CN110492817B - Direct speed prediction control method and device for permanent magnet synchronous motor - Google Patents

Direct speed prediction control method and device for permanent magnet synchronous motor Download PDF

Info

Publication number
CN110492817B
CN110492817B CN201910717367.8A CN201910717367A CN110492817B CN 110492817 B CN110492817 B CN 110492817B CN 201910717367 A CN201910717367 A CN 201910717367A CN 110492817 B CN110492817 B CN 110492817B
Authority
CN
China
Prior art keywords
axis
motor
time
speed
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910717367.8A
Other languages
Chinese (zh)
Other versions
CN110492817A (en
Inventor
张晓光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
North China University of Technology
Original Assignee
North China University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by North China University of Technology filed Critical North China University of Technology
Priority to CN201910717367.8A priority Critical patent/CN110492817B/en
Publication of CN110492817A publication Critical patent/CN110492817A/en
Application granted granted Critical
Publication of CN110492817B publication Critical patent/CN110492817B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • 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
    • 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

Abstract

The invention discloses a direct speed prediction control method and equipment of a permanent magnet synchronous motor, which directly convert a reference rotating speed and a reference current into a reference voltage vector by utilizing the principle of dead-beat control, and carry out voltage inversion by adopting a space vector pulse width modulation technology; the observation module can simultaneously estimate voltage errors generated by system electrical parameter mismatch, mechanical parameter mismatch and load torque disturbance; and then, the lumped voltage error output by the observation module is compensated into the prediction reference voltage vector, so that a load torque observer in a dead-beat direct speed control method is replaced, and the robustness of the permanent magnet synchronous motor is effectively improved. Finally, simulation and experimental verification are carried out on the surface-mounted permanent magnet synchronous motor, and the result shows that the method has stronger robustness on the interference of parameters and loads.

Description

Direct speed prediction control method and device for permanent magnet synchronous motor
Technical Field
The invention relates to the field of equipment control, in particular to a direct speed prediction control method and equipment for a permanent magnet synchronous motor.
Background
The Permanent Magnet Synchronous Motor (PMSM) is a commonly used three-phase synchronous alternating current Motor and has the characteristics of high efficiency, high power density and the like, wherein a Surface mounted Permanent magnet synchronous Motor (SPMSM) has the characteristic of equal alternating current and direct current (d-q axis) inductance and is easier to control. Along with the increasing running performance of the motor, a motor system formed by the SPMSM is more and more widely applied, such as the fields of household appliances, numerical control machines, artillery, radars and the like.
The predictive control technology is an advanced control technology which is provided aiming at the application problem of an optimal control theory, and is mainly characterized in that a system model is used for predicting an output reference value at the next moment, and then optimal operation is selected according to the reference value. The control theory of the predictive control is more advanced, the concept is intuitive and easy to understand, and the predictive control is widely applied to various industrial fields, in particular to an alternating current speed regulation system. For the ac speed regulation system, the predictive control technology covers various types of control methods, and the dead-beat control (DBC) is one of the predictive control. The DBC accurately calculates a reference voltage required at the next time by using discrete models of a motor and an inverter circuit, and modulates a target reference voltage by combining a Space Vector Pulse Width Modulation (SVPWM) Modulation technique. DBC has good dynamic steady state performance compared to conventional vector control (FOC) and Direct Torque Control (DTC). However, the control effect of the DBC as a control method based on an accurate mathematical model depends heavily on accurate model parameters, and when system parameters are inaccurate or change, the predicted reference voltage is inaccurate, thereby reducing the robustness of the whole motor.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for direct speed prediction control of a permanent magnet synchronous motor, which can reduce system computation and eliminate weight coefficients, and simultaneously implement dead-beat direct speed prediction control based on prediction reference voltage tracking, compensate prediction errors caused by parameters and load disturbance in real time, improve system robustness, and simplify system structure.
Based on the above object, in one aspect, the present invention provides a direct speed prediction control method for a permanent magnet synchronous motor, including:
obtaining the current and the motor rotating speed of the motor, obtaining the predicted current of the next moment by utilizing the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage of the next moment according to the predicted current;
obtaining a predicted speed at the next moment by using the rotating speed of the motor in a forward Euler discretization mode, and converting the predicted voltage into a reference voltage command according to the predicted speed, a reference speed and a reference current which are obtained by converting the predicted current;
processing the reference voltage command in a sliding mode variable structure control mode, obtaining an error estimation value at the next moment by using a constant velocity approximation law, and enabling the error estimation value to approach a real error value at the next moment according to the Lyapunov stability principle;
and compensating the error estimation value into the reference voltage command to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector.
In some embodiments, before obtaining the current and the motor speed of the motor, the method further includes:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
In some embodiments, the predicted voltage is, in particular:
Figure GDA0003062739590000021
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, TsFor the current sampling period, R is the stator resistance, L is the stator inductance, psifThe permanent magnet flux linkage is adopted, and omega (t) is the motor rotating speed at the moment t;
the reference voltage command specifically includes:
Figure GDA0003062739590000031
wherein the content of the first and second substances,
Figure GDA0003062739590000032
and
Figure GDA0003062739590000033
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure GDA0003062739590000034
is the reference current of d-axis, J is the rotor moment of inertia, p is the pole pair number, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts。
In some embodiments, the error estimation value is, in particular:
Figure GDA0003062739590000035
wherein the content of the first and second substances,
Figure GDA0003062739590000036
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure GDA0003062739590000037
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qEstimated value of ud(k)、uq(k) Stator terminal voltages, beta, of d and q axes at time kd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
In some embodiments, the reference voltage vector is specifically:
Figure GDA0003062739590000041
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure GDA0003062739590000042
and
Figure GDA0003062739590000043
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure GDA0003062739590000044
respectively lumped voltage error fdAnd fqAn estimate of (d).
In another aspect, the present invention provides a direct speed prediction control apparatus of a permanent magnet synchronous motor, including:
the compensation module is used for acquiring the current and the motor rotating speed of the motor, obtaining the predicted current at the next moment by utilizing the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage at the next moment according to the predicted current;
the conversion module is used for obtaining the predicted speed at the next moment by utilizing the rotating speed of the motor in a forward Euler discretization mode, and converting the predicted voltage into a reference voltage command according to the predicted speed, the reference speed and the reference current obtained by converting the predicted current;
the observation module is used for processing the reference voltage command in a sliding mode variable structure control mode, obtaining an error estimation value at the next moment by using a constant speed approaching law, and enabling the error estimation value to approach a real error value at the next moment according to the Lyapunov stability principle;
and the adjusting module is used for compensating the error estimation value into the reference voltage instruction to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector.
In some embodiments, before the compensation module obtains the current and the motor speed of the motor, the compensation module further includes:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
In some embodiments, the predicted voltage is, in particular:
Figure GDA0003062739590000045
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) are eachStator currents of d-axis and q-axis at time k +1, TsFor the current sampling period, R is the stator resistance, L is the stator inductance, psifThe permanent magnet flux linkage is adopted, and omega (t) is the motor rotating speed at the moment t;
the reference voltage command specifically includes:
Figure GDA0003062739590000051
wherein the content of the first and second substances,
Figure GDA0003062739590000052
and
Figure GDA0003062739590000053
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure GDA0003062739590000054
is the reference current of d-axis, J is the rotor moment of inertia, p is the pole pair number, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts。
In some embodiments, the error estimation value is, in particular:
Figure GDA0003062739590000055
wherein the content of the first and second substances,
Figure GDA0003062739590000056
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure GDA0003062739590000057
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qEstimated value of ud(k)、uq(k) Stator terminal voltages, beta, of d and q axes at time kd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
In some embodiments, the reference voltage vector is specifically:
Figure GDA0003062739590000061
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure GDA0003062739590000062
and
Figure GDA0003062739590000063
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure GDA0003062739590000064
respectively lumped voltage error fdAnd fqAn estimate of (d).
From the above, the direct speed prediction control method and the direct speed prediction control equipment for the permanent magnet synchronous motor provided by the invention have the advantages that the reference rotating speed and the reference current are directly converted into the reference voltage vector by utilizing the principle of the dead-beat control, and the voltage inversion is carried out by adopting the space vector pulse width modulation technology, so that the method effectively eliminates the speed loop in the traditional dead-beat control, and simultaneously utilizes a disturbance observation module based on the sliding mode control theory; the observation module can simultaneously estimate voltage errors generated by system electrical parameter mismatch, mechanical parameter mismatch and load torque disturbance; and then, the lumped voltage error output by the observation module is compensated into the prediction reference voltage vector, so that a load torque observer in a dead-beat direct speed control method is replaced, and the robustness of the permanent magnet synchronous motor is effectively improved. Finally, simulation and experimental verification are carried out on the surface-mounted permanent magnet synchronous motor, and the result shows that the method has stronger robustness on the interference of parameters and loads.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a direct speed prediction control method for a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a three-phase two-level inverter circuit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a distribution of space voltage vectors according to an embodiment of the present invention;
fig. 4 is a schematic structural frame diagram of a dead-beat direct speed control (DBDSC) plus disturbance observation module (DO) according to an embodiment of the present invention;
FIG. 5 is a block diagram of a DO concept according to an embodiment of the present invention;
FIGS. 6a and 6b are schematic waveforms showing the torque of DBDSC + DO and DBDSC mutated from 0 N.m to 4 N.m;
FIGS. 7a and 7b are schematic simulated waveforms of DBDSC + DO and DBDSC with a model inductance that is mutated to 3 times the actual inductance;
FIGS. 8a and 8b are schematic simulated waveforms of two methods of DBDSC + DO and DBDSC respectively when the model flux linkage is mutated to 2 times the actual flux linkage;
FIGS. 9a and 9b are schematic simulated waveforms of the DBDSC + DO and DBDSC methods when the model resistance is suddenly changed to 3 times the actual resistance;
FIGS. 10a and 10b are schematic simulated waveforms of two methods DBDSC + DO and DBDSC respectively when the model moment of inertia is suddenly changed to 2 times the actual moment of inertia;
FIGS. 11a and 11b are schematic diagrams of dynamic test waveforms of DBDSC + DO and DBDSC in case of sudden changes of parameters and loads, respectively;
fig. 12 is a schematic structural diagram of a direct speed prediction control apparatus of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The embodiment of the invention provides a direct speed prediction control method of a permanent magnet synchronous motor, which is applied to the permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by permanent magnet excitation, the permanent magnet is used as a rotor to generate a rotating magnetic field, and a three-phase stator winding induces three-phase symmetrical current through armature reaction under the action of the rotating magnetic field. The permanent magnet synchronous motor can be divided into a surface-mounted permanent magnet synchronous motor and a built-in permanent magnet synchronous motor according to the structure, and different motors do not influence the protection range of the invention as long as the different motors can complete the corresponding function of dead beat direct speed control.
As shown in fig. 1, a schematic flow chart of a method for predicting and controlling a direct speed of a permanent magnet synchronous motor according to an embodiment of the present invention specifically includes the following steps:
step 101, obtaining the current and the motor rotating speed of the motor, obtaining the predicted current at the next moment by using the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage at the next moment according to the predicted current.
This step aims to obtain the predicted voltage at the next moment according to the current of the motor and the motor speed. There are many ways in which the predicted voltage can be obtained, for example: a voltage prediction method based on motor load level, power level; a voltage prediction method based on the predicted current, i.e., a one-beat delay compensation method, etc. The embodiment is based on current and motor speed, and adopts a one-beat delay compensation technology to obtain the predicted voltage at the next moment. Different methods for obtaining the predicted voltage do not influence the protection scope of the invention as long as the corresponding purpose can be achieved.
Further, the characteristics of the motor are effectively utilized in the specific surface-mounted permanent magnet synchronous motor. In an optional embodiment of the present application, before obtaining the current and the motor speed of the motor, the method further includes:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
Wherein, the mathematical model is as follows:
Figure GDA0003062739590000081
Figure GDA0003062739590000082
wherein u isd、uqStator terminal voltage of d, q axis, id、iqStator currents of d and q axes, R stator resistance, L stator inductance,. psifIs a permanent magnet flux linkage, omega is the electrical angular velocity of the rotor, TeP is the pole pair number and t is time.
Furthermore, in order to accurately express the obtained predicted voltage of the application. In an optional embodiment of the present application, the predicted voltage specifically is:
Figure GDA0003062739590000083
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, TsFor the current sampling period, R is the stator resistance, L is the stator inductance, psifAnd omega (t) is the motor rotating speed at the moment t.
And 102, obtaining a predicted speed at the next moment by utilizing the rotating speed of the motor in a forward Euler discretization mode, and converting the predicted voltage into a reference voltage command according to the predicted speed, the reference speed and the reference current obtained by converting the predicted current.
The step aims to convert and modulate the predicted voltage into a reference voltage command for voltage inversion. There are many ways in which the voltage is inverted, for example: the Sinusoidal Pulse Width Modulation (SPWM) and the Space Vector Pulse Width Modulation (SVPWM) provided in this step, etc. are different voltage inversion methods, which do not affect the protection scope of the present invention as long as they can achieve the corresponding purpose.
Furthermore, in order to accurately express the reference voltage command acquired by the application. In an optional embodiment of the present application, the reference voltage command specifically includes:
Figure GDA0003062739590000091
wherein the content of the first and second substances,
Figure GDA0003062739590000092
and
Figure GDA0003062739590000093
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure GDA0003062739590000094
is the reference current of d-axis, J is the rotor moment of inertia, p is the pole pair number, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts。
And 103, processing the reference voltage command in a sliding mode variable structure control mode, obtaining an error estimation value at the next moment by using a constant velocity approximation law, and enabling the error estimation value to approach a real error value at the next moment according to the Lyapunov stability principle.
This step aims at further calculating the error due to parameter mismatch and load disturbance based on the reference voltage command. There are many ways in which the error can be derived, for example: the disturbance observation module is utilized in the step; using a load torque observer, etc. Different error acquisition methods can not influence the protection scope of the invention as long as the corresponding purpose can be achieved.
Furthermore, in order to accurately express the error estimation value obtained by the application. In an optional embodiment of the present application, the error estimation value specifically is:
Figure GDA0003062739590000101
wherein the content of the first and second substances,
Figure GDA0003062739590000102
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure GDA0003062739590000103
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qEstimated value of ud(k)、uq(k) Is divided intoStator terminal voltage, beta, of d and q axes at time k, respectivelyd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
And 104, compensating the error estimation value into the reference voltage command to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector.
Furthermore, in order to accurately express the reference voltage vector acquired by the application. In an optional embodiment of the present application, the reference voltage vector specifically includes:
Figure GDA0003062739590000104
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure GDA0003062739590000105
and
Figure GDA0003062739590000106
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure GDA0003062739590000107
respectively lumped voltage error fdAnd fqAn estimate of (d).
By applying the technical scheme of the application, the reference rotating speed and the reference current are directly converted into the reference voltage vector by utilizing the principle of the dead-beat control, and the voltage inversion is carried out by adopting the space vector pulse width modulation technology, so that the method effectively eliminates the speed loop in the traditional dead-beat control, and simultaneously utilizes a disturbance observation module based on the sliding mode control theory; the observation module can simultaneously estimate voltage errors generated by system electrical parameter mismatch, mechanical parameter mismatch and load torque disturbance; and then, the lumped voltage error output by the observation module is compensated into the prediction reference voltage vector, so that a load torque observer in a dead-beat direct speed control method is replaced, and the robustness of the permanent magnet synchronous motor is effectively improved. Finally, simulation and experimental verification are carried out on the surface-mounted permanent magnet synchronous motor, and the result shows that the method has stronger robustness on the interference of parameters and loads.
In order to further illustrate the technical idea of the present invention, the technical solution of the present invention will now be described with reference to specific application scenarios.
In the specific application scenario, the method mainly comprises three steps: 1. establishing an SPMSM system mathematical model; 2. generating a reference voltage; 3. and adjusting the reference voltage.
1. Establishment of SPMSM system mathematical model
1) SPMSM system mathematical model
D-axis equivalent inductance L of SPMSM systemdEquivalent inductance L equal to q axisqThus L can be maded＝LqL. In the d-q reference coordinate, the stator voltage equation and the electromagnetic torque equation of the SPMSM may be expressed as:
Figure GDA0003062739590000111
Figure GDA0003062739590000112
wherein u isd、uqStator terminal voltage of d, q axis, id、iqStator currents of d and q axes, R stator resistance, L stator inductance,. psifIs a permanent magnet flux linkage, omega is the electrical angular velocity of the rotor, TeP is the pole pair number and t is time.
In consideration of load disturbance, a kinetic equation can be obtained by the following formula:
Figure GDA0003062739590000113
wherein, TlIs the load torque on the motor shaft, J is the rotor moment of inertia,and B is the viscous friction coefficient.
2) Three-phase two-level voltage source inverter circuit and space voltage vector distribution
The power conversion circuit used in the system is a three-phase two-level voltage source type inverter circuit, and the connection mode is shown in fig. 2. The inverter circuit adopts 6 controllable switching tubes to invert direct-current voltage on the right side of the circuit into three-phase alternating-current voltage and acts on the SPMSM system on the left side.
The inverter circuit has 8 different switch combinations, so 8 different voltage vectors can be generated. Table 1 shows the correspondence between the switching state of the inverter circuit and the voltage vector in the α - β coordinate system.
TABLE 1 switching State vs. Voltage vector relationship
Figure GDA0003062739590000121
It is clear that the 8 different basic voltage vectors form a regular hexagonal voltage vector diagram in space, as shown in fig. 3. In order for the inverter circuit to output a voltage vector of an arbitrary angle at a limited magnitude, the SVPWM technique is applied to the control system. The SVPWM technique is to control the magnitude and phase angle of a space voltage vector by varying the duration of the voltage applied to the motor.
2. Reference voltage generation
In the step, reference speed information and reference current information are combined into reference voltage information by using a control principle of a dead-beat direct speed control (DBDSC) method, so that the rotating speed and the current are quickly tracked.
1) One beat delay compensation
The one-beat delay problem in digital control systems degrades system control performance. In order to compensate for the one-beat delay, the method adopts a mode of substituting the predicted current into the motor model so as to obtain better control performance. Therefore, according to the discretization voltage equation (1), the predicted current at the time k +1 can be obtained as follows:
Figure GDA0003062739590000122
wherein id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, id(k) And iq(k) Stator currents of d-and q-axes at time k, TsAnd omega (t) is the motor rotating speed at the moment t for the current sampling period.
From the predicted current and discretization voltage equation at the time k +1 described in (4), the predicted voltage equation at the time k +1 can be obtained as follows:
Figure GDA0003062739590000131
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iqAnd (k +2) are stator currents of the d axis and the q axis at the time k +2 respectively.
2) Reference voltage conversion
First, substituting (2) into (3), neglecting the effect of viscous friction, the kinetic equation can be simplified as:
Figure GDA0003062739590000132
then, discretizing equation (6) by using a forward euler discretization method, the obtained predicted speed is as follows:
Figure GDA0003062739590000133
wherein, ω (t +1) is the motor speed at the moment of t + 1; it is noted that, since the electromagnetic time constant of the motor governor system is smaller than the mechanical time constant, the present application selects the sampling time (T) of the rotational speed and the load torque in order to prevent the mutual influence of the speed control and the current controlsp) For current sampling time (T)s) 10 times of, i.e. Tsp＝10Ts。
Substituting (7) into (5) can convert the predicted speed into a predicted voltage for the q-axis, as follows:
Figure GDA0003062739590000134
to ensure that the reference speed and reference current are tracked dead in the next control cycle, it must be satisfied that:
Figure GDA0003062739590000135
wherein ω is*Is the reference speed of the vehicle,
Figure GDA0003062739590000136
is the reference current for the d-axis. To improve system efficiency, the control method used herein is i d0, so that the reference current can be adjusted
Figure GDA0003062739590000137
Is zero.
Substituting (9) into (8) and (5), the reference voltage can be obtained:
Figure GDA0003062739590000141
wherein
Figure GDA0003062739590000142
And
Figure GDA0003062739590000143
reference voltage commands for the d-axis and q-axis, respectively.
3. Adjustment of reference voltage
As can be seen from the reference voltage prediction equation (10), the DBDSC method is similar to the conventional DBC technique, and its control performance depends largely on the precise model parameters. Therefore, the parameter values (inductance, resistance, flux linkage, moment of inertia, load disturbance) used in the DBDSC need to be consistent with the actual parameter values to obtain good dynamic and steady-state control performance. In fact, when the state of the motor changes, the motor parameter value changes; and the inevitable existence of unknown interference in the speed regulating system makes the system parameters difficult to keep consistent with actual values. Therefore, in order to improve the robustness of the system, the application provides a disturbance observation module (DO) based on a sliding mode variable structure control theory. In order to obtain an accurate reference voltage vector, the predicted reference voltage error caused by motor parameter change and load disturbance is observed and compensated online by using DO. Therefore, the robustness of the DBDSC is improved, and a load torque observation module in the traditional DBDSC is replaced, as shown in figure 4.
1) The design of the observation module is shown in fig. 5.
According to (10), when considering parameter mismatch and load disturbance, the voltage equation can be rewritten as:
Figure GDA0003062739590000144
wherein, FdAnd FqRespectively lumped voltage error fdAnd fqThe rate of change of (c). f. ofd、fqLumped voltage errors of d-axis and q-axis, respectively, that occur when there is a parameter error and a load disturbance, can be expressed as:
Figure GDA0003062739590000145
in the formula (I), the compound is shown in the specification,
Figure GDA0003062739590000146
in the formula,. DELTA.L,. DELTA.R,. DELTA.ψfΔ J and Δ TlRespectively, the parameters L, R, psifJ and TlThe amount of change in (c).
According to the sliding mode variable structure control theory, the method selects the following linear sliding mode surfaces:
Figure GDA0003062739590000151
wherein s isdIs a d-axis slip form surface, sωA surface of the sliding mould is rotated at a speed,
Figure GDA0003062739590000152
is an estimate of the speed of rotation omega,
Figure GDA0003062739590000153
is d-axis current idAn estimate of (d).
To put the state variables into sliding mode to the origin, even the equation:
Figure GDA0003062739590000154
and (3) establishing a sliding mode state equation based on (11) as follows:
Figure GDA0003062739590000155
in the formula (I), the compound is shown in the specification,
Figure GDA0003062739590000156
and
Figure GDA0003062739590000157
respectively lumped voltage error fdAnd fqEstimate of betadAnd betaqAs parameters of slip form, UdsmoAnd UqsmoThe switching functions are respectively d-axis voltage and q-axis voltage, the functions play a negative feedback role and control the state variable to rapidly enter a sliding mode.
Obviously, the sliding mode state equation constructed above can make the system state approach to the sliding mode plane, but there is no specification on how to approach to the sliding mode plane, and the approach law can ensure that the system enters the sliding mode rapidly and stably. The traditional sliding mode approach law is many, the constant speed approach law with a simple structure is adopted to approach the sliding mode plane, and the expression is as follows:
Figure GDA0003062739590000158
wherein s is a sliding mode surface, and alpha is a constant to represent the approaching speed.
Subtracting (11) from (15) yields the following error equation:
Figure GDA0003062739590000159
in the formula (I), the compound is shown in the specification,
Figure GDA00030627395900001510
Figure GDA00030627395900001511
and substituting (17) into (16) to obtain:
Figure GDA0003062739590000161
wherein alpha isdAnd alphaωRespectively the approaching speeds of the d-axis sliding mode surface and the rotating speed sliding mode surface.
E in equation (18)fdAnd efqAs disturbance quantity contained in UdsmoAnd UqsmoIn, can obtain UdsmoAnd UqsmoThe expression of (a) is as follows:
Figure GDA0003062739590000162
thus, the discretized DO constructed by the present application can be rewritten as:
Figure GDA0003062739590000163
wherein the content of the first and second substances,
Figure GDA0003062739590000164
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qAn estimate of (d).
2) Observation module parameter selection
According to the Lyapunov stability principle, the conditions for the observation module to enter the sliding mode are as follows:
Figure GDA0003062739590000165
namely, the requirements are as follows:
Figure GDA0003062739590000171
wherein s isd(k)、efd(k)、sω(k)、efq(k) Respectively at time kd、efd、sω、efqValue of (a), sω(t) is time t sωThe value of (c).
The solution equation is:
Figure GDA0003062739590000172
in practice, the parameters are often selected as follows:
Figure GDA0003062739590000173
where n is a safety factor and is often a number greater than 1.
When the parameters are satisfied (24) and the system enters the sliding mode, equation (14) will also be satisfied, so equation (17) can be rewritten as:
Figure GDA0003062739590000174
obtaining:
Figure GDA0003062739590000175
in the formula, KdAnd KqIs a constant, it is clear that if and only if βdAnd betaqWhen positive, lumped voltage error efdAnd efqCan it converge to 0.
Finally, the lumped voltage error f observed by the observation moduledAnd fqWhen the compensation is carried out in a real-time system, the reference voltage vector finally acting on the motor can be obtained as follows:
Figure GDA0003062739590000181
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure GDA0003062739590000182
and
Figure GDA0003062739590000183
reference voltage vectors at time instants of d-axis and q-axis k +1, respectively.
By applying the technical scheme of the application, the reference rotating speed and the reference current are directly converted into the reference voltage vector by utilizing the principle of the dead-beat control, and the voltage inversion is carried out by adopting the space vector pulse width modulation technology, so that the method effectively eliminates the speed loop in the traditional dead-beat control, and simultaneously utilizes a disturbance observation module based on the sliding mode control theory; the observation module can simultaneously estimate voltage errors generated by system electrical parameter mismatch, mechanical parameter mismatch and load torque disturbance; and then, the lumped voltage error output by the observation module is compensated into the prediction reference voltage vector, so that a load torque observer in a dead-beat direct speed control method is replaced, and the robustness of the permanent magnet synchronous motor is effectively improved. Finally, simulation and experimental verification are carried out on the surface-mounted permanent magnet synchronous motor, and the result shows that the method has stronger robustness on the interference of parameters and loads. The main contribution of the invention is that a DO observation module is constructed based on a mathematical model of DBDSC and a sliding mode variable structure control theory, the observation module can be used for observing a reference voltage error generated by parameter mismatch and load disturbance, and the reference voltage error is compensated into a reference voltage prediction formula on line, so that the system robustness is effectively improved.
In order to verify the effectiveness of the DBDSC + DO proposed in this application and its superiority over DBDSC without DO observation module, a series of simulation studies were performed on a two-level SPMSM driver in Matlab/Simulink environment. The simulation and control parameters are shown in table 2.
TABLE 2 System parameters
Figure GDA0003062739590000184
Figure GDA0003062739590000191
1. Simulation verification
Fig. 6a and 6b show simulated waveforms for both methods with a sudden change in torque from 0N · m to 4N · m at 0.6 seconds. Obviously, both methods have good torque disturbance resistance. However, the method (DBDSC + DO) provided by the present application can achieve the same control effect of the DBDSC with the load observer without separately designing the load torque observer or the load detection device. Fig. 7a and 7b show the rotation speed and current waveforms for the inductor suddenly changing to 3 times the inductance at 0.6 sec for both methods. The result shows that the DBDSC without the parameter observer is influenced by inductance change, the d-axis current fluctuates greatly, and the control effect is poor. And the method DBDSC + DO can well estimate the error caused by the inductance mutation under the action of the observation module, compensate the error in time and inhibit the fluctuation of the current and the rotating speed caused by the inductance error. Fig. 8a and 8b show the rotation speed and current waveforms for the two methods under 2 times of flux linkage jump. Obviously, the rotation speed fluctuation of the DBDSC without the control of the parameter observer is increased under the condition of flux linkage mismatch, and the rotation speed has certain static difference, but the influence of parameter change on the method provided by the application is obviously reduced, and the rotation speed can be well tracked. Fig. 9a and 9b are simulation results of a 3-fold resistor mismatch, and it is obvious that the increase of the resistor causes a certain static difference of the DBDSC rotation speed, which is smaller than the influence of flux linkage mismatch on the system, and the method proposed in the present application well suppresses the rotation speed static difference caused by the resistor mismatch. Fig. 10a and 10b show that under the condition of the rotational inertia mismatch, the influence of the two methods under the steady state condition is small, and the results are consistent with the parameter sensitivity analysis results.
2. Test verification
In order to further verify the effectiveness of the method provided by the application, the application also performs experimental tests on a two-level variable-frequency speed-regulating driving platform. The developed control method is implemented using a 32-bit floating-point digital signal processor TMS320F 28335. The control and system parameters are consistent with those listed in table 2.
Fig. 11a and 11b show the motor response under the condition of sudden change of the motor parameters and the load torque, and the experimental model parameters and the load change condition are as follows: the inductance is suddenly changed from 11mH to 33 mH; the magnetic chain is mutated from 0.24Wb to 0.48 Wb; the resistance is changed from 3R to 9R in a sudden change manner; the moment of inertia is 0.00129 kg.m2The mutation is 0.00258kg m2(ii) a The torque was abruptly changed from 0N · m to 4N · m. Fig. 11a shows that the observation module proposed in the present application can quickly track the error caused by the parameter load change and compensate the control system in time.
According to simulation and experimental results, parameter mismatch and load disturbance can be seen to deteriorate the control performance of the DBDSC method, but the improved method provided by the application has strong parameter anti-interference capability and load disturbance resistance capability, and can obtain good control performance.
Based on the same inventive concept, an embodiment of the present invention further provides a direct speed prediction control apparatus for a permanent magnet synchronous motor, as shown in fig. 12, including:
the compensation module 1201 is used for acquiring the current and the motor rotating speed of the motor, obtaining the predicted current at the next moment by using the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage at the next moment according to the predicted current;
a conversion module 1202, configured to obtain a predicted speed at the next moment by using the motor speed in a forward euler discretization manner, and convert the predicted voltage into a reference voltage command according to the predicted speed and a reference current obtained by converting the predicted current;
the observation module 1203 processes the reference voltage command in a sliding mode variable structure control manner, obtains an error estimation value at the next moment by using a constant velocity approximation law, and approximates the error estimation value to a real error value at the next moment according to the lyapunov stability principle;
and the adjusting module 1204 is used for compensating the error estimation value into the reference voltage command to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector.
In an optional embodiment, before the compensating module 1201 obtains the current and the motor speed of the motor, the method further includes:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
In an optional embodiment, the predicted voltage is specifically:
Figure GDA0003062739590000201
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, TsFor the purpose of the current sampling period,r is stator resistance, L is stator inductance,. psifThe permanent magnet flux linkage is adopted, and omega (t) is the motor rotating speed at the moment t;
the reference voltage command specifically includes:
Figure GDA0003062739590000211
wherein the content of the first and second substances,
Figure GDA0003062739590000212
and
Figure GDA0003062739590000213
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure GDA0003062739590000214
is the reference current of d-axis, J is the rotor moment of inertia, p is the pole pair number, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts。
In an optional embodiment, the error estimation value specifically includes:
Figure GDA0003062739590000215
wherein the content of the first and second substances,
Figure GDA0003062739590000216
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure GDA0003062739590000217
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and integrated power at time k +1Pressure error fqEstimated value of ud(k)、uq(k) Stator terminal voltages, beta, of d and q axes at time kd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
In an optional embodiment, the reference voltage vector specifically includes:
Figure GDA0003062739590000221
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure GDA0003062739590000222
and
Figure GDA0003062739590000223
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure GDA0003062739590000224
respectively lumped voltage error fdAnd fqAn estimate of (d).
The device of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (6)

1. A direct speed prediction control method of a permanent magnet synchronous motor is characterized by comprising the following steps:
obtaining the current and the motor rotating speed of the motor, obtaining the predicted current of the next moment by utilizing the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage of the next moment according to the predicted current;
obtaining a predicted speed at the next moment by using the rotating speed of the motor in a forward Euler discretization mode, and converting the predicted voltage into a reference voltage command according to the predicted speed, a reference speed and a reference current which are obtained by converting the predicted current;
processing the reference voltage command in a sliding mode variable structure control mode, obtaining an error estimation value at the next moment by using a constant velocity approximation law, and enabling the error estimation value to approach a real error value at the next moment according to the Lyapunov stability principle;
compensating the error estimation value into the reference voltage command to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector;
the predicted voltage specifically comprises:
Figure FDA0003062739580000011
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, TsFor the current sampling period, R is the stator resistance, L is the stator inductance, psifThe permanent magnet flux linkage is adopted, and omega (t) is the motor rotating speed at the moment t;
the reference voltage command specifically includes:
Figure FDA0003062739580000012
wherein the content of the first and second substances,
Figure FDA0003062739580000013
and
Figure FDA0003062739580000014
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure FDA0003062739580000015
is the reference current of d-axis, J is the rotor moment of inertia, and p is the pole pairNumber, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts；
The error estimation value specifically includes:
Figure FDA0003062739580000021
wherein the content of the first and second substances,
Figure FDA0003062739580000022
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure FDA0003062739580000023
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qThe estimated values of (d), (k), uq (k) are stator terminal voltages of d and q axes at the time k, respectivelyd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
2. The method of claim 1, wherein before obtaining the current and the motor speed of the motor, further comprising:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
3. The method according to claim 1, wherein the reference voltage vector is in particular:
Figure FDA0003062739580000024
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure FDA0003062739580000031
and
Figure FDA0003062739580000032
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure FDA0003062739580000033
respectively lumped voltage error fdAnd fqAn estimate of (d).
4. A direct speed prediction control apparatus of a permanent magnet synchronous motor, characterized by comprising:
the compensation module is used for acquiring the current and the motor rotating speed of the motor, obtaining the predicted current at the next moment by utilizing the current and the motor rotating speed in a discretization mode, and obtaining the predicted voltage at the next moment according to the predicted current;
the conversion module is used for obtaining the predicted speed at the next moment by utilizing the rotating speed of the motor in a forward Euler discretization mode, and converting the predicted voltage into a reference voltage command according to the predicted speed, the reference speed and the reference current obtained by converting the predicted current;
the observation module is used for processing the reference voltage command in a sliding mode variable structure control mode, obtaining an error estimation value at the next moment by using a constant speed approaching law, and enabling the error estimation value to approach a real error value at the next moment according to the Lyapunov stability principle;
the adjusting module is used for compensating the error estimation value into the reference voltage instruction to obtain a reference voltage vector, and correspondingly adjusting the motor through the reference voltage vector;
the predicted voltage specifically comprises:
Figure FDA0003062739580000034
wherein u isd(k +1) and uq(k +1) stator terminal voltages of d-axis and q-axis at time k +1, respectively, id(k +2) and iq(k +2) stator currents of d-axis and q-axis at time k +2, respectively, id(k +1) and iq(k +1) stator currents of d-axis and q-axis at time k +1, respectively, TsFor the current sampling period, R is the stator resistance, L is the stator inductance, psifThe permanent magnet flux linkage is adopted, and omega (t) is the motor rotating speed at the moment t;
the reference voltage command specifically includes:
Figure FDA0003062739580000035
wherein the content of the first and second substances,
Figure FDA0003062739580000036
and
Figure FDA0003062739580000037
reference voltage commands, ω, for d-axis and q-axis, respectively*Is the reference speed of the vehicle,
Figure FDA0003062739580000038
is the reference current of d-axis, J is the rotor moment of inertia, p is the pole pair number, TlIs the load torque on the motor shaft, TspIs the sampling time T of the speed and the load torquesp＝10Ts；
The error estimation value specifically includes:
Figure FDA0003062739580000041
wherein the content of the first and second substances,
Figure FDA0003062739580000042
d-axis currents i at times k, respectivelydEstimated value of (c), lumped voltage error at time k, fdEstimated value of (d), estimated value of rotation speed omega at time t, and lumped voltage error f at time kqIs determined by the estimated value of (c),
Figure FDA0003062739580000043
d-axis current i at time k +1dEstimated value of (d), lumped voltage error f at time k +1dEstimated value of (d), estimated value of rotation speed ω at time t +1, and lumped voltage error f at time k +1qEstimated value of ud(k)、uq(k) Stator terminal voltages, beta, of d and q axes at time kd、βqSliding mode parameters, U, of d-axis and q-axis respectivelydsmo、UqsmoSwitching functions for d-axis and q-axis voltages, respectively.
5. The apparatus of claim 4, wherein before the compensation module obtains the current and the motor speed of the motor, the method further comprises:
the motor is a surface-mounted permanent magnet synchronous motor, a mathematical model of motor stator voltage and electromagnetic torque is established by utilizing the characteristics of equal quadrature-direct axis inductance value of the surface-mounted permanent magnet synchronous motor, and the current and the motor rotating speed are discretized by utilizing the mathematical model.
6. The device according to claim 4, wherein the reference voltage vector is in particular:
Figure FDA0003062739580000044
wherein, U*To be a vector of reference voltages, the reference voltage vector,
Figure FDA0003062739580000051
and
Figure FDA0003062739580000052
the reference voltage vectors at the time of d-axis and q-axis k +1 respectively,
Figure FDA0003062739580000053
respectively lumped voltage error fdAnd fqAn estimate of (d).
CN201910717367.8A 2019-08-05 2019-08-05 Direct speed prediction control method and device for permanent magnet synchronous motor Active CN110492817B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910717367.8A CN110492817B (en) 2019-08-05 2019-08-05 Direct speed prediction control method and device for permanent magnet synchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910717367.8A CN110492817B (en) 2019-08-05 2019-08-05 Direct speed prediction control method and device for permanent magnet synchronous motor

Publications (2)

Publication Number Publication Date
CN110492817A CN110492817A (en) 2019-11-22
CN110492817B true CN110492817B (en) 2021-08-03

Family

ID=68547787

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910717367.8A Active CN110492817B (en) 2019-08-05 2019-08-05 Direct speed prediction control method and device for permanent magnet synchronous motor

Country Status (1)

Country Link
CN (1) CN110492817B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111200382B (en) * 2020-01-10 2023-06-30 西安理工大学 Dead beat prediction control method for non-cascade permanent magnet synchronous motor
CN111404432B (en) * 2020-03-13 2023-04-07 天津工业大学 Finite set model prediction direct speed control method of permanent magnet synchronous motor
CN111682817B (en) * 2020-06-29 2023-01-06 潍柴动力股份有限公司 Control method and device for embedded permanent magnet synchronous motor
CN115296571A (en) * 2020-09-04 2022-11-04 湖南工业大学 Permanent magnet synchronous motor control parameter optimization method
CN114865968A (en) * 2020-09-04 2022-08-05 湖南工业大学 Permanent magnet synchronous motor load torque observer
CN114865969A (en) * 2020-09-04 2022-08-05 湖南工业大学 Sliding mode observation method for load torque of permanent magnet synchronous motor
CN115118189A (en) * 2020-09-04 2022-09-27 湖南工业大学 Parameter optimization method for motor load torque observer
CN115441782A (en) * 2020-09-04 2022-12-06 湖南工业大学 Fan electric variable pitch motor drive control method based on sliding mode observation
CN114977929A (en) * 2020-09-04 2022-08-30 湖南工业大学 Permanent magnet synchronous motor control and parameter optimization method based on load torque observation
CN113708703B (en) * 2021-08-23 2023-03-21 合肥安迅精密技术有限公司 Motor current disturbance real-time compensation method and system
CN113691187B (en) * 2021-09-13 2023-09-01 东南大学深圳研究院 Dead beat prediction rotating speed servo permanent magnet motor control method and system
CN114094892B (en) * 2021-09-30 2023-10-20 湖南科技大学 Permanent magnet synchronous motor control device and method for sliding mode observer and current prediction
CN115133832B (en) * 2022-07-08 2024-04-05 北京理工大学 Real-time parameter correction method for surface-mounted permanent magnet synchronous motor
CN116633221B (en) * 2023-07-24 2023-10-31 南京理工大学 Minimum voltage vector error control method based on control quantity compensation

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106356852A (en) * 2016-10-15 2017-01-25 沈阳建筑大学 Current prediction-based parallel APF dead-beat control system and method
CN107317532B (en) * 2017-06-26 2019-07-05 华中科技大学 Permanent magnet synchronous motor predictive-current control method and system based on sliding formwork
CN109560736B (en) * 2018-12-18 2020-03-31 东南大学 Permanent magnet synchronous motor control method based on second-order terminal sliding mode
CN110022105A (en) * 2019-04-25 2019-07-16 西安理工大学 Permanent magnet synchronous motor predictive-current control method and system based on FOSMC

Also Published As

Publication number Publication date
CN110492817A (en) 2019-11-22

Similar Documents

Publication Publication Date Title
CN110492817B (en) Direct speed prediction control method and device for permanent magnet synchronous motor
Jiang et al. Improved deadbeat predictive current control combined sliding mode strategy for PMSM drive system
Nikzad et al. Discrete duty-cycle-control method for direct torque control of induction motor drives with model predictive solution
Zhang et al. Robust model predictive direct speed control for SPMSM drives based on full parameter disturbances and load observer
Verma et al. Speed sensorless vector controlled induction motor drive using single current sensor
Lascu et al. A modified direct torque control for induction motor sensorless drive
Yuan et al. Torque ripple suppression for open-end winding permanent-magnet synchronous machine drives with predictive current control
Sangsefidi et al. Estimation of stator resistance in direct torque control synchronous motor drives
Han et al. Nonlinear magnetic field vector control with dynamic-variant parameters for high-power electrically excited synchronous motor
WO2020215588A1 (en) Function-switching-based position-sensorless control method and system for direct-current magnetism-regulating memory machine
JP5929492B2 (en) Induction machine control device
Khov et al. On-line parameter estimation of PMSM in open loop and closed loop
Kakodia et al. A comparative study of DFOC and IFOC for IM drive
Comanescu et al. Full order EMF observer for PMSM—design, analysis and performance under improper speed signal
KR101878090B1 (en) Method and system for controlling motor
Kouriche et al. Mras-super twisting sliding mode observer for speed sensorless vector control of induction motor drive
Zhang et al. Strong parameters robustness model predictive current control method
Prakash et al. Constant switching frequency DTC for induction motor fed from two level voltage source inverter
Chaikhy et al. Evaluation of two control strategies for induction machine
Kamera et al. Sensorless technique for rotor position detection of an permanent magnet synchronous machine using direct torque control
Brock et al. Reducing Energy Losses for Fan Applications with V/f control of PMSMs
KR101426485B1 (en) Device for controlling AC motor
Vachhani et al. Analysis of field oriented control strategy for induction motor
Renukrishna et al. Sensorless vector control of induction motor drives using rotor flux observer
Yang et al. Improved predictive current control of IM drives based on a sliding mode observer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant