CN111614299A - Direct torque control method based on ant colony optimization PID permanent magnet synchronous motor - Google Patents
Direct torque control method based on ant colony optimization PID permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The invention provides a direct torque control method of a permanent magnet synchronous motor based on ant colony optimization PID, which adopts ant colony to adjust proportion, differential and integral coefficient of PID to realize optimization of a PID controller, and uses the optimized controller to control direct torque of the permanent magnet synchronous motor. The method is characterized in that the current torque obtained by a rotating speed detection sensor is differed from the torque theoretically required to obtain the current torque error and the stator flux linkage error, the two errors are used as the input of a control model and are input into a PID controller, the voltage vector angle and the amplitude of a control motor are obtained through the transfer function of the controller and are used as the output of a system, and the ant colony optimization PID permanent magnet synchronous motor direct torque control method is simple in system, easy to realize parameter setting and high in system stability and adaptability.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a direct torque control method for a PID permanent magnet synchronous motor based on ant colony optimization.
Background
The permanent magnet synchronous motor is characterized in that three-phase current is introduced into the motor, a rotating magnetic field is formed inside the motor, the permanent magnet in the rotor rotates in the rotating magnetic field, and finally the rotating speed of the rotor is the same as that of the stator. Direct Torque Control (DTC) is a way for an inverter to control the torque of a three-phase motor. The method is based on measured motor voltage and current to calculate the estimated values of motor flux and torque, and in direct torque control, the stator flux is integrated with the stator voltage. And the torque is estimated as the inner product of the estimated stator flux vector and the measured current vector. The magnetic flux and the torque are compared with a reference value, if the error between the magnetic flux or the torque and the reference value exceeds an allowable value, the power crystal in the frequency converter is switched, so that the error between the magnetic flux or the torque can be reduced as soon as possible. Direct torque control can therefore also be regarded as a hysteresis or relay control.
Proportional, derivative and integral control, PID control for short, causes the system to quickly reach the target but causes oscillation of the system, the derivative is used for suppressing the speed of error reduction, and the integral is used for eliminating the static error. The direct torque control of the permanent magnet synchronous motor is controlled by the PID, the system has a very accurate control effect, the structure is simple, the stability is good, meanwhile, an accurate mathematical model of the permanent magnet synchronous motor is not needed, the system error is reduced by a high-speed effective mode, and the stable state is achieved.
The Chinese invention patent CN110932635A discloses a direct torque control method of a permanent magnet synchronous motor based on fuzzy control logic, which takes a rotating speed error and a stator chain error as input quantities to be input into a fuzzy controller, and the controller has a complex training process and slow system responsiveness; the invention of Chinese patent application CN110061669A discloses a direct torque control method for a permanent magnet synchronous motor, which takes the signal difference between a stator chain and a feedback stator chain as the input of a super-twisting magnetic chain controller, outputs a d-axis voltage vector, transforms the voltage vectors of q and d axes through a PARK inverse transformation unit to obtain alpha and beta axis voltages, and finally generates a PWM control signal.
The direct torque control methods of the permanent magnet synchronous motor inevitably have respective defects, and limit the application in motor engineering and actual production. Therefore, the existing direct torque control method of the permanent magnet synchronous motor is complex in system, low in responsiveness and weak in adaptability, and cannot meet requirements, and an ant colony optimization-based PID direct torque control method of the permanent magnet synchronous motor is adopted. To ameliorate the deficiencies of the prior art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention mainly aims to provide a control model which has high responsiveness, stronger adaptability, better robustness and higher convergence rate to realize a direct torque control method of a synchronous motor;
the technical scheme of the invention is as follows: a PID synchronous motor direct torque control method based on ant colony optimization comprises the following steps:
firstly, the current torque obtained by a rotating speed detection sensor is differed from the torque theoretically required to obtain a current torque error and a stator flux linkage error, the two errors are used as the input of a control model and are input into a PID controller, and the voltage vector angle and the amplitude of a control motor are obtained through the transfer function of the controller and are used as the output of a system;
further obtaining the stator voltage and stator flux linkage equation of the permanent magnet synchronous motor as follows:
wherein: u. ofx、uy、ix、iyIs the component of stator voltage vector u and stator current vector i on the x, y axes, and R is the stator resistance; a. thefRepresents the amplitude of the permanent magnetic flux linkage, and omega is AxRotational electrical angular velocity of; is (-pi/2, pi/2) as stator flux linkage vector AsAnd rotor flux linkage vector AfThe included angle between them is called torque angle; l is a stator inductance;
the expression of the electromagnetic torque of the permanent magnet synchronous motor is obtained as follows:
further, for the TeThe expression is derived and set to AsConstant:
wherein the proportionality coefficient
θsAnd thetarThen is AsAnd AfThe included angle between the stator winding and the axis of the A-phase stator winding is formed; omegarIs AfRotational electrical angular velocity;
further, the rate of change of the electromagnetic torque is obtained as:
the torque pulse root mean square error is:
secondly, setting a sampling time interval as T, detecting the current rotating speed of the permanent magnet synchronous motor in real time by a rotating speed detection sensor, sampling rotating speed data of the current synchronous motor, making a difference between the current rotating speed and the set rotating speed, calculating a rotating speed deviation change rate by the formula, obtaining e (k) and r (k), and calculating an error e (k) at the time T, namely r (k) -y (T);
wherein 3 parameters, K, of PID control are learned and output and adjusted through the training of ant colony algorithm according to the running state of the systemp、Ki、KdThe differential time constant is a proportional coefficient, and the integral time constant is a differential time constant;
further, processing the obtained error signal of the rotating speed of the permanent magnet synchronous motor, extracting data characteristic parameters, performing normalization processing, adding the error signal into an ant colony for parameter training, terminating the training if the error is smaller than a certain range or the training reaches a certain number of times if the given constraint condition is met, outputting the optimal solution of three parameters of the PID, and entering the ant colony model again for optimization if the condition is not met;
inputting the obtained 3 parameters into a PID controller, and further obtaining a mathematical expression of the following model, wherein the mathematical expression is controlled by comparing, differentiating and integrating;
further, the PID algorithm is discretized, e (k) is deviation, and errors after integration are accumulated into e (k) + e (k-1) + e (k-2) … + e (0), and are differentiated into (e (k) — e (k-1))/T, wherein
Said KpIs a coefficient of proportionality that is,
for integral coefficient, by KiIt is shown that,
as differential coefficient, by KdRepresents;
further, an incremental form is adopted for the PID control model, namely:
u(k)＝Δu(k)+u(k-1)
finally, the obtained initial error signal of the rotating speed of the permanent magnet synchronous motor is used as the input of a control system, and the system stops through one iteration of the error until the deviation of the output layer and the expected value is within a specified error range in the training process; if the requirement is not met, making k equal to k +1, and continuing to eliminate the error;
and testing the test set by using the trained PID control model, using the established PID control model for actual detection, and realizing the direct torque control method of the permanent magnet synchronous motor according to the detection result.
Drawings
FIG. 1 is a flow chart of ant colony optimization PID PMSM direct torque control;
FIG. 2 is a parameter tuning of PID by the ant colony algorithm;
FIG. 3 illustrates PID control of PMSM direct torque error.
Detailed Description
The present invention will be further described with reference to the following detailed description, wherein the drawings are for illustrative purposes only and are not intended to be limiting, wherein certain well-known structures in the drawings and descriptions thereof may be omitted so as to enable those skilled in the art to understand the invention, and all other embodiments obtained by those skilled in the art without inventive faculty are within the scope of the invention.
Fig. 1 is a flow chart of the ant colony optimization PID permanent magnet synchronous motor direct torque control according to the present invention, as shown in fig. 1, firstly, the current torque obtained by a rotation speed detection sensor is subtracted from the theoretically required torque to obtain the current torque error and the stator flux linkage error, the two errors are used as the input of a control model, and are input into a PID controller, and the voltage vector angle and the amplitude of the control motor are obtained as the output of the system through the transfer function of the controller;
fig. 2 is a parameter setting of the ant colony algorithm to PID, as shown in fig. 2:
further obtaining the stator voltage and stator flux linkage equation of the permanent magnet synchronous motor as follows:
wherein: u. ofx、uy、ix、iyIs the component of stator voltage vector u and stator current vector i on the x, y axes, and R is the stator resistance; a. thefRepresents the amplitude of the permanent magnetic flux linkage, and omega is AxRotational electrical angular velocity of; is (-pi/2, pi/2) as stator flux linkage vector AsAnd rotor flux linkage vector AfThe included angle between them is called torque angle; l is a stator inductance;
obtaining the electromagnetic torque expression of the permanent magnet synchronous motor as
Further: for the TeThe expression is derived and set to AsConstant:
wherein the proportionality coefficient
θsAnd thetarThen is AsAnd AfThe included angle between the stator winding and the axis of the A-phase stator winding is formed; omegarIs AfRotational electrical angular velocity;
further obtaining the change rate of the electromagnetic torque as:
torque pulse root mean square error of
secondly, setting a sampling time interval as T, detecting the current rotating speed of the permanent magnet synchronous motor in real time by a rotating speed detection sensor, sampling rotating speed data of the current synchronous motor, making a difference between the current rotating speed and the set rotating speed, calculating a rotating speed deviation change rate by the formula, obtaining e (k) and r (k), and calculating an error e (k) at the time T, namely r (k) -y (T);
wherein 3 parameters, K, of PID control are learned and output and adjusted through the training of ant colony algorithm according to the running state of the systemp、Ki、KdThe differential time constant is a proportional coefficient, and the integral time constant is a differential time constant;
further, processing the obtained error signal of the rotating speed of the permanent magnet synchronous motor, extracting data characteristic parameters, performing normalization processing, adding the error signal into an ant colony for parameter training, terminating the training if the error is smaller than a certain range or the training reaches a certain number of times if the given constraint condition is met, outputting the optimal solution of three parameters of the PID, and entering the ant colony model again for optimization if the condition is not met;
fig. 3 is PID control of the direct torque error of the permanent magnet synchronous motor, as shown in fig. 3:
secondly, setting a sampling time interval as T, detecting the current rotating speed of the permanent magnet synchronous motor in real time by a rotating speed detection sensor, sampling rotating speed data of the current synchronous motor, making a difference between the current rotating speed and the set rotating speed, calculating a rotating speed deviation change rate by the formula, obtaining e (k) and r (k), and calculating an error e (k) at the time T, namely r (k) -y (T);
wherein 3 parameters, K, of PID control are learned and output and adjusted through the training of ant colony algorithm according to the running state of the systemp、Ki、KdThe differential time constant is a proportional coefficient, and the integral time constant is a differential time constant;
further, processing the obtained error signal of the rotating speed of the permanent magnet synchronous motor, extracting data characteristic parameters, performing normalization processing, adding the error signal into an ant colony for parameter training, terminating the training if the error is smaller than a certain range or the training reaches a certain number of times if the given constraint condition is met, outputting the optimal solution of three parameters of the PID, and entering the ant colony model again for optimization if the condition is not met;
inputting the obtained 3 parameters into a PID controller, and further obtaining a mathematical expression of the following model, wherein the mathematical expression is controlled by comparing, differentiating and integrating;
further, discretizing the PID algorithm, e (k) is deviation, and accumulating the error after integration into e (k) + e (k-1) + e (k-2) … + e (0), and the differential is (e (k) — e (k-1))/T, wherein:
said KpIs a coefficient of proportionality that is,
for integral coefficient, by KiIt is shown that,
as differential coefficient, by KdRepresents;
further, an incremental form is adopted for the PID control model, namely:
u(k)＝Δu(k)+u(k-1)
finally, the obtained initial error signal of the rotating speed of the permanent magnet synchronous motor is used as the input of a control system, and the system stops through one iteration of the error until the deviation of the output layer and the expected value is within a specified error range in the training process; if the requirement is not met, making k equal to k +1, and continuing to eliminate the error;
and testing the test set by using the trained PID control model, using the established PID control model for actual detection, and realizing the direct torque control method of the permanent magnet synchronous motor according to the detection result.
Claims (1)
1. A PID synchronous motor direct torque control method based on ant colony optimization is characterized by comprising the following steps:
firstly, the current torque obtained by a rotating speed detection sensor is differed from the torque theoretically required to obtain a current torque error and a stator flux linkage error, the two errors are used as the input of a control model and are input into a PID controller, and the voltage vector angle and the amplitude of a control motor are obtained through the transfer function of the controller and are used as the output of a system;
secondly, setting a sampling time interval as T, detecting the current rotating speed of the permanent magnet synchronous motor in real time by a rotating speed detection sensor, sampling rotating speed data of the current synchronous motor, making a difference between the current rotating speed and the set rotating speed, calculating a rotating speed deviation change rate by the formula, obtaining e (k) and r (k), and calculating an error e (k) at the time T, namely r (k) -y (T);
wherein 3 parameters, K, of PID control are learned and output and adjusted through the training of ant colony algorithm according to the running state of the systemp、Ki、KdThe differential time constant is a proportional coefficient, and the integral time constant is a differential time constant;
processing the obtained error signal of the rotating speed of the permanent magnet synchronous motor, extracting data characteristic parameters, performing normalization processing, adding the error signal into an ant colony for parameter training, terminating the training if the error is smaller than a certain range or the error is trained to a certain number of times if the given constraint condition is met, outputting the optimal solution of three parameters of PID, and if the error is not met, entering the ant colony model again for optimization;
finally, the obtained initial error signal of the rotating speed of the permanent magnet synchronous motor is used as the input of a control system, and the system stops through one iteration of the error until the deviation of the output layer and the expected value is within a specified error range in the training process; if the requirement is not met, making k equal to k +1, and continuing to eliminate the error;
and testing the test set by using the trained PID control model, using the established PID control model for actual detection, and realizing the direct torque control method of the permanent magnet synchronous motor according to the detection result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114114898A (en) * | 2022-01-27 | 2022-03-01 | 北京航空航天大学 | Air-to-air missile PID parameter setting method and device, electronic equipment and storage medium |
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| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
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2020
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Patent Citations (4)
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| JPH05207772A (en) * | 1992-01-28 | 1993-08-13 | Ricoh Co Ltd | Servo controller for motor |
| CN101931362A (en) * | 2010-05-19 | 2010-12-29 | 西安理工大学 | Direct torque control device and method for permanent magnet synchronous motor |
| CN102684592A (en) * | 2012-05-10 | 2012-09-19 | 南京航空航天大学 | Torque and flux linkage control method for permanent synchronous motor |
| CN108608628A (en) * | 2018-03-16 | 2018-10-02 | 黄力 | Genetic algorithm corrects PID controller and its application of ant group algorithm optimization |
Non-Patent Citations (1)
| Title |
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| 刘智城: "基于蚁群算法的无刷直流电机矢量控制系统研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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| CN114114898A (en) * | 2022-01-27 | 2022-03-01 | 北京航空航天大学 | Air-to-air missile PID parameter setting method and device, electronic equipment and storage medium |
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Application publication date: 20200901 |