CN110635732A - Double-interruption permanent magnet synchronous motor high-speed driving control method based on time sequence lag compensation - Google Patents

Double-interruption permanent magnet synchronous motor high-speed driving control method based on time sequence lag compensation Download PDF

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CN110635732A
CN110635732A CN201910552804.5A CN201910552804A CN110635732A CN 110635732 A CN110635732 A CN 110635732A CN 201910552804 A CN201910552804 A CN 201910552804A CN 110635732 A CN110635732 A CN 110635732A
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current
value
permanent magnet
interruption
speed
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王磊
肖磊
田皓元
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Harbin University of Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal 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
    • 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
    • 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
    • H02P21/22—Current control, e.g. using a current control loop

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensationd,UqCalculating, namely calculating angle lag caused by adopting a high-speed interruption compensation program, and finally realizing three-phase voltage U of the permanent magnet synchronous motor through space vector coordinate transformationu,Uv,UwAnd (6) outputting. The method can improve the output frequency of the pulse width modulation waveform of the three-phase voltage of the permanent magnet synchronous motor, reduce the phase current ripple noise of the permanent magnet synchronous motor, carry out lag compensation on the angle calculation time lag through high-speed interruption, ensure the accuracy of the pulse width modulation voltage waveform output by the high-speed interruption, and improve the control precision of a control system.

Description

Double-interruption permanent magnet synchronous motor high-speed driving control method based on time sequence lag compensation
The technical field is as follows:
the invention relates to a hysteresis compensation method for a driving angle of a high-speed permanent magnet synchronous motor, and belongs to the technical field of motor driving control.
Background art:
high speed motor drive control is the difficult point in servo motor drive control field, in order to realize the high rotational speed drive control of motor, motor structure is in the design process, it is high to motor back electromotive force design requirement, for reducing the back electromotive force under the high-speed state of motor, can reduce the motor stator number of turns, the reduction of motor stator number of turns can reduce motor inductance, the reduction of inductance can increase the motor phase current ripple that the drive process produced, lead to motor torque output to vibrate the increase, as shown in fig. 1, be unfavorable for the high accuracy stable control of motor. In addition, in the high-speed driving control process of the motor, the rotating speed of the rotor of the motor is high, time lag exists between the end of resolving the angle value and the final output of the motor driving pulse width modulation waveform, the control precision is reduced due to the time lag, and the rated power output cannot be guaranteed in a high-speed state.
The invention content is as follows:
in order to solve the above problems, the present invention provides a timing delay compensation-based high-speed driving control method for a dual-interruption permanent magnet synchronous motor, which improves the motor phase voltage pulse width modulation frequency through high-speed interruption to reduce the motor phase current ripple noise, and improves the driving control precision of the motor in a high-speed state by entering a high-speed interruption frequency lookup angle delay compensation value.
The above purpose is mainly achieved through the following scheme:
the invention discloses a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation, which is characterized by comprising the following steps of: the method comprises the following concrete implementation processes:
the method comprises the following steps: low speed interrupt calculation module setup
Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current valueu、iv、iwObtaining d-q axis feedback current i through space vector coordinate changed、iqAs shown in formula (1):
Figure BDA0002106011410000021
the calculation of a d-q axis voltage command is realized by adopting a control mode that d axis current is 0 and adopting a PI (proportional-integral) controller, wherein k represents the current calculation period, k-1 represents the last calculation period, and the current command value is converted from a three-phase current space vector according to the current calculation periodTo the actual d-q axis current feedback value id、iqCalculation is carried out, at this time d-axis current command idref0, the q-axis current command is iqrefTo find the current feedback deviation id_err、iq_errAs shown in formula (2):
current feedback error i according to current calculation periodd_err(k)、iq_err(k)And an integral coefficient KiFor current error integral value id_org(k)、iq_org(k)Solving is carried out as shown in formula (3):
current error integral value i obtained according to current calculation periodd_org(k)、iq_org(k)Feedback current id(k)、iq(k)And a proportionality coefficient KvSolving the d-q axis control voltage command is shown in the formula (4):
Figure BDA0002106011410000024
in the formula: rsIs an equivalent resistance, L, of a permanent magnet synchronous motord、LqIs the d-q axis equivalent inductance value, omega, of the permanent magnet synchronous motoreIs the electric angle rotating speed value of the permanent magnet synchronous motor,is the equivalent flux linkage coefficient of the permanent magnet synchronous motor.
Step two: high speed interrupt calculation module setup
Firstly, reading the analog quantity value of the encoder through an analog-to-digital conversion module of a single chip microcomputer, then starting the analog-to-digital conversion module, carrying out moving average filtering on the analog quantity values of the angle values obtained by continuous 4 high-speed interruptions, and firstly carrying out moving average filtering on four adjacent acquisition points Mj+1，Mj+2，Mj+3，Mj+4The corresponding angle analog quantity value is averaged and used as the basis for calculating the angle value, the equivalent position of the angle value analog quantity sampling point is the middle position x1 of 4 times of analog quantity value acquisition, the high-speed interruption time is recorded in the high-speed interruption calculation process, the interruption time is circulated from 1 to 4, the angle lag compensation value is obtained by looking up the table according to the interruption time, and the three-phase voltage output U is obtained by performing space vector transformation after the angle lag compensationu、Uv、UwAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation.
The invention has the beneficial effects that:
1. the high-speed motor is driven and controlled to rotate by adopting double interruption, wherein high-speed interruption can carry out high-frequency adjustment on motor phase current control, and phase current ripples caused by small inductance of the high-speed permanent magnet synchronous motor are reduced.
2. Due to the increase of the phase voltage pulse width modulation frequency, the phase current ripple of the permanent magnet synchronous motor is reduced, so that the proportional link coefficient of the current loop control of the control system can be increased, and the response speed of the current loop is improved.
3. And looking up a table according to the number of times of entering high-speed interruption to obtain an angle lag compensation value so as to improve the driving control precision of the motor in a high-speed state.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the current response waveform of a PMSM according to the present invention;
FIG. 2 is a high-speed and low-speed interrupt process flow of the present invention;
FIG. 3 is a timing diagram illustrating the acquisition of dual-interrupt angle analog and the compensation of angle lag in accordance with the present invention;
FIG. 4 is a diagram illustrating an angle lag compensation value according to the number of high-speed interrupt entries in the present invention;
the specific implementation mode is as follows:
in order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the following technical solutions are adopted in the present embodiment: a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation is characterized by comprising the following steps: the method comprises the following concrete implementation processes:
the method comprises the following steps: low speed interrupt calculation module setup
Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current valueu、iv、iwObtaining d-q axis feedback current i through space vector coordinate changed、iqAs shown in formula (1):
Figure BDA0002106011410000041
the method comprises the steps of adopting a control mode that d-axis current is 0, adopting a PI (proportional-integral) controller to realize calculation of d-q-axis voltage instructions, wherein k represents a current calculation period, k-1 represents a previous calculation period, and according to a current calculation period current instruction value and an actual d-q-axis current feedback value i obtained by three-phase current space vector transformationd、iqCalculation is carried out, at this time d-axis current command idref0, the q-axis current command is iqrefTo find the current feedback deviation id_err、iq_errAs shown in formula (2):
Figure BDA0002106011410000042
current feedback error i according to current calculation periodd_err(k)、iq_err(k)And an integral coefficient KiFor current error integral value id_org(k)、iq_org(k)Solving is carried out as shown in formula (3):
Figure BDA0002106011410000043
current error integral value i obtained according to current calculation periodd_org(k)、iq_org(k)Feedback current id(k)、iq(k)And a proportionality coefficient KvSolving the d-q axis control voltage command is shown in the formula (4):
Figure BDA0002106011410000044
in the formula: rsIs an equivalent resistance, L, of a permanent magnet synchronous motord、LqIs the d-q axis equivalent inductance value, omega, of the permanent magnet synchronous motoreIs the electric angle rotating speed value of the permanent magnet synchronous motor,
Figure BDA0002106011410000051
is the equivalent flux linkage coefficient of the permanent magnet synchronous motor.
Step two: high speed interrupt calculation module setup
Firstly, reading the analog value of the encoder through the analog-to-digital conversion module of the single chip microcomputer, then starting the analog-to-digital conversion module, and interrupting 4 continuous high-speed interrupts to obtain an angle value analog value acquisition point Mj+1， Mj+2，Mj+3，Mj+4The average is calculated and used as the basis for the calculation of the angle value, the equivalent position of the sampling point of the analog quantity of the angle value is the middle position x1 of 4 times of analog quantity value acquisition, and in the process of executing high-speed interruption, the low-speed interruption is synchronously executed, as shown in figure 3, in the process of executing high-speed interruption
Figure BDA0002106011410000055
Entering low-level interruption, calculating angle and control voltage command value, and ending the low-level interruption
Figure BDA0002106011410000056
And waiting for triggering of the high-level interrupt, and sending the calculated angle value into the high-level interrupt. Pulse width modulation during time t2And (4) after the wave making calculation is carried out to obtain a pulse width modulation command value, outputting a pulse width modulation wave at a counter peak t3 of the next control period by a hardware counter at high speed interruption. Therefore, the time delay from the triggering of the angle value analog-to-digital conversion module to the output of the pulse width modulation wave is as follows: Δ t _ delay1 ═ x2-x 1. In the process of high-speed interruption calculation, recording the times of entering high-speed interruption, circulating the interruption times from 1 to 4, looking up a table according to the times of entering interruption to obtain an angle hysteresis compensation value, setting the time sequence of entering high-level interruption as the first to the fourth, and setting the angle compensation value as the first
Figure BDA0002106011410000053
To
Figure BDA0002106011410000054
Assuming that the rotational angular velocity of the motor is ω r/min, the corresponding relationship between the high-level interruption times and the angular delay compensation value is shown in fig. 4.
θe＝θ+θb (5)
θeTo compensate for the relief angle value, θbThe compensation angle value obtained by table lookup.
After angle lag compensation, space vector transformation is carried out to obtain three-phase voltage output Uu、Uv、UwAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation, as shown in formula (6).
Figure BDA0002106011410000052

Claims (1)

1. A high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation is characterized by comprising the following steps: the method comprises the following concrete implementation processes:
the method comprises the following steps: low speed interrupt calculation module setup
Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current valueu、iv、iwObtaining d-q axis feedback current i through space vector coordinate changed、iqAs shown in formula (1):
Figure RE-FDA0002188839850000011
the method comprises the steps of adopting a control mode that d-axis current is 0, adopting a PI (proportional-integral) controller to realize calculation of d-q-axis voltage instructions, wherein k represents a current calculation period, k-1 represents a previous calculation period, and according to a current calculation period current instruction value and an actual d-q-axis current feedback value i obtained by three-phase current space vector transformationd、iqCalculation is carried out, at this time d-axis current command idref0, the q-axis current command is iqrefTo find the current feedback deviation id_err、iq_errAs shown in formula (2):
Figure RE-FDA0002188839850000012
current feedback error i according to current calculation periodd_err(k)、iq_err(k)And an integral coefficient KiFor current error integral value id_org(k)、iq_org(k)Solving is carried out as shown in formula (3):
Figure RE-FDA0002188839850000013
current error integral value i obtained according to current calculation periodd_org(k)、iq_org(k)Feedback current id(k)、iq(k)And a proportionality coefficient KvSolving the d-q axis control voltage command is shown in the formula (4):
Figure RE-FDA0002188839850000014
in the formula: rsIs an equivalent resistance, L, of a permanent magnet synchronous motord、LqIs equivalent electricity of d-q axis of the permanent magnet synchronous motorSensitivity value, ωeIs the electric angle rotating speed value of the permanent magnet synchronous motor,
Figure RE-FDA0002188839850000021
is the equivalent flux linkage coefficient of the permanent magnet synchronous motor.
Step two: high speed interrupt calculation module setup
Firstly, reading the analog quantity value of the encoder through an analog-to-digital conversion module of a single chip microcomputer, then starting the analog-to-digital conversion module, carrying out moving average filtering on the analog quantity values of the angle values obtained by continuous 4 high-speed interruptions, and firstly carrying out moving average filtering on four adjacent acquisition points Mj+1，Mj+2，Mj+3，Mj+4The corresponding angle analog quantity value is averaged and used as the basis for calculating the angle value, the equivalent position of the angle value analog quantity sampling point is the middle position x1 of 4 times of analog quantity value acquisition, the high-speed interruption time is recorded in the high-speed interruption calculation process, the interruption time is circulated from 1 to 4, the angle lag compensation value is obtained by looking up the table according to the interruption time, and the three-phase voltage output U is obtained by performing space vector transformation after the angle lag compensationu、Uv、UwAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation.
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CN116449884A (en) * 2023-04-14 2023-07-18 江苏吉泰科电气有限责任公司 Positioning method and device for motor spindle and computer readable storage medium

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CN116449884A (en) * 2023-04-14 2023-07-18 江苏吉泰科电气有限责任公司 Positioning method and device for motor spindle and computer readable storage medium

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