CN108923712B - Single-loop control method, device and system for rotating speed of permanent magnet synchronous motor - Google Patents
Single-loop control method, device and system for rotating speed of permanent magnet synchronous motor Download PDFInfo
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- CN108923712B CN108923712B CN201810987437.7A CN201810987437A CN108923712B CN 108923712 B CN108923712 B CN 108923712B CN 201810987437 A CN201810987437 A CN 201810987437A CN 108923712 B CN108923712 B CN 108923712B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
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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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Abstract
The invention discloses a single-loop control method for the rotating speed and current of a permanent magnet synchronous motor, which obtains the rotating speed, the position and the two-phase current of the permanent magnet synchronous motor; inputting the rotating speed of the permanent magnet synchronous motor and the current of the motor under a two-phase synchronous rotating coordinate system into a disturbance observer to obtain an estimated disturbance variable; inputting a reference rotating speed expected by the permanent magnet synchronous motor, the rotating speed of the permanent magnet synchronous motor, the current of the motor in a two-phase synchronous rotating coordinate system and an estimated disturbance variable into a sliding mode speed controller to obtain a q-axis voltage value in the two-phase synchronous rotating coordinate system; and obtaining a d-axis voltage value, performing coordinate transformation on the q-axis voltage value and the d-axis voltage value to obtain the voltage of the motor under a two-phase static coordinate system, and driving the motor to operate. The invention realizes the rapid tracking control of the rotating speed and the current, has better control performance, reduces the difficulty of parameter adjustment and provides an effective way for engineering realization.
Description
Technical Field
The invention relates to the technical field of controllers, in particular to a method, a device and a system for controlling the rotating speed single ring of a permanent magnet synchronous motor.
Background
The electric drive system is the core of an energy conversion unit of the electric automobile, the task of the electric drive system is to convert electric energy in a power battery of the electric automobile into kinetic energy on wheels, and the performance of the electric drive system is directly related to the dynamic property, comfort, safety and the like of the whole automobile. The permanent magnet synchronous motor has become a main development trend of the driving motor for the driving system of the electric automobile at present due to the advantages of high efficiency, high power density, high power factor, good reliability and the like. The electric automobile has complex operation conditions and strong randomness, and the permanent magnet synchronous motor is a complex nonlinear, multivariable, strong-coupling and parameter time-varying system.
Therefore, the control problem of the driving motor for the electric vehicle is very challenging, the traditional linear control method of the permanent magnet synchronous motor cannot meet the high-performance requirement of the electric vehicle, and a new nonlinear motor control method needs to be researched urgently to meet the increasingly high requirement of the electric vehicle on the driving system.
Sliding mode control, as a nonlinear control method with strong performance, has been applied in the field of motor drive because of its advantages of fast dynamic response, strong robustness, easy implementation, etc., to realize fast speed or current tracking control.
However, the inventor finds that the current sliding mode control method of the permanent magnet synchronous motor mostly adopts a control structure with a rotating speed loop and a current loop in cascade connection, the structure is complex, the nonlinear influence on two aspects of the electromechanical system of the motor is not considered, particularly, when the motor runs at high speed, the coupling of direct-axis current and rotating speed is intensified, the alternating-axis current dynamic state is influenced in a nonlinear form, and the dynamic performance of the whole control system is further influenced.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a single-loop control method for the rotating speed of the permanent magnet synchronous motor, a speed controller of the permanent magnet synchronous motor is designed based on sliding mode control and a disturbance observer, the fast tracking control of the rotating speed and the current of the motor is realized under the vector control principle, and the single-loop control method has strong robustness.
The single-ring control method for the rotating speed of the permanent magnet synchronous motor comprises the following steps:
obtaining the rotating speed, the position and the two-phase current of the permanent magnet synchronous motor, wherein the two-phase current of the permanent magnet synchronous motor is subjected to coordinate transformation by combining the motor position to obtain the current of the motor in a two-phase synchronous rotating coordinate system;
inputting the rotating speed of the permanent magnet synchronous motor and the current of the motor under a two-phase synchronous rotating coordinate system into a disturbance observer to obtain an estimated disturbance variable;
inputting a reference rotating speed expected by the permanent magnet synchronous motor, the rotating speed of the permanent magnet synchronous motor, the current of the motor under a two-phase synchronous rotating coordinate system and an estimated disturbance variable into a sliding mode speed controller of a single-ring control structure to obtain a q-axis voltage value under the two-phase synchronous rotating coordinate system;
and obtaining a d-axis voltage value, performing coordinate transformation on the q-axis voltage value and the d-axis voltage value to obtain the voltage of the motor under a two-phase static coordinate system, driving the motor to operate, and realizing the rotating speed tracking control of the permanent magnet synchronous motor.
Further, a q-axis voltage value is obtained by using a sliding mode speed controller, which specifically comprises the following steps:
obtaining a mathematical model of the permanent magnet synchronous motor;
reference current of desired d-axis of motorSet to zero to ensureThe motor current is in direct proportion to the torque, and a mathematical model of the permanent magnet synchronous motor is simplified;
according to a simplified mathematical model of the permanent magnet synchronous motor, defining a system state variable, expressing the system state variable into a state space equation form, wherein an input variable is a q-axis voltage value, and an output variable is a mechanical angular speed of a motor rotor;
combining a d-axis equation of a mathematical model of the permanent magnet synchronous motor with the simplified mathematical model of the permanent magnet synchronous motor into an equation set;
defining an error variable for the equation set;
taking an exponential approximation law, and replacing discontinuous switching functions in the exponential approximation law;
and obtaining a control input expression according to the error expression and the exponential approximation law expression, namely obtaining the q-axis voltage of the controller.
Further, the expected d-axis reference current of the motor is setSet to zero to ensure that motor current is directly proportional to torque, resulting in:
where ω is the rotor speed, J is the moment of inertia, B is the coefficient of friction, Φ is the flux linkage produced by the permanent magnet, fwAmount of disturbance of the system, n, caused by external disturbancespIs the number of pole pairs, iqIs the q-axis current, T, of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemLThe motor is loaded with torque.
Further, defining the system state variables asThe input variable is u ═ uqThe output variable is y ═ ω, yielding:
wherein the content of the first and second substances,d1，d2respectively represent the lumped disturbances of the system, anfqAmount of disturbance of q-axis of system, i, caused by variation of system parametersdPermanent magnet synchronous motor fixed d-axis current, L under two-phase synchronous rotating coordinate systemdAnd LqIs the stator inductance R under a two-phase synchronous rotating coordinate systemsIs the stator resistance.
Further, an error variable e is defined1＝x1-x1d，e2＝x2-x2dWherein x is1d＝ω*Desired reference speed, x, of the motor2dTo a defined virtual control quantity, and then
Wherein d isl1＝d1。
The user-defined virtual control quantity is as follows:
wherein k isl1In order to control the gain of the controller,is a disturbance amount dl1An estimated value of, and further
Wherein d isl2Is a defined disturbance quantity, and
further, according to the basic principle of sliding mode control, the index approximation law is taken as follows:
wherein k isl2Is a linear gain, ksTo switch the gain.
Further, discontinuous switching function sgn (e)2) With sat (e)2) And (6) replacing.
Further, the control input is
Wherein the content of the first and second substances,is dl2An estimate of (d).
Further, the disturbance observer is specifically:
wherein, P1And P2Is an observer internal variable,/1And l2Is the observer gain.
The single-loop control device for the rotating speed of the permanent magnet synchronous motor comprises a sliding mode speed controller and a disturbance observer;
the disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
and the sliding mode speed controller receives the expected reference rotating speed of the permanent magnet synchronous motor, the current of the motor in the two-phase synchronous rotating coordinate system and the estimated disturbance variable, and the q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing.
Further, the sliding mode speed controller obtains a q-axis voltage value, specifically:
obtaining a mathematical model of the permanent magnet synchronous motor;
reference current of desired d-axis of motorThe setting is zero, so that the current of the motor is in direct proportion to the torque, and a mathematical model of the permanent magnet synchronous motor is simplified;
according to a simplified mathematical model of the permanent magnet synchronous motor, defining a system state variable, wherein an input variable is a q-axis voltage value, and an output variable is a mechanical angular speed of a motor rotor;
combining a d-axis equation of a mathematical model of the permanent magnet synchronous motor with the simplified mathematical model of the permanent magnet synchronous motor into an equation set;
defining an error variable e for the above system of equations1＝x1-x1d，e2＝x2-x2dWherein x is1d＝ω*Desired reference speed, x, of the motor2dIs a defined virtual control quantity;
exponential approximation lawDiscontinuous switching function sgn (e)2) With sat (e)2) Replacement;
and obtaining a control input expression, namely, the q-axis voltage of the controller.
Further, the disturbance observer is specifically:
wherein, P1And P2Is an observer internal variable,/1And l2Is observer gain。
Permanent magnet synchronous machine rotational speed monocyclic control system includes:
the rotary transformer is used for detecting the rotating speed and position information of the motor in the running process and obtaining the rotating speed omega and the position theta of the motor in the actual running process after decoding;
the first coordinate transformation module is used for transforming the collected motor current into a two-phase stationary coordinate transformation method and transforming the two-phase stationary coordinate into a two-phase synchronous rotating coordinate transformation method according to the three-phase coordinate and the two-phase stationary coordinate in combination with the detected motor position theta so as to obtain the current i of the motor in the two-phase synchronous rotating coordinate systemdAnd iq；
The disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
the sliding mode speed controller receives a reference rotating speed expected by the permanent magnet synchronous motor, the rotating speed of the permanent magnet synchronous motor, the current of the motor in a two-phase synchronous rotating coordinate system and an estimated disturbance variable, and a q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing;
a DC current controller module for referring the desired d-axis current of the motorCurrent idObtaining a d-axis voltage value u under a two-phase synchronous rotating coordinate system by adopting a PI control methodd；
A second coordinate transformation module to obtain uqAnd udAccording to the transformation method for transforming the two-phase synchronous rotating coordinate to the two-phase static coordinate, the voltage u of the motor under the two-phase static coordinate system is obtainedαAnd uβ；
SVPWM modulation module for obtaining uαAnd uβAnd according to a voltage space vector modulation principle, obtaining a PWM signal, acting the PWM signal on an inverter, and finally acting the output voltage of the inverter on the PMSM to drive the motor to run.
According to the method, a rotating speed-current single-loop controller is designed by adopting sliding mode control and a disturbance observer, a rotating speed-current cascade control structure in the traditional vector control is replaced, the controller is simpler in structure, parameters are easier to adjust, and the practicability is higher. By adopting the sliding mode single-ring control method, the influence of nonlinear factors in the motor can be considered, the dynamic response performance is better, the disturbance observer is introduced, the disturbance generated due to load torque, parameter change and the like in the system can be estimated in real time, and the anti-disturbance performance of the system is improved. The invention provides a new method for improving the control performance of the driving system of the electric automobile.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention designs the speed controller of the permanent magnet synchronous motor for the electric automobile by adopting a sliding mode control and disturbance observer method, the method replaces the traditional PI controller, and a control structure for cascading a rotating speed loop and a current loop in the traditional method is replaced by adopting a rotating speed-q axis current single-loop control mode, thereby realizing the rapid tracking control of the rotating speed and the current, having better control performance, reducing the difficulty of parameter adjustment and providing an effective path for engineering realization.
2. In order to improve the control performance of a permanent magnet synchronous motor driving system for an electric vehicle, a PMSM (permanent magnet synchronous motor) rotating speed controller is designed by adopting a sliding mode control and disturbance observer method, so that the rapid dynamic response and strong robustness control of the motor can be realized, certain inhibiting capability on periodic disturbance in the system is realized, and the improvement of the steady-state performance of the driving system is facilitated.
3. The designed controller adopts a single-ring control structure, and a common rotating speed-current cascade control structure, so that the difficulty in adjusting the parameters of the controller is reduced, and the controller is convenient to apply to actual engineering; in addition, nonlinear influence of two aspects of electromechanical of the motor system can be reduced, and further the rotating speed control performance of the system is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a block diagram of the control system of the present invention;
FIG. 2a is a speed tracking curve during motor start-up;
FIG. 2b is a dq-axis current tracking curve during motor start-up;
FIG. 3a is a speed response curve with sudden changes in load torque;
FIG. 3b is a dq-axis current response curve with sudden changes in load torque;
FIG. 4a is a motor speed tracking curve after the inductance and flux linkage change;
FIG. 4b is a motor current tracking curve after the inductance and flux linkage change;
FIG. 5a is a plot of motor speed tracking after a change in rotational inertia;
fig. 5b shows the motor current tracking curve after the moment of inertia has changed.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Examples 1
As shown in fig. 1, the method for controlling a single ring of the rotating speed of a permanent magnet synchronous motor includes:
the method comprises the following steps: and detecting the rotating speed and position information of the motor in the running process through the rotary transformer, decoding to obtain the rotating speed omega and the position theta of the motor in actual running, using omega for the controller design of the step three and the step four, and using theta for the coordinate transformation modules of the step two and the step five.
Step two: collecting two-phase current in three-phase current of the permanent magnet synchronous motor through a Hall current sensor, inputting the obtained two-phase current and the motor position theta detected in the step one into a coordinate transformation module, and obtaining current i of the motor under a two-phase synchronous rotating coordinate system according to transformation principles of three-phase coordinates to two-phase static coordinates and transformation of the two-phase static coordinates to two-phase synchronous rotating coordinatesdAnd iq。
Step three: the rotating speed omega of the motor obtained in the step one in actual operation and the current i of the motor obtained in the step two under a two-phase synchronous rotating coordinate system are useddAnd iqInput disturbance observer module for obtaining estimated disturbance variableAnd
step four: reference rotation speed omega expected by motor*The rotating speed omega of the motor in actual operation, and the current i is obtained in the step twodAnd iqDisturbance variable estimated in step threeAndinputting a sliding mode speed control module, and obtaining a q-axis voltage value u under a two-phase synchronous rotating coordinate system according to the sliding mode controllerq。
Step five: reference current of desired d-axis of motorThe current i obtained in the second stepdInputting a direct current controller module, and obtaining a d-axis voltage value u under a two-phase synchronous rotating coordinate system by adopting a PI (proportional integral) control methodd。
Step six: u obtained in the fourth step and the fifth step respectivelyqAnd udThe input coordinate transformation module is used for transforming the two-phase synchronous rotating coordinate into a two-phase static coordinate transformation method to obtain the voltage u of the motor under the two-phase static coordinate systemαAnd uβ。
Step seven: u obtained in the last stepαAnd uβAnd inputting the signals into an SVPWM (space vector pulse width modulation) module, obtaining 6 paths of PWM signals according to a voltage space vector modulation principle, acting the 6 paths of signals on an inverter, and finally acting the output voltage of the inverter on the PMSM to drive the motor to stably run. In addition, the dynamometer is adopted to apply torque to the motor, and the load torque of the motor is adjusted.
The sliding mode speed controller module and the disturbance observer module are as follows:
in the invention, the control target is to adopt a novel method to realize the rotating speed tracking control of the permanent magnet synchronous motor, and meanwhile, the controller has stronger inhibition capability on the disturbance in the system. The key point of the invention is to design a sliding mode speed controller and a disturbance observer. Firstly, in order to improve the control performance of the motor, a single-ring control structure is adopted, a sliding mode controller is designed, and the tracking control of the rotating speed is realized.
The mathematical model of the permanent magnet synchronous motor can be expressed as
Te＝np[(Ld-Lq)idiq+Φiq] (2)
In the formula id，iq，ud，uqThe currents and voltages of the d axis and the q axis of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate system are respectively LdAnd LqIs the stator inductance R under a two-phase synchronous rotating coordinate systemsIs stator resistance, npIs the number of pole pairs, omega is the rotation speed of the rotor, J is the moment of inertia, B is the friction coefficient, phi is the flux linkage generated by the permanent magnet, TeElectromagnetic torque, T, generated for the electric machineLFor motor load torque, fd，fq，fwTo be varied by system parametersSystematic disturbance amounts of chemical and external disturbances.
In the vector control of the permanent magnet synchronous motor, the expected d-axis reference current of the motor is generally setSet to zero to ensure that the motor current is proportional to the torque. From the third formula of formula (1) and formula (2)
In order to express the motor model in a proper state space equation form so as to design the sliding mode speed controller, system state variables are defined asThe input variable is u ═ uqAnd the output variable is y-omega. The present invention is intended to adopt a single-ring control structure, and further, the second formula of formula (1) and formula (3) can be represented as
Wherein the content of the first and second substances,d1，d2respectively represent the lumped disturbances of the system, an
According to equation (4), an error variable e is defined1＝x1-x1d，e2＝x2-x2dWherein x is1d＝ω*Desired reference speed, x, of the motor2dTo a defined virtual control quantity, and then
Wherein d isl1＝d1。
The user-defined virtual control quantity is as follows:
wherein k isl1In order to control the gain of the controller,is a disturbance amount dl1An estimate of (d). And then to
Wherein d isl2Is a newly defined disturbance quantity, and
according to the basic principle of sliding mode control, the approximation law of the indexes is taken as follows:
wherein k isl2Is a linear gain, ksTo switch the gain.
In order to reduce buffeting generated by sliding mode control, the invention uses a boundary layer method in the sliding mode controller, and discontinuous switching function sgn (e) in formula (8)2) With sat (e)2) Alternatively, as shown below
Wherein η >0 is a constant.
From equations (7) and (8), the calculation-achievable control input is
Wherein the content of the first and second substances,is dl2An estimate of (d).
According to formulae (6), (9) and e2＝x2-x2dThe q-axis voltage u of the controller can be obtainedqThereby ensuring the tracking of the rotating speed of the motor. However, u is determined from the aboveqIncluding the estimated disturbance quantityAndalthough the sliding mode control has better robustness to matching disturbance in the system, the sliding mode control is disturbed by system non-matchingThe system performance may be severely degraded.
In practical motor drive systems, disturbances are unavoidable and undetectable, such as parameter uncertainties, load torques, etc. In order to enhance the robustness of the speed controller, the invention designs a novel disturbance observer for observing the disturbance quantity in the formula (6) and the formula (9)Andthe disturbance observer was designed as follows
Wherein, P1And P2Is an observer internal variable,/1And l2Is the observer gain.
The observer can effectively estimate the disturbance generated by uncertain motor parameters, external disturbance and the like, and can inhibit the periodic disturbance of the system, thereby improving the steady-state performance of the system.
Example 2 of embodiment
Permanent magnet synchronous machine rotational speed monocyclic control system includes:
the rotary transformer is used for detecting the rotating speed and position information of the motor in the running process and obtaining the rotating speed omega and the position theta of the motor in the actual running process after decoding;
the first coordinate transformation module is used for transforming the collected motor current into a two-phase stationary coordinate transformation method and transforming the two-phase stationary coordinate into a two-phase synchronous rotating coordinate transformation method according to the three-phase coordinate and the two-phase stationary coordinate in combination with the detected motor position theta so as to obtain the current i of the motor in the two-phase synchronous rotating coordinate systemdAnd iq；
The disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
the sliding mode speed controller receives a reference rotating speed expected by the permanent magnet synchronous motor, the rotating speed of the permanent magnet synchronous motor, the current of the motor in a two-phase synchronous rotating coordinate system and an estimated disturbance variable, and a q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing;
a DC current controller module for referring the desired d-axis current of the motorCurrent idObtaining a d-axis voltage value u under a two-phase synchronous rotating coordinate system by adopting a PI control methodd；
A second coordinate transformation module to obtain uqAnd udAccording to the transformation method for transforming the two-phase synchronous rotating coordinate to the two-phase static coordinate, the voltage u of the motor under the two-phase static coordinate system is obtainedαAnd uβ；
SVPWM modulation module for obtaining uαAnd uβAccording to the voltage space vector modulation principle, a PWM signal is obtained, and thenAnd the PWM signal acts on the inverter, and finally the output voltage of the inverter acts on the PMSM to drive the motor to run.
EXAMPLE 3
The single-loop control device for the rotating speed of the permanent magnet synchronous motor comprises a sliding mode speed controller and a disturbance observer;
the disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
and the sliding mode speed controller receives the expected reference rotating speed of the permanent magnet synchronous motor, the current of the motor in the two-phase synchronous rotating coordinate system and the estimated disturbance variable, and the q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing.
Finally, the effectiveness of the method provided by the invention is proved through test verification through a permanent magnet synchronous motor driving system test platform.
In the test, a rotating speed controller is designed by adopting a sliding mode control and disturbance observer method, and the test result is specifically analyzed as follows.
The reference speed of the motor is 1000r/min, when a load torque of 0.5 N.m is applied to the motor through the dynamometer, a corresponding rotating speed curve is shown in figure 2a when the novel control method provided by the invention is adopted, and a current response curve is shown in figure 2 b. As seen from the figure, after the motor is started, a large q-axis current is generated, and at the same time, the motor speed is rapidly increased and can be rapidly stabilized at the reference speed value. In the process, the rotating speed overshoot is small, the response speed is high, good current tracking control can be realized, and i is keptd＝0。
When the system suddenly applies load torque, fig. 3a is a corresponding speed change curve, and fig. 3b is a corresponding dq-axis current change curve. As seen from the figure, after the motor system suddenly adds torque, the q-axis current rapidly increases, the rotating speed has small fluctuation, but the rotating speed is rapidly recovered to the reference rotating speed of 1000r/min, in the process, the d-axis current generates small fluctuation and is rapidly recovered to 0, the designed controller can still ensure that the system has good rotating speed and current tracking performance, and the method has good robustness to load disturbance.
When the dq axis inductance and the rotor flux linkage in the controller change, the corresponding speed response curve is shown in fig. 4a, and the corresponding dq axis current curve is shown in fig. 4b, specifically: by adopting the sliding mode control and disturbance observer control method provided by the invention, the dq axis inductance and the rotor flux linkage value in the controller are respectively set to be 75% of the rated value and 120%, the reference rotating speed of the motor is still given to be 1000r/min, the load torque is 0.5 N.m, after the motor operates, a corresponding rotating speed response curve is shown in figure 4a, and a corresponding dq axis current curve is shown in figure 4 b.
By adopting the control method provided by the embodiment, the rotational inertia in the controller is changed into a motor response curve after the rated value of the driving system is multiplied by 2. Fig. 5a is a corresponding speed response curve when the moment of inertia under control changes, and fig. 5b is a corresponding dq-axis current curve when the moment of inertia under control changes. As can be seen from fig. 4a, 4b and fig. 5a, 5b, after the parameters in the controller are changed, the response of the system is not substantially affected by the parameter change, and good tracking control of the rotation speed and the current can still be achieved, and the proposed method has strong robustness to the parameter change.
In conclusion, the motor control system and the control method designed by the invention have good motor speed control performance and strong robustness when the load torque or the parameters are changed. In addition, in the test process, the parameters of the controller are easy to adjust, and the method has better practicability.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. The single-ring control method for the rotating speed of the permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining the rotating speed, the position and the two-phase current of the permanent magnet synchronous motor, wherein the two-phase current of the permanent magnet synchronous motor is subjected to coordinate transformation by combining the motor position to obtain the current of the motor in a two-phase synchronous rotating coordinate system;
inputting the rotating speed of the permanent magnet synchronous motor and the current of the motor under a two-phase synchronous rotating coordinate system into a disturbance observer to obtain an estimated disturbance variable;
inputting a reference rotating speed expected by the permanent magnet synchronous motor, the rotating speed of the permanent magnet synchronous motor, the current of the motor under a two-phase synchronous rotating coordinate system and an estimated disturbance variable into a sliding mode speed controller of a single-ring control structure to obtain a q-axis voltage value under the two-phase synchronous rotating coordinate system; obtaining a q-axis voltage value by using a sliding mode speed controller, which specifically comprises the following steps:
obtaining a mathematical model of the permanent magnet synchronous motor;
reference current of desired d-axis of motorThe setting is zero, so that the current of the motor is in direct proportion to the torque, and a mathematical model of the permanent magnet synchronous motor is simplified;
according to a simplified mathematical model of the permanent magnet synchronous motor, defining a system state variable, expressing the system state variable into a state space equation form, wherein an input variable is a q-axis voltage value, and an output variable is a mechanical angular speed of a motor rotor;
combining a d-axis equation of a mathematical model of the permanent magnet synchronous motor with the simplified mathematical model of the permanent magnet synchronous motor into an equation set;
defining an error variable for the equation set;
taking an exponential approximation law, and replacing discontinuous switching functions in the exponential approximation law;
obtaining a control input expression according to the error expression and the exponential approximation law expression, and obtaining a q-axis voltage value of the controller;
and obtaining a d-axis voltage value, performing coordinate transformation on the q-axis voltage value and the d-axis voltage value to obtain the voltage of the motor under a two-phase static coordinate system, driving the motor to operate, and realizing the rotating speed tracking control of the permanent magnet synchronous motor.
2. The PMSM single speed ring of claim 1Control method, characterized by referring to d-axis reference current expected by motorSet to zero to ensure that motor current is directly proportional to torque, resulting in:
where ω is the rotor speed, J is the moment of inertia, B is the coefficient of friction, Φ is the flux linkage produced by the permanent magnet, fwAmount of disturbance of the system, n, caused by external disturbancespIs the number of pole pairs, iqIs the q-axis current, T, of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemLThe motor is loaded with torque.
3. The method as claimed in claim 1, wherein the system state variable is defined asThe input variable is u ═ uqThe output variable is y ═ ω, yielding:
wherein the content of the first and second substances,d1，d2respectively represent the lumped disturbances of the system, anfwAmount of disturbance of the system due to external disturbance, fqAmount of disturbance of q-axis of system, i, caused by variation of system parametersdPermanent magnet synchronous motor fixed d-axis current, L under two-phase synchronous rotating coordinate systemdAnd LqFor stators under two-phase synchronous rotating coordinate systemInductance, RsIs stator resistance, ω is rotor speed, npIs the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current, u of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemqPermanent magnet synchronous motor stator q-axis voltage value tau under two-phase synchronous rotating coordinate systemLThe motor load torque is represented by B, and the coefficient of friction is represented by B.
4. The method as claimed in claim 1, wherein the error variable e is defined1＝x1-x1d，e2＝x2-x2dWherein x is1d＝ω*Desired reference speed, x, of the motor2dTo a defined virtual control quantity, and then
Wherein x is1＝ω，Omega is the rotor speed, npIs the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current, d of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systeml1＝d1，d1，d2Respectively representing the lumped disturbances of the system;
the user-defined virtual control quantity is as follows:
wherein k isl1In order to control the gain of the controller,is a disturbance amount dl1An estimated value of, and further
Wherein the content of the first and second substances,u＝uq，uqpermanent magnet synchronous motor stator q-axis voltage value d under two-phase synchronous rotating coordinate system1，d2Respectively represent the lumped disturbances of the system, anfwAmount of disturbance of the system due to external disturbance, fqAmount of disturbance of q-axis of system, i, caused by variation of system parametersdPermanent magnet synchronous motor fixed d-axis current, L under two-phase synchronous rotating coordinate systemdAnd LqIs the stator inductance R under a two-phase synchronous rotating coordinate systemsIs stator resistance, ω is rotor speed, npIs the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current, tau of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemLIs motor load torque, B is coefficient of friction, dl2Is a defined disturbance quantity, and
5. the method for controlling the single ring of the rotating speed of the permanent magnet synchronous motor according to claim 4 is characterized in that according to a sliding mode control basic principle, an index approximation law is taken as follows:
wherein k isl2Is a linear gain, ksTo switch gain;
discontinuous switching function sgn (e)2) With sat (e)2) Replacement;
the control input is
Wherein the content of the first and second substances,d1，d2respectively represent the lumped disturbances of the system, anfwAmount of disturbance of the system due to external disturbance, fqAmount of disturbance of q-axis of system, i, caused by variation of system parametersdPermanent magnet synchronous motor fixed d-axis current, L under two-phase synchronous rotating coordinate systemdAnd LqIs the stator inductance R under a two-phase synchronous rotating coordinate systemsIs stator resistance, ω is rotor speed, npIs the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current, u of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemqPermanent magnet synchronous motor stator q-axis voltage value tau under two-phase synchronous rotating coordinate systemLIs the motor load torque, B is the friction coefficient,is dl2An estimate of (d).
6. The method for controlling the single ring of the rotating speed of the permanent magnet synchronous motor according to claim 1, wherein the disturbance observer is specifically:
wherein the content of the first and second substances,npis the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate system, and u is equal to uq，uqPermanent magnet synchronous motor stator q-axis voltage value P under two-phase synchronous rotating coordinate system1And P2Is an observer internal variable,/1And l2Is observer gain, dl1、dl2All of which are the disturbance quantities,is a disturbance amount dl1、dl2Estimated value of e1、e2Respectively, is a defined error variable, x1d＝ω*For the desired reference rotational speed of the motor,d1，d2respectively represent the lumped disturbances of the system, anfwAmount of disturbance of the system due to external disturbance, fqAmount of disturbance of q-axis of system, i, caused by variation of system parametersdPermanent magnet synchronous motor fixed d-axis current, L under two-phase synchronous rotating coordinate systemdAnd LqIs the stator inductance R under a two-phase synchronous rotating coordinate systemsIs stator resistance, ω is rotor speed, npIs the pole pair number, J is the moment of inertia, phi is the flux linkage generated by the permanent magnet, iqIs the q-axis current, tau of the stator of the permanent magnet synchronous motor under a two-phase synchronous rotating coordinate systemLThe motor load torque is represented by B, and the coefficient of friction is represented by B.
7. The single-ring control device for the rotating speed of the permanent magnet synchronous motor is characterized by comprising a sliding mode speed controller and a disturbance observer;
the disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
the sliding mode speed controller receives a reference rotating speed expected by the permanent magnet synchronous motor, a rotating speed of the permanent magnet synchronous motor, a current of the motor in a two-phase synchronous rotating coordinate system and an estimated disturbance variable, a q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing, and the sliding mode speed controller is utilized to obtain the q-axis voltage value, and the method specifically comprises the following steps:
obtaining a mathematical model of the permanent magnet synchronous motor;
reference current of desired d-axis of motorThe setting is zero, so that the current of the motor is in direct proportion to the torque, and a mathematical model of the permanent magnet synchronous motor is simplified;
according to a simplified mathematical model of the permanent magnet synchronous motor, defining a system state variable, expressing the system state variable into a state space equation form, wherein an input variable is a q-axis voltage value, and an output variable is a mechanical angular speed of a motor rotor;
combining a d-axis equation of a mathematical model of the permanent magnet synchronous motor with the simplified mathematical model of the permanent magnet synchronous motor into an equation set;
defining an error variable for the equation set;
taking an exponential approximation law, and replacing discontinuous switching functions in the exponential approximation law;
and obtaining a control input expression according to the error expression and the exponential approximation law expression, so as to obtain a q-axis voltage value of the controller.
8. Permanent magnet synchronous machine rotational speed monocyclic control system, characterized by includes:
the rotary transformer is used for detecting the rotating speed and position information of the motor in the running process and obtaining the rotating speed omega and the position theta of the motor in the actual running process after decoding;
the first coordinate transformation module is used for transforming the collected motor current into a two-phase stationary coordinate transformation method and transforming the two-phase stationary coordinate into a two-phase synchronous rotating coordinate transformation method according to the three-phase coordinate and the two-phase stationary coordinate in combination with the detected motor position theta to obtain the motor currentCurrent i to the motor in a two-phase synchronous rotating coordinate systemdAnd iq；
The disturbance observer receives the rotating speed of the permanent magnet synchronous motor and the current of the motor in a two-phase synchronous rotating coordinate system, and outputs an estimated disturbance variable after processing;
the sliding mode speed controller receives a reference rotating speed expected by the permanent magnet synchronous motor, a rotating speed of the permanent magnet synchronous motor, a current of the motor in a two-phase synchronous rotating coordinate system and an estimated disturbance variable, a q-axis voltage value in the two-phase synchronous rotating coordinate system is obtained after processing, and the sliding mode speed controller is utilized to obtain the q-axis voltage value, and the method specifically comprises the following steps:
obtaining a mathematical model of the permanent magnet synchronous motor;
reference current of desired d-axis of motorThe setting is zero, so that the current of the motor is in direct proportion to the torque, and a mathematical model of the permanent magnet synchronous motor is simplified;
according to a simplified mathematical model of the permanent magnet synchronous motor, defining a system state variable, expressing the system state variable into a state space equation form, wherein an input variable is a q-axis voltage value, and an output variable is a mechanical angular speed of a motor rotor;
combining a d-axis equation of a mathematical model of the permanent magnet synchronous motor with the simplified mathematical model of the permanent magnet synchronous motor into an equation set;
defining an error variable for the equation set;
taking an exponential approximation law, and replacing discontinuous switching functions in the exponential approximation law;
obtaining a control input expression according to the error expression and the exponential approximation law expression, namely obtaining a q-axis voltage value of the controller;
a DC current controller module for referring the desired d-axis current of the motorCurrent idObtaining a d-axis voltage value u under a two-phase synchronous rotating coordinate system by adopting a PI control methodd；
A second coordinate transformation module for transforming the obtained uqAnd udAccording to the transformation method for transforming the two-phase synchronous rotating coordinate to the two-phase static coordinate, the voltage u of the motor under the two-phase static coordinate system is obtainedαAnd uβ；
SVPWM modulation module for obtaining uαAnd uβAnd according to a voltage space vector modulation principle, obtaining a PWM signal, acting the PWM signal on an inverter, and finally acting the output voltage of the inverter on the PMSM to drive the motor to run.
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