CN109600084A - A kind of permanent magnet synchronous motor vector control system and method for fuzzy sliding mode tracking control - Google Patents
A kind of permanent magnet synchronous motor vector control system and method for fuzzy sliding mode tracking control Download PDFInfo
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The present invention relates to the vector control technology fields of permanent magnet synchronous motor, and in particular to a kind of permanent magnet synchronous motor vector control system and method for fuzzy sliding mode tracking control.Control system PMSM module, coordinate transformation module, Fuzzy Sliding Model Controller, torque current regulator, exciting current controller, SVPWM module, three-phase inverter, revolving speed computing module.The control system replaces the switching part of sliding formwork control using Fuzzy Sliding Model Controller, by introducing variable gain in fuzzy controlAchieve the purpose that meet sliding formwork existence condition and reduce to buffet, while also improving the strong robustness and anti-interference ability of control system.
Description
Technical field
The invention belongs to the vector control technology field of permanent magnet synchronous motor more particularly to a kind of fuzzy sliding mode tracking controls forever
Magnetic-synchro motor vector control system and method.
Background technique
The advantages that permasyn morot is with high power density, high efficiency, high reliability and structure are simple, lightweight writes
Claim, is now widely used for the fields such as national economy, industrial production and national defence space flight.
However, permanent magnet synchronous motor is a multivariable, the nonlinear system of close coupling, there is such as current coupling,
Many unfavorable factors such as system saturation, Parameter Perturbation and external disturbance, directly affect the raising of control system performance.For reality
The demand of border engineer application, there is an urgent need to have breakthrough on method for controlling permanent magnet synchronous motor, to guarantee that high-performance permanent magnet is same
Walk the development of electric system.
The development of power electronic technique and microprocessor technology provides for the application of permanent magnet synchronous motor advanced control method
Solid foundation, vector controlled is a kind of two kinds of mainstreams control plan for realizing the control of high dynamic performance synchronous permanent-magnet motor at present
One of slightly.
Vector controlled is a kind of a kind of mainstream control strategy for realizing the control of high dynamic performance synchronous permanent-magnet motor at present.PI
Controller comes out has 70 years history so far, has many advantages, such as that structure is simple, stability is good, reliable operation, easy to adjust, becomes
One of major technique of Industry Control.PI control is classical control strategy, and method is simple, can improve static system precision,
System stability can be improved again and improves system dynamic quality, therefore is widely used in motor control.Typical permanent magnet synchronous motor
Vector control system is the three closed-loop control system comprising electric current loop, speed ring and position ring.Traditional location ring, speed ring
Adjusting controller with electric current loop is all using PI controller.But permanent magnet synchronous motor is the non-linear object with close coupling,
It is difficult to be indicated, and in motor operation course often there are various unpredictalbe interference, simultaneously with accurate mathematical model
The parameter of electric machine can also change.
Sliding formwork control (Sliding Mode Control, SMC) is a kind of special nonlinear Control, has response speed
Fastly, to Parameters variation and external disturbance strong robustness, realize many advantages, such as simple.However, this control method needs basis
System mode is frequently switched between different controller architectures, this unavoidably will cause system chatter.Therefore, such as
What, which weakens system chatter, becomes the research hotspot that sliding mode control theory is applied to real electrical machinery drive system.
In various controllers, Sliding Mode Controller is good with its robustness, realizes the advantages that relatively easy in electromechanics
It occupies an important position, and is widely used in the control of system.But sliding mode controller also has the shortcomings that generation buffeting,
The effective way of Sliding Mode Controller and intelligent control algorithm being combined into solve this problem.Wherein, fuzzy sliding mode
Controller is a kind of new sliding mode variable structure control method occurred in recent years, with traditional linear sliding mode variable-structure controller phase
Than it, also with the characteristic of fast convergence, makes control system in the shorter time other than having the characteristics that higher robustness
Desired trajectory is converged to, and there is higher stable state accuracy on diverter surface.
Summary of the invention
The object of the present invention is to provide a kind of system and methods combined using fuzzy control and sliding formwork control, to reduce
Buffeting problem and driving saturation problem.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of permanent-magnet synchronous using fuzzy sliding mode tracking control
Motor vector control system, including PMSM module, coordinate transformation module, Fuzzy Sliding Model Controller, torque current regulator, excitation
Current regulator, SVPWM module, three-phase inverter, revolving speed computing module；
PMSM module is for detecting permanent magnet synchronous motor three-phase windings electric current ia、ib、ic；
Coordinate transformation module includes Clark conversion module, Park conversion module and Park inverse transform module；
Clark conversion module is used for the output i of PMSM modulea、ib、icPass through the Clark between two rest frames
Transformation obtains the output electric current i of Clark conversion moduleα、iβ；
Park conversion module is used for the output electric current i of Clark conversion moduleα、iβPass through rest frame and rotational coordinates
Park transformation between system, obtains the output electric current i of Park conversion moduled、iq；
Park inverse transform module is used for the output voltage u of torque current regulator and exciting current controllerd *、uq *Become
Change the output voltage u of Park inverse transform module intoα *、uβ *；
Fuzzy Sliding Model Controller is used for actual speed NrWith setting speed Nr *Difference by Fuzzy Sliding Model Controller
Correction, obtains q axis reference current iq *；
Torque current regulator, for by the output electric current i of Park conversion moduledWith setting electric current id *Compare and is made the difference
Operation, and difference is corrected output d axis reference voltage u to it by torque current regulatord *；
Exciting current controller is by the output electric current i of Park conversion moduleqWith setting electric current iq *Compare and carries out making the difference fortune
It calculates, and difference is corrected output q axis reference voltage u to it by exciting current controllerq *；
SVPWM module, for by the output voltage u of Park inverse transform moduleα *、uβ *Carry out space vector modulation, output
PWM waveform is to three-phase inverter；
Three-phase inverter controls its operation to permanent magnet synchronous motor input three-phase voltage；
Revolving speed computing module obtains rotor position estimate value θ for carrying out estimation processingcWith actual speed Nr。
A kind of permanent magnet synchronous motor vector control method using fuzzy sliding mode tracking control, including base is designed using fuzzy rule
Fuzzy sliding mode tracking control is realized in the Fuzzy Sliding Model Controller of equivalent control, then by design fuzzy logic ordination；Specific steps are such as
Under:
Electric current i in step 1, permanent magnet synchronous motor three-phase windingsa、ib、icBy between two rest frames
Clark transformation obtains Clark conversion module and exports electric current iα、iβ；Then Clark conversion module is exported into electric current iα、iβPass through
Park transformation between rest frame and rotating coordinate system, obtains Park conversion module and exports electric current id、iq；
Step 2, by setting speed Nr *It is corrected by Fuzzy Sliding Model Controller, obtains q axis reference current iq *；Park is become
Change module output current id、iqWith d axis reference current id *, q axis reference current iq *Compare, and by torque current regulator and
Exciting current controller is corrected it, is then combined to feed-forward voltage, then by Park inverse transformation, by torque current
The d axis reference voltage u of adjuster and exciting current controller outputd *, q axis reference voltage uq *It is transformed into Park inverse transform module
Output voltage uα *、uβ *；
Step 3, by SVPWM module to the output voltage u of Park inverse transform moduleα *、uβ *Carry out space vector of voltage tune
New three-phase given voltage, is applied to the three-phase windings of permanent magnet synchronous motor by system；By outer ring by actual speed NrWith setting
Revolving speed Nr *It is compared, and drives and adjust q axis reference current i with thisq *。
In the above-mentioned permanent magnet synchronous motor vector control method using fuzzy sliding mode tracking control, Clark described in step 1 becomes
Change is that current transformation under abc three-axis reference is exported electric current i at Clark conversion module under α β rectangular coordinate systemα、iβ；It is described
Park transformation is that current transformation under α β rectangular coordinate system is exported electric current i at Park conversion module under dq rectangular coordinate systemd、iq。
In the above-mentioned permanent magnet synchronous motor vector control method using fuzzy sliding mode tracking control, the realization of step 2 includes
Using double-closed-loop control, by actual speed NrFeedback, obtains and setting speed Nr *Difference, obtained by Fuzzy Sliding Model Controller
Q axis reference current iq *；Park conversion module is exported into electric current id、iqFeedback, obtains and d axis reference current id *The reference of=0 and q axis
Electric current iq *Difference, then d axis reference voltage u is obtained by torque current regulator and exciting current controllerd *, q axis with reference to electricity
Press uq *。
In the above-mentioned permanent magnet synchronous motor vector control method using fuzzy sliding mode tracking control, the realization of step 3 includes
SVPWM module generates six road pwm signals, drives three-phase inverter, generates the control permanent magnet synchronous motor operation of three-phase given voltage.
Beneficial effects of the present invention: 1. add sliding formwork control on the basis of vector controlled, can be improved robustness and resist
Interference performance.
2. design fuzzy control combination sliding mode controller substitutes traditional PI controller, pass through the fuzzy rule of fuzzy control
Then, make the sliding-mode surface zero in sliding formwork control, softening control signal, so as to be alleviated or avoided existing for traditional sliding formwork control
Buffeting problem and driving saturation problem.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of one embodiment of the invention；
Fig. 2 is one embodiment of the invention Fuzzy Sliding Model Controller structure chart；
Fig. 3 is the membership function of one embodiment of the invention Indistinct Input；
Fig. 4 is the membership function of one embodiment of the invention fuzzy output；
Fig. 5 is that one embodiment of the invention emulates rotation speed change waveform.
Specific embodiment
Embodiments of the present invention are described in detail with reference to the accompanying drawing.
When permanent magnet synchronous motor is in iqUnder=0 vector controlled, the conventional PI control device that speed control uses is line
Property, robustness is not strong enough, poor anti jamming capability.And sliding formwork control has quick response, it is insensitive to Parameters variation and disturbance
The advantages of, buffeting problem is existed simultaneously, so the present embodiment replaces the switching part of sliding formwork control using Fuzzy Sliding Model Controller
Point, by introducing variable gain in fuzzy controlAchieve the purpose that meet sliding formwork existence condition and reduce to buffet.Realization subtracts
The buffeting of small sliding formwork control improves the strong robustness and anti-interference ability of control system.
The present embodiment is achieved through the following technical solutions, as shown in Figure 1, a kind of permanent magnetism using fuzzy sliding mode tracking control
Synchronous motor vector control system, including PMSM module, coordinate transformation module, Fuzzy Sliding Model Controller, torque current regulator,
Exciting current controller, SVPWM module, three-phase inverter, revolving speed computing module.
Moreover, PMSM module is for detecting permanent magnet synchronous motor three-phase windings electric current ia、ib、ic。
Moreover, coordinate transformation module includes Clark conversion module, Park conversion module and Park inverse transform module.Clark
Conversion module is used for the output i of PMSM modulea、ib、icBy the Clark transformation between two rest frames, obtain
The output electric current i of Clark conversion moduleα、iβ.Park conversion module is used for the output electric current i of Clark conversion moduleα、iβIt is logical
The Park transformation between rest frame and rotating coordinate system is crossed, the output electric current i of Park conversion module is obtainedd、iq.Park is inverse
Conversion module is used for the output voltage u of torque current regulator and exciting current controllerd *、uq *It is transformed into Park inverse transformation
The output voltage u of moduleα *、uβ *。
Moreover, Fuzzy Sliding Model Controller, is used for actual speed NrWith setting speed Nr *Difference pass through fuzzy sliding mode control
The correction of device processed obtains q axis reference current iq *。
Moreover, torque current regulator, for by the output electric current i of Park conversion moduledWith setting electric current id *Compare into
Row does difference operation, and difference is corrected output d axis reference voltage u to it by torque current regulatord *。
Moreover, exciting current controller is by the output electric current i of Park conversion moduleqWith setting electric current iq *Compare and is done
Difference operation, and difference is corrected output q axis reference voltage u to it by exciting current controllerq *。
Moreover, SVPWM module, for by the output voltage u of Park inverse transform moduleα *、uβ *Space vector modulation is carried out,
PWM waveform is exported to three-phase inverter.
Moreover, three-phase inverter, controls its operation to permanent magnet synchronous motor input three-phase voltage.
Moreover, revolving speed computing module obtains rotor position estimate value θ for carrying out estimation processingcWith actual speed Nr。
As shown in Fig. 2, Fuzzy Sliding Model Controller structure chart, including sliding mode controller and fuzzy controller.
Sliding mode controller module design is as follows:
Consider general nonlinear system:
Wherein x, u are the state and control variable of system, and t is time variable.
It is below typical system, analyzes and researches to general Reaching Law:
A and B therein are constant.
The sliding-mode surface function of definition system are as follows:
S=Cx, s ∈ Rm
Wherein C is constant, and x is tracking error.
According to the basic principle of sliding mode control theory, the proper motion stage must satisfy the accessibility condition of sliding modeSo that sliding-mode surface is reached in finite time, so designing Reaching Law function to guarantee the product in proper motion stage
Matter.
General Reaching Law equation are as follows:
Wherein, K (t) is handoff gain, is to cause the reason of buffeting.E (t) is time-varying, then buffets to reduce, K (t)
It also should time-varying.Therefore fuzzy rule is taken, rule of thumb realizes the variation of K (t).Sgn (s) is sign function.
Sliding-mode surface function derivation are as follows:
Controller u can be acquired are as follows:
U=(CB)-1[-CAx-K(t)sgn(s)-E(t)]
According to sliding formwork reaching conditionIt verifies under the action of controller, System with Sliding Mode Controller is asymptotically stability
's.
Fuzzy controller module design is as follows:
Sliding formwork existence condition isAfter system reaches sliding-mode surface, it will be maintained on sliding-mode surface.Fuzzy rule has
Two below,
IfThen K (t) Ying Zeng great
IfThen K (t) should reduce.
By above formula design aboutFuzzy system between Δ K (t), within the system,For input, Δ K (t) is defeated
Out.
The membership function of system input and output such as Fig. 3, shown in Fig. 4.
Referring to fig. 2, using the method pair of integralThe upper bound estimated:
Wherein, G is proportionality coefficient, empirically determined.
WithInstead of the K (t) in formula, then control law becomes
It can be seen that, due to taking fuzzy rule, rule of thumb realize the variation of K (t), it can be according to sliding formwork reaching condition pair
Handoff gain is effectively estimated, and eliminates distracter using handoff gain, to reduce buffeting.
The present embodiment additionally provides a kind of permanent magnet synchronous motor vector controlled optimization method, comprising the following steps:
(1): the electric current i in permanent magnet synchronous motor three-phase windingsa、ib、icPass through the Clark between two rest frames
Transformation obtains Clark conversion module and exports electric current iα、iβ；Then Clark conversion module is exported into electric current iα、iβPass through static seat
Park transformation between mark system and rotating coordinate system, obtains Park conversion module and exports electric current id、iq；
(2): by setting speed Nr *It is corrected by Fuzzy Sliding Model Controller, obtains q axis reference current iq *；Park is converted
Module output current id、iqWith d axis reference current id *, q axis reference current iq *It compares, and by torque current regulator and encourages
Magnetoelectricity throttle regulator is corrected it, is then combined to feed-forward voltage, then by Park inverse transformation, by torque current tune
Save the d axis reference voltage u of device and exciting current controller outputd *, q axis reference voltage uq *It is transformed into Park inverse transform module
Output voltage uα *、uβ *；
(3): by space vector of voltage control technology, new stator voltage vector being applied to the three of permanent magnet synchronous motor
Phase winding.Additionally by outer ring by actual speed NrWith setting speed Nr *It is compared, and is referred to this to drive and adjust q axis
Electric current iq *。
(4): the fuzzy sliding mode variable structure control that the present embodiment optimization uses is to combine fuzzy control and sliding formwork control
A kind of complex controll mode, the advantages of each controller can be given full play to.
The Clark transformation used in step (1) is current transformation under abc three-axis reference under α β rectangular coordinate system
Clark conversion module exports electric current iα、iβ；The Park transformation is current transformation under α β rectangular coordinate system into dq rectangular co-ordinate
It is that lower Park conversion module exports electric current id、iq。
Double-closed-loop control is used in step (2), by actual speed NrFeedback, obtains and setting speed Nr *Difference, pass through
Fuzzy Sliding Model Controller obtains q axis reference current iq *；Park conversion module is exported into electric current id、iqFeedback obtains referring to d axis
Electric current id *=0 and q axis reference current iq *Difference, then by torque current regulator and exciting current controller obtain d axis ginseng
Examine voltage ud *, q axis reference voltage uq *。
Six road pwm signals are generated using SVPWM in step (3), drive inverter, three-phase given voltage is generated and controls permanent magnetism
Synchronous motor operation.
The Fuzzy Sliding Model Controller based on equivalent control is devised using fuzzy rule in step (4).It is fuzzy by designing
Logic rules realize fuzzy sliding mode tracking control.
As shown in figure 5, being the emulation rotation speed change waveform diagram of this method, in 0.2s impact 10Nm, revolving speed is 1000r/
Simulation waveform when min, it can be seen that actual speed and setting speed are preferably coincide, and in torque mutation, waveform is fluctuated very
It is small.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
Although being described in conjunction with the accompanying a specific embodiment of the invention above, those of ordinary skill in the art should
Understand, these are merely examples, various deformation or modification can be made to these embodiments, without departing from original of the invention
Reason and essence.The scope of the present invention is only limited by the claims that follow.
Claims (5)
1. a kind of permanent magnet synchronous motor vector control system using fuzzy sliding mode tracking control, characterized in that including PMSM module, sit
Mark conversion module, Fuzzy Sliding Model Controller, torque current regulator, exciting current controller, SVPWM module, three-phase inverter,
Revolving speed computing module；
PMSM module is for detecting permanent magnet synchronous motor three-phase windings electric current ia、ib、ic；
Coordinate transformation module includes Clark conversion module, Park conversion module and Park inverse transform module；
Clark conversion module is used for the output i of PMSM modulea、ib、icBecome by the Clark between two rest frames
It changes, obtains the output electric current i of Clark conversion moduleα、iβ；
Park conversion module is used for the output electric current i of Clark conversion moduleα、iβBy rest frame and rotating coordinate system it
Between Park transformation, obtain Park conversion module output electric current id、iq；
Park inverse transform module is used for the output voltage u of torque current regulator and exciting current controllerd *、uq *It is transformed into
The output voltage u of Park inverse transform moduleα *、uβ *；
Fuzzy Sliding Model Controller is used for actual speed NrWith setting speed Nr *The difference school that passes through Fuzzy Sliding Model Controller
Just, q axis reference current i is obtainedq *；
Torque current regulator, for by the output electric current i of Park conversion moduledWith setting electric current id *Compare and carries out making the difference fortune
It calculates, and difference is corrected output d axis reference voltage u to it by torque current regulatord *；
Exciting current controller is by the output electric current i of Park conversion moduleqWith setting electric current iq *Compare and carries out doing difference operation, and
Difference is corrected output q axis reference voltage u to it by exciting current controllerq *；
SVPWM module, for by the output voltage u of Park inverse transform moduleα *、uβ *Space vector modulation is carried out, PWM waveform is exported
To three-phase inverter；
Three-phase inverter controls its operation to permanent magnet synchronous motor input three-phase voltage；
Revolving speed computing module obtains rotor position estimate value θ for carrying out estimation processingcWith actual speed Nr。
2. a kind of permanent magnet synchronous motor vector control method using fuzzy sliding mode tracking control, characterized in that including using fuzzy rule
The Fuzzy Sliding Model Controller based on equivalent control is then designed, then fuzzy sliding mode tracking control is realized by design fuzzy logic ordination；Tool
Steps are as follows for body:
Electric current i in step 1, permanent magnet synchronous motor three-phase windingsa、ib、icBecome by the Clark between two rest frames
It changes, obtains Clark conversion module and export electric current iα、iβ；Then Clark conversion module is exported into electric current iα、iβPass through static coordinate
Park transformation between system and rotating coordinate system, obtains Park conversion module and exports electric current id、iq；
Step 2, by setting speed Nr *It is corrected by Fuzzy Sliding Model Controller, obtains q axis reference current iq *；By Park conversion module
Export electric current id、iqWith d axis reference current id *, q axis reference current iq *It compares, and passes through torque current regulator and excitation electricity
Throttle regulator is corrected it, is then combined to feed-forward voltage, then by Park inverse transformation, by torque current regulator
With the d axis reference voltage u of exciting current controller outputd *, q axis reference voltage uq *It is transformed into the output of Park inverse transform module
Voltage uα *、uβ *；
Step 3, by SVPWM module to the output voltage u of Park inverse transform moduleα *、uβ *Voltage space vector modulation is carried out, it will
New three-phase given voltage is applied to the three-phase windings of permanent magnet synchronous motor；By outer ring by actual speed NrWith setting speed Nr *
It is compared, and drives and adjust q axis reference current i with thisq *。
3. using the permanent magnet synchronous motor vector control method of fuzzy sliding mode tracking control as claimed in claim 2, characterized in that step
The rapid 1 Clark transformation is that current transformation under abc three-axis reference is exported at Clark conversion module under α β rectangular coordinate system
Electric current iα、iβ；The Park transformation is that current transformation under α β rectangular coordinate system is defeated at Park conversion module under dq rectangular coordinate system
Electric current i outd、iq。
4. using the permanent magnet synchronous motor vector control method of fuzzy sliding mode tracking control as claimed in claim 2, characterized in that step
Rapid 2 realization includes using double-closed-loop control, by actual speed NrFeedback, obtains and setting speed Nr *Difference, by fuzzy
Sliding mode controller obtains q axis reference current iq *；Park conversion module is exported into electric current id、iqFeedback, obtains and d axis reference current
id *=0 and q axis reference current iq *Difference, then by torque current regulator and exciting current controller obtain d axis with reference to electricity
Press ud *, q axis reference voltage uq *。
5. using the permanent magnet synchronous motor vector control method of fuzzy sliding mode tracking control as claimed in claim 2, characterized in that step
Rapid 3 realization includes that SVPWM module generates six road pwm signals, drives three-phase inverter, generates three-phase given voltage and controls permanent magnetism
Synchronous motor operation.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112737435A (en) * | 2020-12-24 | 2021-04-30 | 沈阳工程学院 | Anti-interference system of stepping motor based on T-S fuzzy sliding mode control |
| CN112737435B (en) * | 2020-12-24 | 2022-11-11 | 沈阳工程学院 | Anti-interference system of stepping motor based on T-S fuzzy sliding mode control |
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