CN109687804B - Direct thrust control method for single current sensor of linear motor - Google Patents
Direct thrust control method for single current sensor of linear motor Download PDFInfo
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- CN109687804B CN109687804B CN201811529127.7A CN201811529127A CN109687804B CN 109687804 B CN109687804 B CN 109687804B CN 201811529127 A CN201811529127 A CN 201811529127A CN 109687804 B CN109687804 B CN 109687804B
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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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
Abstract
The invention discloses a direct thrust control method of a linear motor single current sensor, which comprises the following steps: (1) external direct current bus current i is measured through a sampling circuitdcMover position angle θe(ii) a (2) Calculating a thrust control value, a flux linkage control value and a stator flux linkage sector number; (3) calculating the sinking time and calculating a switching instruction; (4) recalculating a thrust control value and a flux linkage control value; (5) and selecting a voltage vector according to the thrust control value, the flux linkage control value, the stator flux linkage sector number and the voltage vector table. Compared with the traditional DFC method, the method provided by the invention reduces the use of two current sensors, reduces the hardware cost of the control system, reduces the volume of the control system and ensures the precision of the three-phase current estimation value; in addition, steady-state performance and dynamic performance are also maintained.
Description
Technical Field
The invention belongs to the technical field of motor driving and control, and particularly relates to a direct thrust control method of a linear motor with a single current sensor.
Background
In the 20 th century and the 80 s, direct torque control theory was proposed by scholars in germany and japan, respectively. As for Direct torque Control of a rotating electric machine, Direct Force Control (DFC) of a linear electric machine has been proposed. As is well known, DFC has the advantages of strong robustness, fast response speed, simple structure, easy implementation, etc., and thus is gaining more and more favor.
Typically, the implementation of a conventional DFC requires the use of three current sensors. A current sensor is positioned at the side of an external direct current bus, and is used for measuring the current of the direct current bus and protecting the overcurrent; the other two current sensors are located at the input end of the motor and are used for measuring phase currents. In order to reduce the cost and volume of the control system, many scholars have proposed methods to reduce the number of current sensors used or even implement DFC without current sensors. Currently, methods for implementing DFC by reducing current sensors mainly include two main categories:
(1) DFC (design for manufacturing printed circuit board) realized by single current sensor
According to the method, the external direct current bus current is measured through the sampling circuit, and the three-phase current is reconstructed according to the corresponding relation between the phase current and the bus current. Although the method has the advantages of simple structure, easy realization, low requirement on hardware and the like, only one phase of current can be obtained in one sampling period, and equal reconstruction opportunities of three-phase current can not be ensured in a short time. Once a certain phase current cannot be updated for a long time, the accuracy of the reconstructed value of the three-phase current cannot be guaranteed, and the control performance of the DFC is reduced.
(2) Implementation of DFC without current sensor
The method calculates three-phase currents according to external direct-current bus voltage, a rotor position angle and a mathematical model of the motor without using a current sensor. However, the mathematical model requires accurate motor parameters to ensure the calculation accuracy of the three-phase currents. And the strict requirement of motor parameters reduces the robustness of DFC and the reliability of a control system.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides a direct thrust control method of a linear motor single current sensor. The method can reduce the use number of the current sensors, thereby reducing the motor drive control cost, reducing the volume of a control system and improving the reliability of the control system.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a direct thrust control method of a linear motor single current sensor comprises the following steps:
(1) the external direct current bus current i of the linear motor is measured by a sampling circuitdcMover position angle θe；
(2) According to the DC bus current idcAnd mover position angle θeCalculating a flux linkage control value and a thrust control value of the linear motor, determining the number of a stator flux linkage sector of the linear motor, and selecting a voltage vector based on a voltage vector table;
(3) calculating a phase mode, fall time and a switching instruction according to the selected voltage vector;
(4) recalculating a flux linkage control value and a thrust control value of the linear motor;
(5) and if the switching instruction is 1, reselecting the voltage vector according to the thrust control value of the linear motor, the flux control value of the linear motor, the stator flux sector number N of the linear motor and the voltage vector table, and realizing the direct thrust control of the linear motor.
Further, in the step (2), a flux linkage control value and a thrust control value of the linear motor are calculated, and the number of the stator flux linkage sector of the linear motor is determined, wherein the method comprises the following steps:
(2.1) obtaining any phase current and phase mode according to the last sampling period:
wherein S isA、SB、SCRespectively represents the switching states of the upper bridge arms of the A, B, C phases of the IGBT three-phase bridge module iA，iB，iCA, B, C phase currents of the permanent magnet linear motor are respectively shown;
(2.2) obtaining three-phase currents according to the current measurement value in the last sampling period and the latest updated one-phase current in the other two phases as indirect measurement values by the following formula:
iA+iB+iC＝0
(2.3) obtaining the alpha and beta axis components of the stator current of the linear motor under the two-phase static coordinate systems alpha and beta through coordinate transformation:
wherein iα、iβThe axial components of α and β of the stator current of the linear motor under two-phase static coordinate systems α and β respectively are represented;
(2.4) calculating to obtain the alpha and beta axis components of the stator flux linkage of the linear motor under the two-phase static coordinate systems alpha and beta:
wherein psifIndicating the permanent magnet flux linkage of the linear motorα、ψβRespectively represents α and β axial components, L, of the stator flux linkage of the linear motor under two-phase static coordinate systems α and βsRepresenting the stator phase inductance of the linear motor;
(2.5) calculating to obtain the amplitude and the phase angle of the stator flux linkage of the linear motor:
wherein psisRepresenting the amplitude of the stator flux linkage of the linear motor, and theta represents the stator flux linkage phase angle of the linear motor;
(2.6) calculating to obtain the electromagnetic thrust of the linear motor:
wherein, tau represents the stator pole pitch of the linear motor, FeRepresenting the electromagnetic thrust of the linear motor;
(2.7) determining the number of the magnetic linkage sector of the stator of the linear motor
Wherein N represents a sector number;
(2.8) obtaining a reference value of the electromagnetic thrust of the linear motor through a proportional-integral regulator:
wherein v is*Represents a given linear motor speed reference value, v represents an actual speed feedback value of the linear motor, av represents a linear motor speed deviation amount,
reference value, k, representing the electromagnetic thrust of a linear motorp、kiProportional coefficient of proportional-integral regulator and proportional-integral regulator productDividing coefficients;
(2.9) calculating to obtain the thrust control value of the linear motor
Wherein the content of the first and second substances,
representing the reference value of the electromagnetic thrust of the linear motor, FeRepresenting the actual electromagnetic thrust of the linear motor, eFThe error of the electromagnetic thrust of the linear motor is shown, the delta F shows the set value of the ring width of the thrust controller of the linear motor,Frepresenting a thrust control value of the linear motor;
(2.10) calculating to obtain a flux linkage control value of the linear motor:
wherein the content of the first and second substances,
representing the reference value of the amplitude of the stator flux linkage of the linear motor, psisRepresenting the amplitude of the stator flux linkage of the linear motor, eψThe error of the amplitude of the stator flux linkage of the linear motor is shown, the delta psi represents the loop width set value of the flux linkage controller of the linear motor,ψand represents the flux linkage control value of the linear motor.
Further, step (3), calculating the fall time ts and calculating the switching instructiontThe method comprises the following steps:
(3.1) calculating the sinking time ts：
If two or more sampling periods in the phase mode are kept unchanged, then the sampling periods are recorded as the fall-in time ts；
(3.2) calculating a switch instructiont：
Wherein the content of the first and second substances,tindicating a switch instruction, tsIndicating the time of sinking, tlIndicating a limit time set value;
further, in the step (4), the flux linkage control value and the thrust control value of the linear motor are recalculated, and the method comprises the following steps:
(4.1) iftThe measurement delay error is within an acceptable range and meets the dual-target optimization principle, namely the selected voltage vector can track the thrust and the flux linkage simultaneously, and the thrust control value of the linear motor is equal to 0FFlux linkage control value of linear motorψKeeping the same;
(4.2) ift1, indicating that the measurement delay error is not in an acceptable range, and obtaining a linear motor error per unit value according to a single-target optimization principle, namely that the selected voltage vector preferably meets the thrust or flux linkage:
wherein e isψRepresenting stator flux linkage error of linear motor, #fRepresenting the permanent magnet flux linkage value, e, of a linear motorFError representing electromagnetic thrust of linear motor, FrRepresents the rated value of the electromagnetic thrust of the linear motor,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.3) calculating to obtain a per unit value of the linear motor control value:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.4) calculating to obtain a new control value of the linear motor:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,Frepresents the thrust control value of the linear motor,ψand represents the flux linkage control value of the linear motor.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
(1) the invention has the advantages of strong robustness, high response speed, simple structure, easy realization and the like;
(2) compared with the traditional DFC, the invention only uses one current sensor, reduces the use of two current sensors, reduces the hardware cost of the control system and reduces the volume of the control system;
(3) compared with the existing DFC method implemented by a single current sensor, the method guarantees the precision of the three-phase current estimation value theoretically or experimentally, has low requirement on a hardware system, is easy to implement, and does not increase the cost of the hardware system;
(4) compared with the traditional DFC method, the method has the advantages that the performances of the method such as maximum speed, thrust response, thrust fluctuation, flux linkage fluctuation, speed mutation, load mutation and the like are kept unchanged.
Drawings
FIG. 1 is a sampling circuit diagram;
FIG. 2 is a flow chart of a single current sensor implementation DFC;
FIG. 3 is a motor construction diagram;
FIG. 4 is a maximum velocity map;
FIG. 5 is a thrust response graph;
FIG. 6 is a graph of measured current and reconstructed current at steady state;
FIG. 7 is a three-phase current diagram of a transient state;
fig. 8 is a stator flux sector numbering diagram and a voltage vector diagram.
Wherein, the DC bus voltage is 50V, in FIG. 4-FIG. 7, a is the experimental diagram of the conventional DFC, and b is the method and experimental diagram of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail with the accompanying drawings;
(1) the external direct current bus current i of the linear motor is measured by a sampling circuitdcMover position angle θe；
(2) Calculating a flux linkage control value of the linear motor, a thrust control value of the linear motor and the number of a stator flux linkage sector of the linear motor:
(2.1) obtaining any phase current and phase mode according to the last sampling period:
wherein S isA、SB、SCRespectively represents the switching states of the upper bridge arms of the A, B, C phases of the IGBT three-phase bridge module iA，iB，iCA, B, C phase currents of the permanent magnet linear motor are respectively shown;
(2.2) obtaining three-phase currents according to the current measurement value in the last sampling period and the latest updated one-phase current in the other two phases as indirect measurement values by the following formula:
iA+iB+iC＝0
(2.3) obtaining the alpha and beta axis components of the stator current of the linear motor under the two-phase static coordinate systems alpha and beta through coordinate transformation:
wherein iα、iβThe axial components of α and β of the stator current of the linear motor under two-phase static coordinate systems α and β respectively are represented;
(2.4) calculating to obtain the alpha and beta axis components of the stator flux linkage of the linear motor under the two-phase static coordinate systems alpha and beta:
wherein psifIndicating the permanent magnet flux linkage of the linear motorα、ψβRespectively represents α and β axial components, L, of the stator flux linkage of the linear motor under two-phase static coordinate systems α and βsRepresenting the stator phase inductance of the linear motor;
(2.5) calculating to obtain the amplitude and the phase angle of the stator flux linkage of the linear motor:
wherein psisRepresenting the amplitude of the stator flux linkage of the linear motor, and theta represents the stator flux linkage phase angle of the linear motor;
(2.6) calculating to obtain the electromagnetic thrust of the linear motor:
wherein, tau represents the stator pole pitch of the linear motor, FeRepresenting the electromagnetic thrust of the linear motor;
(2.7) determining the number of the magnetic linkage sector of the stator of the linear motor:
wherein N represents a sector number;
(2.8) obtaining a reference value of the electromagnetic thrust of the linear motor through a proportional-integral regulator:
wherein v is*Representing a given reference value of linear motor speed, v representing a linear motor realThe actual speed feedback value, av, represents the linear motor speed deviation,
reference value, k, representing the electromagnetic thrust of a linear motorp、kiRespectively calculating a proportional coefficient of a proportional-integral regulator and an integral coefficient of the proportional-integral regulator;
(2.9) calculating to obtain a thrust control value of the linear motor:
wherein the content of the first and second substances,
representing the reference value of the electromagnetic thrust of the linear motor, FeRepresenting the actual electromagnetic thrust of the linear motor, eFThe error of the electromagnetic thrust of the linear motor is shown, the delta F shows the set value of the ring width of the thrust controller of the linear motor,Frepresenting a thrust control value of the linear motor;
(2.10) calculating to obtain a flux linkage control value of the linear motor:
wherein the content of the first and second substances,
representing the reference value of the amplitude of the stator flux linkage of the linear motor, psisRepresenting the amplitude of the stator flux linkage of the linear motor, eψThe error of the amplitude of the stator flux linkage of the linear motor is shown, the delta psi represents the loop width set value of the flux linkage controller of the linear motor,ψand represents the flux linkage control value of the linear motor.
(3) Comparing the sinking time with the set value of the limit time:
(3.1) calculating the sinking time ts：
If two or more sampling periods in the phase mode are kept unchanged, then the sampling periods are recorded as the fall-in time ts；
(3.2) calculating a switching instruction:
when the time of sinking exceeds the limit time set value, the other two-phase current can not be updated for a long time, possibly causing the control system to break down, and at the moment, setting a switching instruction:
wherein the content of the first and second substances,tindicating a switch instruction, tsIndicating the time of sinking, tlIndicating a limit time set value;
(4) recalculating flux linkage control value and thrust control value of linear motor
(4.1) iftThe measurement delay error is within an acceptable range, the dual-target optimization principle is satisfied, namely, the selected voltage vector can simultaneously well track the thrust and the flux linkage, and the thrust control value of the linear motorFFlux linkage control value of linear motorψKeeping the same;
(4.2) ift1, measuring delay errors out of an acceptable range, and obtaining a linear motor error per unit value according to a single-target optimization principle that a selected switching vector preferably meets thrust or flux linkage:
wherein e isψRepresenting stator flux linkage error of linear motor, #fRepresenting the permanent magnet flux linkage value, e, of a linear motorFError representing electromagnetic thrust of linear motor, FrRepresents the rated value of the electromagnetic thrust of the linear motor,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.3) calculating to obtain a per unit value of the linear motor control value:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.4) calculating to obtain a new control value of the linear motor:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,Frepresents the thrust control value of the linear motor,ψrepresenting a flux linkage control value of the linear motor;
(5) method for realizing direct thrust control
According to the thrust control value of the linear motorFFlux linkage control value of linear motorψAnd the linear motor stator flux linkage sector number N and the voltage vector table select a voltage vector, so that the thrust and flux linkage of the linear motor can well track a thrust reference value and a flux linkage reference value, and the direct thrust control of the linear motor is realized.
TABLE 1 Voltage vector Table
When the upper bridge arm of the inverter is switched on and off as 1 and 0, the inverter has 8 switching states: v0(000)，V1(100)，V2(110)，V3(010)，V4(011)，V5(001)，V6(101)，V7(111) In which V is0，V7Is an invalid voltage vector, V1，V2，V3，V4，V5，V6Is the effective voltage vector.
The embodiments of the present invention are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. That is, all equivalent changes and modifications made according to the content of the claims of the present invention should be regarded as the technical scope of the present invention.
Claims (2)
1. A direct thrust control method of a single current sensor of a linear motor is characterized by comprising the following steps:
(1) the external direct current bus current i of the linear motor is measured by a sampling circuitdcMover position angle θe；
(2) According to the DC bus current idcAnd mover position angle θeCalculating a flux linkage control value and a thrust control value of the linear motor, determining the number of a stator flux linkage sector of the linear motor, and selecting a voltage vector based on a voltage vector table;
and, calculate the linear electric motor flux linkage control value, linear electric motor thrust control value, confirm the stator flux linkage sector number of the linear electric motor, the method is as follows:
(2.1) obtaining any phase current and phase mode according to the last sampling period:
wherein S isA、SB、SCRespectively represents the switching states of the upper bridge arms of the A, B, C phases of the IGBT three-phase bridge module iA，iB，iCA, B, C phase currents of the permanent magnet linear motor are respectively shown;
(2.2) obtaining three-phase currents according to the current measurement value in the last sampling period and the latest updated one-phase current in the other two phases as indirect measurement values by the following formula:
iA+iB+iC＝0
(2.3) obtaining the alpha and beta axis components of the stator current of the linear motor under the two-phase static coordinate systems alpha and beta through coordinate transformation:
wherein iα、iβThe axial components of α and β of the stator current of the linear motor under two-phase static coordinate systems α and β respectively are represented;
(2.4) calculating to obtain the alpha and beta axis components of the stator flux linkage of the linear motor under the two-phase static coordinate systems alpha and beta:
wherein psifIndicating the permanent magnet flux linkage of the linear motorα、ψβRespectively represents α and β axial components, L, of the stator flux linkage of the linear motor under two-phase static coordinate systems α and βsRepresenting the stator phase inductance of the linear motor;
(2.5) calculating to obtain the amplitude and the phase angle of the stator flux linkage of the linear motor:
wherein psisRepresenting the amplitude of the stator flux linkage of the linear motor, and theta represents the stator flux linkage phase angle of the linear motor;
(2.6) calculating to obtain the electromagnetic thrust of the linear motor:
wherein, tau represents the stator pole pitch of the linear motor, FeRepresenting the electromagnetic thrust of the linear motor;
(2.7) determining the number of the magnetic linkage sector of the stator of the linear motor
Wherein N represents a sector number;
(2.8) obtaining a reference value of the electromagnetic thrust of the linear motor through a proportional-integral regulator:
wherein v is*Represents a given linear motor speed reference value, v represents an actual speed feedback value of the linear motor, av represents a linear motor speed deviation amount,
reference value, k, representing the electromagnetic thrust of a linear motorp、kiRespectively calculating a proportional coefficient of a proportional-integral regulator and an integral coefficient of the proportional-integral regulator;
(2.9) calculating to obtain the thrust control value of the linear motor
Wherein the content of the first and second substances,
representing the reference value of the electromagnetic thrust of the linear motor, FeRepresenting the actual electromagnetic thrust of the linear motor, eFThe error of the electromagnetic thrust of the linear motor is shown, the delta F shows the set value of the ring width of the thrust controller of the linear motor,Frepresenting a thrust control value of the linear motor;
(2.10) calculating to obtain a flux linkage control value of the linear motor:
wherein the content of the first and second substances,
representing stator flux linkage amplitude of linear motorValue reference value, psisRepresenting the amplitude of the stator flux linkage of the linear motor, eψThe error of the amplitude of the stator flux linkage of the linear motor is shown, the delta psi represents the loop width set value of the flux linkage controller of the linear motor,ψrepresenting a flux linkage control value of the linear motor;
(3) calculating a phase mode, a fall time and a switching instruction according to the selected voltage vector, wherein the method comprises the following steps:
(3.1) calculating the sinking time ts：
If two or more sampling periods in the phase mode are kept unchanged, then the sampling periods are recorded as the fall-in time ts；
(3.2) calculating a switching instruction:
wherein the content of the first and second substances,tindicating a switch instruction, tsIndicating the time of sinking, tlIndicating a limit time set value;
(4) recalculating a flux linkage control value and a thrust control value of the linear motor;
(5) and if the switching instruction is 1, reselecting the voltage vector according to the thrust control value of the linear motor, the flux control value of the linear motor, the stator flux sector number N of the linear motor and the voltage vector table, and realizing the direct thrust control of the linear motor.
2. The method for controlling the direct thrust of the single current sensor of the linear motor according to claim 1, wherein in the step (4), the flux linkage control value and the thrust control value of the linear motor are recalculated, and the method comprises the following steps:
(4.1) iftThe measurement delay error is within an acceptable range and meets the dual-target optimization principle, namely the selected voltage vector can track the thrust and the flux linkage simultaneously, and the thrust control value of the linear motor is equal to 0FFlux linkage control value of linear motorψKeeping the same;
(4.2) ift1, indicates that the measurement delay error is not availableWithin the acceptance range, according to a single-target optimization principle, namely that the selected voltage vector preferentially meets the thrust or flux linkage, obtaining the error per unit value of the linear motor:
wherein e isψError, psi, representing amplitude of stator flux linkage of linear motorfRepresenting the permanent magnet flux linkage value, e, of a linear motorFError representing electromagnetic thrust of linear motor, FrRepresents the rated value of the electromagnetic thrust of the linear motor,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.3) calculating to obtain a per unit value of the linear motor control value:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,
expressing the per unit value of the flux linkage error of the linear motor,
expressing the per unit value of the thrust error of the linear motor;
(4.4) calculating to obtain a new control value of the linear motor:
wherein the content of the first and second substances,prepresents a per unit value of the linear motor control value,Frepresents the thrust control value of the linear motor,ψand represents the flux linkage control value of the linear motor.
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