CN111614299A - A direct torque control method for PID permanent magnet synchronous motor based on ant colony optimization - Google Patents
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Abstract
本发明提供一种基于蚁群优化PID永磁同步电机直接转矩控制方法，本发明采用蚁群整定PID的比例，微分，积分系数，来实现对PID控制器的优化，将优化好的控制器用于对永磁同步电机直接转矩进行控制。将转速检测传感器获得的当前转矩与理论所要的转矩作差，获得当前转矩误差和定子磁链误差，将这两个误差作为控制模型的输入，输入到PID控制器中，通过控制器的传递函数，获得控制电机的电压矢量角度与幅值作为系统的输出，蚁群优化PID永磁同步电机直接转矩控制方法系统简单，容易实现参数整定，同时系统的稳定性及适应性强。
The present invention provides a direct torque control method of PID permanent magnet synchronous motor based on ant colony optimization. The present invention adopts the ant colony to adjust the proportion, differential and integral coefficients of PID to realize the optimization of the PID controller. For direct torque control of permanent magnet synchronous motors. The difference between the current torque obtained by the speed detection sensor and the theoretically required torque is used to obtain the current torque error and stator flux error. The transfer function of the control motor is obtained, and the voltage vector angle and amplitude of the control motor are obtained as the output of the system. The ant colony optimization PID permanent magnet synchronous motor direct torque control method is simple in system, easy to realize parameter tuning, and has strong stability and adaptability of the system.
Description
技术领域technical field
本发明属于电机控制技术领域，具体涉及一种基于蚁群优化PID永磁同步电机直接转矩控制方法。The invention belongs to the technical field of motor control, and in particular relates to a direct torque control method for a PID permanent magnet synchronous motor based on ant colony optimization.
背景技术Background technique
永磁同步电机通过在电动机中通入三相电流，电动机内部形成旋转磁场，转子中的永磁体在旋转磁场中旋转，最终达到转子的旋转速度与定子的旋转速度相同。直接转矩控制(Direct torque control，简称DTC)是一种变频器控制三相马达转矩的方式。其作法是依量测到的马达电压及电流，去计算马达磁通和转矩的估测值，在直接转矩控制中，定子磁通用定子电压积分而得。而转矩是以估测的定子磁通向量和量测到的电流向量内积为估测值。磁通和转矩会和参考值比较，若磁通或转矩和参考值的误差超过允许值，变频器中的功率晶体会切换，使磁通或转矩的误差可以尽快缩小。因此直接转矩控制也可以视为一种磁滞或继电器式控制。In the permanent magnet synchronous motor, a three-phase current is passed into the motor, and a rotating magnetic field is formed inside the motor. The permanent magnet in the rotor rotates in the rotating magnetic field, and finally the rotation speed of the rotor is the same as that of the stator. Direct torque control (DTC for short) is a way for the inverter to control the torque of a three-phase motor. The method is to calculate the estimated value of the motor magnetic flux and torque according to the measured motor voltage and current. In the direct torque control, the stator magnetic flux is obtained by integrating the stator voltage. The torque is estimated based on the inner product of the estimated stator flux vector and the measured current vector. The magnetic flux and torque will be compared with the reference value. If the error between the magnetic flux or torque and the reference value exceeds the allowable value, the power crystal in the inverter will switch, so that the error of the magnetic flux or torque can be reduced as soon as possible. Therefore, direct torque control can also be regarded as a hysteresis or relay control.
比例、微分、积分控制简称PID控制，比列使得系统快速到达目标，但会引起系统的振荡，微分用来对误差减小的速度进行抑制，积分用来消除静差。用PID控制永磁同步电机直接转矩控制，系统具有非常精确的控制效果，具有结构简单，稳定性好，同时不需要永磁同步电机准确的数学模型，用高速有效的方式使得系统误差减小，达到稳定状态。Proportional, differential and integral control is referred to as PID control. The proportionality makes the system reach the target quickly, but it will cause the system to oscillate. Using PID to control the direct torque control of permanent magnet synchronous motor, the system has very precise control effect, simple structure, good stability, and does not require the accurate mathematical model of permanent magnet synchronous motor, and reduces the system error in a high-speed and effective way , reaching a steady state.
中国发明专利CN110932635A公开发明了一种基于模糊控制逻辑的永磁同步电机直接转矩控制方法，将转速误差与定子链误差作为输入量输入到模糊控制器中，该种控制器训练过程复杂，系统响应性慢；中国发明专利CN110061669A公开发明了一种永磁同步电机直接转矩控制方法，将定子链与反馈定子链信号差作为super-twisting磁链控制器的输入，输出d轴电压矢量，并将q与d轴的电压矢量经过PARK反变换单元变换得到α，β轴电压，最终生成PWM控制信号，该种方法需要准确的永磁同步电机的控制模型，控制系统复杂。Chinese invention patent CN110932635A discloses and invents a direct torque control method of permanent magnet synchronous motor based on fuzzy control logic. The speed error and stator chain error are input into the fuzzy controller as input. The training process of this kind of controller is complicated and the system The response is slow; Chinese invention patent CN110061669A discloses and invents a direct torque control method for permanent magnet synchronous motor. The signal difference between the stator chain and the feedback stator chain is used as the input of the super-twisting flux linkage controller, and the d-axis voltage vector is output, and the The voltage vectors of q and d axes are transformed by the PARK inverse transformation unit to obtain the α and β axis voltages, and finally the PWM control signal is generated. This method requires an accurate control model of the permanent magnet synchronous motor, and the control system is complex.
这些永磁同步电机的直接转矩控制方法都不可避免地存在着各自的缺陷，限制了电机工程和实际生产中的应用。由此可见，现有永磁同步电机的直接转矩控制方法系统复杂，响应性低，适应性弱已不能满足要求，而采取一种基于蚁群优化PID永磁同步电机直接转矩控制方法。来改变现有技术的不足。These direct torque control methods of permanent magnet synchronous motors inevitably have their own shortcomings, which limit the application in electrical engineering and practical production. It can be seen that the existing direct torque control method of permanent magnet synchronous motor has complex system, low responsiveness and weak adaptability, which can no longer meet the requirements. to change the deficiencies of the existing technology.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术的以上缺陷，本发明的主要目的在于提供一种响应性高，适应性能更强，鲁棒性更好，收敛速度更快的控制模型来实现同步电机直接转矩控制方法；In view of the above defects of the prior art, the main purpose of the present invention is to provide a control model with high responsiveness, stronger adaptability, better robustness and faster convergence speed to realize the direct torque control method of synchronous motor ;
本发明的技术方案为：一种基于蚁群优化PID同步电机直接转矩控制方法，包括如下步骤：The technical scheme of the present invention is: a direct torque control method for a PID synchronous motor based on ant colony optimization, comprising the following steps:
首先将转速检测传感器获得的当前转矩与理论所要的转矩作差，获得当前转矩误差和定子磁链误差，将这两个误差作为控制模型的输入，输入到PID控制器中，通过控制器的传递函数，获得控制电机的电压矢量角度与幅值作为系统的输出；First, the difference between the current torque obtained by the speed detection sensor and the theoretically required torque is obtained to obtain the current torque error and the stator flux error. These two errors are used as the input of the control model and input into the PID controller. The transfer function of the motor is obtained, and the voltage vector angle and amplitude of the control motor are obtained as the output of the system;
进一步地获得永磁同步电机的定子电压与定子磁链方程如下：The stator voltage and stator flux linkage equations of the permanent magnet synchronous motor are further obtained as follows:
其中：ux、uy、ix、iy是x，y轴上的定子电压矢量u与定子电流矢量i的分量，R为定子电阻；Af代表永磁磁链的幅值，ω为Ax的旋转电角速度；δ为(-π/2，π/2)为定子磁链矢量As和转子磁链矢量Af间的夹角，称为转矩角；L为定子电感；Among them: u x , u y , i x , and i y are the components of the stator voltage vector u and the stator current vector i on the x and y axes, R is the stator resistance; A f represents the magnitude of the permanent magnet flux linkage, and ω is the The rotational electrical angular velocity of A x ; δ is (-π/2, π/2) is the angle between the stator flux linkage vector A s and the rotor flux linkage vector A f , called torque angle; L is the stator inductance;
获得永磁同步电机电磁转矩表达式为：The electromagnetic torque expression of the permanent magnet synchronous motor is obtained as:
进一步地，对所述Te表达式进行求导，设定As恒定不变：Further, the expression of Te is derived, and A s is set to be constant:
其中所述比例系数
进一步地，获得电磁转矩的变化率为：Further, the rate of change of the electromagnetic torque is obtained:
转矩脉冲均方根误差为：The torque pulse root mean square error is:
其次规定出采样时间间隔为T，转速检测传感器实时的检测永磁同步电机的当前转速，采样出当前同步电机的转速数据，并将当前转速与给定转速做差，通过上述式子计算出转速偏差变化率，同时获得到e(k)、r(k)，并计算t时刻的误差e(k)＝r(k)-y(t)；Secondly, the sampling time interval is specified as T, the speed detection sensor detects the current speed of the permanent magnet synchronous motor in real time, samples the current speed data of the synchronous motor, and makes the difference between the current speed and the given speed, and calculates the speed by the above formula. Deviation rate of change, obtain e(k), r(k) at the same time, and calculate the error at time t e(k)=r(k)-y(t);
其中根据系统的运行状态通过蚁群算法的训练，学习输出调节PID控制的3个参数，Kp、Ki、Kd，分别为比例系数，微分时间常量与积分时间常量；Among them, according to the running state of the system, through the training of the ant colony algorithm, the learning output adjusts the three parameters of the PID control, K p , K i , K d , which are the proportional coefficient, the differential time constant and the integral time constant respectively;
进一步地，将获得的永磁同步电机转速的误差信号进行处理，提取数据特征参数，并进行归一化处理，加入蚁群中进行参数的训练，若满足所给定的约束条件，误差小于一定范围或者训练到一定次数即终止训练，输出PID的三个参数的最优解，若不满足条件，则重新进入蚁群模型进行寻优；Further, the obtained error signal of the rotation speed of the permanent magnet synchronous motor is processed, the characteristic parameters of the data are extracted, normalized, and added to the ant colony for parameter training. If the given constraints are met, the error is less than a certain value. The training is terminated after a certain number of times or training, and the optimal solution of the three parameters of the PID is output. If the conditions are not met, the ant colony model is re-entered for optimization;
将已经获得的3个参数输入到PID控制器中，进一步地，我们获得如下的模型的数学式，通过比列、微分、积分共同控制；Input the obtained 3 parameters into the PID controller, and further, we obtain the mathematical formula of the following model, which is controlled by proportional, differential and integral;
进一步地，将PID算法离散化，e(k)为偏差，积分后误差累计为e(k)+e(k-1)+e(k-2)…+e(0)，微分为(e(k)-e(k-1))/T，有Further, the PID algorithm is discretized, e(k) is the deviation, the accumulated error after integration is e(k)+e(k-1)+e(k-2)...+e(0), and the differential is (e (k)-e(k-1))/T, there is
所述Kp为比例系数，
进一步地，为所述PID控制模型采用增量式，即有：Further, an incremental formula is adopted for the PID control model, namely:
u(k)＝Δu(k)+u(k-1)u(k)=Δu(k)+u(k-1)
最终，将获得的永磁同步电机转速的初始误差信号作为控制系统的输入，通过对误差的一次次迭代，在训练过程直到输出层的输出与期望值的偏差在规定的误差范围内时，系统停止；若不满足要求，令k＝k+1，继续进行对误差的消除；Finally, the obtained initial error signal of the speed of the permanent magnet synchronous motor is used as the input of the control system, and the system stops during the training process until the deviation between the output of the output layer and the expected value is within the specified error range through the iteration of the error. ; If the requirement is not met, let k=k+1, and continue to eliminate the error;
用已经训练好的PID控制模型对测试集进行测试，将搭建好的PID控制模型用于实际检测，检测结果即实现了永磁同步电机直接转矩控制方法。The test set is tested with the trained PID control model, and the built PID control model is used for actual detection. The test result realizes the direct torque control method of permanent magnet synchronous motor.
附图说明Description of drawings
图1为蚁群优化PID永磁同步电机直接转矩控制流程图；Fig. 1 is the direct torque control flow chart of ant colony optimization PID permanent magnet synchronous motor;
图2为蚁群算法对PID的参数整定；Figure 2 shows the parameter tuning of PID by ant colony algorithm;
图3为PID对永磁同步电机直接转矩误差的控制。Figure 3 shows the PID control of the direct torque error of the permanent magnet synchronous motor.
具体实施方式Detailed ways
下面结合具体实施方式对本发明作进一步的说明，其中，附图仅用于示例性说明，表示的仅是示意图，而非实物图，不能理解为对本专利的限制，对本领域技术人员来说，附图中某些公知结构及其说明可能省略是可以理解的，基于本发明中的具体实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他具体实施方式，都属于本发明保护的范围。The present invention will be further described below in conjunction with the specific embodiments, wherein, the accompanying drawings are only used for exemplary description, and are only schematic diagrams, not physical drawings, and should not be construed as restrictions on this patent. For those skilled in the art, the accompanying drawings It is understandable that some well-known structures and their descriptions in the drawings may be omitted. Based on the specific implementations in the present invention, all other specific implementations obtained by those of ordinary skill in the art without creative work belong to the present invention. Scope of invention protection.
图1为本发明所述蚁群优化PID永磁同步电机直接转矩控制流程图，如图1所示，首先将转速检测传感器获得的当前转矩与理论所要的转矩作差，获得当前转矩误差和定子磁链误差，将这两个误差作为控制模型的输入，输入到PID控制器中，通过控制器的传递函数，获得控制电机的电压矢量角度与幅值作为系统的输出；Fig. 1 is the direct torque control flow chart of the ant colony optimization PID permanent magnet synchronous motor according to the present invention. As shown in Fig. 1, first, the current torque obtained by the rotational speed detection sensor is made difference with the theoretically required torque to obtain the current torque. Torque error and stator flux error, these two errors are used as the input of the control model and input into the PID controller, through the transfer function of the controller, the voltage vector angle and amplitude of the control motor are obtained as the output of the system;
图2为蚁群算法对PID的参数整定，如图2所示：Figure 2 shows the parameter tuning of the PID by the ant colony algorithm, as shown in Figure 2:
进一步地获得永磁同步电机的定子电压与定子磁链方程如下：The stator voltage and stator flux linkage equations of the permanent magnet synchronous motor are further obtained as follows:
其中：ux、uy、ix、iy是x，y轴上的定子电压矢量u与定子电流矢量i的分量，R为定子电阻；Af代表永磁磁链的幅值，ω为Ax的旋转电角速度；δ为(-π/2，π/2)为定子磁链矢量As和转子磁链矢量Af间的夹角，称为转矩角；L为定子电感；Among them: u x , u y , i x , and i y are the components of the stator voltage vector u and the stator current vector i on the x and y axes, R is the stator resistance; A f represents the magnitude of the permanent magnet flux linkage, and ω is the The rotational electrical angular velocity of A x ; δ is (-π/2, π/2) is the angle between the stator flux linkage vector A s and the rotor flux linkage vector A f , called torque angle; L is the stator inductance;
获得永磁同步电机电磁转矩表达式为The electromagnetic torque expression of permanent magnet synchronous motor is obtained as
进一步地：对所述Te表达式进行求导，设定As恒定不变：Further: derive the expression of Te, and set A s to be constant:
其中所述比例系数
进一步地获得电磁转矩的变化率为：To further obtain the rate of change of electromagnetic torque:
转矩脉冲均方根误差为The torque pulse root mean square error is
其次规定出采样时间间隔为T，转速检测传感器实时的检测永磁同步电机的当前转速，采样出当前同步电机的转速数据，并将当前转速与给定转速做差，通过上述式子计算出转速偏差变化率，同时获得到e(k)、r(k)，并计算t时刻的误差e(k)＝r(k)-y(t)；Secondly, the sampling time interval is specified as T, the speed detection sensor detects the current speed of the permanent magnet synchronous motor in real time, samples the current speed data of the synchronous motor, and makes the difference between the current speed and the given speed, and calculates the speed by the above formula. Deviation rate of change, obtain e(k), r(k) at the same time, and calculate the error at time t e(k)=r(k)-y(t);
其中根据系统的运行状态通过蚁群算法的训练，学习输出调节PID控制的3个参数，Kp、Ki、Kd，分别为比例系数，微分时间常量与积分时间常量；Among them, according to the running state of the system, through the training of the ant colony algorithm, the learning output adjusts the three parameters of the PID control, K p , K i , K d , which are the proportional coefficient, the differential time constant and the integral time constant respectively;
进一步地，将获得的永磁同步电机转速的误差信号进行处理，提取数据特征参数，并进行归一化处理，加入蚁群中进行参数的训练，若满足所给定的约束条件，误差小于一定范围或者训练到一定次数即终止训练，输出PID的三个参数的最优解，若不满足条件，则重新进入蚁群模型进行寻优；Further, the obtained error signal of the rotation speed of the permanent magnet synchronous motor is processed, the characteristic parameters of the data are extracted, normalized, and added to the ant colony for parameter training. If the given constraints are met, the error is less than a certain value. The training is terminated after a certain number of times or training, and the optimal solution of the three parameters of the PID is output. If the conditions are not met, the ant colony model is re-entered for optimization;
图3为PID对永磁同步电机直接转矩误差的控制，如图3所示：Figure 3 shows the PID control of the direct torque error of the permanent magnet synchronous motor, as shown in Figure 3:
其次规定出采样时间间隔为T，转速检测传感器实时的检测永磁同步电机的当前转速，采样出当前同步电机的转速数据，并将当前转速与给定转速做差，通过上述式子计算出转速偏差变化率，同时获得到e(k)、r(k)，并计算t时刻的误差e(k)＝r(k)-y(t)；Secondly, the sampling time interval is specified as T, the speed detection sensor detects the current speed of the permanent magnet synchronous motor in real time, samples the current speed data of the synchronous motor, and makes the difference between the current speed and the given speed, and calculates the speed by the above formula. Deviation rate of change, obtain e(k), r(k) at the same time, and calculate the error at time t e(k)=r(k)-y(t);
其中根据系统的运行状态通过蚁群算法的训练，学习输出调节PID控制的3个参数，Kp、Ki、Kd，分别为比例系数，微分时间常量与积分时间常量；Among them, according to the running state of the system, through the training of the ant colony algorithm, the learning output adjusts the three parameters of the PID control, K p , K i , K d , which are the proportional coefficient, the differential time constant and the integral time constant respectively;
进一步地，将获得的永磁同步电机转速的误差信号进行处理，提取数据特征参数，并进行归一化处理，加入蚁群中进行参数的训练，若满足所给定的约束条件，误差小于一定范围或者训练到一定次数即终止训练，输出PID的三个参数的最优解，若不满足条件，则重新进入蚁群模型进行寻优；Further, the obtained error signal of the rotation speed of the permanent magnet synchronous motor is processed, the characteristic parameters of the data are extracted, normalized, and added to the ant colony for parameter training. If the given constraints are met, the error is less than a certain value. The training is terminated after a certain number of times or training, and the optimal solution of the three parameters of the PID is output. If the conditions are not met, the ant colony model is re-entered for optimization;
将已经获得的3个参数输入到PID控制器中，进一步地，我们获得如下的模型的数学式，通过比列、微分、积分共同控制；Input the obtained 3 parameters into the PID controller, and further, we obtain the mathematical formula of the following model, which is controlled by proportional, differential and integral;
进一步地，将PID算法离散化，e(k)为偏差，积分后误差累计为e(k)+e(k-1)+e(k-2)…+e(0)，微分为(e(k)-e(k-1))/T，有：Further, the PID algorithm is discretized, e(k) is the deviation, the accumulated error after integration is e(k)+e(k-1)+e(k-2)...+e(0), and the differential is (e (k)-e(k-1))/T, with:
所述Kp为比例系数，
进一步地，为所述PID控制模型采用增量式，即有：Further, an incremental formula is adopted for the PID control model, namely:
u(k)＝Δu(k)+u(k-1)u(k)=Δu(k)+u(k-1)
最终，将获得的永磁同步电机转速的初始误差信号作为控制系统的输入，通过对误差的一次次迭代，在训练过程直到输出层的输出与期望值的偏差在规定的误差范围内时，系统停止；若不满足要求，令k＝k+1，继续进行对误差的消除；Finally, the obtained initial error signal of the speed of the permanent magnet synchronous motor is used as the input of the control system, and the system stops during the training process until the deviation between the output of the output layer and the expected value is within the specified error range through the iteration of the error. ; If the requirement is not met, let k=k+1, and continue to eliminate the error;
用已经训练好的PID控制模型对测试集进行测试，将搭建好的PID控制模型用于实际检测，检测结果即实现了永磁同步电机直接转矩控制方法。The test set is tested with the trained PID control model, and the built PID control model is used for actual detection. The test result realizes the direct torque control method of permanent magnet synchronous motor.
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