CN108242905A - Using the control method and control system of the permanent magnet synchronous motor of large rotating inertia - Google Patents
Using the control method and control system of the permanent magnet synchronous motor of large rotating inertia 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
- 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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- 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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Abstract
The invention discloses a kind of control methods and control system of the permanent magnet synchronous motor using large rotating inertia, the control method includes the following steps, 1) motor actual speed is calculated, calculate motor torque current and exciting current, 2) reference value of the deviation through speed regulator output current；3) according to motor raising speed, low speed state, perform corresponding inertia compensation policy, 4) reference value that torque current is adjusted with torque current is compared, and fiducial value obtains quadrature axis, the output valve of direct-axis voltage through current regulator；5) quadrature axis, the reference value of direct-axis voltage are obtained, 6) according to quadrature axis, the reference value of direct-axis voltage, PWM Algorithm is performed, obtains PWM drive signal, the driving motor operation of control three phase inverter bridge.The present invention is on the basis of the bicyclic vector controlled of speed and current, devise electric voltage feed forward decoupling and rotary inertia feedforward control link, real-time dynamic compensation has been carried out to current of electric, the dynamic response loaded to large rotating inertia is accelerated, improves the accuracy and rapidity of control system for permanent-magnet synchronous motor.
Description
Technical Field
The invention belongs to the technical field of control of alternating current permanent magnet synchronous motors, and particularly relates to a control method and a control system of a permanent magnet synchronous motor with large rotational inertia.
Background
The alternating current permanent magnet synchronous motor has the advantages of high power density, excellent adjusting performance, good maintainability and the like, and can work in two modes of driving and power generation, so that the alternating current permanent magnet synchronous motor is generally used as a flywheel driving motor in a flywheel energy storage device. Because the flywheel belongs to the load of large moment of inertia, adopt the permanent magnet synchronous machine to drive the flywheel in-process and have the following problems: if the power of the motor control system is larger, and when the motor has large rotational inertia and high rotating speed, once a fault occurs, even if the input of the motor control system is disconnected and the inverter stops running, the large rotational inertia motor runs at high speed because the output switch is not disconnected, so that the back electromotive force of the motor is reversely poured to the direct current side of the diode rectifier, the direct current voltage is increased, and even a silicon controlled module of the motor control system is broken down.
Meanwhile, when the rotation speed of the flywheel changes, a larger inertia torque can be generated, so that the influences of motor current oscillation, increased tracking error, slow rotation speed response and the like in the control process are caused, and the performance of a motor control system is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a control system of a permanent magnet synchronous motor with large rotational inertia, which effectively prevents direct current overvoltage caused by back electromotive force back flow of the motor.
The invention also aims to provide a control method of the permanent magnet synchronous motor with large rotational inertia, which designs voltage feedforward decoupling and rotational inertia feedforward control links on the basis of double-loop vector control of rotating speed and current, dynamically compensates the motor current in real time, accelerates the dynamic response to a large rotational inertia load, and improves the accuracy and the rapidity of a permanent magnet synchronous motor control system.
The invention is realized by the following technical scheme:
a control method and a control system of a permanent magnet synchronous motor applying large moment of inertia comprise the following steps,
1) calculating the actual rotating speed of the motor, calculating the torque current and the exciting current of the motor,
2) comparing the actual rotating speed with the set rotating speed to obtain a deviation value, and outputting the deviation value i through a speed regulatorqReference value of current
3) According to the rotational inertia and the actual rotating speed of the motor, the disturbance caused by the rotational inertia is converted into a current compensation value and an output value of the speed regulatorThe inertia compensation strategy is taken as a reference value for torque current regulation and is executed according to the speed increasing and reducing states of the motor,
4) comparing the torque current with a reference value regulated by the torque current, and obtaining output values of quadrature-axis voltage and direct-axis voltage by the comparison value through a current regulator;
5) according to the motor parameters and voltage equation, calculating the compensation values of the quadrature axis and direct axis voltages to carry out voltage decoupling feedforward, adding the compensation values with the output value of the current regulator to obtain the reference values of the quadrature axis and direct axis voltages,
6) and executing a space vector algorithm according to the reference values of the quadrature axis voltage and the direct axis voltage to obtain a PWM driving signal, and controlling the three-phase inverter bridge driving motor to operate.
In the above technical solution, the electricityFlow compensation value
In the above technical solution, the inertia compensation strategy in step 3) is
At the time of acceleration (SpdErr)>SpdErrLimit), reference value for torque current regulationThe following were used:
at reduced speed (SpdErr)<SpdErrLimit), torque currentThe reference values are as follows:
wherein SpdErr is the difference value between the set rotating speed value and the current rotating speed, and SpdErrLimit is the limit value of the feedforward adjustment of the rotational inertia; i.e. ipi-spdThe output value is the output value of a rotating speed PI regulator; i.e. ibcThe disturbance caused by the moment of inertia is converted into a current iqThe compensation value of (2).
In the above technical solution, inertia compensation values i are respectively setbcOutput value i of rotating speed PI regulatorpi-spdAnd a reference valueIf their current calculated values are within the range of the upper and lower limit values, the output value is the calculated value; if the calculated value exceeds the upper limit value, the output value is equal to the upper limit value; if the calculated value is lower than the lower limit value, the output value is equal to the lower limit value.
In the above technical solution, the voltage decoupling feedforward is that the current iq、idObtaining output values u 'of quadrature-axis and direct-axis voltages through a PI regulator'qAnd u'dVoltage output value u'qAnd u'dRespectively with- ω LqiqOr ω Ldid+ωψfVoltage feedforward decoupling is completed after addition to obtain given values of quadrature axis and direct axis voltagesAnd
a control system of a permanent magnet synchronous motor with large rotational inertia for realizing the control method is characterized in that: the permanent magnet synchronous motor control system comprises a rectifier bridge, an inverter bridge PWM driving module, a control panel, a direct current voltage detection circuit for detecting output voltage of the rectifier bridge, a current detection circuit for detecting stator current of a permanent magnet synchronous motor and a protection circuit, wherein the outputs of the direct current voltage detection circuit and the current detection circuit are respectively input into the control panel and the protection circuit, the positive output of the rectifier bridge is connected with a charging resistor in series and then connected into the input end of a three-phase inverter bridge, a direct current contactor is switched on or off by the output drive of the control panel, and a brake resistor and a brake contactor driven by the output of the protection circuit are connected between two input ends of the inverter bridge in series.
In the above technical solution, the brake contactor includes a normally open contact connected in series to the brake resistor loop and a driving coil corresponding to the protection circuit.
In the above technical solution, the output of the protection circuit and the corresponding output of the control board are connected to the PWM driving module.
In the above technical solution, the voltage sampling module includes a first operational amplifier having a positive input terminal, a negative input terminal and a voltage collecting terminal, an output of the first operational amplifier is connected to the signal processing module through a resistor R5 and a signal adjusting unit, and an output of the first operational amplifier is connected to the input terminal through a resistor R4; the current sampling module including set up the mutual-inductor of negative pole output, positive and negative pole correspond with the mutual-inductor both ends correspond second operational amplifier, the while of electricity connection, second operational amplifier's output be connected with the input through resistance R8, second operational amplifier's output insert third operational amplifier's positive pole behind resistance R10, third operational amplifier's output and negative pole intercommunication, third operational amplifier's output be connected to the signal processing module behind the signal adjustment unit, the signal adjustment unit include two diode of positive pole and negative pole intercommunication in proper order, the negative pole of diode connect the positive voltage, anodal ground connection, first operational amplifier or third operational amplifier's output and electric intercommunication between two diodes.
In the above technical solution, the protection signal circuit includes a comparator having a positive electrode connected to the output of the first operational amplifier or the third operational amplifier, a negative electrode connected to the reference voltage and the reference current, an and gate having two input terminals connected to the outputs of the two comparators, and an inverter connected to the output of the and gate, wherein an output terminal of the inverter is connected to the PWM driving module, and a protection signal output from the inverter controls the output and the turn-off of a signal from the PWM driving module to realize the protection system.
In the above technical solution, the driving circuit of the braking contactor includes a triode with a base electrode and an output end of the inverter, an emitter electrode of the triode is grounded, a relay electrode is connected in series with a corresponding coil and then connected with a positive power supply, and a diode connected in parallel with the coil and having a negative electrode connected with the positive power supply.
The invention has the advantages and beneficial effects that:
on the basis of rotating speed and current double-loop vector control, voltage feedforward decoupling and rotational inertia feedforward control links are designed, real-time dynamic compensation is performed on motor current, dynamic response to large rotational inertia load is accelerated, and accuracy and rapidity of a permanent magnet synchronous motor control system are improved.
The invention adds the brake resistor and the brake contactor, can consume the residual voltage of the direct current capacitor after the fault occurs through the brake resistor, simultaneously prevents the back electromotive force of the motor from flowing back to cause direct current overvoltage, and further ensures the safety of circuit devices.
Drawings
FIG. 1 is a diagram of a PMSM control system;
FIG. 2 is a view showing the internal structure of a diode rectifier bridge;
FIG. 3 is a diagram of the internal structure of a three-phase inverter bridge;
FIG. 4 is a circuit diagram of a DC voltage acquisition circuit;
FIG. 5 is a circuit diagram of current collection;
FIG. 6 is a protection circuit diagram;
FIG. 7 is a flowchart of a control algorithm for large moment of inertia of a permanent magnet synchronous motor;
FIG. 8 shows idA vector control schematic of 0;
FIG. 9 is a voltage decoupled feed forward control link diagram;
FIG. 10 is a diagram of a rotational inertia feed forward control loop;
FIG. 11 shows i of the present inventiondA vector control schematic of 0;
fig. 12 is a comparison of current waveforms before and after the improvement.
Wherein:
1. three-phase AC power supply 2, diode rectifier
3. Three-phase inverter bridge 4, permanent magnet synchronous motor
5. Touch screen 6 and DSP control panel
7. DC voltage detection circuit 8 and current detection circuit
9. PWM drive module 10 and protection circuit
11. Charging resistor 12 and direct current contactor
13. Bus capacitor 14 and brake resistor
15. Brake contactor 16, first operational amplifier
17. Second operational amplifier 18, third operational amplifier
19. Comparator 20, comparator
21. OR gate 22, inverter
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.
Example one
A control system of a permanent magnet synchronous motor applying large rotational inertia comprises a rectifier bridge 2 with an input end correspondingly communicated with UVW three phases of three-phase alternating current 1 and a three-phase inverter bridge 3 with an output end ABC three phases correspondingly communicated with a surface-mounted permanent magnet synchronous motor 4, a PWM driving module 9, a DSP control board 6, and a direct voltage detection circuit 7 which is respectively electrically connected with the control board and is used for detecting the output voltage of the rectifier bridge, a current detection circuit 8 and a protection circuit 10 for detecting the stator current of the permanent magnet synchronous motor, the outputs of the dc voltage detection circuit and the current detection circuit are input to the protection circuit 10, the positive pole output of the rectifier bridge is connected in series with a charging resistor 11 and a direct current contactor 12, the other ends of the charging resistor 11 and the direct current contactor 12, the positive pole of a bus capacitor 13 and a brake resistor 14 are connected to the input end of a three-phase inverter bridge, and the direct current contactor 12 is driven to be switched on or switched off by the output of a DSP control board 6. And a bus capacitor 13, a brake resistor 14 and a brake contactor 15 driven by the output of the protection circuit are connected in series between two input ends of the inverter bridge, and the brake contactor 15 is driven to be switched on or switched off by the output of the protection circuit 10. The brake contactor comprises a normally open contact and a driving coil, wherein the normally open contact is correspondingly connected with the brake resistor loop in series, and the driving coil corresponds to the protection circuit.
In order to realize the action of the direct current contactor or the braking contactor, the coil driving circuit for protecting the circuit output or controlling the board output comprises a triode, the base of which is communicated with the output end through a resistor, the emitting electrode of the triode is grounded, the collector of the triode is connected with a positive power supply after being connected with a corresponding coil in series, and a diode which is connected with the coil in parallel and the negative electrode of which is connected with the positive power supply.
The charging resistor is connected in series in the charging loop when the control system is powered on, and only when the capacitor voltage reaches a set value, the controller, namely the control board sends a signal to close the direct current contactor 12 to short-circuit the charging resistor after charging is finished. The charging resistor is an indispensable part of a charging circuit of the control system, so that overcurrent is prevented from damaging system devices during charging, the control system is particularly suitable for driving a permanent magnet synchronous motor with large moment of inertia, the brake resistor 14 and the brake contactor 15 are additionally arranged, the residual voltage of a direct current capacitor after a fault occurs can be consumed through the brake resistor, direct current overvoltage caused by back electromotive force back filling of the motor is also prevented, and the safety of the main circuit devices is further ensured.
The PWM driving module adopts an SKHI22AH4R module of the Sammi control company, the module integrates the functions of a driving and protecting circuit, the peripheral circuit is simple, an optical coupler or a transformer is not needed for isolation, the PWM signal of the DSP can be directly connected to the power module, and the application is convenient. The current and voltage signals enter the protection signal circuit, whether overcurrent and overvoltage occur or not is judged through hardware, if the fault is judged, the input contactor and the output contactor are directly disconnected through the hardware, meanwhile, the protection signal circuit informs the controller of the fault signal, the controller stops software running, and the hardware protection can effectively protect the system even if the software protection of the controller fails.
Fig. 2 is an internal structure diagram of a diode rectifier bridge, and the specific connection mode is as follows: the diode rectifier bridge 2 is composed of six diodes D1-D6, the diodes of an upper bridge arm are D1, D3 and D5, the diodes of a lower bridge arm are D2, D4 and D6, wherein the anode of the diode D1 is connected with the cathode of the diode D2 to form a bridge arm, the anode of the diode D3 is connected with the cathode of the diode D4 to form a bridge arm, and the anode of the diode D5 is connected with the cathode of the diode D6 to form a bridge arm.
Fig. 3 is an internal structure diagram of a three-phase inverter bridge, and the specific connection mode is as follows: the three-phase inverter bridge 3 consists of six controllable silicon Q1-Q6, the upper bridge arm consists of controllable silicon Q1, Q3 and Q5, the lower bridge arm consists of controllable silicon Q2, Q4 and Q6, wherein the emitter of the controllable silicon Q1 is connected with the collector of the controllable silicon Q2 to form a bridge arm, the emitter of the controllable silicon Q3 is connected with the collector of the controllable silicon Q4 to form a bridge arm, and the emitter of the controllable silicon Q5 is connected with the collector of the controllable silicon Q6 to form a bridge arm.
Specifically, the diode rectifier bridge 2 in the main circuit converts alternating current into direct current, the charging resistor 11 and the direct current contactor 12 prevent current from overflowing during charging, the bus capacitor 13 is used for stabilizing direct current voltage, and the three-phase inverter bridge 3 is used for realizing vector control of the permanent magnet synchronous motor 4. The 4 ends of the diode rectifier bridge 2, namely the positive output end, are connected with one ends of the charging resistor 11 and the direct current contactor 12, and the 5 ends of the diode rectifier bridge 2, namely the negative output end, are connected with the negative electrode of the bus capacitor 13, the brake contactor 15 and the 2 ends of the three-phase inverter bridge 3. The other ends of the charging resistor 11 and the direct current contactor 12 are connected with the anode of the bus capacitor 13, the brake resistor 14 and the end 1 of the three-phase inverter bridge 3, and the ends 3, 4 and 5 of the three-phase inverter bridge 3 are connected with A, B, C of the permanent magnet synchronous motor 4.
Control boards, such as the DSP control board 6, are electrically connected to achieve corresponding electrical connections. The DSP control board 6 is a control core of the system and is used for acquiring voltage and current signals, outputting PWM (pulse width modulation) signals, controlling an algorithm and protecting a motor, realizing functions of man-machine communication and the like.
The permanent magnet synchronous motor control system is characterized by further comprising a touch screen 5 communicated with the DSP controller, wherein the touch screen 5 is mainly used for achieving the functions of displaying and adjusting the parameters of the permanent magnet synchronous motor. The touch screen 5 is a 7-inch touch screen of Beijing Kunlun Tong, and is of the model of TPC7062K, the touch screen is powered by a 24V direct-current power supply, is communicated with a DSP in an RS232 mode, and integrates units such as a liquid crystal display screen, a touch panel, control and data storage. The software is divided into operation environment picture configuration software and a data communication protocol, and the operation environment picture configuration software and the data communication protocol are compiled by MCGS embedded version configuration software and a script driven development tool thereof.
The protection circuit 10 is electrically connected with the controller or directly inputs a protection signal into the PWM driving module 9 to control the enabling of the PWM signal, and once a fault signal occurs, the PWM signal is directly blocked to realize a hardware protection function.
Example two
The direct-current voltage detection circuit 7 is used for collecting the output voltage of the rectifier and comprises a first operational amplifier 16 with an anode input end, a cathode input end and a voltage collection end, wherein the output of the first operational amplifier 16 is connected to a signal processing module through a resistor R5 and a signal adjusting unit, the output of the first operational amplifier is connected with the input end through a resistor R4, and a capacitor C2 is connected to the resistor R4 in parallel. Meanwhile, the positive input end of the first operational amplifier is grounded after passing through a capacitor C1, and a resistor R3 is also arranged in parallel with the capacitor C1.
The current detection circuit is used for collecting the stator current of the motor, and comprises a sensor arranged on a stator, wherein the positive pole and the negative pole of the current detection circuit correspond to a second operational amplifier 17 which is electrically connected with the two ends of the sensor, meanwhile, the output of the second operational amplifier is connected with the input end through a resistor R8, a resistor R8 is connected with a capacitor C5 in parallel, the output of the second operational amplifier is connected with the positive pole of a third operational amplifier 18 through a resistor R10, the positive pole of the third operational amplifier is grounded through a resistor R11, the output and the negative pole of the third operational amplifier are communicated, and the output of the third operational amplifier is connected to a signal processing module through a signal adjusting unit. The signal adjusting unit comprises two diodes D8 and D7 or D9 and D10, wherein the anodes and the cathodes of the diodes D8 or D9 are communicated in sequence, the cathode of the diode D9 or D10 is connected with a positive voltage, the anode of the diode D9 or D10 is grounded, and the output of the first operational amplifier or the third operational amplifier is electrically communicated with the two diodes and is output to the control board.
The protection circuit 10 comprises two comparators 19 and 20 with positive poles respectively connected with the output of the first operational amplifier or the third operational amplifier, two negative poles of the comparators 19 and 20 are respectively connected with a reference voltage and a reference current, two input ends of the comparators are connected with an AND gate 21 connected with the output of the two comparators, and an inverter 22 connected with the output of the OR gate, the output end of the inverter is connected to the PWM driving module, and meanwhile, a clamping resistor R12 is arranged at the input end of the PWM driving module. The protection signal output by the phase inverter directly controls the output and the turn-off of the PWM driving module signal, thereby achieving the purpose of protecting the system.
Specifically, the resistor R1 is connected to the port of the feedback voltage VolInput1, the other end of the resistor R1 is connected to the resistor R4, the capacitor C2 and the negative terminal of the operational amplifier 16, and the other ends of the resistor R4 and the capacitor C2 are connected to the output terminal of the operational amplifier 16. The resistor R2 is connected to the port of the feedback voltage VolInput2, the other end of the resistor R2 is connected to the resistor R3, the capacitor C1 and the positive terminal of the operational amplifier 16, and the other ends of the resistor R3 and the capacitor C1 are connected to AGND. One end of the resistor R5 is connected to the output terminal of the operational amplifier 16, and the other end is connected to the capacitor C3, the cathode of the diode D7, and the anode of the diode D8. The other end of the capacitor C3 and the anode of the diode D7 are connected to AGND, the cathode of the diode D8 is connected to 3.3V, and the voltage output signal is connected to the anode of the diode D8 and the cathode of the diode D7.
Fig. 5 is a circuit diagram of current detection, and the specific connection relationship is as follows:
the resistor R6 is connected with the port of the feedback current CurInput1, the other end of the resistor R6 is connected with the resistor R8, the capacitor C5 and the negative end of the operational amplifier 17, and the other ends of the resistor R8 and the capacitor C5 are connected with the output end of the operational amplifier 17. The resistor R7 is connected to the port of the feedback current CurInput2, the other end of the resistor R7 is connected to the resistor R9, the capacitor C4 and the positive terminal of the operational amplifier 17, and the other ends of the resistor R9 and the capacitor C4 are connected to AGND. One end of the resistor R10 is connected to the output terminal of the operational amplifier 17, the other end is connected to the resistor R11 and the positive terminal of the operational amplifier 18, one end of the resistor R11 is connected to 3.3V, and the other end is connected to the positive terminal of the operational amplifier 18. The negative terminal of the operational amplifier 18 is connected to the output terminal thereof, and the output terminal of the operational amplifier 18 is connected to the capacitor C6, the negative terminal of the diode D10, and the positive terminal of the diode D9. The other end of the capacitor C6 and the anode of the diode D10 are connected to AGND, the cathode of the diode D9 is connected to 3.3V, and the current output signal is connected to the anode of the diode D9 and the cathode of the diode D10.
Fig. 6 is a protection circuit diagram, and the connection relationship is as follows:
the negative end of the comparator 19 is connected with the port of the feedback current CurFk, the positive end of the comparator is connected with 3.3V, the output end of the OR gate 21 is connected with pin 1, the negative end of the comparator 20 is connected with the port of the feedback voltage VolFk, the positive end of the comparator is connected with 3.3V, the output end of the OR gate 21 is connected with pin 2, the output end of the OR gate 21 is connected with the input end of the inverter 22, the output end of the inverter 22 is connected with the resistor R12 and the protection signal Pro, the zero end of the resistor R12 is connected with 3.3V, and the protection signal Pro is connected with the PWM driving module.
EXAMPLE III
The invention aims at a surface-mounted permanent magnet synchronous motor, the direct-axis inductance and quadrature-axis inductance of the surface-mounted permanent magnet synchronous motor are equal, so that the basic equation of the motor under a d-q rotating coordinate system obtained through clarke and park transformation is as follows:
in the formula Ld，Lq-motor direct axis inductance, quadrature axis inductance;
ud，uq-motor direct axis voltage, quadrature axis voltage;
ω，ωm-electrical angular speed of the motor, mechanical angular speed;
Te，Tl-motor electromagnetic torque, load torque;
ψf-excitation flux linkage of rotor permanent magnet poles;
Rs-motor stator resistance;
j- -motor moment of inertia;
Bm-coefficient of friction of the motor.
The surface-mounted permanent magnet synchronous motor generally adopts id0-vector control method, which decomposes the stator current into the excitation current idAnd torque current iqBy adjusting the amplitudes of the two, the independent control of the magnetic field and the torque of the motor can be realized, and the principle is shown in fig. 7:
the speed deviation value is obtained by a speed PI regulator iqReference value of currentMotor current i calculated by clarke and park conversionq、idRespectively with reference valuesComparing the values of 0, and obtaining the given value of voltage by the generated deviation value through a current PI regulatorAndthe two are inverse transformed by park to generate the given voltage valueAndandthe control signal of the three-phase inverter SVPWM (space vector pulse width modulation) is used for controlling the output of the inverter, so that the purpose of adjusting the rotating speed of the motor is achieved.
Invention pair idThe voltage feedforward decoupling and rotational inertia feedforward control links added in the 0-vector control technology are specifically as follows:
(1) voltage decoupling feedforward link
Reference value0 and a feedback value iq、idObtaining a given voltage value through a current PI regulatorAndwhen the gain of the current PI regulator is large, i can be approximately consideredd *＝id、iq *＝iqTherefore, the approximate linear control of the current is realized, but the gain amplitude of the current regulator is limited due to the influence of factors such as sensor delay, acquisition error and the like in an actual system, so that the voltage u in the formulas (1) and (2)d、uqThe coupling term of the invention can not be ignored, and the complete decoupling of the system can not be realized, so that the invention adds a voltage decoupling feedforward link to the current regulation link.
I.e. said voltage decoupling feed forward is, current iq、idObtaining output values u 'of quadrature-axis and direct-axis voltages through a PI regulator'qAnd u'dVoltage output value u'qAnd u'dRespectively with- ω LqiqOr ω Ldid+ωψfVoltage feedforward decoupling is completed after addition to obtain given values of quadrature axis and direct axis voltagesAnd
(2) rotational inertia feedforward link
According to the motion equation of the permanent magnet synchronous motor:
neglecting the friction coefficient B, because the flywheel energy storage device adopts the rotor and flywheel integrated design, the flywheel is the motor rotorSub, hence the motor external load torque TlThe moment of inertia of the flywheel is a fixed value, so that the disturbance caused by the moment of inertia can be converted into the current i according to the formula (4)qCompensation value i ofbcOutput value i of PI regulator of rotation speedpi-spdTogether as a torque current referenceWherein,
supposing that the difference value between the set value of the rotating speed and the current rotating speed is SpdErr, and the limit value of the feedforward adjustment of the rotational inertia is set to SpdErrLimit, the corresponding compensation strategy is formulated according to different states of the acceleration and the deceleration of the motor:
at the time of acceleration (SpdErr)>SpdErrLimit), torque currentThe reference values are as follows:
at reduced speed (SpdErr)<SpdErrLimit), torque currentThe reference values are as follows:
meanwhile, in order to prevent inertia control output saturation, an inertia compensation value i is addedbcOutput value i of rotating speed PI regulatorpi-spdAnd a torque current reference value iq *The limit protection is performed. Setting an inertia compensation value ibcOutput value i of rotating speed PI regulatorpi-spdReference value, reference valueIf their current calculated values are within the upper and lower limit values, the output values are equal to their calculated values; if the calculated value exceeds the upper limit value, the output value is equal to the upper limit value; if the calculated value is lower than the lower limit value, the output value is equal to the lower limit value. The specific upper and lower limit values can be set in an empirical mode according to actual working conditions.
Improved i according to the large moment of inertia load control strategy described abovedThe 0 vector control technology block diagram is added with a voltage and rotational inertia feedforward control link.
The patent utilizes DSP28335 control board to carry out software programming, in original idA large-moment-of-inertia control link is added on the basis of a 0-vector control technology, and after a new control algorithm is adopted, the influences of current oscillation, slow rotating speed response and the like are eliminated in the process of driving a flywheel by a permanent magnet synchronous motor, the current waveform becomes smooth, the rotating speed tracking is good, and the performance of a motor control system is improved. The effect of comparing the current waveform of the large moment of inertia control strategy with the original current waveform is shown in the following figure, wherein the upper part of the figure is a current waveform diagram after a large moment of inertia control link is added, and the lower part of the figure is a current waveform diagram under the original control mode.
The large-rotational inertia load control strategy comprises two control links of voltage feedforward decoupling and rotational inertia feedforward. In the voltage feedforward decoupling link, a voltage feedforward compensation term is added to the current feedback part to offset a coupling term in the stator voltage of the motor, so that disturbance caused by the coupling term is eliminated, and the current tracking error is reduced. And the rotational inertia feedforward link considers the influence of large rotational inertia of the flywheel according to a motion equation of the motor and feeds the rotational inertia serving as disturbance compensation back to the current regulator, so that the dynamic response performance of the speed control loop is improved. The current of the motor is dynamically compensated in real time, the dynamic response to a large-moment-of-inertia load is accelerated, and the accuracy and the rapidity of a permanent magnet synchronous motor control system are improved.
Example four
Fig. 7 is a flowchart of a large moment of inertia control algorithm of a permanent magnet synchronous motor, the control algorithm is written in a C language and runs in a DSP control board 6, in fig. 7, (a) is a flowchart of a main program, and (b) is a flowchart of a timer interrupt subroutine, the timer interrupt subroutine is executed in the main program, and the vector control algorithm mainly completes large moment of inertia control and double loops of rotating speed and current, and the specific implementation manner is as follows:
the specific implementation manner of the main program is as follows:
(I) start with
Program start, from the main program entry, S1;
(II) initialization
Initializing the DSP, and finishing the initialization work of a DSP peripheral clock, a watchdog, an IO port (input and output) and an interrupt vector table (S2);
(III) configuration register
Configuring a timer, a PWM register, an SCI register, and an interrupt register, and enabling a related interrupt function, S3;
(IV) initializing software parameters
Initializing relevant parameters such as a timer, a PWM duty ratio, delay time, RS232 communication software and the like, and S4;
(V) Loop waiting
Entering a main loop, and waiting for the occurrence of timer interruption, S5;
(VI) executing the interrupt program and returning
And executing the timer interrupt subprogram, returning to the main program after the timer interrupt subprogram is completed, and circularly waiting S6.
The timer interrupt subroutine is implemented as follows:
(I) interrupt Start
A timer interrupt occurs, and a timer interrupt program is entered, S7;
(II) whether it has been started
Judging whether the motor is started, if so, directly entering the vector control of the rotating speed current double closed loop, otherwise, entering a motor starting switching program, and S8;
after entering a motor starting switching program, performing motor pre-positioning, starting to bring the motor to a set rotating speed by adopting an I-F (current-frequency) vector control mode, and then switching the motor to a rotating speed and current double-closed-loop control mode to operate by adopting a switching method, S9;
(IV) speed regulation
After entering speed regulation, calculating the torque current and exciting current of the motor, calculating the actual rotating speed of the motor, comparing the actual rotating speed with the set rotating speed, and outputting the obtained deviation value i through a speed regulatorqReference value of currentS10；
(V) inertia feedforward
Converting the disturbance caused by the rotational inertia into a current compensation value according to the rotational inertia and the actual rotating speed of the motor, using the current compensation value and the output value of the speed regulator as a reference value for torque current regulation, and executing a corresponding inertia compensation strategy according to the speed increasing and reducing states of the motor S11;
(VI) Current Regulation
Calculating the torque current and the exciting current of the motor, comparing the torque current and the exciting current with a set value, and obtaining output values of quadrature-axis voltage and direct-axis voltage through a current regulator by the comparison value S12;
(VII) Voltage feed Forward decoupling
Calculating compensation values of quadrature axis and direct axis voltages according to the motor parameters and a voltage equation, eliminating voltage decoupling, and adding the compensation values with the output value of the current regulator to obtain reference values of the quadrature axis and direct axis voltages, S13;
(VIII) space vector Algorithm
Executing a space vector algorithm according to the reference values of the quadrature axis voltage and the direct axis voltage to obtain a PWM driving signal, and controlling the three-phase inverter bridge driving motor to operate S14;
(IX) interrupt completion return to main program
Finishing the large inertia control and the double-loop running of the rotating speed and the current of the motor, and returning to the main program after the interruption, S15.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (11)
1. A control method and a control system of a permanent magnet synchronous motor applying large moment of inertia are characterized by comprising the following steps,
1) calculating the actual rotating speed of the motor, calculating the torque current and the exciting current of the motor,
2) comparing the actual rotating speed with the set rotating speed to obtain a deviation value, and outputting the deviation value i through a speed regulatorqReference value of current
3) According to the rotational inertia and the actual rotating speed of the motor, the disturbance caused by the rotational inertia is converted into a current compensation value and an output value of the speed regulatorThe inertia compensation strategy is taken as a reference value for torque current regulation and is executed according to the speed increasing and reducing states of the motor,
4) comparing the torque current with a reference value regulated by the torque current, and obtaining output values of quadrature-axis voltage and direct-axis voltage by the comparison value through a current regulator;
5) according to the motor parameters and voltage equation, calculating the compensation values of the quadrature axis and direct axis voltages to carry out voltage decoupling feedforward, adding the compensation values with the output value of the current regulator to obtain the reference values of the quadrature axis and direct axis voltages,
6) and executing a space vector algorithm according to the reference values of the quadrature axis voltage and the direct axis voltage to obtain a PWM driving signal, and controlling the three-phase inverter bridge driving motor to operate.
2. The control method of claim 1, wherein the current compensation value
3. The control method according to claim 2, wherein the inertia compensation strategy in step 3) is
At the time of acceleration (SpdErr)>SpdErrLimit), reference value for torque current regulationThe following were used:
at reduced speed (SpdErr)<SpdErrLimit), torque currentThe reference values are as follows:
wherein SpdErr is the difference value between the set rotating speed value and the current rotating speed, and SpdErrLimit is the limit value of the feedforward adjustment of the rotational inertia; i.e. ipi-spdThe output value is the output value of a rotating speed PI regulator; i.e. ibcThe disturbance caused by the moment of inertia is converted into a current iqThe compensation value of (2).
4. The control method according to claim 3, wherein the inertia compensation value i is set separatelybcOutput value i of rotating speed PI regulatorpi-spdAnd a reference valueIf their current calculated values are within the range of the upper and lower limit values, the output value is the calculated value; if the calculated value exceeds the upper limit value, the output value is equal to the upper limit value; if the calculated value is lower than the lower limit value, the output value is equal to the lower limit value.
5. The control method of claim 1, wherein said voltage decoupling feed forward is, current iq、idObtaining output values u 'of quadrature-axis and direct-axis voltages through a PI regulator'qAnd u'dVoltage output value u'qAnd u'dRespectively with- ω LqiqOr ω Ldid+ωψfVoltage feedforward decoupling is completed after addition to obtain given values of quadrature axis and direct axis voltagesAnd
6. a control system of a permanent magnet synchronous motor using a large moment of inertia to implement the control method according to any one of claims 1 to 5, characterized in that: the permanent magnet synchronous motor control system comprises a rectifier bridge, an inverter bridge PWM driving module, a control panel, a direct current voltage detection circuit for detecting output voltage of the rectifier bridge, a current detection circuit for detecting stator current of a permanent magnet synchronous motor and a protection circuit, wherein the outputs of the direct current voltage detection circuit and the current detection circuit are respectively input into the control panel and the protection circuit, the positive output of the rectifier bridge is connected with a charging resistor in series and then connected into the input end of a three-phase inverter bridge, a direct current contactor is switched on or off by the output drive of the control panel, and a brake resistor and a brake contactor driven by the output of the protection circuit are connected between two input ends of the inverter bridge in series.
7. The control system of the permanent magnet synchronous motor with the large moment of inertia, according to claim 6, is characterized in that: the brake contactor comprises a normally open contact and a driving coil, wherein the normally open contact is correspondingly connected with the brake resistor loop in series, and the driving coil corresponds to the protection circuit.
8. The control system of the permanent magnet synchronous motor with the large moment of inertia, according to claim 6, is characterized in that: the output of the protection circuit and the corresponding output of the control board are connected to the PWM driving module in parallel.
9. The control system of the permanent magnet synchronous motor with the large moment of inertia, according to claim 6, is characterized in that: the voltage sampling module comprises a first operational amplifier with a positive input end, a negative input end and a voltage acquisition end, the output of the first operational amplifier is connected to the signal processing module through a resistor R5 and a signal adjusting unit, and meanwhile, the output of the first operational amplifier is connected with the input end through a resistor R4; the current sampling module including set up the mutual-inductor of negative pole output, positive and negative pole correspond with the mutual-inductor both ends correspond second operational amplifier, the while of electricity connection, second operational amplifier's output be connected with the input through resistance R8, second operational amplifier's output insert third operational amplifier's positive pole behind resistance R10, third operational amplifier's output and negative pole intercommunication, third operational amplifier's output be connected to the signal processing module behind the signal adjustment unit, the signal adjustment unit include two diode of positive pole and negative pole intercommunication in proper order, the negative pole of diode connect the positive voltage, anodal ground connection, first operational amplifier or third operational amplifier's output and electric intercommunication between two diodes.
10. The control system of the permanent magnet synchronous motor with the large moment of inertia, according to claim 6, is characterized in that: the protection signal circuit comprises a comparator with the positive electrode connected with the output of the first operational amplifier or the third operational amplifier, the negative electrode of the comparator is connected with reference voltage and reference current, an AND gate with two input ends connected with the output of the two comparators, and an inverter connected with the output of the OR gate, the output end of the inverter is connected to the PWM driving module, and the protection signal output by the inverter controls the output and the turn-off of the signal of the PWM driving module so as to realize the protection system.
11. The control system of the permanent magnet synchronous motor with the large moment of inertia, according to claim 10, is characterized in that: the drive circuit of the brake contactor comprises a base electrode and a triode at the output end of the phase inverter, an emitting electrode of the triode is grounded, a relay electrode is connected with a corresponding coil in series and then connected with a positive power supply, and a diode which is connected with the coil in parallel and a negative electrode of the diode is connected with the positive power supply.
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