CN110417320B - Up-down no-position control method for vertical operation magnetic flux switching permanent magnet linear motor - Google Patents
Up-down no-position control method for vertical operation magnetic flux switching permanent magnet linear motor Download PDFInfo
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- CN110417320B CN110417320B CN201910600727.6A CN201910600727A CN110417320B CN 110417320 B CN110417320 B CN 110417320B CN 201910600727 A CN201910600727 A CN 201910600727A CN 110417320 B CN110417320 B CN 110417320B
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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
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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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- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
Abstract
The invention discloses a control method for a vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink position-sensorless, and belongs to the technical field of motor control. The invention is based on the discrete mathematical model of the flux switching permanent magnet linear motor, estimates the speed and the magnetic pole position angle of a rotor according to the winding current and voltage signals of the flux switching permanent magnet linear motor by using a model reference self-adaptive method, brings the information of the speed and the angle into a vector control system to calculate a switching signal, and drives an inverter and a motor. The invention has the advantages of low cost and simple control algorithm, and can realize the control of the flux switching permanent magnet linear motor on the uplink and the downlink without position sensors.
Description
Technical Field
The invention discloses a vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink non-position control method, and belongs to the technical field of motor control.
Background
In recent years, cordless elevators driven by linear motors have the advantages of no need of intermediate conversion link, no limitation on lifting height, no need of machine rooms, capability of simultaneously operating a plurality of cars in the same hoistway and the like, so that the linear motors are more and more widely applied to the industrial field, particularly the elevator field. The traditional position algorithm increases the cost of a control system due to the existence of the sensor, reduces the reliability of the system, has a long elevator shaft and high cost for arranging the position sensor along the shaft, and generally adopts the control without the position algorithm.
At present, a plurality of scholars at home and abroad deeply research the motor position-free control and provide methods. Representative methods include an estimation method based on a counter electromotive force of a motor, a method based on an extended Kalman filter, and full-order state observationA high frequency signal injection method, an adaptive method, etc. The Model Reference Adaptive (MRAS) method has the advantages of simple structure, small calculation amount and the like, and is one of the commonly used position-free control algorithms. And the model reference adaptive algorithm has two algorithms, one is based on a flux linkage model, and the other is based on a voltage model. Non-salient pole type permanent magnet motor common use idThe maximum output torque or thrust is achieved with the minimum current magnitude, 0 control. And the flux switching permanent magnet linear motor is in a heavy-load electric state when going upwards and is in a light-load power generation/braking state under the action of self weight when going downwards. Especially when the motor goes down, the generator generates electricity under light load, the current is very small, i is adopteddThe signal-to-noise ratio of the voltage current signal is low at 0 control, and the motor position angle cannot be estimated, thereby causing control failure. In order to solve the above problems, a control algorithm needs to be improved, so that the detection of the position angle of the motor is more accurate.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink non-position control method, and the technology
Aiming at the defects of the prior art, the invention provides a vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink no-position control method, and particularly when the motor is in downlink, the magnet increasing control, namely idAnd the control is more than 0, the voltage and current signal amplitude is increased, and the signal to noise ratio is improved, so that the estimation precision of the linear speed and the position of the rotor is improved.
The invention adopts a technical scheme for realizing the aim of the invention, and the technical scheme comprises the following steps:
the first step is as follows: obtaining output u of current double closed loopd、uqAnd bus voltage udcJudging whether overmodulation is carried out, if so, giving out new voltage u according to projection ratiod、uq；
The second step is that: obtaining three-phase currents i of windingsa、ib、icAnd performing Clark change and Park conversion on the three-phase current to obtain the current i of the current on an alpha beta coordinate systemα、iβWith current i in dq coordinate systemd、iq；
The third step: obtaining the electrical angular speed and angle of the vertical running flux switching permanent magnet linear motor by adopting a model reference self-adaptive algorithm;
the adjustable model based on the model reference adaptive algorithm is a voltage model, and the method specifically comprises the following steps:
the current-based motor mathematical model under the reference model d-q axis coordinate system is as follows:
in the formula: u. ofd、uqIs the d and q axis voltage component of the motor, RsIs the motor winding resistance, omegaeIs the electrical angular velocity, LsIs the inductance of the motor, id、iqIs the d and q axis current component of the motorfThe permanent magnet of the motor passes through a flux linkage of a rotor winding;
the current-based motor mathematical model under the adjustable model d-q axis coordinate system is
In the formula: omegaeestTo estimate the electrical angular velocity, idest、iqestEstimating current components for d and q axes of the motor;
the model-based reference adaptive algorithm described in step three specifically includes the following steps:
step 301: substituting the motor dq axis voltage obtained in the step one into a formula (2) to obtain a dq axis estimated current idest、iqest；
Step 302: calculating error e according to the current obtained in step 301 and step twoωe：
Step (ii) of303: error e calculated in step 302ωeObtaining the estimated electrical angular velocity omega through PI operationeestAnd the electrical angular velocity ω will be estimatedeestIntegrating to obtain the position of permanent magnetic flux linkage, and estimating the electric angular velocity omegaeestAnd linear transformation is carried out to obtain the linear speed of the rotor.
The fourth step: according to the obtained magnetic flux switching permanent magnet linear motor electrical angular velocity and angle, converting the electrical angular velocity into a linear velocity, and realizing position-sensorless velocity closed-loop vector control of the magnetic flux switching permanent magnet linear motor; the vector-controlled d-axis current gives idrefGiven v according to linear velocityrefIs switched between positive and negative, when the linear velocity is given by vrefWhen is greater than 0, idref0A; when the linear velocity is given by vrefWhen < 0, idrefIs a positive value; i.e. idrefMinimum value of idminThe signal-to-noise ratio of the voltage and the current is reliable, and the speed and the position of the motor can be identified; i.e. idrefMaximum value of idmaxTo ensure
Less than the rated current of the motor, wherein iqThe q-axis current of the motor ensures that the motor can stably and safely operate for a long time; therefore, 0. ltoreq. idmin≤idref≤idmax. Under the condition that the motor descends and generates power under light load, idrefThe magnetic linkage and the back electromotive force are positive values, the signal to noise ratio of voltage and current is improved, the speed and the position of the motor can be estimated by a model reference adaptive algorithm in the step three, and closed-loop control is realized.
By adopting the technical scheme, the invention has the following beneficial effects:
(1) according to the invention, the magnetic increasing control is adopted when the motor goes down, so that the flux linkage and the back electromotive force are increased, the signal to noise ratio of voltage and current is improved, the speed and the position of the motor can be estimated by a model reference adaptive algorithm, the estimation precision and the anti-interference performance of the speed are improved, and the closed-loop control is realized;
(2) the method is simple, a position sensor required in a traditional control system is omitted, the system cost is reduced, the reliability is improved, and stable, reliable and efficient operation of the vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink position-free sensors is realized.
Drawings
FIG. 1 is a block diagram of a vertical run flux switching linear motor position sensorless control based on a model reference adaptive algorithm;
FIG. 2 is a block diagram of a MRAS-based speed recognition algorithm;
FIG. 3 is a graph of experimental waveforms based on MRAS speed and its error;
fig. 4 is a graph of experimental waveforms based on the MRAS angle and its error.
Detailed Description
The following detailed description will be made of a vertical operation flux switching permanent magnet linear motor uplink and downlink non-position control method according to an embodiment of the present invention with reference to the accompanying drawings, and the specific embodiment described is only for explaining the present invention and is not intended to limit the present invention.
The whole vertical operation magnetic flux switching permanent magnet linear motor uplink and downlink non-position control block diagram is shown in figure 1, and the system consists of a direct current power supply, a vertical operation magnetic flux switching permanent magnet linear motor, a three-phase inverter bridge and a controller. In the figure vrefIs a reference value of motor speed, vestFor identifying motor speed reference value, iqrefQ-axis reference current, phase current i, output for the speed loopa、icMeasured by a sensor. The controller comprises motor speed estimation control, current control and SVPWM modulation.
The invention constructs a voltage model of the motor by using the dq axis voltage and current of the motor, estimates the speed of the motor and simultaneously estimates the given speed v of the motorrefSwitching d-axis reference current idrefThe size of the permanent magnet linear motor realizes the up-down non-position control of the vertical operation magnetic flux switching permanent magnet linear motor. The method comprises the following steps:
the first step is as follows: obtaining output u of current double closed loopd、uqAnd bus voltage udcJudging whether overmodulation is carried out, if so, giving out new one according to projection ratioVoltage ud、uq；
The second step is that: obtaining three-phase currents i of windingsa、ib、icAnd performing Clark change and Park conversion on the three-phase current to obtain the current i of the current on an alpha beta coordinate systemα、iβWith current i in dq coordinate systemd、iq；
The third step: obtaining the speed and the position of the vertical running magnetic flux switching permanent magnet linear motor by adopting a model reference adaptive system algorithm, as shown in FIG. 2;
the adjustable model based on the model reference adaptive system algorithm is a voltage model, and the method specifically comprises the following steps:
the current-based motor mathematical model under the reference model d-q axis coordinate system is as follows:
in the formula: u. ofd、uqIs the d and q axis voltage component of the motor, RsResistance of the motor winding, omegaeIs the electrical angular velocity, LsIs the inductance of the motor, id、iqIs the d and q axis current component of the motorfThe permanent magnet of the motor passes through a flux linkage of a rotor winding;
the adjustable model estimates a current-based motor mathematical model under a d-q axis coordinate system as
In the formula: omegaeestTo estimate the electrical angular velocity idest、iqestEstimating current components for d and q axes of the motor;
step 301: substituting the motor dq axis voltage obtained in the step one into a formula (2) to obtain a dq axis estimated current idest、iqest；
Step 302: calculating error e according to the current obtained in step 301 and step twoωe：
Step 303: error e calculated in step 302ωeObtaining the estimated electrical angular velocity omega through PI operationeestAnd the electrical angular velocity ω will be estimatedeestIntegrating to obtain the position of permanent magnetic flux linkage, and estimating the electric angular velocity omegaeestAnd linear transformation is carried out to obtain the linear speed of the rotor.
Defining generalized error as e-eestSubtracting the equation (1) from the equation (2) can obtain:
wherein ed＝id-idest，eq＝iq-iqest
According to the Popov hyperstable theory, an adaptation law of the electrical angular velocity can be obtained, namely:
in the formula, kp,kiRespectively, are the proportional coefficient and the integral coefficient of the adaptive structure PI regulator.
By integrating equation (5), an estimated value of the electrical angle can be obtained:
θest＝∫ωeestdt (6)
the equation (5) is multiplied by a constant to obtain an estimated value of the linear speed of the motor rotor:
the fourth step: the electrical angular speed and the angle of the permanent magnet linear motor are switched according to the obtained vertical running magnetic flux, the electrical angular speed is converted into the linear speed, and the magnetic flux switching permanent magnet is realizedThe linear motor is controlled by a position-sensorless speed closed-loop vector; the vector-controlled d-axis current gives idrefGiven v according to linear velocityrefThe positive and negative of (2) are switched. When the linear velocity is given by vrefWhen is greater than 0, idref0A; when the linear velocity is given by vref＜0，idref4A. Under the condition that the motor descends and generates power under light load, idrefAnd 4A, the flux linkage and the back electromotive force are increased, the signal to noise ratio of voltage and current is improved, the speed and the position of the motor can be estimated by a model reference adaptive algorithm in the step three, and closed-loop control is realized. And is
The current is less than the rated current of the motor, so that the motor can be safely operated for a long time.
The experimental waveforms of the vertical operation flux switching permanent magnet linear motor uplink and downlink non-position control method are shown in fig. 3-4. In fig. 3 and 4, the given speed absolute value of the flux switching permanent magnet linear motor is equal to 0.5m/s, the flux switching permanent magnet linear motor can realize vertical up-down no-position operation, the position angle error in the uplink process is-18 degrees, and the position error in the downlink process is 36 degrees.
While the present invention has been described above in connection with the accompanying drawings, it is not intended to be limited to the specific embodiments described above, which are intended to be illustrative only and not limiting. Many variations are possible without departing from the spirit of the invention, which falls within the scope of the invention.
Claims (1)
1. A vertical operation magnetic flux switching permanent magnet linear motor up-down non-position sensor control method is characterized by comprising the following steps:
the first step is as follows: obtaining output u of current double closed loopd、uqAnd bus voltage udcJudging whether overmodulation is carried out, if so, giving out new voltage u according to projection ratiod、uq；
Second oneThe method comprises the following steps: obtaining three-phase currents i of windingsa、ib、icAnd performing Clark change and Park conversion on the three-phase current to obtain the current i of the current on an alpha beta coordinate systemα、iβWith current i in dq coordinate systemd、iq；
The third step: obtaining the electrical angular speed and angle of the vertical running flux switching permanent magnet linear motor by adopting a model reference self-adaptive algorithm;
the fourth step: according to the obtained magnetic flux switching permanent magnet linear motor electrical angular velocity and angle, converting the electrical angular velocity into a linear velocity, and realizing position-sensorless velocity closed-loop vector control of the vertical operation magnetic flux switching permanent magnet linear motor;
the third step is that the adjustable model based on the model reference adaptive system algorithm is a voltage model, and the method specifically comprises the following steps:
the current-based motor mathematical model under the reference model d-q axis coordinate system is as follows:
in the formula: u. ofd、uqIs the d and q axis voltage component of the motor, RsIs the motor winding resistance, omegaeIs the electrical angular velocity, LsIs the inductance of the motor, id、iqIs the d and q axis current component of the motorfThe permanent magnet of the motor passes through a flux linkage of a rotor winding;
the current-based motor mathematical model under the adjustable model d-q axis coordinate system is as follows:
in the formula: omegaeestTo estimate the electrical angular velocity, idest、iqestEstimating current components for d and q axes of the motor;
the model-based reference adaptive system algorithm described in the third step specifically includes the following steps:
step 301: substituting the motor dq axis voltage obtained in the step one into a formula (2) to obtain a dq axis estimated current idest、iqest；
Step 302: calculating error e according to the current obtained in step 301 and step twoωe：
Step 303: error e calculated in step 302ωeObtaining the estimated electrical angular velocity omega through PI operationeestAnd the electrical angular velocity ω will be estimatedeestIntegrating to obtain the position of permanent magnetic flux linkage, and estimating the electric angular velocity omegaeestLinear transformation is carried out to obtain linear speed of the rotor;
d-axis current given i of said vector control in the fourth stepdrefGiven v according to linear velocityrefIs switched between positive and negative, when the linear velocity is given by vrefWhen is greater than 0, idref0A; when the linear velocity is given by vrefWhen < 0, idrefIs a positive value; i.e. idrefMinimum value of idminThe signal-to-noise ratio of the voltage and the current is reliable, and the speed and the position of the motor can be identified; i.e. idrefMaximum value of idmaxTo ensure
Less than the rated current of the motor, ensuring the motor to stably and safely operate for a long time, wherein iqIs the q-axis current of the motor; therefore, 0. ltoreq. idmin≤idref≤idmaxUnder the condition of the motor descending light load power generation, i is causeddrefThe magnetic linkage and the back electromotive force are positive values, the signal to noise ratio of voltage and current is improved, the speed and the position of the motor can be estimated by a model reference adaptive algorithm in the step three, and closed-loop control is realized.
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| CN111071268A (en) * | 2019-12-30 | 2020-04-28 | 南京航空航天大学 | Secondary block type magnetic flux switching linear motor driven train system |
| CN112532143B (en) * | 2020-12-17 | 2022-06-10 | 新乡航空工业(集团)有限公司上海分公司 | Sensorless magnetic field directional control energy-saving method |
| CN112782578A (en) * | 2021-02-03 | 2021-05-11 | 安徽大学绿色产业创新研究院 | Asymmetric fault diagnosis method for stator winding of permanent magnet synchronous motor |
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