CN108768234B - Offline parameter identification-based method for vector control of permanent magnet synchronous motor - Google Patents
Offline parameter identification-based method for vector control of permanent magnet synchronous motor Download PDFInfo
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- CN108768234B CN108768234B CN201810639961.5A CN201810639961A CN108768234B CN 108768234 B CN108768234 B CN 108768234B CN 201810639961 A CN201810639961 A CN 201810639961A CN 108768234 B CN108768234 B CN 108768234B
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/10—Direct field-oriented control; Rotor flux feed-back control
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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
Abstract
The invention discloses an off-line parameter identification method for vector control of a permanent magnet synchronous motor, which comprises the following steps of: 1) and realizing closed-loop tracking of the current inner loop through a traditional PI regulator. 2) Obtaining rotor flux linkage psi through q-axis PI regulatorf(ii) a 3) Taking a rotor flux linkage related item as one of compensation items and adding the compensation item into a q-axis PI regulator; 4) given different idValue, given i simultaneouslyqIf the value is 0, solving d-axis inductances corresponding to different d-axis currents; 5) given idIs 0, given iqAre different values; 6) and adding the relevant term of the d-axis inductance as a compensation term into the q-axis PI regulator. The invention has reasonable design, can reduce the excessive dependence of a current loop on the parameters of the PI regulator in the engineering realization, can realize better dynamic responsiveness by using the same PI parameter, and simultaneously obviously reduces the current oscillation and overshoot, thereby realizing better speed regulation performance of a control system in the actual working condition and being suitable for popularization.
Description
Technical Field
The invention belongs to the field of synchronous motor control, and particularly relates to an offline parameter identification method for vector control of a permanent magnet synchronous motor.
Background
With the wide application of the permanent magnet synchronous motor in the new energy automobile industry, the requirements of various manufacturers on the control speed regulation performance and the torque response performance of the motor are more and more strict. However, the inductance parameter changes in real time along with the change of the current during the operation of the motor, thereby affecting the responsiveness and stability of the control. The Permanent Magnet Synchronous Motor (PMSM) has the advantages of high efficiency, high power density and high torque density, so that the PMSM is valued by more industries at present in the rapid development of power electronic technology, particularly the new energy automobile industry.
The dynamic responsiveness of the motor control system is closely related to the tracking speed of the current inner loop. In a traditional motor control system, a current inner ring directly realizes the tracking of d-axis current and q-axis current through a simple PI regulator, the good tracking characteristic has strict requirements on parameters of the PI regulator, and the realization difficulty in engineering is high. In order to improve the response speed of the current loop and reduce the calibration difficulty of the system parameters, the output of the PI regulator needs to be compensated. In the compensation process, motor parameters are required as compensation bases, and therefore, identification of the motor parameters is also part of the PI regulator.
The current motor parameter online identification algorithm is complex to realize in engineering, occupies a large amount of CPU resources, cannot guarantee real-time performance, can obtain good identification precision only by guaranteeing a good given initial value condition, is poor in stability and is easily influenced by factors such as noise.
The motor parameter off-line identification method is mature in both theoretical and practical applications, but most of the motor parameter off-line identification methods are based on the initial state of the motor. The d-axis inductance and the q-axis inductance of the motor are greatly changed under the influence of the current magnitude in the motor running process, and if the same motor parameter is used under different working conditions, the dynamic responsiveness of the controller is greatly influenced, so that different motor parameters are very necessary to be used in the motor running process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an off-line parameter identification method for vector control of a permanent magnet synchronous motor, which has reasonable design, can reduce the excessive dependence of a current loop on parameters of a PI regulator in engineering realization, can realize better dynamic responsiveness by using the same PI parameter, and obviously reduces current oscillation and overshoot, thereby realizing better speed regulation performance of a control system in actual working conditions and being suitable for popularization.
In order to achieve the purpose, the invention provides the following technical scheme:
an off-line parameter identification method for permanent magnet synchronous motor vector control is characterized in that: the method comprises the following steps:
1) under the directional control of a rotor magnetic field of a permanent magnet synchronous motor space vector pulse width modulation technology, closed-loop tracking of a current inner loop is realized through a traditional PI regulator.
2) On the premise of realizing the traditional current closed loop, the motor is dragged to a fixed rotating speed, and d-axis current i is givendAnd q-axis current iqAll are 0, and after the system is stabilized, the rotor flux linkage psi is obtained through a q-axis PI regulatorf；
3) Adding a rotor flux linkage related term as one of compensation terms into a q-axis PI regulator, and keeping a q-axis current i on the basisqGiven as 0, d-axis current idThe given value is a certain fixed value, and after the system is stable, the d-axis inductance is obtained through a q-axis PI regulator;
4) given different idValue, given i simultaneouslyqIf the value is 0, solving d-axis inductances corresponding to different d-axis currents;
5) given idIs 0, given iqObtaining q-axis inductances corresponding to different q-axis currents through a PI regulator of a d axis when the q-axis currents are different;
6) and adding the relevant item of the d-axis inductance as a compensation item into the q-axis PI regulator, and adding the relevant item of the q-axis inductance as a compensation item into the d-axis PI regulator to complete the compensation of the current inner loop PI regulator.
As an optimized technical scheme, the motor parameters are identified off line through a traditional PI regulator, then the identified parameters are used for compensating the PI regulator, the output of a system integral term after compensation is reduced, the dynamic response of a current loop is increased, and overshoot is restrained.
Due to the adoption of the technical scheme, compared with the prior art, the control system has the advantages that the design is reasonable, the excessive dependence of a current loop on parameters of the PI regulator in engineering realization can be reduced, better dynamic responsiveness can be realized by using the same PI parameter, and current oscillation and overshoot are obviously reduced, so that the better speed regulation performance of the control system in the actual working condition is realized, and the control system is suitable for popularization.
The invention is further illustrated with reference to the figures and examples.
Drawings
Fig. 1 is a model block diagram of a rotor flux linkage directional control system of a permanent magnet synchronous motor based on a space vector pulse width modulation technique according to an embodiment of the present invention;
FIG. 2 is a block diagram of a conventional current loop PI regulator model according to an embodiment of the present invention;
FIG. 3 is a block diagram of a PI regulator model with an improved compensation term;
fig. 4 is a model block diagram of a rotor flux linkage directional control system of a permanent magnet synchronous motor based on a space vector pulse width modulation technique according to an embodiment of the present invention;
FIG. 5 is a line graph illustrating the relationship between the quadrature-direct axis inductance and the quadrature-direct axis current for the motor parameter offline identification according to an embodiment of the present invention;
fig. 6 is a statistical chart of the integral term output in the dynamic process of the improved PI regulator according to an embodiment of the present invention.
Detailed Description
Examples
In the running process of the motor, influence of factors such as temperature is ignored, and the relationship between the voltage and the current of the permanent magnet synchronous motor can be expressed as an expression (1).
As shown in fig. 1, the control system of the permanent magnet synchronous motor in this embodiment realizes closed-loop tracking of d-axis and q-axis currents by real-time current acquisition, coordinate transformation, and a conventional PI regulator. The control block diagram of the conventional PI regulator is shown in fig. 2, and the software implementation of the PI regulator is shown in formula (2).
Wherein idref、iqrefGiven currents for d, q axes, idfdb、iqfdbThe actual feedback currents of d and q axes are acquired by a sampling circuit and converted from three-phase currents, Kp1、Kp2、Ki1、Ki2Proportional and integral term coefficients, U, for d and q-axis regulatorsp1、Ip2、Ui1、Ui2、PIdout、PIqoutFor the proportional, integral and output values of the regulator after each calculation, Ui1-1、Ui2-1For the integral term in the last calculation cycle,
the desired voltages for the d and q axes.
In the dynamic process, the expected voltage is the sum of a proportional term and an integral term; the current feedback is the same as the given current value in steady state, so the proportional term is 0, therefore
It is equal to the output of the integral term. In the formula (1), the stator resistance RsIn the milliohm range, therefore Rsid、RsiqThe term can be considered as 0, i at steady statedIs a constant idref，iqIs a constant value iqrefTherefore did/dt、diqDt is 0, therefore Ld(did/dt)、Lq(diqDt) can be regarded as 0. Therefore, the d-axis and q-axis voltages in the steady state satisfy the relational expression (3).
On the premise of completing the closed-loop tracking of the current inner loop in fig. 1, the motor parameters are identified off line through the traditional PI regulator, and then the identified parameters are used for the compensation of the PI regulator.
The regulator compensation method based on off-line parameter identification specifically comprises the following steps:
the method comprises the following steps: on the premise of realizing the traditional current closed loop of magnetic field directional control based on SVPWM, dragging the motor to a fixed rotating speed, and giving d-axis current idAnd q-axis current iqAll are 0, after the system is stabilized, the output of the d-axis PI regulator is 0, and the output of the q-axis PI regulator is 0The output is the rotating speed omegaiFlux linkage psi with rotorfThe product of (a), the rotational speed and the q-axis voltage are known, and the rotor flux linkage psi can be obtainedf。
Step two: due to rotor flux linkage psifThe change is small during the operation of the motor and can be regarded as a constant value.
Step three: adding a rotor flux linkage related term as one of compensation terms into a q-axis PI regulator, and keeping a q-axis current i on the basis of the q-axis PI regulatorqGiven as 0, d-axis current idGiven a certain value, after the system is stabilized, the integral term of the q-axis regulator is the rotation speed omegarD-axis inductance LdAnd d-axis current idProduct of (d), speed of rotation omegarAnd idAs is known, the d-axis inductance L can be foundd。
Step four: inductance L due to d axisdCurrent i mainly following d axisdVary so that given different idAnd (4) obtaining the corresponding d-axis inductance under different d-axis currents.
Step five: and adding the relevant item of the d-axis inductance as one of the compensation items into the q-axis PI regulator to complete the compensation of the q-axis PI regulator.
Step six: given idIs 0, given iqAnd obtaining q-axis inductances corresponding to different q-axis currents through the PI regulators of the d-axis for different values.
Step seven: and adding a relevant term of q-axis inductance as a compensation term into the d-axis PI regulator to complete the compensation of the current inner loop PI regulator, and adding a compensation term PI regulator model after the improvement as shown in figure 3.
An improved PI regulator based on offline parameter identification is added to the control system as shown in fig. 4.
The motor parameters are identified off line by the method of the invention, and the relationship between the quadrature-direct axis inductance and the quadrature-direct axis current is shown in figure 5.
When the system works by using the PI regulator, the output of the integral terms is within +/-10%, and statistical data are shown in figure 6.
The protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (2)
1. An off-line parameter identification method for permanent magnet synchronous motor vector control is characterized by comprising the following steps:
1) under the directional control of a rotor magnetic field of a permanent magnet synchronous motor space vector pulse width modulation technology, firstly, the closed-loop tracking of a current inner loop is realized through a traditional PI regulator;
2) on the premise of realizing the traditional current closed loop, the motor is dragged to a fixed rotating speed, and d-axis current i is givendAnd q-axis current iqAll are 0, and after the system is stabilized, the rotor flux linkage psi is obtained through a q-axis PI regulatorf；
3) Adding a rotor flux linkage related term as one of compensation terms into a q-axis PI regulator, and keeping a q-axis current i on the basisqGiven as 0, d-axis current idThe given value is a certain fixed value, and after the system is stable, the d-axis inductance is obtained through a q-axis PI regulator;
4) given different idValue, given i simultaneouslyqIf the value is 0, solving d-axis inductances corresponding to different d-axis currents;
5) given idIs 0, given iqObtaining q-axis inductances corresponding to different q-axis currents through a PI regulator of a d axis when the q-axis currents are different;
6) and adding the relevant item of the d-axis inductance as a compensation item into the q-axis PI regulator, and adding the relevant item of the q-axis inductance as a compensation item into the d-axis PI regulator to complete the compensation of the current inner loop PI regulator.
2. The off-line parameter identification-based method for vector control of the permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: the motor parameters are identified off line through the traditional PI regulator, the identified parameters are used for compensating the PI regulator, the output of a system integral term after compensation is reduced, the dynamic response of a current loop is improved, and overshoot is inhibited.
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| CN110445437A (en) * | 2019-08-08 | 2019-11-12 | 北京索德电气工业有限公司 | The motor driver voltage decoupling method of electric car |
| CN116111903A (en) * | 2023-02-24 | 2023-05-12 | 江苏开璇智能科技有限公司 | Quick response control method for current loop of surface-mounted permanent magnet synchronous motor |
| CN116683817A (en) * | 2023-06-14 | 2023-09-01 | 江苏威进智控科技有限公司 | Permanent magnet synchronous motor vector control method based on offline parameter identification |
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| CN105811837A (en) * | 2016-05-30 | 2016-07-27 | 中车永济电机有限公司 | Method for controlling high-power surface permanent magnet synchronous motors |
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| WO2013017386A1 (en) * | 2011-08-01 | 2013-02-07 | Abb Technology Ag | Self-commissioning procedure for inductance estimation in an electrical machine |
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