CN107689760A - Based on the magneto of matrix converter without position vector control system and method - Google Patents
Based on the magneto of matrix converter without position vector control system and 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
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H—ELECTRICITY
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- 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
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Abstract
The present invention belongs to efficient permanent magnet motor control system field based on the magneto of matrix converter without position vector control system and method；The device includes three-phase alternating-current supply, RLC wave filters, matrix converter, permagnetic synchronous motor, control circuit, drive circuit, input voltage and input current detection circuit, output voltage current detection circuit, signal processing circuit, AC/DC circuits and power supply；Three-phase alternating-current supply is sequentially connected RLC wave filters, matrix converter and permagnetic synchronous motor, input voltage and input current detection circuit and signal processing circuit are sequentially connected between three-phase alternating-current supply and RLC wave filters, output voltage current detection circuit, signal processing circuit and control circuit are sequentially connected between matrix converter and permagnetic synchronous motor；This method includes the double space-vector pulse duration modulation method based on sliding mode observer, and by giving the power factor value of matrix converter, regulation net side is operated in unity power factor, and the present invention effectively solves the unbalanced technical problem of motor.
Description
Technical Field
The invention discloses a permanent magnet motor position-free vector control system and method based on a matrix converter, and belongs to the field of efficient permanent magnet motor control systems.
Background
The matrix converter is an AC-AC power conversion device, has the advantages of bidirectional energy flow, sine input and output current, low distortion rate of input current, no intermediate direct-current energy storage link, 1 power factor and the like, and is very suitable for driving a permanent magnet synchronous motor to form a matrix converter-permanent magnet synchronous motor driving system. However, due to the direct conversion characteristic of the matrix converter, when a space vector modulation strategy is adopted, the output of the matrix converter can be directly influenced by the voltage disturbance of the power grid. The voltage unbalance is a common power grid voltage disturbance, which can cause the output voltage and current of the matrix converter to contain low-order harmonic, and the motor driving system feeding the matrix converter can cause the fluctuation of the torque and the rotating speed of the motor; the perturbation of the motor parameters can also affect the response of a current loop, and further affect the torque and the rotating speed output of the motor.
The permanent magnet synchronous motor has the advantages of high power density, wide speed regulation range, small volume, light weight and the like, and is widely applied to the fields of civil use, industry, military and the like. However, aiming at the control of the permanent magnet synchronous motor, position and rotating speed information of a motor rotor needs to be obtained, devices such as a photoelectric encoder, a rotary transformer and the like are commonly applied at present, the use of the devices not only increases the volume and the cost of a system and reduces the reliability of the system, but most importantly, a single sensorless technology is not suitable for effectively controlling the motor under various operating conditions.
Disclosure of Invention
Aiming at the problems, the invention provides a permanent magnet motor position-free vector control system and method based on a matrix converter, deeply researches a control strategy for inhibiting the influence of power grid voltage disturbance on system output, proposes to introduce a sliding mode variable structure controller into the design of a current controller of a matrix converter-permanent magnet synchronous motor driving system, replaces the traditional mode of combining feedforward compensation control and PI control to improve the robustness of the system on the power grid disturbance and the motor parameter perturbation, and simultaneously observes the back electromotive force of a motor through constructing a sliding mode observer to directly or indirectly estimate the position and the speed of a rotor from the back electromotive force, simplifies the system control structure and saves the cost.
The purpose of the invention is realized as follows:
a permanent magnet motor position sensorless vector control system based on a matrix converter is characterized by comprising a three-phase current source, an RLC filter, the matrix converter, a permanent magnet synchronous motor, a control circuit, a driving circuit, an input voltage and current detection circuit, an output voltage and current detection circuit, a signal processing circuit, an AC/DC circuit and a power source; the three-phase alternating current power supply is sequentially connected with the RLC filter, the matrix converter and the permanent magnet synchronous motor, an input voltage and current detection circuit and a signal processing circuit are sequentially connected between the three-phase alternating current power supply and the RLC filter, an output voltage and current detection circuit, a signal processing circuit and a control circuit are sequentially connected between the matrix converter and the permanent magnet synchronous motor, the control circuit is connected with the driving circuit, and the power supply supplies power to the driving circuit, the signal processing circuit and the control circuit sequentially through the AC/DC circuit.
A position sensorless vector control method of a permanent magnet motor based on a matrix converter, which is realized on the position sensorless vector control system of the permanent magnet motor based on the matrix converter, comprises the following specific steps:
step a, three-phase stator currents iu, iv and iw of the alternating current permanent magnet synchronous motor (4) are detected, and two-phase stator currents i of a two-phase static rectangular coordinate system are obtained through Clark transformationαAnd iβObtaining id and iq under a two-phase rotating coordinate system through Park conversion; three-phase voltages Uu, Uv and Uw output by the detection matrix converter are subjected to Clark conversion, and U under a two-phase rectangular coordinate system is outputαAnd UβI is toα、iβAnd Uα、UβSending the data into a sliding mode observer for operation;
step b, stator voltage U under two-phase static coordinate system of permanent magnet synchronous motorαAnd UβSign output quantity obtained by voltage reconstructionAndas the input of the sliding-mode observer model, the sliding-mode observer model outputs a stator current observed valueAndandrespectively reducing the actual stator current iαAnd iβDifference of valueAndas the input of the sign function, the back electromotive force estimation value under the two-phase static coordinate system is output after the processing of the sign functionAndobtaining rotor position via an angle calculation moduleObtaining the angular velocity by derivation of an angular velocity calculation module
Step c, obtaining the estimated value of the rotor speedMultiplying the corresponding value to estimate the rotational speed of the rotorThe estimated rotor speed and the given speed are comparedMaking difference, and outputting the reference current of the q axis after the difference value passes through a PI speed regulatorMaking a difference with Iq in the step a, and outputting a q-axis reference voltage after the difference value is subjected to PI regulationReference d-axis currentD, making a difference with the Id obtained in the step a, and obtaining the reference voltage of the d axis after the difference value is regulated by PIWill obtainAndafter inverse park transformation, the two-phase static coordinate system is outputAnd
d, detecting three-phase voltages UR, US and UT at the input side of the permanent magnet synchronous motor of the matrix converter, and obtaining U under an input two-phase static coordinate system through Clark conversioniαAnd UiβC, obtaining the matrix converter power factor predicted value Q through BP neural algorithm and the matrix converter power factor predicted value Q obtained in the step cAndconverting to obtain output line voltage vector uoαAnd uoβAnd input phase current vector iiαAnd iiβAnd respectively carrying out sector number judgment and duty ratio calculation on the obtained output line voltage vector and the input phase current vector, combining the obtained duty ratios, and finally carrying out pulse distribution according to the interval distribution vector and the action time.
Has the advantages that:
the invention relates to a permanent magnet motor position-free vector control system and method based on a matrix converter, which adopts a method of predicting a set power factor value by adopting an inverse propagation learning algorithm of a multilayer neural network, controls the network side to work at a unit power factor, and simultaneously, adds no position sensor, thereby not only improving the robustness of the system on the disturbance resistance of a power grid and the perturbation of motor parameters, but also simplifying the control structure of the system and saving the cost.
The method comprises the following specific steps:
by adopting the position-free sensor, the robustness of the system to the power grid disturbance capability and the perturbation of the motor parameters is improved, the control structure of the system is simplified, and the cost is saved.
The double space vector pulse width modulation method using the matrix converter has a simplified control algorithm and a maximum voltage transfer ratio without external harmonic compensation.
The forward BP neural network is adopted as a method for predicting and setting the power factor, and the forward BP neural network algorithm has self-adaptive capacity, so that the power factor measured by the network is closer to the unit power factor, and the accuracy is higher.
The ARM is used as a main control chip, 9 paths of PWM are output, 36 switching states are totally obtained, a nine-segment type pulse width modulation strategy is adopted, driving waveforms of voltage and current in a sector are shown in figure 14, and compared with a method of combining the DSP and the FPGA, the ARM is simple in structure and low in cost.
Drawings
Fig. 1 is a schematic diagram of a permanent magnet motor non-position vector control system based on a matrix converter.
FIG. 2 is a vector control diagram of a permanent magnet motor position-free vector control method based on a matrix converter.
Fig. 3 is a schematic view of a sliding-mode observer structure.
Fig. 4a is a vector modulation plot of the virtual inverter side output line voltage.
Fig. 4b is a vector equivalent composite of the output line voltages.
Fig. 5a is a diagram of a virtual rectification side phase current space vector analysis.
FIG. 5b is a composite input phase current equivalent vector diagram
Fig. 6 is a circuit diagram of an RLC filter.
Fig. 7a is a composite diagram of a permanent magnet motor non-position vector control system vector X, Y, Z based on a matrix converter.
Fig. 7b is a composite diagram of the permanent magnet motor no-position vector control system vector Z based on the matrix converter.
Fig. 8 is a waveform diagram of an input voltage current.
Fig. 9 is a torque and rotational speed waveform diagram during a load change.
FIG. 1 shows a schematic view of a0 is i during load changed、iqAnd (4) waveform diagrams.
Fig. 11 is the rotor speed observed by the sliding mode observer versus the actual output rotor speed.
FIG. 12 is the rotor position observed by the sliding mode observer versus the actual output rotor position.
Fig. 13 is a three-phase stator current diagram of a permanent magnet synchronous motor.
Fig. 14 is a driving waveform diagram.
In the figure: the device comprises a three-phase alternating current power supply 1, an RLC filter 2, a matrix converter 3, a permanent magnet synchronous motor 4, a control circuit 5, a drive circuit 6, an input voltage and current detection circuit 7, an output voltage and current detection circuit 9, a signal processing circuit 10, an AC/DC circuit and a power supply 11220 v.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Detailed description of the invention
A permanent magnet motor position sensorless vector control system based on a matrix converter is characterized by comprising a three-phase current power supply 1, an RLC filter 2, a matrix converter 3, a permanent magnet synchronous motor 4, a control circuit 5, a drive circuit 6, an input voltage current detection circuit 7, an output voltage current detection circuit 8, a signal processing circuit 9, an AC/DC circuit 10 and a 220v power supply 11; the three-phase alternating current power supply 1 is connected with the RLC filter 2, the matrix converter 3 and the permanent magnet synchronous motor 4 in sequence, the input voltage and current detection circuit 7 and the signal processing circuit 9 are connected between the three-phase alternating current power supply 1 and the RLC filter 2 in sequence, the output voltage and current detection circuit 8, the signal processing circuit 9 and the control circuit 5 are connected between the matrix converter 3 and the permanent magnet synchronous motor 4 in sequence, the control circuit 5 is connected with the driving circuit 6, and the 220v power supply 11 supplies power to the driving circuit 6, the signal processing circuit 9 and the control circuit 5 through the AC/DC circuit 10 in sequence.
The detection circuit mainly comprises input phase voltage zero crossing point detection, output current polarity detection and output voltage current magnitude detection; the control circuit 5 adopts ARM as a controller, has the model of STM32F407, and is used for realizing the functions of coordinate transformation, calculation of rotor position and angular speed, input current sector, output voltage sector, calculation of vector action time, vector distribution condition and the like.
Detailed description of the invention
The matrix converter based permanent magnet motor position sensorless vector control system of claim 1, as shown in fig. 6, the RLC filter 2 comprises a resistor Rr, a resistor Rs, a resistor Rt, an inductor Lr, an inductor Ls, an inductor Rt, a capacitor Cr, a capacitor Cs, and a capacitor Ct; the resistor Rr parallel inductor Lr is respectively connected to a point R and a connecting capacitor Ct, the resistor Rs parallel inductor Ls is connected to a point S and a connecting capacitor Cs, the resistor Rt parallel inductor Rt is connected to a point T and a connecting capacitor Cr, the capacitor Ct is connected with the capacitor Cs, and the capacitor Cs is connected with the capacitor Cr.
The sensorless vector control system for a matrix converter-based permanent magnet motor according to claim 1, wherein the matrix converter 3 is 9 bidirectional switch sets with blocking and self-turn-off functions, and is arranged in a 3 x 3 matrix.
Detailed description of the invention
The invention relates to a permanent magnet synchronous motor vector control system based on a matrix converter, which mainly comprises three parts: the double SVPWM vector modulation technology, the sliding mode observation technology and the network side unit power factor technology of the matrix converter 3 specifically adopt the following scheme:
1. the double SVPWM integral regulation and control of the matrix converter 3 are converted into SVPWM regulation and control simultaneously performed by a virtual rectification side VSR and a virtual inversion side VSI of an equivalent alternating current-direct current-alternating current structure.
The vector modulation scheme for the virtual inverter side is shown in fig. 4. The dc side voltage UPN can be set to Udc, and the output line voltage Uo is:
as shown in fig. 4a, the non-zero voltage switching state vectors U1-U6 are six vectors every 60 °, and divide the entire PWM cycle into six voltage sectors of equal size. U7 and U8 are zero vectors of the remaining two switch states. In fig. 4b, UJ and UL respectively represent two reference amounts spaced by 60 °, UO represents a zero vector, dJ, dL, and doi represent duty ratios of the voltage vectors UJ, UL, and UO, and the output vector UO in one PWM period is represented as:
Uo＝dJUJ+dLUL+d0iU0(2)
the mathematical expression of the duty cycles dJ, dL, doi of the voltage vector obtained from equation (2) is:
in the formula (3), TJ, TL, and T θ i of the modulation coefficient of the mvsi voltage are UJ, UL, and U θ i of the time during which the switching variable is turned on in one cycle, and θ vsi is an angle between the output voltage vector and a reference vector of the sector in which the vector is located.
The vector modulation scheme for the virtual rectification side is shown in fig. 5. The direct current io can be IZ, and the input phase voltage UiPh is:
as in fig. 5a, the non-zero current switching state vectors I1-I6 are six vectors every 60 °, dividing the entire PWM cycle into six equal-sized current sectors. I7, I8 and I9 are zero vectors of the remaining three switch states. In fig. 5b, Ip and Ib respectively represent two reference proper amounts separated by 60 °, I0 represents a zero vector, db, dp and d0c represent duty ratios of voltage vectors Ib, Ip and I0, and output vector io in one PWM period is represented as:
io＝dbIb+dpIp+d0cI0(5)
the mathematical expressions db, dp, d0c given by equation (5) are:
in the formula (6), mvsr is used as a current modulation coefficient, Tb, Tp, and T0c are respectively the on-times of Ib, Ip, and Io switching vectors in one pwm period, and θ vsr is the angle between the input current vector and a reference vector of the sector in which the vector is located.
And finally, integrating the occupied sectors of the virtual rectification side and the virtual inversion side and the space ratio to obtain the following formula:
sliding-mode observer-based control technology without position sensor
Mathematical model of the ac permanent magnet synchronous motor 4 in the two-phase stationary cartesian coordinate system α - β:
wherein,is the current value i of the current i on the α axisαThe derivative of (a) of (b),is the current value i of the current i on the β axisβDerivative of (A), RSIs stator winding resistance, LSIs an equivalent inductance, eαBack EMF on α axis for sliding mode observer, eβFor the sliding-mode observer back electromotive force on the β axis, UαIs the voltage value of the voltage on the α axis, UβIs the voltage value of the voltage on the β axis;
substituting the above equation into the back-emf equation yields:
eα＝-ψfωrsinθ (10)
eβ＝-ψfωrcosθ (11)
wherein psifFlux linkage, omega, produced for permanent magnets on the rotorrTo synchronize the rotational speeds, θ is the rotor angular position.
The SMO calculation equation of the alternating current permanent magnet synchronous motor 4 in the two-phase static rectangular coordinate system α - β is as follows:
wherein,are respectively iα、iβK is the sliding mode switching gain.
From the above available current estimation error equation:
wherein,is the current error value on the α axis,is the current error value on the β axis.
Because a sign switching function is selected for operation, namely:
selecting a Lyapunov function:
derivative on V when k > max (| e)α|,|eβI) then the V conductance is less than zero, known by Lyapunov theorem, the current sliding mode observer is stable, the current error is selected as the sliding mode switching surface, and when the sliding mode is entered, there is aWhen the temperature of the water is higher than the set temperature,
after passing through the low-pass filter, the discontinuous switching signal is converted into an equivalent continuous signal, and the calculation formula is as follows:
wherein,andis an estimate of the back electromotive force, w, of a sliding mode observercS is the laplacian operator for the cut-off frequency of the low-pass filter.
Next, rotor speed estimation, estimation of rotor position and phase compensation are performed.
Due to the use of the low-pass filter, the phase has a certain hysteresis, and the phase needs to be compensated for.
The phase compensation quantity is as follows:
wherein,is the phase compensation quantity, w is the rotation speed at steady state, wcIs the cut-off frequency of the filter.
3. Calculation of given power factor value of matrix converter 3
The virtual rectification side of the system comprises an RLC filter, the structure of which is shown in FIG. 6, and can be obtained by circuit analysis:
here, Ir, Is, It and Ur, Us, Ut are filter network side phase currents and phase voltages and Us, respectively, and Iir, Iis, Iit and UiR, UiS, UiT are filter output side phase currents and Iin, respectively.
The two equations in equation (24) are added, and the sum is simplified to obtain:
the imaginary real parts of equation (24) are extracted and combined separately, and can be expressed as: x + Y ═ Z. Vector diagram as shown in fig. 7a, the real part X1 and the imaginary part X2 compose vector X, the real part Y1 and the imaginary part Y2 compose vector Y, and the real part Z1 and the imaginary part Z2 compose vector Z. Since the amplitudes of X1, Y2 and Z2 are too small relative to X2, Y1 and Z1, and neglecting these small vectors does not have a large influence on the phase angle of the vector after the summation, the vector diagram is simplified to the following formula, which is shown in fig. 7 b.
According to the vector diagram, the power factor angle at the network side can be calculated by solving the Pythagorean theorem as follows:
as can be seen from the above equation, the grid-side power factor angle is determined by the capacitance C, inductance L, resistance R of the input filter, the input-side phase current of the filter, the phase voltage amplitudes Im and Um, the grid-side voltage angular frequency win, and the matrix converter set power factor value Φ, the input-side voltage amplitude and the grid-side voltage angular frequency of the filter are determined by the grid and are fixed, and the capacitance, inductance, and resistance of the input filter are limited by the design requirements of the filter, such as cut-off frequency, and are basically fixed after the design. Since the input side power and the output side power of the matrix converter are equal, the input side phase current of the filter is mainly influenced by the output power, the output power is mainly related to the property and the impedance of the load, the output power cannot be adjusted and predicted, and once the load is determined, the amplitude of the input side phase current of the filter is determined. If the phase angle of the network side voltage and the network side current needs to be changed, the method can be realized only by changing the MC set power factor, the MC input power factor set value is predicted by adopting a forward BP neural network algorithm, the set value is participated in the control of the input phase current, and the system power factor is 1.
Detailed description of the invention
A method for implementing a sensorless vector control of a permanent magnet motor based on a matrix converter on the sensorless vector control system of the permanent magnet motor based on the matrix converter, as shown in fig. 2 and 3, includes the following specific steps:
step a, detecting three-phase stator current i of alternating current permanent magnet synchronous motor 4u, iv and iw, and obtaining the two-phase stator current i of the two-phase static rectangular coordinate system through Clark transformationαAnd iβObtaining id and iq under a two-phase rotating coordinate system through Park conversion; three-phase voltages Uu, Uv and Uw output by the detection matrix converter are subjected to Clark conversion, and U under a two-phase rectangular coordinate system is outputαAnd UβI is toα、iβAnd Uα、UβSending the data into a sliding mode observer for operation;
step b: stator voltage U of permanent magnet synchronous motor 4 under two-phase static coordinate systemαAnd UβObtaining sign function sign output quantity through voltage reconstructionAndas the input of the sliding-mode observer model, the sliding-mode observer model outputs a stator current observed valueAnd andrespectively reducing the actual stator current iαAnd iβDifference of valueAndas the input of the sign function, the back electromotive force estimation value under the two-phase static coordinate system is output after the processing of the sign functionAndobtaining rotor position via an angle calculation moduleObtaining the angular velocity by derivation of an angular velocity calculation module
Step c: the obtained estimated value of the rotor speedMultiplying by 30/pi to estimate the speed of rotation of the rotorComparing the estimated rotor speed with a predetermined speedMaking difference, and outputting the reference current of the q axis after the difference value passes through a PI speed regulatorMaking a difference with Iq in the step a, and outputting a q-axis reference voltage after the difference value is subjected to PI regulationReference d-axis currentD, making a difference with the Id obtained in the step a, and obtaining the reference voltage of the d axis after the difference value is regulated by PIWill obtainAndafter inverse park transformation, the two-phase static coordinate system is outputAnd
step d: three-phase voltages UR, US and UT at the input side of a permanent magnet synchronous motor 5 of the detection matrix converter 3 are converted by Clark to obtain U input under a two-phase static coordinate systemiαAnd UiβC, obtaining the matrix converter power factor predicted value Q through BP neural algorithm and the matrix converter power factor predicted value Q obtained in the step cAndconverting to obtain output line voltage vector uoαAnd uoβAnd input phase current vector iiαAnd iiβAnd respectively carrying out sector number judgment and duty ratio calculation on the obtained output line voltage vector and the input phase current vector, combining the obtained duty ratios, and finally carrying out pulse distribution according to the interval distribution vector and the action time.
The vector control system of the matrix converter-permanent magnet synchronous motor is of a double-ring structure and consists of a current inner ring and a speed outer ring, and a control mode that exciting current id is zero is adopted. The output voltage of the matrix converter and the output current of the permanent magnet synchronous motor are used as the input of the sliding mode observer, thereby obtainingObtaining motor rotor position and angular velocity informationPosition of the rotor of the electric machine to be obtainedAngular velocity obtained as an angular input for coordinate transformationConversion to rotational speedAnd as a vector control speed feedback quantity, a speed closed loop is formed.
The system comprises a sliding-mode observer model, a sign symbolic function, an angle calculation module and an angular speed calculation module; stator voltage U of permanent magnet synchronous motor under two-phase static coordinate systemαAnd UβObtaining symbol function output quantities by voltage reconstructionAndthe sliding mode observer model outputs a stator current observed value as the input of the sliding mode observer modelAnd andrespectively reducing the actual stator current iαAnd iβDifference of valueAndas the input of the sign function, the processed sign function outputs the inverse electricity under a two-phase static coordinate systemEstimate of the kinetic energyAndobtaining rotor position via an angle calculation moduleObtaining the angular velocity by derivation of an angular velocity calculation module
The method of converting the output frequency into the predicted set power factor value is adopted, and the predicted set value is introduced into a space vector pulse width modulation control algorithm, so that the network side of the space vector pulse width modulation control algorithm works under the unit power factor.
The predicted power factor value of the matrix converter is determined by adopting network measurement power factor adjustment of a BP (back propagation learning algorithm) based on a multilayer neural network, so that the self-adaptive capacity of the system is stronger.
In order to verify the feasibility and the effectiveness of the invention, system simulation is carried out.
Fig. 8 shows the input current and voltage waveforms when the motor is stably operated at a load of 5N · m, and it can be seen that the grid-side power factor of the position sensorless vector control system of the matrix converter-based permanent magnet synchronous motor is 1 and the dynamic effect is good.
FIG. 9 shows a torque waveform when the motor is stably operated at a load of 5 N.m, and the motor reaches a predetermined rotation speed of 1000r/min in a short time with a small torque ripple.
Fig. 10 shows the waveforms of id and iq when the motor is stably operated at a load of 5N · m, and it can be seen that id is 0, iq is 5, and the fluctuation is small, and the system is more stable.
Fig. 11 is a waveform of the rotor speed output by sliding mode observation when the motor stably operates at a load of 5N · m and the actual rotor speed, and it can be seen that the two are completely overlapped.
Fig. 12 is a waveform of the rotor position output by sliding mode observation when the motor operates stably at a load of 5N · m and the actual rotor position, and it can be seen that the two are completely overlapped.
Fig. 13 is a three-phase stator current waveform when the motor is stably operated at a load of 5N · m.
Claims (5)
1. A permanent magnet motor position sensorless vector control system based on a matrix converter is characterized by comprising a three-phase alternating current power supply (1), an RLC filter (2), the matrix converter (3), a permanent magnet synchronous motor (4), a control circuit (5), a drive circuit (6), an input voltage and current detection circuit (7), an output voltage and current detection circuit (8), a signal processing circuit (9), an AC/DC circuit (10) and a 220v power supply (11); the control circuit (5) is ARM as the main control chip, three-phase alternating current power supply (1) connects gradually RLC wave filter (2), matrix converter (3) and permanent magnetism synchronous machine (4), connect gradually input voltage electric current detection circuitry (7) and signal processing circuit (9) between three-phase alternating current power supply (1) and RLC wave filter (2), connect gradually output voltage electric current detection circuitry (8), signal processing circuit (9) and control circuit (5) between matrix converter (3) and permanent magnetism synchronous machine (4), drive circuit (6) is connected in control circuit (5), 220v power (11) loop through AC/DC circuit (10) and give drive circuit (6), signal processing circuit (9) and control circuit (5) power supply.
2. The matrix converter based permanent magnet motor position sensorless vector control system of claim 1 wherein the predicted set point is introduced into the space vector pulse width modulation control algorithm by converting the output frequency to a predicted set power factor value, such that the net side of the space vector pulse width modulation control algorithm operates at unity power factor.
3. The matrix converter based permanent magnet motor position sensorless vector control system of claim 1, wherein: the predicted power factor value of the matrix converter is determined by adopting network measurement power factor adjustment based on a reverse propagation learning algorithm (BP) of a multilayer neural network, so that the system has stronger self-adaptive capacity.
4. The matrix converter-based permanent magnet motor position sensorless vector control method realized on the matrix converter-based permanent magnet motor position sensorless vector control system according to claim 1 is characterized by comprising the following specific steps:
step a, three-phase stator currents iu, iv and iw of the alternating current permanent magnet synchronous motor (4) are detected, and two-phase stator currents i of a two-phase static rectangular coordinate system are obtained through Clark transformationαAnd iβObtaining id and iq under a two-phase rotating coordinate system through Park conversion; three-phase voltages Uu, Uv and Uw output by the detection matrix converter are subjected to Clark conversion, and U under a two-phase rectangular coordinate system is outputαAnd UβI is toα、iβAnd Uα、UβSending the data into a sliding mode observer for operation;
step b, stator voltage U of the permanent magnet synchronous motor (4) under a two-phase static coordinate systemαAnd UβObtaining sign function sign output quantity through voltage reconstructionAndas the input of the sliding-mode observer model, the sliding-mode observer model outputs a stator current observed valueAnd andrespectively reducing the actual stator current iαAnd iβDifference of valueAndas the input of the sign function, the back electromotive force estimation value under the two-phase static coordinate system is output after the processing of the sign functionAndobtaining rotor position via an angle calculation moduleObtaining the angular velocity by derivation of an angular velocity calculation module
Step c, obtaining the estimated value of the rotor speedMultiplying the corresponding value to estimate the rotational speed of the rotorComparing the estimated rotor speed with a predetermined speedMaking difference, and outputting the reference current of the q axis after the difference value passes through a PI speed regulator Making a difference with Iq in the step a, and outputting a q-axis reference voltage after the difference value is subjected to PI regulationReference d-axis currentD, making a difference with the Id obtained in the step a, and obtaining the reference voltage of the d axis after the difference value is regulated by PIWill obtainAndafter inverse park transformation, the two-phase static coordinate system is outputAnd
d, detecting three-phase voltages UR, US and UT at the input side of the permanent magnet synchronous motor (4) of the matrix converter (3), and obtaining U input under the two-phase static coordinate system through Clark conversioniαAnd UiβC, obtaining the matrix converter power factor predicted value Q through BP neural algorithm and the matrix converter power factor predicted value Q obtained in the step cAndconverting to obtain output line voltage vector uoαAnd uoβAnd input phase current vector iiαAnd iiβAnd respectively carrying out sector number judgment and duty ratio calculation on the obtained output line voltage vector and the input phase current vector, combining the obtained duty ratios, and finally carrying out pulse distribution according to the interval distribution vector and the action time.
5. The matrix converter-based permanent magnet motor position sensorless vector control method according to claim 4, wherein the sliding mode observer in step B adopts a position sensorless control technique.
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