CN111555688B - Digital control method and system for high-bandwidth current loop - Google Patents
Digital control method and system for high-bandwidth current loop Download PDFInfo
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- CN111555688B CN111555688B CN202010399107.3A CN202010399107A CN111555688B CN 111555688 B CN111555688 B CN 111555688B CN 202010399107 A CN202010399107 A CN 202010399107A CN 111555688 B CN111555688 B CN 111555688B
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- 230000003068 static effect Effects 0.000 claims abstract description 22
- 238000005070 sampling Methods 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims abstract description 8
- 230000001131 transforming effect Effects 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 9
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
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Classifications
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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
- 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
Abstract
The invention discloses a high-bandwidth current loop digital control method and a system, which can solve the technical problems of slow dynamic response and poor stability of the existing current loop control technology. The method comprises the steps of rapidly sampling three-phase current of a motor through an analog-to-digital converter, and compensating the collected current; transforming the current under a static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change of the sampled three-phase current; converting the current signal under the two-phase stationary coordinate system into current signals under the rotating orthogonal coordinate systems (d, q); calculating and determining motor related parameters; designing a control algorithm based on motor related parameters; down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system; sector calculation and per unit; and calculating the conduction time of the driving tube. The invention comprehensively considers the model of the motor, introduces key parameters and feedforward compensation of the motor in the control law, and obviously improves the response speed of the current loop.
Description
Technical Field
The invention relates to the technical field of electromechanics, in particular to a high-bandwidth current loop digital control method and system.
Background
The control of the current loop of the motor plays a very important role in the servo closed-loop control, the control effect on the motor is determined by the quality of the control law design, and the quality of the controlled object can be reflected by the quality of the control relative to the speed loop and the position loop of the current loop, so that the factors influencing the control design, such as the resistance, the inductance, the control frequency, the counter electromotive force constant and the like of the motor are found by fully considering the characteristics of the motor, the control mode and the control target of the loop in the control law design process.
The existing current loop control technology has the following defects: (1) The existing model-based algorithm is too complex, consumes resources, and has slow dynamic response and poor stability; (2) The failure of conventional PID algorithms to utilize controlled object information results in poor accuracy and rapidity.
Disclosure of Invention
The invention provides a high-bandwidth current loop digital control method and a system, which can solve the technical problems of slow dynamic response and poor stability of the existing current loop control technology.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a high-bandwidth current loop digital control method comprises the following steps:
step 1) collecting three-phase current of a motor: the three-phase current of the motor is rapidly sampled through an analog-to-digital converter, and the collected current is compensated;
step 2) Clark transformation: transforming the current under a static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change of the sampled three-phase current;
step 3) PARK transformation: further converting the current signals under the two-phase stationary coordinate system into current signals under the rotating orthogonal coordinate system (d, q), and realizing decoupling of excitation and control;
step 4) calculating relevant parameters of the motor;
step 5) design of a model algorithm: designing a control algorithm aiming at parameters of a current model of the motor, wherein the algorithm considers the accuracy of motor current control and also considers dynamic response characteristics;
step 6) PARK inverse transformation: down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system;
step 7), sector calculation and per unit;
step 8) calculating the conduction time of the driving tube;
further, the relevant parameters of the motor in the step 4) include: determining motor rotor mechanical speed θ spd Inductance L and flux linkageResistor R, control frequency f, pole pair number P, back EMF constant k v Direct current bus voltage U; wherein:
wherein θ is elec Is the electrical speed of the motor rotor.
Further, the specific calculation principle of the step 5) is as follows:
calculating a feedback control rate model compensation term:
wherein iq is fdb 、θ spd 、id fdb The q-axis current component, the electrical angular velocity of the rotor, and the d-axis current component, respectively.
Feedforward control compensation term calculation:
u 2 ＝L×f×0.666，
and (3) calculating a feedback error control term:
u 3 ＝R×e q_now +L×f×0.666×iq in ×K his
wherein e q_now 、K his The current q-axis current component error and the control coefficient, respectively.
On the other hand, the invention also discloses a high-bandwidth current loop digital control system, which comprises the following units:
the current sampling unit is used for rapidly sampling three-phase current of the motor through the analog-to-digital converter and compensating the collected current;
the current coordinate conversion unit is used for converting the current under the static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change on the sampled three-phase current;
the current signal conversion unit is used for converting the current signals under the two-phase static coordinate system into the current signals under the rotating orthogonal coordinate system (d, q) so as to realize the decoupling of excitation and control;
a motor parameter determining unit for calculating and determining motor related parameters;
the control module unit is used for designing a control algorithm based on the related parameters of the motor;
a voltage value processing unit for down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system;
a sector processing unit for calculating and per-unit-transforming the sector;
and the conduction time determining unit is used for calculating the conduction time of the driving pipe.
According to the technical scheme, the high-bandwidth current loop digital control method has the following beneficial effects:
the motor model is comprehensively considered, key parameters and feedforward compensation of the motor are introduced into the control law, and the response speed of the current loop is remarkably improved; meanwhile, a feedback error compensation term is introduced, so that the stability and the accuracy of a loop are improved, the response capability of the loop is improved on the premise that the control of the current does not influence the control accuracy of the current, and the bandwidth of a system is increased.
Drawings
FIG. 1 is a flow chart of the steps of the method of the present invention;
FIG. 2 is a flow chart of some steps of the algorithm of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
As shown in fig. 1, the high-bandwidth current loop digital control method according to the embodiment includes the following steps:
step 1) collecting three-phase current of a motor: the three-phase current of the motor is rapidly sampled through an analog-to-digital converter, and the collected current is compensated;
step 2) Clark transformation: transforming the current under a static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change of the sampled three-phase current;
step 3) PARK transformation: further converting the current signals under the two-phase stationary coordinate system into current signals under the rotating orthogonal coordinate system (d, q), and realizing decoupling of excitation and control;
step 4) calculating relevant parameters of the motor;
step 5) design of a model algorithm: designing a control algorithm aiming at parameters of a current model of the motor, wherein the algorithm considers the accuracy of motor current control and also considers dynamic response characteristics;
step 6) PARK inverse transformation: down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system;
step 7) carrying out per unit processing on the static coordinate system voltage and judging the sector;
step 8) calculating the conduction time of the driving tube of each sector according to the per-unit voltage value;
the following is a specific description:
step 1) respectively sampling digital values N corresponding to the current three-phase current values of the motor x X=a, b, c, and a corresponding digital value M at zero current x X=a, b, c, calculating an analog voltage value n from the digital value x Analog voltage value m corresponding to zero current x The current three-phase current value can be calculated according to the information as follows:
i x ＝k i (N x -M x )＝k i N x -k i M x
where x=a, b, c.
Step 2) converting the current signals under the three-phase static coordinate system into two-phase signals under the three-phase static coordinate system to obtain:
wherein i is D 、i Q D, Q axis current components in two-phase stationary coordinate system, respectively.
Step 3) further converting the current signals under the two-phase stationary coordinate system into current signals under the rotating orthogonal coordinate system to obtain:
i d ＝i D cosθ+i Q sinθ
i q ＝-i D sinθ+i Q cosθ
wherein θ represents an electrical angle of the motor rotor, i d 、i q In order to reduce the complexity of operation and increase the operation speed, the sine and cosine functions can be processed in a table look-up mode, and a one-dimensional table is manufactured according to the program refreshing time by taking a sine signal as an example:
Sintable[]＝{0,sinT,...,1}
where T represents the sampling time, the same can be done for cosine signals.
Step 4) calculating relevant parameters of the motor, and determining the mechanical speed theta of the motor rotor spd Inductance L and flux linkageResistor R, control frequency f, pole pair number P, back EMF constant k v Direct current bus voltage U; the mechanical speed and flux linkage can be found by:
wherein the electrical velocity can be calculated by the following formula:
θ elec ＝60γΔSP
here γ, Δs are the position registration refresh rate and the travel difference of the rotor, respectively.
Step 5) the design of the whole algorithm comprises the following steps, firstly calculating d-axis and q-axis current errors:
wherein e d_now 、e q_now 、i dref 、i qref The current errors of the d axis and the q axis and the reference current signals of the d axis and the q axis are respectively. And then, the previous errors of d and q axes are summed to obtain:
wherein i is din 、i qin 、e d_last 、e q_last The sum of the previous errors of d and q and the previous errors of d and q axes are respectively. Based on the control requirement, the previous error summation term output is then limited by i dmin <i din <i dmax 、i qmin <i qin <i qmax The last error is then updated as:
wherein i is drefl 、i qrefl For the d, q axes of previous references.
Updating the previous reference value as follows:
the d and q voltage outputs are calculated as:
finally, the output is limited by the amplitude v dmin <v d <v dmax ，v qmin <v q <v qmax 。
The specific flow chart is shown in figure 2.
Step 6) the calculated voltage value is transformed from an orthogonal rotation coordinate system to a two-phase stationary coordinate system to obtain the following steps:
the sine and cosine signals can be calculated in a table look-up mode.
Wherein v is D 、v Q The output voltage components in the stationary D, Q coordinate system, respectively.
Step 7) carrying out per unit conversion by using the voltage of D, Q axis to obtain:
the sector determination is made according to the above equation as follows:
u a >0,u b <0,u c <0 sector 1
u a <0,u b >0,u c <0 sector 2
u a >0,u b >0,u c <0 sector 3
u a <0,u b <0,u c >0 sector 4
u a >0,u b <0,u c >0 sector 5
u a <0,u b >0,u c >0 sector 6.
Step 8) judging the conduction time of the pipe according to the sector where the pipe is positioned as follows:
sector 1:
sector 2:
sector 3:
sector 4:
sector 5:
sector 6:
here T a 、T b 、T c The conduction time of the upper bridge arm tubes of the three-phase bridges a, b and c is respectively shown, and U represents the motor supply voltage.
In general, in a control system such as radar azimuth, aircraft nacelle take-off and landing, and the like, the frequent change of load puts forward higher requirements on the current loop response of a servo controller.
On the other hand, the embodiment of the invention also discloses a high-bandwidth current loop digital control system, which comprises the following units:
the current sampling unit is used for rapidly sampling three-phase current of the motor through the analog-to-digital converter and compensating the collected current;
the current coordinate conversion unit is used for converting the current under the static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change on the sampled three-phase current;
the current signal conversion unit is used for converting the current signals under the two-phase static coordinate system into the current signals under the rotating orthogonal coordinate system (d, q) so as to realize the decoupling of excitation and control;
a motor parameter determining unit for calculating and determining motor related parameters;
the control module unit is used for designing a control algorithm based on the related parameters of the motor;
a voltage value processing unit for down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system;
a sector processing unit for calculating and per-unit-transforming the sector;
and the conduction time determining unit is used for calculating the conduction time of the driving pipe.
It may be understood that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and explanation, examples and beneficial effects of the related content may refer to corresponding parts in the above method.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A current loop digital control method is characterized in that: the method comprises the following steps:
s100, rapidly sampling three-phase current of a motor through an analog-to-digital converter, and compensating the collected current;
s200, transforming the sampled three-phase current into a stationary two-phase coordinate current signal through coordinate change;
s300, converting current signals under a two-phase static coordinate system into current signals under a rotating orthogonal coordinate system (d, q), and realizing excitation and control decoupling;
s400, calculating and determining motor related parameters;
s500, designing a control algorithm based on motor related parameters;
s600, the calculated voltage value is transformed from an orthogonal rotation coordinate system to a two-phase stationary coordinate system;
s700, carrying out per unit processing on the static coordinate system voltage, and judging the sector;
s800, calculating the conduction time of each sector driving pipe according to the per-unit voltage value;
the step S100 specifically includes:
respectively sampling digital values corresponding to the current three-phase current values of the motor，/>And the corresponding digital value at zero current +.>，/>According to digital valuesCalculating analog voltage value +.>Analog voltage value corresponding to zero current +.>The current three-phase current value is calculated according to the information as follows:
wherein the method comprises the steps of,/>Is a digital-to-analog conversion scale factor;
the step S200 specifically includes:
the current signals under the three-phase static coordinate system are converted into two-phase signals under the three-phase static coordinate system to obtain:
wherein the method comprises the steps of、/>D, Q axis current components in a two-phase stationary coordinate system;
the step S300 specifically includes:
the current signal under the two-phase stationary coordinate system is converted into the current signal under the rotating orthogonal coordinate system to obtain:
wherein the method comprises the steps ofIndicating the electrical angle of the motor rotor +.>、/>In order to reduce the complexity of operation and increase the operation speed, the sine and cosine functions are processed in a table look-up mode, sine signals are used for refreshing time according to a program, and a one-dimensional table is manufactured as follows:
wherein T represents sampling time, and the cosine signal can be processed in the same way;
the step S400 specifically includes:
calculating relevant parameters of the motor and determining the mechanical speed of the rotor of the motorInductance L, magnetic linkage->Resistor R, control frequency f, pole pair number P, back EMF constant>Direct current bus voltage U;
wherein, the mechanical speed and flux linkage are obtained by the following formula:
wherein the electrical speed is calculated using the formula:
here, the、/>Respectively recording the refresh speed and the travel difference of the rotor for the position;
the step S500 specifically comprises the following steps:
first, d-axis and q-axis current errors are calculated:
wherein the method comprises the steps of、/>、/>、/>The current errors of the d axis and the q axis and the reference current signals of the d axis and the q axis are respectively;
and then, the previous errors of d and q axes are summed to obtain:
wherein the method comprises the steps of、/>、/>、/>Summing the previous errors of d and q and the previous errors of d and q axes respectively;
based on the control requirement, the previous error summation term output is then limited、/>The last error is then updated as:
wherein the method comprises the steps of、/>Previous references for d, q axes;
updating the previous reference value as follows:
the d and q voltage outputs are calculated as:
finally, the output is limited>，/>。
2. The current loop digitization control method of claim 1, wherein: the step S600 specifically includes the following steps:
down-converting the calculated voltage value from the orthogonal rotation coordinate system to the two-phase stationary coordinate system to obtain:
the sine and cosine signals are calculated in a table look-up mode;
wherein the method comprises the steps of、/>The output voltage components in the stationary D, Q coordinate system, respectively.
3. The current loop digitization control method of claim 2, wherein: the step S700 specifically includes the following steps:
the per unit is obtained by using the voltage of D, Q axis:
the sector determination is made according to the above equation as follows:
sector 1
Sector 2
Sector 3
Sector 4
Sector 5
Sector 6.
4. A current loop digitization control method according to claim 3, wherein:
the step S800 specifically includes the following steps:
the tube conduction time is judged according to the sector where the tube is located as follows:
sector 1:
sector 2:
sector 3:
sector 4:
sector 5:
sector 6:
here, the、/>、/>The conduction time of the upper bridge arm tubes of the three-phase bridges a, b and c is respectively shown, and U represents the motor supply voltage.
5. A current loop digitization control system for implementing the current loop digitization control method of any one of claims 1-4, wherein: comprising the following units:
the current sampling unit is used for rapidly sampling three-phase current of the motor through the analog-to-digital converter and compensating the collected current;
the current coordinate conversion unit is used for converting the current under the static three-phase coordinate system into a static two-phase coordinate current signal through coordinate change on the sampled three-phase current;
the current signal conversion unit is used for converting the current signals under the two-phase static coordinate system into the current signals under the rotating orthogonal coordinate system (d, q) so as to realize the decoupling of excitation and control;
a motor parameter determining unit for calculating and determining motor related parameters;
the control module unit is used for designing a control algorithm based on the related parameters of the motor;
a voltage value processing unit for down-converting the calculated voltage value from the orthogonal rotation coordinate system to a two-phase stationary coordinate system;
a sector processing unit for calculating and per-unit-transforming the sector;
and the conduction time determining unit is used for calculating the conduction time of the driving pipe.
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