CN107947669B - Nonlinear back-thrust tracking control method for hybrid excitation synchronous motor - Google Patents
Nonlinear back-thrust tracking control method for hybrid excitation synchronous motor Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a nonlinear back-stepping tracking control method for a hybrid excitation synchronous motor, which is implemented according to the following steps: collecting signals from a main circuit of the motor, and sending the signals to a controller for processing; carrying out accurate initial position detection on the motor to obtain a rotor position angle and an angular speed; converting the collected three-phase current to a d-q coordinate system; sending the angular velocity tracking error, the angular velocity and the direct-current bus voltage to a velocity backward-thrust tracking controller, judging the running interval of the motor, and calculating the reference values of the motor in different running intervals; inputting the current tracking error and the angular speed into a current reverse-thrust tracking controller to calculate to obtain a reference value; and finally, driving the main power converter and the excitation power converter. The nonlinear back-thrust tracking control method of the hybrid excitation synchronous motor has simple system design, reduces adjustable parameters of the system, ensures that the torque fluctuation of the motor is smaller, improves the dynamic response capability of the motor, and fully exerts the advantages of low-speed large torque and wide speed regulation range of the hybrid excitation synchronous motor.
Description
Technical Field
The invention belongs to the technical field of control of hybrid excitation synchronous motors, and particularly relates to a nonlinear back-stepping tracking control method of a hybrid excitation synchronous motor.
Background
As a novel electric automobile driving motor, the hybrid excitation synchronous motor has one more set of direct-current excitation source compared with the permanent magnet synchronous motor. The low-speed large-torque output can be realized by adjusting the exciting current in the direct-current exciting winding so as to meet the requirements of automobile starting, climbing and heavy loading, and meanwhile, the wide speed regulation range operation can be realized so as to meet the requirement of high-speed cruising of the electric automobile, and the electric automobile can be kept to work efficiently within a certain speed range, so that the cruising mileage of the electric automobile is improved. Therefore, the hybrid excitation synchronous motor is suitable as a driving motor for an electric vehicle electric driving system.
The armature, the permanent magnet and the excitation magnetic field of the hybrid excitation synchronous motor are highly coupled, the nonlinearity degree is high, the decoupling is very difficult, the requirements of a driving system of the hybrid excitation synchronous motor are difficult to meet by a general linear control method, and the advantages of the hybrid excitation synchronous motor are exerted. At present, the control method and the driving system of the hybrid excitation synchronous motor are less researched and can be basically divided into two types: vector control and direct torque control, wherein the vector control technology has the problem of slow dynamic response, and the direct torque control has the problem of large torque pulsation.
Disclosure of Invention
The invention aims to provide a nonlinear back-stepping tracking control method for a hybrid excitation synchronous motor, which solves the problems of slow dynamic response and more adjusting parameters in the existing hybrid excitation synchronous motor control technology.
The technical scheme adopted by the invention is that a mixed excitation synchronous motor nonlinear back-stepping tracking control method is implemented according to the following steps:
step 1, respectively acquiring the following signals from a main circuit of a motor: phase current ia、ibAnd an excitation current ifDC bus voltage UdcAnd an excitation voltage UfThe collected phase current ia、ibAnd an excitation current ifDC bus voltage UdcAnd an excitation voltage UfAfter voltage following, filtering, biasing and overvoltage protection, the signals are sent to a controller for processing, accurate initial position detection is carried out on the motor, the rotating speed and the rotor position angle are collected from a motor encoder and sent to the controller for calculation to obtain the angular speed omegarAnd a rotor position angle θ;
step 2, comparing the phase current i obtained in the step 1a、ibA/D conversion is carried out, and then stator direct axis current i under a two-phase rotating coordinate system is obtained through park transformationdAnd quadrature axis current iq；
step 4, performing selective execution according to the operation area of the hybrid excitation synchronous motor in the step 3, and only executing the step a when the hybrid excitation synchronous motor operates in a low-speed area; when the hybrid excitation synchronous motor runs in a high-speed area, only the step b needs to be executed;
step a, the hybrid excitation synchronous motor operates in a low-speed area, and a d-axis current reference value i is calculated based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
B, operating the hybrid excitation synchronous motor in a high-speed area, and calculating a d-axis current reference value i based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
Step 5, using the d-axis current reference value i obtained in the step 4drefQ-axis current reference value iqrefAnd an excitation current reference value ifrefAnd 2, obtaining the stator direct axis current idAnd quadrature axis current iqAnd exciting current i in step 1fAngular velocity omegarCalculating a d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref；
Step 6, obtaining the d-axis voltage reference value u obtained in the step 5drefAnd q-axis voltage reference uqrefObtaining α shaft voltage u under a static two-phase coordinate system after performing rotation orthogonal-static two-phase transformationαAnd β Axis uβWill α shaft voltage uαAnd β Axis Voltage uβAfter the signals are sent to an SVPWM module, 6 paths of PWM signals are output, and the 6 paths of PWM signals drive a main power converter; simultaneously, the speed tracking error e obtained in the step 3 is usedωAnd the excitation voltage reference value u obtained in step 5frefAnd 4 paths of PWM signals are output after being respectively sent into the PWM module, and the 4 paths of PWM signals drive the excitation power converter.
The present invention is also characterized in that,
step 4, the hybrid excitation synchronous motor operates in a low-speed area, and the d-axis current reference value idrefQ-axis electricityStream reference value iqrefAnd an excitation current reference value ifrefThe specific calculation method is as follows:
the mathematical model of the hybrid excitation synchronous motor in the dq reference coordinate system is as follows:
the state space equation:
voltage limit equation:
wherein id、iqD-axis and q-axis currents, ifIs the excitation winding current; l isd、LqD-axis and q-axis inductances, L, respectivelyfFor self-inductance of the field winding, MfIs the mutual inductance between the armature and the field winding; psimIs a permanent magnet flux linkage; u. ofd、uqVoltages of d-and q-axes, ufIs the excitation winding voltage; r is armature winding resistance, RfIs an excitation winding resistor; omegarIs the mechanical angular velocity; p is the number of pole pairs of the motor; b is a friction coefficient; j is moment of inertia; t isLIs the load torque; omegaeIs the electrical angular velocity; u. ofdcIs the dc bus voltage.
For a mixed excitation synchronous motor control system, a rotation speed tracking error e is definedωComprises the following steps:
eω＝ωrref-ωr(3)
selection eωAre state variables, constituting the system 1. In order to make the tracking error of the rotating speed approach zero, a Lyapunov function is constructed into
The following is derived from equation (4):
according to the Barbalt inference, dV is required to stabilize the system 11/dt<0, therefore, order
Wherein k isωThe rotation speed adjustment coefficient.
Low speed region using idThe control strategy is 0, when the motor operates at light load or rated load or below, the output torque of the motor is more than or equal to the load torque, and the load operation requirement can be met, namely:
wherein iqNIs the nominal value of the q-axis current.
As can be seen from the formula (7), the load torque is less than the rated torque, the motor operates in a permanent magnet excitation state without magnetism increasing control, and the excitation current ifWhen 0, the following reference currents are obtained:
wherein idref、iqrefD-axis and q-axis current reference values, i, respectivelyfrefIs the excitation current reference value.
When the motor runs in a starting or heavy-load state, the torque generated by the action of the armature current and the permanent magnet is smaller than the load torque, and the load running requirement cannot be met, namely:
from the equation (9), the stator q-axis current has reached the rated current iqNThe load operation requirement can not be satisfied, so the exciting current i is utilizedfCarrying out magnetism increasing control, operating the motor in a magnetism increasing state, and calculating to obtain the following parametersTest current:
step 4, the hybrid excitation synchronous motor runs in a high-speed area, and the d-axis current reference value idrefQ-axis current reference value iqrefAnd an excitation current reference value ifrefThe specific calculation method is as follows:
high-speed zone coordinated d-axis current idAnd an excitation current ifCommon weak magnetism is divided into two weak magnetism operation states; wherein, the first weak magnetic state means that d-axis current i is kept after the motor enters a high-speed regiondEqual to 0, using an excitation current ifField weakening, when exciting current ifReaching a negative nominal value-ifNThen, if the rotation speed is continuously increased, the d-axis current i is useddFurther weakening magnetism;
for the system 1, an excitation current i is usedfWhen the magnetism is weakened, the d-axis current reference value i is calculated according to the following equation systemdrefQ-axis current reference value iqrefAnd an excitation current reference value ifref：
Can be calculated to obtain
Using d-axis current idWhen the magnetism is weakened, the d-axis current reference value i is calculated according to the following equation systemdrefQ-axis current reference value iqrefAnd an excitation current reference value ifref：
Can be calculated to obtain
The specific operation method in the step 5 comprises the following steps: reference d-axis current to value idrefAnd the direct axis current idComparing to obtain d-axis current error edReference value i of q-axis currentqrefAnd quadrature axis current iqComparing to obtain q-axis current error eqReference value i of exciting currentfrefWith excitation current ifComparing to obtain the excitation current error efD-axis current error edQ-axis current error eqExcitation current error efAnd the angular velocity ω obtained in step 1rSending the voltage values into a current backward tracking controller to obtain a d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref。
Step 5, d-axis voltage reference value u of the hybrid excitation synchronous motordrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefThe specific calculation method is as follows:
the hybrid excitation synchronous motor operates in a low-speed region, and in order to realize current tracking, a current tracking error is defined as follows:
error e tracked by rotational speedωD-axis current error edQ-axis current error eqAnd excitation current error efAnd forming a system 2, and when the output torque of the motor is more than or equal to the load torque, obtaining the derivation of a current tracking error equation set:
when the output torque of the motor is smaller than the load torque, the current tracking error equation set is derived as follows:
for system 2, construct a new Lyapunov function as
When the output torque of the motor is larger than or equal to the load torque, a newly constructed Lyapunov function V is subjected to2And (5) obtaining a derivative:
when the output torque of the motor is smaller than the load torque, a newly constructed Lyapunov function V is subjected to2And (5) obtaining a derivative:
in the above two formulas, the actual control d-axis voltage u of the system is includeddQ-axis voltage uqAnd an excitation voltage ufTo make dV2/dt<0, order
Wherein k isd(kd>0) Is a d-axis current regulation factor; k is a radical ofq(kq>0) A q-axis current adjustment coefficient; k is a radical off(kf>0) The coefficient is adjusted for the excitation current.
When the output torque of the motor is larger than or equal to the load torque, the actual control d-axis voltage u is designed according to the following equation setdQ-axis voltage uqAnd an excitation voltage ufIs composed of
Can be calculated to obtain
Wherein u isdref、uqrefD-axis and q-axis voltage reference values, u, respectivelyfrefIs the excitation voltage reference value.
When the output torque of the motor is smaller than the load torque, the actual control d-axis voltage u is designed according to the following equation setdQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculated to obtain
The mixed excitation synchronous motor runs in a high-speed region by adopting an excitation current ifDuring field weakening, the following equation set is used for designing and actually controlling the d-axis voltage udQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculated to obtain
Using d-axis current idDuring field weakening, the following equation set is used for designing and actually controlling the d-axis voltage udQ-axis voltage uqAnd an excitation voltage ufIs composed of
Calculated as follows:
the nonlinear back-stepping tracking control method of the hybrid excitation synchronous motor has the beneficial effects that:
(1) the system has fast dynamic response and strong overload capacity;
(2) the torque fluctuation is small, and the disturbance resistance of the system is stronger;
(3) the adjustable parameters are reduced;
(4) the system design is simpler;
(5) the inverter switching frequency is constant.
Drawings
FIG. 1 is a block diagram of the nonlinear backward tracking control method of the hybrid excitation synchronous motor according to the present invention;
FIG. 2 is a logic flow diagram of a hybrid excitation synchronous motor nonlinear backward tracking control method of the present invention;
FIG. 3 is a system block diagram of the nonlinear back-stepping tracking control method of the hybrid excitation synchronous motor of the present invention;
fig. 4 is a block diagram of a current distribution structure of the nonlinear back-stepping tracking control method of the hybrid excitation synchronous motor of the invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a nonlinear back-stepping tracking control method of a hybrid excitation synchronous motor, as shown in figure 1, the control system comprises an alternating current power supply, a rectifier, a voltage stabilizing capacitor, a main power converter, an excitation power converter, a current and voltage sensor, the hybrid excitation synchronous motor, a photoelectric encoder, a DSP controller and the like.
The alternating current power supply supplies power to the whole system, after being rectified by the rectifier, the alternating current power supply carries out filtering and voltage stabilization, the alternating current power supply is sent to the main excitation power converter and the excitation power converter, and the Hall voltage sensor collects bus voltage and sends the bus voltage to the controller after conditioning. The output ends of the main excitation power converter and the excitation power converter are connected with a hybrid excitation synchronous motor, and a Hall current transformer collects phase current and excitation current and sends the conditioned current to a controller; the encoder collects the rotor position signal, and the rotor position signal is processed and then sent to the controller to calculate the rotor position angle and the rotor angular speed. The controller outputs 6 paths of PWM signals to drive the main power converter, and 4 paths of PWM signals to drive the excitation power converter.
The invention discloses a nonlinear back-stepping tracking control method of a hybrid excitation synchronous motor, which is implemented according to the following steps as shown in figure 2:
step 1, three Hall current sensors respectively collect phase currents i from a main circuit of a motora、ibAnd an excitation current ifTwo Hall voltage sensors respectively collect direct current bus voltage u from the main circuit of the motordcAnd an excitation voltage ufThe collected signals are processed by voltage following, filtering, bias and overvoltage protection, and then sent to the controller to detect the initial position of the motor accurately, the signals are collected from the motor encoder, and the signals are processed and sent to the controller to calculate the angular velocity omegarAnd a rotor position angle θ;
step 2, the phase current i obtained in the step 1 is useda、ibAfter A/D conversion, the stator direct axis current i under a two-phase rotating coordinate system is obtained through park transformationdAnd quadrature axis current iq；
step 4, as shown in fig. 4, the selected execution is performed according to the operation area of the hybrid excitation synchronous motor in the step 3, and when the hybrid excitation synchronous motor operates in a low-speed area, only the step a needs to be performed; when the hybrid excitation synchronous motor runs in a high-speed area, only the step b needs to be executed;
step a, the hybrid excitation synchronous motor operates in a low-speed area, and a d-axis current reference value i is calculated based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
The mathematical model of the hybrid excitation synchronous motor in the dq reference coordinate system is as follows:
the state space equation:
voltage limit equation:
wherein id、iqD-axis and q-axis currents, ifIs the excitation winding current; l isd、LqD-axis and q-axis inductances, L, respectivelyfFor self-inductance of the field winding, MfIs the mutual inductance between the armature and the field winding; psimIs a permanent magnet flux linkage; u. ofd、uqVoltages of d-and q-axes, ufIs the excitation winding voltage; r is armature winding resistance, RfIs an excitation winding resistor; omegarIs the mechanical angular velocity; p is the number of pole pairs; b is a friction coefficient; j is moment of inertia; t isLIs the load torque; omegaeIs the electrical angular velocity; u. ofdcIs the dc bus voltage.
For a mixed excitation synchronous motor control system, a rotation speed tracking error e is definedωComprises the following steps:
eω＝ωrref-ωr(3)
selection eωAre state variables, constituting the system 1. In order to make the tracking error of the rotating speed approach zero, a Lyapunov function is constructed into
The following is derived from equation (4):
according to the Barbalt inference, dV is required to stabilize the system 11/dt<0, therefore, order
Wherein k isωThe rotation speed adjustment coefficient.
Low speed region using idThe control strategy is 0, when the motor operates at light load or rated load or below, the output torque of the motor is more than or equal to the load torque, and the load operation requirement can be met, namely:
wherein iqNIs the nominal value of the q-axis current.
As can be seen from the formula (7), the load torque is less than the rated torque, the motor operates in a permanent magnet excitation state without magnetism increasing control, and the excitation current ifWith 0, the following reference current was calculated according to equations (5) and (6):
wherein idref、iqrefD-axis and q-axis current reference values, i, respectivelyfrefIs the excitation current reference value.
When the motor runs in a starting or heavy-load state, the torque generated by the action of the armature current and the permanent magnet is smaller than the load torque, and the load running requirement cannot be met, namely:
from the equation (9), it can be seen that the stator q-axis current has reached the rated current iqNThe load operation requirement can not be satisfied, so the exciting current i is utilizedfAnd (5) carrying out magnetism increasing control, and enabling the motor to operate in a magnetism increasing state. From equations (5) and (6), the following reference currents are calculated:
and the control type (8) or (10) can achieve the purpose of speed tracking when the hybrid excitation synchronous motor runs in a low-speed region.
B, operating the hybrid excitation synchronous motor in a high-speed area, and calculating a d-axis current reference value i based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
The method comprises the following specific steps:
high-speed zone coordinated d-axis current idAnd an excitation current ifThe common weak magnetism is divided into two weak magnetism operation states. Wherein, the first weak magnetic state means that d-axis current i is kept after the motor enters a high-speed regiondEqual to 0, using an excitation current ifField weakening, when exciting current ifReaching a negative nominal value-ifNThen, if the rotation speed is continuously increased, the d-axis current i is useddFurther weakening the magnetism. For system 1, the following system of equations is obtained from equations (2), (5) and (6)
D-axis current reference value i can be obtained through calculationdrefQ-axis current reference value iqrefAnd an excitation current reference value ifrefIs composed of
The control type (13) or (14) can achieve the purpose of tracking the speed of the motor in a high-speed running region.
Step 5, using the d-axis current reference value i obtained in the step 4drefQ-axis current reference valueiqrefAnd an excitation current reference value ifrefAnd 2, obtaining the stator direct axis current idAnd quadrature axis current iqAnd exciting current i in step 1fAngular velocity omegarCalculating a d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref；
The method comprises the following specific steps:
the hybrid excitation synchronous motor operates in a low-speed region, and in order to realize current tracking, a current tracking error is defined as follows:
to achieve current tracking, the tracking error is defined as:
error e tracked by rotational speedωD-axis current error edQ-axis current error eqAnd excitation current error efWhen the output torque of the motor is larger than or equal to the load torque, the system 2 is formed by obtaining the following derivation of the formula (15):
when the motor output torque is smaller than the load torque, the following equation (15) is derived:
for system 2, construct a new Lyapunov function as:
when the motor output torque is equal to or greater than the load torque, the following equation (18) is derived:
when the motor output torque is less than the load torque, the following equation (18) is derived:
in equations (19) and (20), the d-axis voltage u actually controlling the system is includeddQ-axis voltage uqAnd an excitation voltage ufTo make dV2/dt<0, order
Wherein k isd(kd>0) Is a d-axis current regulation factor; k is a radical ofq(kq>0) A q-axis current adjustment coefficient; k is a radical off(kf>0) The coefficient is adjusted for the excitation current.
When the output torque of the motor is larger than or equal to the load torque, the actual control d-axis voltage u is designed according to the equations (19) and (21)dQ-axis voltage uqAnd an excitation voltage ufIs composed of
Calculated to obtain
Wherein u isdref、uqrefD-axis and q-axis voltage reference values, u, respectivelyfrefIs the excitation voltage reference value.
When the output torque of the motor is smaller than the load torque, the actual control d-axis voltage u is designed according to the equations (20) and (21)dQ-axis voltage uqAnd an excitation voltage ufIs composed of
Calculated to obtain
When the hybrid excitation synchronous motor runs in a low-speed region, the control type (23) or (25) enables the hybrid excitation synchronous motor system to achieve the purpose of speed tracking and achieve the effect of current tracking, so that the system has high response speed.
The hybrid excitation synchronous motor runs in a high-speed area, and a d-axis voltage reference value u is calculateddrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref。
Using exciting current ifWhen the magnetism is weakened, the combined formulas (13) and (15) are as follows:
using d-axis current idWhen the magnetism is weakened, the combined formulas (14) and (15) are as follows:
using exciting current ifWhen the magnetism is weakened, the d-axis voltage u is actually controlled by the design of the formulas (18), (21) and (26)dQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculated to obtain
Using d-axis current idWhen the magnetism is weakened, the d-axis voltage u is actually controlled by the design of the formulas (18), (21) and (27)dQ-axis voltage uqAnd an excitation voltage ufIs composed of
Calculated as follows:
when the hybrid excitation synchronous motor runs in a high-speed region, the control type (29) or (31) enables the motor system to achieve the purpose of speed tracking and achieve the effect of current tracking, so that the system has a quick response speed.
Step 6, obtaining the d-axis voltage reference value u obtained in the step 5drefAnd q-axis voltage reference uqrefObtaining α shaft voltage u under a static two-phase coordinate system after performing rotation orthogonal-static two-phase transformationαAnd β Axis uβWill α shaft voltage uαAnd β Axis Voltage uβAfter the signals are sent to an SVPWM module, 6 paths of PWM signals are output, and the 6 paths of PWM signals drive a main power converter; simultaneously, the speed tracking error e obtained in the step 3 is usedωAnd the excitation voltage reference value u obtained in step 5frefAnd 4 paths of PWM signals are output after being respectively sent into the PWM module, and the 4 paths of PWM signals drive the excitation power converter.
The existing control system of the hybrid excitation synchronous motor adopting a vector control method has the problems of low response speed, complex PI parameter setting, large torque and magnetic flux linkage pulsation and the like in the direct torque control technology. According to the nonlinear back-stepping tracking control method for the hybrid excitation synchronous motor, disclosed by the invention, the hybrid excitation synchronous motor has faster dynamic response and smaller torque fluctuation in the whole operation area through the nonlinear back-stepping tracking control method for the hybrid excitation synchronous motor from the step 3 to the step 6. Therefore, compared with the prior control method, the method has the following advantages:
(1) the system has fast dynamic response and strong overload capacity;
(2) the torque fluctuation is small, and the disturbance resistance of the system is stronger;
(3) the adjustable parameters are reduced;
(4) the system design is simpler;
(5) the inverter switching frequency is constant.
Claims (4)
1. A nonlinear back-stepping tracking control method for a hybrid excitation synchronous motor is characterized by comprising the following steps:
step 1, respectively acquiring the following signals from a main circuit of a motor: phase current ia、ibAnd an excitation current ifDC bus voltage UdcAnd an excitation voltage UfThe collected phase current ia、ibAnd an excitation current ifDC bus voltage UdcAnd an excitation voltage UfAfter voltage following, filtering, biasing and overvoltage protection, the signals are sent to a controller for processing, accurate initial position detection is carried out on the motor, the rotating speed and the rotor position angle are collected from a motor encoder and sent to the controller for calculation to obtain the angular speed omegarAnd a rotor position angle θ;
step 2, comparing the phase current i obtained in the step 1a、ibA/D conversion is carried out, and then stator direct axis current i under a two-phase rotating coordinate system is obtained through park transformationdAnd quadrature axis current iq；
Step 3, setting the angular speed omegarrefAnd the angular velocity omega obtained in the step 1rComparing to obtain the angular velocity deviation eωDeviation of angular velocity eωAngular velocity omegarAnd DC bus voltage UdcRespectively inputting the speed backward-thrust tracking controller to judge the operation area of the hybrid excitation synchronous motor: when angular velocity ωrWhen the flux-weakening basic speed is lower than the weak magnetic basic speed, the hybrid excitation synchronous motor operates in a low-speed area; when angular velocity ωrWhen the flux is larger than the weak magnetic basic speed, the hybrid excitation synchronous motor operates in a high-speed area;
step 4, performing selective execution according to the operation area of the hybrid excitation synchronous motor in the step 3, and only executing the step a when the hybrid excitation synchronous motor operates in a low-speed area; when the hybrid excitation synchronous motor runs in a high-speed area, only the step b needs to be executed;
step a, the hybrid excitation synchronous motor operates in a low-speed area, and a d-axis current reference value i is calculated based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
B, operating the hybrid excitation synchronous motor in a high-speed area, and calculating a d-axis current reference value i based on a nonlinear back-stepping tracking control principledrefQ-axis current reference value iqrefAnd an excitation current reference value ifref；
The hybrid excitation synchronous motor operates in a low-speed region, and a d-axis current reference value idrefQ-axis current reference value iqrefAnd an excitation current reference value ifrefThe specific calculation method is as follows:
the mathematical model of the hybrid excitation synchronous motor in the dq reference coordinate system is as follows:
the state space equation:
voltage limit equation:
in the formulae (1) and (2), id、iqD-axis and q-axis currents, ifFor exciting winding current, Ld、LqD-axis and q-axis inductances, L, respectivelyfFor self-inductance of the field winding, MfIs the mutual inductance between the armature and the field winding; psimIs a permanent magnet flux linkage ud、uqVoltages of d-and q-axes, ufFor field winding voltage, R is armature winding resistance, RfFor exciting winding resistance, omegarIs the mechanical angular velocity; p is the number of pole pairs of the motor, B is the friction coefficient, J is the moment of inertia, TLAs load torque, ωeIs the electrical angular velocity udcIs a dc bus voltage;
for a mixed excitation synchronous motor system, the control target is the motor rotating speed, and a rotating speed tracking error e is definedωComprises the following steps:
eω＝ωrref-ωr(3)
selection eωIs a state variable, and constitutes a system 1; to make it possible toThe tracking error of the rotating speed tends to zero, and a Lyapunov function is constructed as follows:
the following is derived from equation (4):
according to the Barbalt inference, dV is required to stabilize the system 11/dt<0, therefore, order
In the formula (6), kωThe rotation speed adjustment coefficient;
low speed region using idWhen the motor operates at light load or rated load or below, the electromagnetic torque output by the motor is more than or equal to the load torque, and the load operation requirement can be met, namely:
in the formula (7), iqNA nominal value for the q-axis current;
as can be seen from the formula (7), the load torque is less than the rated torque, the motor operates in a permanent magnet excitation state without magnetism increasing control, and the excitation current ifWhen 0, the following reference currents are obtained:
in the formula (8), idref、iqrefReference values, i, for d-axis and q-axis currents, respectivelyfrefIs a reference value of the excitation current;
when the motor runs in a starting or heavy-load state, the electromagnetic torque generated by the action of the armature current and the permanent magnet is smaller than the load torque, and the load running requirement cannot be met, namely:
from (9), the stator q-axis current has reached the rated current iqNThe load operation requirement can not be satisfied, so the exciting current i is utilizedfAnd (3) carrying out magnetism increasing control, operating the motor in a magnetism increasing state, and calculating to obtain the following reference current:
step 5, using the d-axis current reference value i obtained in the step 4drefQ-axis current reference value iqrefAnd an excitation current reference value ifrefAnd 2, obtaining the stator direct axis current idAnd quadrature axis current iqAnd exciting current i in step 1fAngular velocity omegarCalculating a d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref；
Step 6, obtaining the d-axis voltage reference value u obtained in the step 5drefAnd q-axis voltage reference uqrefObtaining α shaft voltage u under a static two-phase coordinate system after performing rotation orthogonal-static two-phase transformationαAnd β Axis uβWill α shaft voltage uαAnd β Axis Voltage uβAfter the signals are sent to an SVPWM module, 6 paths of PWM signals are output, and the 6 paths of PWM signals drive a main power converter; simultaneously, the speed tracking error e obtained in the step 3 is usedωAnd the excitation voltage reference value u obtained in step 5frefAnd 4 paths of PWM signals are output after being respectively sent into the PWM module, and the 4 paths of PWM signals drive the excitation power converter.
2. The nonlinear back-stepping tracking control method for the hybrid excitation synchronous motor according to claim 1, wherein the hybrid excitation synchronous motor in the step 4 is operated in a high-speed region, and the d-axis current reference value i isdrefQ-axis current reference value iqrefAnd exciting powerStream reference value ifrefThe specific calculation method is as follows:
high-speed zone coordinated d-axis current idAnd an excitation current ifCommon weak magnetism is divided into two weak magnetism operation states; wherein, the first weak magnetic state means that d-axis current i is kept after the motor enters a high-speed regiondEqual to 0, using an excitation current ifField weakening, when exciting current ifReaching a negative nominal value-ifNThen, if the rotation speed is continuously increased, the d-axis current i is useddFurther weakening magnetism;
for the system 1, an excitation current i is usedfWhen the magnetism is weakened, the d-axis current reference value i is calculated according to the following equation systemdrefQ-axis current reference value iqrefAnd an excitation current reference value ifref：
D-axis current reference value i can be obtained through calculationdrefQ-axis current reference value iqrefAnd an excitation current reference value ifrefComprises the following steps:
using d-axis current idWhen the magnetism is weakened, the d-axis current reference value i is calculated according to the following equation systemdrefQ-axis current reference value iqrefAnd an excitation current reference value ifref：
D-axis current reference value i can be obtained through calculationdrefQ-axis current reference value iqrefAnd an excitation current reference value ifrefComprises the following steps:
3. the nonlinear back-stepping tracking control method for the hybrid excitation synchronous motor according to claim 1, wherein the specific operation method in step 5 is as follows: reference d-axis current to value idrefAnd the direct axis current idComparing to obtain d-axis current error edReference value i of q-axis currentqrefAnd quadrature axis current iqComparing to obtain q-axis current error eqReference value i of exciting currentfrefWith excitation current ifComparing to obtain the excitation current error efD-axis current error edQ-axis current error eqExcitation current error efAnd the angular velocity ω obtained in step 1rSending the voltage values into a current backward tracking controller to obtain a d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufref。
4. The nonlinear back-stepping tracking control method for the hybrid excitation synchronous motor according to claim 1, wherein the d-axis voltage reference value u of the hybrid excitation synchronous motor in the step 5drefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefThe specific calculation method is as follows:
the hybrid excitation synchronous motor operates in a low-speed region, and in order to realize current tracking, a current tracking error is defined as follows:
error e tracked by rotational speedωD-axis current error edQ-axis current error eqAnd excitation current error efAnd forming a system 2, and when the electromagnetic torque output by the motor is more than or equal to the load torque, obtaining the derivation of a current tracking error equation set:
when the electromagnetic torque output by the motor is smaller than the load torque, the current tracking error equation system is derived to obtain:
for system 2, construct a new Lyapunov function as
When the electromagnetic torque output by the motor is larger than or equal to the load torque, the newly constructed Lyapunov function V is subjected to2And (5) obtaining a derivative:
when the electromagnetic torque output by the motor is smaller than the load torque, the newly constructed Lyapunov function V is subjected to2And (5) obtaining a derivative:
in the above two formulas, the actual control d-axis voltage u of the system is includeddQ-axis voltage uqAnd an excitation voltage ufTo make dV2/dt<0, order
In the formula (21), kd(kd>0) Is a d-axis current regulation factor; k is a radical ofq(kq>0) A q-axis current adjustment coefficient; k is a radical off(kf>0) Adjusting the coefficient for the exciting current;
when the electromagnetic torque output by the motor is larger than or equal to the load torque, the actual control d-axis voltage u is designed according to the following equation systemdQ-axis voltage uqAnd an excitation voltage ufIs composed of
Calculating to obtain d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefIs composed of
Wherein u isdref、uqrefReference values, u, for d-axis and q-axis voltages, respectivelyfrefIs a reference value of the excitation voltage;
when the electromagnetic torque output by the motor is smaller than the load torque, the actual control d-axis voltage u is designed according to the following equation systemdQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculating to obtain d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefComprises the following steps:
the mixed excitation synchronous motor runs in a high-speed region by adopting an excitation current ifDuring field weakening, the following equation set is used for designing and actually controlling the d-axis voltage udQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculating to obtain d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefComprises the following steps:
using d-axis current idDuring field weakening, the following equation set is used for designing and actually controlling the d-axis voltage udQ-axis voltage uqAnd an excitation voltage ufComprises the following steps:
calculating to obtain d-axis voltage reference value udrefQ-axis voltage reference value uqrefAnd an excitation voltage reference value ufrefComprises the following steps:
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