CN110572106A - Control method and device of five-phase permanent magnet asynchronous motor - Google Patents
Control method and device of five-phase permanent magnet asynchronous motor Download PDFInfo
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- CN110572106A CN110572106A CN201910864489.XA CN201910864489A CN110572106A CN 110572106 A CN110572106 A CN 110572106A CN 201910864489 A CN201910864489 A CN 201910864489A CN 110572106 A CN110572106 A CN 110572106A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0009—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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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Abstract
The application discloses a control method of a five-phase permanent magnet asynchronous motor, which comprises the following steps: acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor; calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor; inputting the difference value into a pre-designed sliding film control module to obtain a control quantity through calculation of the sliding film control module; the sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate; the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first slip film surface and a set complementary slip film surface; and determining a control current according to the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current. And realizing the accurate control of the five-phase permanent magnet asynchronous motor based on the complementary sliding mode control. The application also discloses a device corresponding to the method.
Description
Technical Field
The invention relates to the field of motor system control, in particular to a control method and a control device of a five-phase permanent magnet asynchronous motor.
background
The five-phase permanent magnet asynchronous motor is mainly suitable for special application occasions where continuous operation is needed in the fields of numerical control lathes, aerospace, vehicle engineering, compressors, mechanical arms and robots, electric vehicles and motors.
The five-phase permanent magnet asynchronous motor is a nonlinear and time-varying system, so that when the five-phase permanent magnet asynchronous motor is controlled, the control accuracy is particularly sensitive to parameter variation, external force interference, friction force and other interference. In the prior art, the motor is usually controlled by a PID algorithm.
however, the dynamic characteristics of the driving system of the five-phase permanent magnet asynchronous motor have the characteristics of nonlinearity, rotational speed coupling and the like, and various interferences exist, so that the existing control mode is difficult to meet the requirements of the five-phase permanent magnet asynchronous motor on nonlinear and high-performance speed regulation control, and the five-phase permanent magnet asynchronous motor cannot be accurately controlled.
disclosure of Invention
Based on the defects of the prior art, the invention provides a control method and a control device for a five-phase permanent magnet asynchronous motor, so as to solve the problem that the prior art cannot accurately control the five-phase permanent magnet asynchronous motor.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a control method of a five-phase permanent magnet asynchronous motor on one hand, which comprises the following steps:
Acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor;
calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor;
Inputting the difference value into a pre-designed sliding film control module to obtain a control quantity through calculation of the sliding film control module; the sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate; the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first slip film surface and a set complementary slip film surface;
and determining a control current according to the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current.
optionally, in the above method, the obtaining the actual rotation speed of the five-phase permanent magnet asynchronous motor includes:
the method comprises the steps of obtaining a rotation angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and obtaining the actual rotating speed of the five-phase permanent magnet asynchronous motor by derivation of the rotation angular velocity signal.
Optionally, in the above method, the determining a control current according to the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotation speed based on the control current includes:
And outputting control current and control voltage by using a voltage source inverter according to the control quantity and the input voltage, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
optionally, in the above method, the design method of the slip film control module includes:
Constructing a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor to obtain a relational expression of stator flux linkage and stator current components;
based on the relational expression of the stator flux linkage and the stator current component, the dynamic equation of the drive control system of the five-phase permanent magnet asynchronous motor under the disturbance is obtained as follows:
wherein the content of the first and second substances,is a derivative of the actual rotational speed of the motor,delta A, Delta B and Delta C are uncertainty disturbance caused by the moment of inertia J and the parameter B, isM1as a component of the exciting current isT1as a torque current component, Ls1Stator inductance of S-axis component, Lm1stator inductance of M-axis component, P is number of poles, sigma1Is the fundamental plane leakage inductance coefficient, BωIs the coefficient of friction of the system;
Will be described inthe dynamic equation translates to:wherein H ═ Δ A ω + Δ BisM1isT1+(C+ΔC)TL，IP＝isM1isT1h is total uncertainty disturbance, | H | < rho, rho is a normal number;
Respectively defining a first slide surface S and a complementary slide surface SC(ii) a Wherein the first slide film surface S is:The complementary slide film surface SCcomprises the following steps:e is the difference value between the preset rotating speed and the actual rotating speed, and lambda is the coefficient of the sliding surface;
let I be the control quantity output by the synovial membrane control module, and define I ═ Ieq+Ihit(ii) a Wherein, Ieqfor equivalent synovial membrane control rate, Ihitto switch the synovial membrane control rate;
And obtaining the equivalent synovial membrane control rate based on the dynamic equation, the first synovial membrane surface, the complementary synovial membrane surface and the expression of the control quantity as follows:The control rate of the switching sliding film is as follows:
wherein phi is the width of the boundary layer,sat is the saturation function.
Optionally, in the above method, after obtaining the equivalent synovial membrane control rate and the switching synovial membrane control rate based on the dynamic equation and the expressions of the first synovial surface, the complementary synovial surface, and the control amount, the method further includes:
Defining a Lyapunov function, and deriving the Lyapunov function based on the relationship between the first slide film surface and the complementary slide film surface to obtain a derivative of the Lyapunov function;
determining whether the derivative of the Lyapunov function is less than or equal to 0;
if the derivative of the Lyapunov function is judged to be less than or equal to 0, determining that the synovial membrane control module has stability;
wherein the defined Lyapunov function is:The relationship between the first slide surface area and the complementary slide surface area is:
In another aspect, the present invention provides a control apparatus for a five-phase permanent magnet asynchronous motor, including:
the acquiring unit is used for acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor;
The calculating unit is used for calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor;
the sliding film control unit inputs the difference value into a pre-designed sliding film control module so as to obtain a control quantity through calculation of the sliding film control module;
The sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate; the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first slip film surface and a set complementary slip film surface;
And the driving unit is used for determining control current according to the control quantity and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current.
Optionally, in the above apparatus, the obtaining unit includes:
the acquisition subunit is configured to acquire a rotational angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and perform derivation on the rotational angular velocity signal to obtain an actual rotational speed of the five-phase permanent magnet asynchronous motor.
optionally, in the above apparatus, the driving unit includes:
And the driving subunit is used for outputting control current and control voltage according to the control quantity and the input voltage by using the voltage source inverter, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
Optionally, in the above apparatus, further comprising: a design unit, wherein the design unit comprises:
The construction unit is used for constructing a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor to obtain a relational expression of stator flux linkage and stator current components;
The first determining unit is used for obtaining a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance based on a relational expression of the stator flux linkage and the stator current component, wherein the dynamic equation is as follows:
Wherein the content of the first and second substances,is a derivative of the actual rotational speed of the motor,delta A, Delta B and Delta C are uncertainty disturbance caused by the moment of inertia J and the parameter B, isM1As a component of the exciting current isT1As a torque current component, Ls1Stator inductance of S-axis component, Lm1Stator inductance of M-axis component, P is number of poles, sigma1Is the fundamental plane leakage inductance coefficient, Bωto be aA coefficient of system friction;
a conversion unit for converting the dynamic equation into:wherein H ═ Δ A ω + Δ BisM1isT1+(C+ΔC)TL，IP＝isM1isT1H is total uncertainty disturbance, | H | < rho, rho is a normal number;
A slide film surface defining unit for defining a first slide film surface S and a complementary slide film surface S, respectivelyC(ii) a Wherein the first slide film surface S is:the complementary slide film surface SCComprises the following steps: e is the difference value between the preset rotating speed and the actual rotating speed, and lambda is the coefficient of the sliding surface;
A control quantity defining unit for making I be the control quantity output by the synovial membrane control module, and defining I ═ Ieq+Ihit(ii) a Wherein, IeqFor equivalent synovial membrane control rate, IhitTo switch the synovial membrane control rate;
A second determining unit, configured to calculate, based on the dynamic equation and the expressions of the first slide surface, the complementary slide surface, and the controlled variable, the equivalent slide surface control rate as follows: The control rate of the switching sliding film is as follows:
wherein phi is a boundaryThe width of the layer(s) is,sat is the saturation function.
Optionally, in the above apparatus, the designing unit further includes:
a second calculating unit, configured to define a lyapunov function, and derive the lyapunov function based on a relationship between the first slide film surface and the complementary slide film surface to obtain a derivative of the lyapunov function;
Wherein the defined Lyapunov function is:the relationship between the first slide surface area and the complementary slide surface area is:
a judging unit configured to judge whether or not a derivative of the Lyapunov function is less than or equal to 0; and if the derivative of the Lyapunov function is judged to be less than or equal to 0, determining that the synovial membrane control module has stability.
According to the control method and device for the five-phase permanent magnet asynchronous motor, the dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, the set first sliding film surface and the set complementary sliding film surface are used for designing the equivalent sliding film control rate of a sliding film control module and switching the sliding film control rate. And then, calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor through a sliding film control module, inputting a control quantity, determining a control current through the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed, thereby realizing the control of the five-phase permanent magnet asynchronous motor based on a complementary sliding film. Because the sliding mode control module is designed based on a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, and the sliding mode control is a nonlinear control mode insensitive to interference, the requirements of the five-phase permanent magnet asynchronous motor on nonlinear and high-performance speed regulation control can be met, and the five-phase permanent magnet asynchronous motor can be accurately controlled.
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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for designing a slip film control module according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a control method of a five-phase permanent magnet asynchronous motor according to another embodiment of the present invention;
Fig. 3 is a schematic diagram of a control process of a five-phase permanent magnet asynchronous motor according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of a five-phase permanent magnet asynchronous motor according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a design unit according to another embodiment of the present invention.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the invention provides a control method of a five-phase permanent magnet asynchronous motor, which aims to solve the problem that the prior art cannot accurately control the five-phase permanent magnet asynchronous motor.
Firstly, it should be noted that the control method of the five-phase permanent magnet asynchronous motor adopts sliding film control. Sliding mode control is also called variable structure control, and is essentially a special nonlinear control mode, and nonlinearity is represented by discontinuity of control. Because the sliding mode design process is irrelevant to the object parameters and the disturbance, the sliding mode control has the advantages of quick response, insensitive corresponding parameter change and disturbance, no need of system online identification, simple physical realization and the like. The control of the five-phase permanent magnet asynchronous motor is realized through the sliding film control module.
accordingly, embodiments of the present invention provide a method for designing a slip film control module, as shown in fig. 1, comprising:
s101, constructing a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor to obtain a relational expression of stator flux linkage and stator current components.
specifically, a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor is constructed, and a relation between a stator flux linkage and a stator current component of the five-phase permanent magnet asynchronous motor is obtained as follows:
wherein isM1As a component of the exciting current isT1as a torque current component, Ls1Stator inductance, σ, being the S-axis component1Is the leakage inductance coefficient of the fundamental plane.
s102, obtaining a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance based on a relational expression of stator flux linkage and stator current components.
the dynamic equation of the drive control system of the five-phase permanent magnet asynchronous motor in the presence of disturbance is as follows:wherein the content of the first and second substances,is a derivative of the actual rotational speed of the motor,Delta A, Delta B and Delta C are uncertain disturbance L caused by the moment of inertia J and the parameter Bm1is the stator inductance of M-axis component, P is the number of poles, Bωis the coefficient of friction of the system.
Specifically, under the condition of weak magnetism, the torque output of the motor depends on the performances of components of M axis and T axis of stator flux linkage, so the theoretical torque equation of the five-phase permanent magnet asynchronous motor is approximately as follows:
The dynamic equation of the five-phase permanent magnet asynchronous motor is obtained according to the torque equation of the five-phase permanent magnet asynchronous motor and is as follows:Wherein, TLTo load torque, ω is the angular velocity of the motor rotor. Therefore, the dynamic equation of the five-phase permanent magnet asynchronous motor can also be expressed as: order to then the following results are obtained:
When the five-phase permanent magnet asynchronous motor is interfered, namely a control system is interfered by an uncertain item, the dynamic equation of the five-phase permanent magnet asynchronous motor is as follows: Wherein, Δ A, Δ B and Δ C are uncertain disturbance caused by the moment of inertia J and the parameter B. Let H ═ Δ A ω + Δ BI + (C + Δ C) TL，IP＝isM1isT1thereby converting the dynamic equation into:wherein H is total uncertainty disturbance, | H | ≦ ρ, and ρ is a normal number.
and S103, respectively defining a first slide film surface and a complementary slide film surface.
the complementary sliding mode control has better robustness than the traditional sliding mode control, and particularly, the convergence track of the control surface of the sliding mode is smoother than that of the traditional sliding mode control, and the practicability is better. Therefore, the synovial control module of the embodiment of the invention is designed based on complementary synovial control.
specifically, the first slide surface area S is defined as:and a second slide surface, i.e. a complementary slide surface SCComprises the following steps:Where e is the difference between the preset rotation speed and the actual rotation speed, i.e., e ═ ω*-ω，ω*Is a preset rotating speed, and omega is an actual rotating speed; λ is the coefficient of the slip film surface.
and S104, defining the control quantity output by the synovial membrane control module, wherein the control quantity is the sum of the equivalent synovial membrane control rate and the switching synovial membrane control rate.
wherein, the control quantity output by the sliding film control module is I ═ IPNamely, the current of the five-phase permanent magnet asynchronous motor is used as the control quantity controlled by the sliding mode control module. As a complementary slip film control is employed. The control amount is accordingly defined as: i ═ Ieq+Ihit. Wherein, IeqFor equivalent synovial membrane control rate, IhitTo switch the synovial membrane control rate.
and S105, determining the equivalent synovial membrane control rate and the synovial membrane switching control rate based on the dynamic equation, the first synovial membrane surface, the complementary synovial membrane surface and the expression of the control quantity.
specifically, an expression for converting the dynamic equation into the controlled variable I can be obtained, and the expression for the slide membrane surface is brought into the expression for the controlled variable I, so that the expression for obtaining the equivalent slide membrane control rate is as follows: the expression of the synovial membrane switching control rate is as follows:
Wherein, sat is a saturation function,Phi is the boundary layer width.
In the control principle, the stability of the system is judged by the Lyapunov function Lyapunov, so optionally, after the step S105 is executed, the method may further include:
Defining a Lyapunov function, deriving the Lyapunov function based on the relationship between the first slide film surface and the complementary slide film surface, and judging whether the derivative of the Lyapunov function is less than or equal to 0.
And if the derivative of the Lyapunov function is judged to be less than or equal to 0, the synovial membrane control module is determined to have stability, namely the synovial membrane control module can realize stable control on the five-phase permanent magnet asynchronous motor.
specifically, the Lyapunov function is defined as:Since, the derivative of the first slide surface area is:And the slip surface coefficients λ of the first slip surface and the complementary slip surface are equal, so the relationship between the first slip surface and the complementary slip surface is:
Substituting the relation between the first slide film surface and the complementary slide film surface into the Lyapunov function by combining a dynamic equation, and obtaining the following derivation:
due to-lambda (S + S)c)2+(S+SC)(-ρ)+|S+SC||H|≤-λ(S+Sc)2+|S+SC|(|H|-|ρ|)＝-λ(S+Sc)2≦ 0, so the Lyapunov function satisfies the negative half-condition, i.e., the derivative of the Lyapunov function is less than or equal to 0. The error e can stably reach a boundary layer finally, so that the sliding film control module can ensure the errors caused by the interference of the rotating speed of the five-phase permanent magnet asynchronous motor, such as jitter, and the like, and the errors are gradually converged to zero, so that the accurate control of the five-phase permanent magnet asynchronous motor is completed.
Based on the slip film control module designed above, another embodiment of the present invention provides a method for controlling a five-phase permanent magnet asynchronous motor, as shown in fig. 2, including:
S201, acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor.
Specifically, after the five-phase permanent magnet asynchronous motor is started, the current rotational angular velocity of the rotor of the five-phase permanent magnet asynchronous motor is acquired.
optionally, in another embodiment of the present invention, a specific implementation manner of step S201 includes:
And acquiring a rotation angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and deriving the rotation angular velocity signal to obtain the actual rotation speed of the five-phase permanent magnet asynchronous motor.
It should be noted that, the encoder according to the embodiment of the present invention is a motor encoder,
Specifically, the encoder illuminates the encoder disk with a light beam. The disc is provided with a plurality of small holes, the tube bundle can reach the receiver through the small holes, and the disc is coaxial with the rotor of the five-phase permanent magnet asynchronous motor. Therefore, the photodiode in the receiver rotates along with the rotor of the motor, outputs a corresponding high-level or low-level signal, converts the signal into a rotation angular velocity signal through a special circuit, and finally obtains the actual angular velocity of the five-phase permanent magnet asynchronous motor by differentiating the obtained rotation angular velocity signal.
S202, calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor.
The preset rotating speed is the rotating speed to be tracked by the five-phase permanent magnet asynchronous motor.
specifically, the actual rotating speed is subtracted from the preset rotating speed of the five-phase permanent magnet asynchronous motor, so that a difference value between the preset rotating speed and the actual rotating speed is obtained.
And S203, inputting the difference value between the preset rotating speed and the actual rotating speed into a pre-designed sliding film control module so as to obtain a control quantity through calculation of the sliding film control module.
And the sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate.
Specifically, the difference value between the preset rotating speed and the actual rotating speed is input into a pre-designed sliding film control module, the sliding film control module calculates to obtain the corresponding equivalent sliding film control rate and the corresponding sliding film switching control rate according to the expression of the equivalent sliding film control rate and the sliding film switching control rate, and the equivalent sliding film control rate and the sliding film switching control rate are added to a control quantity, namely, a current control signal is output.
and S204, determining a control current according to the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current.
Specifically, the control current corresponding to the control quantity is determined according to the control quantity, and the control current is input into the five-phase permanent magnet asynchronous motor, so that the rotating speed of the five-phase permanent magnet asynchronous motor is changed, and the five-phase permanent magnet asynchronous motor outputs a new rotating speed.
optionally, in another embodiment of the present invention, a specific implementation manner of step S204 includes:
And outputting control current and control voltage by using a voltage source inverter according to the control quantity and the input voltage, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
Specifically, the voltage source inverter converts direct current into corresponding alternating current according to the control quantity and the power voltage, outputs control current and control voltage, and drives the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
It should be noted that after step S204 is executed, the process can also return to step S201, that is, a new actual rotation speed output by the five-phase permanent magnet asynchronous motor is obtained again, and the method is continuously executed in a loop, so as to form a negative feedback regulation based on the slip film control.
specifically, as shown in fig. 3, the specific adjusting process of the negative feedback regulation formed based on the present invention is as follows: acquiring a rotating speed signal theta of an actual rotating speed output by the five-phase permanent magnet asynchronous motor through an encoder, and deriving the rotating speed signal theta to obtain the actual rotating speed omega of the five-phase permanent magnet asynchronous motor; calculating preset rotating speed omega of five-phase permanent magnet asynchronous motor*obtaining an error e by the difference value of omega with the actual rotating speed; inputting the error e into a sliding film control module to obtain a control quantity, and inputting the control quantity into a voltage source inverter; the voltage source inverter outputs current and voltage according to the control quantity to drive the five-phase permanent magnet asynchronous motor to output new real powerInter-transmission; and returning to obtain the actual rotating speed output by the five-phase permanent magnet asynchronous motor through the encoder again, and continuously and repeatedly forming negative feedback regulation based on the sliding mode control.
according to the control method of the five-phase permanent magnet asynchronous motor, provided by the embodiment of the invention, the equivalent sliding film control rate and the switching sliding film control rate of the sliding film control module are designed by obtaining the dynamic equation of the drive control system of the five-phase permanent magnet asynchronous motor in the presence of disturbance and the set first sliding film surface and the set complementary sliding film surface. And then, calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor through a sliding film control module, inputting a control quantity, determining a control current through the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed, thereby realizing the control of the five-phase permanent magnet asynchronous motor based on a complementary sliding film. Because the sliding mode control module is designed based on a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, and the sliding mode control is a nonlinear control mode insensitive to interference, the requirements of the five-phase permanent magnet asynchronous motor on nonlinear and high-performance speed regulation control can be met, and the five-phase permanent magnet asynchronous motor can be accurately controlled.
another embodiment of the present invention provides a control apparatus for a five-phase permanent magnet asynchronous motor, as shown in fig. 4, including:
an obtaining unit 401, configured to obtain an actual rotation speed of the five-phase permanent magnet asynchronous motor.
It should be noted that, the specific working process of the obtaining unit 401 may refer to step S201 in the foregoing method embodiment accordingly, and is not described herein again.
a calculating unit 402, configured to calculate a difference between the preset rotation speed of the five-phase permanent magnet asynchronous motor and the actual rotation speed.
it should be noted that, the specific working process of the calculating unit 402 may refer to step S202 in the foregoing method embodiment accordingly, which is not described herein again.
and the synovial membrane control unit 403 is configured to input the difference value into a synovial membrane control module designed in advance, so as to obtain a control amount through calculation of the synovial membrane control module.
wherein, the synovial membrane control module calculates based on the equivalent synovial membrane control rate and the switching synovial membrane control rate. And the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, and the set first slip film surface and the set complementary slip film surface.
It should be noted that, the specific working process of the synovial membrane control unit 403 can refer to step S203 in the above method embodiment, and is not described herein again.
And the driving unit 404 is configured to determine a control current according to the control quantity, and drive the five-phase permanent magnet asynchronous motor to output a new actual rotation speed based on the control current.
it should be noted that, the specific working process of the driving unit 404 may refer to step S204 in the above method embodiment accordingly, which is not described herein again.
Optionally, in another embodiment of the present invention, the obtaining unit includes:
the acquisition subunit is configured to acquire a rotational angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and perform derivation on the rotational angular velocity signal to obtain an actual rotational speed of the five-phase permanent magnet asynchronous motor.
it should be noted that, for the specific working process of the obtaining sub-unit, a specific implementation manner of step S201 in the foregoing method embodiment may be referred to accordingly, and details are not described here again.
Optionally, in another embodiment of the present invention, the driving unit includes:
and the driving subunit is used for outputting control current and control voltage according to the control quantity and the input voltage by using the voltage source inverter, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
it should be noted that, the specific working process of the driving subunit may refer to a specific implementation manner of step S204 in the foregoing method embodiment, and is not described herein again.
optionally, in another embodiment of the present invention, the control device for a five-phase permanent magnet asynchronous motor further includes: and designing a unit. As shown in fig. 5, the design unit includes:
The building unit 501 is configured to build a mathematical model of a driving system in a weak magnetic operation area of the five-phase permanent magnet asynchronous motor, so as to obtain a relational expression between a stator flux linkage and a stator current component.
the first determining unit 502 is configured to obtain, based on the relational expression between the stator flux linkage and the stator current component, a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor in the presence of disturbance, where the dynamic equation is as follows:
wherein the content of the first and second substances,Is a derivative of the actual rotational speed of the motor,delta A, Delta B and Delta C are uncertainty disturbance caused by the moment of inertia J and the parameter B, isM1as a component of the exciting current isT1As a torque current component, Ls1stator inductance of S-axis component, Lm1Stator inductance of M-axis component, P is number of poles, sigma1is the fundamental plane leakage inductance coefficient, BωIs the coefficient of friction of the system.
The conversion unit 503 is configured to convert the dynamic equation into:wherein H ═ Δ A ω + Δ BisM1isT1+(C+ΔC)TL，IP＝isM1isT1H is total uncertainty disturbance, | H | < rho, and rho is a normal number.
a slide surface defining unit 504 for defining a first slide surface S and a complementary slide surface S, respectivelyC。
wherein the first slide film surface S is:The complementary slide film surface SCComprises the following steps:e is the difference between the preset rotating speed and the actual rotating speed, and lambda is the coefficient of the sliding surface.
a control quantity defining unit 505, configured to make I be the control quantity output by the synovial membrane control module, and define I ═ Ieq+Ihit(ii) a Wherein, IeqFor equivalent synovial membrane control rate, IhitTo switch the synovial membrane control rate.
A second determining unit 506, configured to obtain the equivalent synovial membrane control rate based on the dynamic equation, the first synovial surface, the complementary synovial surface, and the expression of the control amount as follows: the control rate of the switching sliding film is as follows:
Wherein phi is the width of the boundary layer,sat is the saturation function.
it should be noted that, the specific working process of the unit in the embodiment of the present invention may refer to steps S101 to S105 in the method embodiment, which is not described herein again.
Optionally, in another embodiment of the present invention, the designing unit further includes:
and the second calculation unit is used for defining the Lyapunov function, and performing derivation on the Lyapunov function based on the relation between the first slide film surface and the complementary slide film surface to obtain a derivative of the Lyapunov function.
Wherein the defined Lyapunov function is:The relationship between the first slide surface area and the complementary slide surface area is:
A judging unit configured to judge whether or not a derivative of the Lyapunov function is less than or equal to 0; and if the derivative of the Lyapunov function is judged to be less than or equal to 0, determining that the synovial membrane control module has stability.
It should be noted that, for the specific working process of the unit in the embodiment of the present invention, reference may be made to the further steps included after step S204 in the method embodiment, which are not described herein again.
The control device of the five-phase permanent magnet asynchronous motor is obtained by a design unit based on a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first sliding film surface and a set complementary sliding film surface, and the equivalent sliding film control rate and the sliding film switching control rate of a sliding film control module are designed. And then the slip film control unit calculates the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor through the slip film control module, inputs a control quantity, determines a control current based on the control quantity through the driving unit, and drives the five-phase permanent magnet asynchronous motor to output a new actual rotating speed, so that the control of the five-phase permanent magnet asynchronous motor is realized based on the complementary slip film. Because the sliding mode control module is designed based on a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, and the sliding mode control is a nonlinear control mode insensitive to interference, the requirements of the five-phase permanent magnet asynchronous motor on nonlinear and high-performance speed regulation control can be met, and the five-phase permanent magnet asynchronous motor can be accurately controlled.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. a control method of a five-phase permanent magnet asynchronous motor is characterized by comprising the following steps:
acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor;
calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor;
inputting the difference value into a pre-designed sliding film control module to obtain a control quantity through calculation of the sliding film control module; the sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate; the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first slip film surface and a set complementary slip film surface;
and determining a control current according to the control quantity, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current.
2. the method of claim 1, wherein the obtaining of the current actual rotating speed of the five-phase permanent magnet asynchronous motor comprises:
The method comprises the steps of obtaining a rotation angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and obtaining the current actual rotating speed of the five-phase permanent magnet asynchronous motor by derivation of the rotation angular velocity signal.
3. the method according to claim 1, wherein the determining a control current according to the control quantity and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current comprises:
And outputting control current and control voltage by using a voltage source inverter according to the control quantity and the input voltage, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
4. The method of claim 1, wherein the synovial control module design method comprises:
constructing a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor to obtain a relational expression of stator flux linkage and stator current components;
Based on the relational expression of the stator flux linkage and the stator current component, the dynamic equation of the drive control system of the five-phase permanent magnet asynchronous motor under the disturbance is obtained as follows:
wherein the content of the first and second substances,Is a derivative of the actual rotational speed of the motor,Delta A, Delta B and Delta C are uncertainty disturbance caused by the moment of inertia J and the parameter B, isM1as a component of the exciting current isT1as a torque current component, Ls1Stator inductance of S-axis component, Lm1Stator inductance of M-axis component, P is number of poles, sigma1is the fundamental plane leakage inductance coefficient, Bωis the coefficient of friction of the system;
converting the dynamic equation into:Wherein H ═ Δ A ω + Δ BisM1isT1+(C+ΔC)TL，IP＝isM1isT1H is total uncertainty disturbance, | H | < rho, rho is a normal number;
respectively defining a first slide surface S and a complementary slide surface SC(ii) a Wherein the first slide film surface S is:the complementary slide film surface SCComprises the following steps:e is the difference value between the preset rotating speed and the actual rotating speed, and lambda is the coefficient of the sliding surface;
let I be the control quantity output by the synovial membrane control module, and define I ═ Ieq+Ihit(ii) a Wherein, Ieqfor equivalent synovial membrane control rate, Ihitto switch the synovial membrane control rate;
and obtaining the equivalent synovial membrane control rate based on the dynamic equation, the first synovial membrane surface, the complementary synovial membrane surface and the expression of the control quantity as follows:The control rate of the switching sliding film is as follows:
wherein phi is the width of the boundary layer,sat is the saturation function.
5. the method according to claim 4, further comprising, after the obtaining the equivalent synovial membrane control rate and the switching synovial membrane control rate based on the dynamic equation and the expression of the first synovial surface, the complementary synovial surface, and the control amount:
defining a Lyapunov function, and deriving the Lyapunov function based on the relationship between the first slide film surface and the complementary slide film surface to obtain a derivative of the Lyapunov function;
Determining whether the derivative of the Lyapunov function is less than or equal to 0;
If the derivative of the Lyapunov function is judged to be less than or equal to 0, determining that the synovial membrane control module has stability;
Wherein the defined Lyapunov function is:The relationship between the first slide surface area and the complementary slide surface area is:
6. A control device of a five-phase permanent magnet asynchronous motor is characterized by comprising:
The acquiring unit is used for acquiring the current actual rotating speed of the five-phase permanent magnet asynchronous motor;
the calculating unit is used for calculating the difference value between the preset rotating speed and the actual rotating speed of the five-phase permanent magnet asynchronous motor;
The sliding film control unit inputs the difference value into a pre-designed sliding film control module so as to obtain a control quantity through calculation of the sliding film control module;
The sliding film control module calculates based on the equivalent sliding film control rate and the switching sliding film control rate; the equivalent slip film control rate and the slip film switching control rate are obtained according to a dynamic equation of a driving control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance, a set first slip film surface and a set complementary slip film surface;
And the driving unit is used for determining control current according to the control quantity and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed based on the control current.
7. The apparatus of claim 6, wherein the obtaining unit comprises:
The acquisition subunit is configured to acquire a rotation angular velocity signal of the five-phase permanent magnet asynchronous motor through an encoder, and perform derivation on the rotation angular velocity signal to obtain a current actual rotation speed of the five-phase permanent magnet asynchronous motor.
8. the apparatus of claim 6, wherein the drive unit comprises:
And the driving subunit is used for outputting control current and control voltage according to the control quantity and the input voltage by using the voltage source inverter, and driving the five-phase permanent magnet asynchronous motor to output a new actual rotating speed.
9. the apparatus of claim 6, further comprising: a design unit, wherein the design unit comprises:
the construction unit is used for constructing a mathematical model of a driving system of a weak magnetic operation area of the five-phase permanent magnet asynchronous motor to obtain a relational expression of stator flux linkage and stator current components;
The first determining unit is used for obtaining a dynamic equation of a drive control system of the five-phase permanent magnet asynchronous motor under the condition of disturbance based on a relational expression of the stator flux linkage and the stator current component, wherein the dynamic equation is as follows:
Wherein the content of the first and second substances,is a derivative of the actual rotational speed of the motor,Delta A, Delta B and Delta C are uncertainty disturbance caused by the moment of inertia J and the parameter B, isM1As a component of the exciting current isT1As a torque current component, Ls1Stator inductance of S-axis component, Lm1stator inductance of M-axis component, P is number of poles, sigma1Is the fundamental plane leakage inductance coefficient, Bωis the coefficient of friction of the system;
a conversion unit for converting the dynamic equation into:Wherein H ═ Δ A ω + Δ BisM1isT1+(C+ΔC)TL，IP＝isM1isT1h is total uncertainty disturbance, | H | < rho, rho is a normal number;
A slide film surface defining unit for defining a first slide film surface S and a complementary slide film surface S, respectivelyC(ii) a Wherein the first slide film surface S is:the complementary slide film surface SCcomprises the following steps: e is the sum of the preset rotation speedThe difference of the actual rotating speed, wherein lambda is the coefficient of the sliding surface;
A control quantity defining unit for making I be the control quantity output by the synovial membrane control module, and defining I ═ Ieq+Ihit(ii) a Wherein, Ieqfor equivalent synovial membrane control rate, IhitTo switch the synovial membrane control rate;
A second determining unit, configured to calculate, based on the dynamic equation and the expressions of the first slide surface, the complementary slide surface, and the controlled variable, the equivalent slide surface control rate as follows: The control rate of the switching sliding film is as follows:
wherein phi is the width of the boundary layer,sat is the saturation function.
10. the apparatus of claim 9, wherein the design unit further comprises:
A second calculating unit, configured to define a lyapunov function, and derive the lyapunov function based on a relationship between the first slide film surface and the complementary slide film surface to obtain a derivative of the lyapunov function;
Wherein the defined Lyapunov function is:the relationship between the first slide surface area and the complementary slide surface area is:
A judging unit configured to judge whether or not a derivative of the Lyapunov function is less than or equal to 0; and if the derivative of the Lyapunov function is judged to be less than or equal to 0, determining that the synovial membrane control module has stability.
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