CN109951127A - A kind of permanent magnet synchronous motor dead beat predictive current control system and its control method - Google Patents
A kind of permanent magnet synchronous motor dead beat predictive current control system and its control method Download PDFInfo
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Abstract
The invention discloses a kind of permanent magnet synchronous motor dead beat predictive current control system and its control method, system includes Clark conversion module, Park conversion module, Park inverse transform module, Pulse width modulation module, inverter module, position sensor, track with zero error device, disturbance observer, first comparator, the second comparator, pi regulator, the first gain module, the second gain module and third gain module.The present invention introduces a kind of Load Disturbance Observer for feedforward compensation on the basis of traditional dead beat PREDICTIVE CONTROL.Under the compensating action of disturbance observer, dead beat predictive current control system not only has superior dynamic property, and shows stronger robustness.
Description
Technical field
The invention belongs to motor control technology field, in particular to a kind of permanent magnet synchronous motor dead beat predictive current control
System and its control method.
Background technique
Permasyn morot has high power density, high efficiency, high reliability and structure simple, small in size, light-weight
The advantages that, while permanent-magnet material price reduction in recent years, making it further becomes the first choice for realizing energy-saving of motor system.However, forever
Magnetic-synchro motor is a multivariable, high coupling, nonlinear high order system, we generally use vector control scheme to its into
Row decoupling, but control system is still sufficiently complex.Wherein current loop control part is again particularly important, its rapidity, accuracy, steady
Qualitative superiority and inferiority directly affects permanent magnet synchronous motor system performance.
Traditional current loop control scheme is using pi regulator, but its response speed is slow, and overshoot is big, and sample rate current with
There are large error between reference current, control performance is bad；Emerging Model Predictive Control utilizes internal system mould in recent years
Type predicts system future state, then filters out the switch state that can be minimized objective function, mentions high control precision.
However the shortcomings that Model Predictive Control, is the absence of the link of rolling optimization and feedback compensation, and when there are external disturbance, control
Effect will be affected.That is existing current loop control technology is unable to reach optimal current-responsive always.
Summary of the invention
Goal of the invention: for the problem of conventional current track with zero error system rejection to disturbance difference, provide it is a kind of have faster,
The permanent magnet synchronous motor dead beat predictive current control system and its control method of more stable electric current loop performance.
Technical solution: in order to solve the above technical problems, the present invention provides a kind of permanent magnet synchronous motor dead beat current forecasting
Control system, including Clark conversion module, Park conversion module, Park inverse transform module, Pulse width modulation module, inversion
Device module, position sensor, track with zero error device, disturbance observer, first comparator, the second comparator, pi regulator turn
Fast adjuster, the first gain module, the second gain module and third gain module；The input terminal of the Clark conversion module connects
The threephase stator current output terminal of permanent magnet synchronous motor is connect, the output end of Clark conversion module connects the defeated of Park conversion module
Enter end；The output end of the Park conversion module connects track with zero error device input terminal, the output end connection of track with zero error device
Park inverse transform module input terminal；The input terminal of the output end connection Pulse width modulation module of the Park inverse transform module,
The input terminal of the output end connection inverter module of Pulse width modulation module, the output end of inverter module connect permanent-magnet synchronous
The control terminal of motor；The output end of the input terminal connection permanent magnet synchronous motor of the position sensor, the electric angle of position sensor
Speed output end connects the input terminal of the first gain module, and the output end of the first gain module connects the input of the second gain module
The revolving speed input terminal at end and disturbance observer；The input terminal of the output end connection first comparator of second gain module, the
The q shaft current of input terminal and disturbance observer that the output end of one comparator connects the second comparator by speed regulator inputs
End；The output end of second comparator connects track with zero error device, and the output end of disturbance observer passes through third gain module
Connect the feedforward input terminal of the second comparator.
A kind of control method of permanent magnet synchronous motor dead beat predictive current control system as described above, including walk as follows
It is rapid:
(1) the threephase stator current signal i of PMSM is acquireda、ib、ic, by Clark transformation output equivalent two-phase it is static
Stator current i under coordinate systemα、iβ；
(2) according to the stator current i under step (1) resulting two-phase stationary coordinate systemα、iβBy Park transformation output etc.
Stator current i under the two-phase rotating coordinate system of effectd、iq, then by stator current id、iqIt is input in track with zero error device；
(3) the rotor angular rate ω of position sensor output motoreWith position θe, rotor speed omegaeThrough the first gain mould
Block and the second gain module obtain revolving speed n and given rotating speed value nrefIt is poor to make, and difference passes through the ginseng of output q axis after speed regulator
Examine electric current iqref；
(4) the rotor angular rate ω obtained according to step (3)eRotor mechanical angle ω is obtained through the first gain modulem, ωm
The reference current i of the q axis obtained with step (3)qrefInput disturbance observer, output loading torque TL；
(5) the load torque T obtained according to step (4)LCompensation electric current i is obtained through third gain moduleqc；
(6) according to the reference current i of the resulting q axis of step (3)qrefWith compensation electric current i obtained by step 5qcIt is added, obtains
New reference current iqref*；
(7) d axis reference current is set as idref*=0, according to the resulting q axis reference current i of step (6)qref* join with d axis
Examine electric current idref* it inputs in track with zero error device；
(8) according to the input of the track with zero error device of step (2) and step (7), track with zero error device exports the reference of q axis
Voltage uqWith the reference voltage u of d axisd；
(9) q, d axis reference voltage u that will be exported in step (8)q、udBy Park inverse transformation, two-phase static coordinate is exported
Control voltage u under systemα、uβ；
(11) by two phase control voltage u in step (9)α、uβSpace vector modulation is carried out, 6 road PWM waveforms are exported；
(12) PWM waveform exported in step (11) is transported in three-phase inverter, inverter inputs three-phase electricity to PMSM
Press ua、ub、uc, to control permanent magnet synchronous motor operating, complete the vector controlled of the position-sensor-free of PMSMA.
Further, the threephase stator current signal i of PMSM is acquired in the step (1)a、ib、ic, converted by Clark
Stator current i under the two-phase stationary coordinate system of output equivalentα、iβSpecific step is as follows:
Further, the stator current i in the step (2) under two-phase stationary coordinate systemα、iβIt converts and exports by Park
Stator current i under equivalent two-phase rotating coordinate systemd、iqSpecific step is as follows:
Wherein θeFor the PMSM rotor position angle obtained by position sensor.
Further, according to rotor angular rate ω in the step (4)eRotor mechanical angle is obtained through the first gain module
ωm, ωmWith the reference current i of q axisqrefInput disturbance observer, output loading torque TLSpecific step is as follows:
Initially set up system state equation
In formula: x=ωm；U=Te；D=TL；A=-B/J；B=1/J；
Design observer
Wherein:WithThe estimated value of respectively x and d；
WhereinFor error variance, k3, k4It can be by STATE FEEDBACK CONTROL theory definite value；
Therefore disturbance observer is obtained
Further, in the step (8) track with zero error device output q axis reference voltage uqWith the reference voltage u of d axisd
Specific step is as follows:
First by the current equation discretization under dq coordinate system
Current equation after discretization is
I (k+1)=Ai (k)+Cu (k)+D (k)
Wherein: TsFor the sampling period
In order to further obtain predicted voltage u (k+1), more prediction a cycles are needed, i.e.,
I (k+2)=Ai (k+1)+Cu (k+1)+D (k+1)
By track with zero error principle it is found that requirement forecast to current value be equal to current flow given value, i.e.,
I (k+2)=i*(k)
Wherein:
It can thus be concluded that the expression formula of reference voltage needed for next cycle
U (k+1)=C-1(i*(k)-A(Ai(k)+Cu(k)+D(k))-D(k+1))。
Further, q, d axis reference voltage u exported in the step (9)q、udBy Park inverse transformation, two-phase is exported
Control voltage u under rest frameα、uβSpecific step is as follows:
Compared with the prior art, the advantages of the present invention are as follows:
(1) present invention observes the variation of load torque using a kind of disturbance observer in real time, is according to the torque value of observation
System provides Front Feed Compensation, reduces influence of the torque disturbance to system.
(2) present invention combines a kind of disturbance observer with dead beat predictive current control system, with traditional vector
Control system, which is compared, has better dynamic response performance and stronger robustness.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is internal model control disturbance observer structural block diagram in specific embodiment.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.Embodiments described herein are only
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's obtained other embodiments without making creative work belong to the range that the present invention is protected.
In conjunction with Fig. 1, Fig. 2, a kind of permanent magnet synchronous motor dead beat predictive current control system of the present invention, including
Clark conversion module, Park conversion module, Park inverse transform module, Pulse width modulation module, inverter module, position pass
Sensor, track with zero error device, disturbance observer, first comparator, the second comparator, pi regulator, the first gain module, second
Gain module and third gain module；Wherein,
The threephase stator current output terminal of the input terminal connection permanent magnet synchronous motor of Clark conversion module, Clark convert mould
The input terminal of the output end connection Park conversion module of block；
The output end of Park conversion module connects track with zero error device input terminal, the output end connection of track with zero error device
Park inverse transform module input terminal；
The input terminal of the output end connection Pulse width modulation module of Park inverse transform module, Pulse width modulation module
Output end connects the input terminal of inverter module, the control terminal of the output end connection permanent magnet synchronous motor of inverter module；
The output end of the input terminal connection permanent magnet synchronous motor of position sensor, the angular rate output end of position sensor
The input terminal of the first gain module is connected, the output end of the first gain module connects the input terminal of the second gain module and disturbance is seen
Survey the revolving speed input terminal of device；
The input terminal of the output end connection first comparator of second gain module, the output end of first comparator pass through revolving speed
Adjuster connects the input terminal of the second comparator and the q shaft current input terminal of disturbance observer；
The output end of second comparator connects track with zero error device, and the output end of disturbance observer passes through third gain module
Connect the feedforward input terminal of the second comparator.
In order to reduce influence of the torque disturbance to predictive current control system, the present invention draws in dead beat Predictive Control System
Enter a kind of Load Disturbance Observer, according to observation Real-time compensation control amount, external torque disturbance is reduced to electric current loop control with this
The influence of device processed.PMSM dead beat predictive current control system provided by the invention based on disturbance observer has faster, more
Stable electric current loop performance solves the problems, such as that conventional current track with zero error system rejection to disturbance is poor.
A kind of control method of permanent magnet synchronous motor dead beat predictive current control system, comprising the following steps:
Step 1: the threephase stator current signal i of acquisition PMSMa、ib、ic, by the two-phase of Clark transformation output equivalent
Stator current i under rest frameα、iβ；
Step 2: according to the stator current i under the resulting two-phase stationary coordinate system of step 1α、iβIt converts and exports by Park
Stator current i under equivalent two-phase rotating coordinate systemd、iq, then by stator current id、iqIt is input in track with zero error device；
Step 3: the rotor angular rate ω of position sensor output motoreWith position θe, rotor speed omegaeIncrease through first
Beneficial module and the second gain module obtain revolving speed n and given rotating speed value nrefIt is poor to make, and difference exports q axis after passing through speed regulator
Reference current iqref；
Step 4: the rotor angular rate ω obtained according to step 3eRotor mechanical angle ω is obtained through the first gain modulem,
ωmThe reference current i of the q axis obtained with step 3qrefInput disturbance observer, output loading torque TL；
Step 5: the load torque T obtained according to step 4LCompensation electric current i is obtained through third gain moduleqc；
Step 6: according to the reference current i of the resulting q axis of step 3qrefWith compensation electric current i obtained by step 5qcIt is added, obtains
To new reference current iqref*；
Step 7: d axis reference current is set as idref*=0, according to the resulting q axis reference current i of step 6qref* with d axis
Reference current idref* it inputs in track with zero error device；
Step 8: track with zero error device exports the ginseng of q axis according to the input of the track with zero error device of step 2 and step 7
Examine voltage uqWith the reference voltage u of d axisd；
Step 9: q, d axis reference voltage u that will be exported in step 8q、udBy Park inverse transformation, the static seat of two-phase is exported
Control voltage u under mark systemα、uβ；
Step 11: by two phase control voltage u in step 9α、uβSpace vector modulation is carried out, 6 road PWM waveforms are exported；
Step 12: the PWM waveform exported in step 11 is transported in three-phase inverter, inverter inputs three to PMSM
Mutually electricity
Press ua、ub、uc, to control permanent magnet synchronous motor operating, complete the vector controlled of the position-sensor-free of PMSMA.
In step 1, the reduction formula being related to is as follows:
In step 2, the reduction formula being related to is as follows:
Wherein θeFor the PMSM rotor position angle obtained by position sensor.
In step 9, the reduction formula being related to is as follows:
In step 4, disturbance observer design is as follows:
Initially set up system state equation
In formula: x=ωm；U=Te；D=TL；A=-B/J；B=1/J.
Design observer
Wherein:WithThe estimated value of respectively x and d.
WhereinFor error variance, k3, k4It can be by STATE FEEDBACK CONTROL theory definite value.
Disturbance observer is obtained by (5) and (6)
In step 8, the design of track with zero error device is as follows:
First by the current equation discretization under dq coordinate system
Current equation after discretization is
I (k+1)=Ai (k)+Cu (k)+D (k) (9)
Wherein: TsFor the sampling period
In order to further obtain predicted voltage u (k+1), more prediction a cycles are needed, i.e.,
I (k+2)=Ai (k+1)+Cu (k+1)+D (k+1) (10)
By track with zero error principle it is found that requirement forecast to current value be equal to current flow given value, i.e.,
I (k+2)=i*(k) (11)
Wherein:
The expression formula of reference voltage needed for next cycle can be obtained as (9), (10), (11)
U (k+1)=C-1(i*(k)-A(Ai(k)+Cu(k)+D(k))-D(k+1)) (12)。
Claims (7)
1. a kind of permanent magnet synchronous motor dead beat predictive current control system, which is characterized in that including Clark conversion module,
Park conversion module, Park inverse transform module, Pulse width modulation module, inverter module, position sensor, track with zero error
Device, disturbance observer, first comparator, the second comparator, pi regulator, the first gain module, the second gain module and third
Gain module；The threephase stator current output terminal of the input terminal connection permanent magnet synchronous motor of the Clark conversion module, Clark
The input terminal of the output end connection Park conversion module of conversion module；The output end of the Park conversion module connects dead beat control
The output end of device input terminal processed, track with zero error device connects Park inverse transform module input terminal；The Park inverse transform module
Output end connects the input terminal of Pulse width modulation module, and the output end of Pulse width modulation module connects the defeated of inverter module
Enter end, the control terminal of the output end connection permanent magnet synchronous motor of inverter module；The input terminal connection of the position sensor is forever
The output end of magnetic-synchro motor, the angular rate output end of position sensor connect the input terminal of the first gain module, and first increases
The output end of beneficial module connects the input terminal of the second gain module and the revolving speed input terminal of disturbance observer；The second gain mould
The input terminal of the output end connection first comparator of block, the output end of first comparator connect the second comparator by pi regulator
Input terminal and disturbance observer q shaft current input terminal；The output end of second comparator connects track with zero error device, disturbs
The output end of observer connects the feedforward input terminal of the second comparator by third gain module.
2. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system as described in claim 1, special
Sign is: including the following steps:
(1) the threephase stator current signal i of PMSM is acquireda、ib、ic, by the two-phase static coordinate of Clark transformation output equivalent
Stator current i under systemα、iβ；
(2) according to the stator current i under step (1) resulting two-phase stationary coordinate systemα、iβBy Park transformation output equivalent
Stator current i under two-phase rotating coordinate systemd、iq, then by stator current id、iqIt is input in track with zero error device；
(3) the rotor angular rate ω of position sensor output motoreWith position θe, rotor speed omegaeThrough the first gain module and
Second gain module obtains revolving speed n and given rotating speed value nrefIt is poor to make, and difference passes through the reference electricity of output q axis after speed regulator
Flow iqref；
(4) the rotor angular rate ω obtained according to step (3)eRotor mechanical angle ω is obtained through the first gain modulem, ωmWith step
Suddenly the reference current i for the q axis that (3) obtainqrefInput disturbance observer, output loading torque TL；
(5) the load torque T obtained according to step (4)LCompensation electric current i is obtained through third gain moduleqc；
(6) according to the reference current i of the resulting q axis of step (3)qrefWith compensation electric current i obtained by step 5qcIt is added, obtains new
Reference current iqref*；
(7) d axis reference current is set as idref*=0, according to the resulting q axis reference current i of step (6)qref* with d axis with reference to electricity
Flow idref* it inputs in track with zero error device；
(8) according to the input of the track with zero error device of step (2) and step (7), track with zero error device exports the reference voltage of q axis
uqWith the reference voltage u of d axisd；
(9) q, d axis reference voltage u that will be exported in step (8)q、udBy Park inverse transformation, export under two-phase stationary coordinate system
Control voltage uα、uβ；
(11) by two phase control voltage u in step (9)α、uβSpace vector modulation is carried out, 6 road PWM waveforms are exported；
(12) PWM waveform exported in step (11) is transported in three-phase inverter, inverter inputs three-phase voltage u to PMSMa、
ub、uc, to control permanent magnet synchronous motor operating, complete the vector controlled of the position-sensor-free of PMSMA.
3. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system according to claim 2,
It is characterized in that: the threephase stator current signal i of acquisition PMSM in the step (1)a、ib、ic, output equivalent is converted by Clark
Two-phase stationary coordinate system under stator current iα、iβSpecific step is as follows:
4. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system according to claim 2,
It is characterized in that: the stator current i in the step (2) under two-phase stationary coordinate systemα、iβBy the two of Park transformation output equivalent
Stator current i under cordic phase rotator systemd、iqSpecific step is as follows:
Wherein θeFor the PMSM rotor position angle obtained by position sensor.
5. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system according to claim 2,
It is characterized in that: according to rotor angular rate ω in the step (4)eRotor mechanical angle ω is obtained through the first gain modulem, ωmWith
The reference current i of q axisqrefInput disturbance observer, output loading torque TLSpecific step is as follows:
Initially set up system state equation
In formula: x=ωm；U=Te；D=TL；A=-B/J；B=1/J；
Design observer
Wherein:WithThe estimated value of respectively x and d；
WhereinFor error variance, k3, k4It can be by STATE FEEDBACK CONTROL theory definite value；
Therefore disturbance observer is obtained
6. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system according to claim 2,
It is characterized in that: the reference voltage u of track with zero error device output q axis in the step (8)qWith the reference voltage u of d axisdSpecific step
It is rapid as follows:
First by the current equation discretization under dq coordinate system
Current equation after discretization is
I (k+1)=Ai (k)+Cu (k)+D (k)
Wherein: TsFor the sampling period
In order to further obtain predicted voltage u (k+1), more prediction a cycles are needed, i.e.,
I (k+2)=Ai (k+1)+Cu (k+1)+D (k+1)
By track with zero error principle it is found that requirement forecast to current value be equal to current flow given value, i.e.,
I (k+2)=i*(k)
Wherein:
It can thus be concluded that the expression formula of reference voltage needed for next cycle
U (k+1)=C-1(i*(k)-A(Ai(k)+Cu(k)+D(k))-D(k+1))。
7. a kind of control method of permanent magnet synchronous motor dead beat predictive current control system according to claim 2,
It is characterized in that: q, d axis reference voltage u exported in the step (9)q、udBy Park inverse transformation, two-phase static coordinate is exported
Control voltage u under systemα、uβSpecific step is as follows:
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| CN113783478A (en) * | 2021-09-27 | 2021-12-10 | 东南大学 | Permanent magnet synchronous motor cascade type dead-beat control method and system thereof |
| CN113965122A (en) * | 2021-10-25 | 2022-01-21 | 南京航空航天大学 | Low-carrier-ratio current controller based on discrete disturbance observation and compensation algorithm |
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| CN113783478B (en) * | 2021-09-27 | 2023-08-22 | 东南大学 | Cascade dead beat control method and system for permanent magnet synchronous motor |
| CN113965122A (en) * | 2021-10-25 | 2022-01-21 | 南京航空航天大学 | Low-carrier-ratio current controller based on discrete disturbance observation and compensation algorithm |
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Application publication date: 20190628 |