CN108768238A - Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter - Google Patents
Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter Download PDFInfo
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- CN108768238A CN108768238A CN201810681710.3A CN201810681710A CN108768238A CN 108768238 A CN108768238 A CN 108768238A CN 201810681710 A CN201810681710 A CN 201810681710A CN 108768238 A CN108768238 A CN 108768238A
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- lpv
- permanent magnet
- magnet synchronous
- synchronous motor
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of permanent magnet synchronous motors based on LPV observers to push away control method without sensor is counter comprising：1, permanent magnet synchronous motor parameter sample information is obtained by systematic parameter on-line identification method；2, the parameter in step 1 is arranged, chooses rotor machinery angular speed as scheduling parameter, establishes the LPV vector models under permanent magnet synchronous motor d-q coordinate systems；3, LPV observers are designed, realize that the observation of rotor machinery angular speed and d shaft currents is reconstructed with variable；4, using the output of motor q shaft currents, reconstruct angular speed and reconstruct d shaft currents as control input quantity, system decomposition is multiple subsystems and controller is designed using the anti-control strategy that pushes away.It is an advantage of the invention that：The LPV Design of Observer that the present invention uses, which optimizes conventional observation device, easily to be influenced by system parameter variations, and the feedback control precision of system is improved.The present invention is applied to the reliability that design PMSM varying load speed regulating control strategies can further increase control system, while raising efficiency and reduction operating cost.
Description
Technical field
The present invention relates to motor control technology field, specifically a kind of permanent magnetism based on LPV (linear variation parameter) observer
Synchronous motor pushes away control method without sensor is counter.
Background technology
Permanent magnet synchronous motor has many advantages, such as that simple in structure, power density is high and energy-efficient, in industry manufacture, national defence troops
The fields such as thing, electric vehicle, aerospace, shipping industry have a good application prospect.High performance permanent magnet synchronous motor
(PMSM) it is by the way that mechanical pick-up device is added that governing system, which needs accurate motor rotor speed and location information, traditional method,
Directly measure, due to the installation of sensor, cause the cost of motor driven systems to increase, reliability reduce and volume increase, make
The use scope for obtaining PMSM is restricted, some special occasions can not use, therefore the position Sensorless Control side of motor
Method by scholars extensive concern.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of permanent magnet synchronous electrics based on LPV observers
Machine pushes away control method without sensor is counter, solves the problems, such as the prior art using of high cost caused by sensor, while ensureing rotating speed
Tracking accuracy.
According to technical solution provided by the invention, the permanent magnet synchronous motor based on LPV observers is pushed away without sensor is counter
Control method includes the following steps：
Step 1 obtains permanent magnet synchronous motor parameter sample information by systematic parameter on-line identification method；
Step 2 arranges the parameter in step 1, chooses rotor machinery angular speed as scheduling parameter, and build
LPV vector models under vertical permanent magnet synchronous motor d-q coordinate systems；
Step 3, design LPV observers realize that the observation of rotor machinery angular speed and d shaft currents is reconstructed with variable；
Step 4 is exported using motor q shaft currents, reconstructs angular speed and reconstruct d shaft currents as control input quantity, will be
System is decomposed into multiple subsystems and pushes away control strategy design controller, the controller as permanent magnet synchronous motor using counter.
Specifically, in step 1, relevant parameter sample information is collected under permanent magnet synchronous motor actual operating mode environment,
With linear least squares method algorithm identifying motor parameter, the parameter includes permanent-magnetic synchronous motor stator resistance, stator inductance, rotation
Inertia and viscous friction coefficient etc..
Specifically, step 2 is according to mechanics principle and circuit theory, with d-q shaft currents id、iq, rotor machinery angular speed
ω is as system state variables, q shaft currents iqAs system output, load torque T can be measuredlAs external disturbance, permanent magnetism is established
Vector model under synchronous motor d-q coordinate systems；It is same to resettle permanent magnetism as scheduling parameter for mechanical angular velocity omega in extraction model
The LPV vector models under motor d-q coordinate systems are walked, the state space equation of system LPV structures is obtained.
Specifically, the LPV observers of step 3 are on the basis of the LPV vector models of permanent magnet synchronous motor, using linear
The treatment design of MATRIX INEQUALITIES.
Specifically, the controller design of step 4, is with the output of motor q shaft currents, reconstruct angular speed and reconstruct d shaft currents
As control input variable, using d shaft currents idSystem decomposition is multiple subsystems and used by=0 vector control strategy
It is counter to push away control strategy design controller.
Include the following steps with variable reconstruct specifically, step 3 carries out LPV Design of Observer：
(1) the permanent magnet synchronous motor mathematics LPV vector models that step 2 is established are directed to, controllability STRUCTURE DECOMPOSITION is carried out；
(2) to subsystem can not be surveyed, LPV observers are constructed, and establish dynamic observation error systemWithWhereinIt is
Speed error subsystem,It is d shaft current error dynamics subsystems；
(3) apply Lyapunov stability principles and linear matrix inequalities processing method, obtain LPV Design of Observer and
Its method for solving；
(4) utilize LPV observers to not measurable variableVariable reconstruct is carried out, whereinTo reconstruct angular speed,For
Observer reconstructs d shaft currents.
Specifically, step 4 carries out Tracking Control Design, steps are as follows on the basis of step 3 obtains reconstruct variable：
(1) it gives and it is expected that rotating speed exports ω*, define rotating-speed tracking errorIt is seen in conjunction with motor speed dynamics
Equation is surveyed, considers speed error dynamic subsystemWhereinTo reconstruct angular speed；
(2) it is directed to speed error subsystemChoose suitable Lyapunov functions and virtual q shaft currents function iq *, in conjunction with
Linear matrix inequalities processing method so that the subsystem Asymptotic Stability；
(3) q shaft current tracking errors are definedAnd corresponding q shaft current error dynamics subsystemsIt chooses and closes
Suitable Lyapunov functions and q axis stator voltage functionsMake q shaft current error dynamics subsystemsAsymptotic Stability, wherein q axis electricity
Flow iqIt is directly measured by system；
(4) d axis ideal currents are setDefine d shaft current tracking errorsIn conjunction with d shaft current dynamics
Observational equation considers d shaft current error dynamics subsystemsWhereinD shaft currents are reconstructed for observer；
(5) suitable Lyapunov functions and d axis stator voltage functions are chosenMake subsystemAsymptotic Stability.
The beneficial effects of the invention are as follows：
1, the LPV Design of Observer that the present invention uses, optimizing conventional observation device is easily influenced by system parameter variations, is carried
The high feedback control precision of system.
2, the present invention is applied to design PMSM varying load speed regulating control strategies, can further increase the reliable of control system
Property, while raising efficiency and reduction operating cost.
Description of the drawings
Fig. 1 is controller design flow chart of the present invention.
Fig. 2 is control system architecture figure of the present invention.
Specific implementation mode
Controller design flow of the present invention is as shown in Fig. 1, the Control system architecture block diagram being related to such as 2 institute of attached drawing
Show.Below in conjunction with drawings and examples, the present invention will be further described.
Such as Fig. 1, shown in 2, the present invention includes the following steps：
Step 1 is that parameter of electric machine sample information is obtained and recognized.It is received under permanent magnet synchronous motor actual operating mode environment
Collect relevant parameter sample information, with linear least squares method algorithm identifying motor parameter, the parameter includes that permanent magnet synchronous motor is fixed
Sub- resistance, stator inductance, rotary inertia and viscous friction coefficient etc..
Step 2 to PMSM model under d-q coordinate systems, extracts scheduling parameter, obtains the state of system LPV structures
Space equation, wherein d-q shaft currents id、iq, motor speed ω is as system state variables, q shaft currents iqAs system can be measured
Output, load torque TlAs external disturbance, scheduling parameter of the rotor angular velocity omega as system.
Step 3 carries out LPV Design of Observer and is reconstructed with variable.Specific design procedure is as follows：
(1) the PMSM mathematics LPV vector models that step 2 is established are directed to, controllability STRUCTURE DECOMPOSITION is carried out；
(2) to subsystem can not be surveyed, LPV observers are constructed, and establish dynamic observation error systemWithWherein,
It is speed error subsystem,It is d shaft current error dynamics subsystems；
(3) Lyapunov stability principles and LMI (linear matrix inequality) processing method are applied, LPV observers are obtained
Design and its method for solving；
(4) utilize LPV observers to not measurable variableCarry out variable reconstruct.WhereinTo reconstruct angular speed,For
Observer reconstructs d shaft currents.
On the basis of step 3 obtains reconstruct variable, step 4 carries out Tracking Control Design, exported with motor q shaft currents,
Angular speed and reconstruct d shaft currents are reconstructed as control input quantity, system decomposition is multiple subsystems and pushes away control using counter
Strategy design controller, the controller as permanent magnet synchronous motor.The specific design procedure of controller is as follows：
(1) it gives and it is expected that rotating speed exports ω*, define rotating-speed tracking errorIt is seen in conjunction with motor speed dynamics
Equation is surveyed, considers speed error dynamic subsystemWhereinTo reconstruct angular speed；
(2) it is directed to speed error subsystemChoose suitable Lyapunov functions and virtual q shaft currents function iq *, in conjunction with
Inequality processing is skilful so that the subsystem Asymptotic Stability；
(3) q shaft current tracking errors are definedAnd corresponding q shaft current error dynamics subsystemsIt chooses and closes
Suitable Lyapunov functions and q axis stator voltage functionsMake subsystemAsymptotic Stability, wherein q shaft currents iqIt is directly surveyed by system
?；
(4) d axis ideal currents are setDefine d shaft current tracking errorsIn conjunction with d shaft current dynamics
Observational equation considers d shaft current error dynamics subsystemsWhereinTo reconstruct d shaft currents；
(5) suitable Lyapunov functions and d axis stator voltage functions are chosenMake subsystemAsymptotic Stability.
By the above design procedure, the LPV observers based on LMI can be obtained, it is different from previous pole-assignment
It is that this method can easily be solved by the tool boxes LMI in Matlab.In addition, using the anti-void for pushing away control strategy and obtaining
Quasi- electric current, q axis stator voltage, d axis stator voltage input functions can make subsystems Asymptotic Stability, to make permanent magnet synchronous electric
Machine realizes the high precision tracking of electric current and the output of desired rotating speed.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (7)
1. the permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter, characterized in that include the following steps：
Step 1 obtains permanent magnet synchronous motor parameter sample information by systematic parameter on-line identification method；
Step 2 arranges the parameter in step 1, chooses rotor machinery angular speed as scheduling parameter, and establish forever
LPV vector models under magnetic-synchro motor d-q coordinate systems；
Step 3, design LPV observers realize that the observation of rotor machinery angular speed and d shaft currents is reconstructed with variable；
Step 4 is exported using motor q shaft currents, reconstructs angular speed and reconstruct d shaft currents as control input quantity, by system point
Solution is multiple subsystems and designs controller, the controller as permanent magnet synchronous motor using the anti-control strategy that pushes away.
2. permanent magnet synchronous motor as described in claim 1 based on LPV observers pushes away control method, feature without sensor is counter
It is in step 1, relevant parameter sample information to be collected under permanent magnet synchronous motor actual operating mode environment, is distinguished with least square
Know algorithm identifying motor parameter, the parameter includes permanent-magnetic synchronous motor stator resistance, stator inductance, rotary inertia and viscous
Friction coefficient.
3. permanent magnet synchronous motor as described in claim 1 based on LPV observers pushes away control method, feature without sensor is counter
It is that step 2 is according to mechanics principle and circuit theory, with d-q shaft currents id、iq, rotor machinery angular velocity omega is as system shape
State variable, q shaft currents iqAs system output, load torque T can be measuredlAs external disturbance, permanent magnet synchronous motor d-q is established
Vector model under coordinate system；Mechanical angular velocity omega resettles permanent magnet synchronous motor d-q and sits as scheduling parameter in extraction model
LPV vector models under mark system, obtain the state space equation of system LPV structures.
4. permanent magnet synchronous motor as described in claim 1 based on LPV observers pushes away control method, feature without sensor is counter
It is that the LPV observers of step 3 are to utilize linear matrix inequality on the basis of the LPV vector models of permanent magnet synchronous motor
Treatment design.
5. permanent magnet synchronous motor as described in claim 1 based on LPV observers pushes away control method, feature without sensor is counter
It is the controller design of step 4, using d shaft currents id=0 vector control strategy.
6. permanent magnet synchronous motor as claimed in claim 3 based on LPV observers pushes away control method, feature without sensor is counter
It is that step 3 carries out LPV Design of Observer and includes the following steps with variable reconstruct：
(1) the permanent magnet synchronous motor mathematics LPV vector models that step 2 is established are directed to, controllability STRUCTURE DECOMPOSITION is carried out；
(2) to subsystem can not be surveyed, LPV observers are constructed, and establish dynamic observation error systemWithWhereinIt is rotating speed
Error subsystem,It is d shaft current error dynamics subsystems；
(3) Lyapunov stability principles and linear matrix inequalities processing method are applied, LPV Design of Observer is obtained and its is asked
Solution method；
(4) utilize LPV observers to not measurable variable Variable reconstruct is carried out, whereinTo reconstruct angular speed,For observer
Reconstruct d shaft currents.
7. permanent magnet synchronous motor as claimed in claim 3 based on LPV observers pushes away control method, feature without sensor is counter
It is that step 4 carries out Tracking Control Design, steps are as follows on the basis of step 3 obtains reconstruct variable：
(1) it gives and it is expected that rotating speed exports ω*, define rotating-speed tracking errorIn conjunction with motor speed dynamics observation side
Journey considers speed error dynamic subsystemWhereinTo reconstruct angular speed；
(2) it is directed to speed error subsystemChoose suitable Lyapunov functions and virtual q shaft currents function iq *, in conjunction with linear
MATRIX INEQUALITIES processing method so that the subsystem Asymptotic Stability；
(3) q shaft current tracking errors are definedAnd corresponding q shaft current error dynamics subsystemsIt is suitable to choose
Lyapunov functions and q axis stator voltage functionsMake q shaft current error dynamics subsystemsAsymptotic Stability, wherein q shaft currents
iqIt is directly measured by system；
(4) d axis ideal currents are setDefine d shaft current tracking errorsIt is observed in conjunction with d shaft current dynamics
Equation considers d shaft current error dynamics subsystemsWhereinD shaft currents are reconstructed for observer；
(5) suitable Lyapunov functions and d axis stator voltage functions are chosenMake subsystemAsymptotic Stability.
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| CN201810681710.3A CN108768238A (en) | 2018-06-27 | 2018-06-27 | Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009044832A (en) * | 2007-08-08 | 2009-02-26 | Daihatsu Motor Co Ltd | Method and device for controlling servo |
| CN105932926A (en) * | 2016-06-16 | 2016-09-07 | 湘潭大学 | Reduced-order observer-based speed sensorless backstepping control method for permanent magnet synchronous motor |
| CN107659231A (en) * | 2017-09-18 | 2018-02-02 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for controlling number of revolution based on the switching of single electric current field weakening mode |
| CN108092567A (en) * | 2018-01-17 | 2018-05-29 | 青岛大学 | A kind of Speed control of permanent magnet synchronous motor system and method |
-
2018
- 2018-06-27 CN CN201810681710.3A patent/CN108768238A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009044832A (en) * | 2007-08-08 | 2009-02-26 | Daihatsu Motor Co Ltd | Method and device for controlling servo |
| CN105932926A (en) * | 2016-06-16 | 2016-09-07 | 湘潭大学 | Reduced-order observer-based speed sensorless backstepping control method for permanent magnet synchronous motor |
| CN107659231A (en) * | 2017-09-18 | 2018-02-02 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for controlling number of revolution based on the switching of single electric current field weakening mode |
| CN108092567A (en) * | 2018-01-17 | 2018-05-29 | 青岛大学 | A kind of Speed control of permanent magnet synchronous motor system and method |
Non-Patent Citations (1)
| Title |
|---|
| 刘稳 等: "基于LPV观测器的风力机桨距执行器故障诊断", 《信息与控制》 * |
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Application publication date: 20181106 |