CN108880358A - Method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer - Google Patents
Method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer Download PDFInfo
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- CN108880358A CN108880358A CN201810705522.XA CN201810705522A CN108880358A CN 108880358 A CN108880358 A CN 108880358A CN 201810705522 A CN201810705522 A CN 201810705522A CN 108880358 A CN108880358 A CN 108880358A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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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
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present embodiments relate to the method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer, and the angular displacement feedback lag delay generated for eliminating control system angular displacement sampling calculating process improves the position ring response speed of control system.This kind of angular displacement observation method establishes angular displacement observation model according to the permanent magnet synchronous motor equation of motion, obtains the angular displacement feedback signal of no time lag, and then improve control system angular displacement feedback speed, improves the responding ability of control system.
Description
Technical field
The present invention primarily directed to permanent magnet synchronous motor angular displacement without time lag observation method, be based on permanent magnet synchronous motor
The angular displacement observation method of the equation of motion, this method and device can effectively solve permanent magnet synchronous motor angular displacement sampling calculating and prolong
Shi Wenti improves control system position ring response speed.
Background technique
The drive control process of AC servo generates that amplitude is equal, pulse width not phase using pulse width modulator control
Deng pulse train wave, to drive permanent magnet synchronous motor to rotate, to position command control, feedback position input position closed loop return
Road is calculated, and is calculated by proportional component, obtains speed value, admission velocity closed loop is calculated, by proportional integration
Link calculates, and then obtains current instruction value, is calculated into current closed-loop, calculates by proportional integration link, final defeated
Voltage value is controlled out, is converted to pulse-width modulation waveform driving permanent magnet synchronous motor rotation.It can from the SERVO CONTROL process of position ring
Know, the real-time of position feedback information be it is highly important, the lag of position feedback will result directly in servo-system position response
Speed it is slow, in addition, space vector coordinate transform in the calculating of speed feedback value and electric current loop in control system speed ring
Angle feed-back value is required, the lag of angle value will generate adverse effect, conventional AC servo to control system response characteristic
Control system working sequence is as shown in Figure 1, include：1. program starting is located, read the Angle Position AD in a control period first
(analog-digital converter) value, is then again started up AD, at this point, having lagged a control instruction using the angle value that the value is calculated
Period uses the angle value θ in stagnant the latter control period within the control periodn-1Calculate the voltage vector in next control period
Value Un+1.2. locate to execute space vector 2- in program termination>3 transformation, at this point, the calculating of space voltage vector stagnant the latter control again
Period processed.By feedback angular displacement calculating process it is found that angular displacement numerical value collects final pulse width modulated wave output altogether by modulus
It has been delayed two control periods.
Summary of the invention
In view of the above-mentioned problems, the present invention propose method for controlling permanent magnet synchronous motor based on angular displacement without Time Delay Observer and
Device, it is intended to eliminate angular displacement feedback lag issues, improve control system responding ability.
To achieve the above object, the present invention comprises the steps of：
(1) permanent magnet synchronous motor mathematical model is established, d-q voltage instruction output equation and rotor movement side are obtained
Journey；
(2) permanent-magnet synchronous motor rotor position angle value is obtained by magnetism encoder；
(3) permanent magnet synchronous motor angular displacement observer is established；
(4) the position feedback closed loop of control system is established；
(5) the velocity feedback closed loop of control system is established；
(6) the current feedback closed loop of control system is established.
Preferably, the step (1), is realized by the following method：
Shown in permanent magnet synchronous motor mathematical model such as formula (1)：
In formula：Ud、UqIt is instructed for d axis and q axis stator voltage；Ld、LqFor d axis and q axis equivalent inductance；RsFor stator resistance；
ωeFor angular rate；For rotor flux；id、iqFor d axis and q axis stator feedback current；
Shown in motor torque model such as formula (2)：
In formula：TeFor electromagnetic torque；P is motor number of pole-pairs；
Shown in mechanical motion equation such as formula (3)：
In formula：T1For load torque；ωmFor mechanical angular speed；F is motor friction factor；J is motor rotary inertia；
In order to realize maximum moment control, d shaft current is enabled to instruct id=0, motor torque output equation such as formula (4) institute at this time
Show：
Preferably, the step (2), is realized by the following method：
Sampling calculating is carried out to angle value using magnetism encoder, adjacent 90 ° of 4 Hall sensors are evenly distributed on Hall
On plate, in single pair pole under the action of magnet steel, in 4 road Hall (A+、A-、B+、B-) on generate 90 ° of phase phase difference of voltage signal, 4
Road hall signal Difference Calculation processing is carried out, obtained hall signal diameter subtracts each other to obtain d-q axis suddenly
Shown in your signal such as formula (5)：
Magnetism encoder angle, θ is calculated using arc tangent formulamAs shown in formula (6)：
Permanent-magnetic synchronous motor rotor circumference is divided into 8 sections, and by comparing d-q axis hall signal (dh,qh) it is big
It is small and it is positive and negative current angle value is calculated, be achieved in the angular range in each angle calculation section between 0 ° to 45 °,
Arc-tangent value avoids arc-tangent value and occurs just infinite or bear infinite, thus obtain magnetism encoder angle, θ between 0 to 1m。
Preferably, the step (3), is realized by the following method：
In a control cycle TsIn (50us), shaft acceleration alpha may be considered it is invariable, so rotor
In the rotational angle Δ θ that one controlled in the periodmAs shown in formula (7)：
In formula：ωmFor rotor revolving speed；
Then machine shaft angular displacement and velocity differentials equation such as formula (8) are shown：
If motor output torque Te(Nm), JmFor motor and load rotating inertia, load torque TL(Nm), then shaft accelerates
It spends shown in α such as formula (9)：
(50us) the electric motor load torque T within a control periodLIt varies less, therefore acceleration change d=0.If electric
Machine rotor angle, θm, rotational speed omegamWith shown in acceleration change d such as formula (10)：
It enablesShaft accelerationiqFor q axis feedback current, KATFor motor torque coefficient, ifC=[100], it can thus be concluded that：
Shown in Angle Position observational equation such as formula (12)：
In formula：LiIt is state observation equation adjustment factor；
If observation angleObserve angular speedObserve acceleration perturbation motionIf Therefore, motor Angle Position state equation such as formula
(13) shown in：
According to formula (13), obtain shown in parent Angle Position discretization state equation such as formula (14)：
State equation (14) polar coordinates can be by adjusting l1、l2、l3Arbitrary disposition is carried out, according to the observation bit in kth period
It movesObservation speedAnd observation acceleration perturbation motion value dkIt is estimated that the variate-value in+1 period of kth；
State observation adjustment factor l1、l2、l3It is related to the determination of state observer pole coordinate, decides observation error
Convergence rate selects suitable adjustment factor l1、l2、l3, the pole coordinate of writ state error equation is located at complex plane coordinate system
Left-half, if thinking the convergence rate of quickening state observation error, needs to sit pole to guarantee the stability of state observer
Standard configuration is set in the position remote as far as possible apart from the imaginary axis, to make the quick approaching to reality value of observation angle；
Sample solution process and SERVO CONTROL process according to Angle Position it is found that angle calculation value there is a control periods
Lag, space vector coordinate 2->A control period has been lagged again when 3 transformation, according to formula (14), by parent state observer
Input of the output as filial generation observer, thus obtained filial generation observer discrete form such as formula (15) is shown：
In formula：For T(k+2)The angular observation in period；For T(k+2)The angular speed observation in period；
For T(k+2)The acceleration perturbation motion observation in period；l4、l5、l6For filial generation position ring state observer regulating error coefficient；
Angular displacement status observer is constructed according to formula (14) and (15), filial generation location status observer is to the pre- of position detection
Meter ability is stronger, eliminates angle lag issues, and have certain filter action.
Preferably, the step (4), is realized by the following method：
The position detection value that step (3) is obtainedAs feedback position, the speed of speed ring is obtained by proportional component
Instruction value ωref。
Preferably, the step (5), is realized by the following method：
The position detection value that step (3) is obtainedDifferential calculation is carried out, speed feedback value ω is obtainedm, step (4) is defeated
Speed command ω outrefAs speed value, current instruction value i is calculated by proportional integrationdref、iqref。
Preferably, the step (6), is realized by the following method：
The current instruction value i that step (5) is obtaineddref、iqrefIt inputs as current loop instruction, is exported using step (3)
Observe Angle PositionFor space voltage vector coordinate transform, final output three-phase phase voltage instruction value Uu、Uv、Uw, through overpower
Amplification driving circuit, driving motor rotation.
As another side of the invention, the present invention provides a kind of permanent magnet synchronous motor based on angular displacement without Time Delay Observer
Control device, including：
Permanent magnet synchronous motor unit, the stator of permanent magnet synchronous motor unit receive the pulsewidth tune of algorithm for power modulation unit output
Waveform processed, driving rotor rotation；
Cell encoder exports permanent magnet synchronous electric for measuring to permanent magnet synchronous motor unit rotor current location
Machine unit rotor mechanical corner θm；
Angle Position state observer is eliminated angle value hysteresis error output Angle Position and is seen for realizing the observation of angle value
Measured value
Position ring solving unit calculates, the view angle that Angle Position state observer is exported for control system position ring
Angle valueAs position feedback, ω is instructed by proportional component output speedref；
Speed computing unit, the view angle angle value according to the output of Angle Position state observerRotor speed is counted
It calculates, output motor rotor feedback speed omegam；
Speed ring solving unit, for realizing velocity close-loop control, output current command value idref、iqref；
Electrical angle converting unit, the view angle angle value for will be obtained by Angle Position observerIt is converted to same for permanent magnetism
Walk the electrical angle θ of motor space vector coordinate transform calculatingeAs shown in formula (16)：
Current sensor unit, for the three-phase current exported by permanent magnet synchronous motor unit to be converted to analog signal；
AD conversion unit, the analog signal for exporting current sensor unit are converted to digital signal iu、iv、iw,
Convenient for subsequent calculations processing；
Three-phase current space vector converter unit, the current digital signal i for will be obtained by module converting unitu、iv、
iwAnd the electrical angle θ that electrical angle converting unit obtainseThree-phase current space vector changes in coordinates is carried out, d-q axis feedback electricity is obtained
Flow id、iqAs shown in formula (17)：
Electric current loop solving unit instructs i according to d-q shaft currentdref、iqrefCalculating current ring feedback element d-q shaft voltage refers to
Enable Ud、Uq, according to Ud、UqSpace vector coordinate transform is carried out, three-phase phase voltage output order value U is obtainedu、Uv、UwSuch as formula (18)
It is shown：
Algorithm for power modulation unit is used for three-phase phase voltage output signal Uu、Uv、UwPower amplification is carried out, output amplitude is mother
Line voltage VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation.
The beneficial effects of the invention are as follows：
(1) method for controlling permanent magnet synchronous motor and device proposed by the present invention based on angular displacement without Time Delay Observer can
Angle value caused by angle value sampling calculating process is effectively eliminated to lag.
(2) method for controlling permanent magnet synchronous motor and device proposed by the present invention based on angular displacement without Time Delay Observer, can
Hysteresis error is calculated to eliminate Angle Position, and then improves the spatial variations precision of Accuracy of Velocity Calculation and voltage vector, it can be with
Effectively improve the response characteristic of control system.
Detailed description of the invention
Fig. 1 AC servo control system working sequence analysis chart；
Fig. 2 encoder Hall distribution schematic diagram；
Fig. 3 Hall and magnetic steel structure distribution map；
Fig. 4 single pair pole magnetoelectric encoder working principle diagram；
Fig. 5 magnetism encoder analog signal figure；
Fig. 6 angular displacement status Observer Structure figure；
Fig. 7 Angle Position observes full figure；
Fig. 8 Angle Position observes I enlarged drawing of partial view；
Fig. 9 Angle Position observes II enlarged drawing of partial view；
Figure 10 Angle Position observes III enlarged drawing of partial view；
Figure 11 position ring control block diagram；
Figure 12 velocity feedback loop structure chart；
The current control structure figure of Figure 13 control system feedback unit；
Figure 14 responds positioning experiment figure using the method for the present invention height；
Figure 15 does not respond positioning experiment figure using conventional PI control height of the present invention；
Permanent magnet synchronous motor control structure schematic diagram of the Figure 16 based on angular displacement without Time Delay Observer；
Specific embodiment
Hereinafter, with reference to attached drawing, detailed description of the present invention embodiment.
Present example comprises the steps of：
(1) permanent magnet synchronous motor mathematical model is established, d-q voltage instruction output equation and rotor movement side are obtained
Journey, specific implementation method are as follows：
Shown in permanent magnet synchronous motor mathematical model such as formula (1)：
In formula：Ud、UqIt is instructed for d axis and q axis stator voltage；Ld、LqFor d axis and q axis equivalent inductance；RsFor stator resistance；
ωeFor angular rate；For rotor flux；id、iqFor d axis and q axis stator feedback current；
Shown in motor torque model such as formula (2)：
In formula：TeFor electromagnetic torque；P is motor number of pole-pairs；
Shown in mechanical motion equation such as formula (3)：
In formula：T1For load torque；ωmFor mechanical angular speed；F is motor friction factor；J is motor rotary inertia；
In order to realize maximum moment control, d shaft current is enabled to instruct idref=0, motor torque output equation such as formula (4) at this time
It is shown：
(2) permanent-magnet synchronous motor rotor position angle value is obtained by magnetism encoder, specific implementation method is as follows：
Magnetism encoder Hall distribution schematic diagram as shown in Fig. 2, single pair pole magnet steel Surface Mount on machine shaft end face, with
The rotation of axis generates sinusoidal magnetic field, as shown in figure 3, using Hall component A+, A-, B+, B- adopts magnetoelectricity analog signal
Collection, adjacent 90 ° of 4 Hall sensors are evenly distributed in Hall Plate.Fig. 4 is magnetism encoder working principle diagram, 4 road Halls letter
Number pass through difference, analog-to-digital conversion calculates current angle value θm；
In single pair pole under the action of magnet steel, magnet steel rotates a circle, in 4 road Hall (A+、A-、B+、B-) on generate phase phase difference
90 ° of voltage signal, as shown in Figure 5：
By Hall A+、A-、B+、B-The hall signal diameter collected subtracts each other to obtain d-q axis hall signal such as formula (5) institute
Show：
It is shown that magnetism encoder angle such as (6) is calculated using arc tangent formula：
Single pair polar angle angle value circumference is divided into 8 sections, and by comparing d-q axis hall signal (dh,qh) size and
It is positive and negative to current angle value θmIt is calculated, is achieved in the angular range of each minizone between 0 ° to 45 °, arc-tangent value
Between 0 to 1, avoiding arc-tangent value and occur just infinite and bear infinite, arc tangent angle calculation interval division is as shown in the table,
Thus angle value output θ is obtainedm；
(3) permanent magnet synchronous motor angular displacement observer is established, specific implementation method is as follows：
In a control cycle TsIn (50us), shaft acceleration alpha may be considered invariable.So rotor
In the rotational angle Δ θ that one controlled in the periodmAs shown in formula (7)：
In formula：ωmRotor revolving speed；
Then machine shaft angular displacementmAnd rotor speed ωmThe differential equation such as formula (8) shown in：
If motor output torque Te(Nm), JmFor motor and load rotating inertia, load torque TL(Nm), then shaft accelerates
It spends shown in α such as formula (9)：
(50us) the electric motor load torque T within a control periodLIt varies less, therefore acceleration change d=0.If electric
Machine rotor angle, θm, then rotational speed omegamFormula (10) form can be written as follow with acceleration change d：
It enablesShaft accelerationiqFor q axis feedback current, KATFor motor torque coefficient, ifC=[100], it can thus be concluded that formula (11)：
Angle Position observational equation can be written as follow formula (12) form：
In formula：LiIt is state observation equation adjustment factor；
If observation angleObserve angular speedObserve acceleration perturbation motion Therefore, motor Angle Position state equation can be written as formula (13) form：
According to formula (13), parent angular displacement discretization state equation can be written as formula (14) form：
State equation (14) polar coordinates can be by adjusting l1、l2、l3Arbitrary disposition is carried out, according to the observation bit in kth period
It movesObservation speedAnd observation acceleration perturbation motion valueIt is estimated that the variate-value in+1 period of kth；
State observation adjustment factor l1、l2、l3It is related to the determination of state observer pole coordinate, decides observation error
Observer regulating error coefficient l is arranged in this example for convergence rate1=330, l2=30000, l3=1000000, l4=
115.5, l5=3675, l6=42875；
Sample solution process and SERVO CONTROL process according to Angle Position it is found that angle calculation value there is a control periods
Lag, space vector coordinate 2->A control period has been lagged again when 3 transformation, according to formula (14), by parent state observer
Angle Position observe outputAs the input of filial generation observer, thus obtained filial generation observer discrete form such as formula
(15) shown in：
In formula：For T(k+2)The angular observation in period；For T(k+2)The angular speed observation in period；
For T(k+2)The acceleration perturbation motion observation in period；l4、l5、l6For filial generation angular displacement status observer regulating error coefficient.
According to formula (14) and (15), angular displacement status Observer Structure figure is constructed, as shown in Figure 6.
Fig. 7 show Angle Position state observation waveform, and feedback angle value, parent angular displacement observation are respectively shown in figure
Parent Angle Position state observer regulating error coefficient l is arranged in value, filial generation angular displacement observation1=330, l2=30000, l3=
1000000, filial generation location status observer regulating error coefficient l4=115.5, l5=3675, l6=42875, Fig. 8, Fig. 9, figure
10 show the partial enlarged view of Fig. 7, and filial generation location status observer is stronger to the predictive power of position detection, and it is stagnant to eliminate angle
Problem afterwards, and there is certain filter action.
(4) the position feedback closed loop of control system is established, specific implementation method is as follows：
The observation angular displacement that step (3) is obtainedAs position ring feedback position, by position command θrefInput position closes
Ring controls control system by proportional component, and position ring control block diagram is as shown in figure 11, is resolved by position ring closed loop
Obtain speed ring speed command ωrefAs shown in formula (16)：
(5) the velocity feedback closed loop of control system is established, specific implementation method is as follows：
As shown in figure 12, Current_loop is electric current loop feedback loop in figure, according to step (3) observation positionIt obtains
Kth periodic feedback speed omegam(k)As shown in formula (17)：
ωm(k)=(θm(k)-θm(k-1))/Ts (17)
In formula：K represents current calculation cycle, and k-1 represents a calculating cycle.
Speed ring uses PI controller, the ω obtained according to speed command unit 8ref(k)With feedback speed ωm(k)Turned
Fast feedback deviation ωerr(k)As shown in formula (18)：
ωerr(k)=ωref(k)-ωm(k) (18)
According to current calculation cycle velocity feedback error ωerrAnd speed ring integral coefficient KmiTo velocity error integrated value
ωorg(k)It is solved as shown in formula (19)：
ωorg(k)=ωorg(k-1)+ωerr(k)Kmi (19)
The velocity error integrated value ω obtained according to current calculation cycleorg(k), feedback speed ωm(k)And proportionality coefficient
KmvCurrent-order i is controlled to q axisqref(k)It is solved as shown in formula (20)：
iqref(k)=(ωorg(k)-ωm(k))KmvJm/Ka (20)
In formula：JmFor rotor rotary inertia, KaFor motor torque coefficient；
Use d shaft current for 0 control method, idref(k)=0.
(6) the current feedback closed loop of control system is established, specific implementation method is as follows：
Use d shaft current for 0 control mode idref=0, i is instructed according to q shaft currentqref, current loop control structure is as schemed
Shown in 13, using PI controller, the calculating of d-q shaft voltage instruction is realized, k represents current calculation cycle, and k-1 represents a meter
The period is calculated, according to current calculation cycle current instruction value and the practical d-q shaft current converted by three-phase current space vector
Value of feedback id、iqIt is calculated, d shaft current instructs i at this timedrefThe instruction of=0, q shaft current is iqref, available current feedback
Deviation id_err、iq_errAs shown in formula (21)：
According to current calculation cycle current feedback error id_err(k)、iq_err(k)And integral coefficient KiTo current error integrated value
id_org(k)、iq_org(k)It is solved as shown in formula (22)：
The current error integrated value i obtained according to current calculation cycled_org(k)、iq_org(k), feedback current id(k)、iq(k)With
And Proportional coefficient KvVoltage U is controlled to d-q axisd(k)、Uq(k)It is solved as shown in formula (23)：
In formula：RsFor permanent magnet synchronous motor equivalent resistance, Ld、LqFor permanent magnet synchronous motor d-q axis equivalent inductance value, ωeFor
Permanent magnet synchronous motor electrical angle tachometer value,For the equivalent linkage coefficient of permanent magnet synchronous motor；
The electrical angle θ obtained according to electrical angle converting unit 3e, obtained d-q shaft voltage instruction value is subjected to space vector
Coordinate transform obtains three-phase voltage command Uu、Uv、UwAs shown in formula (24)：
Obtaining three-phase phase voltage instruction Uu、Uv、UwAfterwards, it by three-phase phase voltage instruction input algorithm for power modulation unit, and exports
Amplitude is bus voltage value VdcPulse width modulated wave driving permanent magnet synchronous motor unit rotated；
The method of the present invention is used in this example, carries out high response positioning experiment, electric current loop proportional gain factor Kv=3000,
Integration gain factor Ki=550.Speed proportional gain Kmv=350, integration gain factor Kmi=100, position loop gain Kp=
3.5, parent Angle Position state observer regulating error coefficient l1=330, l2=30000, l3=1000000, filial generation location status
Observer regulating error coefficient l4=115.5, l5=3675, l6=42875, under this group of gain coefficient, respectively using the present invention
It is proposed method and conventional PI control device carry out high speed positioning experiment.As shown below, speed command realizes 1500rpm in 5ms
Acceleration and deceleration motion, and be held in position state at the end of speed command, Figure 14 is the high response positioning for using the method for the present invention
Experiment, Figure 15 are the high response positioning experiment not using the method for the present invention using conventional PI control device, it can be clearly seen that this hair
The validity of bright method.
As another side of the invention, the present invention provides a kind of permanent magnet synchronous motor based on angular displacement without Time Delay Observer
Control device, as shown in figure 16, including：
Permanent magnet synchronous motor unit 1, the stator of permanent magnet synchronous motor unit receive the pulsewidth of algorithm for power modulation unit output
Modulation waveform, driving rotor rotation；
Cell encoder 2 exports permanent magnet synchronous electric for measuring to permanent magnet synchronous motor unit rotor current location
Machine unit rotor mechanical corner θm；
Angle Position state observer 3 is eliminated angle value hysteresis error output Angle Position and is seen for realizing the observation of angle value
Measured value
Position ring solving unit 4 calculates, the view angle that Angle Position state observer is exported for control system position ring
Angle valueAs position feedback, ω is instructed by proportional component output speedref；
Speed computing unit 5, the view angle angle value according to the output of Angle Position state observerRotor speed is counted
It calculates, output motor rotor feedback speed omegam；
Speed ring solving unit 6, for realizing velocity close-loop control, output current command value iqref、idref；
Electrical angle converting unit 7, the view angle angle value for will be obtained by Angle Position observerIt is converted to for permanent magnetism
The electrical angle θ of synchronous motor space vector coordinate transform calculatingeAs shown in formula (25)：
In formula：P is multipair pole magnet steel number of poles；
Current sensor unit 8, for the three-phase current exported by permanent magnet synchronous motor unit to be converted to analog signal；
AD conversion unit 9, the analog signal for exporting current sensor unit are converted to digital signal iu、iv、
iw, handled convenient for subsequent calculations；
Three-phase current space vector converter unit 10, the current digital signal i for will be obtained by module converting unitu、
iv、iwAnd the electrical angle θ that electrical angle converting unit obtainseThree-phase current space vector changes in coordinates is carried out, it is anti-to obtain d-q axis
Supply current id、iqAs shown in formula (26)：
Electric current loop solving unit 11 instructs i according to d-q shaft currentdref、iqrefCalculating current ring feedback element d-q shaft voltage
Instruct Ud、Uq, according to Ud、UqSpace vector coordinate transform is carried out, three-phase phase voltage output order value U is obtainedu、Uv、UwSuch as formula
(27) shown in：
Algorithm for power modulation unit 12 is used for three-phase phase voltage output signal Uu、Uv、UwPower amplification is carried out, output amplitude is
Busbar voltage VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation；
It is expected that feasibility and prospect that invention promotes and applies：
The real-time of Angle Position feedback decides that the responding ability of control system, the present invention can effectively eliminate due to angle
Feedback angle value lag issues caused by value sampling solution process, and then improve system response time, side proposed by the invention
Method and device can be widely applied to high-grade machining tool, robot, aerospace etc. and require high response, high-precision servo technology
Field.
It should be noted that each embodiment above by reference to described in attached drawing is only to illustrate the present invention rather than limits this
The range of invention, those skilled in the art should understand that, it is right under the premise without departing from the spirit and scope of the present invention
The modification or equivalent replacement that the present invention carries out, should all cover within the scope of the present invention.In addition, signified unless the context
Outside, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any embodiment
All or part of in combination with any other embodiment all or part of come using.
Claims (8)
1. the method for controlling permanent magnet synchronous motor based on angular displacement without Time Delay Observer, it is characterised in that：This method includes following
Step：
(1) permanent magnet synchronous motor mathematical model is established, d-q voltage instruction output equation and the rotor equation of motion are obtained；
(2) permanent-magnet synchronous motor rotor position angle value is obtained by magnetism encoder；
(3) permanent magnet synchronous motor angular displacement observer is established；
(4) the position feedback closed loop of control system is established；
(5) the velocity feedback closed loop of control system is established；
(6) the current feedback closed loop of control system is established.
2. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (1) is realized by the following method：
Shown in permanent magnet synchronous motor mathematical model such as formula (1)：
In formula：Ud、UqIt is instructed for d axis and q axis stator voltage；Ld、LqFor d axis and q axis equivalent inductance；RsFor stator resistance；ωeFor
Angular rate；For rotor flux；id、iqFor d axis and q axis stator feedback current；
Shown in motor torque model such as formula (2)：
In formula：TeFor electromagnetic torque；P is motor number of pole-pairs；
Shown in mechanical motion equation such as formula (3)：
In formula：T1For load torque；ωmFor mechanical angular speed；F is motor friction factor；J is motor rotary inertia；
In order to realize maximum moment control, d shaft current is enabled to instruct id=0, at this time shown in motor torque output equation such as formula (4)：
。
3. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (2) is realized by the following method：
Sampling calculating is carried out to angle value using magnetism encoder, adjacent 90 ° of 4 Hall sensors are evenly distributed on Hall Plate
On, in single pair pole under the action of magnet steel, in 4 road Hall (A+、A-、B+、B-) on generate 90 ° of phase phase difference of voltage signal, 4 tunnels
Hall signal Difference Calculation processing is carried out, obtained hall signal diameter subtracts each other to obtain d-q axis Hall
Shown in signal such as formula (5)：
Magnetism encoder angle, θ is calculated using arc tangent formulamAs shown in formula (6)：
Permanent-magnetic synchronous motor rotor circumference is divided into 8 sections, and by comparing d-q axis hall signal (dh,qh) size and
It is positive and negative that current angle value is calculated, the angular range in each angle calculation section is achieved between 0 ° to 45 °, anyway
Value is cut between 0 to 1, arc-tangent value is avoided and occurs just infinite or bear infinite, thus obtain magnetism encoder angle, θm。
4. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (3) is realized by the following method：
In a control cycle TsIn (50us), shaft acceleration alpha may be considered it is invariable, so rotor is one
Rotational angle Δ θ in a control periodmAs shown in formula (7)：
In formula：ωmFor rotor revolving speed；
Then machine shaft angular displacement and velocity differentials equation such as formula (8) are shown：
If motor output torque Te(Nm), JmFor motor and load rotating inertia, load torque TL(Nm), then shaft acceleration alpha is such as
Shown in formula (9)：
(50us) the electric motor load torque T within a control periodLIt varies less, therefore acceleration change d=0；If rotor
Angle, θm, rotational speed omegamWith shown in acceleration change d such as formula (10)：
It enablesShaft accelerationiqFor q axis feedback current, KATFor motor torque coefficient, ifC=[1 0 0], it can thus be concluded that：
Shown in Angle Position observational equation such as formula (12)：
In formula：LiIt is state observation equation adjustment factor；
If observation angle isObserving angular speed isObserving acceleration perturbation motion isIf
Therefore, shown in motor Angle Position state equation such as formula (13)：
According to formula (13), obtain shown in parent Angle Position discretization state equation such as formula (14)：
State equation (14) polar coordinates can be by adjusting l1、l2、l3Arbitrary disposition is carried out, is displaced according to the observation in kth periodObservation speedAnd observation acceleration perturbation motion value dkIt is estimated that the variate-value in+1 period of kth；
State observation adjustment factor l1、l2、l3It is related to the determination of state observer pole coordinate, decides that observation error restrains
Speed selects suitable adjustment factor l1、l2、l3, the pole coordinate of writ state error equation is located at left the half of complex plane coordinate system
Part, if thinking the convergence rate of quickening state observation error, needs to match on pole coordinate to guarantee the stability of state observer
It sets in the position remote as far as possible apart from the imaginary axis, to make the quick approaching to reality value of observation angle；
Sample solution process and SERVO CONTROL process according to Angle Position it is found that angle calculation value there is one to control the stagnant of period
Afterwards, space vector coordinate 2->A control period has been lagged again when 3 transformation, according to formula (14), by the defeated of parent state observer
Input as filial generation observer out, shown in thus obtained filial generation observer discrete form such as formula (15)：
In formula：For T(k+2)The angular observation in period；For T(k+2)The angular speed observation in period；For
T(k+2)The acceleration perturbation motion observation in period；l4、l5、l6For filial generation position ring state observer regulating error coefficient；
According to formula (14) and (15), angular displacement status Observer Structure is constructed, filial generation location status observer is to position detection
Predictive power is stronger, eliminates angle lag issues, and have certain filter action.
5. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (4) is realized by the following method：
The position detection value that step (3) is obtainedAs feedback position, the speed command of speed ring is obtained by proportional component
Value ωref。
6. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (5) is realized by the following method：
The position detection value that step (3) is obtainedDifferential calculation is carried out, speed feedback value ω is obtainedm, by step (4) output
Speed command ωrefAs speed value, current instruction value i is calculated by proportional integrationdref、iqref。
7. the method for controlling permanent magnet synchronous motor according to claim 1 based on angular displacement without Time Delay Observer, feature
It is：The step (6) is realized by the following method：
The current instruction value i that step (5) is obtaineddref、iqrefIt is inputted as current loop instruction, the observation exported using step (3)
Angle PositionFor space voltage vector coordinate transform, final output three-phase phase voltage instruction value Uu、Uv、Uw, by power amplification
Driving circuit, driving motor rotation.
8. a kind of dress based on the method for controlling permanent magnet synchronous motor described in claim 1 based on angular displacement without Time Delay Observer
It sets, which is characterized in that including：
Permanent magnet synchronous motor unit, the stator of permanent magnet synchronous motor unit receive the pulse width modulated wave of algorithm for power modulation unit output
Shape, driving rotor rotation；
Cell encoder exports permanent magnet synchronous motor list for measuring to permanent magnet synchronous motor unit rotor current location
First rotor mechanical corner θm；
Angle Position state observer eliminates angle value hysteresis error output angle position detection value for realizing the observation of angle value
Position ring solving unit calculates, the view angle angle value that Angle Position state observer is exported for control system position ringAs position feedback, ω is instructed by proportional component output speedref；
Speed computing unit, the view angle angle value according to the output of Angle Position state observerRotor speed is calculated, it is defeated
Rotor feedback speed ω outm；
Speed ring solving unit, for realizing velocity close-loop control, output current command value idref、iqref；
Electrical angle converting unit, the view angle angle value for will be obtained by Angle Position observerIt is converted to for permanent magnet synchronous electric
The electrical angle θ of machine space vector coordinate transform calculatinge；
Current sensor unit, for the three-phase current exported by permanent magnet synchronous motor unit to be converted to analog signal；
AD conversion unit, the analog signal for exporting current sensor unit are converted to digital signal iu、iv、iw, it is convenient for
Subsequent calculations processing；
Three-phase current space vector converter unit, the current digital signal i for will be obtained by module converting unitu、iv、iwWith
And the electrical angle θ that electrical angle converting unit obtainseThree-phase current space vector changes in coordinates is carried out, d-q axis feedback current is obtained
id、iq；
Electric current loop solving unit instructs i according to d-q shaft currentdref、iqrefThe instruction of calculating current ring feedback element d-q shaft voltage
Ud、Uq, according to Ud、UqSpace vector coordinate transform is carried out, three-phase phase voltage output order value U is obtainedu、Uv、Uw；
Algorithm for power modulation unit is used for three-phase phase voltage output signal Uu、Uv、UwPower amplification is carried out, output amplitude is bus electricity
Press VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation.
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| CN108847792A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of method of hall position sensor estimation rotor-position |
| CN110112961A (en) * | 2019-05-08 | 2019-08-09 | 上海禹点电子科技有限公司 | A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller |
| CN110277941A (en) * | 2019-06-28 | 2019-09-24 | 东南大学 | Magneto, rotor-position control method, device |
| CN110306899A (en) * | 2019-05-31 | 2019-10-08 | 东南大学 | A kind of reluctance type magnetic Screw automatic door unit and its localization method |
| CN110778767A (en) * | 2019-10-15 | 2020-02-11 | 陕西科技大学 | Electric valve with rotating speed closed-loop control and control method |
| CN111721329A (en) * | 2020-07-07 | 2020-09-29 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
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| CN113708684A (en) * | 2021-08-31 | 2021-11-26 | 哈尔滨理工大学 | Permanent magnet synchronous motor control method and device based on extended potential observer |
| CN115291506A (en) * | 2022-10-09 | 2022-11-04 | 武汉左点科技有限公司 | Method and equipment for controlling vibration noise of electric toothbrush based on state observation |
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| CN108847792A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of method of hall position sensor estimation rotor-position |
| CN110112961A (en) * | 2019-05-08 | 2019-08-09 | 上海禹点电子科技有限公司 | A kind of method for controlling speed regulation of windscreen wiper, speed-adjusting and control system and speed setting controller |
| CN110306899A (en) * | 2019-05-31 | 2019-10-08 | 东南大学 | A kind of reluctance type magnetic Screw automatic door unit and its localization method |
| CN110277941A (en) * | 2019-06-28 | 2019-09-24 | 东南大学 | Magneto, rotor-position control method, device |
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| CN111721329B (en) * | 2020-07-07 | 2021-11-23 | 哈尔滨理工大学 | three-Hall magnetoelectric encoder and arc-tangent-free calculation angle calculation method |
| CN111998872A (en) * | 2020-07-26 | 2020-11-27 | 哈尔滨理工大学 | Electrified coil magnetoelectric encoder and angle value temperature drift suppression method thereof |
| CN111998872B (en) * | 2020-07-26 | 2022-02-01 | 哈尔滨理工大学 | Electrified coil magnetoelectric encoder and angle value temperature drift suppression method thereof |
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| CN113467243A (en) * | 2021-07-07 | 2021-10-01 | 湖北工业大学 | Hot pressing furnace temperature composite control method based on improved delay observer |
| CN113708684A (en) * | 2021-08-31 | 2021-11-26 | 哈尔滨理工大学 | Permanent magnet synchronous motor control method and device based on extended potential observer |
| CN115291506A (en) * | 2022-10-09 | 2022-11-04 | 武汉左点科技有限公司 | Method and equipment for controlling vibration noise of electric toothbrush based on state observation |
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