CN108649850B - UDE built-in permanent magnet synchronous motor current control method - Google Patents

UDE built-in permanent magnet synchronous motor current control method Download PDF

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CN108649850B
CN108649850B CN201810462344.2A CN201810462344A CN108649850B CN 108649850 B CN108649850 B CN 108649850B CN 201810462344 A CN201810462344 A CN 201810462344A CN 108649850 B CN108649850 B CN 108649850B
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CN108649850A (en
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谷鑫
李涛
耿强
周湛清
张国政
夏长亮
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Tianjin Polytechnic University
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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Abstract

A built-in permanent magnet synchronous motor current control method for improving UDE comprises the following steps: in the current control period, sampling the actual rotating speed of the motor, the position angle of a rotor, the three-phase current of the motor and the voltage of a direct-current bus, and converting the three-phase rotating coordinate system into a two-phase static coordinate system to solve the actual current of the d axis and the q axis; obtaining q-axis reference current according to the difference value of the given rotating speed of the motor and the actual rotating speed of the motor, and calculating d-axis reference current id *(ii) a Improving a current controller of the UDE by using the difference value between the reference current of the d axis and the reference current of the q axis and the actual current to respectively obtain the reference value of the voltage of the d axis and the reference value of the voltage of the q axis; converting the obtained voltage reference values of the d axis and the q axis into voltage reference values under a two-phase rotating coordinate system to obtain PWM pulses corresponding to the inverter, and outputting the PWM pulses by the inverter to obtain three-phase voltage for driving the built-in permanent magnet synchronous motor; the cycle is repeated. The invention reduces the transient steady state torque fluctuation and improves the performance of the built-in permanent magnet synchronous motor control system while inhibiting the parameter uncertainty and the random disturbance in the system.

Description

UDE built-in permanent magnet synchronous motor current control method
Technical Field
The invention relates to a control method of a permanent magnet synchronous motor. In particular to a UDE built-in permanent magnet synchronous motor current control method.
Background
In recent years, with the rapid development of electric vehicles, an Interior Permanent Magnet Synchronous Machine (IPMSM) has attracted attention of researchers and engineers due to its advantages of high power density, high torque density, and high efficiency. The structure is simple, and the control is facilitated; the reluctance effect of the motor can be utilized to improve the efficiency and the loading capacity of the motor. However. As a system with complex working conditions, the whole motor system is easily influenced by parameter change, system random disturbance and load working conditions caused by temperature in the running process, so that higher requirements are provided for the performance of the built-in permanent magnet synchronous motor.
In order to improve the operating efficiency of the motor, the built-in permanent magnet synchronous motor is usually controlled by a Maximum torque current ratio (MTPA) to obtain a given d-axis current, so that the reluctance torque is fully utilized; a current loop of a system in a traditional control algorithm uses a vector control method of Proportional Integral (PI) to obtain given values of d-axis voltage and q-axis voltage through voltage decoupling. However, although the current loop structure using the PI controller in the conventional control algorithm is simple to control and successfully applied to industrial control, one set of PI parameters is only applicable to one section of working condition, and a desired control effect cannot be obtained in the whole control range. The current loop control performance of the traditional PI structure is difficult to obtain expected effects under the conditions of parameter change, system random disturbance and complex load working conditions, so that a current control method with uncertain parameters and random disturbance observation is introduced.
The parameter uncertainty and random disturbance observation method takes parameter change, system random disturbance and the like as unknown items, adopts a stable reference model to meet the requirement of the closed-loop system on the expected tracking given performance, and can be used in an actual controller by passing the parameter uncertainty and the system disturbance through a proper filter. However, the reference model selection and the parameter adjustment method affect the control performance of the system.
Disclosure of Invention
The invention aims to solve the technical problem of providing a built-in permanent magnet synchronous motor current control method for improving UDE of a current loop of a traditional PI controller.
The technical scheme adopted by the invention is as follows: a UDE built-in permanent magnet synchronous motor current control method comprises the following steps:
1) in the current control period, the control system controls the actual rotating speed n, the rotor position angle theta and the three-phase current i of the motorA、iBAnd iCAnd a DC bus voltage udcSampling, and converting the three-phase stationary coordinate system to the two-phase rotating coordinate system to obtain d-axis and q-axis actual currents id、iq；
2) According to given speed n of motor*Obtaining a q-axis reference current i through a proportional-integral controller according to the difference value of the actual rotating speed n of the motorq *Calculating d-axis reference current i by using a formula method in a maximum torque current ratio control methodd *；
3) Using d, q-axis reference currents id *、iq *And the actual current id、iqRespectively obtaining reference values u of d-axis voltage and q-axis voltage through a current controller of the UDEd、uq；
The current controller of the UDE includes a linear reference model as follows:
Figure GDA0002948936170000021
in the formula, xm(t)＝[idmiqm]TIs a current vector matrix in a d-axis and q-axis reference model, and c (t) ═ id *iq *]TGiven a vector matrix for d, q-axis reference currents, Am、BmIs corresponding to xm(t), c (t);
in order to ensure the stability of the control system, a coefficient matrix A of a linear reference model is usedm、BmIs represented as follows:
Figure GDA0002948936170000022
in the formula, both alpha and beta are positive and real numbers, so that a control system has two negative characteristic values, and the Lyapunov stabilization theory is satisfied;
for parameter uncertainty and system random disturbance occurring in the control system, a first-order low-pass filter g is usedf(t) compensating for disturbances in the system, said first order low pass filter gfFrequency domain form G of (t)f(s) is represented as follows:
Figure GDA0002948936170000023
where γ is 1/T, and γ is the bandwidth of the selected first-order low-pass filter;
passing through a first order low pass filter gf(t) parameter uncertainty and system random disturbance amount can be observed
Figure GDA00029489361700000211
Namely:
Figure GDA0002948936170000024
wherein ". mark" is a convolution operator, A, B is a coefficient matrix of x (t), u (t), and x (t) ═ idiq]TIs a d-and q-axis actual current matrix, u (t) [ u ]duq]TFor d, q-axis reference voltage matrix, and at the same time for control system input, f (t) ═ fdfq]TD (t) is [ D ] for D and q axis parameter uncertainty matrixdDq]TIs a d and q axis random disturbance matrix, Ld、LqIs d, q axis inductance,. psifFor rotor flux linkage, RsAs the resistance of the stator,
Figure GDA0002948936170000025
for the d and q axes the known perturbation matrix,
Figure GDA0002948936170000026
the control system input u (t) of the current controller of UDE obtained by a linear reference model and a first-order low-pass filter is:
u(t)＝B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
in the formula, B-1Is the inverse of coefficient matrix B;
the control system input u (t) is thus represented in the frequency domain as:
Figure GDA0002948936170000027
wherein U(s) ═ UdUq]TInputting frequency domain form in d and q axes for the control system, E(s) being frequency domain form of current following error, I being identity matrix, parameter KPAnd KIExpressed as:
Figure GDA0002948936170000028
parameter K in input u (t) of the control systemIThe adjusting method comprises the following steps:
will be the parameter KIIn the original intrinsic parameter gammad0、γq0Increasing a variable parameter gammad1、γq1To obtain
Figure GDA0002948936170000029
As shown in the following formula:
Figure GDA00029489361700000210
intrinsic parameter gammad0、γq0Determined by α, β and γ; d-axis variable parameter gammad1The difference value of the d-axis actual current and the reference current is obtained through a proportional controller, and the q-axis variable parameter gamma is obtainedq1The difference value between the q-axis reference current and the actual current is obtained through a proportional controller, and is shown as the following formula:
Figure GDA0002948936170000031
4) obtaining voltage reference values u of d and q axesd、uqVoltage reference value u converted into two-phase static coordinate systemα、uβThe PWM pulse corresponding to the inverter is obtained by adopting a voltage space vector modulation method, and the three-phase voltage is obtained by the output of the inverter and is used for drivingA built-in permanent magnet synchronous motor;
5) returning to the step 1) and repeating the circulation.
The invention discloses a UDE built-in permanent magnet synchronous motor current control method, which is an improvement on the built-in permanent magnet synchronous motor current control method. The method for observing uncertain parameters and random disturbance is applied to a built-in permanent magnet synchronous motor control system, and the current loop of the traditional PI controller is improved. And selecting a proper reference model and simultaneously providing a new parameter adjusting method to obtain an output value of the expected voltage. The method adopts a built-in permanent magnet synchronous motor current control method with uncertain parameters and random disturbance observation, the selected reference model ensures the stability of the system, and the first-order low-pass filter compensates the random disturbance of the system to realize the gradual following of the current. The method can obviously inhibit parameter uncertainty and random disturbance in the system, and simultaneously reduce the torque fluctuation of a transient state and a steady state, thereby greatly improving the performance of the built-in permanent magnet synchronous motor control system.
Drawings
FIG. 1 is a main circuit configuration diagram of the current control method of the interior permanent magnet synchronous motor of UDE of the present invention;
FIG. 2 is a control structure diagram of the built-in PMSM current control method of the UDE of the present invention;
FIG. 3a is a schematic diagram of the UDE PMSM current control method of the present invention on the d-axis;
FIG. 3b is a schematic diagram of the UDE PMSM current control method of the present invention at the q-axis;
FIG. 4a shows the parameter K in the present inventionISchematic diagram of the adjustment method of (2) on the d-axis;
FIG. 4b shows the parameter K in the present inventionISchematic diagram of the regulating method of (2) on the q-axis;
fig. 5 is a flow chart of the UDE current control method of the interior permanent magnet synchronous motor of the present invention.
Detailed Description
The UDE current control method according to the present invention is described in detail below with reference to the following embodiments and accompanying drawings.
The control system block diagram of the UDE built-in permanent magnet synchronous motor current control method is shown in figure 1, PI represents a proportional-integral controller, the actual rotating speed n and the position information theta of the motor are obtained by an incremental encoder, id、iqThe actual current of d and q axes is obtained by detecting the actual value by a current sensor and changing the actual value from a three-phase static coordinate system to a two-phase rotating coordinate system. A schematic diagram of a current controller according to the proposed UDE with parameter adjustment added can be obtained as shown in fig. 4.
The mathematical model of the built-in permanent magnet synchronous motor under the d-q axis synchronous rotation coordinate system can be expressed as follows:
Figure GDA0002948936170000041
in the formula, Ld，LqIs d, q axis inductance,. psifIs the rotor flux linkage, P is the pole pair number of the motor, RsIs stator resistance, id，iqActual currents of d and q axes, ωeAs electrical angular velocity, T, of the rotoreIs an electromagnetic torque.
Given speed n of the motor*Obtaining a q-axis reference current i through a Proportional Integral (PI) controller according to the difference value of the actual rotating speed nq *The d-axis reference current value is controlled by a maximum torque current ratio (MTPA), which can be obtained by the following equation:
Figure GDA0002948936170000042
in the formula iq *Setting a q-axis reference current value;
the mathematical model used by the current controller of UDE is represented as:
Figure GDA0002948936170000043
wherein: l isd、LqIs d, q axis inductance,. psifTo turn toSub-magnetic linkage, RsIs stator resistance, Dd，DqThe system random disturbance quantities of the d axis and the q axis respectively; f. ofd，fqThe resistance, inductance and flux linkage variations of the d and q axis motors, respectively, are expressed as follows:
Figure GDA0002948936170000044
in order to realize the asymptotic following of the actual current of the motor and a given reference current, a stable reference model is used in the current controller of the UDE to meet the following performance of the current. The following linear reference model is now selected:
Figure GDA0002948936170000045
in the formula, xm(t)＝[idmiqm]TIs a current vector matrix in a d-axis and q-axis reference model, and c (t) ═ id *iq *]TGiven a vector matrix for d, q-axis reference currents, Am、BmIs corresponding to xm(t), c (t);
to ensure the stability of the system, the coefficient matrix A of the reference modelm、BmAs follows:
Figure GDA0002948936170000046
in the formula, alpha and beta are both positive and real numbers, so that the system has two negative characteristic values, and the Lyapunov stabilization theory is satisfied.
Adding the uncertain parameters and the random disturbance into the system through a filter with proper bandwidth; therefore, the uncertain parameter and random disturbance part can be quickly estimated and compensated, and the robustness of the system is improved. The filter used in the system of the invention is a first order low pass filter gf(t) compensating for disturbances in the system, said first order low pass filter gfFrequency of (t)Domain form Gf(s) is as follows:
Figure GDA0002948936170000047
where γ is 1/T, and γ is the bandwidth of the selected first-order low-pass filter.
Through the above-mentioned first order low-pass filter gf(t) parameter uncertainty and system random disturbance amount can be observed
Figure GDA00029489361700000510
Namely:
Figure GDA0002948936170000051
wherein ". mark" is a convolution operator, A, B is a coefficient matrix of x (t), u (t), and x (t) ═ idiq]TIs a d-and q-axis actual current matrix, u (t) [ u ]duq]TFor d, q-axis reference voltage matrix, and at the same time for control system input, f (t) ═ fdfq]T，D(t)＝[DdDq]T，
Figure GDA0002948936170000052
For the d and q axes the known perturbation matrix,
Figure GDA0002948936170000053
the control system input u (t) of the current controller of UDE obtained by a linear reference model and a first-order low-pass filter is:
u(t)＝B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)] (8)
in the formula, B-1Is the inverse of the coefficient matrix B.
The control system input u (t) is thus represented in the frequency domain as:
Figure GDA0002948936170000054
Figure GDA0002948936170000055
wherein U(s) ═ UdUq]TInputting frequency domain form in d and q axes for the control system, E(s) being frequency domain form of current following error, I being identity matrix, parameter KPAnd KIExpressed as:
Figure GDA0002948936170000056
however, parameters in the current controller of UDE are influenced by different disturbances and correspond to different values, and in order to realize parameter self-adaption, the parameter K in the input u (t) of the control systemIThe adjusting method comprises the following steps:
will be the parameter KIIn the original intrinsic parameter gammad0、γq0Increasing a variable parameter gammad1、γq1To obtain
Figure GDA0002948936170000057
As shown in the following formula:
Figure GDA0002948936170000058
intrinsic parameter gammad0、γq0Determined by α, β and γ; d-axis variable parameter gammad1The difference value of the d-axis actual current and the reference current is obtained through a proportional controller, and the q-axis variable parameter gamma is obtainedq1The difference value between the q-axis reference current and the actual current is obtained through a proportional controller, and is shown as the following formula:
Figure GDA0002948936170000059
as shown in fig. 5, the UDE current control method for the interior permanent magnet synchronous motor specifically includes the following steps:
1) in the current control period, the control system controls the actual rotating speed n, the rotor position angle theta and the three-phase current i of the motorA、iBAnd iCAnd a DC bus voltage udcSampling, and converting the three-phase stationary coordinate system to the two-phase rotating coordinate system to obtain d-axis and q-axis actual currents id、iq；
2) According to given speed n of motor*Obtaining a q-axis reference current i by a Proportional Integral (PI) controller according to the difference value of the actual rotating speed n of the motorq *Calculating d-axis reference current i by using a formula method in a maximum torque current ratio (MTPA) control methodd *；
3) Using d, q-axis reference currents id *、iq *And the actual current id、iqRespectively obtaining reference values u of d-axis voltage and q-axis voltage through a UDE current controllerd、uq(ii) a Wherein the content of the first and second substances,
the current controller of the UDE includes a linear reference model as follows:
Figure GDA0002948936170000061
in the formula, xm(t)＝[idmiqm]TIs a current vector matrix in a d-axis and q-axis reference model, and c (t) ═ id *iq *]TGiven a vector matrix for d, q-axis reference currents, Am、BmIs corresponding to xm(t), c (t);
in order to ensure the stability of the control system, a coefficient matrix A of a linear reference model is usedm、BmIs represented as follows:
Figure GDA0002948936170000062
in the formula, both alpha and beta are positive and real numbers, so that a control system has two negative characteristic values, and the Lyapunov stabilization theory is satisfied;
for parameter uncertainty and system random disturbance occurring in the control system, a first-order low-pass filter g is usedf(t) compensating for disturbances in the system, said first order low pass filter gfFrequency domain form G of (t)f(s) is represented as follows:
Figure GDA0002948936170000063
where γ is 1/T, and γ is the bandwidth of the selected first-order low-pass filter.
Passing through a first order low pass filter gf(t) parameter uncertainty and system random disturbance amount can be observed
Figure GDA00029489361700000610
Namely:
Figure GDA0002948936170000064
wherein ". mark" is a convolution operator, A, B is a coefficient matrix of x (t), u (t), and x (t) ═ idiq]TIs a d-and q-axis actual current matrix, u (t) [ u ]duq]TFor d, q-axis reference voltage matrix, and at the same time for control system input, f (t) ═ fdfq]TD (t) is [ D ] for D and q axis parameter uncertainty matrixdDq]TIs a d and q axis random disturbance matrix, Ld、LqIs d, q axis inductance,. psifFor rotor flux linkage, RsAs the resistance of the stator,
Figure GDA0002948936170000065
for the d and q axes the known perturbation matrix,
Figure GDA0002948936170000066
ωeis the rotor electrical angular velocity;
the control system input u (t) of the current controller of UDE obtained by a linear reference model and a first-order low-pass filter is:
u(t)＝B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
in the formula, B-1Is the inverse of coefficient matrix B;
the control system input u (t) is thus represented in the frequency domain as:
Figure GDA0002948936170000067
wherein U(s) ═ UdUq]TInputting frequency domain form in d and q axes for the control system, E(s) being frequency domain form of current following error, I being identity matrix, parameter KPAnd KIExpressed as:
Figure GDA0002948936170000068
parameter K in input u (t) of the control systemIThe adjusting method comprises the following steps:
will be the parameter KIIn the original intrinsic parameter gammad0、γq0Increasing a variable parameter gammad1、γq1To obtain
Figure GDA0002948936170000069
As shown in the following formula:
Figure GDA0002948936170000071
intrinsic parameter gammad0、γq0Determined by α, β and γ; d-axis variable parameter gammad1The difference value of the d-axis actual current and the reference current is obtained through a proportional controller, and the q-axis variable parameter gamma is obtainedq1The difference value between the q-axis reference current and the actual current is obtained through a proportional controller, and is shown as the following formula:
Figure GDA0002948936170000072
4) obtaining voltage reference values u of d and q axesd、uqVoltage reference value u converted into two-phase static coordinate systemα、uβObtaining PWM pulses corresponding to the inverter by adopting a voltage space vector modulation (SVPWM) method, and outputting three-phase voltage by the inverter for driving the built-in permanent magnet synchronous motor;
5) returning to the step 1) and repeating the circulation.

Claims (1)

1. A UDE built-in permanent magnet synchronous motor current control method is characterized by comprising the following steps:
1) in the current control period, the control system controls the actual rotating speed n, the rotor position angle theta and the three-phase current i of the motorA、iBAnd iCAnd a DC bus voltage udcSampling, and converting the three-phase stationary coordinate system to the two-phase rotating coordinate system to obtain d-axis and q-axis actual currents id、iq；
2) According to given speed n of motor*Obtaining a q-axis reference current i through a proportional-integral controller according to the difference value of the actual rotating speed n of the motorq *Calculating d-axis reference current i by using a formula method in a maximum torque current ratio control methodd *；
3) Using d, q-axis reference currents id *、iq *And the actual current id、iqRespectively obtaining reference values u of d-axis voltage and q-axis voltage through a current controller of the UDEd、uq；
The current controller of the UDE includes a linear reference model as follows:
Figure FDA0002962059460000011
in the formula, xm(t)＝[idmiqm]TAs current vectors in d, q-axis reference modelsMatrix, c (t) ═ id *iq *]TGiven a vector matrix for d, q-axis reference currents, Am、BmIs corresponding to xm(t), c (t);
in order to ensure the stability of the control system, a coefficient matrix A of a linear reference model is usedm、BmIs represented as follows:
Figure FDA0002962059460000012
in the formula, both alpha and beta are positive and real numbers, so that a control system has two negative characteristic values, and the Lyapunov stabilization theory is satisfied;
for parameter uncertainty and system random disturbance occurring in the control system, a first-order low-pass filter g is usedf(t) compensating for disturbances in the system, said first order low pass filter gfFrequency domain form G of (t)f(s) is represented as follows:
Figure FDA0002962059460000013
where γ is 1/T, and γ is the bandwidth of the selected first-order low-pass filter;
passing through a first order low pass filter gf(t) parameter uncertainty and system random disturbance amount can be observed
Figure FDA0002962059460000017
Namely:
Figure FDA0002962059460000014
wherein ". mark" is a convolution operator, A, B is a coefficient matrix of x (t), u (t), and x (t) ═ idiq]TIs a d-and q-axis actual current matrix, u (t) [ u ]duq]TFor d and q-axis reference voltage matrix and simultaneously for controlSystem input, f (t) ═ fdfq]TD (t) is [ D ] for D and q axis parameter uncertainty matrixdDq]TIs a d and q axis random disturbance matrix, Ld、LqIs d, q axis inductance,. psifFor rotor flux linkage, RsAs the resistance of the stator,
Figure FDA0002962059460000015
for the d and q axes the known perturbation matrix,
Figure FDA0002962059460000016
the control system input u (t) of the current controller of UDE obtained by a linear reference model and a first-order low-pass filter is:
u(t)＝B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
in the formula, ωeIs the rotor electrical angular velocity; b is-1Is the inverse of coefficient matrix B;
the control system input u (t) is thus represented in the frequency domain as:
Figure FDA0002962059460000021
wherein U(s) ═ UdUq]TInputting frequency domain form in d and q axes for the control system, E(s) being frequency domain form of current following error, I being identity matrix, parameter KPAnd KIExpressed as:
Figure FDA0002962059460000022
parameter K in input u (t) of the control systemIThe adjusting method comprises the following steps:
will be the parameter KIIn the original intrinsic parameter gammad0、γq0Increasing a variable parameter gammad1、γq1To obtain
Figure FDA0002962059460000023
As shown in the following formula:
Figure FDA0002962059460000024
intrinsic parameter gammad0、γq0Determined by α, β and γ; d-axis variable parameter gammad1The difference value of the d-axis actual current and the reference current is obtained through a proportional controller, and the q-axis variable parameter gamma is obtainedq1The difference value between the q-axis reference current and the actual current is obtained through a proportional controller, and is shown as the following formula:
Figure FDA0002962059460000025
4) obtaining voltage reference values u of d and q axesd、uqVoltage reference value u converted into two-phase static coordinate systemα、uβObtaining PWM pulses corresponding to the inverter by adopting a voltage space vector modulation method, and outputting three-phase voltage by the inverter for driving the built-in permanent magnet synchronous motor;
5) returning to the step 1) and repeating the circulation.
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