CN108242905B - Control method and control system for permanent magnet synchronous motor with large moment of inertia - Google Patents
Control method and control system for permanent magnet synchronous motor with large moment of 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
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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Abstract
The invention discloses a control method and a control system of a permanent magnet synchronous motor with large moment of inertia, wherein the control method comprises the following steps of 1) calculating the actual rotation speed of the motor, calculating the torque current and exciting current of the motor, and 2) outputting a reference value of current by a speed regulator through a deviation value; 3) According to the speed increasing and decreasing states of the motor, executing a corresponding inertia compensation strategy, 4) comparing the torque current with a reference value for regulating the torque current, and obtaining output values of quadrature axis and direct axis voltages by a current regulator through the comparison value; 5) And 6) executing a space vector algorithm according to the reference values of the quadrature axis and direct axis voltages to obtain PWM driving signals and control the operation of the three-phase inverter bridge driving motor. The invention designs voltage feedforward decoupling and moment of inertia feedforward control links on the basis of the double-loop vector control of the rotating speed and the current, dynamically compensates the motor current in real time, accelerates the dynamic response to the load with large moment of inertia, and improves the accuracy and the rapidity of a permanent magnet synchronous motor control system.
Description
Technical Field
The invention belongs to the technical field of alternating-current permanent magnet synchronous motor control, and particularly relates to a control method and a control system of a permanent magnet synchronous motor with large moment of inertia.
Background
The alternating-current permanent magnet synchronous motor has the advantages of high power density, excellent regulation performance, good maintainability and the like, and can work in two modes of driving and generating, so that the alternating-current permanent magnet synchronous motor is widely used as a flywheel driving motor in a flywheel energy storage device. Because the flywheel belongs to a large rotational inertia load, the following problems exist in the process of driving the flywheel by adopting a permanent magnet synchronous motor: if the power of the motor control system is larger, when the motor with large moment of inertia and high rotation speed is in fault, the motor with large moment of inertia runs at high speed again because the output switch is not disconnected even if the input of the motor control system is disconnected and the inverter stops running, so that the counter potential of the motor is reversely irrigated to the direct current side of the diode rectifier, the direct current voltage is increased, and even the silicon controlled rectifier module of the motor control system breaks down.
Meanwhile, larger inertia torque is generated when the rotation speed of the flywheel changes, so that the influence of current oscillation, increase of tracking error, slow rotation speed response and the like of the motor in the control process is 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 provides a control system of a permanent magnet synchronous motor with large moment of inertia, which can effectively prevent direct current overvoltage caused by counter-current potential counter-irrigation of the motor.
The invention further aims to provide a control method of the permanent magnet synchronous motor with large moment of inertia, which is characterized in that voltage feedforward decoupling and moment of inertia feedforward control links are designed on the basis of rotating speed and current double-loop vector control, motor current is dynamically compensated in real time, dynamic response to a load with large moment of inertia is accelerated, and accuracy and rapidity of a control system of the permanent magnet synchronous motor are improved.
The invention is realized by the following technical scheme:
a control method and a control system for a permanent magnet synchronous motor with large rotational inertia comprise the following steps,
1) Calculating the actual rotation speed of the motor, calculating the torque current and exciting current of the motor,
2) Comparing the actual rotation speed of the motor with the set rotation speed, and outputting the obtained deviation value through a speed regulator q Reference value of current
3) According to the rotational inertia and the actual rotational 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 regulatorTogether as a reference value for torque current regulation, and execute a corresponding inertia compensation strategy according to the rising speed and the falling speed states of the motor,
4) Comparing the torque current with a reference value for torque current regulation, and obtaining output values of quadrature axis and direct axis voltages by a current regulator through the comparison value;
5) According to the motor parameters and the voltage equation, calculating the compensation values of the quadrature axis and direct axis voltages to perform voltage decoupling feedforward, adding the compensation values with the output values of the current regulator to obtain 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 and direct axis voltages to obtain PWM driving signals, and controlling the three-phase inverter bridge driving motor to operate.
In the above technical solution, the current compensation value
In the above technical solution, the inertia compensation strategy in step 3) is that
At increasing speed (SpdErr)>SpdErrLimit), reference value for torque current regulationThe following are provided:
at reduced speed (SpdErr)<SpdErrLimit), torque currentThe reference values are as follows:
wherein SpdErr is the difference between the rotating speed set value and the current rotating speed, and SpdErrLimit is the limit value of the feedforward adjustment of the moment of inertia; i.e pi-spd Is the output value of the rotating speed PI regulator; i.e bc Conversion of disturbances due to moment of inertia into current i q Is used for the compensation value of (a).
In the above technical solution, inertia compensation values i are respectively set bc Output value i of rotation speed PI regulator pi-spd Reference valueIf the current calculated value is within the range of the upper limit value and the lower limit value, 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 current i q 、i d The deviation value of (a) obtains the output value u 'of the quadrature axis and direct axis voltage through the PI regulator' q And u' d Voltage output value u' q And u' d Respectively with-omega L q i q Or ωL of d i d +ωψ f After addition, voltage feedforward decoupling is completed, and a given value of quadrature axis and direct axis voltage is obtainedAnd->
The control system of the permanent magnet synchronous motor with large moment of inertia for realizing the control method is characterized in that: the direct-current contactor is driven to be conducted or disconnected by the output of the control board, and is connected with a brake resistor in series between two input ends of the inverter bridge and a brake contactor driven by the output of the protection circuit.
In the technical scheme, the brake contactor comprises normally open contacts correspondingly connected in series on the brake resistor loop and a driving coil corresponding to the protection circuit.
In the above technical scheme, the output of the protection circuit and the corresponding output of the control board are connected to the PWM driving module in parallel.
In the above technical scheme, the voltage sampling module includes a first operational amplifier with an anode input end, a cathode input end and a voltage acquisition end, wherein 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 comprises a transformer arranged at the output of the negative electrode, the positive electrode and the negative electrode are correspondingly and electrically connected with the two ends of the transformer, meanwhile, the output of the second operational amplifier is connected with the input end through a resistor R8, the output of the second operational amplifier is connected with the positive electrode of a third operational amplifier after passing through a resistor R10, the output of the third operational amplifier is communicated with the negative electrode, the output of the third operational amplifier is connected to the signal processing module after passing through a signal adjusting unit, the signal adjusting unit comprises two diodes which are sequentially communicated with the positive electrode and the negative electrode, the negative electrode of the diode is connected with a positive voltage, the positive electrode is grounded, and the output of the first operational amplifier or the output of the third operational amplifier is electrically communicated with the two diodes.
In the above technical solution, the protection signal circuit includes a comparator whose positive electrode is connected to the output of the first operational amplifier or the third operational amplifier, the negative electrode of the comparator is connected to the reference voltage and the reference current, the two input ends are connected to the output of the two comparators, and 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 turn-off of the PWM driving module signal to implement the protection system.
In the above technical scheme, the driving circuit of the brake contactor comprises 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 with a corresponding coil in series and then is connected with a positive power supply, and a diode connected with the coil in parallel and a negative electrode of the diode is connected with the positive power supply.
The invention has the advantages and beneficial effects that:
the invention designs voltage feedforward decoupling and moment of inertia feedforward control links on the basis of the double-loop vector control of the rotating speed and the current, dynamically compensates the motor current in real time, accelerates the dynamic response to the load with large moment of inertia, and improves the accuracy and the rapidity of a permanent magnet synchronous motor control system.
The invention adds the brake resistor and the brake contactor, can consume the residual voltage of the direct current capacitor through the brake resistor after the fault occurs, and simultaneously prevents the back-emf of the motor from causing direct current overvoltage, thereby further ensuring the safety of circuit devices.
Drawings
FIG. 1 is a block diagram of a permanent magnet synchronous motor control system;
FIG. 2 is a diagram of 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 DC voltage acquisition circuit diagram;
FIG. 5 is a circuit diagram of a current acquisition;
FIG. 6 is a protection circuit diagram;
FIG. 7 is a flowchart of a control algorithm for the large moment of inertia of the permanent magnet synchronous motor;
FIG. 8 is i d Vector control schematic of=0;
FIG. 9 is a voltage decoupling feedforward control loop diagram;
FIG. 10 is a graph of a moment of inertia feedforward control loop;
FIG. 11 is a diagram of the invention i d Vector control schematic of=0;
fig. 12 is a graph showing comparison of current waveforms before and after improvement.
Wherein:
1. three-phase ac power supply 2, diode rectifier
3. Three-phase inverter bridge 4 and permanent magnet synchronous motor
5. Touch screen 6 and DSP control board
7. DC voltage detection circuit 8 and current detection circuit
9. PWM driving module 10 and protection circuit
11. Charging resistor 12, DC 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
Other relevant drawings may be made by those of ordinary skill in the art from the above figures without undue burden.
Detailed Description
In order to make the person skilled in the art better understand the solution of the present invention, the following describes the solution of the present invention with reference to specific embodiments.
Example 1
A control system of a permanent magnet synchronous motor with large moment of inertia comprises a rectifier bridge 2, a three-phase inverter bridge 3, a PWM driving module 9, a DSP control board 6, a direct current voltage detection circuit 7, a current detection circuit 8 and a protection circuit 10, wherein the input end of the rectifier bridge 2 is correspondingly connected with UVW three phases of a three-phase alternating current 1, the output end ABC three phases of the three-phase inverter bridge 3 are correspondingly communicated with a surface-mounted permanent magnet synchronous motor 4, the direct current voltage detection circuit 7 is respectively and electrically connected with the control board and used for detecting the output voltage of the rectifier bridge, the current detection circuit 8 and the protection circuit 10 are used for detecting the stator current of the permanent magnet synchronous motor, the output of the direct current voltage detection circuit and the output of the current detection circuit are input to the protection circuit 10, the positive output of the rectifier bridge is serially connected 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 are connected with the positive electrode of a bus capacitor 13, and a braking resistor 14 of the bus capacitor 13 are connected with the input end of the three-phase inverter bridge, and the direct current contactor 12 is driven to be conducted or disconnected by the output of the control board 6. 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 the two input ends of the inverter bridge, and the brake contactor 15 is driven to be turned on or turned off by the output of the protection circuit 10. The brake contactor comprises a normally open contact correspondingly connected in series with a brake resistor loop and a driving coil correspondingly connected by a protection circuit.
In order to realize the action of the direct current contactor or the brake contactor, the coil driving circuit output by the protection circuit or the control panel comprises a triode, the base electrode of which is communicated with the output end through a resistor, the emitter electrode of the triode is grounded, the collector electrode of the triode is connected with a positive power supply after being connected with a corresponding coil in series, and a diode, the diode 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 after the capacitor voltage reaches a set value, the controller sends out a signal to close the direct current contactor 12 to short the charging resistor. The charging resistor is an indispensable part of a charging circuit of a control system, prevents the system device from being damaged by overcurrent during charging, is particularly suitable for driving a permanent magnet synchronous motor with large moment of inertia, is additionally provided with the braking resistor 14 and the braking contactor 15, can consume the residual voltage of a direct current capacitor through the braking resistor after a fault occurs, and also prevents the direct current overvoltage caused by counter-current of the motor, thereby further guaranteeing the safety of the main circuit device.
The PWM driving module is a SKHI22AH4R module of a Semi control company, the driving and protecting circuit functions of the module are integrated, the peripheral circuit is simple, an optocoupler or a transformer is not needed to be isolated, PWM signals 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 are generated or not is judged through hardware, if faults are 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 signals, the controller stops software operation, and the hardware protection can effectively protect the system even if the controller software protection fails.
Fig. 2 is an internal structural 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 the upper bridge arm are D1, D3 and D5, the diodes of the lower bridge arm are D2, D4 and D6, wherein the positive pole of the diode D1 is connected with the negative pole of the diode D2 to form a bridge arm, the positive pole of the diode D3 is connected with the negative pole of the diode D4 to form a bridge arm, and the positive pole of the diode D5 is connected with the negative pole of the diode D6 to form a bridge arm.
Fig. 3 is an internal structure diagram of the three-phase inverter bridge, and the specific connection mode is as follows: the three-phase inverter bridge 3 consists of six thyristors Q1-Q6, the upper bridge arm consists of thyristors Q1, Q3 and Q5, and the lower bridge arm consists of thyristors Q2, Q4 and Q6, wherein the emitter of the thyristor Q1 is connected with the collector of the thyristor Q2 to form a bridge arm, the emitter of the thyristor Q3 is connected with the collector of the thyristor Q4 to form a bridge arm, and the emitter of the thyristor Q5 is connected with the collector of the thyristor Q6 to form a bridge arm.
Specifically, the diode rectifier bridge 2 in the main circuit is used for converting alternating current into direct current, the charging resistor 11 and the direct current contactor 12 prevent current from flowing 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 end of the diode rectifier bridge 2, namely the positive electrode output end, is connected with one end of the charging resistor 11 and one end of the direct current contactor 12, and the 5 end of the diode rectifier bridge 2, namely the negative electrode output end, is connected with the negative electrode of the bus capacitor 13, the brake contactor 15 and the 2 end 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 positive electrode of the bus capacitor 13, the braking resistor 14 and the 1 end of the three-phase inverter bridge 3, and the 3, 4 and 5 ends of the three-phase inverter bridge 3 are connected with the A, B, C of the permanent magnet synchronous motor 4.
The control boards, such as DSP control board 6, are electrically connected to effect corresponding electrical connections. The DSP control board 6 is a control core of the system, and is used for realizing functions such as voltage and current signal acquisition, PWM signal output (pulse width modulation), motor control algorithm and protection, man-machine communication, and the like.
The touch screen 5 is communicated with the DSP controller, and the touch screen 5 is mainly used for achieving the display and adjustment functions of the permanent magnet synchronous motor parameters. The touch screen 5 is a 7-inch touch screen of Beijing Kunlun on-state company, the model is TPC7062K, the touch screen is powered by a 24V direct current power supply, is communicated with the DSP in an RS232 mode, and units such as a liquid crystal display, a touch panel, control and data storage are integrated. The software is divided into running environment picture configuration software and a data communication protocol, and the running environment picture configuration software and the data communication protocol are written by adopting MCGS embedded configuration software and a script driving development tool.
The protection circuit 10 is electrically connected with the controller or directly inputs a protection signal into the PWM driving module 9, controls the enabling of the PWM signal, directly blocks the PWM signal once a fault signal occurs, realizes a hardware protection function, and reduces the possibility of fault interference interruption of the control board by adopting a direct driving mode.
Example two
The direct-current voltage detection circuit 7 is used for collecting rectifier output voltage and comprises a first operational amplifier 16 with positive and negative input ends and a voltage collecting end, wherein the output of the first operational amplifier 16 is connected to a signal processing module through a resistor R5 and then a signal adjusting unit, and meanwhile, the output of the first operational amplifier is connected with the input end through a resistor R4 and is connected with a capacitor C2 in parallel on the resistor R4. Meanwhile, the positive input end of the first operational amplifier is grounded after passing through the capacitor C1, and meanwhile, a resistor R3 is also arranged in parallel with the capacitor C1.
The current detection circuit is used for collecting motor stator current and comprises a sensor arranged on a stator, a positive electrode and a negative electrode are correspondingly and electrically connected with a second operational amplifier 17 at two ends of the sensor, meanwhile, the output of the second operational amplifier is connected with an input end through a resistor R8, a capacitor C5 is connected in parallel with the resistor R8, the output of the second operational amplifier is connected with the positive electrode of a third operational amplifier 18 after passing through the resistor R10, the positive electrode of the third operational amplifier is grounded after passing through a resistor R11, the output of the third operational amplifier is communicated with the negative electrode, and the output of the third operational amplifier is connected to the signal processing module after passing through the signal adjusting unit. The signal adjusting unit comprises two diodes D8 and D7 or D9 and D10 which are sequentially communicated with each other in positive and negative directions, the negative pole of the diode D8 or D9 is connected with positive voltage, the positive pole 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 includes two comparators 19 and 20 with positive poles respectively output from the first operational amplifier or the third operational amplifier, negative poles of the two comparators 19 and 20 are respectively connected with a reference voltage and a reference current, an or gate 21 with two input ends connected with the outputs of the two comparators, and an inverter 22 connected with the output of the or gate, wherein the output end of the inverter is connected to the PWM driving module, and a block resistor R12 is arranged at the input end of the PWM driving module. The protection signal output by the 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 feedback voltage VolInput1 port, the other end 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 feedback voltage VolInput2 port, the other end is connected to the resistor R3, the capacitor C1, and the positive end 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 negative electrode of the diode D7, and the positive electrode of the diode D8. The other end of the capacitor C3 and the positive electrode of the diode D7 are connected to AGND, the negative electrode of the diode D8 is connected to 3.3V, and the voltage output signal is connected to the positive electrode of the diode D8 and the negative electrode of the diode D7.
Fig. 5 is a circuit diagram of current detection, and the specific connection relationships are as follows:
the resistor R6 is connected with the feedback current CurInput1 port, the other end 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 feedback current CurInput2 port, the other end is connected to the resistor R9, the capacitor C4, and the positive end 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 electrode of the diode D10, and the positive electrode of the diode D9. The other end of the capacitor C6 and the positive electrode of the diode D10 are connected to AGND, the negative electrode of the diode D9 is connected to 3.3V, and the current output signal is connected to the positive electrode of the diode D9 and the negative electrode of the diode D10.
Fig. 6 is a protection circuit diagram, the connection relationship of which is as follows:
the negative terminal of the comparator 19 is connected with a feedback current CurFk port, the positive terminal is connected with 3.3V, the output terminal is connected with a 1 pin of the OR gate 21, the negative terminal of the comparator 20 is connected with a feedback voltage VolFk port, the positive terminal is connected with 3.3V, the output terminal is connected with a 2 pin of the OR gate 21, the output terminal of the OR gate 21 is connected with the input terminal of the inverter 22, the output terminal of the inverter 22 is connected with a resistor R12 and a protection signal Pro, the zero end of the resistor R12 is connected with 3.3V, and the protection signal Pro is connected with a PWM driving module.
Example III
The invention aims at a surface-mounted permanent magnet synchronous motor, and the direct axis inductance and the quadrature axis inductance of the surface-mounted permanent magnet synchronous motor are equal, so that a motor basic equation under a d-q rotating coordinate system obtained through clarc and park transformation is as follows:
in which L d ，L q -direct axis inductance and quadrature axis inductance of the motor;
u d ，u q -motor direct voltage, quadrature voltage;
ω，ω m -electrical angular velocity of the motor, mechanical angular velocity;
T e ，T l -motor electromagnetic torque, load torque;
ψ f -excitation flux linkage of rotor permanent magnet poles;
R s -motor stator resistance;
j- - -moment of inertia of the motor;
B m -the coefficient of friction of the motor.
Surface-mounted permanent magnet synchronous motor generally adopts i d Vector control method of=0, which decomposes stator current into excitation current i d And torque current i q Independent control of the motor magnetic field and torque can be realized by adjusting the amplitude of the motor magnetic field and the torque, and the principle is shown in fig. 7:
the speed deviation value is obtained by a speed PI regulator q Reference value of currentMotor current i calculated from clarke, park transformation q 、i d Respectively +.>Comparing the 0 values, and obtaining the given value of the voltage by the generated deviation value through the current PI regulator>And->The two are subjected to inverse park transformation to generate a voltage set value +.>And->And->The control signal of the three-phase inverter SVPWM (space vector pulse width modulation) is output by controlling the inverter, thereby achieving the purpose of regulating the rotating speed of the motor.
The invention is directed to i d The added voltage feedforward decoupling and moment of inertia feedforward control links in the=0 vector control technique are specifically as follows:
(1) Voltage decoupling feedforward link
Reference value0 and feedback value i q 、i d Obtaining a voltage set value through a current PI regulator>And->When the current PI regulator gain is large, it can be approximated as i d * ＝i d 、i q * ＝i q Thereby realizing approximate linear control of current, but the actual system is influenced by factors such as sensor delay, acquisition error and the like, so that the gain amplitude of the current regulator is limited, and the voltage u in the formulas (1) and (2) is obtained d 、u q The coupling terms of the system cannot be ignored and the complete decoupling of the system cannot be realized, so the invention has the advantages of current regulation linkA voltage decoupling feedforward link is added.
I.e. the voltage decoupling feedforward is current i q 、i d The deviation value of (a) obtains the output value u 'of the quadrature axis and direct axis voltage through the PI regulator' q And u' d Voltage output value u' q And u' d Respectively with-omega L q i q Or ωL of d i d +ωψ f After addition, voltage feedforward decoupling is completed, and a given value of quadrature axis and direct axis voltage is obtainedAnd->
(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 integrated design of a rotor and a flywheel, the flywheel is the motor rotor, so the motor external load torque T l At zero, the moment of inertia of the flywheel is a fixed value, so that the disturbance caused by the moment of inertia can be converted into a current i according to the formula (4) q Is not equal to the compensation value i of (2) bc Output value i of the rotation speed PI regulator pi-spd Together as a torque current referenceWherein (1)>
Assuming that the difference value between the rotating speed set value and the current rotating speed is SpdErr, setting the limit value of the feedforward adjustment of the moment of inertia as SpdErrLimit, and formulating corresponding compensation strategies according to different states of the rising speed and the falling speed of the motor:
at increasing speed (SpdErr)>SpdErrLimit) of torque currentThe reference values are as follows:
at reduced speed (SpdErr)<SpdErrLimit), torque currentThe reference values are as follows:
at the same time, in order to prevent the saturation of inertia control output, the inertia compensation value i bc Output value i of rotational speed PI regulator pi-spd Torque current reference i q * Limit protection is performed. Setting inertia compensation value i bc Output value i of rotation speed PI regulator pi-spd 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.
According to the high moment of inertia load control strategy described above, improved i d The=0 vector control technique is, for example, to add voltage and moment of inertia feedforward control links.
The patent uses DSP28335 control panel to program software, in original i d The large moment of inertia control link is added on the basis of the=0 vector control technology, 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 the flywheel by the permanent magnet synchronous motor, and the current waveform becomesSmooth, the rotational speed is tracked well, has improved motor control system performance. The comparison effect of the current and the original current waveform by adopting the large moment of inertia control strategy is shown in the following graph, wherein the upper part of the graph is a current waveform graph after a large moment of inertia control link is added, and the lower part of the graph is a current waveform graph in the original control mode.
The large moment of inertia load control strategy comprises voltage feedforward decoupling and moment of inertia feedforward control links. The voltage feedforward decoupling link counteracts the coupling term in the motor stator voltage by adding the voltage feedforward compensation term to the current feedback part, thereby eliminating disturbance caused by the coupling term and reducing current tracking error. And the moment of inertia feedforward link takes the influence of the large moment of inertia of the flywheel into consideration according to the motion equation of the motor, and feeds back the moment of inertia as disturbance compensation to the current regulator, so that the dynamic response performance of the speed control loop is improved. The motor current is dynamically compensated in real time, so that the dynamic response to the load with large moment of inertia is quickened, and the accuracy and the rapidity of the permanent magnet synchronous motor control system are improved.
Example IV
Fig. 7 is a flow chart of a control algorithm of the large moment of inertia of the permanent magnet synchronous motor, the control algorithm is written in a language C and runs in the DSP control board 6, in fig. 7, (a) is a flow chart of a main program, and (b) is a flow chart of a timer interrupt subroutine, the timer interrupt subroutine is executed in the main program, and the specific implementation is as follows:
the specific implementation mode of the main program is as follows:
start (I)
Starting a program, namely starting a main program from a main program inlet, and S1;
(II) initializing
Initializing the DSP, and completing the initialization work of a DSP peripheral clock, a watchdog, an IO port (input and output) and an interrupt vector table, S2;
(III) configuration registers
Configuring a timer, a PWM register, a SCI register and an interrupt register, and enabling a related interrupt function, S3;
(IV) initializing software parameters
Initializing related parameters such as a timer, a PWM duty cycle, delay time, RS232 communication software and the like, and S4;
(V) cycle waiting
Entering a main loop, waiting for timer interruption to occur, and S5;
(VI) executing the interrupt program and returning
And executing the timer interrupt subroutine, returning to the main routine after completion, and circularly waiting for S6.
The timer interrupt subroutine is embodied as follows:
interrupt initiation
The timer interruption occurs, and a timer interruption program is entered, S7;
(II) whether or not it has been started
Judging whether the motor is started or not, if so, directly entering the vector control of the rotating speed and current double closed loops, otherwise, entering a motor starting switching program, and S8;
after entering a motor starting switching program, firstly presetting a motor, then starting 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 current double-closed loop control mode for operation by adopting a switching method, wherein S9;
(IV) speed Regulation
After entering speed regulation, calculating torque current and exciting current of the motor, calculating actual rotation speed of the motor, comparing the actual rotation speed with set rotation speed, and outputting the obtained deviation value through a speed regulator q Reference value of currentS10；
(V) inertia feedforward
According to the rotational inertia and the actual rotational speed of the motor, converting disturbance caused by the rotational inertia into a current compensation value, taking 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 decreasing states of the motor, wherein S11 is implemented;
(VI) Current Regulation
Calculating torque current and exciting current of the motor, comparing the torque current and exciting current with a set value, and obtaining output values of quadrature axis and direct axis voltages by a current regulator through the comparison value, wherein S12 is provided;
(VII) Voltage feedforward decoupling
According to motor parameters and voltage equations, calculating compensation values of quadrature axis and direct axis voltages, eliminating voltage decoupling, and adding the compensation values with output values of a current regulator to obtain reference values of the quadrature axis and direct axis voltages, S13;
(VIII) space vector algorithm
According to the reference values of the quadrature axis and direct axis voltages, executing a space vector algorithm to obtain PWM driving signals, and controlling the three-phase inverter bridge driving motor to run, S14;
(IX) interrupt completion return Main program
And (3) finishing large inertia control and rotating speed current double-loop operation of the motor, and stopping finishing the return to the main program, wherein S15 is realized.
The foregoing has described exemplary embodiments of the invention, it being understood that any simple variations, modifications, or other equivalent arrangements which would not unduly obscure the invention may be made by those skilled in the art without departing from the spirit of the invention.
Claims (7)
1. A control method of a permanent magnet synchronous motor with large moment of inertia is characterized by comprising the following steps,
1) Calculating the actual rotation speed of the motor, calculating the torque current and exciting current of the motor,
2) Comparing the actual rotation speed of the motor with the set rotation speed, and outputting the obtained deviation value through a speed regulator q Reference value of current
3) According to the rotational inertia and the actual rotational 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 regulatorTogether as a reference value for torque current regulation, and execute a corresponding inertia compensation strategy according to the rising speed and the falling speed states of the motor,
4) Comparing the torque current with a reference value for torque current regulation, and obtaining output values of quadrature axis and direct axis voltages by a current regulator through the comparison value;
5) According to the motor parameters and the voltage equation, calculating the compensation values of the quadrature axis and direct axis voltages to perform voltage decoupling feedforward, adding the compensation values with the output values of the current regulator to obtain reference values of the quadrature axis and direct axis voltages,
6) According to the reference values of the quadrature axis and direct axis voltages, executing a space vector algorithm to obtain PWM driving signals, and controlling the three-phase inverter bridge driving motor to operate; the current compensation value-excitation flux linkage of rotor permanent magnet poles; torque current i q The method comprises the steps of carrying out a first treatment on the surface of the J- - -moment of inertia of the motor; the inertia compensation strategy in step 3) is as follows
At increasing speed, i.e. SpdErr>Reference value for torque current regulation by SpdErrLimitThe following are provided:
at reduced speed, i.e. SpdErr<SpdErrLimit, torque currentThe reference values are as follows:
wherein SpdErr is the difference between the rotation speed set value and the current rotation speedThe value, spdErrLimit, is the limit for moment of inertia feed-forward adjustment; i.e pi-spd Is the output value of the rotating speed PI regulator; i.e bc Conversion of disturbances due to moment of inertia into torque current i q Is a compensation value of (2); respectively setting inertia compensation values i bc Output value i of rotation speed PI regulator pi-spd Reference valueIf the current calculated value is within the range of the upper limit value and the lower limit value, 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.
2. The control method of claim 1, wherein the voltage decoupling feedforward is a current i q 、i d The deviation value of (a) obtains the output value u 'of the quadrature axis and direct axis voltage through the PI regulator' q And u' d Voltage output value u' q And u' d Respectively with-omega L q i q Or ωL of d i d +ωψ f After addition, voltage feedforward decoupling is completed, and a given value of quadrature axis and direct axis voltage is obtainedAnd->
3. A control system for a permanent magnet synchronous motor employing a large moment of inertia for implementing the control method of any one of claims 1-2, characterized in that: the direct-current voltage detection circuit is used for detecting the output voltage of the rectifier bridge, the current detection circuit is used for detecting the stator current of the permanent magnet synchronous motor, and the protection circuit is used for respectively inputting the outputs of the direct-current voltage detection circuit and the current detection circuit into the control board and the protection circuit, the positive output of the rectifier bridge is connected with the input end of the three-phase inverter bridge after being connected with the charging resistor in series, the direct-current contactor is driven to be conducted or disconnected by the output of the control board, the two ends of the direct-current contactor are connected with the two ends of the charging resistor in parallel, and the two input ends of the inverter bridge are connected with the braking resistor in series, and the braking contactor is driven by the output of the protection circuit.
4. A control system for a permanent magnet synchronous motor employing a large moment of inertia according to claim 3, wherein: the brake contactor comprises a normally open contact correspondingly connected in series with a brake resistor loop and a driving coil correspondingly connected by a protection circuit.
5. A control system for a permanent magnet synchronous motor employing a large moment of inertia according to claim 3, wherein: the output of the protection circuit is connected with the corresponding output of the control board in parallel to the PWM driving module.
6. A control system for a permanent magnet synchronous motor employing a large moment of inertia according to claim 3, wherein: the voltage sampling module comprises a first operational amplifier comprising an anode input end, a cathode input end and a voltage acquisition end, wherein 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 cathode input end of the first operational amplifier through a resistor R4; the current sampling module comprises a sensor arranged on a stator, a second operational amplifier is correspondingly and electrically connected with two ends of the sensor, meanwhile, the output of the second operational amplifier is connected with the negative electrode input end of the second operational amplifier through a resistor R8, the output of the second operational amplifier is connected with the positive electrode input end of a third operational amplifier through a resistor R10, the output of the third operational amplifier is communicated with the negative electrode input end of the third operational amplifier, the output of the third operational amplifier is connected to the signal processing module through a signal adjusting unit, the signal adjusting unit comprises a first diode D10 and a second diode D9, the positive electrode of the first diode D10 is grounded, the positive electrode of the second diode D9 is electrically communicated with the output of the first operational amplifier or the output of the third operational amplifier, and the negative electrode of the second diode D9 is connected with positive voltage.
7. The control system for a permanent magnet synchronous motor using a large moment of inertia according to claim 6, wherein: the protection circuit comprises two comparators, an OR gate and an inverter, wherein the positive electrodes of the comparators are respectively connected with the output of the first operational amplifier or the third operational amplifier, the negative electrodes of the comparators are respectively connected with reference voltage and reference current, the two input ends of the OR gate are connected with the output ends of the two comparators, the input of the inverter is 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 PWM driving module signal so as to realize a protection system.
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| CN109217653B (en) * | 2018-09-13 | 2021-04-27 | 福州大学 | Electromagnetic switch feedforward feedback control module with ultra-wide working voltage |
| CN109039170B (en) * | 2018-10-25 | 2024-03-08 | 核工业理化工程研究院 | Control system of permanent magnet synchronous motor |
| CN109217742B (en) * | 2018-10-25 | 2024-02-09 | 核工业理化工程研究院 | Control system of permanent magnet synchronous motor |
| CN109995295A (en) * | 2019-03-25 | 2019-07-09 | 中国科学院长春光学精密机械与物理研究所 | More motor parallel drive control methods and system |
| CN111865161A (en) * | 2019-04-08 | 2020-10-30 | 广东威灵电机制造有限公司 | Measuring device and measuring method for rotational inertia of motor and motor control system |
| CN110635740A (en) * | 2019-11-08 | 2019-12-31 | 浙江工业大学 | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy |
| CN113726230B (en) * | 2021-05-24 | 2024-03-08 | 核工业理化工程研究院 | Closed loop I/F control method based on instantaneous power feedback and frequency converter control system thereof |
| CN114301351A (en) * | 2021-12-24 | 2022-04-08 | 兰州飞行控制有限责任公司 | Based on idThree-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system (0) |
| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
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