CN110022105A - Permanent magnet synchronous motor predictive-current control method and system based on FOSMC - Google Patents
Permanent magnet synchronous motor predictive-current control method and system based on FOSMC Download PDFInfo
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- CN110022105A CN110022105A CN201910340244.7A CN201910340244A CN110022105A CN 110022105 A CN110022105 A CN 110022105A CN 201910340244 A CN201910340244 A CN 201910340244A CN 110022105 A CN110022105 A CN 110022105A
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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
- H02P21/22—Current control, e.g. using a current control loop
Abstract
Rotor velocity is compared to obtain rotational speed difference with given rotating speed, inputs fractional order sliding mode controller by the permanent magnet synchronous motor predictive-current control method and system disclosed by the invention based on FOSMC；Then, the equivalent current of the dq axis at current time is obtained into voltage compensation quantity and current estimation value under Parameters variation by sliding formwork disturbance observer, the reference current of current estimation value and subsequent time is inputted into dead beat predictive current control device；Finally, by coordinate transform and space vector modulation and inverter, obtaining three-phase voltage to permanent magnet synchronous motor after the voltage vector of obtained current time dq axis and voltage compensation quantity are compensated, it is ensured that motor stabilizing operation.Method and system disclosed by the invention combines fractional calculus with Sliding mode variable structure control, since fractional calculus has more freedom degrees, and can weaken buffeting of system during sliding mode, improve the control precision of revolving speed.
Description
Technical field
The invention belongs to permanent magnet synchronous motor technical fields, and in particular to a kind of permanent magnet synchronous motor based on FOSMC is pre-
Current control method is surveyed, a kind of permanent magnet synchronous motor predictive-current control system based on FOSMC is further related to.
Background technique
In Alternating Current Governor System, permanent magnet synchronous motor (Permanent Magnet Synchronous Motor,
PMSM it) is used as controlled device, with structure is simple, speed-regulating range width, high-efficient, reliable for operation, small in size, static and dynamic performance is good
The advantages that.Control system for permanent-magnet synchronous motor is the changeable nonlinear system of a close coupling, at present most PMSM speed regulation
System uses PI control algolithm, has many advantages, such as that simple algorithm, high reliablity and speed regulation are convenient, is able to satisfy a certain range of control
The advantages of system requires, but there is integral saturation in the algorithmic controller, and load parameter changes or external interference
When excessive, it is difficult to meet the speed regulation requirement and accurate positioning of system, therefore limit the application in high performance applications.
In recent years, in order to improve the control performance of PMSM speed-regulating system, some novel controls are calculated
Method such as fuzzy control, self adaptive control, Sliding mode variable structure control and predictive current control etc. is also proposed by researchers at home and abroad.
Wherein predictive current control is widely used in AC speed regulating occasion, it is by the analysis to system mathematic model, then under
One state is predicted and solves the optimum control amount of system, and PMSM speed-regulating system electric current loop mostly uses current forecasting to calculate
Method, the algorithm can obtain good current response characteristic.But speed ring still uses PI control algolithm, therefore speed ring anti-interference
It is not improved, and has the technical problems such as dynamic responding speed is slow, and robustness is low.
Summary of the invention
The permanent magnet synchronous motor predictive-current control method based on FOSMC that the object of the present invention is to provide a kind of, solves
The problem that existing control method dynamic responding speed is slow, robustness is low.
The permanent magnet synchronous motor predictive-current control system based on FOSMC that it is a further object of the present invention to provide a kind of.
The technical scheme adopted by the invention is that the permanent magnet synchronous motor predictive-current control method based on FOSMC, specifically
Operating process includes the following steps:
Step 1, under three-phase static coordinate system, the voltage equation of permanent magnet synchronous motor is established, is obtained by coordinate transform
Voltage equation, stator equation and electromagnetic torque equation under dq coordinate system；
Step 2, the rotor velocity ω of permanent magnet synchronous motor is acquiredmWith stator three-phase current ia, ib, ic, by the three of acquisition
Phase current converts to obtain equivalent current i of the permanent magnet synchronous motor under current time dq axial coordinate by Clark transformation, Parkd
And iq；
Step 3, the rotor velocity of the permanent magnet synchronous motor of acquisition is compared to obtain rotational speed difference with given rotating speed, it will
Rotational speed difference designs sliding-mode surface and fractional order sliding mode controller as control amount；
Step 4, by the equivalent current i of the dq axis at current timedAnd iqIt is obtained under Parameters variation by sliding formwork disturbance observer
Voltage disturbance amount fd(k+1)、fq(k+1)With current estimation value；
Step 5, the reference current of the current estimation value for the dq axis that step 4 obtains and subsequent time is inputted to dead beat electricity
Predictive controller is flowed, the voltage U under current time dq axis is predicted* d(k)And U* q(k)；
Step 6, the voltage vector U of current time dq axis step 5 obtained* d(k)And U* q(k)Electricity is obtained with step 4 respectively
After pressure disturbance quantity compensates, the voltage vector under α β coordinate system is obtained by Park inverse transformation, is inputted to space vector
Modulation module obtains six pulses, controls the on-off of six pipes of inverter, so that inverter is exported three-phase voltage same to permanent magnetism
Walk motor, it is ensured that motor stabilizing operation.
Other features of the invention also reside in,
In step 1 shown in such as formula of the voltage equation under three-phase static coordinate system (1) of permanent magnet synchronous motor:
In formula, uAFor A phase stator voltage, uBIt is B phase stator voltage, uCIt is C phase stator voltage, RsIt is every phase winding resistance,
iAFor A phase stator current, iBFor B phase stator current, icFor C phase stator current, ψAFor A phase stator magnetic linkage, ψBFor B phase stator magnet
Chain, ψCFor C phase stator magnetic linkage；
Voltage equation, stator magnetic linkage equation and electromagnetic torque equation under dq axis coordinate system respectively as formula (2), formula (3) and
Shown in formula (4):
In formula, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, idFor the stator electricity on d axis
Flow component, iqFor the stator current components on q axis, ψdFor the stator magnetic linkage component on d axis, ψqFor the stator magnetic linkage on q axis point
Amount, LdFor the stator inductance of d axis, LqFor the stator inductance of q axis, ψfFor the coupling magnetic linkage that permanent magnet generates, ωrFor angular rate,
TeTo export electromagnetic torque, pnFor motor number of pole-pairs, RsFor every phase winding resistance.
The detailed process of step 3 includes the following steps:
Step 3.1, rotational speed difference x is defined, as shown in formula (5):
X=ω *-ω (5)
In formula, ω * is given rotating speed, and ω is actual speed；
Step 3.2, sliding-mode surface and tendency rate are determined, as shown in formula (6) and formula (7):
In formula, S is sliding formwork diverter surface, k1With k2It is sliding-mode surface gain,For fractional calculus operator, t is micro-
The lower limit of integrating, α are the order of operator, and τ is transformation period；
In formula, ε, K are Reaching Law coefficient；For fractional calculus operator；α is the order of operator；β, μ are to set
Count parameter；Sgn () is sign function；P, q are the odd number greater than zero, and P > q；
Step 3.3, according to the sliding-mode surface and Reaching Law design fractional order sliding mode controller in step 3.2, such as formula (8) institute
Show:
In formula, J is rotary inertia, and P is number of pole-pairs, ψfFor rotor flux, k1With k2It is sliding-mode surface gain, ε, K are Reaching Law
Coefficient,For fractional calculus operator, α is the order of operator, and β, μ are design parameter, and sgn () is sign function,
P, q are the odd number greater than zero, and P > q,B is coefficient of friction, and S is sliding formwork diverter surface；
Detailed process is as follows for step 4:
Step 4.1, the mathematical model for establishing sliding formwork disturbance observer, as shown in formula (9)-(11):
Wherein, fdAnd fqRespectively Parameters variation when disturbance quantity, (FdAnd FqFor the change rate of parameter perturbation amount, value is
0；ΔR,ΔL,ΔψfThe respectively departure of electric motor resistance, inductance and magnetic linkage；
Step 4.2, shown in mathematical model such as formula (12)-(13) for establishing sliding formwork disturbance observer (SMDO):
Wherein, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, LdFor the stator electricity of d axis
Sense, LqFor the stator inductance of q axis,WithRespectively idAnd iqEstimated value, RsFor resistance, ψfThe coupling generated for permanent magnet
Magnetic linkage, ωeFor rotor angular rate,WithTo disturb estimator caused by parameter of electric machine deviation；kdAnd kqFor sliding formwork ginseng
Number；FdsAnd FqsFor sliding formwork control function；
Step 4.3, the sliding formwork that the mathematical modulo pattern (1) and step 4.2 for the permanent magnet synchronous motor established according to step 1 are established
The mathematical modulo pattern (9) of disturbance observer-formula (13) obtains shown in error equation such as formula (14) and formula (15):
Wherein,WithRespectively dq shaft current evaluated error amount；WithRespectively disturb evaluated error amount；
Step 4.4, it is obtained shown in sliding formwork control function such as formula (16) according to sliding formwork control:
Wherein, pd、pq、λp、λqFor Reaching Law parameter, sign is sign function；
Step 4.5, the value range of sliding mode observer parameter is obtained such as according to the stability analysis of liapunov function
(17) shown in:
Step 4.6, by the error mathematic model discretization in step 4.2, obtain when the parameter of electric machine disturbance dq shaft current with
Shown in the sliding mode observer mathematical model such as formula (18) and formula (19) of disturbance:
Wherein,WithIt is the dq shaft current estimated by sliding mode observer,With
It is disturbance quantity caused by the Parameters variation estimated by sliding mode observer.
Detailed process is as follows for step 5:
Step 5.1, current of electric is chosen as state variable, obtains electricity discrete under dq coordinate system to Euler method using preceding
Expression formula is flowed, as shown in formula (20):
In formula, k is sampling instant；
Step 5.2, next sampling instant electric current is set equal to given reference current i.e. idq *(k)=idq(k+1), it obtains
Shown in ideal track with zero error voltage such as formula (21):
Step 5.3, step 4.6 is obtainedWithAs disturbance quantity, feedback arrives dead beat current forecasting
The applied voltage vector of control is brought into formula (9) and formula (10), current time final control voltage vector is obtained:
In formula, U* d(k)And U* q(k)It is the final control voltage vector of d axis Yu q axis, u respectivelyd(k)With uq(k)It is reason respectively
Think the control voltage of the dq axis under state,WithIt is to be led by the Parameters variation that sliding mode observer is estimated
The disturbance quantity of cause.
Another technical solution of the invention is, a kind of permanent magnet synchronous motor predictive-current control method based on FOSMC is adopted
Control system, including fractional order sliding mode controller, dead beat predictive current control device, sliding formwork disturbance observer, coordinate become
Change the mold block and drive module；
Fractional order sliding mode controller, for according to the rotor velocity of the permanent magnet synchronous motor at collected current time and
The rotational speed difference of given rotating speed obtains the reference current component of d axis after being controlled, be then input to dead beat current forecasting control
Device processed；
Dead beat predictive current control device is worked as the prediction of the reference current of dq shaft current estimated value and subsequent time dq axis
Voltage under the dq axis inscribed when preceding；
Sliding formwork disturbance observer, for obtaining voltage disturbance amount and the electricity under Parameters variation according to collected electric current
Estimated value is flowed, current estimation value is inputted into dead beat predictive-current control device, and by voltage disturbance amount and the control that predicts
Voltage compensates；
Coordinate transformation module obtains permanent magnet synchronous motor by coordinate transform and exists for that will collect stator three-phase current
Equivalent current under current time dq axial coordinate is input to sliding formwork disturbance observer；
Drive module, for the reference by dead beat predictive current control device according to current estimation value and subsequent time dq axis
After the voltage compensation quantity that dq shaft voltage and sliding formwork disturbance observer under the current time that current forecasting obtains obtain compensates
Control voltage is obtained, control voltage is obtained into six pulse shape control inverters by coordinate transform and space vector modulation
Six pipes on-off, three-phase input voltage of the obtained three-phase voltage as permanent magnet synchronous motor is allowed after inversion, so that forever
Magnetic-synchro motor operation.
Preferably, coordinate transformation module includes Clark conversion module and Park conversion module, by the three-phase current of acquisition
ia, ib, icClark transformation successively is carried out by Clark conversion module, converts to obtain forever by Park conversion module progress Park
Equivalent current i of the magnetic-synchro motor under current time dq axial coordinatedAnd iq, it is input to sliding formwork disturbance observer.
Preferably, drive module includes Park inverse transform module, space vector modulation module and inverter, Park inverse transformation
Module measures dead beat predictive-current control device according to the reference current of rotational speed difference, current estimation value and subsequent time dq axis in advance
To current time under dq shaft voltage and the obtained voltage compensation quantity of sliding formwork disturbance observer compensate after obtained driving
Voltage passes through inverse transformation, then inputs to space vector modulation module, space vector modulation module modulates to obtain six tunnel pulse tune
After Waveform Input processed carries out inversion to six pipes of inverter, the three-phase input voltage of permanent magnet synchronous motor is obtained, so that forever
Magnetic-synchro motor operation.
The invention has the advantages that a kind of permanent magnet synchronous motor predictive-current control method and system based on FOSMC,
Make the micro- product of fractional order based on FOSMC (fractional order sliding formwork control, Frational Order Sliding Mode Control)
Divide and combined with Sliding mode variable structure control, the revolving speed in system is controlled, since fractional calculus there are more freedom
Degree, and system can be weakened and tremble shake during sliding mode, improve the control precision of revolving speed；Indifference is used in electric current loop
It claps predictive current control and sliding formwork disturbance observer is devised, to produced when system parameter changes with temperature, frequency
Error compensated, can get better current characteristics, and improve the interference free performance of speed ring, enable a system to stablize
Operation.
Detailed description of the invention
Fig. 1 is the flow chart of the permanent magnet synchronous motor predictive-current control method of the invention based on FOSMC；
Fig. 2 is the structural schematic diagram of the permanent magnet synchronous motor predictive-current control system of the invention based on FOSMC；
Fig. 3 is movement rail of the permanent magnet synchronous motor predictive-current control system of the invention based on FOSMC in sliding-mode surface
Mark figure；
Fig. 4 is the schematic diagram that FOSMC of the invention and traditional SMC converges on sliding-mode surface；
Der Geschwindigkeitkreis is the speed responsive figure of PI control when Fig. 5 is traditional control system zero load；
SMC electric current when Fig. 6 is the permanent magnet synchronous motor predictive-current control system zero load of the invention based on FOSMC is pre-
The speed responsive figure of observing and controlling；
The speed responsive figure of PI control when Fig. 7 is traditional control system shock load；
SMC electricity when Fig. 8 is the permanent magnet synchronous motor predictive-current control system shock load of the invention based on FOSMC
Flow the speed responsive figure of PREDICTIVE CONTROL；
Fig. 9 is the current-responsive at DCPC of the permanent magnet synchronous motor predictive-current control system based on FOSMC of the invention
Waveform diagram；
Figure 10 is the permanent magnet synchronous motor predictive-current control system of the invention based on FOSMC in SMDO+DCPC electric current
Response wave shape figure；
Figure 11 is that the speed ring of the permanent magnet synchronous motor predictive-current control system of the invention based on FOSMC is controlled in SMC
Rotating speed response figure under system；
Figure 12 is the speed ring of the permanent magnet synchronous motor predictive-current control system of the invention based on FOSMC in FOSMC
Rotating speed response figure under control.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Permanent magnet synchronous motor predictive-current control method based on FOSMC of the invention, as shown in Figure 1, concrete operations
Journey includes the following steps:
Step 1, under three-phase static coordinate system, the voltage equation of permanent magnet synchronous motor is established, is obtained by coordinate transform
Voltage equation, stator magnetic linkage equation and electromagnetic torque equation under dq coordinate system；
In step 1 shown in voltage equation of the permanent magnet synchronous motor under three-phase static coordinate system such as formula (1):
In formula, uAFor A phase stator voltage, uBIt is B phase stator voltage, uCIt is C phase stator voltage, RsIt is every phase winding resistance,
iAFor A phase stator current, iBFor B phase stator current, icFor C phase stator current, ψAFor A phase stator magnetic linkage, ψBFor B phase stator magnet
Chain, ψCFor C phase stator magnetic linkage；
Voltage equation, stator magnetic linkage equation and electromagnetic torque equation under dq axis coordinate system respectively as formula (2), formula (3) and
Shown in formula (4):
In formula, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, idFor the stator electricity on d axis
Flow component, iqFor the stator current components on q axis, ψdFor the stator magnetic linkage component on d axis, ψqFor the stator magnetic linkage on q axis point
Amount, LdFor the stator inductance of d axis, LqFor the stator inductance of q axis, ψfFor the coupling magnetic linkage that permanent magnet generates, ωrFor angular rate,
TeTo export electromagnetic torque, pnFor motor number of pole-pairs, RsFor every phase winding resistance.
Step 2, the rotor velocity ω of permanent magnet synchronous motor is acquiredmWith stator three-phase current ia, ib, ic, by the three of acquisition
Phase current converts to obtain equivalent current i of the permanent magnet synchronous motor under current time dq axial coordinate by Clark transformation, Parkd
And iq；
Step 3, angular rate is converted by the rotor velocity of the permanent magnet synchronous motor of acquisition to compare with given rotating speed
Rotational speed difference is relatively obtained, using rotational speed difference as control amount, designs sliding-mode surface and fractional order sliding mode controller；
The detailed process of step 3 includes the following steps:
Step 3.1, definition status variable is x, as shown in formula (5):
X=ω*-ω (5)
In formula, ω*For given rotating speed, ω is actual speed；
Step 3.2, sliding-mode surface and tendency rate are determined, as shown in formula (6) and formula (7):
In formula, S is sliding formwork diverter surface, k1With k2It is sliding-mode surface gain,For fractional calculus operator, t is micro-
The lower limit of integrating, α are the order of operator, and τ is transformation period；
In formula, ε, K are Reaching Law coefficient；For fractional calculus operator；α is the order of operator；β, μ are to set
Count parameter；Sgn () is sign function；P, q are the odd number greater than zero, and P > q；
Step 3.3, according to the sliding-mode surface and Reaching Law design fractional order sliding mode controller in step 3.2, such as formula (8) institute
Show:
In formula, J is rotary inertia, and P is number of pole-pairs, ψfFor rotor flux, k1With k2It is sliding-mode surface gain, ε, K are Reaching Law
Coefficient,For fractional calculus operator, α is the order of operator, and β, μ are design parameter, and sgn () is sign function,
P, q are the odd number greater than zero, and P > q,B is coefficient of friction, and S is sliding formwork diverter surface；
Step 4, by the equivalent current i of the dq axis at current timedAnd iqIt is obtained under Parameters variation by sliding formwork disturbance observer
Voltage disturbance amount fd(k+1)、fq(k+1)With current estimation value；
Detailed process is as follows for step 4:
Step 4.1, the mathematical model for establishing sliding formwork disturbance observer, as shown in formula (9)-(11):
Wherein, fdAnd fqRespectively Parameters variation when disturbance quantity, (FdAnd FqFor the change rate of parameter perturbation amount, value is
0)；ΔR,ΔL,ΔψfThe respectively departure of electric motor resistance, inductance and magnetic linkage；
Step 4.2, shown in mathematical model such as formula (12)-(13) for establishing sliding formwork disturbance observer (SMDO):
Wherein, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, LdFor the stator electricity of d axis
Sense, LqFor the stator inductance of q axis,WithRespectively idAnd iqEstimated value, RsFor resistance, ψfThe coupling magnetic generated for permanent magnet
Chain, ωeFor angular rate,WithTo disturb estimator caused by parameter of electric machine deviation；kdAnd kqFor sliding formwork parameter；FdsWith
FqsFor sliding formwork control function；
Step 4.3, the sliding formwork that the mathematical modulo pattern (1) and step 4.2 for the permanent magnet synchronous motor established according to step 1 are established
The mathematical modulo pattern (9) of disturbance observer-formula (13) obtains shown in error equation such as formula (14) and formula (15):
Wherein,WithRespectively dq shaft current evaluated error amount；WithRespectively disturb evaluated error amount；
Step 4.4, it is obtained shown in sliding formwork control function such as formula (16) according to sliding formwork control:
Wherein, pd、pq、λp、λqFor Reaching Law parameter, sign () is sign function；
Step 4.5, the value range of sliding mode observer parameter is obtained such as according to the stability analysis of liapunov function
(17) shown in:
Step 4.6, by the error mathematic model discretization in step 4.3, obtain when the parameter of electric machine disturbance dq shaft current with
Shown in the sliding mode observer mathematical model such as formula (18) and formula (19) of disturbance:
Wherein,WithIt is the dq shaft current estimated by sliding mode observer,With
It is to disturb estimator caused by the Parameters variation estimated by sliding mode observer；
Step 5, the reference current of the current estimation value for the dq axis that step 4 obtains and subsequent time is inputted to dead beat electricity
Predictive controller is flowed, the control voltage U under current time dq axis is predicted* d(k)And U* q(k)；
Detailed process is as follows for step 5:
Step 5.1, current of electric is chosen as state variable, obtains electricity discrete under dq coordinate system to Euler method using preceding
Expression formula is flowed, as shown in formula (20):
In formula, k is sampling instant；
Step 5.2, next sampling instant electric current is set equal to given reference current i.e. idq *(k)=idq(k+1), it obtains
Shown in ideal track with zero error voltage such as formula (21):
Step 5.3, step 4.6 is obtainedWithAs disturbance quantity, feedback arrives dead beat current forecasting
The applied voltage vector of control is brought into formula (9) and formula (10), current time final control voltage vector is obtained:
In formula, U* d(k)And U* q(k)It is the final control voltage vector of d axis Yu q axis, u respectivelyd(k)With uq(k)It is reason respectively
Think the control voltage of the dq axis under state,WithIt is to be led by the Parameters variation that sliding mode observer is estimated
The disturbance quantity of cause；
Step 6, the voltage vector U of current time dq axis step 5 obtained* d(k)And U* q(k)qElectricity is obtained with step 4 respectively
After pressure disturbance quantity compensates, the voltage vector under α β coordinate system is obtained by Park inverse transformation, is inputted to space vector
Modulation module obtains six driving pulses, drives the on-off of six pipes of inverter, and inverter is made to export three-phase voltage to forever
Magnetic-synchro motor, it is ensured that motor stabilizing operation.
Permanent magnet synchronous motor predictive-current control system based on FOSMC of the invention, as shown in Fig. 2, including fractional order
Sliding mode controller, dead beat predictive current control device, sliding formwork disturbance observer, coordinate transformation module and drive module；
Fractional order sliding mode controller, for according to the rotor velocity of the permanent magnet synchronous motor at collected current time and
The rotational speed difference of given rotating speed obtains the reference current component of d axis after being controlled, be then input to dead beat current forecasting control
Device processed；
Dead beat predictive current control device, it is pre- for the reference current according to dq shaft current estimated value and subsequent time dq axis
Survey the voltage under the dq axis under current time；
Sliding formwork disturbance observer, for obtaining voltage disturbance amount and the electricity under Parameters variation according to collected electric current
Estimated value is flowed, current estimation value is inputted into dead beat predictive-current control device, and by voltage disturbance amount and the control that predicts
Voltage compensates；
Coordinate transformation module obtains permanent magnet synchronous motor by coordinate transform and exists for that will collect stator three-phase current
Equivalent current under current time dq axial coordinate is input to sliding formwork disturbance observer；
Drive module, for the reference by dead beat predictive-current control device according to current estimation value and subsequent time dq axis
After the voltage disturbance amount that dq shaft voltage and sliding formwork disturbance observer under the current time that current forecasting obtains obtain compensates
Control voltage is obtained, control voltage is obtained into six impulse waveform controls by coordinate transform and space vector modulation (SVPWM)
The on-off of six pipes of inverter processed, obtains the three-phase input voltage of permanent magnet synchronous motor after inversion, so that permanent magnetism is same
Walk motor operation.
Wherein, coordinate transformation module includes Clark conversion module and Park conversion module, by the three-phase current i of acquisitiona,
ib, icSuccessively carry out Clark transformation by Clark conversion module, carry out Park by Park conversion module and convert to obtain permanent magnetism it is same
Walk equivalent current i of the motor under current time dq axial coordinatedAnd iq, it is input to sliding formwork disturbance observer.
Wherein, drive module, including Park inverse transform module, space vector modulation module and inverter, Park inverse transformation
Module measures dead beat predictive-current control device according to the reference current of rotational speed difference, current estimation value and subsequent time dq axis in advance
The control electricity that the voltage compensation quantity that dq shaft voltage and sliding formwork disturbance observer under to current time obtain obtains after compensating
Pressure passes through Park inverse transformation, then inputs to space vector modulation module, space vector modulation module modulates to obtain six tunnel pulses
After six pipes that modulation waveform inputs to inverter carry out inversion, the three-phase input voltage of permanent magnet synchronous motor is obtained, so that
Permanent magnet synchronous motor stable operation.
The present invention is based on MATLAB softwares to have built simulation model, and the above-mentioned permanent magnet synchronous motor based on FOSMC is pre-
Current control method is surveyed to be compared with tradition SMC control method and conventional PI control method.
The parameter of the permanent magnet synchronous motor of use is as follows: stator resistance R=0.958 Ω, stator d-axis inductance Ld=
0.00525mH, stator axis inductor Lq=0.00525mH, number of pole-pairs np=3, rotor flux Ψf=0.1728Wb, rated speed
Nr=1000r/min, rotary inertia J=0.003kgm2, nominal torque T=14Nm.
Control method according to the invention controls permanent magnet synchronous motor using control system of the invention, Fig. 3
It is the movement locus schematic diagram for making system on sliding-mode surface under SMC control method, system is final from unlimited distance arrival sliding-mode surface
It is influenced in sliding-mode surface stable operation, and not by system parameter, PI control is linear control method and permanent magnet synchronous motor controls
System is nonlinear system, so the speed ring PI control method of traditional motor vector control system is modified to by the present invention
FOSMC control method and electric current loop PI control method change dead beat predictive current control into；When Fig. 5 and Fig. 6 is zero load respectively
The speed responsive figure of PI control and the speed responsive of SMC predictive current control, can be seen that by Fig. 5 compared with Fig. 6 when electricity
When machine No Load Start, PI control is clearly present overshoot, and SMC control realizes that starting non-overshoot, Fig. 7 and Fig. 8 are that system is prominent respectively
The speed responsive of PI control when loading and the speed responsive figure of SMC predictive current control, can compared with Fig. 8 by Fig. 7
To find out, when shock load, system is influenced to be significantly less than control system under PI by load variation under SMC, and can be quickly
Restore given value.Fig. 4 is FOSMC control and traditional SMC control convergence in the schematic diagram of sliding-mode surface, since traditional SMC is
Integer level system, the switching frequency of practical executing agency does not catch up with theoretical high frequency switching effect when converging on sliding-mode surface, causes
The delay and lag spatially of real system in time, so convergence region is larger, and fractional calculus have it is multiple from
By spending, and energy is slowly transmitted, the impact to system is smaller, thus it is smaller compared with convergence region for integer rank, biography can be weakened
System sliding formwork control bring itself trembles shake.Fig. 9 and Figure 10 is present system respectively in DCPC current-responsive waveform diagram and SMDO+
DCPC current-responsive waveform diagram compares from Fig. 9 and Figure 10 and compensates as can be seen that introducing disturbance observer to voltage vector, system
In electric current can be good at following to constant current.Figure 11 and Figure 12 is control of the speed ring in traditional SMC of system respectively
Rotating speed response figure under lower and FOSMC control, can be seen that FOSMC can weaken traditional biography from the comparison of Figure 11 and Figure 12
System sliding formwork control bring itself trembles shake.Since the control voltage of the system of dead beat predictive current control prediction is in ideal item
Under part, but real system can be influenced with temperature, frequency etc., and system parameter can change in the process of running, so this
Invention introduces sliding formwork disturbance observer in feedback channel, obtains the disturbance compensation amount of system to the voltage vector predicted.
Permanent magnet synchronous motor predictive-current control system power ring based on FOSMC of the invention is pre- using dead beat electric current
Fractional order in conjunction with sliding formwork control, is trembled shake to weaken traditional sliding formwork control bring, and work as system parameter by observing and controlling system, der Geschwindigkeitkreis
When changing with temperature, frequency, sliding formwork disturbance observer is introduced, generated error is compensated, can get more
Good current characteristics, and the interference free performance of speed ring is improved, enable a system to stable operation.
Claims (8)
1. the permanent magnet synchronous motor predictive-current control method based on FOSMC, which is characterized in that specific operation process includes as follows
Step:
Step 1, under three-phase static coordinate system, the voltage equation of permanent magnet synchronous motor is established, dq is obtained by coordinate transform and is sat
Voltage equation, stator equation and electromagnetic torque equation under mark system；
Step 2, the rotor velocity ω of permanent magnet synchronous motor is acquiredmWith stator three-phase current ia, ib, ic, by the three-phase electricity of acquisition
Stream converts to obtain equivalent current i of the permanent magnet synchronous motor under current time dq axial coordinate by Clark transformation, ParkdAnd iq；
Step 3, it is compared the rotor velocity of the permanent magnet synchronous motor of acquisition to obtain rotational speed difference with given rotating speed, by revolving speed
Difference is used as control amount, designs sliding-mode surface and fractional order sliding mode controller；
Step 4, by the equivalent current i of the dq axis at current timedAnd iqThe electricity under Parameters variation is obtained by sliding formwork disturbance observer
Press disturbance quantity fd(k+1)、fq(k+1)With current estimation value；
Step 5, it is pre- that the reference current of the current estimation value for the dq axis that step 4 obtains and subsequent time is inputted to dead beat electric current
Controller is surveyed, the voltage U under current time dq axis is predicted* d(k)And U* q(k)；
Step 6, the voltage vector U of current time dq axis step 5 obtained* d(k)And U* q(k)Voltage is obtained with step 4 respectively to disturb
After momentum compensates, the voltage vector under α β coordinate system is obtained by Park inverse transformation, is inputted to space vector modulation
Module obtains six driving pulses, drives six pipes of inverter, inverter is made to export three-phase voltage to permanent magnet synchronous electric
Machine, it is ensured that motor stabilizing operation.
2. the permanent magnet synchronous motor predictive-current control method based on FOSMC as described in claim 1, which is characterized in that institute
Shown in such as formula of the voltage equation under three-phase static coordinate system (1) for stating permanent magnet synchronous motor described in step 1:
In formula, uAFor A phase stator voltage, uBIt is B phase stator voltage, uCIt is C phase stator voltage, RsIt is every phase winding resistance, iAFor A
Phase stator current, iBFor B phase stator current, icFor C phase stator current, ψAFor A phase stator magnetic linkage, ψBFor B phase stator magnetic linkage, ψCFor
C phase stator magnetic linkage；
Voltage equation, stator magnetic linkage equation and electromagnetic torque equation under dq axis coordinate system are respectively such as formula (2), formula (3) and formula (4)
It is shown:
In formula, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, idFor the stator current on d axis point
Amount, iqFor the stator current components on q axis, ψdFor the stator magnetic linkage component on d axis, ψqFor the stator magnetic linkage component on q axis, Ld
For the stator inductance of d axis, LqFor the stator inductance of q axis, ψfFor the coupling magnetic linkage that permanent magnet generates, ωrFor angular rate, TeFor
Export electromagnetic torque, pnFor motor number of pole-pairs, RsFor every phase winding resistance.
3. the permanent magnet synchronous motor predictive-current control method based on FOSMC as claimed in claim 2, which is characterized in that institute
The detailed process for stating step 3 includes the following steps:
Step 3.1, rotational speed difference x is defined, as shown in formula (5):
X=ω *-ω (5)
In formula, ω * is given rotating speed, and ω is actual speed；
Step 3.2, sliding-mode surface and tendency rate are determined, as shown in formula (6) and formula (7):
In formula, S is sliding formwork diverter surface, k1With k2It is sliding-mode surface gain,For fractional calculus operator, t is micro- integrating
The lower limit of son, α are the order of operator, and τ is transformation period；
In formula, ε, K are Reaching Law coefficient；For fractional calculus operator；α is the order of operator；β, μ are design ginseng
Number；Sgn () is sign function；P, q are the odd number greater than zero, and P > q；
Step 3.3, according to the sliding-mode surface and Reaching Law design fractional order sliding mode controller in step 3.2, as shown in formula (8):
In formula, J is rotary inertia, and P is number of pole-pairs, ψfFor rotor flux, k1With k2It is sliding-mode surface gain, ε, K are Reaching Law system
Number,For fractional calculus operator, α is the order of operator, and β, μ are design parameter, and sgn () is sign function, p,
Q is the odd number greater than zero, and P > q,B is coefficient of friction, and S is sliding formwork diverter surface.
4. the permanent magnet synchronous motor predictive-current control method based on FOSMC as claimed in claim 3, which is characterized in that institute
Stating step 4, detailed process is as follows:
Step 4.1, the mathematical model for establishing sliding formwork disturbance observer, as shown in formula (9)-(11):
Wherein, fdAnd fqRespectively Parameters variation when disturbance quantity, (FdAnd FqFor the change rate of parameter perturbation amount, value 0；Δ
R、ΔL、ΔψfThe respectively departure of electric motor resistance, inductance and magnetic linkage；
Step 4.2, shown in mathematical model such as formula (12)-(13) for establishing sliding formwork disturbance observer (SMDO):
Wherein, udFor the stator voltage component on d axis, uqFor the stator voltage component on q axis, LdFor the stator inductance of d axis, LqFor
The stator inductance of q axis,WithRespectively idAnd iqEstimated value, RsFor resistance, ψfFor the coupling magnetic linkage that permanent magnet generates, ωe
For rotor angular rate,WithTo disturb estimator caused by parameter of electric machine deviation；kdAnd kqFor sliding formwork parameter；FdsAnd Fqs
For sliding formwork control function；
Step 4.3, the sliding formwork that the mathematical modulo pattern (1) and step 4.2 of the permanent magnet synchronous motor established according to step 1 are established disturbs
The mathematical modulo pattern (9) of observer-formula (13) obtains shown in error equation such as formula (14) and formula (15):
Wherein,WithRespectively dq shaft current evaluated error amount；WithRespectively disturb evaluated error amount；
Step 4.4, it is obtained shown in sliding formwork control function such as formula (16) according to sliding formwork control:
Wherein, pd、pq、λp、λqFor Reaching Law parameter, sign is sign function；
Step 4.5, the value range such as (17) of sliding mode observer parameter are obtained according to the stability analysis of liapunov function
It is shown:
Step 4.6, by the error mathematic model discretization in step 4.2, dq shaft current and disturbance when parameter of electric machine disturbance are obtained
Sliding mode observer mathematical model such as formula (18) and formula (19) shown in:
Wherein,WithIt is the dq shaft current estimated by sliding mode observer,WithIt is logical
Cross disturbance quantity caused by the Parameters variation that sliding mode observer is estimated.
5. the permanent magnet synchronous motor predictive-current control method based on FOSMC as claimed in claim 4, which is characterized in that institute
Stating step 5, detailed process is as follows:
Step 5.1, current of electric is chosen as state variable, obtains ammeter discrete under dq coordinate system to Euler method using preceding
Up to formula, as shown in formula (20):
In formula, k is sampling instant；
Step 5.2, next sampling instant electric current is set equal to given reference current i.e. idq *(k)=idq(k+1), ideal is obtained
Track with zero error voltage such as formula (21) shown in:
Step 5.3, step 4.6 is obtainedWithAs disturbance quantity, feedback arrives dead beat predictive current control
Applied voltage vector, that is, bring into formula (9) and formula (10), obtain current time final control voltage vector:
In formula, U* d(k)And U* q(k)It is the final control voltage vector of d axis Yu q axis, u respectivelyd(k)With uq(k)It is ideal shape respectively
The control voltage of dq axis under state,WithIt is caused by the Parameters variation estimated by sliding mode observer
Disturbance quantity.
6. a kind of control that the permanent magnet synchronous motor predictive-current control method based on FOSMC uses as described in claim 1
System, which is characterized in that including fractional order sliding mode controller, dead beat predictive current control device, sliding formwork disturbance observer, coordinate
Conversion module and drive module；
The fractional order sliding mode controller, for according to the rotor velocity of the permanent magnet synchronous motor at collected current time and
The rotational speed difference of given rotating speed obtains the reference current component of d axis after being controlled, be then input to dead beat current forecasting control
Device processed；
The dead beat predictive current control device is worked as the prediction of the reference current of dq shaft current estimated value and subsequent time dq axis
Voltage under the dq axis inscribed when preceding；
The sliding formwork disturbance observer, for obtaining voltage disturbance amount and the electricity under Parameters variation according to collected electric current
Estimated value is flowed, current estimation value is inputted into dead beat predictive-current control device, and by voltage disturbance amount and the control that predicts
Voltage compensates；
The coordinate transformation module obtains permanent magnet synchronous motor by coordinate transform and exists for that will collect stator three-phase current
Equivalent current under current time dq axial coordinate is input to sliding formwork disturbance observer；
The drive module, for the reference by dead beat predictive-current control device according to current estimation value and subsequent time dq axis
The voltage compensation quantity that dq axis control voltage and sliding formwork disturbance observer under the current time that current forecasting obtains obtain is mended
Final control voltage is obtained after repaying, and control voltage is passed through into six pulse shape controls of coordinate transform and space vector modulation
The on-off of six switching tubes of inverter, obtains the three-phase input voltage of permanent magnet synchronous motor after inversion, so that permanent magnetism is same
Walk motor stabilizing operation.
7. the permanent magnet synchronous motor predictive-current control system based on FOSMC as claimed in claim 6, which is characterized in that institute
Stating coordinate transformation module includes Clark conversion module and Park conversion module, by the three-phase current i of acquisitiona, ib, icSuccessively pass through
Clark conversion module carries out Clark transformation, converts to obtain permanent magnet synchronous motor current by Park conversion module progress Park
Equivalent current i under moment dq axial coordinatedAnd iq, it is input to sliding formwork disturbance observer.
8. the permanent magnet synchronous motor predictive-current control system based on FOSMC as claimed in claim 6, which is characterized in that institute
Stating drive module includes Park inverse transform module, space vector modulation module and inverter, and the Park inverse transform module is by nothing
Beat predictive-current control device is predicted current according to the reference current of rotational speed difference, current estimation value and subsequent time dq axis
When the obtained voltage compensation quantity of the dq shaft voltage inscribed and sliding formwork disturbance observer compensate after obtained driving voltage pass through
Inverse transformation, then inputs to the space vector modulation module, and the space vector modulation module modulates to obtain six tunnel pulse tune
After Waveform Input processed carries out inversion to six pipes of the inverter, the three-phase input voltage of permanent magnet synchronous motor is obtained, is made
Obtain permanent magnet synchronous motor stable operation.
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