CN109150043A - Voltage feedforward compensation method in current loop of alternating current servo system - Google Patents
Voltage feedforward compensation method in current loop of alternating current servo system Download PDFInfo
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- CN109150043A CN109150043A CN201810901920.9A CN201810901920A CN109150043A CN 109150043 A CN109150043 A CN 109150043A CN 201810901920 A CN201810901920 A CN 201810901920A CN 109150043 A CN109150043 A CN 109150043A
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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
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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 relates to a voltage feedforward compensation method in a current loop of an alternating current servo system, which comprises the following steps: obtaining current i of non-salient pole type three-phase alternating current permanent magnet synchronous motor through experimental methodqAnd voltage uqThe corresponding relation table of (2); instruction current output to q axis by speed loop in AC servo systemUsing linear interpolation at said current iqAnd voltage uqLooking up or calculating the command current in the corresponding relation tableAnd voltage feedforward compensation can be added into a current loop of the alternating current servo driver to improve the tracking response capability of the current loop corresponding to the voltage value.
Description
Technical Field
The invention relates to a voltage feedforward compensation method in an alternating current servo system current loop, in particular to voltage feedforward compensation in the alternating current servo system current loop of a non-salient pole alternating current permanent magnet synchronous motor.
Background
An ac servo system is typically comprised of an ac servo motor, a power converter, speed and position sensors and position, speed and current controllers as shown in fig. 1. The alternating current servo system is a three-closed-loop structure with current feedback, speed feedback and position feedback, wherein a current loop is an inner loop, and the target output calculated by the position and speed loops is finally realized by the current loop. The current loop is composed of a current controller and an inverter and has the function of enabling the current of the winding of the alternating current servo motor to track the current command signal in real time. In order to control the electromagnetic torque of the ac servo motor quickly and accurately, in the ac servo system, it is necessary to control the d and q axis currents of the ac servo motor. When the alternating current servo motor is a non-salient pole type alternating current permanent magnet synchronous motor, the q-axis current instruction comes from the output of the speed loop, and the d-axis current instruction is directly set to be 0. The method comprises the steps that three-phase feedback current of an alternating current servo motor is converted to obtain feedback current of d and q axes, a current controller calculates given voltage through the feedback current, actual current and other parameters, PWM signals are generated according to an SVPWM algorithm, a power converter performs chopping processing on direct current bus voltage according to the PWM signals to obtain required three-phase voltage, and finally an alternating current servo system outputs the three-phase voltage obtained through chopping to the alternating current servo motor to drive the alternating current servo motor to operate according to specified position, speed and torque.
In the current loop of the current alternating current servo system, the implementation method is as follows:
the current ring is provided with two channels of a d axis and a q axis, the actual currents of the two channels are converted from phase currents collected by a current sensor through CLARK and PARK, and the mathematical expression of the conversion is as follows:
wherein iuAnd ivRespectively, the acquired U and V phase currents, thetaeElectrical angle of magnetic pole of motor rotor, idIs d-axis actual current, iqIs the q-axis actual current.
The feedback control of d and q axes is proportional-integral regulation, and the mathematical expression is as follows:
wherein,andthe d and q axes command current, when the control object is a non-salient pole type alternating current permanent magnet synchronous motor,EIdand EIqD and q axis current tracking errors, k, respectivelyIdpAnd kIqpProportional adjustment coefficients for the d and q axes, k, respectivelyIdiAnd kIqiThe adjustment coefficients are integrated for the d and q axes respectively,andthe outputs are feedback regulated for the d and q axes, respectively.
The d and q axes of the sine wave three-phase permanent magnet synchronous motor have mutually interfered rotary electromotive force, and the electromotive force is opposite to the idAnd iqThe control of (a) has an adverse effect and needs to be eliminated by decoupling control, and the mathematical expression is as follows:
wherein L isdAnd LqEquivalent inductances, psi, of the stator windings of the machine in the dq axis, respectivelyfIs an equivalent flux linkage omega of a permanent magnet of the motor under a dq coordinate systemeIs the electrical angular velocity at which the rotor poles rotate,andthe decoupling voltages for the d and q axes, respectively.
Through feedback regulation, back emf compensation and decoupling calculation, the command voltages of d and q axesIs composed of
Because SVPWM (space vector pulse width modulation) is based on αβ coordinate system, the SVPWM needs to be based on the αβ coordinate systemCommand voltage converted to αβ coordinate system by inverse PARK conversionThe conversion equation is as follows:
in the prior art, the dependence degree of the performance of a current loop of an alternating current servo system on PI feedback regulation is high, so that the performance of the current loop mainly depends on a proportion (P) parameter and an integral (I) parameter, the debugging difficulty is increased, and the performance of the current loop cannot be fully reflected when the PI parameter is not set well.
Disclosure of Invention
In order to solve the technical problems, the invention adds voltage feedforward compensation in the calculation of the current loop, reduces the burden of PI feedback regulation, greatly reduces the dependence of the performance of the current loop on the proportional parameters and the integral parameters, facilitates debugging, and can fully play the performance of the current loop even if the PI parameters are not set well due to the existence of voltage feedforward.
The invention relates to a voltage feedforward compensation method in a current loop of an alternating current servo system, which comprises the following steps:
step 1, obtaining current i of a non-salient pole type three-phase alternating current permanent magnet synchronous motor through an experimental methodqAnd voltage uqThe relation table has N groups of currents iqAnd voltage uqValue iq(n) represents a current iqAnd voltage uqI in the nth data group in the data tableqValue uq(n) represents a current iqAnd voltage uqU in the nth data set in the data tableqValues, where N is a positive integer, N ═ 1, 2, 3, …, N;
step 2, outputting the instruction current to the q axis by a speed loop in the alternating current servo systemCurrent i according to step 1qAnd voltage uqUsing linear interpolation to search the command currentCorresponding voltage valueSaidThe method for feeding forward the voltage value comprises the following specific steps:
step 2.1, clearing the position index n, and enabling the position index n to be 0;
step 2.2, the position index n is n + 1;
step 2.3, judging whether the position index is out of range:
when N is greater than or equal to N, thenIs equal to u in the Nth group of dataqEntering step 2.4;
when N < N, andgreater than i in the nth group of dataqThen returning to step 2.2;
when N < N, andi in the nth group of dataqThen, then Step 2.4
Step 2.4, adding feedforward control voltage to a q axis of the non-salient pole type three-phase alternating current permanent magnet synchronous motor
Has the advantages that:
in the existing alternating current servo system, feedback adjustment is mainly depended on a PI controller, so that the performance of a current loop is mainly depended on a proportional parameter and an integral parameter, the debugging difficulty is increased, and the performance of the current loop cannot be fully reflected when the PI parameter is not set well. The voltage feedforward compensation is added in the calculation of the current loop, so that the change of the load is timely reflected to the current loop, the current loop timely responds to the change of the load, the load of PI feedback regulation is reduced, the dependency of the performance of the current loop on the proportional parameter and the integral parameter is greatly reduced, and even if the PI parameter is not set well, the performance of the current loop can be fully exerted due to the existence of the voltage feedforward.
Drawings
FIG. 1 is a configuration diagram of an AC servo system;
FIG. 2 is a flow chart of voltage feedforward compensation.
Detailed Description
The invention discloses a voltage feedforward compensation method in a current loop of an alternating current servo system, which comprises the following steps:
step 1, obtaining current i of a non-salient pole type three-phase alternating current permanent magnet synchronous motor through an experimental methodqAnd voltage uqThe relation table has N groups of currents iqAnd voltage uqValue iq(n) represents a current iqAnd voltage uqI in the nth data group in the data tableqValue uq(n) represents a current iqAnd voltage uqU in the nth data set in the data tableqValues where N is a positive integer, N ═ 1, 2, 3, … … N; as shown in Table 1, the non-salient pole type three-phase alternating current permanent magnet is obtained by an experimental methodCurrent i of a magnetic synchronous machineqAnd voltage uqCorresponding relation table of (1), u in the corresponding relation tableq(1) To uqSuccessive increments of the value of (N), uqThe value of (N) is obtained by trial and error method, i.e. increasing the voltage u graduallyq(n) value up to current iqThe voltage value is recorded as u for 3 times of rated current of the motorq(N), theoretically, the more the data in the corresponding relation table is, the better the data is, but considering the convenience of computer programming, the table data is not suitable to be made too much, but the too little data can cause larger calculation errors, in the experiment, the increase of the voltage between every two adjacent groups of data is 1V, and the current i of the non-salient pole type three-phase alternating current permanent magnet synchronous motor is madeqAnd voltage uqThe correspondence of (a) is shown in table 1.
TABLE 1 Current i of a non-salient pole three-phase AC PMSMqAnd voltage uqCorresponding relationship of
| Group n | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 |
| iq(A) | 0.0 | 0.027 | 0.043 | 0.053 | 0.063 | 0.071 | 0.081 | 0.089 | 0.100 | 0.109 | 0.121 |
| uq(V) | 0.0 | 1.0 | 2.0 | 3.0 | 4.0 | 5.0 | 6.0 | 7.0 | 8.0 | 9.0 | 10.0 |
| Group n | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 |
| iq(A) | 0.137 | 0.156 | 0.184 | 0.221 | 0.272 | 0.357 | 0.535 | 0.892 | 1.359 | 2.000 | 2.671 |
| uq(V) | 11.0 | 12.0 | 13.0 | 14.0 | 15.0 | 16.0 | 17.0 | 18.0 | 19.0 | 20.0 | 21.0 |
| Group n | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | ||
| iq(A) | 3.430 | 4.137 | 4.905 | 5.646 | 6.411 | 7.160 | 7.842 | 8.549 | 9.197 | ||
| uq(V) | 22.0 | 23.0 | 24.0 | 25.0 | 26.0 | 27.0 | 28.0 | 29.0 | 30.0 |
Step 2, outputting the instruction current to the q axis by a speed loop in the alternating current servo systemBy means of threadsThe current i from step 1 is interpolated by a linear interpolationqAnd voltage uqLooking up the instruction current in the corresponding relation tableCorresponding voltage valueSaidThe method for feeding forward the voltage value comprises the following specific steps:
step 2.1, clearing the position index n, and enabling the position index n to be 0;
step 2.2, the position index n is n + 1;
step 2.3, judging whether the position index is out of range:
when N is greater than or equal to N, thenIs equal to u in the Nth group of dataqFor table 1, then N is 31,equal to 30V in the 31 st group of data, go to step 2.4;
when N < N, andgreater than i in the nth group of dataqThen returning to step 2.2;
when N < N, andi in the nth group of dataqThen, then Entering the step 2.4;
wherein iq(n) represents a current iqAnd voltage uqI in the nth data group in the data tableqValue iq(n-1) represents a current iqAnd voltage uqI in the n-1 th group of data in the data tableqValue uq(n) represents a current iqAnd voltage uqU in the nth data set in the data tableqValue uq(n-1) represents a current iqAnd voltage uqU in the n-1 th group of data in the data tableqA value;
step 2.4, adding feedforward control voltage to a q axis of the non-salient pole type three-phase alternating current permanent magnet synchronous motor
Claims (2)
1. The voltage feedforward compensation method in the current loop of the alternating current servo system is characterized by comprising the following steps:
step 1, obtaining current i of a non-salient pole type three-phase alternating current permanent magnet synchronous motor through an experimental methodqAnd voltage uqThe corresponding relation table of iqIs q-axis current of servo motor, uqMeans the q-axis voltage of the servo motor; the relation table has N groups of currents iqAnd voltage uqValue iq(n) represents a current iqAnd voltage uqGroup n in data sheetI in the dataqValue uq(n) represents a current iqAnd voltage uqU in the nth data set in the data tableqValues where N is a positive integer, N ═ 1, 2, 3, … … N;
step 2, outputting the instruction current to the q axis by a speed loop in the alternating current servo systemCurrent i according to step 1qAnd voltage uqUsing linear interpolation to search the command currentCorresponding voltage valueSaidThe method for feeding forward the voltage value comprises the following specific steps:
step 2.1, zero clearing the position index n, namely, making the position index n equal to 0;
step 2.2, the position index n is n + 1;
step 2.3, judging whether the position index is out of range:
when N is greater than or equal to N, thenIs equal to u in the Nth group of dataqEntering step 2.4;
when N < N, andgreater than i in the nth group of dataqThen returning to step 2.2;
when N < N, andi in the nth group of dataqThen, then Entering the step 2.4;
step 2.4, adding feedforward control voltage to a q axis of the non-salient pole type three-phase alternating current permanent magnet synchronous motor
2. The method of claim 1, wherein the current i of the non-salient pole three-phase AC permanent magnet synchronous motor is obtained by experimentqAnd voltage uqCurrent i in the correspondence tableqNo more than three times the rated current of the synchronous machine.
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| CN109787526A (en) * | 2019-03-14 | 2019-05-21 | 哈尔滨理工大学 | A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model |
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