CN110635740A - Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy - Google Patents
Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy Download PDFInfo
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- CN110635740A CN110635740A CN201911092024.3A CN201911092024A CN110635740A CN 110635740 A CN110635740 A CN 110635740A CN 201911092024 A CN201911092024 A CN 201911092024A CN 110635740 A CN110635740 A CN 110635740A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
The invention discloses a permanent magnet synchronous motor vector control method based on a voltage feedforward compensation strategy. The method comprises the steps of firstly, establishing a corresponding mathematical model for the permanent magnet synchronous servo motor under a synchronous rotating coordinate system. Then, a speed and current double closed-loop control method is adopted, a voltage feedforward compensation regulator is used for compensating coupling quantity generated in a voltage component when the permanent magnet synchronous motor rotates by utilizing feedforward quantity, d-axis voltage and q-axis voltage under a rotating coordinate system are obtained, and finally good control over the permanent magnet synchronous motor is achieved through Park transformation, Space Vector Pulse Width Modulation (SVPWM for short) and Clark transformation. The invention aims at the problem that the control requirement of the system cannot be met by singly using the speed ring under the working conditions of high-speed operation, frequent positive and negative rotation conversion and the like of the permanent magnet synchronous motor, and improves the control performance of the motor system.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a vector control voltage feedforward compensation method for a permanent magnet synchronous motor.
Background
Because the permanent magnet synchronous motor has the advantages of simple structure, small volume, high efficiency, high power density, high response speed, high safety and the like, the permanent magnet synchronous motor gradually replaces a direct current motor in some driving fields, and is widely applied to various places such as flexible manufacturing systems, wind power generation, new energy automobiles and the like. Therefore, the method has important application value to the control strategy of the permanent magnet synchronous motor.
At present, the control strategy for the permanent magnet synchronous motor mainly comprises constant voltage frequency ratio control, direct torque control, nonlinear intelligent control and vector control. Although the constant-pressure frequency ratio control can obtain a larger speed regulation range, the control requirement on the high-torque working condition cannot be met; although the direct torque control is simple to realize, the direct torque control has the defects of poor load capacity, large torque ripple and the like; the nonlinear intelligent control can only be used in medium and high speed working conditions, and is not suitable for low rotating speed of the motor; the vector control has small pulsation, good acceleration performance and high control precision, so the vector control is widely applied to various motor theories. When the motor is changed due to load, especially under the working conditions of high-speed operation and frequent forward and reverse rotation transformation of the motor, the traditional vector control strategy based on PI regulation cannot meet the control requirement of the permanent magnet synchronous motor. Therefore, on the basis of vector control, certain improvement is made to the vector control, and the improvement of the motor control performance is very necessary.
Disclosure of Invention
Aiming at the problems, in order to overcome the influence on the motor control caused by load change and other disturbances, particularly the problem that the traditional vector control method cannot meet the system control requirement in the occasions of high-speed operation and frequent forward and reverse conversion, the invention provides a voltage feedforward compensation strategy.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a permanent magnet synchronous motor vector control method based on a voltage feedforward compensation strategy mainly comprises the following steps:
step 1: based on a relevant model of the permanent magnet synchronous motor, iron loss and eddy current loss are ignored, and a stator voltage equation and a flux linkage equation of the permanent magnet synchronous motor in a synchronous rotating coordinate system can be expressed as follows:
in the formula id,iq,ud,uq,Ld,LqD-and q-axis currents, voltages and inductances, ω, respectivelyeIs the electrical angular velocity, RsIs stator resistance, #fIs a permanent magnet flux linkage.
Step 2: the voltage component of the permanent magnet synchronous motor during rotation has a coupling quantity, and the feedforward quantity u is increasedd0＝-ωeLqiqAnd uq0＝ωeLdid+ωeψfThe voltage feedforward quantity and the coupling quantity are mutually counteracted, so that the benign control of the motor is realized. Substituting the feedforward compensation quantity into a voltage output equation to obtain:
by substituting the above into the stator voltage equation, one can obtain:
in the formula (I), the compound is shown in the specification,
reference currents for d-and q-axes derived from motor torque-current relationship, GiIs the regulator gain.
And step 3: the stationary three-phase winding ABC can generate three-phase balanced sinusoidal current ia，ib，icThe three-phase winding ABC coordinate system can be replaced by a two-phase static mutually-perpendicular alpha-beta coordinate system.
In the formula, N2Number of turns of two-phase winding of motor, N3The number of turns of the three-phase winding of the motor; i.e. ia，ib，icThe current of each phase winding of the motor; i.e. iα，iβIs the stator current in the alpha-beta coordinate system.
And 4, step 4: the conversion between a static coordinate system and a rotating coordinate system is realized, the number of turns of the set intermediate parameter can be eliminated in the equation of the magnetomotive force, and the included angle between the alpha axis and the d axis is made to be
The relationship between the individual currents can be derived from the coordinate system:
drawings
Fig. 1 is a block diagram of a vector control system of a permanent magnet synchronous motor.
FIG. 2 is a diagram of a voltage feed forward compensation control system.
FIG. 3 is a Clark transformation coordinate system transformation relation diagram.
Fig. 4 is a graph of the Park transformation coordinate system conversion relation.
Detailed Description
In order to make the technical solutions, technical objects, and advantages of the present invention clearer, the present invention is further described below with reference to the accompanying drawings.
Based on a permanent magnet synchronous motor vector control system block diagram shown in fig. 1, a control system of a permanent magnet synchronous motor vector control method based on a voltage feedforward compensation strategy comprises two closed-loop links, a PMSM body module, a coordinate transformation module, an SVPWM module and a three-phase voltage inverter module.
The two closed-loop links are respectively a speed closed loop and a current closed loop to form double closed-loop feedback of the motor rotating speed and the motor current. The speed closed loop adopts a traditional PI regulator, which can follow the speed of the motor and reduce overshoot and static errors; and determining a reference current of the current loop; meanwhile, the limitation on the rotating speed is realized, and the influence on the motor due to overlarge rotating speed and torque change is avoided. The current closed loop can follow a given current reference signal; the maximum current value is ensured to change when the rotating speed of the motor dynamically changes, and the quick response capability of the motor is improved; and meanwhile, the motor is prevented from being burnt due to overhigh current.
Neglecting the close saturation on the basis of the related prior model of the permanent magnet synchronous motor; eddy current and magnetic hysteresis loss are not counted; the rotor is provided with no damping winding, and the permanent magnet is also provided with no damping winding; establishing a corresponding mathematical model for the permanent magnet synchronous motor on the basis of a synchronous rotating coordinate system:
in the formula id,iq,ud,uq,Ld,LqD-and q-axis currents, voltages and inductances, ω, respectivelyeIs the electrical angular velocity, RsIs stator resistance, #fIs a permanent magnet flux linkage.
Further, based on the voltage feedforward compensation control system diagram shown in fig. 2, the coupling amount ω exists in the voltage component when the permanent magnet synchronous motor rotateseLqiq、-ωeLdidAnd-omegaeψfThe conventional PI regulatorThe nonlinear regulation can be realized, and if the traditional PI regulator is adopted to regulate parameters containing coupling components, the coupling quantity only gradually increases along with the acceleration of the rotating speed of the motor, so that the performance of a motor control system is gradually deterioratedd0＝-ωeLqiqAnd uq0＝ωeLdid+ωeψfThe voltage feedforward quantity and the coupling quantity are mutually counteracted, so that the benign control of the motor is realized. Substituting the feedforward compensation quantity into a voltage output equation to obtain:
by substituting the above into the stator voltage equation, one can obtain:
in the formula (I), the compound is shown in the specification,
reference currents for d-and q-axes derived from motor torque-current relationship, GiIs the regulator gain. As can be seen from the above formula, the coupling quantity is successfully eliminated by the feedforward quantity, and the decoupling control of the motor is realized.
Based on the Clark transformation coordinate system conversion relation diagram shown in FIG. 3, the stationary three-phase winding ABC can generate three-phase balanced sinusoidal current ia，ib，icThe magnetomotive force generated by the sinusoidal current has the same rotational direction as the current. Any phase winding is electrified with symmetrical current to generate rotating magnetomotive force, but only two phase windings are simplest, so that three phases are simplified and equivalent to two phase windings. Meanwhile, the magnetomotive force generated by the two-phase static and mutually-vertical alpha-beta coordinate system and the magnetomotive force generated by the three-phase winding ABC coordinate system are equivalent in magnitude, direction and speed, so that the two-phase static and mutually-vertical alpha-beta coordinate system and the three-phase winding ABC coordinate system can be realizedAnd (5) converting the mark system.
In the formula, N2Number of turns of two-phase winding of motor, N3The number of turns of the three-phase winding of the motor; i.e. ia，ib，icThe current of each phase winding of the motor; i.e. iα，iβIs the stator current in the alpha-beta coordinate system.
Based on the Park transformation coordinate system conversion relation diagram shown in fig. 4, the magnetomotive force generated by the d-axis and the q-axis in the rotating coordinate system is position-invariant for the two windings. When the winding rotates, the magnetomotive force rotates along with the winding, and the magnetomotive force is equivalent to the magnetomotive force generated by the alpha-beta coordinate system. Therefore, the conversion between the stationary coordinate system and the rotating coordinate system can be realized. The number of turns of the set intermediate parameter can be eliminated in the equation of the magnetomotive force, and the included angle between the alpha axis and the d axis is made to be
The relationship between the individual currents can be derived from the coordinate system:
Claims (5)
1. a permanent magnet synchronous motor vector control method based on a voltage feedforward compensation strategy is characterized by comprising the following steps: step one, establishing a corresponding mathematical model for a permanent magnet synchronous servo motor under a synchronous rotating coordinate system;
secondly, a speed current double closed-loop control method is adopted, a voltage feedforward compensation regulator is used for compensating coupling quantity generated in voltage components when the permanent magnet synchronous motor rotates through feedforward quantity, and d-axis voltage and q-axis voltage under a rotating coordinate system are obtained;
and step three, controlling the permanent magnet synchronous motor through Park conversion, Clark conversion and the like.
2. The vector control method of the permanent magnet synchronous motor based on the voltage feedforward compensation strategy as claimed in claim 1, wherein: the first step is as follows:
in the synchronous rotation coordinate system, a stator voltage equation and a flux linkage equation of the permanent magnet synchronous motor in the synchronous rotation coordinate system can be expressed as follows:
in the formula id,iq,ud,uq,Ld,LqD-and q-axis currents, voltages and inductances, ω, respectivelyeIs the electrical angular velocity, RsIs stator resistance, #fIs a permanent magnet flux linkage.
3. The vector control method of the permanent magnet synchronous motor based on the voltage feedforward compensation strategy as claimed in claim 2, characterized in that: the method for controlling the speed current double closed loop in the step two specifically comprises the following steps:
the voltage component of the permanent magnet synchronous motor during rotation has a coupling quantity, and the feedforward quantity u is increasedd0＝-ωeLqiqAnd uq0＝ωeLdid+ωeψfThe voltage feedforward quantity and the coupling quantity are mutually counteracted, so that the benign control of the motor is realized. Substituting the feedforward compensation quantity into a voltage output equation to obtain:
by substituting the above into the stator voltage equation, one can obtain:
in the formula (I), the compound is shown in the specification,
reference currents for d-and q-axes derived from motor torque-current relationship, GiIs the regulator gain.
4. The vector control method of the permanent magnet synchronous motor based on the voltage feedforward compensation strategy as claimed in claim 1, wherein: the Clark transformation is specifically as follows:
the stationary three-phase winding ABC can generate three-phase balanced sinusoidal current ia，ib，icThe three-phase winding ABC coordinate system can be replaced by a two-phase static mutually-perpendicular alpha-beta coordinate system:
in the formula, N2Number of turns of two-phase winding of motor, N3The number of turns of the three-phase winding of the motor; i.e. ia，ib，icThe current of each phase winding of the motor; i.e. iα，iβIs the stator current in the alpha-beta coordinate system.
5. The vector control method of the permanent magnet synchronous motor based on the voltage feedforward compensation strategy as claimed in claim 1, wherein: the Park transformation is specifically as follows:
the conversion between a static coordinate system and a rotating coordinate system is realized, the number of turns of the set intermediate parameter can be eliminated in the equation of the magnetomotive force, and the included angle between the alpha axis and the d axis is made to be
The relationship between the individual currents can be derived from the coordinate system:
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111224602A (en) * | 2020-02-27 | 2020-06-02 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111722110A (en) * | 2020-06-29 | 2020-09-29 | 北京理工大学 | Permanent magnet synchronous motor simulator based on voltage feedforward current feedback control |
| CN111800044A (en) * | 2020-07-20 | 2020-10-20 | 浙江零跑科技有限公司 | Stepless depth flux weakening method and system for permanent magnet synchronous motor |
| CN113517834A (en) * | 2021-07-14 | 2021-10-19 | 中国第一汽车股份有限公司 | Motor control method, device and system |
| CN116247990A (en) * | 2023-03-23 | 2023-06-09 | 哈尔滨理工大学 | Voltage vector feedforward compensation method for permanent magnet synchronous motor |
| 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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| CN106026839A (en) * | 2016-07-26 | 2016-10-12 | 江苏大学 | Adjacent two phase short-circuit fault-tolerant vector control method for electromagnetic suspension fault-tolerant permanent magnetic vernier cylindrical motor |
| CN108242905A (en) * | 2018-03-09 | 2018-07-03 | 核工业理化工程研究院 | Using the control method and control system of the permanent magnet synchronous motor of large rotating inertia |
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| US5329217A (en) * | 1992-12-30 | 1994-07-12 | Allen-Bradley Company, Inc. | Compensated feedforward voltage for a PWM AC motor drive |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111224602A (en) * | 2020-02-27 | 2020-06-02 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111224602B (en) * | 2020-02-27 | 2022-05-31 | 英迪迈智能驱动技术无锡股份有限公司 | Control method and control device of permanent magnet synchronous motor based on power balance |
| CN111722110A (en) * | 2020-06-29 | 2020-09-29 | 北京理工大学 | Permanent magnet synchronous motor simulator based on voltage feedforward current feedback control |
| CN111722110B (en) * | 2020-06-29 | 2021-09-03 | 北京理工大学 | Permanent magnet synchronous motor simulator based on voltage feedforward current feedback control |
| CN111800044A (en) * | 2020-07-20 | 2020-10-20 | 浙江零跑科技有限公司 | Stepless depth flux weakening method and system for permanent magnet synchronous motor |
| CN111800044B (en) * | 2020-07-20 | 2022-01-04 | 浙江零跑科技股份有限公司 | Stepless depth flux weakening method and system for permanent magnet synchronous motor |
| CN113517834A (en) * | 2021-07-14 | 2021-10-19 | 中国第一汽车股份有限公司 | Motor control method, device and system |
| CN113517834B (en) * | 2021-07-14 | 2023-03-21 | 中国第一汽车股份有限公司 | Motor control method, device and system |
| CN116247990A (en) * | 2023-03-23 | 2023-06-09 | 哈尔滨理工大学 | Voltage vector feedforward compensation method for permanent magnet synchronous motor |
| CN116247990B (en) * | 2023-03-23 | 2023-10-31 | 哈尔滨理工大学 | Voltage vector feedforward compensation method for permanent magnet synchronous motor |
| 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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