controller, it is easy to parsed, with engineering practical value,
Bullet train driving and large-scale traction drive operation demand can be met.
Brief description of the drawings
The structure of control system used in Fig. 1 high speed IPM synchronous motor current decoupling control methods of the present invention
Block diagram；
Fig. 2 be in control system used in high speed IPM synchronous motor current decoupling control method of the present invention forever
Magnetic-synchro motor speed-current double closed-loop control principle drawing；
Fig. 3 is the fundamental diagram of high speed IPM synchronous motor current decoupling control method of the present invention；
Fig. 4 be parameter it is inaccurate under Direct Design Method in the prior art dq current-responsive oscillograms；
Fig. 5 is dq current-responsive oscillograms under the inaccurate lower the application control method of parameter；
In figure, 1. control modules, 2. three-phase inverters, 3. permagnetic synchronous motors, 4. rotating speeds and position detecting device；5. speed
Spend pi regulator, 6. high speed IPM synchronous motor current decoupled control devices, 7. anti-Park conversion, 8.SVPWM spaces arrow
Amount modulation, 9.Clark conversion, 10.Park conversion.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples, and the present invention includes but is not limited to following implement
Example.
High speed IPM synchronous motor current decoupling control method (abbreviation method) of the present invention, this method includes following
Step：
The first step, set up permagnetic synchronous motor Precise Discrete mathematical modeling：
Under static alpha-beta coordinate system, the voltage equation of permagnetic synchronous motor is formula (1)：
In formula：uα,uβFor α, β shaft voltages；iα,iβFor α, β shaft currents；Ld,LqFor d, q axle inductances；weFor rotor electric angle speed
Degree；ψfFor permanent magnet flux linkage；RsFor stator resistance；θrFor rotor electrical angle；
By back-emf weψfAs disturbance term, it is formula that can obtain transmission function G (s) under the static alpha-beta coordinate system of permagnetic synchronous motor
(2)：
Influence of the harmonic wave to control system is not considered, three-phase inverter is regarded as a unit gain, that is, is considered as one
Individual preferable zero-order holder, zero-order holder H (s) is obtained according to formula (3)：
Wherein TsFor the sampling time, s is continuous domain；
According to discrete control theory as, permagnetic synchronous motor and zero-order holder are regarded to the control object of a broad sense, it is right
Its discretization, formula (4) is obtained by formula (2) and formula (3), and formula (4) is the three-phase inverter driving permanent magnetism under static alpha-beta coordinate system
The discrete model of synchronous motor：
Wherein z is discrete domain,
Generally just performed in+1 sampling instant of kth because k-th of sampling instant calculates the instruction of obtained PWM duty cycle,
Generally there is a delay delay component clapped in control system, delay delay component is used in static alpha-beta coordinate system transmission function D (z)
Formula (5) is represented：
D (z)=(z)-1 (5)
After digital control delay factor is considered, obtain considering the three of delay under rotating coordinate system by formula (4) and formula (5)
The Precise Discrete model of phase Driven by inverter permagnetic synchronous motor is formula (6), that is, obtains permagnetic synchronous motor Precise Discrete mathematics
Model：
Wherein：ud,uqRespectively d, q shaft voltage, j is complex field.
Second step, structure high-speed permanent magnetic synchronous motor current decoupled control device：
2-1, build ideally current of electric decoupling controller
Assuming that in the ideal case, i.e., Parameter Perturbation does not occur for permagnetic synchronous motor and during by external disturbance, according to
The permagnetic synchronous motor Precise Discrete mathematical modeling that the first step is obtained, using pole zero cancellation principle, is obtained by Direct Design Method
To formula (7), formula (7) is ideally current of electric decoupling controller under rotating coordinate system：
Wherein：kd,kqRespectively d, q axis controller gain,Current value is given for d, q axle；
id,iqFor d, q spindle motor actual current value of feedback；
K-th of sampling instant d that ideally permagnetic synchronous motor is exported is defined, q axle ideal currents are：idk sim,
iqk sim, the d that ideally permagnetic synchronous motor is exported, q axles desired voltage is udk sim,uqk sim, then ideally synchronous rotation
The equivalent equation for turning coordinate system permagnetic synchronous motor Precise Discrete mathematical modeling is formula (8),
Permagnetic synchronous motor discrete model under 2-2, structure actual conditions
Changed by the parameter of electric machine when control system, when the factor such as external disturbance is influenceed, actual conditions synchronous rotating frame
The equivalent equation of lower permagnetic synchronous motor is formula (9)：
Wherein：
In formula：ΔRs、ΔLd、ΔLq、ΔRs、ΔψfRespectively Rs、Ld、Lq、Rs、ψfVariable quantity；ηd、ηqFor various outsides
Disturbance is equivalent with unmodel parts；K is k-th of sampling instant in discrete domain；X is disturbance variable.
2-3, introducing discrete sliding mode control (D-SMC), build high-speed permanent magnetic synchronous motor Current Decoupling control under actual conditions
Device processed
In order to solve ideal current decoupling controller dq shaft current decoupling effects when there is Parameter Perturbation and external disturbance
The problem of variation, the present invention proposes a kind of new current strategy, discrete sliding mode control (D-SMC) is introduced, by itself and preferable feelings
Current of electric decoupling controller is combined under condition, so as to improve the parameter adaptation and robustness of control system.
In preferable control law (control law is voltage) udk sim,uqk simOn the basis of increase by one can eliminate dq axles disturbance hd
(x,k)、hqThe control law u of (x, k)dk real,uqk realSo that motor is in original state, the state trajectory and formula (8) of formula (9)
State trajectory it is consistent, then actual control law udk,uqkFormula (10) is met,
To make the whole motion process of motor all be operated in the sliding formwork stage, the discrete cunning of d shaft currents shown in formula (11) is established
Die face, the sliding-mode surface can guarantee that control system state trajectory in the incipient stage just on sliding-mode surface, it is to avoid convergence motion, it is ensured that
Robustness of the control system in whole motion process；
D axle sliding-mode surfaces：
Formula (12) is obtained after formula (11) deformation：
To improve the dynamic quality of control system, using the dispersion index type Reaching Law of formula (13)；
sdk+1-sdk=-λ Tssdk-εTssgn(sdk) (13)
In formula, λ, ε are constant, and sgn () is sign function；
Then according to formula (8), formula (12) and formula (13), d shaft current discrete sliding modes control law is obtained for formula (14)：
udk=[- λ sdk-εsgn(sdk)]Ld+udk sim (14)
Wherein：εLd＞ | hd|, λ ＞ 0, udk real=[- λ sdk-εsgn(sdk)]Ld；
Q shaft current discrete sliding modes face is similarly set up by formula (15), and q axle dispersion index type convergences are used according to formula (16)
Rule, q shaft current discrete sliding modes control law can be obtained for formula (17) according to formula (8) and formula (15), formula (16)：
sqk+1-sqk=-λ Tssqk-εTssgn(sqk) (16)
uqk=[- λ sqk-εsgn(sqk)]Lq+uqk sim (17)
Wherein：εLq＞ | hq|, λ ＞ 0, uqk real=[- λ sqk-εsgn(sqk)]Lq；
Above-mentioned hd、hqH in respectively step 2-2d(x,k)、hq(x, k), sdkFor k moment d shaft current sliding-mode surfaces, sqk
For k moment q shaft current sliding-mode surfaces, Zdk、ZqkIt is integral term；Formula (11), formula (14) and formula (15), formula (17) constitute discrete sliding mode
Control (D-SMC), it is same that formula (6), formula (7), formula (11), formula (14), formula (15) and formula (17) constitute high-speed permanent magnetic under actual conditions
Walk current of electric decoupling controller.
The discrete sliding mode control that the application is used is dry in the basis improvement suppression Parameter Perturbation of former uneoupled control and the external world
Disturb, by designing corresponding sliding-mode surface, whole motion process can be made all to be operated in the sliding formwork stage, it is ensured that the Shandong of control system
Rod.
Proof on control method robustness of the present invention is as follows：
Choose liapunov functionReaching condition is taken as：sk+1 2＜ sk 2, when sampling time Ts very little
When, the presence of discrete sliding mode and attainability condition are：
[sk+1-sk]sgn(sk) ＜ 0, [sk+1+sk]sgn(sk) ＞ 0 (17)
The effect of Parameter Perturbation and external factor is considered during system operation, d can be obtained according to formula (9), formula (12) and formula (17)
Axle stable condition is：
D axles：
To set up formula (18), need to ensure：εLd＞ | hd|
Can obtain q axle stable conditions according to formula (9), formula (15) and formula (17) is：
Q axles：
To set up formula (19), need to ensure：εLq＞ | hq|。
Control system used in high speed IPM synchronous motor current decoupling control method of the present invention (referring to Fig. 1)
Including control module 1, three-phase inverter 2, rotating speed and position detecting device 4.The rotating speed and position detecting device 4 with it is to be controlled
Permagnetic synchronous motor 3 is connected, the rotary speed information for gathering permagnetic synchronous motor 3；The control module 1 include control chip,
Power supply, serial communication circuit, power main circuit, current detection circuit and protection circuit, current detection circuit and control core
Piece is connected, and control chip is connected with the input of three-phase inverter 2 simultaneously, the output end and permanent-magnet synchronous of the three-phase inverter
Motor 3 is connected；The current information for rotary speed information and the current detection circuit detection that rotating speed is gathered with position detecting device 4 is sent to control
Coremaking piece, then control chip send PWM ripples driving three-phase inverter 2, so as to control the operation of permagnetic synchronous motor 3.
Permanent magnetism is same in control system used in high speed IPM synchronous motor current decoupling control method of the present invention
Walking motor speed-current double closed-loop control principle (referring to Fig. 2) is：Speed pi regulator 5, high speed are provided with control chip interior
Embedded permagnetic synchronous motor current decoupled control device 6, anti-Park conversion 7, SVPWM space vector modulations 8, Clark convert 9 and
Park conversion 10, threephase stator electric current i is measured by current detection circuita,ib,ic, threephase stator electric current ia,ib,icBy
Clark conversion 9 switchs to iα,iβ, iα,iβSwitch to i by Park conversion 10d,iq；By given permagnetic synchronous motor initial speed wr *With
The actual speed w of motor is measured by rotating speed and position detecting device 4rDifference is done, the deviation signal of the difference is regard as speed
The input of PI controllers 5, the output i of speed PI controllers 5q *It is used as high speed IPM synchronous motor current decoupled control device
6 q shaft currents give；Using id=0 vector controlled, gives high speed IPM synchronous motor current decoupled control device 6
D shaft currents be 0, i.e. id *=0, given value of current value id *,iq *With with actual current value of feedback id,iqIt is used as high speed built-in permanent magnetic
The input of synchronous motor current decoupled control device, high speed IPM synchronous motor current decoupled control device is output as ud,
uq, then obtain u by anti-Park conversion 7α,uβ；uα,uβAs the input of SVPWM space vector modulations 8, produce for controlling
The signal of three-phase inverter work, the operation of final driving permagnetic synchronous motor.
High speed IPM synchronous motor current decoupled control device 6 is the control method of the present invention, SVPWM space vectors
Modulation, speed pi regulator, Park conversion, anti-Park conversion and Clark conversion are prior art.
Fig. 3 is the operation principle of high speed IPM synchronous motor current decoupling control method of the present invention.K-th of sampling
It is i that d, q axle at moment, which give current value,dk *,iqk *, by the permagnetic synchronous motor Precise Discrete mathematical modeling shown in formula (6), obtain
The d for k-th of the sampling instant arrived, q axle ideal current is：idk sim,iqk sim, it would be desirable to electric current idk sim,iqk simWith given electric current
idk *,iqk *Deviation is done, obtained deviation is used as ideally current of electric decoupling controller Gcd,GcqInput, ideal situation
Lower current of electric decoupling controller is output as desired voltage udk sim,uqk sim；By the desired voltage u of q axlesqk simWith back-emf weψf
Make the difference, then by the difference and the desired voltage u of d axlesdk simIt is used as permagnetic synchronous motor Precise Discrete mathematical modeling Gq,GdIt is defeated
Enter, so as to obtain new ideal current iqk+1 sim,idk+1 sim, moved in circles with this；
Simultaneously by the desired voltage u of k-th of sampling instantdk sim,uqk simWith the actual current i of permagnetic synchronous motordk,iqk
Substitute into the discrete sliding mode control (D-SMC) being made up of formula (11), formula (14) and formula (15), formula (17), when obtaining k-th of sampling
The virtual voltage u at quarterdk,uqk, then udk,uqkThe as output of high-speed permanent magnetic synchronous motor current decoupled control device 6.Then pass through
In Fig. 2 after the processing of anti-Park conversion 7, SVPWM space vector modulations 8 and three-phase inverter 2, permagnetic synchronous motor 3 is acted on
On, obtain new actual current idk+1,iqk+1。
Embodiment 1
The present embodiment high speed IPM synchronous motor current decoupling control method, this method comprises the following steps：
The first step, set up permagnetic synchronous motor Precise Discrete mathematical modeling：
After digital control delay factor is considered, permagnetic synchronous motor Precise Discrete mathematical modeling, i.e. formula (6) are obtained：
Wherein：ud,uqRespectively d, q shaft voltage, j are complex fields, and z is discrete domain, TsFor sampling time, RsFor stator electricity
Resistance, weFor rotor angular rate, Ld,LqFor d, q axle inductances；
Second step, structure high-speed permanent magnetic synchronous motor current decoupled control device：
2-1, build ideally current of electric decoupling controller：
Assuming that in the ideal case, i.e., Parameter Perturbation does not occur for permagnetic synchronous motor and during by external disturbance, according to
The permagnetic synchronous motor Precise Discrete mathematical modeling that the first step is obtained, using pole zero cancellation principle, is obtained by Direct Design Method
To formula (7), formula (7) is ideally current of electric decoupling controller under rotating coordinate system,
Wherein：kd,kqRespectively d, q axis controller gain,Current value is given for d, q axle；
id,iqFor d, q spindle motor actual current value of feedback；
K-th of sampling instant d that ideally permagnetic synchronous motor is exported is defined, q axle ideal currents are：idk sim,
iqk sim, the d that ideally permagnetic synchronous motor is exported, q axles desired voltage is udk sim,uqk sim, then ideally synchronous rotation
The equivalent equation for turning coordinate system permagnetic synchronous motor Precise Discrete mathematical modeling is formula (8),
Permagnetic synchronous motor discrete model under 2-2, structure actual conditions：
Changed by the parameter of electric machine when control system, when the factor such as external disturbance is influenceed, actual conditions synchronous rotating frame
The equivalent equation of lower permagnetic synchronous motor is formula (9),
Wherein：
In formula：ΔRs、ΔLd、ΔLq、ΔRs、ΔψfRespectively Rs、Ld、Lq、Rs、ψfVariable quantity；ηd、ηqFor various outsides
Disturbance is equivalent with unmodel parts；K is k-th of sampling instant in discrete domain；X is disturbance variable；
2-3, introducing discrete sliding mode control, build high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions：
In order to solve ideal current decoupling controller dq shaft current decoupling effects when there is Parameter Perturbation and external disturbance
The problem of variation, discrete sliding mode control (D-SMC) is introduced, it is combined with ideally current of electric decoupling controller；
In preferable control law udk sim,uqk simOn the basis of increase by one can eliminate dq axles disturbance hd(x,k)、hqThe control of (x, k)
System rule udk real,uqk realSo that motor is in original state, and the state trajectory of formula (9) is consistent with the state trajectory of formula (8), then
Actual control law udk,uqkFormula (10) is met,
To make the whole motion process of motor all be operated in the sliding formwork stage, d shaft current discrete sliding modes are set up according to formula (11)
Face, the sliding-mode surface can guarantee that control system state trajectory in the incipient stage just on sliding-mode surface, it is to avoid convergence motion；
D axle sliding-mode surfaces：
Formula (12) is obtained after formula (11) deformation：
To improve the dynamic quality of control system, using the dispersion index type Reaching Law of formula (13)；
sdk+1-sdk=-λ Tssdk-εTssgn(sdk) (13)
In formula, λ, ε are constant, and sgn () is sign function；
Then according to formula (8), formula (12) and formula (13), d shaft current discrete sliding modes control law is obtained for formula (14)：
udk=[- λ sdk-εsgn(sdk)]Ld+udk sim (14)
Wherein：εLd＞ | hd|, λ ＞ 0, udk real=[- λ sdk-εsgn(sdk)]Ld；
Q shaft current discrete sliding modes face is similarly set up by formula (15), and q axle dispersion index type convergences are used according to formula (16)
Rule, q shaft current discrete sliding modes control law is obtained for formula (17) according to formula (8), formula (15) and formula (16),
sqk+1-sqk=-λ Tssqk-εTssgn(sqk) (16),
uqk=[- λ sqk-εsgn(sqk)]Lq+uqk sim(17),
Wherein：εLq＞ | hq|, λ ＞ 0, uqk real=[- λ sqk-εsgn(sqk)]Lq；
Above-mentioned sdkFor k moment d shaft current sliding-mode surfaces, sqkFor k moment q shaft current sliding-mode surfaces, Zdk、ZqkIt is integral term；Formula
(11), formula (14) and formula (15), formula (17) constitute discrete sliding mode control, formula (6), formula (7), formula (11), formula (14), formula (15) and
Formula (17) constitutes high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions.
The present embodiment permagnetic synchronous motor 3 to be controlled is power 10kw IPM synchronous motor, and rated voltage is
310v, rated speed is 12000r/min.The control chip is TMS320F28335 chips, and the three-phase inverter uses English
Fly to insult the serial inversion modules of FF600R07ME4.The present embodiment control method and existing Direct Design Method are carried out into effect to be compared.
Fig. 4 and Fig. 5 be motor operation under rated speed, in the case where parameter is inaccurate, when q shaft currents are undergone mutation, dq
Shaft current response curve.
Fig. 4 is that parameter is inaccurate lower based on Direct Design Method dq current-responsive waveforms, it can be seen that when parameter is inaccurate,
When there is external interference and cause q shaft currents to be mutated, d shaft currents are significantly affected, and there is serious coupling between dq shaft currents.
Fig. 5 is dq current-responsive waveforms under the inaccurate the present processes of parameter, when parameter is inaccurate, extraneous when existing
When interference causes the q shaft currents to be mutated, d shaft currents have little to no effect, and indicate the application control method for Parameter Perturbation and outer
Obvious inhibitory action is played in boundary's interference, and dq axles can be decoupled preferably, and significantly improve the robustness of system.
The present invention does not address part and is applied to prior art.
Claims (4)
1. a kind of high speed IPM synchronous motor current decoupling control method, this method comprises the following steps：
The first step, set up permagnetic synchronous motor Precise Discrete mathematical modeling：
After digital control delay factor is considered, permagnetic synchronous motor Precise Discrete mathematical modeling, i.e. formula (6) are obtained：
Wherein：ud,uqRespectively d, q shaft voltage, j are complex fields, and z is discrete domain, TsFor sampling time, RsFor stator resistance, we
For rotor angular rate, Ld,LqFor d, q axle inductances；
Second step, structure high-speed permanent magnetic synchronous motor current decoupled control device：
2-1, build ideally current of electric decoupling controller：
Assuming that in the ideal case, i.e., Parameter Perturbation does not occur for permagnetic synchronous motor and during by external disturbance, according to first
Obtained permagnetic synchronous motor Precise Discrete mathematical modeling is walked, using pole zero cancellation principle, formula is obtained by Direct Design Method
(7), formula (7) is ideally current of electric decoupling controller under rotating coordinate system,
Wherein：kd,kqRespectively d, q axis controller gain,Current value is given for d, q axle；
id,iqFor d, q spindle motor actual current value of feedback；
K-th of sampling instant d that ideally permagnetic synchronous motor is exported is defined, q axle ideal currents are：idk sim,iqk sim, reason
The d that permagnetic synchronous motor is exported in the case of thinking, q axles desired voltage is udk sim,uqk sim, then ideally synchronously rotating reference frame
The equivalent equation for being permagnetic synchronous motor Precise Discrete mathematical modeling is formula (8),
Permagnetic synchronous motor discrete model under 2-2, structure actual conditions：
Changed by the parameter of electric machine when control system, when the factor such as external disturbance is influenceed, under actual conditions synchronous rotating frame forever
The equivalent equation of magnetic-synchro motor is formula (9),
Wherein：
In formula：ΔRs、ΔLd、ΔLq、ΔRs、ΔψfRespectively Rs、Ld、Lq、Rs、ψfVariable quantity；ηd、ηqFor various external disturbances
It is equivalent with unmodel parts；K is k-th of sampling instant in discrete domain；X is disturbance variable；
2-3, introducing discrete sliding mode control, build high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions：
It is deteriorated to solve ideal current decoupling controller dq shaft currents decoupling effect when there is Parameter Perturbation and external disturbance
The problem of, discrete sliding mode control (D-SMC) is introduced, it is combined with ideally current of electric decoupling controller；
In preferable control law udk sim,uqk simOn the basis of increase by one can eliminate dq axles disturbance hd(x,k)、hqThe control law of (x, k)
udk real,uqk realSo that motor is in original state, and the state trajectory of formula (9) is consistent with the state trajectory of formula (8), then actual
Control law udk,uqkFormula (10) is met,
To make the whole motion process of motor all be operated in the sliding formwork stage, d shaft current discrete sliding modes face is set up according to formula (11), should
Sliding-mode surface can guarantee that control system state trajectory in the incipient stage just on sliding-mode surface, it is to avoid convergence motion；
D axle sliding-mode surfaces：
Formula (12) is obtained after formula (11) deformation：
To improve the dynamic quality of control system, using the dispersion index type Reaching Law of formula (13)；
sdk+1-sdk=-λ Tssdk-εTssgn(sdk) (13)
In formula, λ, ε are constant, and sgn () is sign function；
Then according to formula (8), formula (12) and formula (13), d shaft current discrete sliding modes control law is obtained for formula (14)：
udk=[- λ sdk-εsgn(sdk)]Ld+udk sim (14)
Wherein：εLd＞ | hd|, λ ＞ 0, udk real=[- λ sdk-εsgn(sdk)]Ld；
Q shaft current discrete sliding modes face is similarly set up by formula (15), and q axle dispersion index type Reaching Laws are used according to formula (16),
Q shaft current discrete sliding modes control law is obtained for formula (17) according to formula (8), formula (15) and formula (16),
sqk+1-sqk=-λ Tssqk-εTssgn(sqk) (16),
uqk=[- λ sqk-εsgn(sqk)]Lq+uqk sim(17),
Wherein：εLq＞ | hq|, λ ＞ 0, uqk real=[- λ sqk-εsgn(sqk)]Lq；
Above-mentioned sdkFor k moment d shaft current sliding-mode surfaces, sqkFor k moment q shaft current sliding-mode surfaces, Zdk、ZqkIt is integral term；Formula (11),
Formula (14) and formula (15), formula (17) constitute discrete sliding mode control, formula (6), formula (7), formula (11), formula (14), formula (15) and formula
(17) high-speed permanent magnetic synchronous motor current decoupled control device under actual conditions is constituted.
2. high speed IPM synchronous motor current decoupling control method according to claim 1, it is characterised in that should
The operation principle of method is：It is i that d, q axle of k-th of sampling instant, which give current value,dk *,iqk *, pass through the permanent-magnet synchronous of formula (6)
Motor Precise Discrete mathematical modeling, the d of k-th obtained of sampling instant, q axle ideal currents are：idk sim,iqk sim, it would be desirable to electricity
Flow idk sim,iqk simWith given electric current idk *,iqk *Deviation is done, obtained deviation is used as ideally current of electric uneoupled control
Device Gcd,GcqInput, ideally current of electric decoupling controller be output as desired voltage udk sim,uqk sim；By q axles
Desired voltage uqk simWith back-emf weψfMake the difference, then by the difference and the desired voltage u of d axlesdk simIt is used as permagnetic synchronous motor
Precise Discrete mathematical modeling Gq,GdInput, so as to obtain new ideal current iqk+1 sim,idk+1 sim, moved in circles with this；
Simultaneously by the desired voltage u of k-th of sampling instantdk sim,uqk simWith the actual current i of permagnetic synchronous motordk,iqkSubstitute into
In the discrete sliding mode control being made up of formula (11), formula (14) and formula (15), formula (17), the actual electricity of k-th of sampling instant is obtained
Press udk,uqk, then udk,uqkThe as output of high-speed permanent magnetic synchronous motor current decoupled control device；Then converted by anti-Park,
After the processing of SVPWM space vector modulations and three-phase inverter, act on permagnetic synchronous motor, obtain new actual current
idk+1,iqk+1。
3. control system used in the control method described in a kind of claim 1 or 2, including control module, three-phase inverter,
Rotating speed and position detecting device；It is characterized in that the rotating speed is connected with position detecting device with permagnetic synchronous motor to be controlled,
Rotary speed information for gathering permagnetic synchronous motor；The control module includes control chip, power supply, serial communication electricity
Road, power main circuit, current detection circuit and protection circuit, current detection circuit are connected with control chip, and control chip is simultaneously
It is connected with the input of three-phase inverter, the output end of the three-phase inverter is connected with permagnetic synchronous motor；Rotating speed and position
The rotary speed information of detection means collection and the current information of current detection circuit detection are sent to control chip, and then control chip is sent out
Go out PWM ripples driving three-phase inverter, so as to control the operation of permagnetic synchronous motor.
4. control system according to claim 3, it is characterised in that the control chip is TMS320F28335 chips, institute
Three-phase inverter is stated using the serial inversion modules of Infineon FF600R07ME4.
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| CN108322119A (en) * | 2018-03-14 | 2018-07-24 | 燕山大学 | It is a kind of to consider the PMSM discrete domain current regulator control methods for clapping lag |
| CN108880369A (en) * | 2018-06-12 | 2018-11-23 | 广州市香港科大霍英东研究院 | Motor anti-interference control method, system and device based on fractional order sliding formwork control |
| CN108880383A (en) * | 2018-06-12 | 2018-11-23 | 天津大学 | Magneto ratio resonant controller discretization design method |
| CN110323983A (en) * | 2019-07-23 | 2019-10-11 | 广东工业大学 | A kind of Current Decoupling method, apparatus, equipment and the medium of permanent magnet synchronous motor |
| CN111010062A (en) * | 2019-12-20 | 2020-04-14 | 合肥工业大学 | Permanent magnet synchronous motor robust speed control method adopting cascade structure |
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| CN108322119A (en) * | 2018-03-14 | 2018-07-24 | 燕山大学 | It is a kind of to consider the PMSM discrete domain current regulator control methods for clapping lag |
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| CN108880383A (en) * | 2018-06-12 | 2018-11-23 | 天津大学 | Magneto ratio resonant controller discretization design method |
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| CN108880369B (en) * | 2018-06-12 | 2021-01-15 | 广州市香港科大霍英东研究院 | Motor anti-interference control method, system and device based on fractional order sliding mode control |
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| CN111740675A (en) * | 2020-07-02 | 2020-10-02 | 合肥工业大学 | Two-degree-of-freedom control method for discrete domain current loop high robustness of permanent magnet synchronous motor |
| CN111740675B (en) * | 2020-07-02 | 2022-07-19 | 合肥工业大学 | Two-degree-of-freedom control method for discrete domain current loop high robustness of permanent magnet synchronous motor |
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