CN107453660B - A kind of novel mechanical elastic energy storage system stored energy course location tracking and controlling method - Google Patents
A kind of novel mechanical elastic energy storage system stored energy course location tracking and controlling method Download PDFInfo
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- CN107453660B CN107453660B CN201710670772.XA CN201710670772A CN107453660B CN 107453660 B CN107453660 B CN 107453660B CN 201710670772 A CN201710670772 A CN 201710670772A CN 107453660 B CN107453660 B CN 107453660B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of novel mechanical elastic energy storage system stored energy course location tracking and controlling method, mechanical elastic energy storage system tightens the conversion and storage of mechanical elastic energy storage device realization electric energy to mechanical energy by controlling permanent magnet synchronous motor in thermal energy storage process.Spring is shunk from tank wall to mandrel in thermal energy storage process, is gradually reduced so that whirlpool spring case countertorque can be caused to be gradually increased with rotary inertia.A kind of PMSM control program is needed, guarantees that PMSM corner (position) is accurately tracked to guarantee the rapid tracing energy-storage case countertorque of the accurate of system stored energy amount, PMSM output torque with the safety of Guarantee control system.It devises using energy-storage box corner, torque as the dummy variable of core, and association index forgets the parameter estimation result of method, obtains stator voltage equation under d, q coordinate system, control invertor operation, guarantee the operation of energy-storage system efficient stable.
Description
Technical field
The present invention relates to a kind of mechanical elastic energy storage system stored energy course control method for use, belong to technical field of motors.
Background technique
Mechanical elastic energy storage system passes through control permanent magnet synchronous motor (Permanent Magnet in thermal energy storage process
Synchronous Motor, PMSM) tighten mechanical elastic energy storage device (whirlpool spring case) realize electric energy to mechanical elasticity potential energy turn
It changes and stores.Large-scale plane scroll spring fixed side by side in the spring case of whirlpool, spring is shunk from tank wall to mandrel in thermal energy storage process,
It is gradually reduced with rotary inertia to which whirlpool spring case countertorque can be caused to be gradually increased, not can guarantee system stable operation.
Summary of the invention
The characteristics of the purpose of the present invention is being directed to control object and the deficiencies in the prior art, provide a kind of mechanical elastic energy storage
System stored energy course location tracking and controlling method runs smoothly efficiently to guarantee that the control of system stored energy process status is accurate.
Problem of the present invention is realized with following technical proposals:
A kind of novel mechanical elastic energy storage system stored energy course location tracking and controlling method, the method initially set up by
The mathematical model for the mechanical elastic energy storage system that mechanical elastic energy storage case, PMSM, inverter are connected in sequence；Then it uses and refers to
Number forgetting method identification algorithm estimates energy-storage units parameter；The thought of combined torque control, system decoupling and formula under d, q coordinate system
Theory deduction it is succinct, it is final in conjunction with system estimation as a result, design uses the anti-push controller in position of New Virtual variable
Voltage input levels under to two-phase stationary coordinate system control invertor operation, guarantee the efficient operation of thermal energy storage process.
Above-mentioned thermal energy storage process Position Tracking Control method, the described method comprises the following steps:
A. according to each component part characteristic of mechanical elastic energy storage system, mechanical elastic energy storage systematic mathematical mould is established
Type:
TL=T0+kTωt
ψd=ψf+Lid
ψq=Liq
Te=1.5npψfiq
Wherein, ud, uq, respectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is stator resistance；L
For stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, q
The component of axis；TLFor energy-storage box torque；T0For energy-storage box initial moment；TeFor electromagnetic torque；kTBecome for energy-storage box torque with corner
The slope of change；J is rotary inertia；B is viscosity friction coefficient；Define ψsFor ψdAnd ψqQuadratic sum.
B. identification algorithm:
Γ (k)=[ξ J (k), ξ TL(k)]T
In formula, in formulaIt is the estimated value of Γ (k), K and P are respectively gain matrix and covariance matrix；λ is to forget
The factor；WithIndicate energy-storage box torque square and rotary inertia estimated value；TsFor the sampling period；K is sampled point.
C. Position Tracking Control device designs
eθ=θref-θ
eT=Teref-Te
eψ=ψsref-ψs
In formula, θ is energy-storage box corner；θref、TerefAnd ψesefRespectively θ, Te、ψsReference value；eθ、 eTAnd eψFor error
Variable；k2、k3、k5、k6The control gain being positive.
D. voltage u will be controlleddAnd uqIt is input to PMSM mathematical model, realizes the position control to thermal energy storage process.
The advantages and benefits of the present invention are:
1, control method of the present invention can guarantee that PMSM corner (position) accurately tracks (and system stored energy amount is directly related), turns
Fast even running (mechanical rigid is avoided to impact), PMSM output torque track rapidly whirlpool spring case countertorque and (whirlpool spring case are avoided to drive
PMSM reversion), while can must effectively inhibit influence of the rotary inertia variation to system stability energy.To mechanical elastic energy storage system
The energy storage of the steady safety of system has important meaning.
2, the advantage more succinct present invention utilizes system governing equation under d, q coordinate system is estimated in conjunction with system parameter
Control algolithm is pushed away with counter, control system is made to reach performance requirement.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings.
Fig. 1 is mechanical elastic energy storage system composed structure model；
Fig. 2 is that the anti-control algolithm that pushes away in position realizes block diagram；
Fig. 3 is the variation matched curve of energy-storage box rotary inertia；
Fig. 4 is energy-storage box torque identification result；
Fig. 5 is energy-storage box torque identification error；
Fig. 6 is energy-storage box identification of rotational inertia result；
Fig. 7 is energy-storage box identification of rotational inertia error；
Fig. 8 is energy-storage box corner；
Fig. 9 is PMSM output torque；
Figure 10 is energy-storage box energy storage power；
Each symbol in text are as follows: ud, uq, respectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is fixed
Sub- resistance；L is stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator
Magnetic linkage is in d, the component of q axis；TLFor energy-storage box torque；T0For energy-storage box initial moment；TeFor electromagnetic torque；kTTurn for energy-storage box
The slope that square changes with corner；J is rotary inertia；B is viscosity friction coefficient；Define ψsFor ψdAnd ψqQuadratic sum；It is
The estimated value of Γ (k), K and P are respectively gain matrix and covariance matrix；λ is forgetting factor；WithIndicate that energy-storage box turns
Square square and rotary inertia estimated value；TsFor the sampling period；K is sampled point；θref、TerefAnd ψsrefThe respectively reference value of θ, T, ψ；
eθ、eT、eψIt is error variance；k1、k2、k3、k4、k5、k6The control gain being positive；
Specific embodiment
The present invention is realized by the following technical scheme:
1. mechanical elastic energy storage system mathematic model
Mechanical elastic energy storage system composition as shown in Figure 1, power grid by inverter under control strategy of the present invention, driving
The steady high-efficiency energy-storage that PMSM is realized.
Mathematical model of the PMSM under d, q axis coordinate system is writeable are as follows:
Stator current equation
Stator magnetic linkage equation
Equation of rotor motion
Electromagnetic torque equation
Te=1.5npψfiq (4)
In formula: ud, uq, respectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is stator resistance；L
For stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, q
The component of axis；TLFor energy-storage box torque；TeFor electromagnetic torque；J is rotary inertia；B is viscosity friction coefficient；Define ψsFor ψdAnd ψq
Quadratic sum；
Mechanical elasticity case can pass through torque T as energy-storage units, mathematical modelLIt is described by with rotary inertia J,
In, torque TLAs shown in formula (5):
TL=T0+kTωt (5)
Wherein, T0For energy-storage box initial moment, ω is PMSM drive shaft speed, kTIt is one normal for energy-storage box torque coefficient
Amount, is determined, t by the inherent characteristic (fixed elasticity of spring leaf modulus, width, thickness and length in such as energy-storage box) of energy-storage box
For the time.
The Mass Distribution of rotary inertia J and energy-storage box is directly related, and in thermal energy storage process, reed is shunk from tank wall to mandrel,
The Mass Distribution of entire energy-storage box can change, and process is more complicated, and matched curve is as shown in Fig. 3.
2. Control System Design
2.1 energy-storage box parameter Estimations
Least square method has in parameter Estimation since principle is simple, convergence is very fast, should be readily appreciated that, is easily programmed realization
It is widely applied very much, but for the parameter slow time-varying problem of mechanical elastic energy storage system, common recursive least squares algorithm has it
Limitation: with the growth of data, it will occur " data saturation " phenomenon, can not correct and estimate so as to cause freshly harvested data
Evaluation, so as to cause identification failure.To overcome such problems, index can be used and forget method, pass through the choosing of forgetting factor λ
It selects, can avoid the above problem, because mechanical elastic energy storage system is nonlinear control system, usually selects λ=0.9, ignore viscous
Coefficient of friction B, formula (3) can discretizations are as follows:
In above formula, TsFor the sampling period, k is sampled point.
Δ ω (k)=ω (k)-ω (k-1) is enabled,
Formula (6) may be expressed as:
In formula:
Method estimation is forgotten using indexIt can obtain:
In formulaIt is the estimated value of Γ (k), K and P are respectively gain matrix and covariance matrix；λ is forgetting factor；
TsFor the sampling period；K is sampled point；According to formula (10) to formula (11), the torque of energy-storage box can be estimatedAnd rotary inertia
2.2 Design of Position Controller
The control object of most critical is the matched PMSM of acting in opposition torque with energy-storage box in mechanical elastic energy storage system
The corner of output torque, it and energy-storage box is linearly related, and the energy storage capacity of whole system, braking time etc. are all bases
The corner judgement of energy-storage box, therefore selecting the corner of energy-storage box is first control object, to guarantee the error of corner in global model
Interior rapid convergence is enclosed, defines angular errors first are as follows:
eθ=θref-θ (12)
It is as follows to define liapunov function:
Its derivation can be obtained:
Choose ωrefIt is as follows:
Use ωrefSubstitution ω can be obtained:
Wherein, k1> 0, according to Lyapunov stability criterion it is found that angular errors global convergence, can reach control and require,
The control target of control system most critical is PMSM output torque, chooses it as the second control object, defines torque error are as follows:
eT=Teref-Te (17)
Wherein, it chooses:
Wherein, k5=k1+k4, k6=k1k4, value is all positive value, it can obtain:
For the global convergence for guaranteeing torque error, it is as follows to define liapunov function:
Its derivation can be obtained:
Definition:
Wherein:
(22) are substituted into (19), as a result substituting into (21) again can obtain:
By Lyapunov stability prejudgementing criteria analysis it is found that PMSM output torque can be with tracing energy-storage case torque, and error
Global convergence is in zero.
Define error variance:
eψ=ψsref-ψs (25)
Its derivation can be obtained:
Definition:
Its derivation can be obtained:
Value:
(29) are substituted into (26), as a result substituting into (28) again can obtain:
System stability, which is given below, to be proved, from (30):
Due to V3Bounded, therefore according to Barbalat inference, it can obtain:
It can similarly obtain
Examples of implementation
Control software emulation analysis is carried out to the control method of proposition.The parameter of PMSM are as follows: stator phase resistance Rs=2.875
Ω；Stator inductance L=0.033H；Permanent magnet magnetic flux ψf=0.38Wb；Rotor number of pole-pairs np=3；Viscous damping coefficient Bm=
0.0005N/rad/s.Energy-storage box parameter: torque initial value T0=3Nm, kT=1Nm/r, energy-storage box number of total coils are 200r,
Value J of the rotary inertia in state 10=0.5kgm2, energy-storage box is 50r in the duration of state 2, terminates state 3 in state 2
The knee value of beginning is 0.3kgm2, the duration of state 3 is 150r, and energy storage finishes the value J of state 4min=0.2kgm2,
Controller parameter is chosen as follows: k1=0.1, k2=10, k3=100, k4=50, simulation step length is set as 0.001s, runing time
For 100s.
Energy-storage box position control is that 2r/st can be obtained according to system and controller parameter:
Simulation result is as shown in Fig. 4~10.Fig. 4 is the identification result of energy-storage box torque, and Fig. 5 is Identification Errors, can be seen
Out, identification algorithm only has a little shake just convergence rapidly in initial 2s, and the maximum value of Steady-state Identification error is only torque
Maximum value obtains 1%, and Identification Errors are negligible, and equally, Fig. 6 is the identification result of rotary inertia, and Fig. 7 is Identification Errors, only
Starting have a little shake at inflection point 25s, Steady-state Identification error is only the 0.5% of rotary inertia maximum value, and Identification Errors can
It ignores, so actual value is replaced with identifier in control algolithm.
From figure 8, it is seen that energy-storage box corner has turned over 200r in 100s, energy storage is completed, and is smooth straight line, it is seen that
Thermal energy storage process is steady.Fig. 9 is the output torque of motor, can be with energy-storage box torque Rapid matching, this is also that this system is most important
Target is controlled, Figure 10 is system stored energy power, and as the progress of energy storage linearly increases, can calculate total energy storage capacity generally is
0.035KWh。
Claims (2)
1. a kind of mechanical elastic energy storage system stored energy course location tracking and controlling method, it is characterised in that: initially set up by machinery
The mathematical model for the mechanical elastic energy storage system that elastic energy storage case, PMSM, inverter are connected in sequence；With energy-storage box corner,
Torque is core virtual variable, and association index forgets the parameter estimation result of method, and design is anti-using the position of New Virtual variable
Push controller finally obtains the voltage input levels under two-phase stationary coordinate system, controls invertor operation, guarantees that energy-storage system is efficient
Stable operation；
The anti-push controller equation in position are as follows:
eθ=θref-θ
eT=Teref-Te
eψ=ψsref-ψs
Wherein: ud, uq, respectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is stator resistance；L is stator
Inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, point of q axis
Amount；J is rotary inertia；B is viscosity friction coefficient；kθ、kT、kω、kψThe control gain being positive；θrefIt is the ginseng of energy-storage box rotational angle theta
Examine value；TerefAnd ψsrefIt is T respectivelye、ψsReference value, TeFor electromagnetic torque, eθ、eT、eψIt is error variance；k2、k3、k5、k6For
Positive control gain,WithIndicate energy-storage box torque and rotary inertia estimated value, ψsFor ψdAnd ψqQuadratic sum.
2. mechanical elastic energy storage system stored energy course location tracking and controlling method according to claim 1, it is characterised in that:
Specific step are as follows:
The real-time current i of PMSM stator is obtained by current sensor, rotor flux Ψ is using the name plate rating for corresponding to motor, ω
PMSM motor angular velocity of rotation forgets the time-varying parameter that method estimates energy-storage box by indexWithControl is pushed away as torque is counter
The input variable of device processed；
The rotational angle theta of PMSM is obtained by encoder, with reference value θrefCompare, difference becomes as the input of the anti-push controller of corner
Amount, output variable are PMSM output torque reference value Teref；
Current sensor detects PMSM stator three-phase current, converts in conjunction with encoder rotor position detection as a result, carrying out d-q
To id、iq, as the input variable of the anti-push controller of torque, in conjunction withTerefObtain actual control variable uqValue, magnetic
The anti-push controller of chain is with ψrefVariable is input value, and output valve is actual control variable udValue, frequency conversion is controlled by Vector Modulation
Device driving PMSM tightens mechanical elastic energy storage case, and thermal energy storage process is completed.
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| CN106655945A (en) * | 2016-07-12 | 2017-05-10 | 华北电力大学（保定） | Control method for maximum torque per ampere of PMSM (Permanent Magnet Synchronous Motor) with mechanical elastic energy storage device |
| CN106817054A (en) * | 2016-07-12 | 2017-06-09 | 华北电力大学（保定） | A kind of PMSG control methods of the mechanical elastic energy storage based on parameter identification |
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| CN1519170A (en) * | 2002-10-25 | 2004-08-11 | 伊斯帕诺-叙扎公司 | Electromechanical turbojet thrust reverser with containuous position control |
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| CN104539210A (en) * | 2014-12-03 | 2015-04-22 | 浙江大学 | Back-stepping direct power control method of DFIG |
| CN106655945A (en) * | 2016-07-12 | 2017-05-10 | 华北电力大学（保定） | Control method for maximum torque per ampere of PMSM (Permanent Magnet Synchronous Motor) with mechanical elastic energy storage device |
| CN106817054A (en) * | 2016-07-12 | 2017-06-09 | 华北电力大学（保定） | A kind of PMSG control methods of the mechanical elastic energy storage based on parameter identification |
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