CN108880369B - Motor anti-interference control method, system and device based on fractional order sliding mode control - Google Patents
Motor anti-interference control method, system and device based on fractional order sliding mode control Download PDFInfo
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- CN108880369B CN108880369B CN201810599881.1A CN201810599881A CN108880369B CN 108880369 B CN108880369 B CN 108880369B CN 201810599881 A CN201810599881 A CN 201810599881A CN 108880369 B CN108880369 B CN 108880369B
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
Abstract
The invention discloses a motor anti-interference control method, a system and a device based on fractional order sliding mode control, wherein the method comprises the following steps: estimating the interference on the motor to obtain an interference estimated value; calculating the gain of sliding mode switching according to the interference estimated value; according to the calculated gain, closed-loop control is carried out on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm; the system comprises an interference pre-estimation module, a gain size calculation module and a sliding mode control module; the apparatus includes a memory and a processor. The sliding mode control is carried out based on the accurate gain, so that the strong robustness of a sliding mode control algorithm can be ensured, the shake can be effectively inhibited, and the precision of the motor speed control is improved; in addition, the sliding mode control algorithm is executed based on the fractional calculus field, the robustness of the sliding mode control algorithm is further improved, and the sliding mode control algorithm can be widely applied to the motor control field.
Description
Technical Field
The invention relates to the field of motor control, in particular to a motor anti-interference control method, a motor anti-interference control system and a motor anti-interference control device based on fractional order sliding mode control.
Background
The permanent magnet synchronous motor has the advantages of small volume, quick response, high power and the like, and is widely applied to new energy automobiles, numerical control machines, robots and other equipment. Currently, the existing permanent magnet synchronous motor control system (or drive) in the market is generally PID closed-loop control. However, the control performance of the control algorithm under the interference condition is poor, and the application requirement cannot be met. The sliding mode control algorithm has strong robustness for interference, so the method is widely applied to anti-interference high-precision control of a servo system. However, the conventional sliding mode control algorithm has the following problems:
the sliding mode control algorithm must meet the interference matching condition, but the interference cannot be measured, and in order to ensure the feasibility of the algorithm, the sliding mode control switch gain is usually designed to be large so as to overcome the large-amplitude external interference. However, excessive sliding mode switching gain introduces a new problem: the high-frequency large-amplitude switch switching can cause shaking of the system, and further influences the control precision.
Disclosure of Invention
To solve the above technical problems, the present invention aims to: the motor anti-interference control method, system and device based on fractional order sliding mode control can reduce shake and is high in control precision.
The first technical scheme adopted by the invention is as follows:
the motor anti-interference control method based on fractional order sliding mode control comprises the following steps:
estimating the interference on the motor to obtain an interference estimated value;
calculating the gain of sliding mode switching according to the interference estimated value;
and performing closed-loop control on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm according to the calculated gain.
Further, the method also comprises the step of acquiring the actual operating angular speed of the motor.
Further, the step of acquiring the actual operating angular speed of the motor comprises the following steps:
detecting an actual operation angle of the motor;
and calculating the actual operating angular speed of the motor according to the actual operating angle of the motor.
Further, the step of estimating the interference magnitude received by the motor to obtain an interference estimated value includes the following steps:
predicting the angular speed of the motor to obtain an angular speed predicted value, wherein a calculation formula of the angular speed predicted value is as follows:
wherein the content of the first and second substances,
a predicted value representing the angular velocity of the motor;
a representative interference estimate; b represents a friction coefficient; j represents the rotational inertia of the motor; ω represents the actual operating angular velocity of the motor; n represents the number of pole pairs of the motor; l represents the equivalent inductance of the motor; i represents the equivalent current of the motor; k is a radical of1Is a first coefficient;
according to the actual operation angular speed and the angular speed estimated value of the motor, calculating an interference estimated value suffered by the motor, wherein the calculation formula of the interference estimated value is as follows:
wherein k is2Is the second coefficient.
Further, in the step of calculating the gain of sliding mode switching according to the interference estimated value, a calculation formula of the gain K of sliding mode switching is as follows:
further, the step of performing closed-loop control on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm according to the calculated gain comprises the following steps:
calculating fractional order sliding mode manifold, wherein the calculation formula of the fractional order sliding mode manifold is as follows:
wherein s represents a fractional order sliding mode manifold;
representing a fractional order differential operator; r represents the order of the derivative; t represents an upper integration time limit; e represents the angular velocity error of the motor;
according to the calculated fractional order sliding mode manifold and the gain, calculating the direct current of the motor under the rotating coordinate by adopting a fractional order sliding mode control algorithm, wherein the calculation formula of the direct current under the rotating coordinate is as follows:
wherein the content of the first and second substances,
k is sliding mode switching gain;
and carrying out closed-loop control on the angular speed of the motor according to the direct current of the motor under the rotating coordinate.
Further, the step of performing closed-loop control on the angular speed of the motor according to the direct current of the motor under the rotating coordinate comprises the following steps:
mapping the direct current of the motor under the rotating coordinate to obtain the direct current of the motor under the static coordinate;
converting direct current of the motor under a static coordinate to obtain three-phase voltage of the motor;
adjusting the power-on time of the motor through the pulse width;
obtaining three-phase alternating current of the motor according to the electrifying time and the three-phase voltage of the motor;
and carrying out closed-loop control on the angular speed of the motor according to the three-phase alternating current of the motor.
Further, the step of detecting the actual operating angle of the motor specifically includes:
the actual operating angle of the motor is detected by an encoder or a resolver.
The second technical scheme adopted by the invention is as follows:
motor anti-interference control system based on fractional order sliding mode control includes:
the interference estimation module is used for estimating the interference on the motor to obtain an interference estimation value;
the gain size calculation module is used for calculating the gain size of sliding mode switching according to the interference estimated value;
and the sliding mode control module is used for performing closed-loop control on the angular speed of the motor by adopting a sliding mode control algorithm based on fractional order according to the calculated gain.
The third technical scheme adopted by the invention is as follows:
motor anti-interference control device based on fractional order sliding mode control includes:
a memory for storing a program;
and the processor is used for loading a program to execute the motor anti-interference control method based on fractional order sliding mode control according to the first technical scheme.
The invention has the beneficial effects that: according to the method, the interference on the motor is estimated, the gain of sliding mode switching is calculated, and finally closed-loop control is performed on the motor according to the calculated gain; in addition, the sliding mode control algorithm is executed based on the fractional calculus field, and the robustness of the sliding mode control algorithm is further improved.
Drawings
FIG. 1 is a flow chart of steps of a motor anti-interference control method based on fractional order sliding mode control according to the invention;
fig. 2 is a block diagram of the anti-interference control system of the motor of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
Referring to fig. 1, the anti-interference control method of the motor based on fractional order sliding mode control of the invention comprises the following steps:
estimating the interference on the motor to obtain an interference estimated value;
calculating the gain of sliding mode switching according to the interference estimated value;
and performing closed-loop control on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm according to the calculated gain.
Further as a preferred embodiment, the method further comprises the step of acquiring the actual operating angular speed of the motor.
Further as a preferred embodiment, the step of obtaining the actual operating angular speed of the motor includes the steps of:
detecting an actual operation angle of the motor;
and calculating the actual operating angular speed of the motor according to the actual operating angle of the motor.
Further, as a preferred embodiment, the step of estimating the magnitude of the disturbance received by the motor to obtain a predicted disturbance value includes the following steps:
predicting the angular speed of the motor to obtain an angular speed predicted value, wherein a calculation formula of the angular speed predicted value is as follows:
wherein the content of the first and second substances,
a predicted value representing the angular velocity of the motor;
a representative interference estimate; b represents a friction coefficient; j represents the rotational inertia of the motor; ω represents the actual operation of the motorAn angular velocity; n represents the number of pole pairs of the motor; l represents the equivalent inductance of the motor; i represents the equivalent current of the motor; k is a radical of1Is a first coefficient;
according to the actual operation angular speed and the angular speed estimated value of the motor, calculating an interference estimated value suffered by the motor, wherein the calculation formula of the interference estimated value is as follows:
wherein k is2Is the second coefficient.
Further preferably, in the step of calculating the gain size of sliding mode switching according to the interference estimated value, a calculation formula of the gain size K of sliding mode switching is as follows:
further, as a preferred embodiment, the step of performing closed-loop control on the angular speed of the motor by using a fractional order-based sliding mode control algorithm according to the calculated gain magnitude includes the following steps:
calculating fractional order sliding mode manifold, wherein the calculation formula of the fractional order sliding mode manifold is as follows:
wherein s represents a fractional order sliding mode manifold;
representing a fractional order differential operator; r represents the order of the derivative, i.e. r (0)<r<1) A first derivative; t represents an upper integration time limit; e represents the angular velocity error of the motor;
according to the calculated fractional order sliding mode manifold and the gain, calculating the direct current of the motor under the rotating coordinate by adopting a fractional order sliding mode control algorithm, wherein the calculation formula of the direct current under the rotating coordinate is as follows:
wherein the content of the first and second substances,
k is sliding mode switching gain;
and carrying out closed-loop control on the angular speed of the motor according to the direct current of the motor under the rotating coordinate.
Further, as a preferred embodiment, the step of performing closed-loop control on the angular velocity of the motor according to the direct current of the motor in the rotation coordinate includes the steps of:
mapping the direct current of the motor under the rotating coordinate to obtain the direct current of the motor under the static coordinate;
converting direct current of the motor under a static coordinate to obtain three-phase voltage of the motor;
adjusting the power-on time of the motor through the pulse width;
obtaining three-phase alternating current of the motor according to the electrifying time and the three-phase voltage of the motor;
and carrying out closed-loop control on the angular speed of the motor according to the three-phase alternating current of the motor.
Further as a preferred embodiment, the step of detecting the actual operating angle of the motor specifically includes:
the actual operating angle of the motor is detected by an encoder or a resolver.
Corresponding to the method of fig. 1, the anti-interference control system of the motor based on fractional order sliding mode control of the present invention comprises:
the interference estimation module is used for estimating the interference on the motor to obtain an interference estimation value;
the gain size calculation module is used for calculating the gain size of sliding mode switching according to the interference estimated value;
and the sliding mode control module is used for performing closed-loop control on the angular speed of the motor by adopting a sliding mode control algorithm based on fractional order according to the calculated gain.
Corresponding to the method of fig. 1, the anti-interference control device for a motor based on fractional order sliding mode control of the present invention comprises:
a memory for storing a program;
and the processor is used for loading a program to execute the motor anti-interference control method based on fractional order sliding mode control.
Referring to fig. 2, the following describes in detail specific implementation steps of the fractional sliding mode control-based anti-interference control method for a motor according to the present invention, taking a specific motor control system as an example:
and S1, detecting the actual operation angle of the motor, and then calculating the actual operation angular speed of the motor according to the actual operation angle of the motor. Step S1 specifically includes: detecting an actual operation angle delta theta of the servo motor within a detection time T through an encoder installed on the servo motor, and then calculating an angular velocity omega of the servo motor according to the following formula:
and S2, estimating the interference on the motor to obtain an interference estimated value.
Wherein, step S2 includes the following steps:
s21, predicting the motor angular speed to obtain an angular speed estimated value, wherein the calculation formula of the angular speed estimated value is as follows:
wherein the content of the first and second substances,
a predicted value representing the angular velocity of the motor;
a representative interference estimate; b represents a friction coefficient; j represents the rotational inertia of the motor; ω represents the actual operating angle of the motorSpeed; n represents the number of pole pairs of the motor; l represents the equivalent inductance of the motor; i represents the equivalent current of the motor; k is a radical of1Is a first coefficient;
s22, calculating an interference estimated value of the motor according to the actual running angular speed and the angular speed estimated value of the motor, wherein the calculation formula of the interference estimated value is as follows:
wherein k is2Is the second coefficient, k1And k2Are all greater than zero.
According to the running state equation of the motor, a calculation formula of an angular velocity estimated value and a calculation formula of an interference estimated value are defined; finally, calculating the interference on the motor by using a calculation formula of the angular velocity estimated value and a calculation formula of the interference estimated value; wherein the state equation of the motor is as follows:
s3, calculating the gain of sliding mode switching according to the interference estimated value, wherein the calculation formula of the gain K of sliding mode switching is as follows:
one of the keys of the invention is to select the size of the sliding mode switching gain, if the gain is selected to be too large, the sliding mode switching gain can bring violent shake during high-frequency switching, and if the gain is selected to be too small, the sliding mode switching gain has no robustness to interference. The invention calculates the accurate interference value and then makes the sliding mode switching gain equal to the interference value, thereby realizing the optimal selection.
And S4, performing closed-loop control on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm according to the calculated gain.
Wherein, step S4 specifically includes the following steps:
s41, calculating fractional order sliding mode manifold, wherein the calculation formula of the fractional order sliding mode manifold is as follows:
wherein s represents a fractional order sliding mode manifold;
representing a fractional order differential operator; r represents the order of the derivative, i.e. r (0)<r<1) A first derivative; t represents an upper integration time limit; e represents the angular velocity error of the motor;
s42, according to the calculated fractional order sliding mode manifold and the gain, calculating the direct current of the motor under the rotating coordinate by adopting a fractional order sliding mode control algorithm, wherein the calculation formula of the direct current under the rotating coordinate is as follows:
wherein the content of the first and second substances,
k is sliding mode switching gain;
s43, mapping the direct current of the motor under the rotating coordinate to obtain the direct current of the motor under the static coordinate; step S43 is implemented by using a rotation transformation module as shown in fig. 2.
S44, converting the direct current of the motor under the static coordinate to obtain the three-phase voltage of the motor; step S44 is implemented using a PWM module as shown in fig. 2.
S45, adjusting the power-on time of the motor through the pulse width;
s46, obtaining three-phase alternating current of the motor according to the power-on time and the three-phase voltage of the motor; step S46 is implemented by using an inversion module as shown in fig. 2.
And S47, carrying out closed-loop control on the angular speed of the motor according to the three-phase alternating current of the motor. Wherein PMSM as shown in fig. 2 represents a permanent magnet synchronous motor; and R represents an encoder or a rotary transformer and is used for detecting the real-time operation angle of the motor.
In summary, the motor anti-interference control method, system and device based on fractional order sliding mode control of the present invention have the following advantages:
1) the sliding mode control method based on the precise gain is used for sliding mode control, so that the strong robustness of a sliding mode control algorithm can be ensured, shaking can be effectively inhibited, and the precision of motor speed control is improved.
2) The sliding mode control algorithm is executed based on the fractional calculus field, and the robustness of the sliding mode control algorithm is further improved.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The motor anti-interference control method based on fractional order sliding mode control is characterized by comprising the following steps: the method comprises the following steps:
estimating the interference on the motor to obtain an interference estimated value;
calculating the gain of sliding mode switching according to the interference estimated value;
according to the calculated gain, closed-loop control is carried out on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm;
the method also comprises the step of acquiring the actual operating angular speed of the motor;
the step of estimating the interference on the motor to obtain the estimated interference value comprises the following steps:
predicting the angular speed of the motor to obtain an angular speed predicted value;
and calculating an estimated value of the interference suffered by the motor according to the actual running angular speed of the motor and the estimated value of the angular speed.
2. The fractional order sliding mode control-based motor anti-interference control method according to claim 1, characterized in that: the step of acquiring the actual operating angular speed of the motor comprises the following steps:
detecting an actual operation angle of the motor;
and calculating the actual operating angular speed of the motor according to the actual operating angle of the motor.
3. The fractional order sliding mode control-based motor anti-interference control method according to claim 1, characterized in that: the calculation formula of the angular velocity estimated value is as follows:
wherein the content of the first and second substances,
a predicted value representing the angular velocity of the motor;
a representative interference estimate; b represents a friction coefficient; j represents the rotational inertia of the motor; ω represents the actual operating angular velocity of the motor; n represents the number of pole pairs of the motor; l represents the equivalent inductance of the motor; i represents the equivalent current of the motor; k is a radical of1Is a first coefficient;
the calculation formula of the interference estimated value is as follows:
wherein k is2Is the second coefficient.
4. The fractional order sliding mode control-based motor anti-interference control method according to claim 3, characterized in that: in the step of calculating the gain of sliding mode switching according to the interference estimated value, the gain of sliding mode switching is increasedThe calculation formula of the gain K is as follows:
5. the fractional order sliding mode control-based motor anti-interference control method according to claim 4, characterized in that: the step of performing closed-loop control on the angular speed of the motor by adopting a fractional order-based sliding mode control algorithm according to the calculated gain comprises the following steps:
calculating fractional order sliding mode manifold, wherein the calculation formula of the fractional order sliding mode manifold is as follows:
wherein s represents a fractional order sliding mode manifold;
representing a fractional order differential operator; r represents the order of the derivative; t represents an upper integration time limit; e represents the angular velocity error of the motor;
according to the calculated fractional order sliding mode manifold and the gain, calculating the direct current of the motor under the rotating coordinate by adopting a fractional order sliding mode control algorithm, wherein the calculation formula of the direct current under the rotating coordinate is as follows:
wherein the content of the first and second substances,
k is sliding mode switching gain;
and carrying out closed-loop control on the angular speed of the motor according to the direct current of the motor under the rotating coordinate.
6. The fractional order sliding mode control-based motor anti-interference control method according to claim 5, characterized in that: the step of performing closed-loop control on the angular speed of the motor according to the direct current of the motor under the rotating coordinate comprises the following steps of:
mapping the direct current of the motor under the rotating coordinate to obtain the direct current of the motor under the static coordinate;
converting direct current of the motor under a static coordinate to obtain three-phase voltage of the motor;
adjusting the power-on time of the motor through the pulse width;
obtaining three-phase alternating current of the motor according to the electrifying time and the three-phase voltage of the motor;
and carrying out closed-loop control on the angular speed of the motor according to the three-phase alternating current of the motor.
7. The fractional order sliding mode control-based motor anti-interference control method according to claim 2, characterized in that: the step of detecting the actual operation angle of the motor specifically comprises the following steps:
the actual operating angle of the motor is detected by an encoder or a resolver.
8. Motor anti-interference control system based on fractional order sliding mode control, its characterized in that: the method comprises the following steps:
the interference estimation module is used for estimating the interference on the motor to obtain an interference estimation value;
the gain size calculation module is used for calculating the gain size of sliding mode switching according to the interference estimated value;
the sliding mode control module is used for performing closed-loop control on the angular speed of the motor by adopting a sliding mode control algorithm based on fractional order according to the calculated gain;
acquiring the actual operating angular speed of the motor;
the interference estimation module is specifically configured to:
predicting the angular speed of the motor to obtain an angular speed predicted value;
and calculating an estimated value of the interference suffered by the motor according to the actual running angular speed of the motor and the estimated value of the angular speed.
9. Motor anti-interference control device based on fractional order sliding mode control, its characterized in that: the method comprises the following steps:
a memory for storing a program;
a processor for loading a program to execute the fractional sliding mode control based motor anti-interference control method according to any one of claims 1 to 7.
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