CN107317532B - Permanent magnet synchronous motor predictive-current control method and system based on sliding formwork - Google Patents
Permanent magnet synchronous motor predictive-current control method and system based on sliding formwork Download PDFInfo
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- CN107317532B CN107317532B CN201710497296.6A CN201710497296A CN107317532B CN 107317532 B CN107317532 B CN 107317532B CN 201710497296 A CN201710497296 A CN 201710497296A CN 107317532 B CN107317532 B CN 107317532B
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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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a kind of permanent magnet synchronous motor predictive-current control method and system based on sliding formwork, wherein the realization of method includes: according to the permanent magnet synchronous motor model for not considering Parameters variation, the q axis reference current of the d axis reference current of equivalent current, subsequent time under current time dq axis coordinate system and subsequent time is inputted into dead beat predictive-current control device, predicts the voltage under current time dq axis coordinate system；By the voltage input high order sliding mode differentiator under equivalent current, motor speed and last moment dq axis coordinate system, the interference of dq shaft current caused by Parameters variation is obtained；It gives dq shaft current interference compensation caused by Parameters variation to dead beat predictive-current control device, obtains the driving voltage of motor under dq axis coordinate system, obtain three-phase input voltage, driving permanent magnet synchronous motor operation using driving electricity.Rapid dynamic response speed of the present invention, steady state controling precision is high, improves the control precision and its reliability of operation of permanent magnet synchronous motor.
Description
Technical field
The present invention relates to permanent magnet synchronous motor technical fields, more particularly, to a kind of permanent magnet synchronous electric based on sliding formwork
Machine predictive-current control method and system.
Background technique
In recent years, with the development of rare earth permanent-magnetic material and electric power device, permanent magnet synchronous motor (Permanent
Magnet Synchronous Motor, PMSM) it has been obtained widely with its high-performance, high torque (HT) ratio of inertias and high-energy density
Concern, the especially decline of permanent-magnet material price and the raising of magnetic property, greatly pushed permanent magnet synchronous motor development and
Using.In recent years, in high-precision, the servo-system of wide speed regulating range, permanent magnet synchronous motor system is just playing increasingly heavier
The effect wanted.Permanent magnet synchronous motor is a multivariable, the nonlinear system of close coupling, its application environment is generally complex
And various interference are usually present, exist simultaneously the uncertainties such as parameter mismatch.
In existing permanent magnet synchronous motor control technology, vector controlled is most widely used including in speed outer ring and electric current
The double circle structure of ring.The control of electric current loop needs first to convert three-phase current by dq, then carries out proportional integration respectively
(Proportional-integral, PI) is adjusted, and the result that PI is adjusted is exported through PWM algorithm and controlled as the control amount of PWM
Signal processed completes the control to motor.The design of electric current loop determines the dynamic response capability and stable state control of electric machine control system
Precision processed.Recently as the further development of modern control theory and power electronic technique, many is about permanent magnet synchronous motor
The control method of electric current loop is suggested, and the prior art is same there are can not effectively adjust permanent magnetism when the running parameter of electric machine changes
Walk motor electric current loop output, dynamic responding speed is slow, and robustness is low, the control precision of permanent magnet synchronous motor it is low and its run
The technical issues of poor reliability.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of permanent magnet synchronous electrics based on sliding formwork
Machine predictive-current control method and system, thus solving can not be effective when the prior art changes there are the running parameter of electric machine
Ground adjusts the electric current loop output of permanent magnet synchronous motor, and dynamic responding speed is slow, and robustness is low, the control precision of permanent magnet synchronous motor
Low and its poor reliability of operation technical problem.
To achieve the above object, according to one aspect of the present invention, a kind of permanent magnet synchronous motor based on sliding formwork is provided
Predictive-current control method, includes the following steps:
(1) rotor-position, motor speed and the three-phase current for acquiring the permanent magnet synchronous motor at current time, become by coordinate
Get equivalent current of the permanent magnet synchronous motor under current time dq axis coordinate system in return；
(2) joined according to the d axis of the reference rotor angular rate of the permanent magnet synchronous motor subsequent time of setting and subsequent time
Electric current is examined, the q axis reference current of permanent magnet synchronous motor subsequent time is acquired；
It (3), will be equivalent under current time dq axis coordinate system according to the permanent magnet synchronous motor model for not considering Parameters variation
The q axis reference current of electric current, the d axis reference current of subsequent time and subsequent time inputs dead beat predictive-current control device, in advance
Measure the voltage under current time dq axis coordinate system；
(4) equivalent current, motor speed and the last moment by permanent magnet synchronous motor under dq axis coordinate system utilize indifference
The voltage input high order sliding mode differentiator under the last moment dq axis coordinate system that predictive-current control device obtains is clapped, parameter change is obtained
The interference of dq shaft current caused by changing；
(5) it gives dq shaft current interference compensation caused by Parameters variation to dead beat predictive-current control device, eliminates dead beat
The defect of the parameter dependence of predictive-current control device obtains the driving voltage of motor under dq axis coordinate system, driving voltage is passed through
It crosses coordinate transform and Sinusoidal Pulse Width Modulation obtains the three-phase input voltage of permanent magnet synchronous motor, drive permanent magnet synchronous motor
Operation.
Further, dead beat predictive-current control device are as follows:
Wherein, TsFor the sampling period, u (k) is the voltage under current time dq axis coordinate system, i*(k+1) under being
Reference current under one moment dq axis coordinate system, i (k) are the equivalent current under current time dq axis coordinate system,Rs0For known ideal stator
Resistance, L0For known ideal stator inductance, ψf0For known ideal permanent magnet flux linkage, ωeIt (k) is current time motor speed.
Further, high order sliding mode differentiator are as follows:
Wherein,It is interfered for the dq shaft current at current time,It is dry for the dq shaft current of last moment
It disturbing, u (k-1) is the voltage under last moment dq axis coordinate system,For estimate subsequent time dq shaft current,For
Estimate the dq shaft current at current time, ziIt (k-1) is the derivative of last moment dq shaft current interference, ziIt (k-2) is upper last moment
The derivative of dq shaft current interference, vi0It (k) is the intermediate variable at current time, vi0It (k-1) is the intermediate variable of last moment, vi1
(k) intermediate variable generated for current time interference, vi1(k-1) intermediate variable generated for last moment interference, vi1(k-2)
For the intermediate variable that the interference of upper last moment generates, η0、η1、η2It is high order sliding mode differentiator parameter with K.
Further, driving voltage u*(k) are as follows:
It is another aspect of this invention to provide that providing a kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork
System, including coordinate transformation module, speed proportional integral controller, dead beat predictive-current control device, high order sliding mode differentiator and
Drive module,
The coordinate transformation module, for by the rotor-position of the permanent magnet synchronous motor at collected current time, motor
Revolving speed and three-phase current obtain equivalent current of the permanent magnet synchronous motor under dq axis coordinate system by coordinate transform, input indifference
Clap predictive-current control device；
The speed proportional integral controller, the reference rotor for the permanent magnet synchronous motor subsequent time according to setting are electric
The d axis reference current of angular speed and subsequent timeAcquire the q axis reference current of permanent magnet synchronous motor subsequent timeInput dead beat predictive-current control device；
The dead beat predictive-current control device does not consider the permanent magnet synchronous motor model of Parameters variation for basis, will
The d axis reference current of equivalent current, subsequent time under current time dq axis coordinate system and the q axis reference current of subsequent time,
Predict the voltage under current time dq axis coordinate system；
The high order sliding mode differentiator, for turning to equivalent current, motor of the permanent magnet synchronous motor under dq axis coordinate system
Voltage under the last moment dq axis coordinate system that speed and last moment are obtained using dead beat predictive-current control device carries out differential
Processing obtains the interference of dq shaft current caused by Parameters variation, inputs dead beat predictive-current control device；
The drive module, for giving dq shaft current interference compensation caused by Parameters variation to dead beat predictive-current control
Device eliminates the defect of the parameter dependence of dead beat predictive-current control device, obtains the driving voltage of motor under dq axis coordinate system,
Driving voltage is obtained into the three-phase input voltage of permanent magnet synchronous motor by coordinate transform and Sinusoidal Pulse Width Modulation, is driven
Permanent magnet synchronous motor operation.
Further, coordinate transformation module includes Clark conversion module and Park conversion module, when will be collected current
Rotor-position, motor speed and the three-phase current of the permanent magnet synchronous motor at quarter successively carry out Clark using Clark conversion module
Transformation and Park conversion module carry out Park and convert to obtain equivalent current of the permanent magnet synchronous motor under dq axis coordinate system, input nothing
Beat predictive-current control device.
Further, drive module includes Park inverse transform module, Pulse width modulation module and inverter, and parameter is become
Dq shaft current interference compensation caused by changing gives dead beat predictive-current control device, eliminates the parameter of dead beat predictive-current control device
The defect of dependence obtains the driving voltage of motor under dq axis coordinate system, and driving voltage is successively utilized to Park inverse transform module
Park inverse transformation is carried out, Pulse width modulation module carries out Sinusoidal Pulse Width Modulation and inverter carries out inversion and obtains permanent magnetism
The three-phase input voltage of synchronous motor, driving permanent magnet synchronous motor operation.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
(1) present invention uses dead beat predictive-current control device, enhances permanent magnet synchronous motor control dynamic response capability,
Improve electric current and torque steady state controling precision.
(2) high order sliding mode differentiator that the present invention uses, it is contemplated that the interference in current of electric equation has outstanding electricity
Trace performance and robustness are flowed, effectively follow current and the existing interference of electric current loop can be observed, make each intermediate physical amount
It is more smooth, accurate.
(3) combination of high order sliding mode differentiator and dead beat predictive-current control device of the present invention, solves predicted current control
The problem of system is dependent on model parameter, so that the electric current loop in permanent magnet synchronous motor still can under the actual conditions such as Parameters variation
Faster dynamic responding speed, high steady state controling precision are enough kept, and parameter robustness is good, improves permanent magnet synchronous motor
Control precision and its reliability of operation.
Detailed description of the invention
Fig. 1 is a kind of stream of permanent magnet synchronous motor predictive-current control method based on sliding formwork provided in an embodiment of the present invention
Cheng Tu；
Fig. 2 is a kind of permanent magnet synchronous motor predictive-current control system structure based on sliding formwork provided in an embodiment of the present invention
Schematic diagram；
Fig. 3 is high order sliding mode differentiator combination dead beat predictive-current control device schematic diagram provided in an embodiment of the present invention；
Fig. 4 is permanent magnet synchronous motor current loop control flow chart provided in an embodiment of the present invention；
Fig. 5 is Parameters variation procedure chart in experimental verification provided in an embodiment of the present invention；
Fig. 6 is traditional dead beat predictive-current control experimental waveform figure that the embodiment of the present invention 1 provides；
Fig. 7 is the Current experiments waveform diagram that the embodiment of the present invention 1 provides；
Fig. 8 is the interference waveform figure that the high order sliding mode differentiator that the embodiment of the present invention 1 provides observes.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of permanent magnet synchronous motor predictive-current control method based on sliding formwork, includes the following steps:
(1) rotor position (k), the motor speed ω of the permanent magnet synchronous motor at current time (k moment) are acquirede(k) and three
Phase current ia(k)、ib(k) and ic(k), to the three-phase current i of permanent magnet synchronous motora(k)、ib(k) and ic(k) Clark change is carried out
It changes and is converted with Park, obtain equivalent current i of the permanent magnet synchronous motor under dq axis coordinate systemd(k) and iq(k)；
According to vector control theory, the three-phase current of permanent magnet synchronous motor is needed by coordinate transform, is finally revolved in two-phase
Turn to be controlled under coordinate system (dq axis coordinate system).
Clark transformation:
Wherein, iα(k) and iβ(k) electric current under two-phase stator coordinate is indicated.
Park transformation:
(2) the need reference rotation velocity to be achieved at permanent magnet synchronous motor subsequent time (k+1 moment) is setWith d axis
Reference currentWhereinReference rotation velocityIt can be constant, can also become at any time
Change, it willWith the current time motor speed ω of acquisitione(k) input speed adjuster after work difference, acquires rotational speed regulation
The output of device obtains subsequent time q axis reference current
(3) according to the known magneto model for not considering Parameters variation, using dead beat predictive-current control device, prediction
Voltage under current time dq axis coordinate system out
Wherein TsFor sampling period, u (k)=[ud(k) uq(k)]T, Rs0
For known ideal stator resistance, L0For known ideal stator inductance, ψf0For known ideal permanent magnet flux linkage.
Dead beat predictive-current control implement body derivation process is as follows:
The known magneto model for not considering Parameters variation is under known ideal parameters such as resistance, inductance and permanent magnet flux linkage
Magneto model:
Wherein, idIndicate the d axis equivalent current for not considering the moment, iqIndicate the q axis equivalent current for not considering the moment, udTable
Show the d shaft voltage for not considering the moment, uqIt indicates not considering the q shaft voltage at moment, using single order Euler method by above formula discretization:
I (k+1)=(I+A0Ts)·i(k)+B0Ts·u(k)+C0TsWhereinPreferably control target is
The electric current of subsequent time has reached given value, i.e. i (k+1)=i*(k+1), dead beat predictive-current control device can be obtained:
(4) by id(k)、iq(k)、ωe(k) and the d shaft voltage u of last moment motord(k-1), q shaft voltage uq(k-1) defeated
The high order sliding mode differentiator for entering discretization obtains the current interference under the dq axial coordinate as caused by Parameters variation:
Wherein,The dq axis at current time is observed for high order sliding mode differentiator
Current interference,The dq axis electricity of last moment is observed for high order sliding mode differentiator
It draining off and disturbs, u (k-1) is the voltage under last moment dq axis coordinate system,For height
Rank sliding formwork differentiator estimates the dq shaft current of subsequent time,For high order sliding mode differentiator estimation
The dq shaft current at current time, zi(k-1)=[zid(k-1) ziq(k-1)]TFor the last moment dq shaft current interference observed
Derivative, zi(k-2)=[zid(k-2)ziq(k-2)]TFor the derivative of dq of the upper last moment shaft current interference observed, vi0(k)
=[vid0(k)viq0(k)]TFor the intermediate variable that the observation of current time electric current generates, vi0(k-1)=[vid0(k-1) viq0(k-
1)]TFor the intermediate variable that the observation of last moment electric current generates, vi1(k)=[vid1(k) viq1(k)]TIt interferes and sees for current time
Survey the intermediate variable generated, vi1(k-1)=[vid1(k-1) viq1(k-1)]TThe intermediate change generated for last moment disturbance-observer
Amount, vi1(k-2)=[vid1(k-2) viq1(k-2)]TFor the intermediate variable that the interference of upper last moment generates, η0、η1、η2It is micro- with K
Divide device parameter.
According to commissioning experience, high order sliding mode differentiator parameter value range are as follows: the K value order of magnitude is 104~108Between, η0
=3.0, η1=1.5, η2=1.1.
High order sliding mode differentiator estimates interference caused by Parameters variation, and detailed process is as follows:
Consider permanent magnet synchronous motor parameter curvedization, permanent magnet synchronous motor model is rewritten are as follows:
Wherein,ΔRs, Δ L and Δ ψfFor
The Parameters variation amount of resistance, inductance and permanent magnet flux linkage in motor operation course, i.e. permanent magnet synchronous motor parameter actual value are ideal
Value adds changing value: Rs=Rs0+ΔRs, L=L0+ Δ L, ψf=ψf0+Δψf。
It is right using single order Euler methodCarry out discretization:
I (k+1)=(I+A0Ts)·i(k)+B0Ts·u(k)+C0Ts+Tsddq(k)
Voltage under dq axis coordinate system that aforementioned predictive-current control obtains is brought into:
I (k+1)=i*(k+1)+Tsddq(k)
Clearly as the presence of interference, actual current can not accurately follow given value, need to carry out interference compensation.This
Invention carries out disturbance-observer compensation using high order sliding mode differentiator:
Using single order Euler method, above formula discretization is obtained:
Current interference caused by current time Parameters variation can thus be observed
(5) the dq shaft current interference compensation that will be observed that gives dead beat predictive-current control device, eliminates dead beat prediction electricity
The defect of the parameter dependence of stream controller obtains the motor driven voltage under dq axis coordinate system:
Dead beat predictive-current control parameter dependence, which is eliminated, to be proved:
It willIt brings into and considers that the permanent magnetism of Parameters variation is same
Walk motor discretization current equation i (k+1)=i*(k+1)+Tsddq(k) to get:
I (k+1)=i*(k+1)
The interference compensation that current control errors caused by being mismatched in this way as parameter are observed by high order sliding mode differentiator, from
And eliminate the defect of the parameter dependence of dead beat predictive-current control device.
To input voltage u of the permanent magnet synchronous motor under dq axis coordinate systemdAnd uqPark inverse transformation is carried out, it is same to obtain permanent magnetism
Walk input voltage u of the motor under α β axis coordinate systemαAnd uβ, by uαAnd uβAs carrier signal, pass through Sinusoidal Pulse Width Modulation
(Sinusoidal Pulse Width Modulation, SPWM) obtains the control signal of inverter switching device pipe, is input to three-phase
Inverter control circuit controls insulated gate bipolar transistor (Insulated Gate Bipolar in inverter
Transistor, IGBT) turn-on and turn-off, and then export permanent magnet synchronous motor three-phase input voltage, drive permanent-magnet synchronous
Motor presses reference rotor angular speedOperation.
The purpose of the present invention is overcome permanent magnet synchronous motor dead beat predictive-current control method to face under complex working condition
The parameter of electric machine change interference, cause its control dynamic response deteriorate, the defect of steady state controling precision difference, provide a kind of dynamic
The method for controlling permanent magnet synchronous motor that fast response time, steady state controling precision are high, anti-parameter mismatch interference performance is strong.This method
It can not only realize the accurate control of permanent magnet synchronous motor, and can realize the fast of permanent magnet synchronous motor in speed change, variable load
Speed response.
Other side according to the invention provides a kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork
System, as shown in Fig. 2, sliding including coordinate transformation module, speed proportional integral controller, dead beat predictive-current control device, high-order
Mould differentiator and drive module,
Coordinate transformation module includes Clark conversion module and Park conversion module, and drive module includes Park inversion mold changing
Block, Pulse width modulation module and inverter；A kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork further includes
Rotary transformer and speed comparator；
Wherein, the rotor parameter output end of the input terminal connection permanent magnet synchronous motor of rotary transformer, rotary transformer
The rotor-position input terminal of rotor-position output end connection Park conversion module；The rotor velocity output end of rotary transformer is also
Connection speed comparator input terminal, speed comparator output termination speed proportional integral controller；Speed proportional integral controller
Output termination dead beat predictive-current control device input terminal；The rotor velocity output end connection High-Order Sliding Mode of rotary transformer is micro-
Divide the input terminal of device, the input terminal of the output end connection dead beat predictive-current control device of high order sliding mode differentiator；
The current output terminal of the input terminal connection permanent magnet synchronous motor of Clark conversion module, the output of Clark conversion module
The input terminal of end connection Park conversion module；
The dq shaft current output end of Park conversion module connects high order sliding mode differentiator input terminal；
The input terminal and high-order of the dq shaft voltage output termination Park inverse transform module of dead beat predictive-current control device are sliding
The input terminal of mould differentiator；
The input terminal of the output end connection Pulse width modulation module of Park inverse transform module, Pulse width modulation module
Output end connects the input terminal of inverter, the control terminal of the output end connection permanent magnet synchronous motor of inverter.
The course of work of system are as follows:
Acquire rotor position, the rotor velocity ω of permanent magnet synchronous motormWith three-phase current ia、ibAnd ic, Clark transformation
With Park conversion module to the three-phase current i of permanent magnet synchronous motora、ibAnd icClark transformation and Park transformation are carried out, is obtained forever
Equivalent current i of the magnetic-synchro motor under dq axis coordinate systemdAnd iq；
Given rotating speedWith actual speed ωmAfter comparing work difference, by the output q axis reference of speed proportional integral controller
Electric currentWith given d axis reference currentIt is sent into dead beat predictive-current control device together；
The known permanent magnet synchronous motor dq shaft voltage u of high order sliding mode differentiatordAnd uq, dq shaft current idAnd iqAnd turn
Sub- angular rate ωeAs input, output motor dq shaft current ring interferes ddAnd dq；
The dq axis control output of dead beat predictive-current control device is compensated using the interference observed, and then is obtained
Input voltage u of the permanent magnet synchronous motor under dq axis coordinate systemdAnd uq；Park inverse transform module is to udAnd uqCarry out Park inversion
It is sequentially output the three-phase input voltage for obtaining permanent magnet synchronous motor to Pulse width modulation module, inverter after changing, drives permanent magnetism
Synchronous motor operation.
Fig. 3 is the dead beat predictive-current control device discretization schematic diagram based on high order sliding mode differentiator, is omitted in Fig. 3
Revolving speed control ring, left side dash area are dead beat predictive-current control device, give subsequent time electric current i*(k+1) with acquisition
Current time electric current i (k) exports u (k)；The current time rotational speed omega of acquisitione(k), electric current i (k), last moment input voltage u*
(k-1) high order sliding mode differentiator is inputted, current interference caused by current time Parameters variation is obtainedUltimately interfere with compensation
Give dead beat current controller, u*(k) driving magneto operation.Fig. 4 is permanent magnet synchronous motor current loop control flow chart, is held
Row process is identical as Fig. 3.Fig. 5 is the parameter of permanent magnet synchronous motor in experimentation: inductance L and permanent magnet flux linkage ψfChanged simultaneously
Journey schematic diagram, parameter of electric machine change procedure is 0.5 times of ideal value → 100% ideal value → 2 times ideal value in figure.
Embodiment 1
The embodiment of the present invention 1 drives platform based on the permanent magnet synchronous motor of a 3kW, by the control of above-mentioned permanent magnet synchronous motor
Method processed is compared with based on traditional dead beat predictive-current control method.It should be appreciated that specific implementation described herein
Example is only used to explain the present invention, is not intended to limit the present invention.
The parameter of the permanent magnet synchronous motor of use is as follows: number of pole-pairs np=3, rated power P=3kW, rated current IN=
6.8A, stator resistance Rs=0.8 Ω, axis inductor are equal with d-axis inductance: L=Lq=Ld=0.005H, damped coefficient B=
7.403×10-5Nms/rad, torque inertia J=3.78 × 10-4kg·m2, rotor flux ψf=0.35wb.It is electric in experiment
Machine speed is 1000rpm, load torque 10Nm.Fig. 4 is the parameter of permanent magnet synchronous motor in experimentation: inductance L and permanent-magnet magnetic
Chain ψfChange procedure schematic diagram simultaneously, Fig. 6 are the dq current reference value that tradition DPCC controls lower control system for permanent-magnet synchronous motor
With actual value waveform diagram, wherein when ordinate is Id (A), indicate that tradition DPCC controls the d of lower control system for permanent-magnet synchronous motor
Shaft current reference value and actual value waveform diagram when ordinate is Iq (A), indicate that tradition DPCC controls lower permanent magnet synchronous motor control
The q shaft current reference value and actual value waveform diagram of system.Fig. 7 is that the dq shaft current of proposition method of the present invention follows result to illustrate
Figure, wherein when ordinate is Id (A), indicate the d shaft current reference value and reality of control system for permanent-magnet synchronous motor of the invention
Being worth waveform diagram indicates the q shaft current reference value and reality of control system for permanent-magnet synchronous motor of the invention when ordinate is Iq (A)
Actual value waveform diagram.Fig. 8 is the dq axis interference that the high order sliding mode differentiator proposed observes.In Fig. 6 and 7, black solid line indicates dq axis
Reference current, gray line indicates the actual dq shaft current of motor, and in Fig. 8, black solid line indicates the d axis observed interference, and gray line indicates
The q axis interference observed.
From experimental result as can be seen that when Parameters variation is added suddenly in 0.0~1.5s and 3.5~5.0s, traditional nothing
Electric current is clearly present control error in beat predictive-current control, and the dq shaft current of permanent magnet synchronous motor cannot be made accurately to follow
Given value；It can be biggish using the method for high order sliding mode differentiator combination dead beat predictive-current control proposed by the present invention
In the case of Parameters variation keep motor output dq shaft current accurately follow, overcome traditional predictive-current control parameter according to
The problem of relying property, and adjustment process is very short, within 0.1s.Fig. 8 is high order sliding mode differentiator observation during Parameters variation
The dq axis interference arrived, it can be seen that high order sliding mode differentiator can fast and accurately observe actual interference value, and can be carried out dry
Disturb compensation.Therefore, control method of the invention not only inherits the accurate stable state control ability of dead beat predictive-current control, and
And the problem of overcoming its parameter dependence.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of permanent magnet synchronous motor predictive-current control method based on sliding formwork, which comprises the steps of:
(1) rotor-position, motor speed and the three-phase current for acquiring the permanent magnet synchronous motor at current time, obtain by coordinate transform
To equivalent current of the permanent magnet synchronous motor under current time dq axis coordinate system；
(2) according to the d axis of the reference rotor angular rate of the permanent magnet synchronous motor subsequent time of setting and subsequent time with reference to electricity
Stream acquires the q axis reference current of permanent magnet synchronous motor subsequent time；
(3) according to not considering the permanent magnet synchronous motor model of Parameters variation, by under current time dq axis coordinate system equivalent current,
The d axis reference current of subsequent time and the q axis reference current of subsequent time input dead beat predictive-current control device, predict and work as
Voltage under preceding moment dq axis coordinate system；
(4) equivalent current, motor speed and the last moment by permanent magnet synchronous motor under dq axis coordinate system are pre- using dead beat
The voltage input high order sliding mode differentiator under the last moment dq axis coordinate system that current controller obtains is surveyed, Parameters variation is obtained and leads
The dq shaft current of cause is interfered；
(5) it gives dq shaft current interference compensation caused by Parameters variation to dead beat predictive-current control device, eliminates dead beat prediction
The defect of the parameter dependence of current controller obtains the driving voltage of motor under dq axis coordinate system, by driving voltage by sitting
Mark transformation and Sinusoidal Pulse Width Modulation obtain the three-phase input voltage of permanent magnet synchronous motor, driving permanent magnet synchronous motor fortune
Row；
The dead beat predictive-current control device are as follows:
Wherein, TSFor the sampling period, u (k) is the voltage under current time dq axis coordinate system, i*(k+1) it is
Reference current under subsequent time dq axis coordinate system, i (k) are the equivalent current under current time dq axis coordinate system,Rs0For known ideal stator
Resistance, L0For known ideal stator inductance, ψf0For known ideal permanent magnet flux linkage, ωeIt (k) is current time motor speed；
The high order sliding mode differentiator are as follows:
Wherein,It is interfered for the dq shaft current at current time,It is interfered for the dq shaft current of last moment, u
It (k-1) is the voltage under last moment dq axis coordinate system,For estimate subsequent time dq shaft current,For estimation
The dq shaft current at current time, ziIt (k-1) is the derivative of last moment dq shaft current interference, ziIt (k-2) is dq of upper last moment axis
The derivative of current interference, vi0It (k) is the intermediate variable at current time, vi0It (k-1) is the intermediate variable of last moment, vi1(k) it is
The intermediate variable that current time interference generates, vi1(k-1) intermediate variable generated for last moment interference, vi1It (k-2) is upper
The intermediate variable that the interference of one moment generates, η0、η1、η2It is high order sliding mode differentiator parameter with K.
2. a kind of permanent magnet synchronous motor predictive-current control method based on sliding formwork as described in claim 1, which is characterized in that
The driving voltage u*(k) are as follows:
3. a kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork, which is characterized in that including coordinate transformation module,
Speed proportional integral controller, dead beat predictive-current control device, high order sliding mode differentiator and drive module,
The coordinate transformation module, for by the rotor-position of the permanent magnet synchronous motor at collected current time, motor speed
And three-phase current, equivalent current of the permanent magnet synchronous motor under dq axis coordinate system is obtained by coordinate transform, input dead beat is pre-
Survey current controller；
The speed proportional integral controller, the reference rotor electric angle for the permanent magnet synchronous motor subsequent time according to setting are fast
The d axis reference current of degree and subsequent timeAcquire the q axis reference current of permanent magnet synchronous motor subsequent timeInput dead beat predictive-current control device；
The dead beat predictive-current control device does not consider the permanent magnet synchronous motor model of Parameters variation for basis, will be current
The d axis reference current of equivalent current, subsequent time under moment dq axis coordinate system and the q axis reference current of subsequent time, prediction
Voltage under current time dq axis coordinate system out；
The high order sliding mode differentiator, for equivalent current of the permanent magnet synchronous motor under dq axis coordinate system, motor speed and
Voltage under the last moment dq axis coordinate system that last moment is obtained using dead beat predictive-current control device carries out differential process,
The interference of dq shaft current caused by Parameters variation is obtained, dead beat predictive-current control device is inputted；
The drive module, for giving dq shaft current interference compensation caused by Parameters variation to dead beat predictive-current control device,
The defect for eliminating the parameter dependence of dead beat predictive-current control device, obtains the driving voltage of motor under dq axis coordinate system, will
Driving voltage obtains the three-phase input voltage of permanent magnet synchronous motor by coordinate transform and Sinusoidal Pulse Width Modulation, and driving is forever
Magnetic-synchro motor operation；
The dead beat predictive-current control device are as follows:
Wherein, TsFor the sampling period, u (k) is the voltage under current time dq axis coordinate system, i*(k+1) under being
Reference current under one moment dq axis coordinate system, i (k) are the equivalent current under current time dq axis coordinate system,Rs0For known ideal stator
Resistance, L0For known ideal stator inductance, ψf0For known ideal permanent magnet flux linkage, ωeIt (k) is current time motor speed；
The high order sliding mode differentiator are as follows:
Wherein,It is interfered for the dq shaft current at current time,It is interfered for the dq shaft current of last moment, u
It (k-1) is the voltage under last moment dq axis coordinate system,For estimate subsequent time dq shaft current,For estimation
The dq shaft current at current time, ziIt (k-1) is the derivative of last moment dq shaft current interference, ziIt (k-2) is dq of upper last moment axis
The derivative of current interference, vi0It (k) is the intermediate variable at current time, vi0It (k-1) is the intermediate variable of last moment, vi1(k) it is
The intermediate variable that current time interference generates, vil(k-1) intermediate variable generated for last moment interference, vi1It (k-2) is upper
The intermediate variable that the interference of one moment generates, η0、η1、η2It is high order sliding mode differentiator parameter with K.
4. a kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork as claimed in claim 3, which is characterized in that
The coordinate transformation module includes Clark conversion module and Park conversion module, by the permanent-magnet synchronous at collected current time
Rotor-position, motor speed and the three-phase current of motor successively carry out Clark transformation using Clark conversion module and Park become
Mold changing block carries out Park and converts to obtain equivalent current of the permanent magnet synchronous motor under dq axis coordinate system, inputs dead beat predicted current
Controller.
5. a kind of permanent magnet synchronous motor predictive-current control system based on sliding formwork as claimed in claim 3, which is characterized in that
The drive module includes Park inverse transform module, Pulse width modulation module and inverter, by dq axis caused by Parameters variation
Current interference, which compensates, gives dead beat predictive-current control device, eliminates lacking for the parameter dependence of dead beat predictive-current control device
It falls into, obtains the driving voltage of motor under dq axis coordinate system, driving voltage is successively inverse using Park inverse transform module progress Park
Transformation, Pulse width modulation module carries out Sinusoidal Pulse Width Modulation and inverter carries out inversion and obtains permanent magnet synchronous motor
Three-phase input voltage, driving permanent magnet synchronous motor operation.
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