CN110932634A - Design method of current regulator of permanent magnet synchronous motor driving system - Google Patents

Design method of current regulator of permanent magnet synchronous motor driving system Download PDF

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CN110932634A
CN110932634A CN201911230067.3A CN201911230067A CN110932634A CN 110932634 A CN110932634 A CN 110932634A CN 201911230067 A CN201911230067 A CN 201911230067A CN 110932634 A CN110932634 A CN 110932634A
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permanent magnet
magnet synchronous
synchronous motor
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CN110932634B (en
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付兴贺
何航
徐彧田
付相达
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Southeast University
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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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention discloses a method for designing a current regulator of a permanent magnet synchronous motor driving system, which comprises the following steps: and establishing a permanent magnet synchronous motor current loop model considering the change of the motor model, and identifying the deviation between the motor model and the nominal model in real time by using an inertia link. And designing a feedforward link, correcting the control quantity at an input end, and compensating the deviation between models. For the modified system, the PI controller parameters are designed to make the current loop system a typical type I system. The current regulator design method provided by the invention has better adaptability to perturbation of a motor model and can effectively eliminate the influence of the perturbation on the performance of the controller.

Description

Design method of current regulator of permanent magnet synchronous motor driving system
Technical Field
The invention relates to a design method of a regulator, in particular to a design method of a current regulator of a permanent magnet synchronous motor driving system, and belongs to the technical field of motor control.
Background
In recent years, a permanent magnet synchronous motor is widely applied to a plurality of industrial occasions, particularly a high-performance alternating current servo system, by virtue of the advantages of high reliability, high power factor, high efficiency and the like. With the development of the technology of the permanent magnet synchronous motor, the permanent magnet synchronous motor is more frequently used in severe environments such as aerospace, war industry, mechanical manufacturing and the like. The harsh operating environment changes the model of the machine, which puts higher demands on the design of the regulator.
In the control method of the permanent magnet synchronous motor, the magnetic field orientation control is commonly used, and a PI (Proportional-integral) controller is used for controlling alternating-current and direct-current shaft currents of the motor respectively under a synchronous rotating shaft system, so that a control object can be changed from alternating current quantity to direct current quantity, the control process is simplified, and the control precision is improved. However, although the current loop structure using the PI controller is simple to control and successfully applied to industrial control, one set of PI parameters is only applicable to one section of working condition, and a desired control effect cannot be obtained in the whole control range. The control performance of the current loop of the traditional PI structure is difficult to obtain expected effects when a motor model is changed, so that a new method for designing a current regulator of a permanent magnet synchronous motor driving system is urgently needed.
Disclosure of Invention
The invention provides a method for designing a current regulator of a permanent magnet synchronous motor driving system aiming at the problems in the prior art, and the scheme can effectively eliminate the deviation between an actual model and a nominal model of a motor.
In order to achieve the above object, the present invention provides a method for designing a current regulator of a driving system of a permanent magnet synchronous motor, which is characterized by comprising the following steps:
step 1) establishing a permanent magnet synchronous motor current loop model considering motor model change;
step 2) identifying the deviation between the motor model and the nominal model in real time by using an inertia link;
step 3), designing a correction control quantity of a feedforward link;
and 4) designing parameters of the PI controller to enable the current loop system to be a typical I-type system.
As an improvement of the present invention, step 1) establishes a current loop model of the permanent magnet synchronous motor considering the change of the motor model, and the specific derivation process is as follows:
the current loop model of the permanent magnet synchronous motor under the synchronous rotation coordinate system is as follows:
Figure BDA0002303292030000011
wherein u isd，uqAre d-q axis voltages, respectively; i.e. id，iqAre d-q axis currents, respectively; l isd，LqThe equivalent inductances of d-q axes of the stator windings are respectively; rsIs the stator winding resistance; psifIs a permanent magnet flux linkage; omegarIs the rotor electrical angular velocity.
Will be coupled term-Lqωriq(t) and Ldωrid(t)+ψfωrAs an internal feedback loop, let
Figure BDA0002303292030000021
Wherein v isd，vqRespectively, the d-q axis controller output voltages.
Then there is
Figure BDA0002303292030000022
Considering that the electrical parameters in the motor model change, the resistances of the resistance changes Δ R, d and q axes change Δ Ld and Δ Lq respectively, and the current loop model of the permanent magnet synchronous motor considering the motor model change can be obtained as follows:
Figure BDA0002303292030000023
the method is simplified and can be obtained:
Figure BDA0002303292030000024
wherein
Figure BDA0002303292030000025
Figure BDA0002303292030000026
The method for designing the permanent magnet synchronous motor current loop model in the step 1) has the advantages that the traditional permanent magnet synchronous motor current loop model is an ideal model, however, deviation caused by actual working conditions exists in the actual permanent magnet synchronous motor model, the method aims to solve the problem that the current regulator is designed when deviation exists between the actual model and a nominal model of the motor, so that the permanent magnet synchronous motor current loop model considering motor model change is firstly deduced, and the factor of the motor model change is considered in the design of the regulator.
As an improvement of the present invention, the deviation identified in step 2) is:
Figure BDA0002303292030000027
wherein x ═ idiq]T，u＝[vdvq]T(ii) a "+" is the convolution operator; omegafIs the cutoff frequency of the first-order inertial element.
The step 2) has the advantages that the deviation between the actual model and the nominal model of the motor is identified by using the first-order inertia link, and the method has the advantages of simple structure, easy implementation, definite parameter significance and convenient debugging.
As an improvement of the present invention, the control law used for correcting the control amount in the step 3) is:
Figure BDA0002303292030000031
where u' (t) is the PI controller output.
The step 3) has the advantages that the deviation is taken as a whole and is corrected through designing a feedforward link, so that a corrected system is equivalent to a nominal model, the design of the regulator is further simplified, and the change of a motor model is not considered when the regulator is designed.
As an improvement of the present invention, the method for designing the PI controller parameters in step 4) is as follows:
the d-axis and q-axis current loop models of the permanent magnet synchronous motor are respectively as follows:
1/(Rs+Lds)、1/(Rs+Lqs)
designing the parameters of the PI controller to make the current loop system a typical I-type system, the transfer function of the PI controller is as follows:
Figure BDA0002303292030000032
wherein Kd＝αLd,Kq＝αLq,Tid＝Ld/Rs,Tiq＝Lq/Rsα is the ideal current loop closed loop bandwidth.
The step 4) has the advantages that the PI parameter is expressed as an algebraic expression between the motor parameter and the ideal current loop closed-loop bandwidth in the step 4), and the two parameters of the PI controller are combined into one parameter, so that the setting is easy. In addition, the current loop system is a typical I-type system, and the current tracking is free of overshoot.
The PI controller output of claim 4 is thus derived as:
U′(s)＝(X*(s)-X(s))C′(s)
＝(X*(s)-X(s))(B-1α(1-A/s))
where U '(s) is the laplace form of U' (t), X(s) is the laplace form of a given current, and X(s) is the laplace form of a feedback current.
By combining the steps, the mathematical model of the current regulator of the permanent magnet synchronous motor driving system provided by the invention can be obtained as follows:
U(s)＝B-1[(1+ωf/s)(-sX(s)+AX(s)+BU′(s))+sX(s)-AX(s)]
＝B-1[BU′(s)+ωf/s·BU′(s)+ωf/s·(-sX(s)+AX(s))]
＝U′(s)+ωf/s·U′(s)+ωf/s·B-1(-sX(s)+AX(s))
＝U′(s)+(ωf/s+ωf/α)U′(s)-ωfB-1(1-A/s)X*(s)
compared with the prior art, the invention has the advantages that 1) the permanent magnet synchronous motor driving system contains a large amount of disturbance and uncertainty, the scheme considers the change of a motor model when designing a current regulator and deduces a current loop model of the permanent magnet synchronous motor when the motor model changes; 2) the method for identifying the deviation is simple and easy to realize, and the deviation between the actual model and the nominal model of the motor can be identified only by using a first-order inertia link; 3) the scheme can correct the control quantity in real time through a feedforward link, effectively eliminates the influence of the change of a motor model on the performance of the regulator, and improves the current tracking performance and the robust performance of the system; 4) the current regulator designed by the scheme only has two parameters, and each has definite physical significance, is convenient to set and is suitable for engineering application; 5) the scheme enlarges the application range of the permanent magnet synchronous motor, and particularly enables the permanent magnet synchronous motor driving system to be suitable for complex working conditions.
Drawings
Fig. 1 is a schematic structural diagram of a current regulator of a driving system of a permanent magnet synchronous motor according to the present invention;
fig. 2 is a system structure block diagram of an embodiment of a current regulator design method for a permanent magnet synchronous motor drive system according to the present invention;
FIG. 3a is a Baud chart of the current closed loop transfer function of a current regulator using the PMSM drive system proposed by the present invention;
FIG. 3b is a Baud chart of the current loop closed loop transfer function with parameter change using a conventional PI controller;
fig. 4 is a graph comparing d-axis current results of a conventional PI controller and a current regulator of a permanent magnet synchronous motor driving system according to the present invention (the resistance parameter is 2 times the actual resistance), (a) is a given step signal, and (b) is a given sinusoidal signal;
fig. 5 is a graph comparing d-axis current results of a conventional PI controller and a current regulator of a permanent magnet synchronous motor driving system according to the present invention (inductance parameter is 0.5 times actual inductance), (a) is a given step signal, and (b) is a given sine signal.
Detailed description of the invention
For the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.
Example 1: referring to fig. 1-5, a method of designing a current regulator for a permanent magnet synchronous motor drive system, the method comprising the steps of:
step 1) establishing a permanent magnet synchronous motor current loop model considering motor model change;
step 2) identifying the deviation between the motor model and the nominal model in real time by using an inertia link;
step 3), designing a correction control quantity of a feedforward link;
and 4) designing parameters of the PI controller to enable the current loop system to be a typical I-type system.
The method comprises the following steps of 1) establishing a permanent magnet synchronous motor current loop model considering motor model change, and comprises the following specific processes:
the current loop model of the permanent magnet synchronous motor under the synchronous rotation coordinate system is as follows:
Figure BDA0002303292030000041
wherein u isd，uqAre d-q axis voltages, respectively; i.e. id，iqAre d-q axis currents, respectively; l isd，LqThe equivalent inductances of d-q axes of the stator windings are respectively; rsIs the stator winding resistance; psifIs a permanent magnet flux linkage; omegarIs the rotor electrical angular velocity.
Coupling term-L in (1)qωriq(t) and Ldωrid(t)+ψfωrAs an internal feedback loop, let
Figure BDA0002303292030000042
Wherein v isd，vqRespectively, the d-q axis controller output voltages.
Substituting (2) into (1) has:
Figure BDA0002303292030000051
considering that the electrical parameters in the motor model change, the resistances of the resistance changes Δ R, d and q axes change Δ Ld and Δ Lq respectively, and the current loop model of the permanent magnet synchronous motor considering the motor model change can be obtained as follows:
Figure BDA0002303292030000052
the method is simplified and can be obtained:
Figure BDA0002303292030000053
wherein
Figure BDA0002303292030000054
f (t) is the deviation between the actual model and the nominal model of the motor.
Figure BDA0002303292030000055
Order to
Figure BDA0002303292030000056
Can be rewritten as (5)
Figure BDA0002303292030000057
In the step 2), the deviation can be identified through an inertia link gf (t)
Figure BDA00023032920300000511
Wherein
Figure BDA0002303292030000058
Is the identified deviation; "" is a convolution operator.
The invention selects the following first-order inertia link
Gf(s)＝ωf/(s+ωf) (9)
Wherein G isf(s) is gf(t) laplace form; omegafIs the cut-off frequency of the first-order inertia element.
In the step 3), the following feed-forward link is designed
Figure BDA0002303292030000059
Where u' (t) is the PI controller output.
The PI controller parameters designed in the step 4) are
Figure BDA00023032920300000510
Wherein Kd＝αLd,Kq＝αLq,Tid＝Ld/Rs,Tiq＝Lq/Rsα is the ideal current loop closed loop bandwidth.
The PI controller output can thus be found to be:
Figure BDA0002303292030000061
where U '(s) is the Laplace form of U' (t), X*(s) is the laplace form of the given current, and X(s) is the laplace form of the feedback current.
From the foregoing parts, the structure schematic diagram of the current regulator of the permanent magnet synchronous motor driving system provided by the invention is shown in fig. 1.
According to the above, the mathematical model of the current regulator of the permanent magnet synchronous motor driving system provided by the invention is as follows:
Figure BDA0002303292030000062
fig. 2 is a block diagram of a system structure of an embodiment of a method for designing a current regulator of a driving system of a permanent magnet synchronous motor according to the present invention.
The system transfer function can be obtained by combining (7), (10) and (12) as follows
X(s)＝DxX*(s)+DfF(s) (14)
Wherein DxFor a matrix of transfer functions of a given current to an output current, DfIs a matrix of transfer functions perturbed to the output current.
Figure BDA0002303292030000063
Figure BDA0002303292030000064
Substituting (6) into (14) can obtain a current loop transfer function of considering the parameter change as
Figure BDA0002303292030000065
Wherein G ″)d(s) is the d-axis current loop transfer function, G ″)q(s) is the q-axis current loop transfer function.
Figure BDA0002303292030000066
Figure BDA0002303292030000067
In consideration of the change in the electrical parameters, G ″)dThe(s) bode diagram is shown in fig. 3 (a).
Using a PI controller, taking into account the current loop transfer function as the motor model changes
Figure BDA0002303292030000071
Wherein G'd(s) is a d-axis current loop transfer function, G'q(s) is the q-axis current loop transfer function.
Figure BDA0002303292030000072
Figure BDA0002303292030000073
G 'taking into account the variation of the electrical parameters'dThe(s) bode diagram is shown in fig. 3 (b).
Comparing fig. 3(a) and fig. 3(b), it can be seen that the method for designing the current regulator of the permanent magnet synchronous motor driving system provided by the invention can obviously suppress disturbance caused by motor model change, and has the advantages of almost no change of current loop bandwidth, no overshoot of amplitude-frequency characteristics, and the like.
In order to better illustrate the improvement of the robustness of the system parameters by the method provided by the invention, the traditional PI method is compared with the method provided by the invention. The experimental results of fig. 4 and 5 show that the method provided by the invention can effectively eliminate the influence caused by the change of the motor model.
It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and equivalent changes or substitutions made on the basis of the above-mentioned technical solutions are all within the scope of the present invention as defined in the claims.

Claims (6)

1. A method for designing a current regulator of a permanent magnet synchronous motor driving system is characterized by comprising the following steps:
step 1) establishing a permanent magnet synchronous motor current loop model considering motor model change;
step 2) identifying the deviation between the motor model and the nominal model in real time by using an inertia link;
step 3), designing a correction control quantity of a feedforward link;
and 4) designing parameters of the PI controller to enable the current loop system to be a typical I-type system.
2. The method for designing the current regulator of the permanent magnet synchronous motor driving system according to claim 1, wherein the step 1) is to establish a permanent magnet synchronous motor current loop model considering the motor model change, and specifically comprises the following steps:
Figure FDA0002303292020000011
wherein u isd，uqAre d-q axis voltages, respectively; i.e. id，iqAre d-q axis currents, respectively; l isd，LqThe equivalent inductances of d-q axes of the stator windings are respectively; rsIs the stator winding resistance; psifIs a permanent magnet flux linkage; omegarIs the rotor electrical angular velocity;
will be coupled term-Lqωriq(t) and Ldωrid(t)+ψfωrAs an internal feedback loop, let
Figure FDA0002303292020000012
Wherein v isd，vqThe output voltages of the d-q axis controllers are respectively;
then there is
Figure FDA0002303292020000013
Considering that the electrical parameters in the motor model change, the resistances of the resistance changes Δ R, d and q axes change Δ Ld and Δ Lq respectively, and the current loop model of the permanent magnet synchronous motor considering the motor model change can be obtained as follows:
Figure FDA0002303292020000014
the method is simplified and can be obtained:
Figure FDA0002303292020000015
wherein
Figure FDA0002303292020000016
Figure FDA0002303292020000017
3. The method of designing a current regulator for a PMSM drive system of claim 1, wherein the deviations identified in step 2) are:
Figure FDA0002303292020000021
wherein x ═ idiq]Tu＝[vdvq]T(ii) a "+" is the convolution operator; omegafIs the cutoff frequency of the first-order inertial element.
4. The method for designing a current regulator of a permanent magnet synchronous motor drive system according to claim 1, wherein the control law for correcting the control quantity in the step 3) is as follows:
Figure FDA0002303292020000022
where u' (t) is the PI controller output.
5. The method for designing the current regulator of the permanent magnet synchronous motor driving system according to claim 1, wherein the method for designing the PI controller parameters in the step 4) is as follows:
the d-axis and q-axis current loop models of the permanent magnet synchronous motor are respectively as follows:
1/(Rs+Lds)、1/(Rs+Lqs)
designing the parameters of the PI controller to make the current loop system a typical I-type system, the transfer function of the PI controller is as follows:
Figure FDA0002303292020000023
wherein Kd＝αLd,Kq＝αLq,Tid＝Ld/Rs,Tiq＝Lq/Rsα is an ideal current loop-closing ring beltWidth;
the PI controller output of claim 4 is thus derived as:
U′(s)＝(X*(s)-X(s))C′(s)
＝(X*(s)-X(s))(B-1α(1-A/s))
where U '(s) is the Laplace form of U' (t), X*(s) is the laplace form of the given current, and X(s) is the laplace form of the feedback current.
6. A method for designing a current regulator of a permanent magnet synchronous motor driving system is characterized in that a designed mathematical model of the current regulator is as follows:
Figure FDA0002303292020000024
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