CN112003530A - Method for improving robustness of speed-sensorless permanent magnet synchronous motor control system - Google Patents

Method for improving robustness of speed-sensorless permanent magnet synchronous motor control system Download PDF

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Publication number
CN112003530A
CN112003530A CN202010826613.6A CN202010826613A CN112003530A CN 112003530 A CN112003530 A CN 112003530A CN 202010826613 A CN202010826613 A CN 202010826613A CN 112003530 A CN112003530 A CN 112003530A
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pmsm
equation
permanent magnet
magnet synchronous
synchronous motor
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杨沛豪
何凯琳
柴琦
李志鹏
郭新宇
张立松
贺婷
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Xian Thermal Power Research Institute Co Ltd
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Xian Thermal Power Research Institute Co Ltd
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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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference

Abstract

The invention discloses a method for improving the robustness of a control system of a permanent magnet synchronous motor without a speed sensor, which comprises the steps of establishing a mathematical model and a torque equation of a PMSM (permanent magnet synchronous motor) under alpha beta and dq coordinate systems; the invention provides a novel rotating speed control rate, which is used for taking PMSM load torque as a state equation disturbance signal, designing an uncertain disturbance estimation controller UDE, and aiming at ensuring the accuracy of effective rotating speed tracking of a PMSM sensorless rotating speed control system containing the UDE under the condition that the load torque is unknown.

Description

Method for improving robustness of speed-sensorless permanent magnet synchronous motor control system
Technical Field
The invention relates to a method for improving robustness of a speed sensorless permanent magnet synchronous motor control system. In order to ensure that the control system of the permanent magnet synchronous motor without the speed sensor can effectively track the rotating speed accurately under the condition of unknown load torque, a new rotating speed control rate is provided, and the controller can have better rotating speed tracking performance.
Background
Permanent Magnet Synchronous Motors (PMSM) are widely applied to the field of efficient and energy-saving fans and compressors of power plants due to high load carrying capacity. In the traditional PMSM, a speed sensor is arranged at a rotating shaft, and the rotating speed of a motor is detected in real time to realize the vector control of the rotating speed of the motor. In order to save the volume and the cost, the motor rotating speed vector control is mostly realized by adopting an algorithm at present.
The motor rotating speed vector control system without the speed sensor is bound to cause motor rotating speed errors because the rotating speed needs to be calculated in real time when the system is confronted with large load sudden change or external interference, and the control system is invalid when the rotating speed errors are large. How to improve the robustness of a PMSM control system without a speed sensor through a control algorithm becomes a research hotspot in the field of motor control recently.
Disclosure of Invention
The invention aims to provide a method for improving the robustness of a speed sensorless permanent magnet synchronous motor control system aiming at the defects of the prior art, and the method establishes a mathematical model and a torque equation of PMSM under alpha beta and dq coordinate systems; the method comprises the steps of taking PMSM load torque as a state equation Disturbance signal, designing an Uncertain Disturbance estimation controller (UDE), and in order to ensure that a PMSM sensorless speed control system containing the UDE can accurately track the effective rotating speed under the condition that the load torque is unknown, the invention provides a new rotating speed control rate, and the controller is used in a sensorless PMSM rotating speed control system to enhance the system robustness.
The invention is realized by adopting the following technical scheme:
a method for improving robustness of a speed sensorless permanent magnet synchronous motor control system comprises the following steps:
1) establishing a voltage equation of a PMSM (permanent magnet synchronous motor) under a three-phase coordinate system;
2) simplifying the PMSM voltage equation under the three-phase coordinate system in the step 1) into a mathematical model under an alpha beta two-phase static coordinate system;
3) expressing a PMSM voltage mathematical model under the alpha beta two-phase static coordinate system in the step 2) in a dq reference system;
4) establishing PMSM electromagnetic torque TeAnd load torque TLAn expression;
5) according to a mathematical equation under a PMSM voltage dq coordinate system in the step 3) and PMSM electromagnetic torque T in the step 4)eAnd load torque TLObtaining a state equation of the PMSM under the dq coordinate system by the expression;
6) taking the PMSM load torque as a state equation disturbance signal, introducing the state equation of the PMSM in the dq coordinate system in the step 5), and setting a state variable to obtain a PMSM standard state equation;
7) approximating and estimating the continuous signal when the continuous signal passes through a low-pass filter with proper bandwidth, and establishing a relation between the disturbance signal and an estimation value;
8) obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7);
9) in order to ensure that the effective rotating speed tracking is carried out under the condition that the load torque is unknown, a rotating speed control expression is provided according to the disturbance signal estimation value expression in the step 8);
10) substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM state expansion equation;
11) setting step 10) to ensure that the output in the PMSM state expansion equation is unchanged, introducing the estimated disturbance as a target value into a PMSM current control link, and tracking the target value in real time, so that the robustness of the PMSM control system without the speed sensor can be improved.
The further improvement of the invention is that step 1) establishes a voltage equation of the permanent magnet synchronous motor under a three-phase coordinate system:
Figure BDA0002636432540000031
wherein: u shapea、Ub、UcTerminal voltages of the three-phase windings respectively; i.e. ia、ib、icPhase currents of the three-phase windings respectively; e.g. of the typea、eb、ecThe counter electromotive force of the three-phase winding respectively; rsAnd L is winding phase resistance and equivalent inductance respectively;
the specific implementation method of the step 2) is as follows: the PMSM voltage equation under the three-phase coordinate system in the step 1) is simplified into a mathematical model under an alpha beta two-phase static coordinate system:
Figure BDA0002636432540000032
wherein: i.e. iα、iβ、Uα、Uβ、eα、eβStator current, voltage, back emf; lambda [ alpha ]αfIs a permanent magnet flux linkage; omegarAnd theta is the rotor angular velocity and angle.
The further improvement of the invention is that the specific implementation method of the step 3) is as follows: expressing a PMSM voltage mathematical model under an alpha beta two-phase static coordinate system in the step 2) in a dq reference system:
Figure BDA0002636432540000033
wherein: i.e. id、iqRespectively representing direct axis and quadrature axis currents in a dq reference frame; l isd、LqRespectively representing stator direct axis inductance and quadrature axis inductance;
Figure BDA0002636432540000034
is id、iqA derivative; u shaped、UqRepresenting the voltages applied on the direct and quadrature axes, respectively.
The further improvement of the invention is that the specific implementation method of the step 4) is as follows: establishing PMSM electromagnetic torque TeAnd load torque TLExpression:
Figure BDA0002636432540000035
wherein: j represents the inertia torque of PMSM, B represents the friction coefficient, P represents the number of poles, ωmRepresents the mechanical angular velocity at which the motor rotates, which is expressed as:
Figure BDA0002636432540000036
the further improvement of the invention is that the concrete implementation method of the step 5) is as follows: according to a mathematical equation under a PMSM voltage dq coordinate system in the step 3) and PMSM electromagnetic torque T in the step 4)eAnd load torque TLThe expression yields the state equation of PMSM in dq coordinate system:
Figure BDA0002636432540000041
the further improvement of the invention is that the specific implementation method of the step 6) is as follows: taking the PMSM load torque as a state equation disturbance signal, namely:
Figure BDA0002636432540000042
introducing a state equation of PMSM under the dq coordinate system in the step 5) to obtain:
Figure BDA0002636432540000043
and sets the state variable x as ωr，u＝iqObtaining a PMSM standard state equation:
Figure BDA0002636432540000044
wherein:
Figure BDA0002636432540000045
a1and b0The size is determined by the dynamics of the control object.
The further improvement of the invention is that the specific implementation method of the step 7) is as follows: when the continuous signal passes through a low-pass filter with proper bandwidth, the continuous signal is approximated and estimated, and a disturbance signal d and an estimation value thereof are established
Figure BDA0002636432540000046
The relation is as follows:
Figure BDA0002636432540000047
wherein:
Figure BDA0002636432540000048
τ denotes the bandwidth of the filter.
The further improvement of the invention is that the specific implementation method of the step 8) is as follows: obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7):
Figure BDA0002636432540000049
the specific implementation method of the step 9) comprises the following steps: in order to ensure that the rotating speed tracking is effectively carried out under the condition that the load torque is unknown, according to the disturbance signal estimation value expression in the step 8), a rotating speed control expression is provided:
Figure BDA00026364325400000410
wherein: x is the number of*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0。
The further improvement of the invention is that the specific implementation method of the step 10) is as follows: substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM state expansion equation:
Figure BDA00026364325400000411
let e be x-x*，
Figure BDA00026364325400000412
Obtaining an interference estimation error expression:
Figure BDA00026364325400000413
the error expression determines the dynamic change of the tracking error of the motor rotating speed, K determines the convergence of the state track error, when the interference is constant or changes slowly,
Figure BDA0002636432540000051
will be 0, at which time the controller gets better speed tracking performance.
The further improvement of the invention is that the specific implementation method of the step 11) is as follows: setting step 10) output x in PMSM state expansion equation*Not changed, i.e. maintained
Figure BDA0002636432540000052
The estimated disturbance is calculated and obtained for a certain value to be constant
Figure BDA0002636432540000053
And introducing the estimated disturbance as a target value into a PMSM current control link, and tracking the target value in real time, so that the robustness of the PMSM control system without the speed sensor can be improved.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. aiming at the problems that a PMSM speed sensorless control system is poor in robustness and does not have strong anti-interference capability, the invention provides a rotation speed control strategy based on UDE to enhance the anti-interference capability on internal parameter change and external torque interference.
2. The invention provides a novel rotating speed control rate in order to ensure that a PMSM (permanent magnet synchronous motor) sensorless rotating speed control system containing UDE can effectively and accurately track the rotating speed under the condition of unknown load torque.
Drawings
FIG. 1 is a PMSM equivalent circuit diagram;
FIG. 2 is a schematic block diagram of a PMSM control scheme including a UDE;
FIG. 3 is a PMSM speed response comparison waveform with a load torque of 2.43N-m applied for 0.2s, using conventional PI control and UDE control;
FIG. 4 is a PMSM speed response comparison waveform with conventional PI control and UDE control, with load torque gradually increasing from 0 to 2.43N-m, starting from 0.2 s.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings.
As shown in fig. 1, assuming that the three-phase windings are symmetrical, the voltage equation of the motor is as follows, except for the eddy current loss and the electromagnetic hysteresis loss of the motor:
Figure BDA0002636432540000061
in the formula (1), Ua、Ub、UcTerminal voltages of the three-phase windings respectively; i.e. ia、ib、icPhase currents of the three-phase windings respectively; e.g. of the typea、eb、ecThe counter electromotive force of the three-phase winding respectively; r, L are winding phase resistance and equivalent inductance, respectively. The motor stator current in the PMSM three-phase coordinate system can be equivalent to the stator current i in the two-phase coordinate system through 3s → 2s transformationα、iβ. Through coordinate transformation, the PMSM can be equivalent to a direct current motor model, and through corresponding coordinate inverse transformation, the control of the PMSM can be realized.
The mathematical model of PMSM under the alpha beta two-phase static coordinate system is as follows:
Figure BDA0002636432540000062
Figure BDA0002636432540000063
in the formulae (2) and (3), iα、iβ、Uα、Uβ、eα、eβFor stator current, voltage, back electromotive forcePotential; (ii) a Lambda [ alpha ]αfIs a permanent magnet flux linkage; omegarAnd theta is the rotor angular velocity and angle.
At present, vector control is mostly adopted for the PMSM rotating speed. The main purpose of vector control is to control the torque and magnetic field by controlling the d-axis and axis components of the stator currents or relative fluxes. Using the information of stator current and rotor angle, vector control techniques can effectively control motor torque and flux. The voltage equation for PMSM in the dq reference system is:
Figure BDA0002636432540000064
in the formula (4), id、iqRespectively representing direct axis and quadrature axis currents in a dq reference frame; l isd、LqRespectively representing stator direct axis inductance and quadrature axis inductance; u shaped、UqRepresenting the voltages applied on the direct and quadrature axes, respectively.
Electromagnetic torque T of PMSMeAnd load torque TLExpressed as:
Figure BDA0002636432540000071
in the formula (5), J represents the inertia torque of PMSM, B represents the friction coefficient, P represents the number of poles, and ωmIndicating the mechanical angular velocity at which the motor is rotating. The mechanical angular velocity can be expressed as:
Figure BDA0002636432540000072
as shown in fig. 2, in order to make the PMSM sensorless control system have strong anti-interference capability at the same time, the UDE controller is introduced into the motor control system, and according to equations (4) and (5), the state equation of the PMSM in the dq coordinate system is obtained as follows:
Figure BDA0002636432540000073
taking the PMSM load torque as a state equation disturbance signal, namely:
Figure BDA0002636432540000074
taking equation (7) into the PMSM state equation of equation (6), we can obtain:
Figure BDA0002636432540000075
setting a state variable x- ωr，u＝iqThen the above equation may become:
Figure BDA0002636432540000076
in the formula (9), the reaction mixture is,
Figure BDA0002636432540000077
a1and b0The size is determined by the dynamics of the control object. The essence of the motor control problem is to design the input u such that the motor tracks or adjusts to the same desired value for the reference speed trajectory.
According to the UDE algorithm, the following steps are known: when the continuous signal passes through a low pass filter of appropriate bandwidth, the continuous signal can be approximated and estimated. Interference d and its estimation
Figure BDA0002636432540000078
The relationship between them is:
Figure BDA0002636432540000081
in the formula (10), the compound represented by the formula (10),
Figure BDA0002636432540000082
denoted by τ is the bandwidth of the filter.
From equations (9) and (10) it follows:
Figure BDA0002636432540000083
in order to ensure that the PMSM speed sensorless speed control system containing the UDE can carry out effective speed tracking accurately under the condition of unknown load torque, the invention provides a new speed control rate:
Figure BDA0002636432540000084
in the formula (12), x*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0. The formula (12) can be substituted for the formula (9):
Figure BDA0002636432540000085
let e be x-x*，
Figure BDA0002636432540000086
The above equation can be converted into:
Figure BDA0002636432540000087
equation (14) represents the disturbance estimation error, and determines the dynamic change of the motor rotational speed tracking error. K determines the convergence of the state trajectory error. When the interference is constant or changes more slowly,
Figure BDA0002636432540000088
will be 0, at which time the controller can get better speed tracking performance.
In a PMSM sensorless speed control system including UDE, first, an output x is set*I.e. to hold
Figure BDA0002636432540000089
Is a constant valueAlternatively, the estimated perturbation can be calculated
Figure BDA00026364325400000810
And introducing the estimated disturbance as a target value into a PMSM current control link, and tracking the target value in real time, so that the robustness of the PMSM control system without the speed sensor can be improved.
In order to verify the validity of the control scheme proposed by the present invention. A PMSM control system simulation model is built under Matlab/Simulink, wherein rotating speed control is used as an outer ring, current control is used as an inner ring, and PMSM simulation parameters are as shown in the following table. In order to verify the anti-interference capability of the PMSM speed sensorless control system adopting the novel UDE, two working conditions are set in a simulation mode: (1) applying a load torque of 2.43N-m at 0.2 s; (2) the load torque gradually increases from 0 to 2.43N-m starting from 0.2 s.
Table 1 PMSM simulation parameters
Figure BDA0002636432540000091
As shown in fig. 3, the response speed of the conventional PI control is slow, the time from the start of the motor to the stabilization is about 0.99s, the overshoot is large, about 10.35%, and when the UDE is used for the rotational speed control, the time from the start of the motor to the stabilization is about 0.8s, and the overshoot is negligible; when a disturbance is suddenly applied at 0.2 second, the motor speed reaches a rated value of 314rad/min within about 0.085 second with the conventional PI control, and reaches a rated value of 314rad/min within about 0.05 second with the UDE control.
As shown in fig. 4, when the disturbance changes slowly, the overshoot amount is about 7.9% by using the conventional PI control, which is reduced compared to the case where the disturbance is suddenly applied, but the time from the start of the motor to the time when the motor becomes stable is about 0.17s, which is increased compared to the time when the steady state is reached in the condition (1); when the UDE is adopted for rotating speed control, the time for response to reach a steady state is about 0.12s, although the response time is increased, the overshoot infinitely approaches to 0, the system quickly reaches a steady state, and the control effect is obvious.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, changes and equivalent structural changes made to the above embodiment according to the technical spirit of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A method for improving robustness of a speed sensorless permanent magnet synchronous motor control system is characterized by comprising the following steps:
1) establishing a voltage equation of a PMSM (permanent magnet synchronous motor) under a three-phase coordinate system;
2) simplifying the PMSM voltage equation under the three-phase coordinate system in the step 1) into a mathematical model under an alpha beta two-phase static coordinate system;
3) expressing a PMSM voltage mathematical model under the alpha beta two-phase static coordinate system in the step 2) in a dq reference system;
4) establishing PMSM electromagnetic torque TeAnd load torque TLAn expression;
5) according to a mathematical equation under a PMSM voltage dq coordinate system in the step 3) and PMSM electromagnetic torque T in the step 4)eAnd load torque TLObtaining a state equation of the PMSM under the dq coordinate system by the expression;
6) taking the PMSM load torque as a state equation disturbance signal, introducing the state equation of the PMSM in the dq coordinate system in the step 5), and setting a state variable to obtain a PMSM standard state equation;
7) approximating and estimating the continuous signal when the continuous signal passes through a low-pass filter with proper bandwidth, and establishing a relation between the disturbance signal and an estimation value;
8) obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7);
9) in order to ensure that the effective rotating speed tracking is carried out under the condition that the load torque is unknown, a rotating speed control expression is provided according to the disturbance signal estimation value expression in the step 8);
10) substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM state expansion equation;
11) setting step 10) to ensure that the output in the PMSM state expansion equation is unchanged, introducing the estimated disturbance as a target value into a PMSM current control link, and tracking the target value in real time, so that the robustness of the PMSM control system without the speed sensor can be improved.
2. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 1, wherein the step 1) is to establish a voltage equation of the permanent magnet synchronous motor under a three-phase coordinate system:
Figure FDA0002636432530000021
wherein: u shapea、Ub、UcTerminal voltages of the three-phase windings respectively; i.e. ia、ib、icPhase currents of the three-phase windings respectively; e.g. of the typea、eb、ecThe counter electromotive force of the three-phase winding respectively; rsAnd L is winding phase resistance and equivalent inductance respectively;
the specific implementation method of the step 2) is as follows: the PMSM voltage equation under the three-phase coordinate system in the step 1) is simplified into a mathematical model under an alpha beta two-phase static coordinate system:
Figure FDA0002636432530000022
wherein: i.e. iα、iβ、Uα、Uβ、eα、eβStator current, voltage, back emf; lambda [ alpha ]αfIs a permanent magnet flux linkage; omegarAnd theta is the rotor angular velocity and angle.
3. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 2, wherein the specific implementation method of the step 3) is as follows: expressing a PMSM voltage mathematical model under an alpha beta two-phase static coordinate system in the step 2) in a dq reference system:
Figure FDA0002636432530000023
wherein: i.e. id、iqRespectively representing direct axis and quadrature axis currents in a dq reference frame; l isd、LqRespectively representing stator direct axis inductance and quadrature axis inductance;
Figure FDA0002636432530000024
is id、iqA derivative; u shaped、UqRepresenting the voltages applied on the direct and quadrature axes, respectively.
4. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 3, wherein the specific implementation method of the step 4) is as follows: establishing PMSM electromagnetic torque TeAnd load torque TLExpression:
Figure FDA0002636432530000025
wherein: j represents the inertia torque of PMSM, B represents the friction coefficient, P represents the number of poles, ωmRepresents the mechanical angular velocity at which the motor rotates, which is expressed as:
Figure FDA0002636432530000031
5. the method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 4, wherein the specific implementation method of the step 5) is as follows: according to a mathematical equation under a PMSM voltage dq coordinate system in the step 3) and PMSM electromagnetic torque T in the step 4)eAnd load torque TLThe expression yields the state equation of PMSM in dq coordinate system:
Figure FDA0002636432530000032
6. the method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 5, wherein the specific implementation method of the step 6) is as follows: taking the PMSM load torque as a state equation disturbance signal, namely:
Figure FDA0002636432530000033
introducing a state equation of PMSM under the dq coordinate system in the step 5) to obtain:
Figure FDA0002636432530000034
and sets the state variable x as ωr，u＝iqObtaining a PMSM standard state equation:
Figure FDA0002636432530000035
wherein:
Figure FDA0002636432530000036
a1and b0The size is determined by the dynamics of the control object.
7. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 6, wherein the specific implementation method of the step 7) is as follows: when the continuous signal passes through a low-pass filter with proper bandwidth, the continuous signal is approximated and estimated, and a disturbance signal d and an estimation value thereof are established
Figure FDA0002636432530000037
The relation is as follows:
Figure FDA0002636432530000038
wherein:
Figure FDA0002636432530000039
τ denotes the bandwidth of the filter.
8. An enhanced speedless sensor as claimed in claim 7The method for controlling the robustness of the system of the permanent magnet synchronous motor is characterized in that the specific implementation method in the step 8) is as follows: obtaining a disturbance signal estimation value expression according to the PMSM standard state equation in the step 6) and the relation between the disturbance signal and the estimation value in the step 7):
Figure FDA00026364325300000310
the specific implementation method of the step 9) comprises the following steps: in order to ensure that the rotating speed tracking is effectively carried out under the condition that the load torque is unknown, according to the disturbance signal estimation value expression in the step 8), a rotating speed control expression is provided:
Figure FDA00026364325300000311
wherein: x is the number of*For the feedback value of the state variable, K is the error feedback gain, and since it is usually necessary to ensure that the reference model remains stable, K needs to be made>0。
9. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 8, wherein the specific implementation method of the step 10) is as follows: substituting the expression of the rotating speed control rate in the step 9) into the PMSM standard state equation in the step 6) to obtain a PMSM state expansion equation:
Figure FDA0002636432530000041
order to
Figure FDA0002636432530000042
Figure FDA0002636432530000043
Obtaining an interference estimation error expression:
Figure FDA0002636432530000044
the error expression determines the dynamic change of the tracking error of the motor rotating speed, K determines the convergence of the state track error, when the interference is constant or changes slowly,
Figure FDA0002636432530000045
will be 0, at which time the controller gets better speed tracking performance.
10. The method for improving the robustness of the control system of the permanent magnet synchronous motor without the speed sensor according to claim 9, wherein the specific implementation method of the step 11) is as follows: setting step 10) output x in PMSM state expansion equation*Not changed, i.e. maintained
Figure FDA0002636432530000046
The estimated disturbance is calculated and obtained for a certain value to be constant
Figure FDA0002636432530000047
And introducing the estimated disturbance as a target value into a PMSM current control link, and tracking the target value in real time, so that the robustness of the PMSM control system without the speed sensor can be improved.
CN202010826613.6A 2020-08-17 2020-08-17 Method for improving robustness of speed-sensorless permanent magnet synchronous motor control system Pending CN112003530A (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108649850A (en) * 2018-05-15 2018-10-12 天津工业大学 Improve the internal permanent magnet synchronous motor current control method of UDE
CN109728755A (en) * 2018-12-06 2019-05-07 汉能移动能源控股集团有限公司 A kind of PMSM inverting TSM control method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108649850A (en) * 2018-05-15 2018-10-12 天津工业大学 Improve the internal permanent magnet synchronous motor current control method of UDE
CN109728755A (en) * 2018-12-06 2019-05-07 汉能移动能源控股集团有限公司 A kind of PMSM inverting TSM control method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
DIPTI D. BHAWARKAR ET AL: "Uncertainty and Disturbance Estimator Based Control Methodology for Speed Control of PMSM Drives", 《2018 INTERNATIONAL CONFERENCE ON ADVANCES IN COMMUNICATION AND COMPUTING TECHNOLOGY (ICACCT)》 *

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