CN107070315B - Multi-switch reluctance motor rotating speed synchronous control device and control method - Google Patents
Multi-switch reluctance motor rotating speed synchronous control device and control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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Abstract
The invention discloses a synchronous control method for the rotating speed of a multi-switch reluctance motor, which comprises the following steps: calculating the rotation speed of the virtual main shaft and taking the virtual main shaft as a given rotation speed of each motor; calculating the weight average rotating speed of each motor and taking the weight average rotating speed as the reference rotating speed of each motor torque compensation module; calculating the reference torque of each motor, and comparing the reference torque with the actual torque of the motor to obtain corresponding torque deviation; calculating corresponding compensation torque of each motor, and summing the compensation torque and the torque deviation to obtain torque adjustment quantity of each motor; comparing the actual flux linkage of the motor with a given flux linkage of the system to obtain flux linkage deviation; the motors are controlled according to the torque adjustment quantity and the flux linkage deviation, so that the actual rotating speeds of the motors can accurately track the given rotating speeds of the system, and the aim of synchronous operation of the rotating speeds of multiple motors is fulfilled. The invention also discloses a device for synchronously controlling the rotating speeds of the multi-switch reluctance motors.
Description
Technical Field
The invention relates to the field of control of switched reluctance motors, in particular to a synchronous control device and a synchronous control method for rotating speeds of multiple switched reluctance motors.
Background
The switched reluctance motor has been rapidly popularized and applied in recent years because of its series advantages of simple and firm structure, small starting current, large starting torque, high efficiency, and the like. However, in some complex multi-motor drive systems, synchronous operation of the multiple motors is involved, and synchronous control of the rotational speeds of the multiple motors is required. At present, a plurality of control methods such as master control, master-slave control, coupling control and virtual main shaft control are provided, and although a certain control effect is obtained, the defects still exist: if the main command controls each motion shaft to work in parallel, the motion shafts are mutually incoherent, when one shaft is disturbed, the motion shafts can be adjusted only by the shaft, and other shafts can not respond, so that the motion shafts are only suitable for the places with less disturbance; the master-slave control is similar to master control, but the motion axis is divided into a main shaft and an auxiliary shaft, the reference signal of the auxiliary shaft is output from the main shaft, when the main shaft is disturbed, the auxiliary shaft can make corresponding adjustment, and when the auxiliary shaft is disturbed, the main shaft can not make corresponding response; the coupling control solves the problem that the motors are not coupled in the method, but the overall stability of the system is poor due to the introduction of parameter coupling between shafts; the virtual spindle mimics the physical properties of a mechanically stiff shaft connection and thus has similar inherent synchronization properties, but the virtual spindle may be out of synchronization during load upsets, start-up or shut-down, etc. Therefore, the method for researching more effective synchronous control of the rotating speed aiming at the multi-switch reluctance motor has important practical significance.
Disclosure of Invention
In order to solve the technical problems, the invention provides a synchronous control device for the rotating speed of a multi-switch reluctance motor, which has a simple structure and is accurate to control, and provides a synchronous control method for the rotating speed of the multi-switch reluctance motor.
The technical scheme for solving the problems is as follows: the multi-switch reluctance motor rotating speed synchronous control device comprises a rotating speed given module, a virtual main shaft controller, a magnetic linkage given module and a plurality of motor control modules, wherein the output end of the rotating speed given module is connected with the input end of the virtual main shaft controller; each motor control module comprises a motor rotating speed detection module, a motor rotating speed comparison module, a motor active disturbance rejection control module, a motor torque estimation module, a motor actual torque and reference torque comparison module, a motor torque compensation module, an adder, a motor flux linkage estimation module, a motor flux linkage comparison module and a motor controller; in each motor control module, the input end of the motor rotation speed detection module is connected with a corresponding motor, the output end of the motor rotation speed detection module is connected with the input end of the motor rotation speed comparison module, the motor torque compensation module and the virtual main shaft controller, the output end of the virtual main shaft controller is connected with the input end of the motor rotation speed comparison module and the input end of the motor torque compensation module, the output end of the motor active disturbance rejection control module is connected with the input end of the motor actual torque and the reference torque comparison module, the output end of the motor torque compensation module is connected with the input end of the adder, the input end of the motor torque estimation module is connected with the input end of the reference torque comparison module, the output end of the motor actual torque and the reference torque comparison module is connected with the input end of the adder, the output end of the adder is connected with the input end of the motor controller, the input end of the motor magnetic link estimation module is connected with the corresponding motor, and the output end of the motor magnetic link estimation module is connected with the motor magnetic link comparison module; the output end of the flux linkage given module is connected with the input end of the flux linkage comparison module in each motor control module.
A synchronous control method for the rotating speed of a multi-switch reluctance motor comprises the following steps:
step one: setting a given rotational speed ω of the system * Simultaneously detecting the actual rotational speed omega of each motor i (i=1, 2 … n), n represents the number of motors, and the virtual spindle rotational speed ω is obtained by processing the number of motors by the virtual spindle controller r And takes the same as a given rotating speed of each motor; the virtual main shaft controller is used for controlling the virtual main shaft according to the actual rotation speed omega of each motor i (i=1, 2 … n) and the corresponding moment of inertia j i (i=1, 2 … n), and obtaining the weight average rotation speed omega of each motor through calculation w And taking the torque compensation module as a reference rotating speed of each motor torque compensation module;
step two: the actual rotation speed omega of each motor i And virtual spindle speed omega r Comparing, and obtaining the reference torque T of each motor after the deviation is processed by the operation of the active disturbance rejection controller i * (i=1, 2 … n) while the actual torque T of each motor is obtained by the torque estimation module i (i=1, 2 … n), and the actual torque T is calculated i With the above mentioned ginsengTest torque T i * Comparing to obtain corresponding torque deviation delta T i (i＝1,2…n)；
Step three: the torque compensation modules of the motors are based on the actual rotational speed omega i And weight average rotation speed omega w The corresponding compensation torque delta T is obtained through the operation processing i ' (i=1, 2 … n) and compensating the torque Δt i ' deviation from the torque DeltaT i Summing to obtain the torque adjustment quantity delta T of the motor i ″(i＝1,2…n)；
Step four: estimating the actual flux linkage ψ of each motor i (i=1, 2 … n) and is given a flux linkage ψ with the system * Comparing to obtain the flux linkage deviation delta phi of each motor i (i＝1,2…n)；
Step five: adjusting the torque by an amount DeltaT i "sum flux linkage bias Δψ i After the operation processing of the motor controller, the output control signal controls the switching state of the power switch in the power converter corresponding to the motor, thereby realizing the actual rotation speed of each motor to the given rotation speed omega of the system * The aim of synchronous control of the rotating speed of the multi-switch reluctance motor is achieved.
In the above method for synchronously controlling the rotation speeds of the multiple switched reluctance motors, the virtual spindle controller obtains the virtual spindle rotation speed omega in the first step r The method of (1) comprises:
1-1-1) setting the system given rotational speed ω * Simultaneously detecting the initial rotation speed omega output by the virtual main shaft controller r ' and correlating it with a system given rotational speed ω * Comparing, the deviation of the torque T is obtained by Hooke's law r As shown in formula (1):
T r ＝b r (ω * -ω r ′)+k r ∫(ω * -ω r ′)dt (1)
wherein: b r Attenuation coefficient, k, of virtual principal axis r Is the virtual main shaft elastic coefficient;
1-1-2) the actual rotational speed ω of each motor i With a given rotational speed omega of the system * Comparing, the deviation of the motor is obtained by Hooke's law to obtain the drive of the virtual transmission shaft of each motorDynamic torque, as shown in formula (2):
T i ′＝b i (ω * -ω i )+k i ∫(ω * -ω i )dt (2)
wherein: b i Attenuation coefficient k of motor i transmission shaft i The elastic coefficient of the transmission shaft of the motor i;
1-1-3) comparing the driving torque of the virtual main shaft with the sum of the driving torques of the virtual transmission shafts of the motors, and obtaining the adjusted virtual main shaft rotating speed omega by the rigid fixed shaft rotating law r The method comprises the following steps:
wherein: j (j) r The moment of inertia of the virtual main shaft;
1-1-4) adjusting the virtual main shaft rotating speed omega r As a given rotational speed of each motor.
According to the synchronous control method for the rotating speeds of the multi-switch reluctance motor, the drosophila optimization algorithm is adopted to optimize the virtual main shaft attenuation coefficient b r And virtual principal axis elastic coefficient k r The method is characterized by comprising the following steps:
with virtual principal axis attenuation coefficient b r And virtual principal axis elastic coefficient k r To optimize the object, the rotational speed omega is set by the system * And virtual spindle speed omega r Deviation delta omega of (2) r System given rotational speed omega * And weight average rotation speed omega w Deviation delta omega of (2) w For optimization purposes, the optimization steps are as follows:
(1) the method comprises the following steps Setting optimization objects b respectively r And k is equal to r The initial individual position of the fruit fly is X c (x c0 ,y c0 ) And X c ′(x′ c0 ,y′ c0 ) (c is the number of drosophila individuals, c=1, 2 … n'), while setting the maximum number of iterations to Maxgen;
(2) the method comprises the following steps The searching direction and distance of randomly generated drosophila are respectively shown as the formula (4) and the formula (5):
wherein: d (D) xc 、D yc 、D′ xc And D' yc Is a random value;
(3) the method comprises the following steps Taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration c And S is c ' its expression is:
(4) the method comprises the following steps Determining a set of taste concentration values
Substituting the synchronous control model of the virtual main shaft of the multi-switch reluctance motor to obtain corresponding delta omega rc And Δω wc ；
(5) The method comprises the following steps Constructing an optimization objective function H (c) as shown in a formula (8):
wherein: d, d 1 And d 2 As the weight coefficient, d 1 >0，d 2 >0 and d 1 +d 2 =1, take d 1 ＝d 2 ＝0.5；
(6) The method comprises the following steps Maintaining the maximum value of formula (8), i.e. the current highest taste concentration, and preserving the position of the drosophila population at that time;
(7) the method comprises the following steps Performing iterative optimization, repeating the steps (2) - (6), judging whether the taste concentration of a new drosophila individual is better than the current highest taste concentration value, and if so, updating the current highest taste concentration and the initial position of the drosophila population; otherwise, returning to the step (2), and executing the step (8) until the current iteration times are equal to the maximum iteration times Maxgen or the target precision requirement is reached;
(8) the method comprises the following steps After the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila at the moment are reserved, and the optimal virtual main axis attenuation coefficient b is obtained r And virtual principal axis elastic coefficient k r 。
In the above method for synchronously controlling the rotation speeds of the multiple switched reluctance motors, the virtual spindle controller in the step (1) calculates the weight average rotation speed ω w The method of (1) is as follows:
1-2-1) determining the weight coefficient g of each motor i ：
Based on moment of inertia j of each motor i (i=1, 2 … n), and a weight coefficient g of each motor is determined i (i=1, 2 … n), i.e.:
1-2-2) calculating the weight average rotation speed omega w ：
According to the actual rotation speed omega of each motor i And its corresponding weight coefficient g i Obtaining the weight average rotating speed omega of the system w As shown in formula (10):
in the above method for synchronously controlling the rotation speeds of the multiple switch reluctance motors, the reference torque T is in the second step i * The acquisition method of (1) is as follows:
2-1) at the actual rotational speed ω of the motor i And virtual spindle speed omega r Deviation delta omega of (2) i As input of the motor i active disturbance rejection control module, the total disturbance y of the motor i i Performing real-time estimation as shown in formula (11):
y i ＝-β i1 fal(Δω i ,α 1 ,η) (11)
wherein: y is i Representing the total disturbance suffered by the motor i in the running process; beta i1 (i=1, 2 … n) is a gain coefficient; function fal (Deltaomega) i ,α 1 η) is represented by the expression (12):
wherein: parameter alpha 1 Is a constant of 0 to 1, and is generally alpha 1 =0.25; the parameter eta is a constant affecting the filtering effect, and eta=0.5 is taken;
2-2) from Δω i The nonlinear error feedback control law is obtained as follows:
u i0 (t)＝β i2 fal(Δω i ,α 2 ,η) (13)
wherein: beta i2 (i=1, 2 … n) is a gain coefficient; function fal (Deltaomega) i ,α 2 η) is represented by the expression (14):
wherein: parameter alpha 2 Constant of 0-1, alpha is taken 2 ＝0.75；
2-3) obtaining a reference torque T of the motor i according to the formulas (11) and (13) i * The method comprises the following steps:
T i * ＝u i0 (t)-y i /e i (15)
wherein: e, e i (i=1, 2 … n) is a disturbance compensation coefficient.
According to the synchronous control method for the rotating speeds of the multi-switch reluctance motor, the gain coefficient beta is optimized by adopting a Drosophila optimization algorithm i1 、β i2 And disturbance compensation coefficient e i The method is characterized by comprising the following steps:
gain coefficient beta of ith motor active disturbance rejection controller i1 、β i2 And disturbance compensation coefficient e i For optimizing the object, the rotation speed deviation delta omega is used i For optimization purposes, youThe method comprises the following steps:
2-1-1): setting optimization parameters beta respectively i1 、β i2 And e i The initial individual position of the fruit fly is X e (x e0 ,y e0 )，X e ′(x′ e0 ,y′ e0 ) And X' e (x″ e0 ,y″ e0 ) (e is the number of drosophila individuals, e=1, 2 … n "), while setting the maximum number of iterations to Maxgen';
2-1-2): randomly generating search direction and distance of drosophila:
wherein: d (D) xe 、D ye 、D′ xe 、D′ ye 、D″ xe And D' ye Is a random value
2-1-3): taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration e 、S e ' and S e The expressions are as follows:
2-1-4): determining the taste concentration
Substituting the taste concentration determination values into the active disturbance rejection controller, simulating the active disturbance rejection controller, and determining the taste concentration W corresponding to each taste concentration determination value e ，W e The expression of (2) is shown in the formula (22):
wherein:
representing taking a set of taste concentration determination values +.>
When the noise is generated, the error between the input and the output of the active disturbance rejection controller is generated;
2-1-5): maintaining the maximum value of formula (22), i.e., the current highest taste concentration, and maintaining the position of the drosophila at that time;
2-1-6): performing iterative optimization, repeatedly executing the steps 2-1-2) -2-1-5, judging whether the taste concentration of the drosophila individuals is better than the current highest taste concentration value, and if so, updating the current highest taste concentration of the drosophila and the initial position of the drosophila population; otherwise, returning to the step 2-1-2), and executing the step 2-1-7 until the current iteration times are equal to the maximum iteration times Maxgen' or the target required precision is reached;
step 2-1-7): after the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila individual at the moment are reserved, and the optimal active disturbance rejection control parameter beta of the motor i is obtained i1 、β i2 、e i ；
Adopting a drosophila optimization algorithm to calculate a control parameter beta of an ith motor i1 、β i2 E i And then, obtaining control parameters of other motors by using a time scale method, wherein the method comprises the following steps of:
i: obtaining a time scale p of the ith motor according to a state equation of phase current and rotating speed of the ith motor i As shown in formula (23):
wherein: i.e in Rated current of the ith motor; n is n i0 The rated rotation speed of the ith motor; j (j) i The rotational inertia of the ith motor; b (B) i The friction coefficient of the ith motor; l (L) imin The minimum value of the inductance, namely the phase inductance, of the ith motor stator salient pole at the position where the stator salient pole coincides with the center of the rotor groove;
the change rate of the phase inductance of the ith motor along with the position angle is set;
II: then, the time scale p of the kth motor (k=1 to n, and k+.i) is calculated according to the formula (23) k By time scale p of motor i and motor k i And p k Control parameter beta of motor i i1 、β i2 、e i Obtaining the corresponding control parameter beta of the motor k k1 、β k2 、e k As shown in formulas (24) to (26):
e k ＝e i (26)。
in the above method for synchronously controlling the rotation speeds of the multiple switched reluctance motors, in the third step, the ith motor compensates the torque delta T i The' acquisition mode is as follows:
1) At the actual rotational speed omega of the motor i i And weight average rotation speed omega w As state variables, the deviations and the integral thereof are represented by the following formulas (27) and (28):
x i1 ＝ω w -ω i (i＝1,2…n) (27)
2) Setting an integral sliding mode surface function as shown in formula (29):
s i ＝x i1 +Cx i2 (i＝1,2…n) (29)
wherein: c is a positive constant;
3) The torque compensator is designed according to the established sliding mode surface function by adopting an exponential approach law, and the adopted exponential approach law expression is as follows:
wherein: epsilon and K are normal numbers, sgn(s) i ) Is a sign function;
4) Determining the compensation torque delta T according to the motion equation of the switched reluctance motor and (29) and (30) i ' is:
the invention has the beneficial effects that: the invention aims at a rotating speed synchronous control system formed by multiple switch reluctance motors, adopts a virtual main shaft control method and combines torque compensation to realize synchronous operation of the multiple motors. The basic principle is as follows: setting a given rotating speed of the system, detecting the actual rotating speed of each motor at the same time, obtaining a virtual spindle rotating speed through operation processing of a virtual spindle controller, and taking the virtual spindle rotating speed as the given rotating speed of each motor; meanwhile, the virtual main shaft controller calculates the weight average rotating speed of the system according to the actual rotating speed and the rotating inertia of each motor, and takes the weight average rotating speed as the reference rotating speed of each motor torque compensation module; then, the deviation of the actual rotating speed of each motor and the given rotating speed is processed by an active disturbance rejection control module to obtain reference torque of each motor, and the reference torque is compared with the actual torque of the motor to obtain corresponding torque deviation; meanwhile, each motor torque compensation module obtains corresponding compensation torque according to the actual rotating speed of the motor and the average rotating speed of the system weight, and sums the compensation torque and the torque deviation to obtain the torque adjustment quantity of the motor; in addition, the actual flux linkage of each motor is compared with the given flux linkage of the system to obtain corresponding flux linkage deviation, and finally the motor controller controls the motors according to the torque adjustment quantity and the flux linkage deviation, so that the accurate tracking of the actual rotating speed of each motor to the given rotating speed of the system can be realized, and the aim of synchronous operation of the rotating speeds of multiple motors is fulfilled.
Drawings
Fig. 1 is a block diagram of a control device according to the present invention.
FIG. 2 is a flow chart of the virtual spindle controller control according to the present invention.
FIG. 3 is a flow chart of a control method of the present invention.
FIG. 4 is a flow chart of the control parameter optimization of the active disturbance rejection controller according to the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The multi-switch reluctance motor rotating speed synchronous control device comprises a rotating speed given module, a virtual main shaft controller, a magnetic linkage given module and a plurality of motor control modules, wherein the output end of the rotating speed given module is connected with the input end of the virtual main shaft controller; each motor control module comprises a motor rotating speed detection module, a motor rotating speed comparison module, a motor active disturbance rejection control module, a motor torque estimation module, a motor actual torque and reference torque comparison module, a motor torque compensation module, an adder, a motor flux linkage estimation module, a motor flux linkage comparison module and a motor controller; in each motor control module, the input end of the motor rotation speed detection module is connected with a corresponding motor, the output end of the motor rotation speed detection module is connected with the input end of the motor rotation speed comparison module, the motor torque compensation module and the virtual main shaft controller, the output end of the virtual main shaft controller is connected with the input end of the motor rotation speed comparison module and the input end of the motor torque compensation module, the output end of the motor active disturbance rejection control module is connected with the input end of the motor actual torque and the reference torque comparison module, the output end of the motor torque compensation module is connected with the input end of the adder, the input end of the motor torque estimation module is connected with the input end of the reference torque comparison module, the output end of the motor actual torque and the reference torque comparison module is connected with the input end of the adder, the output end of the adder is connected with the input end of the motor controller, the input end of the motor magnetic link estimation module is connected with the corresponding motor, and the output end of the motor magnetic link estimation module is connected with the motor magnetic link comparison module; the output end of the flux linkage given module is connected with the input end of the flux linkage comparison module in each motor control module.
As shown in fig. 2-4, a method for synchronously controlling the rotation speed of a multi-switch reluctance motor comprises the following steps:
step one: setting a given rotational speed ω of the system * Simultaneously detecting the actual rotational speed omega of each motor i (i=1, 2 … n), n represents the number of motors, and the virtual spindle rotational speed ω is obtained by processing the number of motors by the virtual spindle controller r And takes the same as a given rotating speed of each motor; the virtual main shaft controller is used for controlling the virtual main shaft according to the actual rotation speed omega of each motor i (i=1, 2 … n) and the corresponding moment of inertia j i (i=1, 2 … n), and obtaining the weight average rotation speed omega of each motor through calculation w And takes the reference rotation speed as the reference rotation speed of each motor torque compensation module.
The virtual spindle controller obtains the virtual spindle rotation speed omega r The method of (1) comprises:
1-1-1) setting the system given rotational speed ω * Simultaneously detecting the initial rotation speed omega output by the virtual main shaft controller r ' and correlating it with a system given rotational speed ω * Comparing, the deviation of the torque T is obtained by Hooke's law r As shown in formula (1):
T r ＝b r (ω * -ω r ′)+k r ∫(ω * -ω r ′)dt (1)
wherein the method comprises the steps of：b r Attenuation coefficient, k, of virtual principal axis r Is the virtual main shaft elastic coefficient;
1-1-2) the actual rotational speed ω of each motor i With a given rotational speed omega of the system * Comparing, the deviation of the torque is obtained by Hooke's law to obtain the driving torque of the virtual transmission shaft of each motor, as shown in the formula (2):
T i ′＝b i (ω * -ω i )+k i ∫(ω * -ω i )dt (2)
wherein: b i Attenuation coefficient k of motor i transmission shaft i The elastic coefficient of the transmission shaft of the motor i;
1-1-3) comparing the driving torque of the virtual main shaft with the sum of the driving torques of the virtual transmission shafts of the motors, and obtaining the adjusted virtual main shaft rotating speed omega by the rigid fixed shaft rotating law r The method comprises the following steps:
wherein: j (j) r The moment of inertia of the virtual main shaft;
1-1-4) adjusting the virtual main shaft rotating speed omega r As a given rotational speed of each motor.
Optimizing the virtual principal axis attenuation coefficient b by adopting a Drosophila optimization algorithm r And virtual principal axis elastic coefficient k r The method is characterized by comprising the following steps:
with virtual principal axis attenuation coefficient b r And virtual principal axis elastic coefficient k r To optimize the object, the rotational speed omega is set by the system * And virtual spindle speed omega r Deviation delta omega of (2) r System given rotational speed omega * And weight average rotation speed omega w Deviation delta omega of (2) w For optimization purposes, the optimization steps are as follows:
(1) the method comprises the following steps Setting optimization objects b respectively r And k is equal to r The initial individual position of the fruit fly is X c (x c0 ,y c0 ) And X c ′(x′ c0 ,y′ c0 ) (c is the number of drosophila individuals, c=1, 2 … n') while setting the maximumThe iteration number is Maxgen;
(2) the method comprises the following steps The searching direction and distance of randomly generated drosophila are respectively shown as the formula (4) and the formula (5):
wherein: d (D) xc 、D yc 、D′ xc And D' yc Is a random value;
(3) the method comprises the following steps Taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration c And S is c ' its expression is:
(4) the method comprises the following steps Determining a set of taste concentration values
Substituting the synchronous control model of the virtual main shaft of the multi-switch reluctance motor to obtain corresponding delta omega rc And Δω wc ；Δω rc And Δω wc Respectively represent S c ，S c After' substitution into the model, the system gives the rotation speed omega * And virtual spindle speed omega r Deviation of (2) and system given rotational speed omega * And weight average rotation speed omega w Deviation of (2);
(5) the method comprises the following steps Constructing an optimization objective function H (c) representing the optimization objective of the optimization step, i.e. to achieve Δω rc And Δω wc The minimum purpose is as shown in formula (8):
wherein: d, d 1 And d 2 As the weight coefficient, d 1 >0，d 2 >0 and d 1 +d 2 =1, take d 1 ＝d 2 ＝0.5；
(6) The method comprises the following steps Maintaining the maximum value of formula (8), i.e. the current highest taste concentration, and preserving the position of the drosophila population at that time;
(7) the method comprises the following steps Performing iterative optimization, repeating the steps (2) - (6), judging whether the taste concentration of a new drosophila individual is better than the current highest taste concentration value, and if so, updating the current highest taste concentration and the initial position of the drosophila population; otherwise, returning to the step (2), and executing the step (8) until the current iteration times are equal to the maximum iteration times Maxgen or the target precision requirement is reached;
(8) the method comprises the following steps After the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila at the moment are reserved, and the optimal virtual main axis attenuation coefficient b is obtained r And virtual principal axis elastic coefficient k r 。
The virtual main shaft controller calculates the weight average rotating speed omega w The method of (1) is as follows:
1-2-1) determining the weight coefficient g of each motor i ：
Based on moment of inertia j of each motor i (i=1, 2 … n), and a weight coefficient g of each motor is determined i (i=1, 2 … n), i.e.:
1-2-2) calculating the weight average rotation speed omega w ：
According to the actual rotation speed omega of each motor i And its corresponding weight coefficient g i Obtaining the weight average rotating speed omega of the system w As shown in formula (10):
step two: the actual rotation speed omega of each motor i And virtual spindle speed omega r Comparing, and obtaining the reference torque T of each motor after the deviation is processed by the operation of the active disturbance rejection controller i * (i=1, 2 … n) while the actual torque T of each motor is obtained by the torque estimation module i (i=1, 2 … n), and the actual torque T is calculated i With the above reference torque T i * Comparing to obtain corresponding torque deviation delta T i (i＝1,2…n)。
Reference torque T i * The acquisition method of (1) is as follows:
2-1) at the actual rotational speed ω of the motor i And virtual spindle speed omega r Deviation delta omega of (2) i As input of the motor i active disturbance rejection control module, the total disturbance y of the motor i i Performing real-time estimation as shown in formula (11):
y i ＝-β i1 fal(Δω i ,α 1 ,η) (11)
wherein: y is i Representing the total disturbance suffered by the motor i in the running process; beta i1 (i=1, 2 … n) is a gain coefficient; function fal (Deltaomega) i ,α 1 η) is represented by the expression (12):
wherein: parameter alpha 1 Is a constant of 0 to 1, and is generally alpha 1 =0.25; the parameter eta is a constant affecting the filtering effect, and eta=0.5 is taken;
2-2) from Δω i The nonlinear error feedback control law is obtained as follows:
u i0 (t)＝β i2 fal(Δω i ,α 2 ,η) (13)
wherein: beta i2 (i=1, 2 … n) is a gain coefficient; function fal (Deltaomega) i ,α 2 η) is represented by the expression (14):
wherein: parameter alpha 2 Is a constant of 0 to 1, and is generally alpha 2 ＝0.75；
2-3) obtaining a reference torque T of the motor i according to the formulas (11) and (13) i * The method comprises the following steps:
T i * ＝u i0 (t)-y i /e i (15)
wherein: e, e i (i=1, 2 … n) is a disturbance compensation coefficient.
As shown in fig. 4, a drosophila optimization algorithm is used to optimize the gain factor beta i1 、β i2 And disturbance compensation coefficient e i The method is characterized by comprising the following steps:
gain coefficient beta of ith motor active disturbance rejection controller i1 、β i2 And disturbance compensation coefficient e i For optimizing the object, the rotation speed deviation delta omega is used i For optimization purposes, the optimization steps are as follows:
2-1-1): setting optimization parameters beta respectively i1 、β i2 And e i The initial individual position of the fruit fly is X e (x e0 ,y e0 )，X e ′(x′ e0 ,y′ e0 ) And X' e (x″ e0 ,y″ e0 ) (e is the number of drosophila individuals, e=1, 2 … n "), while setting the maximum number of iterations to Maxgen';
2-1-2): randomly generating search direction and distance of drosophila:
wherein: d (D) xe 、D ye 、D′ xe 、D′ ye 、D″ xe And D' ye Is a random value
2-1-3): taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration e 、S e ' and S e The expressions are as follows:
2-1-4): determining a set of taste concentration values
Substituting the taste concentration W into the active disturbance rejection controller, simulating the active disturbance rejection controller, and determining the taste concentration W corresponding to each taste concentration determination value according to the simulation result e ，W e The expression of (2) is shown in the formula (22):
wherein:
representing taking a set of taste concentration determination values +.>
When the noise is generated, the error between the input and the output of the active disturbance rejection controller is generated;
2-1-5): maintaining the maximum value of formula (22), i.e., the current highest taste concentration, and maintaining the position of the drosophila at that time;
2-1-6): performing iterative optimization, repeatedly executing the steps 2-1-2) -2-1-5, judging whether the taste concentration of the drosophila individuals is better than the current highest taste concentration value, and if so, updating the current highest taste concentration of the drosophila and the initial position of the drosophila population; otherwise, returning to the step 2-1-2), and executing the step 2-1-7 until the current iteration times are equal to the maximum iteration times Maxgen' or the target precision requirement is reached;
step 2-1-7): after the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila individual at the moment are reserved, and the optimal active disturbance rejection control parameter beta of the motor i is obtained i1 、β i2 、e i 。
Adopting a drosophila optimization algorithm to calculate a control parameter beta of an ith motor i1 、β i2 E i And then, obtaining control parameters of other motors by using a time scale method, wherein the method comprises the following steps of:
i: obtaining a time scale p of the ith motor according to a state equation of phase current and rotating speed of the ith motor i As shown in formula (23):
wherein: i.e in Rated current of the ith motor; n is n i0 The rated rotation speed of the ith motor; j (j) i The rotational inertia of the ith motor; b (B) i The friction coefficient of the ith motor; l (L) imin The minimum value of the inductance, namely the phase inductance, of the ith motor stator salient pole at the position where the stator salient pole coincides with the center of the rotor groove;
the change rate of the phase inductance of the ith motor along with the position angle is set;
II: then, the time scale p of the kth motor (k=1 to n, and k+.i) is calculated according to the formula (23) k By time scale p of motor i and motor k i And p k Control parameter beta of motor i i1 、β i2 、e i Obtaining the corresponding control parameter beta of the motor k k1 、β k2 、e k As shown in formulas (24) to (26):
e k ＝e i (26)
step three: the torque compensation modules of the motors are based on the actual rotational speed omega i And weight average rotation speed omega w The corresponding compensation torque delta T is obtained through the operation processing i ' (i=1, 2 … n) and compensating the torque Δt i ' deviation from the torque DeltaT i Summing to obtain the torque adjustment quantity delta T of the motor i ″(i＝1,2…n)。
Compensation torque delta T of ith motor i The' acquisition mode is as follows:
1) At the actual rotational speed omega of the motor i i And weight average rotation speed omega w As state variables, the deviations and the integral thereof are represented by the following formulas (27) and (28):
x i1 ＝ω w -ω i (i＝1,2…n) (27)
2) Setting an integral sliding mode surface function as shown in formula (29):
s i ＝x i1 +Cx i2 (i＝1,2…n) (29)
wherein: c is a positive constant;
3) Selecting an exponential approach law according to the established sliding mode surface function to design a torque compensator, wherein the selected exponential approach law expression is as follows:
wherein: epsilon and K are normal numbers, sgn(s) i ) Is a sign function;
4) The state variables set for equations (27) and (28) are derived:
wherein: the equation of motion of the combined switched reluctance motor from equation (29) can be given by equation (34):
wherein: t (T) Li Representing the load torque.
The combination of formulas (29), (33), (34) can be obtained:
from the formulas (30) and (35), it is possible to obtain:
let the compensation torque delta T i ' is:
owing to the>
Part is far smaller than->
Thus can +.>
Omitted, finally outputQuantity DeltaT of i ' is:
step four: estimating the actual flux linkage ψ of each motor i (i=1, 2 … n) and is given a flux linkage ψ with the system * Comparing to obtain the flux linkage deviation delta phi of each motor i (i＝1,2…n)。
Step five: the motor controller adjusts the quantity delta T according to the torque i "sum flux linkage bias Δψ i And the interval of the magnetic linkage queries the switching table to obtain a corresponding voltage vector, and then the switching state of a corresponding power switch in the power converter is determined according to the voltage vector, so that the actual rotating speed of each motor can realize the given rotating speed omega of the system * The aim of synchronous control of the rotating speed of the multi-switch reluctance motor is achieved.
Claims (6)
1. A synchronous control method for the rotating speed of a multi-switch reluctance motor is characterized by comprising the following steps: the multi-switch reluctance motor rotating speed synchronous control device comprises a rotating speed given module, a virtual main shaft controller, a flux linkage given module and a plurality of motor control modules, wherein the output end of the rotating speed given module is connected with the input end of the virtual main shaft controller; each motor control module comprises a motor rotating speed detection module, a motor rotating speed comparison module, a motor active disturbance rejection control module, a motor torque estimation module, a motor actual torque and reference torque comparison module, a motor torque compensation module, an adder, a motor flux linkage estimation module, a motor flux linkage comparison module and a motor controller; in each motor control module, the input end of the motor rotation speed detection module is connected with a corresponding motor, the output end of the motor rotation speed detection module is connected with the input end of the motor rotation speed comparison module, the motor torque compensation module and the virtual main shaft controller, the output end of the virtual main shaft controller is connected with the input end of the motor rotation speed comparison module and the input end of the motor torque compensation module, the output end of the motor active disturbance rejection control module is connected with the input end of the motor actual torque and the reference torque comparison module, the output end of the motor torque compensation module is connected with the input end of the adder, the input end of the motor torque estimation module is connected with the input end of the reference torque comparison module, the output end of the motor actual torque and the reference torque comparison module is connected with the input end of the adder, the output end of the adder is connected with the input end of the motor controller, the input end of the motor magnetic link estimation module is connected with the corresponding motor, and the output end of the motor magnetic link estimation module is connected with the motor magnetic link comparison module; the output end of the flux linkage given module is connected with the input end of the flux linkage comparison module in each motor control module;
the synchronous control method of the rotating speed of the multi-switch reluctance motor comprises the following steps:
step one: setting a given rotational speed ω of the system * Simultaneously detecting the actual rotational speed omega of each motor i I=1, 2 … n, n represents the number of motors, and the virtual spindle rotational speed ω is obtained after the virtual spindle controller operation processing r And takes the same as a given rotating speed of each motor; the virtual main shaft controller is used for controlling the virtual main shaft according to the actual rotation speed omega of each motor i I=1, 2 … n and their corresponding moment of inertia j i I=1, 2 … n, and obtaining the weight average rotation speed omega of each motor through calculation w And taking the torque compensation module as a reference rotating speed of each motor torque compensation module;
the virtual spindle controller obtains the virtual spindle rotation speed omega r The method of (1) comprises:
1-1-1) setting the system given rotational speed ω * Simultaneously detecting the initial rotation speed omega 'output by the virtual main shaft controller' r And compares it with a system given rotational speed omega * Comparing, the deviation of the torque T is obtained by Hooke's law r As shown in formula (1):
wherein: b r Attenuation coefficient, k, of virtual principal axis r Is the virtual main shaft elastic coefficient;
1-1-2) the actual rotational speed ω of each motor i With a given rotational speed omega of the system * Comparing, the deviation of the torque is obtained by Hooke's law to obtain the driving torque of the virtual transmission shaft of each motor, as shown in the formula (2):
wherein: b i Attenuation coefficient k of motor i transmission shaft i The elastic coefficient of the transmission shaft of the motor i;
1-1-3) comparing the driving torque of the virtual main shaft with the sum of the driving torques of the virtual transmission shafts of the motors, and obtaining the adjusted virtual main shaft rotating speed omega by the rigid fixed shaft rotating law r The method comprises the following steps:
wherein: j (j) r The moment of inertia of the virtual main shaft;
1-1-4) adjusting the virtual main shaft rotating speed omega r As a given rotational speed of each motor;
step two: the actual rotation speed omega of each motor i And virtual spindle speed omega r Comparing, and obtaining the reference torque T of each motor after the deviation is processed by the operation of the active disturbance rejection controller i * I=1, 2 … n, and the actual torque T of each motor is obtained by the torque estimation module i I=1, 2 … n, and the actual torque T is calculated i With the above reference torque T i * Comparing to obtain corresponding torque deviation delta T i ，i＝1,2…n；
Step three: the torque compensation modules of the motors are based on the actual rotational speed omega i And weight average rotation speed omega w The corresponding compensation torque delta T is obtained through the operation processing i ' i=1, 2 … n, and the compensation torque Δt is set i ' deviation from the torque DeltaT i Summing to obtain the torque adjustment quantity delta T of the motor i ″，i＝1,2…n；
Step four: estimating the actual flux linkage ψ of each motor i I=1, 2 … n and is given a flux linkage ψ with the system * Comparing to obtain the flux linkage deviation delta phi of each motor i ，i＝1,2…n；
Step five: adjusting the torque by an amount DeltaT i "sum flux linkage bias Δψ i After the operation processing of the motor controller, the output control signal controls the switching state of the power switch in the power converter corresponding to the motor, thereby realizing the actual rotation speed of each motor to the given rotation speed omega of the system * The aim of synchronous control of the rotating speed of the multi-switch reluctance motor is achieved.
2. The method for synchronously controlling the rotation speeds of the multiple-switch reluctance motor according to claim 1, wherein: optimizing the virtual principal axis attenuation coefficient b by adopting a Drosophila optimization algorithm r And virtual principal axis elastic coefficient k r The method is characterized by comprising the following steps:
with virtual principal axis attenuation coefficient b r And virtual principal axis elastic coefficient k r To optimize the object, the rotational speed omega is set by the system * And virtual spindle speed omega r Deviation delta omega of (2) r System given rotational speed omega * And weight average rotation speed omega w Deviation delta omega of (2) w For optimization purposes, the optimization steps are as follows:
(1) the method comprises the following steps Setting optimization objects b respectively r And k is equal to r The initial individual position of the fruit fly is X c (x c0 ,y c0 ) And X' c (x′ c0 ,y′ c0 ) C is the number of drosophila individuals, c=1, 2 … n', and the maximum iteration number is set as Maxgen;
(2) the method comprises the following steps The searching direction and distance of randomly generated drosophila are respectively shown as the formula (4) and the formula (5):
wherein: d (D) xc 、D yc 、D′ xc And D' yc Is a random value;
(3) the method comprises the following steps Taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration c And S' c The expressions are respectively:
(4) the method comprises the following steps Determining a set of taste concentration values
Substituting the synchronous control model of the virtual main shaft of the multi-switch reluctance motor to obtain corresponding delta omega rc And Δω wc ；
(5) The method comprises the following steps Constructing an optimized objective function H (c) as shown in formula (8):
wherein: d, d 1 And d 2 As the weight coefficient, d 1 ＞0，d 2 > 0 and d 1 +d 2 =1, take d 1 ＝d 2 ＝0.5；
(6) The method comprises the following steps Maintaining the maximum value of formula (8), i.e. the current highest taste concentration, and preserving the position of the drosophila population at that time;
(7) the method comprises the following steps Performing iterative optimization, repeating the steps (2) - (6), judging whether the taste concentration of a new drosophila individual is better than the current highest taste concentration value, and if so, updating the current highest taste concentration and the initial position of the drosophila population; otherwise, returning to the step (2), and executing the step (8) until the current iteration times are equal to the maximum iteration times Maxgen or the target precision requirement is reached;
(8) the method comprises the following steps After the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila at the moment are reserved, and the optimal virtual main axis attenuation coefficient b is obtained r And virtual principal axis elastic coefficient k r 。
3. The method for synchronously controlling the rotation speeds of the multiple-switch reluctance motor according to claim 1, wherein: in the first step, the virtual spindle controller calculates a weight average rotating speed omega w The method of (1) is as follows:
1-2-1) determining the weight coefficient g of each motor i ：
Based on moment of inertia j of each motor i I=1, 2 … n, and determining the weight coefficient g of each motor i I=1, 2 … n, i.e.:
1-2-2) calculating the weight average rotation speed omega w ：
According to the actual rotation speed omega of each motor i And its corresponding weight coefficient g i Obtaining the weight average rotating speed omega of the system w As shown in formula (10):
4. the method for synchronously controlling the rotating speeds of the multi-switch reluctance motors according to claim 3, wherein: the reference torque T in the second step i * The acquisition method of (1) is as follows:
2-1) At the actual rotation speed omega of the motor i And virtual spindle speed omega r Deviation delta omega of (2) i As input of the motor i active disturbance rejection control module, the total disturbance y of the motor i i Performing real-time estimation as shown in formula (11):
y i ＝-β i1 fal(Δω i ,α 1 ,η) (11)
wherein: y is i Representing the total disturbance suffered by the motor i in the running process; beta i1 I=1, 2 … n as gain coefficient; function fal (Deltaomega) i ,α 1 η) is represented by the expression (12):
wherein: parameter alpha 1 Constant of 0-1, alpha is taken 1 =0.25; the parameter eta is a constant affecting the filtering effect, and eta=0.5 is taken;
2-2) from Δω i The nonlinear error feedback control law is obtained as follows:
u i0 (t)＝β i2 fal(Δω i ,α 2 ,η) (13)
wherein: beta i2 I=1, 2 … n as gain coefficient; function fal (Deltaomega) i ,α 2 η) is represented by the expression (14):
wherein: parameter alpha 2 Constant of 0-1, alpha is taken 2 ＝0.75；
2-3) obtaining a reference torque T of the motor i according to the formulas (11) and (13) i * The method comprises the following steps:
T i * ＝u i0 (t)-y i /e i (15)
wherein: e, e i For the disturbance compensation coefficient, i=1, 2 … n.
5. The method for synchronously controlling the rotating speeds of the multiple-switch reluctance motors according to claim 4, wherein: optimization of the gain factor beta using a Drosophila optimization algorithm i1 、β i2 And disturbance compensation coefficient e i The method is characterized by comprising the following steps:
gain coefficient beta of ith motor active disturbance rejection controller i1 、β i2 And disturbance compensation coefficient e i For optimizing the object, the rotation speed deviation delta omega is used i For optimization purposes, the optimization steps are as follows:
2-1-1): setting optimization parameters beta respectively i1 、β i2 And e i The initial individual position of the fruit fly is X e (x e0 ,y e0 )，X′ e (x′ e0 ,y′ e0 ) And X' e (x″ e0 ,y″ e0 ) E is the number of drosophila individuals, e=1, 2 … n ", while the maximum number of iterations is set to Maxgen';
2-1-2): randomly generating search direction and distance of drosophila:
wherein: d (D) xe 、D ye 、D′ xe 、D′ ye 、D″ xe And D' ye Is a random value;
2-1-3): taking the reciprocal of the distance from the original point of the drosophila individual as the judgment value S of the taste concentration e 、S e ' and S e The expressions are as follows:
2-1-4): determining a set of taste concentration values
Substituting the taste concentration determination values into the active disturbance rejection controller, simulating the active disturbance rejection controller, and determining the taste concentration W corresponding to each taste concentration determination value e ，W e The expression of (2) is shown in the formula (22):
wherein:
representing taking a set of taste concentration determination values +.>
When the noise is generated, the error between the input and the output of the active disturbance rejection controller is generated;
2-1-5): maintaining the maximum value of formula (22), i.e., the current highest taste concentration, and maintaining the position of the drosophila at that time;
2-1-6): performing iterative optimization, repeatedly executing the steps 2-1-2) -2-1-5, judging whether the taste concentration of the drosophila individuals is better than the current highest taste concentration value, and if so, updating the current highest taste concentration of the drosophila and the initial position of the drosophila population; otherwise, returning to the step 2-1-2), and executing the step 2-1-7 until the current iteration times are equal to the maximum iteration times Maxgen' or the target required precision is reached;
step 2-1-7): after the iterative optimization is finished, the optimal taste concentration value and the position of the drosophila individual at the moment are reserved, and the optimal active disturbance rejection control parameter beta of the motor i is obtained i1 、β i2 、e i ；
Adopting a drosophila optimization algorithm to calculate a control parameter beta of an ith motor i1 、β i2 E i And then, obtaining control parameters of other motors by using a time scale method, wherein the method comprises the following steps of:
i: obtaining a time scale p of the ith motor according to a state equation of phase current and rotating speed of the ith motor i As shown in formula (23):
wherein: i.e in Rated current of the ith motor; n is n i0 The rated rotation speed of the ith motor; j (j) i The rotational inertia of the ith motor; b (B) i The friction coefficient of the ith motor; l (L) imin The minimum value of the inductance, namely the phase inductance, of the ith motor stator salient pole at the position where the stator salient pole coincides with the center of the rotor groove;
the change rate of the phase inductance of the ith motor along with the position angle is set;
II: then, according to the formula (23), calculating the time scale p of the kth motor k K=1 to n, and k+.i, by the time scales p of motor i and motor k i And p k Control parameter beta of motor i i1 、β i2 、e i Obtaining the corresponding control parameter beta of the motor k k1 、β k2 、e k As shown in formulas (24) to (26):
e k ＝e i (26)。
6. the method for synchronously controlling the rotating speeds of the multiple-switch reluctance motors according to claim 5, wherein: in the third step, the ith motor compensates the torque delta T i The' acquisition mode is as follows:
1) At the actual rotational speed omega of the motor i i And weight average rotation speed omega w As state variables, the deviations and the integral thereof are represented by the following formulas (27) and (28):
x i1 ＝ω w -ω i (i＝1,2…n) (27)
2) Setting an integral sliding mode surface function as shown in formula (29):
s i ＝x i1 +Cx i2 (i＝1,2…n) (29)
wherein: c is a positive constant;
3) The torque compensator is designed according to the established sliding mode surface function by adopting an exponential approach law, and the adopted exponential approach law expression is as follows:
wherein: epsilon and K are normal numbers, sgn(s) i ) Is a sign function;
4) Determining the compensation torque delta T according to the motion equation of the switched reluctance motor and (29) and (30) i ' is:
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