CN108551285A - Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures - Google Patents
Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures Download PDFInfo
- Publication number
- CN108551285A CN108551285A CN201810366758.5A CN201810366758A CN108551285A CN 108551285 A CN108551285 A CN 108551285A CN 201810366758 A CN201810366758 A CN 201810366758A CN 108551285 A CN108551285 A CN 108551285A
- Authority
- CN
- China
- Prior art keywords
- module
- stator
- sliding mode
- magnetic linkage
- order sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to permanent magnet synchronous motor technologies, and in particular to Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures.The control system, including Second Order Sliding Mode Control device module, variable parameter PI adjustor module, dq/ α β modules, SVPWM modules, abc/ α β modules, inverter module, acceleration sensor module, full-order sliding mode observer module and permanent magnet synchronous motor；Permanent magnet synchronous motor is connected in parallel with inverter module, abc/ α β modules and acceleration sensor module respectively；Inverter module is sequentially connected SVPWM modules, dq/ α β modules, Second Order Sliding Mode Control device module；Abc/ α β modules are connect with full-order sliding mode observer module；Full-order sliding mode observer module is in parallel with Second Order Sliding Mode Control device module and variable parameter PI adjustor module；Acceleration sensor module is connect with variable parameter PI adjustor module.The control performance of permanent magnet synchronous motor can be improved using the control method of the system, reduce torque pulsation, while reducing the switch motion number of inverter.Enhance the robustness and system stability of system.
Description
Technical field
The invention belongs to permanent magnet synchronous motor technical fields, more particularly to the permanent magnet synchronous motor based on double synovial membrane structures is straight
Connect moment controlling system and method.
Background technology
Permasyn morot (PMSM) has that rotating speed is steady, dynamic response is fast, overload capacity since self structure is simple
By force, reliability height, structure diversification, the advantages that having a wide range of application, it has also become research hotspot, and be widely used.
Direct Torque Control (DTC) has abandoned the decoupling thought in conventional vector control, but more by rotor flux orientation
It is changed to stator magnetic flux orientation, rotating coordinate transformation is eliminated, reduces dependence of the system to the parameter of electric machine, by detecting in real time
The amplitude of motor stator voltage and electric current, calculating torque and magnetic linkage, and respectively institute is utilized compared with the given value of torque and magnetic linkage
Difference is obtained to control the angle of the amplitude and the vector of stator magnetic linkage relative to magnetic linkage, is directly exported by torque and flux regulating device
Required space voltage vector, to achieve the purpose that magnetic linkage and torque direct control.But direct Torque Control, which exists, to be turned
The defects of square and magnetic linkage pulsation, switching frequency changes.
Invention content
The object of the present invention is to provide a kind of control performances that can improve permanent magnet synchronous motor, reduce torque pulsation, simultaneously
Reduce the Direct Torque Control System for Permanent Magnet Synchronous Motor of inverter switching device action frequency.
Second object of the present invention is to provide the method for being controlled permanent magnet synchronous motor.
For above-mentioned first purpose of realization, the technical solution adopted by the present invention is：Permanent-magnet synchronous based on double synovial membrane structures
Motor direct Torque Control, including Second Order Sliding Mode Control device module, variable parameter PI adjustor module, dq/ α β modules,
SVPWM modules, abc/ α β modules, inverter module, acceleration sensor module, full-order sliding mode observer module and permanent magnet synchronous electric
Machine；Permanent magnet synchronous motor is connected in parallel with inverter module, abc/ α β modules and acceleration sensor module respectively；Inverter module
It is sequentially connected SVPWM modules, dq/ α β modules, Second Order Sliding Mode Control device module；Abc/ α β modules and full-order sliding mode observer module
Connection；Full-order sliding mode observer module is in parallel with Second Order Sliding Mode Control device module and variable parameter PI adjustor module；Velocity pick-up
Device module is connect with variable parameter PI adjustor module.
Above-mentioned based in the Direct Torque Control System for Permanent Magnet Synchronous Motor of double synovial membrane structures, Second Order Sliding Mode Control device
Module includes torque magnetic linkage control device and stator flux regulation device.
For above-mentioned second purpose of realization, the technical solution adopted by the present invention is：
Based on the direct torque control method for permanent magnetic synchronous electric machine of double synovial membrane structures, include the following steps：
Step 1, abc/ α β modules are converted into the electricity under rest frame by detecting voltage, the electric current of inverter module
Pressure, electric current；
Step 2, full-order sliding mode observer module are estimated by voltage, the electric current detected under rest frame, are obtained
Stator magnetic linkage, the electromagnetic torque of permanent magnet synchronous motor；
The real-time rotating speed n of step 3, acceleration sensor module detection permanent magnet synchronous motor；
The output phase answers torque reference value by detecting the difference of rotating speed for step 4, variable parameter PI adjustor module；
The input of step 5, Second Order Sliding Mode Control device module is torque difference and stator magnetic linkage difference, is exported as rotational coordinates
Voltage under system
Step 6, dq/ α β modules are according to inputIt is obtained under rest frame by rotationally-varying
The input of step 7, SVPWM modules is under rest frameOutput is that the switch of inverter module is believed
Number；
The input of step 8, inverter module is that the switching signal output of inverter is three-phase alternating current, by inverter
The control to permanent magnet synchronous motor rotating speed is realized in the control of on off state.
Above-mentioned based in the direct torque control method for permanent magnetic synchronous electric machine of double synovial membrane structures, Second Order Sliding Mode Control device
Design procedure include：
The mathematical model of PMSM is under dq coordinate systems：
In formula (1)：ψfFor PM rotor magnetic linkage, ωeFor angular rate, RsFor stator resistance, LsFor stator inductance, ψs=
ψd+jψqFor stator magnetic linkage space vector, is=id+jiqFor stator current space vector, us=ud+juqIt is sweared for stator voltage space
Amount；
Electromagnetic torque equation is：
In formula (2), pnFor the number of pole-pairs of motor；
When the direction of stator magnetic linkage vector is consistent with d axis directions, magnetic linkage amplitude expression is：
ψs=∫ (ud-Rid)dt (3)
Magnetic linkage control device based on Second Order Sliding Mode is：
In formula (4)：For the d shaft voltage components that magnetic linkage control device is calculated, udFor stator voltage d axis component；
The synovial membrane surface function of magnetic linkageWhereinFor stator flux linkage set value；And gain KpAnd KiMeet the stabilization of formula (5)
Condition,
KmFor Liapunov stability discriminant coefficient, C is constant；Choose Kp=100, Ki=1；
Similarly, the torque controller based on Second Order Sliding Mode is：
In formula (6),For the q shaft voltage components that magnetic linkage control device is calculated, uqFor stator voltage q axis component,
The synovial membrane surface function of torqueWherein,For torque reference value, TeFor actual torque, and gain KpAnd KiMeet formula
(5) stable condition, the r in formula (4) and formula (6) are 0 or 0.5.
Above-mentioned based in the direct torque control method for permanent magnetic synchronous electric machine of double synovial membrane structures, Variable PI controller
Design procedure include：
By the ratio of conventional pi regulator, integral parameter Kpp、KiiIt is changed to the function of rotating speed deviation difference e by fixed value, passes through
The function of reasonable design is in real time according to the size of e to Kpp、KiiIt is adjusted；K is designed using improved normal functionpp、KiiIt closes
In the functional equation of rotating speed deviation e, it is：
Wherein e=n*- n, n*, n be respectively motor speed setting value and actual value, k1、k2For gain coefficient, generally take
For k1＞ 0, k2＞ 0；Take k1=0.1, k2=5；For mean-square value coefficient, value
Above-mentioned based in the direct torque control method for permanent magnetic synchronous electric machine of double synovial membrane structures, full-order sliding mode observer
The design procedure of module includes：
Effective stator magnetic linkage ψaWith rotor flux ψfRelationship be：
ψa=ψf+(Ld-Lq)id (8)
Wherein Ld、LqFor d, q axle inductance, idIt is stator current in d axis components；
Effective stator magnetic linkage vector and rotor flux are in the same direction, i.e., consistent with the d axis of rotating coordinate system；According to effective magnetic linkage
Definition (8) can obtain：ψa=ψs-Lqis, wherein ψs、isRespectively stator magnetic linkage and stator current, it is writeable under rest frame
At：
Wherein ψαa、ψβaRespectively effective stator magnetic linkage is in the component of α β axis, ψα、ψβRespectively point of the stator magnetic linkage in α β axis
Amount, iα、iβRespectively stator current is in the component in α β axis；
The estimated value of rotor position angle and stator magnet chain angleWithIt can be expressed as：
In formula (10) and formula (11)：Respectively effective magnetic linkage the component of α β axis estimated value,
Respectively estimated value of the stator magnetic linkage in the component of α β axis；
Can build stator magnetic linkage full-order sliding mode observer according to the voltage equation under rest frame is：
In formula (12) and formula (13)：For current estimation error, uα、uβIt is stator voltage in the component of α β axis, T is
It is inductance matrix, K, K from rotor dq coordinate systems to the transformation matrix of stator α β coordinate systems, LsmFor observer gain；Wherein：
Formula (12) and formula (13) collectively form full-order sliding mode observer.
The beneficial effects of the invention are as follows：The control performance of permanent magnet synchronous motor can be improved, reduces torque pulsation, subtracts simultaneously
The switch motion number of small inverter.Torque pulsation and magnetic linkage pulsation are effectively reduced, the robustness of system is enhanced, improves and be
The stability of system.
Description of the drawings
Fig. 1 is the control system architecture schematic diagram of one embodiment of the invention；
Fig. 2 is the schematic diagram of the Second Order Sliding Mode Control device module of one embodiment of the invention；
Fig. 3 is the schematic diagram of one embodiment of the invention variable parameter PI adjustor module；
Fig. 4 is the flux linkage vector figure of permanent magnet synchronous motor of the one embodiment of the invention comprising effective stator magnetic linkage；
Fig. 5 is the full-order sliding mode observer module schematic diagram of one embodiment of the invention；
Fig. 6 is the stator magnetic linkage simulation waveform of one embodiment of the invention tradition Direct Torque Control；
Fig. 7 is the electromagnetic torque simulation model figure of one embodiment of the invention tradition Direct Torque Control；
Fig. 8 is the Direct Torque Control stator magnetic linkage simulation waveform of one embodiment of the invention；
Fig. 9 is the Direct Torque Control electromagnetic torque simulation waveform of one embodiment of the invention.
Specific implementation mode
Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.
The present embodiment is realized using following technical scheme：
Based on the Direct Torque Control System for Permanent Magnet Synchronous Motor of double synovial membrane structures, as shown in Figure 1, control system includes two
Rank sliding mode controller module, variable parameter PI adjustor module, dq/ α β modules, SVPWM modules, abc/ α β modules, inverter mould
Block, acceleration sensor module, full-order sliding mode observer module and permanent magnet synchronous motor.
Moreover, permanent magnet synchronous motor is connected in parallel with inverter module, abc/ α β modules and acceleration sensor module respectively；
Inverter module is sequentially connected SVPWM modules, dq/ α β modules, Second Order Sliding Mode Control device module；Abc/ α β modules and full-order sliding mode
Observer module connects；Full-order sliding mode observer module and Second Order Sliding Mode Control device module and variable parameter PI adjustor module are simultaneously
Connection；Acceleration sensor module is connect with variable parameter PI adjustor module.
Using Second Order Sliding Mode Control device module instead of hysteresis comparator and switch list in traditional direct Torque Control
Selecting module, by the three-phase current i for measuring inverter output enda、ib、icWith three-phase voltage ua、ub、uc, after coordinate transform
Obtain iα、iβAnd uα、uβIt is input in full-order sliding mode observer module, estimates stator magnetic linkage ψα、ψβAnd electromagnetic torque, pass through meter
Obtained ψsWith electromagnetic torque Te, with given valueWithDifference u is obtained by Second Order Sliding Mode Control device moduleα、uβ, connect
Get off and optimal voltage vector is synthesized by SVPWM modules, controls inverter switching device to control the operation of motor.
Second Order Sliding Mode Control device module as shown in Figure 2, including torque magnetic linkage control device and stator flux regulation device two
It is grouped as, torque error controller compares output torque error according to given torque and Assumption torque, and torque error passes through second order
The mathematical model that sliding formwork sky controller design is built can obtainMagnetic linkage error controller is according to given magnetic linkage and estimation magnetic linkage
Compare output magnetic linkage error, magnetic linkage error can be obtained by the mathematical model that the design of Second Order Sliding Mode Control device is builtWithU is obtained by coordinate transformαAnd uβIt is input to SVPWM modules.
Based on the direct torque control method for permanent magnetic synchronous electric machine of double synovial membrane structures, for the control to permanent magnet synchronous motor
System.Including：
Abc/ α β modules are converted into voltage, electric current under rest frame by detection three-phase inverter voltage, electric current；
Full-order sliding mode observer module carries out estimation by the voltage, the electric current that detect under rest frame and obtains permanent-magnet synchronous
The parameters such as stator magnetic linkage, the torque of motor；
The output phase answers torque reference value to variable parameter PI adjustor module by detecting the difference of rotating speed；
The input of Second Order Sliding Mode Control device module is torque difference and stator magnetic linkage difference, is exported as under rotating coordinate system
Voltage
Dq/ α β modules are according to inputIt is obtained under rest frame by rotationally-varying
The input of SVPWM modules is under rest frameOutput is the switching signal of inverter module；
The input of inverter module is that the switching signal output of inverter is three-phase alternating current, by opening three-phase inverter
The control to permanent magnet synchronous motor rotating speed is realized in the control of off status.
Moreover, because the variable parameter PI adjustor module used, as shown in figure 3, K thereinp、KiIt is changed to turn by fixed value
The function of speed deviation difference e, thus the controller have can be according to speed error on-line control proportional integration gain, calculation amount
It is small, the advantages that degree of regulation is high.Without the variable changed over time in Second Order Sliding Mode observer module, and single order can be eliminated
The chattering phenomenon of sliding formwork has very strong robustness and anti-interference ability.
Moreover, the design procedure of Second Order Sliding Mode Control device module includes：
The Second Order Sliding Mode Control device module design of Direct Torque Control, the PMSM under dq coordinate systems are established under dq coordinate systems
Mathematical model expression formula is：
In formula (1 ')：ψfFor permanent magnet flux linkage；ωeFor angular rate；RsFor stator resistance；LsFor stator inductance；ψs=ψd+
jψqFor stator magnetic linkage space vector；is=id+jiqFor stator current space vector；us=ud+juqIt is sweared for stator voltage space
Amount.
Electromagnetic torque equation is：
In formula (2 '), pnFor the number of pole-pairs of motor.
When the direction of stator magnetic linkage vector is consistent with d axis directions, magnetic linkage amplitude expression is：
ψs=∫ (ud-Rid)dt (3’)
The magnetic linkage control device module of Second Order Sliding Mode Control device can be designed as：
In formula (4 ')：The synovial membrane surface function of magnetic linkageAnd gain KpAnd KiMeet the stable condition of formula (5 '),
K is chosen in the present inventionp=100, Ki=1.
Similarly, the torque controller module of Second Order Sliding Mode Control device can be designed as：
In formula (6 '), the synovial membrane surface function of torqueAnd gain KpAnd KiMeet the stable condition of formula (5 '), this
R in embodiment Chinese style (4 ') and formula (6 ') can be designed as 0.5.
Moreover, the design procedure of variable parameter PI adjustor module includes：
By the ratio of conventional pi regulator, integral parameter Kpp、KiiIt is changed to the function of rotating speed deviation difference e by fixed value, passes through
The function of reasonable design is in real time according to the size of e to Kpp、KiiIt is adjusted.To reduce systematic steady state error and improving controller
Sensitivity, KiiHigher value is taken when e is smaller, smaller value is taken when e is larger, to reach desired variable parameter PI variation rule
Rule, the present embodiment design K using improved normal functionpp、KiiAbout the functional equation of rotating speed deviation e, it is：
Wherein e=n*- n, n*, n be respectively motor speed setting value and actual value, k1、k2For gain coefficient, generally take
For k1＞ 0, k2＞ 0；The present embodiment takes k1=0.1, k2=5.For mean-square value coefficient, the present embodiment takes
Moreover, the design procedure of full-order sliding mode observer module includes：
In rotor flux coordinate system, voltage equation, flux linkage equations and the torque equation of permanent magnet synchronous motor distinguish formula
(8 '), formula (9 ') and formula (10 ')：
U in formula (8 ')-formula (10 ')d, uq, id, iq, ψdAnd ψqIt is stator voltage, stator current and stator magnetic linkage in dq axis
Component；
Effective stator magnetic linkage ψaWith rotor flux ψfRelationship be：
ψa=ψf+(Ld-Lq)id (11’)
Effective stator magnetic linkage includes rotor permanent magnet magnetic linkage and salient pole magnetic linkage two parts, effective flux linkage vector ψaAnd stator
Flux linkage vector ψs, rotor flux linkage vector ψfRelationship such as Fig. 4 institutes in rest frame α β and rotor flux rotating coordinate system dq
Show.Figure 4, it is seen that effectively stator magnetic linkage vector and rotor flux are in the same direction, i.e., it is consistent with the d axis of rotating coordinate system.Root
It can be obtained according to the definition (11 ') of effective magnetic linkage：ψa=ψs-Lqis, wherein ψs、isRespectively stator magnetic linkage and stator current；Quiet
It can only be write as under coordinate system：
Wherein ψαa、ψβaRespectively effective stator magnetic linkage is in the component of α β axis, ψα、ψβRespectively point of the stator magnetic linkage in α β axis
Amount, iα、iβRespectively stator current is in the component in α β axis.
The estimated value of rotor position angle and stator magnet chain angleWithIt can be expressed as：
In formula (13 ') and formula (14 ')：Respectively effective magnetic linkage the component of α β axis estimated value,Respectively estimated value of the stator magnetic linkage in the component of α β axis.
According to the voltage equation under rest frame：
Stator magnetic linkage full-order sliding mode observer, which can be built, is：
In formula (16 ') and formula (17 ')：For current estimation error, uα、uβIt is stator voltage in the component of α β axis, T
To be inductance matrix, K, K from rotor dq coordinate systems to the transformation matrix of stator α β coordinate systems, LsmFor observer gain.Wherein：
Formula (16 ') and formula (17 ') together constitute the full-order sliding mode observer that the present embodiment is proposed.Wherein formula (16 ')
The right includes a Luenberger observer feedback termFor correcting stator flux estimation chinese value；1 symbol letter
It is severalRobustness for improving observer.
Can obtain stator current estimation error by formula (17 ') is：
Formula (15 ') subtracts formula (16 '), can obtain stator magnetic linkage error dynamics equation：
WhereinFor stator magnetic linkage error, the Lyapunov functions being defined as follows：
Here it enablesThen have to V derivations：
Formula (19 ') and formula (20 '), which are substituted into formula (22 '), to be had：
Wherein I is unit matrix, J=[0-1；1 0], and K=k is set3I+k4J then has：
Due to
If selecting (Rs+k1)>0 and k2＞ max (ωeLd,ωeLq), then (Rs+k1)I+J(k2I-ωeL) positive definite；K is taken againsm=
ksmI, ksm＞ 0, thenTo there is a V ' ＜ 0, observer is by asymptotic convergence, it was demonstrated that the full rank of the present embodiment
The validity of sliding mode observer module.
Full-order sliding mode observer module schematic diagram as shown in Figure 5 inputs the stator voltage and stator current for motor, defeated
Go out for stator magnetic linkage, unlike previous synovial membrane observer, it is adaptive that the realization of the observer does not need to any rotating speed
Mechanism, so as to avoid due to flux observation error caused by speed estimate deviation.It, can also by introducing effective magnetic linkage concept
Calculate rotating speed indirectly.The full rank synovial membrane observer proposed can accurately provide rotor and stator magnetic linkage information, even if in motor
When low speed is run, observer still has good estimation performance.
Experimental verification, experiment condition given rotating speed 1500r/min are carried out to the present embodiment below, load torque is 0
It is dynamic, impact torque 1.5Nm, simulation time 0.4s in 0.2s.Fig. 6 and Fig. 7 is the magnetic linkage under traditional Direct Torque Control
With torque profile figure, Fig. 8 and Fig. 9 are magnetic linkage and torque profile figure under the control of the present embodiment method, are compared from Fig. 7 and Fig. 9
The control method based on the present embodiment is can be seen that, torque pulsation and magnetic linkage pulsation can be effectively reduced, enhance the Shandong of system
Stick improves the stability of system.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
Although describing the specific implementation mode of the present invention above in association with attached drawing, those of ordinary skill in the art should
Understand, these are merely examples, and various deformation or modification can be made to these embodiments, without departing from the original of the present invention
Reason and essence.The scope of the present invention is only limited by the claims that follow.
Claims (6)
1. the Direct Torque Control System for Permanent Magnet Synchronous Motor based on double synovial membrane structures, characterized in that including Second Order Sliding Mode Control
Device module, variable parameter PI adjustor module, dq/ α β modules, SVPWM modules, abc/ α β modules, inverter module, velocity pick-up
Device module, full-order sliding mode observer module and permanent magnet synchronous motor；Permanent magnet synchronous motor respectively with inverter module, abc/ α β moulds
Block and acceleration sensor module are connected in parallel；Inverter module is sequentially connected SVPWM modules, dq/ α β modules, Second Order Sliding Mode Control
Device module；Abc/ α β modules are connect with full-order sliding mode observer module；Full-order sliding mode observer module and Second Order Sliding Mode Control device
Module and variable parameter PI adjustor module are in parallel；Acceleration sensor module is connect with variable parameter PI adjustor module.
2. the Direct Torque Control System for Permanent Magnet Synchronous Motor as described in claim 1 based on double synovial membrane structures, characterized in that
Second Order Sliding Mode Control device module includes torque magnetic linkage control device and stator flux regulation device.
3. the direct torque control method for permanent magnetic synchronous electric machine based on double synovial membrane structures, characterized in that include the following steps：
Step 1, abc/ α β modules are converted into voltage, electricity under rest frame by detecting voltage, the electric current of inverter module
Stream；
Step 2, full-order sliding mode observer module are estimated by voltage, the electric current detected under rest frame, obtain permanent magnetism
Stator magnetic linkage, the electromagnetic torque of synchronous motor；
The real-time rotating speed n of step 3, acceleration sensor module detection permanent magnet synchronous motor；
The output phase answers torque reference value by detecting the difference of rotating speed for step 4, variable parameter PI adjustor module；
The input of step 5, Second Order Sliding Mode Control device module is torque difference and stator magnetic linkage difference, is exported as under rotating coordinate system
Voltage
Step 6, dq/ α β modules are according to inputIt is obtained under rest frame by rotationally-varying
The input of step 7, SVPWM modules is under rest frameOutput is the switching signal of inverter module；
The input of step 8, inverter module is that the switching signal output of inverter is three-phase alternating current, by inverter switching device
The control to permanent magnet synchronous motor rotating speed is realized in the control of state.
4. the direct torque control method for permanent magnetic synchronous electric machine as claimed in claim 3 based on double synovial membrane structures, characterized in that
The design procedure of Second Order Sliding Mode Control device includes：
The mathematical model of PMSM is under dq coordinate systems：
In formula (1)：ψfFor PM rotor magnetic linkage, ωeFor angular rate, RsFor stator resistance, LsFor stator inductance, ψs=ψd+j
ψqFor stator magnetic linkage space vector, is=id+jiqFor stator current space vector, us=ud+juqFor stator voltage space vector；
Electromagnetic torque equation is：
In formula (2), pnFor the number of pole-pairs of motor；
When the direction of stator magnetic linkage vector is consistent with d axis directions, magnetic linkage amplitude expression is：
ψs=∫ (ud-Rid)dt (3)
Magnetic linkage control device based on Second Order Sliding Mode is：
In formula (4)：For the d shaft voltage components that magnetic linkage control device is calculated, udFor stator voltage d axis component；Magnetic linkage
Synovial membrane surface functionWhereinFor stator flux linkage set value；And gain KpAnd KiMeet the stable condition of formula (5),
KmFor Liapunov stability discriminant coefficient, C is constant；Choose Kp=100, Ki=1；
Similarly, the torque controller based on Second Order Sliding Mode is：
In formula (6),For the q shaft voltage components that magnetic linkage control device is calculated, uqFor stator voltage q axis component, torque
Synovial membrane surface functionWherein,For torque reference value, TeFor actual torque, and gain KpAnd KiMeet the steady of formula (5)
Fixed condition, the r in formula (4) and formula (6) are 0 or 0.5.
5. the direct torque control method for permanent magnetic synchronous electric machine as claimed in claim 3 based on double synovial membrane structures, characterized in that
The design procedure of Variable PI controller includes：
By the ratio of conventional pi regulator, integral parameter Kpp、KiiIt is changed to the function of rotating speed deviation difference e by fixed value, passes through design
Rational function is in real time according to the size of e to Kpp、KiiIt is adjusted；K is designed using improved normal functionpp、KiiAbout turn
The functional equation of speed deviation e is：
Wherein e=n*- n, n*, n be respectively motor speed setting value and actual value, k1、k2For gain coefficient, it is generally taken as k1＞
0, k2＞ 0；Take k1=0.1, k2=5；For mean-square value coefficient, value
6. the direct torque control method for permanent magnetic synchronous electric machine as claimed in claim 3 based on double synovial membrane structures, characterized in that
The design procedure of full-order sliding mode observer module includes：
Effective stator magnetic linkage ψaWith rotor flux ψfRelationship be：
ψa=ψf+(Ld-Lq)id (8)
Wherein Ld、LqFor d, q axle inductance, idIt is stator current in d axis components；
Effective stator magnetic linkage vector and rotor flux are in the same direction, i.e., consistent with the d axis of rotating coordinate system；According to the definition of effective magnetic linkage
Formula (8) can obtain：ψa=ψs-Lqis, wherein ψs、isRespectively stator magnetic linkage and stator current can be write as under rest frame：
Wherein ψαa、ψβaRespectively effective stator magnetic linkage is in the component of α β axis, ψα、ψβRespectively stator magnetic linkage α β axis component,
iα、iβRespectively stator current is in the component in α β axis；
The estimated value of rotor position angle and stator magnet chain angleWithIt can be expressed as：
In formula (10) and formula (11)：Respectively effective magnetic linkage the component of α β axis estimated value,Respectively
For stator magnetic linkage the component of α β axis estimated value；
Can build stator magnetic linkage full-order sliding mode observer according to the voltage equation under rest frame is：
In formula (12) and formula (13)：For current estimation error, uα、uβFor stator voltage α β axis component, T be from turn
For sub- dq coordinate systems to the transformation matrix of stator α β coordinate systems, L is inductance matrix, K, KsmFor observer gain；Wherein：
Formula (12) and formula (13) collectively form full-order sliding mode observer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366758.5A CN108551285A (en) | 2018-04-23 | 2018-04-23 | Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366758.5A CN108551285A (en) | 2018-04-23 | 2018-04-23 | Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108551285A true CN108551285A (en) | 2018-09-18 |
Family
ID=63512215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366758.5A Pending CN108551285A (en) | 2018-04-23 | 2018-04-23 | Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108551285A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109412491A (en) * | 2018-09-25 | 2019-03-01 | 江苏理工学院 | A kind of permanent magnet synchronization motor spindle Direct Torque Velocity Modulation System and method based on double sliding form control |
| CN109510539A (en) * | 2018-10-08 | 2019-03-22 | 北方工业大学 | One kind predicting magnetic linkage control system and method based on novel gain matrix norm type |
| CN109510473A (en) * | 2018-12-11 | 2019-03-22 | 河北工程大学 | A kind of three phase converter and method for controlling frequency conversion |
| CN110061669A (en) * | 2019-05-10 | 2019-07-26 | 上海应用技术大学 | Direct torque control method for permanent magnetic synchronous electric machine |
| CN112953290A (en) * | 2021-03-22 | 2021-06-11 | 淮阴工学院 | Robust control method for parallel inverter system in island microgrid |
| CN115664295A (en) * | 2022-12-27 | 2023-01-31 | 北京科技大学 | Constant speed control method and system for high-power asynchronous traction motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944482A (en) * | 2014-05-12 | 2014-07-23 | 阳光电源股份有限公司 | Stator flux linkage observation method, electromagnetic torque observation method and devices utilizing two methods respectively |
| CN107370436A (en) * | 2017-06-27 | 2017-11-21 | 上海电机学院 | A kind of direct Torque Control based on Super twisting sliding formworks |
-
2018
- 2018-04-23 CN CN201810366758.5A patent/CN108551285A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103944482A (en) * | 2014-05-12 | 2014-07-23 | 阳光电源股份有限公司 | Stator flux linkage observation method, electromagnetic torque observation method and devices utilizing two methods respectively |
| CN107370436A (en) * | 2017-06-27 | 2017-11-21 | 上海电机学院 | A kind of direct Torque Control based on Super twisting sliding formworks |
Non-Patent Citations (1)
| Title |
|---|
| 周腊吾等: ""一种新型的PMSM直接转矩控制"", 《 湖南大学学报(自然科学版)》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109412491A (en) * | 2018-09-25 | 2019-03-01 | 江苏理工学院 | A kind of permanent magnet synchronization motor spindle Direct Torque Velocity Modulation System and method based on double sliding form control |
| CN109510539A (en) * | 2018-10-08 | 2019-03-22 | 北方工业大学 | One kind predicting magnetic linkage control system and method based on novel gain matrix norm type |
| CN109510473A (en) * | 2018-12-11 | 2019-03-22 | 河北工程大学 | A kind of three phase converter and method for controlling frequency conversion |
| CN110061669A (en) * | 2019-05-10 | 2019-07-26 | 上海应用技术大学 | Direct torque control method for permanent magnetic synchronous electric machine |
| CN112953290A (en) * | 2021-03-22 | 2021-06-11 | 淮阴工学院 | Robust control method for parallel inverter system in island microgrid |
| CN112953290B (en) * | 2021-03-22 | 2024-06-11 | 淮阴工学院 | Robust control method for parallel inverter system in island micro-grid |
| CN115664295A (en) * | 2022-12-27 | 2023-01-31 | 北京科技大学 | Constant speed control method and system for high-power asynchronous traction motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108551285A (en) | Direct Torque Control System for Permanent Magnet Synchronous Motor and method based on double synovial membrane structures | |
| CN108092567B (en) | Permanent magnet synchronous motor rotating speed control system and method | |
| CN105790660B (en) | Ultrahigh speed permanent magnet synchronous motor revolving speed adaptive robust control system and method | |
| CN109428525A (en) | Permanent magnet synchronous motor maximum torque per ampere control method based on parameter self modification | |
| CN108306570A (en) | Direct torque control method for permanent magnetic synchronous electric machine and system | |
| CN111786607A (en) | Reliable and smooth starting method based on permanent magnet synchronous motor without position sensor | |
| CN108377117B (en) | Permanent magnet synchronous motor composite current control system and method based on predictive control | |
| CN103312244A (en) | Direct torque control method based on sectional sliding mode variable structure for brushless direct current motor | |
| WO2022037003A1 (en) | Transient current planning method for ultrahigh-speed permanent magnet synchronous motor to improve speed regulation response capability | |
| CN113193809A (en) | Permanent magnet synchronous motor control method for improving second-order linear active disturbance rejection | |
| US11522480B2 (en) | SPMSM sensorless composite control method with dual sliding-mode observers | |
| CN111181458A (en) | Surface-mounted permanent magnet synchronous motor rotor flux linkage observation method based on extended Kalman filter | |
| CN103895832A (en) | Ship electric servo fin and wing fin rolling stabilization intelligent vector control method | |
| CN111193448A (en) | Surface-mounted permanent magnet synchronous motor load torque observation method based on extended Kalman filter | |
| CN110401392A (en) | A kind of MPC control method of new-energy automobile motor | |
| CN106849809A (en) | A kind of SVM DTC motor control algorithms based on magnetic linkage error vector method | |
| CN112671302A (en) | Speed sensorless control method and system for permanent magnet synchronous motor | |
| CN108599661A (en) | A kind of permanent magnet synchronous motor is without sensor composite control method | |
| Lu et al. | New sensorless vector control system with high load capacity based on improved SMO and improved FOO | |
| CN108718165B (en) | Induction motor zero-frequency stability control method based on error compensation | |
| Li et al. | Research on an improved single neuron PI control strategy | |
| CN112910350A (en) | Robust control system and method for permanent magnet synchronous motor | |
| Wang et al. | A new method for PI parameter adjustment of induction motor based on MRAS | |
| Han et al. | Research on PMSM sensor-less system based on ADRC strategy | |
| Wu et al. | Control Strategy of High Frequency injection method for permanent Magnet synchronous Motor based on improved sliding Mode Controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180918 |