CN110165953B - PMSM speed regulation control method based on approximation law - Google Patents
PMSM speed regulation control method based on approximation law Download PDFInfo
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- CN110165953B CN110165953B CN201910516029.8A CN201910516029A CN110165953B CN 110165953 B CN110165953 B CN 110165953B CN 201910516029 A CN201910516029 A CN 201910516029A CN 110165953 B CN110165953 B CN 110165953B
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/18—Estimation of position or speed
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to a PMSM speed regulation control method based on an approximation law, and belongs to the field of motor control. The method comprises the steps of inputting a given value of the rotating speed of a motor and the speed deviation of the rotating speed of the motor into a sliding mode variable structure controller, and outputting to obtain a given value of a q-axis current; then three-phase alternating current is collected, and d-axis current and q-axis current are obtained through coordinate system conversion; then d-axis voltage and q-axis voltage are obtained through conversion, and a switching signal obtained through voltage space vector pulse width modulation is used for regulating and controlling the three-phase inverter; and finally, controlling the motor by using the output quantity of the three-phase inverter. The sliding mode variable structure controller designed based on the approach law can improve the dynamic quality of a controlled system, has higher response speed and smaller overshoot, and improves the robustness and the rapidity of the system.
Description
Technical Field
The invention relates to a PMSM (permanent magnet synchronous motor) speed regulation control method based on an approximation rule, belonging to the field of motor control.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of simple structure, high power density, high efficiency and the like, and is widely applied to the fields of high-precision numerical control machines, robots, aerospace and the like. Because the permanent magnet synchronous motor is a multivariable, strong-coupling, nonlinear and variable-parameter complex control object, if the conventional PID control is adopted, although the control requirement can be met within a certain precision range, the control method is very easily influenced by external disturbance and internal parameter change depending on the accuracy of a system model, so that the system control is deviated from an expected target.
In order to solve the problems of the conventional PID control, a large amount of research is carried out by domestic and foreign scholars, and the proposal and development of some modern control theories provide possibility for realizing a high-performance controller of the permanent magnet synchronous motor, such as fuzzy control, active disturbance rejection control, sliding mode variable structure control, neural network control and the like. The Sliding Mode Control (SMC) has low requirements for model precision, and has strong robustness to external interference and parameter perturbation, which is a research hotspot gradually.
However, due to the fact that discontinuous switch control exists in sliding mode variable structure control, buffeting becomes the inherent characteristic of a sliding mode variable structure control system, the control performance of a motor speed regulation system can be reduced to a certain extent, and important research significance is achieved on how to weaken buffeting and guarantee the dynamic performance of the system. A common method is sliding mode control based on the approach law.
The prior Chinese patent (with the publication number of CN 106549616B) entitled "variable index coefficient approach law sliding mode variable structure control method of permanent magnet synchronous motor" discloses a permanent magnet synchronous motor control method based on an index approach law so as to improve the dynamic characteristic and the steady-state characteristic of the whole regulation and control system.
Disclosure of Invention
The invention aims to provide a PMSM (permanent magnet synchronous motor) speed regulation control method based on an approach law, and the PMSM speed regulation control method is used for solving the problem that the existing speed regulation control scheme of a permanent magnet synchronous motor cannot give consideration to both the approach speed of a sliding mode and buffeting suppression.
The invention provides a PMSM speed regulation control method based on an approximation law for solving the technical problems, which is characterized by comprising the following steps:
step 1: setting the motor speed to a given value omega * Obtaining a speed deviation omega from the measured motor speed omega through a subtracter * -ω；
Step 2: the speed deviation omega obtained in the step 1 * Inputting omega into a sliding mode variable structure controller, and outputting to obtain a q-axis current set value
And step 3: collecting phase current under a three-phase static abc coordinate system, and obtaining two-phase current i under a two-phase static alpha beta coordinate system through Clark transformation α And i β Then i is α And i β Obtaining two-phase current i under a two-phase rotation dq coordinate system through Park conversion d And i q ；
And 4, step 4: will be provided with
Inputting the d-axis current loop PI controller, and outputting to obtain d-axis voltage u d Will be
Inputting the voltage to a q-axis current loop PI controller, and outputting to obtain a q-axis voltage u q Then u is added d And u q Obtaining two-phase voltage u under a two-phase static alpha beta coordinate system through inverse Park transformation α And u β ；
And 5: will u α And u β Performing voltage space vector pulse width modulation to obtain a switching signal for regulating and controlling the three-phase inverter;
step 6: controlling a three-phase inverter by using the switching signal obtained in the step 5, and controlling a motor by using the output quantity of the three-phase inverter;
the expression of the approximation rule in the sliding mode variable structure controller in the step 2 is as follows:
in the formula: epsilon and k are the approach law parameters; s is a sliding mode surface function; sgn () is a sign function; x is system state variable, a and b are power term coefficients larger than 0.
Further, the q-axis current set value
The calculation formula of (2) is as follows:
wherein J is the rotational inertia of the motor, c is the parameter of the sliding mode surface, and x 1 As error in rotational speed, x 2 Is the differential of the error of the rotational speed, /) f Is a permanent magnet flux linkage, n p The number of pole pairs of the motor is shown.
Furthermore, the calculation formula of the sliding mode surface function s is that s is equal to x 1 +cx 2 。
The invention has the beneficial effects that:
the invention introduces a power term | x! y of a system state variable x in a conventional exponential approximation law a And sliding mode function power term | s- b·sgn(|s|-1) And when the power term is bounded by the value 1 of the absolute value of the switching function, the approximation law can be represented as two different approximation forms, and the sliding mode variable structure controller designed based on the approximation law can improve the dynamic quality of a controlled system.
Drawings
FIG. 1 is a control block diagram of an embodiment of a permanent magnet synchronous motor speed regulation control method based on an approximation rule;
FIG. 2 is a schematic diagram of a proximity law sliding mode motion of an embodiment of a permanent magnet synchronous motor speed regulation control method based on a proximity law according to the present invention;
FIG. 3 is a schematic diagram showing the comparison of the starting response of the speed regulating system based on the prior PI control and the speed regulating system based on the sliding mode variable structure control of the invention;
FIG. 4 is a schematic diagram showing the comparison of the sudden change load current responses of the speed regulating system based on the prior PI control and the speed regulating system based on the sliding mode variable structure control of the present invention;
FIG. 5 is a schematic diagram showing the comparison of the sudden change load torque response of the speed regulating system based on the prior PI control and the speed regulating system based on the sliding mode variable structure control of the present invention;
fig. 6 is a schematic diagram showing the comparison of the abrupt load rotating speed response of the speed regulating system based on the existing PI control and the speed regulating system based on the sliding mode variable structure control of the present invention.
Detailed Description
Fig. 1 shows a control block diagram of the present embodiment, which includes the following specific steps:
step 1: detecting the rotor position and the current rotation speed omega of the permanent magnet synchronous motor through a photoelectric encoder to set the motor rotation speed to a given value omega * Obtaining a speed deviation omega from the measured motor speed omega through a subtracter * -ω。
Step 2: the rotating speed ring adopts a sliding mode variable structure controller based on an approximation rule, and the speed deviation omega obtained in the step 1 is obtained * Inputting omega into a sliding mode variable structure controller, and outputting to obtain a q-axis current set value
And step 3: collecting phase current under a three-phase static abc coordinate system, and obtaining two-phase current i under a two-phase static alpha beta coordinate system through Clark transformation α And i β Then i is α And i β Obtaining two-phase current i under a two-phase rotation dq coordinate system through Park conversion d And i q 。
And 4, step 4: will be provided with
Inputting the voltage to a d-axis current loop PI controller, and outputting to obtain a d-axis voltage u d Will be
Inputting the q-axis current loop PI controller, and outputting to obtain q-axis voltage u q Then u is added d And u q Obtaining two-phase voltage u under a two-phase static alpha beta coordinate system through inverse Park transformation α And u β (ii) a Wherein d-axis current set value
Is set to 0.
And 5: will u α And u β And carrying out voltage space vector pulse width modulation to obtain a switching signal for regulating and controlling the three-phase inverter.
Step 6: and (5) controlling a three-phase inverter by using the switching signals obtained in the step (5), and controlling the motor by using the output quantity of the three-phase inverter.
Wherein the sliding mode variable structure controller in the step 2 adopts an approximation law based on a conventional exponential approximation law, and a power term | x & lty & gt of a system state variable x is added into the system a And sliding mode function power term | s- b·sgn(|s|-1) And when the power term is bounded by the value 1 of the absolute value of the switching function, the approximation law can be expressed as two different approximation forms. The specific expression of the approach law is as follows:
in the formula: epsilon and k are the approach law parameters; s is a sliding mode surface function; sgn () is a sign function; x is a system state variable; a. b is a power term coefficient which is larger than 0, and the specific value can be set according to the actual requirement.
The given value i of the q-axis current in the step 2 q * The expression of (c) is:
in the formula: b is 3n 2 p Ψ f (2J), J is the rotational inertia of the motor; c is a sliding mode surface parameter, and c is more than 0, and the specific value can be set according to the actual requirement; x is the number of 1 As error in rotational speed, x 2 Is the differential of the rotational speed error,. psi f Is a permanent magnet flux linkage, n p The number of pole pairs of the motor is shown.
The expression of the sliding mode surface function s is as follows: s ═ x 1 +cx 2 。
Fig. 2 is a schematic diagram of the sliding-mode motion of the approach law in this embodiment, and when the approach law is adopted, the state variable power term | x | y is zero a The introduction of (2) can make the system stably approach to the balance origin (0,0) under the action of the control law.
Specifically, the design method of the sliding mode variable structure controller based on the approximation rule in this embodiment is as follows:
first, state variables of the system are defined as
Formula (1):
in the formula: omega * For a given rotational speed; omega r Is the actual feedback speed.
The mechanical motion equation and the electromagnetic torque equation of the permanent magnet synchronous motor are as follows:
formula (2):
in the formula: t is e Is the electromagnetic torque; t is L Is the load torque; j is the rotational inertia of the motor; p is the number of pole pairs of the motor; psi f Is a permanent magnet flux linkage; i.e. i q Is the stator phase current q-axis component.
The combination of formula (1) and formula (2) gives:
formula (3):
in the formula: u represents
T L As a load torque, as a system uncertainty and applied disturbance.
Let B equal to 3p 2 ·ψ a and/2J, the available system state space equation is as follows:
formula (4):
selecting a linear sliding mode surface shown in an equation (5) and calculating a partial derivative of the linear sliding mode surface:
formula (5):
to sum up, x is selected as x 1 And the controller output combined with formula (5) is:
formula (6):
therefore, a given value calculation formula of the q-axis current is obtained as follows:
formula (7):
the embodiment introduces a power term | x |, of a system state variable x in a conventional exponential approximation law a And sliding mode function power term | s- b·sgn(|s|-1) And when the power term is bounded by the value 1 of the absolute value of the switching function, the approximation law can be represented as two different approximation forms, and the sliding mode variable structure controller designed based on the approximation law can improve the dynamic quality of a controlled system.
In order to specifically explain the scheme of the invention, a simulation model is built in Simulink, and the parameters of a motor for simulation are set as follows: stator resistance R2.875 Ω, number of pole pairs n p Stator inductance L4 s 8.5mH, and a moment of inertia J of 0.0008kg m 2 Coefficient of viscous friction B 0 0.0001 Nm.s, permanent magnet flux linkage psi f The switching frequency of the inverter is 10kHz at 0.175 Wb.
The first set of simulation parameters is set as simulation time of 0.4s, the starting loading of the motor is 5N · m, the given rotating speed is 300N/min, as shown in fig. 3, the comparison between the starting response of the permanent magnet synchronous motor based on the speed regulating system controlled by the existing PI control and the speed regulating system controlled by the sliding mode variable structure of the invention is shown in the schematic diagram.
The second group of simulation parameters is set as simulation time to be 0.4s, the motor is started with load of 5 N.m, the load is suddenly unloaded to 2 N.m when the motor runs to 0.2s, the load is suddenly added to 7 N.m when the motor runs to 0.3s, as shown in figure 4, a sudden change load current response comparison schematic diagram of a speed regulating system based on the existing PI control and a speed regulating system based on the sliding mode variable structure control of the invention is shown in figure 5, as shown in figure 6, a sudden change load torque response comparison schematic diagram of a speed regulating system based on the existing PI control and a speed regulating system based on the sliding mode variable structure control of the invention is shown in figure 6, as can be seen, when the load is suddenly added and suddenly unloaded, the PI controller is more sensitive to the change of the load torque, the torque ripple is larger, and the dynamic recovery adjustment time is long, the three-phase current distortion phenomenon is serious, the rotation speed fluctuation is large, longer adjustment time is needed for recovering to the original steady state, and the periodic rotation speed fluctuation phenomenon exists after 0.3 s; by adopting the SMC control based on the approximation rule, when the load torque has sudden change, the three-phase current distortion phenomenon is small, the torque dynamic performance is good, the rotation speed fluctuation is small, and the adjustment time required for recovering to the steady-state operation is shorter.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the invention, it is intended to cover all modifications within the scope of the invention as claimed.
Claims (3)
1. A PMSM speed regulation control method based on an approximation law is characterized by comprising the following steps:
step 1: setting the motor speed to a given value omega * Obtaining a speed deviation omega from the measured motor speed omega through a subtracter * -ω；
Step 2: the speed deviation omega obtained in the step 1 * Inputting omega into a sliding mode variable structure controller, and outputting to obtain a q-axis current set value
The expression of the approximation rule in the sliding mode variable structure controller is as follows:
in the formula: epsilon and k are the approach law parameters; s is a sliding mode surface function; sgn () is a sign function; x is a system state variable, and a and b are power term coefficients larger than 0;
and step 3: collecting phase current under a three-phase static abc coordinate system, and obtaining two-phase current i under a two-phase static alpha beta coordinate system through Clark transformation α And i β Then i is α And i β Obtaining two-phase current i under a two-phase rotation dq coordinate system through Park conversion d And i q ；
And 4, step 4: will be provided with
Inputting the voltage to a d-axis current loop PI controller, and outputting to obtain a d-axis voltage u d Will be
Inputting the voltage to a q-axis current loop PI controller, and outputting to obtain a q-axis voltage u q Then u is added d And u q Obtaining two-phase voltage u under a two-phase static alpha beta coordinate system through inverse Park transformation α And u β ；
A d-axis current set value;
and 5: will u α And u β Performing voltage space vector pulse width modulation to obtain a switching signal for regulating and controlling the three-phase inverter;
step 6: and (5) controlling the three-phase inverter by using the switching signal obtained in the step (5), and then carrying out speed regulation control on the motor by using the output quantity of the three-phase inverter.
2. The PMSM speed regulation control method of claim 1, wherein the q-axis current setpoint value
The calculation formula of (2) is as follows:
wherein J is the rotational inertia of the motor, c is the parameter of the sliding mode surface, and x 1 As error in rotational speed, x 2 Is the differential of the error of the rotational speed, /) f Is a permanent magnet flux linkage, n p The number of pole pairs of the motor is shown.
3. The PMSM speed regulation control method of claim 2, wherein the calculation formula of the sliding-mode surface function s is s-x 1 +cx 2 。
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| CN112290843B (en) * | 2020-10-16 | 2022-02-18 | 郑州大学 | Variable exponential power approach law and PMSM control application thereof |
| CN113098345B (en) * | 2021-03-20 | 2022-05-27 | 西北工业大学 | Permanent magnet motor control method based on sliding mode switching |
| CN113922724B (en) * | 2021-11-16 | 2023-08-01 | 新风光电子科技股份有限公司 | Permanent magnet synchronous motor control method |
| CN115242140A (en) * | 2022-03-04 | 2022-10-25 | 冶金自动化研究设计院有限公司 | Permanent magnet synchronous motor combined speed controller method for improving index approaching law |
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| CN106549616A (en) * | 2016-10-28 | 2017-03-29 | 江苏大学 | The varying index coefficient Reaching Law sliding mode variable structure control method of permagnetic synchronous motor |
| CN108233788A (en) * | 2018-01-19 | 2018-06-29 | 南京信息工程大学 | Brshless DC motor sliding mode variable structure control method based on power exponent tendency rate |
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