CN110492817A - A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor - Google Patents
A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor Download PDFInfo
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- CN110492817A CN110492817A CN201910717367.8A CN201910717367A CN110492817A CN 110492817 A CN110492817 A CN 110492817A CN 201910717367 A CN201910717367 A CN 201910717367A CN 110492817 A CN110492817 A CN 110492817A
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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
- H02P21/0003—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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
The invention discloses the direct prediction of speed control methods and equipment of a kind of permanent magnet synchronous motor, by the way that reference rotation velocity and reference current are converted into reference voltage vector using the principle of track with zero error, and voltage inversion is carried out using space vector pulse width modulation, this method has effectively eliminated the speed ring in traditional track with zero error, while utilizing a kind of disturbance observation module based on sliding mode control theory；The observation module estimating system electrical parameter mismatch, mechanical parameter mismatch and load torque can disturb the voltage error generated simultaneously；Later by the lumped voltage error compensation of observation module output into prediction reference voltage vector, to effectively increase the robustness of permanent magnet synchronous motor instead of the load torque observer in the direct method for control speed of dead beat.Finally, carrying out emulation and experimental verification on a durface mounted permanent magnet synchronous motor, the results showed that, this method has stronger robustness to the interference of parameter and load.
Description
Technical field
The present invention relates to equipment control fields, particularly relate to a kind of direct prediction of speed control method of permanent magnet synchronous motor
And equipment.
Background technique
Permanent magnet synchronous motor (PMSM) is a kind of common three-phase synchronous alternating current generator, has high efficiency, high power density
The features such as, wherein durface mounted permanent magnet synchronous motor (SPMSM, Surface Permanent Magnetic Synchronized
Motor), have the characteristics that ac-dc axis (d-q axis) inductance is equal, it is easier to control.It is increasingly improved with motor performance, by
The electric system that SPMSM is constituted is using more and more extensive, such as household electrical appliances, numerically-controlled machine tool, cannon, radar field.
Prediction and Control Technology is a kind of Advanced Control Techniques proposed for theory of optimal control application problem, main special
Point is the output reference value that subsequent time is predicted using system model, then selects Optimum Operation according to the reference value.Prediction
It is more advanced to control its control theory, concept it is intuitive and it can be readily appreciated that and be widely used in various industrial circles, especially
Alternating Current Governor System.And for Alternating Current Governor System, Prediction and Control Technology covers the control method of plurality of classes, dead beat control
System (DBC, dead-beat control) is one kind of PREDICTIVE CONTROL.DBC is the walk-off-mode using motor and inverter circuit
Type accurately calculates reference voltage required for subsequent time, and combines space vector pulse width modulation (SVPWM, Space Vector
Pulse Width Modulation) modulation technique is modulated target reference voltage.Compared to traditional vector controlled
(FOC) and Direct Torque Control (DTC), DBC have good dynamic steady-state performance.However, DBC, which is used as, is based on mathematical models
Control mode, control effect depends critically upon accurate model parameter, when system parameter inaccuracy or when changing,
The reference voltage of prediction will be inaccurate, reduces so as to cause the robustness of entire motor.
Summary of the invention
In view of this, it is an object of the invention to propose a kind of direct prediction of speed control method of permanent magnet synchronous motor and
Equipment, can be by reducing system-computed amount and eliminating weight coefficient, while being tracked based on prediction reference voltage to realize indifference
Direct prediction of speed control is clapped, error is predicted caused by real-time compensation parameter and load disturbance, improves system robustness, simplify system
System structure.
Based on above-mentioned purpose, on the one hand, the present invention provides a kind of direct prediction of speed controlling parties of permanent magnet synchronous motor
Method, comprising:
The motor current electric current and motor speed are obtained, passes through discretization using the electric current and the motor speed
Mode obtains the predicted current of subsequent time, obtains the predicted voltage of subsequent time according to the predicted current；
Predetermined speed of subsequent time is obtained using the motor speed by way of the preceding discretization to Euler, according to institute
The reference velocity and reference current stating predetermined speed and being converted to by the predicted current, the predicted voltage is converted into
Reference voltage instruction；
Reference voltage instruction is handled by Sliding mode variable structure control mode, is obtained down using constant speed Reaching Law
The error estimate at one moment makes the true of the error estimate approach subsequent time according to Liapunov stability principle
Error amount；
The error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage, by described with reference to electricity
Pressure vector is adjusted correspondingly the motor.
In some embodiments, before the acquisition motor current electric current and motor speed, further includes:
The motor is durface mounted permanent magnet synchronous motor, utilizes the durface mounted permanent magnet synchronous motor ac-dc axis inductance phase
Etc. characteristics establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the number
It learns model and carries out discretization.
In some embodiments, the predicted voltage, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+
2) be respectively k+2 moment d axis and q axis stator current, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator
Electric current, TsFor current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the electricity of t moment
Machine revolving speed；
The reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference of d axis
Electric current, J are rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspIt is revolving speed and load torque
Sampling time Tsp=10Ts。
In some embodiments, the error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment collection
Total voltage error fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
In some embodiments, the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively ginseng of d axis and q axis k+1 moment
Voltage vector is examined,Respectively lumped voltage error fdAnd fqEstimated value.
On the other hand, the present invention also provides a kind of direct prediction of speed of permanent magnet synchronous motor to control equipment, comprising:
Compensating module obtains the motor current electric current and motor speed, utilizes the electric current and the motor speed
The predicted current of subsequent time is obtained by discretization mode, the predicted voltage of subsequent time is obtained according to the predicted current；
Conversion module obtains the pre- of subsequent time using the motor speed by way of the preceding discretization to Euler and tests the speed
Degree, the reference velocity being converted to according to described predetermined speed and by the predicted current and reference current, by the prediction
Voltage is converted into reference voltage instruction；
Module is observed, reference voltage instruction is handled by Sliding mode variable structure control mode, is become using constant speed
Nearly rule obtains the error estimate of subsequent time, keeps the error estimate approach next according to Liapunov stability principle
The true error value at moment；
Module is adjusted, the error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage, is passed through
The reference voltage vector is adjusted correspondingly the motor.
In some embodiments, before the compensating module obtains the motor current electric current and motor speed, also
Include:
The motor is durface mounted permanent magnet synchronous motor, utilizes the durface mounted permanent magnet synchronous motor ac-dc axis inductance phase
Etc. characteristics establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the number
It learns model and carries out discretization.
In some embodiments, the predicted voltage, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+
2) be respectively k+2 moment d axis and q axis stator current, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator
Electric current, TsFor current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the electricity of t moment
Machine revolving speed；
The reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference of d axis
Electric current, J are rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspIt is revolving speed and load torque
Sampling time Tsp=10Ts。
In some embodiments, the error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment collection
Total voltage error fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
In some embodiments, the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively ginseng of d axis and q axis k+1 moment
Voltage vector is examined,Respectively lumped voltage error fdAnd fqEstimated value.
From the above it can be seen that a kind of direct prediction of speed control method of permanent magnet synchronous motor provided by the invention
And equipment, reference rotation velocity and reference current are converted by reference voltage vector by the principle using track with zero error, and
Voltage inversion is carried out using space vector pulse width modulation, this method has effectively eliminated the speed in traditional track with zero error
Ring, while utilizing a kind of disturbance observation module based on sliding mode control theory；Observation module energy while estimating system electrical parameter
The voltage error that mismatch, mechanical parameter mismatch and load torque disturbance generate；The lumped voltage for observing module output is missed later
Difference compensation is into prediction reference voltage vector, to observe instead of the load torque in the direct method for control speed of dead beat
Device effectively increases the robustness of permanent magnet synchronous motor.Finally, carrying out emulation and reality on a durface mounted permanent magnet synchronous motor
Verifying, the results showed that, this method has stronger robustness to the interference of parameter and load.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of process signal of the direct prediction of speed control method of permanent magnet synchronous motor of the embodiment of the present invention
Figure；
Fig. 2 is a kind of structural schematic diagram for two level inverter circuit of three-phase that the embodiment of the present invention proposes；
Fig. 3 is a kind of distribution schematic diagram for space voltage vector that the embodiment of the present invention proposes；
Fig. 4 is the direct speed control of a kind of dead beat (DBDSC, the dead-beat direct that the embodiment of the present invention proposes
Speed control)+disturbance observation module (DO, Disturbances Observer) structural frames shape schematic diagram；
Fig. 5 is a kind of DO principle frame shape schematic diagram that the embodiment of the present invention proposes；
Fig. 6 a and Fig. 6 b are respectively emulation when two methods of the torque of DBDSC+DO and DBDSC is sported 4Nm by 0Nm
Waveform diagram；
When Fig. 7 a and Fig. 7 b are respectively that two methods of the model inductance of DBDSC+DO and DBDSC sports 3 times of actual inductance
Simulation waveform schematic diagram；
When Fig. 8 a and Fig. 8 b are respectively that two methods of the model magnetic linkage of DBDSC+DO and DBDSC sports 2 times of practical magnetic linkage
Simulation waveform schematic diagram；
Fig. 9 a and Fig. 9 b be respectively two methods of DBDSC+DO and DBDSC model sudden change of resistivity be 3 times of actual resistance when
Simulation waveform schematic diagram；
Figure 10 a and Figure 10 b are respectively that two methods of the model rotation inertia of DBDSC+DO and DBDSC sports actual rotation
Simulation waveform schematic diagram at 2 times of inertia；
Figure 11 a and Figure 11 b are respectively the two methods of dynamic test of DBDSC+DO and DBDSC in parameter and load sudden change
Waveform diagram；
Figure 12 is that a kind of direct prediction of speed of permanent magnet synchronous motor of the embodiment of the present invention controls the structural representation of equipment
Figure.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present invention
The non-equal entity of a same names or non-equal parameter, it is seen that " first " " second " only for the convenience of statement, does not answer
It is interpreted as the restriction to the embodiment of the present invention, subsequent embodiment no longer illustrates this one by one.
The embodiment of the invention provides a kind of direct prediction of speed control method of permanent magnet synchronous motor, this method is applied to
Permanent magnet synchronous motor, permanent magnet synchronous motor are the synchronous motor that synchronous rotary magnetic field is generated by permanent magnet excitation, permanent magnet conduct
Rotor generates rotating excitation field, and threephase stator winding, by armature-reaction, incudes three-phase symmetrical electric current under rotating excitation field effect.Forever
Magnetic-synchro motor can be divided into durface mounted permanent magnet synchronous motor and internal permanent magnet synchronous motor according to structure, as long as different motors
The corresponding function that can complete the direct speed control of dead beat, will not influence protection scope of the present invention.
As shown in Figure 1, the stream of the direct prediction of speed control method for a kind of permanent magnet synchronous motor of the embodiment of the present invention
Journey schematic diagram, this method specifically includes the following steps:
Step 101, the motor current electric current and motor speed are obtained, it is logical using the electric current and the motor speed
It crosses discretization mode and obtains the predicted current of subsequent time, the predicted voltage of subsequent time is obtained according to the predicted current.
This step is intended to obtain the predicted voltage of subsequent time according to the electric current of current motor and motor speed.Wherein
To predicted voltage mode there are many kinds of, such as: voltage-prediction method horizontal by motor load, based on power level；With
Voltage-prediction method based on predicted current, i.e., one claps delay compensation method etc..This specific embodiment is turned with electric current and motor
Based on speed, the predicted voltage that compensation of delay technology obtains subsequent time is clapped using one.Its different predicted voltage acquisition methods
As long as can reach corresponding purpose, different methods will not influence protection scope of the present invention.
Further, in order to efficiently use motor in specific durface mounted permanent magnet synchronous motor the characteristics of.In the application
Alternative embodiment in, it is described obtain the motor current electric current and motor speed before, further includes:
The motor is durface mounted permanent magnet synchronous motor, utilizes the durface mounted permanent magnet synchronous motor ac-dc axis inductance phase
Etc. characteristics establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the number
It learns model and carries out discretization.
Wherein, mathematical model are as follows:
Wherein, ud、uqFor the stator terminal voltage of d, q axis, id、iqFor the stator current of d, q axis, R is stator resistance, and L is fixed
Sub- inductance, ψfFor permanent magnet flux linkage, ω is rotor angular rate, TeFor electromagnetic torque, p is number of pole-pairs, and t is the time.
Further, in order to accurately express the predicted voltage that the application is got.In the alternative embodiment of the application, institute
Predicted voltage is stated, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+
2) be respectively k+2 moment d axis and q axis stator current, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator
Electric current, TsFor current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the electricity of t moment
Machine revolving speed.
Step 102, the pre- of subsequent time is obtained using the motor speed by way of the preceding discretization to Euler to test the speed
Degree, the reference velocity being converted to according to described predetermined speed and by the predicted current and reference current, by the prediction
Voltage is converted into reference voltage instruction.
This step, which is intended to convert predicted voltage, is modulated into reference voltage instruction progress voltage inversion.Wherein voltage inversion
There are many kinds of modes, such as: the space vector pulse width modulation that SPWM Technique (SPWM), this step provide
(SVPWM) etc., as long as different voltage inverse methods can reach corresponding purpose, different methods will not influence the present invention
Protection scope.
Further, it is instructed to accurately express the reference voltage that the application is got.In the alternative embodiment of the application
In, the reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference of d axis
Electric current, J are rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspIt is revolving speed and load torque
Sampling time Tsp=10Ts。
Step 103, reference voltage instruction is handled by Sliding mode variable structure control mode, is approached using constant speed
Rule obtains the error estimate of subsequent time, keeps the error estimate approach lower for the moment according to Liapunov stability principle
The true error value at quarter.
This step is intended to further calculate due to parameter mismatch and load disturbance bring based on reference voltage instruction
Error.There are many kinds of the modes for wherein obtaining error, such as: what this step provided utilizes disturbance observation module；Turned using load
Square observer etc..As long as its different error acquisition methods can reach corresponding purpose, different methods will not influence this hair
Bright protection scope.
Further, in order to accurately express the error estimate that the application is got.In the alternative embodiment of the application,
The error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment collection
Total voltage error fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
Step 104, the error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage, pass through institute
Reference voltage vector is stated to be adjusted correspondingly the motor.
Further, in order to accurately express the reference voltage vector that the application is got.In the alternative embodiment of the application
In, the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively ginseng of d axis and q axis k+1 moment
Voltage vector is examined,Respectively lumped voltage error fdAnd fqEstimated value.
By the technical solution of application the application, the program is by utilizing the principle of track with zero error by reference rotation velocity and ginseng
It examines electric current and is converted into reference voltage vector, and voltage inversion is carried out using space vector pulse width modulation, this method has
The speed ring of effect eliminated in traditional track with zero error, while utilizing a kind of disturbance observation mould based on sliding mode control theory
Block；The observation module estimating system electrical parameter mismatch, mechanical parameter mismatch and load torque can disturb the voltage mistake generated simultaneously
Difference；Later by the lumped voltage error compensation of observation module output into prediction reference voltage vector, thus instead of dead beat
Load torque observer in direct method for control speed, effectively increases the robustness of permanent magnet synchronous motor.Finally, at one
Emulation and experimental verification are carried out on durface mounted permanent magnet synchronous motor, the results showed that, this method has the interference of parameter and load
Stronger robustness.
For the technical idea that the present invention is further explained, now in conjunction with specific application scenarios, to technical side of the invention
Case is illustrated.
In this concrete application scene, it is broadly divided into three big steps: the 1, foundation of SPMSM system mathematic model；2, it refers to
The generation of voltage；3, the adjustment of reference voltage.
1, the foundation of SPMSM system mathematic model
1) SPMSM system mathematic model
Due to the d axis equivalent inductance L of SPMSM systemdEqual to q axis equivalent inductance Lq, therefore L can be maded=Lq=L.In d-
In q reference coordinate, the stator voltage equation and electromagnetic torque equation of SPMSM can be indicated are as follows:
Wherein, ud、uqFor the stator terminal voltage of d, q axis, id、iqFor the stator current of d, q axis, R is stator resistance, and L is fixed
Sub- inductance, ψfFor permanent magnet flux linkage, ω is rotor angular rate, TeFor electromagnetic torque, p is number of pole-pairs, and t is the time.
In view of load disturbance, kinetics equation can be obtained by following formula:
Wherein, TlIt is the load torque on machine shaft, J is rotor moment of inertia, and B is viscous friction coefficient.
2) two level voltage source inverter circuit of three-phase and space voltage vector distribution
Power conversion circuit used in this system is two power level voltage source type inverter circuit of three-phase, connection type such as Fig. 2
It is shown.DC voltage on the right side of circuit is reverse into three-phase alternating voltage and is acted on by the inverter circuit using 6 controlled tr tubes
In in the SPMSM system in left side.
The inverter circuit has 8 kinds of different switch combinations, therefore can produce 8 kinds of different voltage vectors.Table 1 illustrates inverse
The corresponding relationship of voltage vector under the switch state and alpha-beta coordinate system on power transformation road.
1. switch state of table and voltage vector relationship
Obviously, 8 kinds of different basic voltage vectors form regular hexagon voltage vector-diagram in space, as shown in Figure 3.For
Inverter circuit is set to export voltage vector at any angle under finite amplitude, SVPWM technology is applied to the control system.
SVPWM technology is the control by changing the duration realization for being applied to voltage on motor to space voltage vector amplitude and phase angle
System.
2, the generation of reference voltage
This step utilizes the side the direct speed control of dead beat (DBDSC, dead-beat direct speed control)
Reference velocity information and reference current information are merged into reference voltage information by the control principle of method, are realized to revolving speed and electric current
Fast track.
1) one compensation of delay is clapped
A bat delay issue in numerical control system reduces system control performance.Delay, this Shen are clapped in order to compensate for one
It please be in such a way that predicted current be substituted into motor model, to obtain better control performance.Therefore, according to discretization voltage
Equation (1), the predicted current at k+1 moment are available as follows:
Wherein, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator current, id(k) and iq(k) respectively
For the stator current of k moment d axis and q axis, TsFor current sample period, ω (t) is the motor speed of t moment.
According to the predicted current at k+1 moment described in (4) and discretization voltage equation, the available k+1 moment it is pre-
It is as follows to survey voltage equation:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+
2) be respectively k+2 moment d axis and q axis stator current.
2) reference voltage is converted
Firstly, (2) are substituted into (3), ignore the influence of viscous friction, kinetics equation can be simplified are as follows:
Then, it is as follows can be obtained into predetermined speed for equation (6) discretization by the way of the preceding discretization to Euler:
Wherein, ω (t+1) is the motor speed at t+1 moment；Significantly, since when the electromagnetism of motor speed regulation system
Between constant be less than mechanical time constant, therefore, speed control and current control influence each other in order to prevent, and the application selection turns
Sampling time (the T of speed and load torquesp) it is current sample time (Ts) 10 times, i.e. Tsp=10Ts。
(7) are substituted into (5), predetermined speed can be converted to the predicted voltage of q axis, as follows:
To ensure that dead beat tracks reference velocity and reference current within next control period, it is necessary to meet:
Wherein ω*It is reference velocity,It is the reference current of d axis.In order to improve system effectiveness, controlling party used herein
Method is id=0, therefore reference current can be enabledIt is zero.
(9) are substituted into (8) and (5), reference voltage can be obtained:
WhereinWithIt is the reference voltage instruction of d axis and q axis respectively.
3, the adjustment of reference voltage
From reference voltage predictor formula (10) it is found that DBDSC method is similar with tradition DBC technology, control performance is very big
Accurate model parameter is depended in degree.Therefore, parameter value used in DBDSC (inductance, resistance, magnetic linkage, rotary inertia,
Load disturbance) need it is consistent with actual parameter value, good dynamic and static control performance could be obtained.In fact, when electricity
When the state of machine changes, parameter of electric machine value can also change therewith；And inevitably exist in speed-regulating system unknown dry
It disturbs, so that system parameter is difficult to be consistent with actual value.Therefore in order to improve the robustness of system, present applicant proposes one kind
Disturbance observation module (DO, Disturbances Observer) based on sliding mode control theory.In order to obtain accurately
Reference voltage vector carries out online observation to prediction reference voltage error caused by parameter of electric machine variation and load disturbance using DO
And compensation.To improve the robustness of DBDSC, module is observed instead of the load torque in traditional DBDSC, as shown in Figure 4.
1) design of module is observed, as shown in Figure 5.
According to (10), when considering parameter mismatch and load disturbance, voltage equation be can be rewritten as:
Wherein, FdAnd FqRespectively lumped voltage error fdAnd fqChange rate.fd、fqBe respectively when there are parameter error and
The lumped voltage error of the d axis and q axis that generate when load disturbance, may be expressed as:
In formula,In formula
Δ L, Δ R, Δ ψf, Δ J and Δ TlRespectively each autoregressive parameter L, R, ψf, J and TlVariable quantity.
According to sliding mode control theory, it is as follows that the application chooses linear sliding mode face:
Wherein, sdFor d axis sliding-mode surface, sωSpeed Sliding Model face,It is the estimated value of rotational speed omega,It is d shaft current idEstimate
Evaluation.
In order to make state variable enter sliding mode to origin, even if equation:
It sets up, the system structure of sliding formwork control is needed according to state variable real-time change, therefore constructs the cunning for being based on (11)
Mould state equation is as follows:
In formula,WithRespectively lumped voltage error fdAnd fqEstimated value, βdAnd βqFor sliding formwork parameter, UdsmoWith
UqsmoThe respectively switch function of d axis and q shaft voltage, the function play negative feedback, and state of a control variable rapidly enters cunning
Dynamic model state.
Obviously, the sliding formwork state equation of above-mentioned building may make system mode to approach slipform design, but there is no specified
Level off to slipform design in which way, and approach that law can guarantee system fast and stable enters sliding mode.Traditional synovial membrane
Reaching Law has very much, and the application approaches slipform design using the simple constant speed Reaching Law of structure, and expression formula is as follows:
Wherein, s is sliding-mode surface, and α is that a constant indicates velocity of approach.
(15) are subtracted each other with (11), it is as follows error equation can be obtained:
In formula,
(17), which are substituted into (16), again to obtain:
Wherein, αdAnd αωThe respectively velocity of approach of d axis sliding-mode surface and Speed Sliding Model face.
By the e in equation (18)fdAnd efqU is contained in as disturbance quantitydsmoAnd UqsmoIn, U can be obtaineddsmoAnd UqsmoExpression
Formula is as follows:
Therefore, the discretization DO of the application building is rewritable are as follows:
Wherein,Respectively k+1 moment d shaft current
idEstimated value, k+1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage
Error fqEstimated value.
2) observation module parameter selection
According to Liapunov stability principle it is found that the condition that observation module enters sliding mode is:
Require:
Wherein, sd(k)、efd(k)、sω(k)、efqIt (k) is respectively k moment sd、efd、sω、efqValue, sωIt (t) is t moment
sωValue.
Solve equation are as follows:
Actually parameter often selects as follows:
In formula, n is factor of safety, and often takes the number greater than 1.
When parameter meets (24), when system enters sliding-mode surface, equation (14) will also meet, therefore can rewrite equation (17)
Are as follows:
It obtains:
In formula, KdAnd KqFor constant, it is clear that and if only if βdAnd βqWhen for positive number, lumped voltage error efdAnd efqIt can
Converge to 0.
Finally, the lumped voltage error f that module observation will be observeddAnd fqIt compensates into real-time system, can must be ultimately applied to electricity
The reference voltage vector of machine is as follows:
Wherein, U*For reference voltage vector,WithThe respectively ginseng of d axis and q axis k+1 moment
Examine voltage vector.
By the technical solution of application the application, the program is by utilizing the principle of track with zero error by reference rotation velocity and ginseng
It examines electric current and is converted into reference voltage vector, and voltage inversion is carried out using space vector pulse width modulation, this method has
The speed ring of effect eliminated in traditional track with zero error, while utilizing a kind of disturbance observation mould based on sliding mode control theory
Block；The observation module estimating system electrical parameter mismatch, mechanical parameter mismatch and load torque can disturb the voltage mistake generated simultaneously
Difference；Later by the lumped voltage error compensation of observation module output into prediction reference voltage vector, thus instead of dead beat
Load torque observer in direct method for control speed, effectively increases the robustness of permanent magnet synchronous motor.Finally, at one
Emulation and experimental verification are carried out on durface mounted permanent magnet synchronous motor, the results showed that, this method has the interference of parameter and load
Stronger robustness.The main contribution of the present invention is that mathematical model and sliding mode control theory based on DBDSC construct
DO observe module, the observation module can be used for observing due to parameter mismatch and load disturbance generation reference voltage error, and
Line is compensated into reference voltage predictor formula, effectively improves system robustness.
In order to verify the validity and its DBDSC relative to no DO observation module of the DBDSC+DO that the application is proposed
Superiority has carried out a series of simulation studies to two level SPMSM drivers under Matlab/Simulink environment.Emulation and
Control parameter is shown in Table 2.
2 system parameter of table
1, simulating, verifying
Fig. 6 a and Fig. 6 b show that two methods torque at 0.6 second is sported the simulation waveform of 4Nm by 0Nm.It is aobvious
So, there is both of which good resisting torque to disturb ability.However, the mentioned method of the application (DBDSC+DO) is without individually setting
Meter load torque observer or Weight detector, which can reach, the identical control effect of the DBDSC of Load Torque Observer.Figure
7a and Fig. 7 b shows that the inductance of two methods sported the revolving speed and current waveform under 3 times of inductance at 0.6 second.As a result table
Bright, the DBDSC of printenv observer is influenced by inductance variation, and biggish fluctuation occurs for d shaft current, and control effect is deteriorated.And this
Apply for mentioned method DBDSC+DO under the action of observe module, can be good at estimating the caused error of inductance mutation, and and
When compensate the margin of error, inhibit the fluctuation of electric current and revolving speed caused by inductance error.Fig. 8 a and Fig. 8 b show two methods at 2 times
Magnetic linkage is mutated lower revolving speed and current waveform.Obviously, DBDSC fluctuation of speed under magnetic linkage mismatch condition of printenv observer control
Become larger and revolving speed have certain static difference, and the mentioned method of the application is significantly reduced by parametric variations, revolving speed can be good at
On track.Fig. 9 a and Fig. 9 b are the simulation results under 3 times of resistance mismatch, it is clear that the increase of resistance makes DBDSC revolving speed have certain static difference,
Less than the influence that magnetic linkage loses pair system, and the method that the application is proposed inhibits to turn due to caused by resistance mismatch well
Fast static difference.Figure 10 a and Figure 10 b show under the mismatch of rotary inertia that the influence of two methods under steady state conditions is smaller, with ginseng
Number sensitivity analysis result is consistent.
2, verification experimental verification
In order to further verify the validity of the application proposed method, the application is also driven in two level frequency variant speed regulatings
Experiment test has been carried out on moving platform.Developed control is realized using 32 floating-point signal processor TMS320F28335
Method processed.It is consistent listed by control and system parameter and table 2.
Figure 11 a and Figure 11 b illustrate the motor response condition under each parameter of motor and load torque catastrophe, the reality
The model parameter and load situation of change tested are as follows: inductance sports 33mH by 11mH；Magnetic linkage is sported by 0.24Wb
0.48Wb；Resistance sports 9R by 3R；Rotary inertia is by 0.00129kgm2Sport 0.00258kgm2；Torque is by 0Nm
Sport 4Nm.The observation module that the application known to Figure 11 a is proposed can be missed caused by the load variation of fast track parameter
Difference, and timely compensation control system.
According to emulation and experimental result, it can be seen that parameter mismatch and load disturbance can deteriorate the controlling of DBDSC method
Can, but the improved method that the application proposes has stronger parameter anti-interference ability and anti-disturbance ability, can obtain
Preferable control performance.
Based on the same inventive concept, the embodiment of the invention also provides a kind of direct prediction of speed controls of permanent magnet synchronous motor
Control equipment, as shown in figure 12, comprising:
Compensating module 1201 obtains the motor current electric current and motor speed, utilizes the electric current and the motor
Revolving speed obtains the predicted current of subsequent time by discretization mode, obtains the prediction electricity of subsequent time according to the predicted current
Pressure；
Conversion module 1202 obtains the pre- of subsequent time using the motor speed by way of the preceding discretization to Euler
Degree of testing the speed, the reference velocity being converted to according to described predetermined speed and by the predicted current and reference current, will be described
Predicted voltage is converted into reference voltage instruction；
Module 1203 is observed, reference voltage instruction is handled by Sliding mode variable structure control mode, is utilized
Fast Reaching Law obtains the error estimate of subsequent time, approaches the error estimate according to Liapunov stability principle
The true error value of subsequent time；
Module 1204 is adjusted, the error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage,
The motor is adjusted correspondingly by the reference voltage vector.
In an alternative embodiment, the compensating module 1201 obtains the current electric current and motor speed of the motor
Before, further includes:
The motor is durface mounted permanent magnet synchronous motor, utilizes the durface mounted permanent magnet synchronous motor ac-dc axis inductance phase
Etc. characteristics establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the number
It learns model and carries out discretization.
In an alternative embodiment, the predicted voltage, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+
2) be respectively k+2 moment d axis and q axis stator current, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator
Electric current, TsFor current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the electricity of t moment
Machine revolving speed；
The reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference of d axis
Electric current, J are rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspIt is revolving speed and load torque
Sampling time Tsp=10Ts。
In an alternative embodiment, the error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment collection
Total voltage error fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
In an alternative embodiment, the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively ginseng of d axis and q axis k+1 moment
Voltage vector is examined,Respectively lumped voltage error fdAnd fqEstimated value.
The equipment of above-described embodiment for realizing method corresponding in previous embodiment there is corresponding method to implement
The beneficial effect of example, details are not described herein.
It should be understood by those ordinary skilled in the art that: the discussion of any of the above embodiment is exemplary only, not
It is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under thinking of the invention, above embodiments
Or can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and be existed such as
Many other variations of the upper different aspect of the invention, for simplicity, they are not provided in details.
In addition, to simplify explanation and discussing, and in order not to obscure the invention, it can in provided attached drawing
It is connect with showing or can not show with the well known power ground of integrated circuit (IC) chip and other components.Furthermore, it is possible to
Device is shown in block diagram form, to avoid obscuring the invention, and this has also contemplated following facts, i.e., about this
The details of the embodiment of a little block diagram arrangements be height depend on will implementing platform of the invention (that is, these details should
It is completely within the scope of the understanding of those skilled in the art).Elaborating that detail (for example, circuit) is of the invention to describe
In the case where exemplary embodiment, it will be apparent to those skilled in the art that can be in these no details
In the case where or implement the present invention in the case that these details change.Therefore, these descriptions should be considered as explanation
Property rather than it is restrictive.
Although having been incorporated with specific embodiments of the present invention, invention has been described, according to retouching for front
It states, many replacements of these embodiments, modifications and variations will be apparent for those of ordinary skills.Example
Such as, discussed embodiment can be used in other memory architectures (for example, dynamic ram (DRAM)).
The embodiment of the present invention be intended to cover fall into all such replacements within the broad range of appended claims,
Modifications and variations.Therefore, all within the spirits and principles of the present invention, any omission, modification, equivalent replacement, the improvement made
Deng should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of direct prediction of speed control method of permanent magnet synchronous motor characterized by comprising
The motor current electric current and motor speed are obtained, in such a way that the electric current and the motor speed are by discretization
The predicted current of subsequent time is obtained, the predicted voltage of subsequent time is obtained according to the predicted current；
Predetermined speed of subsequent time is obtained using the motor speed by way of the preceding discretization to Euler, according to described pre-
Degree of testing the speed and the reference velocity being converted to by the predicted current and reference current, the predicted voltage is converted into referring to
Voltage instruction；
Reference voltage instruction is handled by Sliding mode variable structure control mode, obtains lower a period of time using constant speed Reaching Law
The error estimate at quarter makes the true error of the error estimate approach subsequent time according to Liapunov stability principle
Value；
The error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage, is sweared by the reference voltage
Amount is adjusted correspondingly the motor.
2. the method according to claim 1, wherein described obtain the motor current electric current and motor speed
Before, further includes:
The motor is durface mounted permanent magnet synchronous motor, utilizes the equal spy of the durface mounted permanent magnet synchronous motor ac-dc axis inductance
Property establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the mathematical modulo
Type carries out discretization.
3. the method according to claim 1, wherein the predicted voltage, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+2) respectively
For the stator current of k+2 moment d axis and q axis, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator current, Ts
For current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the motor speed of t moment；
The reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference current of d axis,
J is rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspWhen being the sampling of revolving speed and load torque
Between Tsp=10Ts。
4. the method according to claim 1, wherein the error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment lump electricity
Hold up poor fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
5. the method according to claim 1, wherein the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively reference electricity at d axis and q axis k+1 moment
Vector is pressed,Respectively lumped voltage error fdAnd fqEstimated value.
6. a kind of direct prediction of speed of permanent magnet synchronous motor controls equipment characterized by comprising
Compensating module is obtained the motor current electric current and motor speed, is passed through using the electric current and the motor speed
Discretization mode obtains the predicted current of subsequent time, obtains the predicted voltage of subsequent time according to the predicted current；
Conversion module obtains predetermined speed of subsequent time using the motor speed by way of the preceding discretization to Euler,
The reference velocity and reference current being converted to according to described predetermined speed and by the predicted current, by the predicted voltage
It is converted into reference voltage instruction；
Module is observed, reference voltage instruction is handled by Sliding mode variable structure control mode, utilizes constant speed Reaching Law
The error estimate of subsequent time is obtained, so that the error estimate is approached subsequent time according to Liapunov stability principle
True error value；
Module is adjusted, the error estimate is compensated and instructs to obtain reference voltage vector into the reference voltage, by described
Reference voltage vector is adjusted correspondingly the motor.
7. equipment according to claim 6, which is characterized in that the compensating module obtain the current electric current of the motor and
Before motor speed, further includes:
The motor is durface mounted permanent magnet synchronous motor, utilizes the equal spy of the durface mounted permanent magnet synchronous motor ac-dc axis inductance
Property establish the mathematical model of motor stator voltage and electromagnetic torque, so that the electric current and the motor speed is utilized the mathematical modulo
Type carries out discretization.
8. equipment according to claim 6, which is characterized in that the predicted voltage, specifically:
Wherein, ud(k+1) and uq(k+1) be respectively k+1 moment d axis and q axis stator terminal voltage, id(k+2) and iq(k+2) respectively
For the stator current of k+2 moment d axis and q axis, id(k+1) and iq(k+1) be respectively k+1 moment d axis and q axis stator current, Ts
For current sample period, R is stator resistance, and L is stator inductance, ψfFor permanent magnet flux linkage, ω (t) is the motor speed of t moment；
The reference voltage instruction, specifically:
Wherein,WithIt is the reference voltage instruction of d axis and q axis, ω respectively*It is reference velocity,It is the reference current of d axis,
J is rotor moment of inertia, and p is number of pole-pairs, TlIt is the load torque on machine shaft, TspWhen being the sampling of revolving speed and load torque
Between Tsp=10Ts。
9. equipment according to claim 6, which is characterized in that the error estimate, specifically:
Wherein,Respectively k moment d shaft current idEstimated value, k moment lump electricity
Hold up poor fdEstimated value, the estimated value of t moment rotational speed omega, k moment lumped voltage error fqEstimated value,Respectively k+1 moment d shaft current idEstimated value, k+
1 moment lumped voltage error fdEstimated value, the estimated value of t+1 moment rotational speed omega, k+1 moment lumped voltage error fqEstimation
Value, ud(k)、uq(k) be respectively k moment d, q axis stator terminal voltage, βd、βqThe respectively sliding formwork parameter of d axis, q axis, Udsmo、
UqsmoThe respectively switch function of d axis and q shaft voltage.
10. equipment according to claim 6, which is characterized in that the reference voltage vector, specifically:
Wherein, U*For reference voltage vector,WithThe respectively reference electricity at d axis and q axis k+1 moment
Vector is pressed,Respectively lumped voltage error fdAnd fqEstimated value.
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