CN109639199A - PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure - Google Patents
PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure Download PDFInfo
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- CN109639199A CN109639199A CN201910053308.5A CN201910053308A CN109639199A CN 109639199 A CN109639199 A CN 109639199A CN 201910053308 A CN201910053308 A CN 201910053308A CN 109639199 A CN109639199 A CN 109639199A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000010349 pulsation Effects 0.000 title description 2
- 230000000737 periodic effect Effects 0.000 claims abstract description 3
- 230000001629 suppression Effects 0.000 claims description 6
- 239000011541 reaction mixture Substances 0.000 claims description 4
- 230000004907 flux Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 9
- 230000002401 inhibitory effect Effects 0.000 abstract description 4
- 230000010355 oscillation Effects 0.000 abstract description 3
- 230000007257 malfunction Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention discloses permanent magnet synchronous motor revolving speed, method for suppressing torque ripple under a kind of asymmetrical three-phase failure, according under malfunction, the characteristics of revolving speed, torque cycle pulsative oscillation, the method of the invention designs a kind of iterative learning controller based on rotor-position, a kind of iterative law of learning with forgetting factor is constructed, and convergence is carried out to iterative learning controller.By to quadrature axis reference currenti qrefPeriodical compensation is carried out, realizes that revolving speed, torque tightly follow given value.The method of the invention is applicable not only under malfunction motor constant speed and operates, revolving speed when for variable-speed operation, torque periodic swinging also have good inhibitory effect.
Description
Technical Field
The invention relates to the field of new energy automobile motor driving, in particular to a method for inhibiting torque ripple of a permanent magnet synchronous motor under a three-phase asymmetric fault.
Background
In recent years, with the continuous deepening of people's understanding of the environmental protection concept, governments of various countries vigorously develop and support new energy electric vehicles. Permanent Magnet Synchronous Motors (PMSM) are widely used in new energy vehicles due to their advantages of high torque density, high power density, high performance and the like. When the permanent magnet synchronous motor has a three-phase asymmetric fault, the rotating speed and the torque can generate pulse oscillation, so that the safety of the whole automobile is influenced, even tragedy endangering personal safety can be generated, and irrecoverable serious consequences can be caused.
So far, the method for suppressing the rotational speed torque ripple mainly focuses on a mathematical model of the motor in a symmetrical state, and the motor with the three-phase stator winding running asymmetrically is not researched and analyzed too much. In addition, the conventional pulse suppression of the permanent magnet synchronous motor is mainly based on an Iterative Learning Control (ILC) strategy in a time domain, and an iteration cycle of the Iterative Learning Control strategy is generally proportional to a rotor rotation cycle, so that the Iterative Learning Control strategy is limited to constant-speed motion.
Disclosure of Invention
The invention aims to provide a method for inhibiting the rotation speed and the torque ripple of a three-phase stator winding of a permanent magnet synchronous motor in an asymmetric fault state, which can realize the ripple inhibition no matter how the rotation speed changes.
Drawings
Fig. 1 is a general block diagram of ILC rotation speed and torque ripple suppression vector control based on a rotor position.
FIG. 2 is a block diagram of an iterative learning controller based on rotor position.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings. The method for inhibiting the rotating speed torque pulsation of the permanent magnet synchronous motor under the three-phase asymmetric fault comprises the following steps.
S01) selecting an iteration cycle
By rotating the speed and torque of a permanent magnet synchronous motorThe torque oscillation analysis can find that the rotating speed and the torque and the rotor position are operated under the three-phase asymmetric state no matter how the rotating speed changesθ mThere is a periodic relationship. Considering the rotation speed and the torque ripple oscillationθ mThe method designs an iterative learning controller based on the rotor position. ILC speed and torque ripple suppression vector control based on rotor position is generally shown in FIG. 1. unlike normal vector control, a speed loop is connected in parallel with a rotor positionθ mAssociated iterative learning controller for reference q-axis reference currenti qrefPeriodic compensation is performed.
S02) construction of learning law
The ILC constructs a PI type closed loop iterative learning law with forgetting factors, and the law is expressed as follows:
（1）
in the formula (1), the reaction mixture is,αis a factor of forgetting to forget,α∈[0,1]；Δi q,k+1(θ m) And Δi q,k(θ m) Respectively representk+1 times andkthe q-axis reference compensation current at the time of the sub-iteration,e k+1(θ m) Is the firstkThe motor speed deviation in +1 iteration,θ mis the mechanical angle that the motor has rotated through,θ m∈[0,2π]subscriptkIs the number of iterations that are to be performed,k=1,2,3…；K0and K1Are respectively ase k+1(θ m) The proportional term and the integral term.
A block diagram of an iterative learning controller based on rotor position is shown in figure 2,n r *andn r,k+1respectively the desired speed in rpm and the secondkThe motor rotating speed feedback value during +1 iteration;e n,k+1(θ m) Ande k+1(θ m) Are respectively the firstkMotor rotation speed error in rpm and rad/s unit at 1 iteration; k3= pi/30; memory is a Memory used for storingkCompensation current at the next iteration.
S03) determining a convergence condition
When the motor friction coefficient is 0, the following function can be constructed according to the motion equation:
（2）
wherein,ω r,k(θ m) Is the motor speed;Jis the rotational inertia of the motor;T L is the load torque;y k (θ m) Outputting the system;b=3p n Ψ f /2；p n the number of pole pairs of the motor is;Ψ f is a permanent magnet flux linkage.
Obtained by the formula (2):
（3）
the tracking error is:
（4）
in the formula (4), the reaction mixture is,ω r *(θ m) Andω r,k(θ m) Respectively the desired rotation speed and the second rotation speed in rad/s unitkAnd the motor rotating speed feedback value is obtained in 1 iteration.
Is obtained by the following formula (2), formula (3) and formula (4):
（5）
from formula (5):
（6）
the method can be obtained according to the definition of infinite norm and the theorem of absolute value inequality:
（7）
the formula (7) is arranged to obtain:
（8）
ILC converges, equation (8) must satisfy the following two constraints:
a）andconverging;
b) order toThen | λ #<1;
It is clear that,andconverge on constant C1And C2Wherein, C1∈[0,2π]And C2∈[0,2π]So that the constraint a is satisfied; in summary, the iterative learning controller based on the rotor position only needs to satisfy the condition b, and the constraint condition can be simplified as follows:
（9）
forgetting factorαThe value range of (A) is generally between 0.05 and 0.1, and the robustness of a system controller is ensured; reasonable K0And K1Not only the learning convergence but also the convergence speed should be ensured.
The foregoing merely illustrates the principles of the invention and modifications and substitutions may be made by those skilled in the art without departing from the scope of the invention.
Claims (1)
1. A PMSM rotation speed torque ripple suppression method under three-phase asymmetric fault is characterized in that: the method comprises the following steps:
s01) considering that the rotation speed and the torque ripple areθ mThe method designs an iterative learning controller based on the rotor position; ILC speed and torque ripple suppression vector control based on rotor position is generally shown in FIG. 1. unlike normal vector control, a speed loop is connected in parallel with a rotor positionθ mAssociated iterative learning controller for referencing q-axis parametersExamination currenti qrefCarrying out periodic compensation;
s02) the method constructs a PI type closed loop iterative learning law with forgetting factors, which is expressed as:
（1）
in the formula (1), the reaction mixture is,αis a factor of forgetting to forget,α∈[0,1]；Δi q,k+1(θ m) And Δi q,k(θ m) Respectively representk+1 times andkthe q-axis reference compensation current at the time of the sub-iteration,e k+1(θ m) Is the firstkThe motor speed deviation in +1 iteration,θ mis the mechanical angle that the motor has rotated through,θ m∈[0,2π]subscriptkIs the number of iterations that are to be performed,k=1,2,3…；K0and K1Are respectively ase k+1(θ m) The learning gain of the proportional term and the integral term;
s03) determining a convergence condition
When the motor friction coefficient is 0, the following function can be constructed according to the motion equation:
（2）
wherein,ω r,k(θ m) Is the motor speed;Jis the rotational inertia of the motor;T L is the load torque;y k (θ m) Outputting the system;b=3p n Ψ f /2；p n the number of pole pairs of the motor is;Ψ f is a permanent magnet flux linkage;
obtained by the formula (2):
（3）
the tracking error is:
（4）
in the formula (4), the reaction mixture is,ω r *(θ m) Andω r,k(θ m) Respectively the desired rotation speed and the second rotation speed in rad/s unitkThe motor rotating speed feedback value during +1 iteration;
is obtained by the following formula (2), formula (3) and formula (4):
（5）
from formula (5):
（6）
the method can be obtained according to the definition of infinite norm and the theorem of absolute value inequality:
（7）
the formula (7) is arranged to obtain:
（8）
ILC converges, equation (8) must satisfy the following two constraints:
a）andconverging;
b) order toThen | λ #<1;
It is clear that,andconverge on constant C1And C2Wherein, C1∈[0,2π]And C2∈[0,2π]So that the constraint a is satisfied; in summary, the iterative learning controller based on the rotor position only needs to satisfy the condition b, and the constraint condition can be simplified as follows:
（9）
forgetting factorαThe value range of (A) is generally between 0.05 and 0.1, and the robustness of a system controller is ensured; reasonable K0And K1Not only the learning convergence but also the convergence speed should be ensured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910053308.5A CN109639199A (en) | 2019-01-21 | 2019-01-21 | PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure |
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| CN201910053308.5A CN109639199A (en) | 2019-01-21 | 2019-01-21 | PMSM rotational speed and torque pulsation suppressing method under asymmetrical three-phase failure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN112468049A (en) * | 2020-10-29 | 2021-03-09 | 珠海格力电器股份有限公司 | Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner |
| CN113759721A (en) * | 2021-09-02 | 2021-12-07 | 大连交通大学 | Permanent magnet synchronous motor L1 self-adaptive iterative learning control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433978A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
| CN107979316A (en) * | 2017-11-21 | 2018-05-01 | 华南理工大学 | A kind of PMSM fluctuation of speed suppressing methods based on iterative learning |
| CN109167538A (en) * | 2018-08-25 | 2019-01-08 | 南京理工大学 | Inhibit the control method of permanent-magnet brushless DC electric machine torque pulsation based on double-layer structure |
-
2019
- 2019-01-21 CN CN201910053308.5A patent/CN109639199A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433978A (en) * | 2016-05-26 | 2017-12-05 | 上海拿森汽车电子有限公司 | A kind of pulsating torque method for reducing electric power steering permasyn morot |
| CN107979316A (en) * | 2017-11-21 | 2018-05-01 | 华南理工大学 | A kind of PMSM fluctuation of speed suppressing methods based on iterative learning |
| CN109167538A (en) * | 2018-08-25 | 2019-01-08 | 南京理工大学 | Inhibit the control method of permanent-magnet brushless DC electric machine torque pulsation based on double-layer structure |
Non-Patent Citations (3)
| Title |
|---|
| YAN YAN: "Torque ripple minimization of PMSM using PI type iterative learning control", 《IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY》 * |
| 姚绪梁: "《现代交流调速技术》", 30 September 2009, 哈尔滨工程大学出版社 * |
| 李文善: "基于PI型迭代学习控制的永磁同步电机转矩脉动抑制策略", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN112468049A (en) * | 2020-10-29 | 2021-03-09 | 珠海格力电器股份有限公司 | Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner |
| CN113759721A (en) * | 2021-09-02 | 2021-12-07 | 大连交通大学 | Permanent magnet synchronous motor L1 self-adaptive iterative learning control method |
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Application publication date: 20190416 |