CN112039386A - Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor - Google Patents
Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN112039386A CN112039386A CN202010843469.7A CN202010843469A CN112039386A CN 112039386 A CN112039386 A CN 112039386A CN 202010843469 A CN202010843469 A CN 202010843469A CN 112039386 A CN112039386 A CN 112039386A
- Authority
- CN
- China
- Prior art keywords
- current
- fuzzy
- quasi
- axis
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 28
- 230000001629 suppression Effects 0.000 title description 8
- 230000008859 change Effects 0.000 claims abstract description 21
- 230000009466 transformation Effects 0.000 claims abstract description 8
- 238000005070 sampling Methods 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 claims description 4
- 238000012986 modification Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000002401 inhibitory effect Effects 0.000 abstract description 3
- 238000004088 simulation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- 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
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- 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
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/28—Arrangements for controlling current
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Fuzzy Systems (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method for inhibiting torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance, which comprises the following steps: step A: calculating q-axis given currentAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference and the rate of change thereof; and B: at a given currentAnd a feedback current iqDifference between signals and given currentAnd a feedback signal idThe difference is used as input, and the q-axis voltage vector is usedAnd d-axis voltage vectorRespectively establishing q-axis and d-axis quasi-resonance controllers for output; and C: current is set at q-axisAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference, the change rate thereof and the time difference delta t between two zero points are used as input, and the adjustment quantity delta k of the proportionality coefficient of quasi-proportional resonance is usediIntercept angular frequency adjustment Δ ωcRespectively establishing q-axis fuzzy controllers and d-axis fuzzy controllers for output; step D: vector of voltageAndoutput voltage vector after being transformed by PARK inverse transformation unitAndand the space vector modulation module outputs a PWM control signal.
Description
Technical Field
The invention relates to the field of industrial automation, in particular to a method for inhibiting torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance.
Background
The permanent magnet synchronous motor has excellent characteristics of high torque inertia ratio, high power factor, high efficiency and the like, and is more and more concerned and applied in high-technology fields such as robots, high-precision numerical control machines, electric vehicles and the like. The advanced control method is a necessary condition for obtaining excellent running performance of the permanent magnet synchronous motor, and the vector control method is a high-performance control method for controlling the motor.
Conventional PI controllers are often used in conventional vector control systems to regulate the current loop. However, the PI controller is affected by the saturation of the integral link and system noise, and has the disadvantages of uncertainty of system parameters and poor adaptability to external interference signals, and the capability of suppressing current harmonics is poor, so that the operation performance of the motor is affected.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a fuzzy quasi-proportional resonance-based permanent magnet synchronous motor torque ripple suppression method, a fuzzy quasi-proportional resonance controller is used for replacing a traditional PI controller, a current controller for suppressing harmonic waves is set, the high-speed control of a permanent magnet synchronous motor with high-order and nonlinear characteristics is realized, the motor response performance is improved, the current harmonic waves are well suppressed, the defects in the prior art are overcome, and the technical problems are solved.
In order to achieve the above purpose, the technical solution for solving the technical problem is as follows:
a permanent magnet synchronous motor torque ripple suppression method based on fuzzy quasi-proportional resonance comprises the following steps:
step A: calculating q-axis given currentAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference and the rate of change thereof;
and B: at a given currentAnd a feedback current iqDifference between signals and given currentAnd a feedback signal idThe difference is used as input, and the q-axis voltage vector is usedAnd d-axis voltage vectorRespectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axisAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference, the change rate thereof and the time difference delta t between two zero points are used as input, and the adjustment quantity delta k of the proportionality coefficient of quasi-proportional resonance is usediIntercept angular frequency adjustment Δ ωcRespectively establishing q-axis fuzzy controllers and d-axis fuzzy controllers for output;
step D: vector of voltageAndoutput voltage vector after being transformed by PARK inverse transformation unitAndand the space vector modulation module outputs a PWM control signal.
Further, step a specifically includes the following:
sampling DC voltage of inverter and three-phase stator current of motor, calculating to obtain feedback current i of motorqAnd id(ii) a Sampling a direct-current voltage signal by using a voltage sensor, and obtaining a voltage u on a three-phase static coordinate system through switch state reconstructiona、ubAnd ucSampling three-phase stationary coordinate system using current sensorCurrent signal i ona、ibAnd icObtaining a current component i on a two-phase static coordinate system through CLARK coordinate transformationαAnd iβObtaining the current i on the two-phase synchronous rotating coordinate through PARK conversiondAnd iq。
Further, in the step A, the given current is obtained by calculating the rotating speed ring controller
Further, in the step A, a motor rotating speed feedback signal omega is obtained by utilizing a speed sensorrSetting the signal according to the rotation speedWith the speed feedback signal omegarDifference, current set signal is generated by the speed loop controllerThe rotating speed ring controller is a traditional PI controller.
Further, in step C, the fuzzy controller specifically includes the following steps:
the input variables of the fuzzy controller include the deviation e of the current and the change rate e of the deviationcTime difference delta t between two zero points, and output variable delta k of proportional coefficient of quasi-proportional resonanceiIntercept angular frequency adjustment Δ ωcFind out e, ecΔ t and Δ ki、ΔωcThe fuzzy relation between the two is continuously detected in the running processcAnd Δ t, for Δ k according to the fuzzy principlei、ΔωcPerforming online modification to satisfy different e and erΔ t for parameter Δ ki、ΔωcThe fuzzy controller automatically adjusts the output variable delta k according to the state of the controlled objecti、ΔωcThe fuzzy controller outputs a result expression as follows:
ki=ki0+Δki (1)
ωc=ωc0+Δωc (2)
in the formula, ki0、ωc0Is an initial parameter, k, of a quasi-proportional resonant controller obtained according to a conventional parameter-tuning methodi、ωcIs the current sampling period parameter value.
Further, the quasi-proportional resonant controller comprises the following specific steps:
the transfer function of the quasi-proportional resonant controller is:
in the formula, kiIs a proportionality coefficient, omega0For resonant fundamental angular frequency, krAs a resonance parameter, ωcIs the cut-off angular frequency.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
1. the invention provides a method for inhibiting torque pulsation of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance control, which is characterized in that a stator current of the permanent magnet synchronous motor contains a large number of higher harmonic components, and the harmonic current components act with a magnetic field of a rotor permanent magnet to enable the motor to generate harmonic torque pulsation.
2. The invention provides a method for suppressing torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance, which avoids the influence of harmonic waves in current.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a structural diagram of a PMSM control system applying a PMSM torque ripple suppression method based on fuzzy quasi-proportional resonance control according to the present invention;
FIG. 2 is a schematic flow chart of a method for suppressing torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance control according to the present invention;
FIG. 3 is a d-axis and q-axis current simulation waveform diagram of a permanent magnet synchronous motor torque ripple suppression method based on fuzzy quasi-proportional resonance control and the traditional vector control;
FIG. 4 is a three-phase stator current simulation waveform diagram of a permanent magnet synchronous motor torque ripple suppression method based on fuzzy quasi-proportional resonance control and the traditional vector control;
fig. 5 is a three-phase stator current simulation waveform diagram of a permanent magnet synchronous motor torque ripple suppression method based on fuzzy quasi-proportional resonance control and the traditional vector control.
[ description of main symbols ]
1-PI regulation module;
2-a first fuzzy quasi-proportional resonance module;
3-a second fuzzy quasi-proportional resonance module;
4-a first Park transformation module;
5-SVPWM module;
6-a three-phase inverter;
7-PMSM module;
8-Clark transformation module;
9-a second Park transformation module;
10-a first comparator module;
11-a second comparator module;
12-third comparator module.
Detailed Description
While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
Fig. 1 is a structural diagram of a permanent magnet synchronous motor control system to which a method for suppressing torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance control according to the present invention is applied, the permanent magnet synchronous motor control system including:
a three-phase inverter 6 connected in parallel to a PMSM module 7(permanent-magnet synchronous motor);
a Clark conversion module 8 for detecting the current i of the three-phase inverter 6a、ibAnd icAnd converting it into a current i in a stationary coordinate systemαAnd iβ;
Rotor position sensor for detecting motor speed omegaeAnd calculating the rotor position thetae;
A PI regulation module 1 for detecting the motor speed n and the given speed value n by a third comparator module 12*Difference of (d) to output a given current
A second Park transformation module 9 for transforming the current i in the stationary coordinate systemαAnd iβConversion to a given current by ParkAnd a feedback signal id;
First blurA quasi-proportional resonant module 2 and a second fuzzy quasi-proportional resonant module 3 for applying a given current through a first comparator module 10And a feedback current iqThe sum of the differences of the signals will give a given current through the second comparator module 11And a feedback signal idThe difference is input, and the voltage in the rotating coordinate system is outputAnd
a first Park conversion module 4 for inputting the voltageAndobtaining the voltage under a static coordinate system through rotation changeAnd
an SVPWM module 5 for inputting the voltageAndand outputting a switching signal for controlling the three-phase inverter.
Correspondingly, as shown in fig. 2, the embodiment discloses a method for suppressing torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance, which includes the following steps:
step A: calculating q-axis given currentAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference and the rate of change thereof;
and B: at a given currentAnd a feedback current iqDifference between signals and given currentAnd a feedback signal idThe difference is used as input, and the q-axis voltage vector is usedAnd d-axis voltage vectorRespectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axisAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference, the change rate thereof and the time difference delta t between two zero points are used as input, and the adjustment quantity delta k of the proportionality coefficient of quasi-proportional resonance is usediIntercept angular frequency adjustment Δ ωcRespectively establishing q-axis fuzzy controllers and d-axis fuzzy controllers for output;
step D: vector of voltageAndoutput voltage vector after being transformed by PARK inverse transformation unitAndand the space vector modulation module outputs a PWM control signal.
Further, step a specifically includes the following:
sampling DC voltage of inverter and three-phase stator current of motor, calculating to obtain feedback current i of motorqAnd id(ii) a Sampling a direct-current voltage signal by using a voltage sensor, and obtaining a voltage u on a three-phase static coordinate system through switch state reconstructiona、ubAnd ucSampling a current signal i on a three-phase stationary coordinate system using a current sensora、ibAnd icObtaining a current component i on a two-phase static coordinate system through CLARK coordinate transformationαAnd iβObtaining the current i on the two-phase synchronous rotating coordinate through PARK conversiondAnd iq。
Wherein, the given current is obtained by the calculation of the rotating speed ring controller in the step ASpecifically, a motor rotating speed feedback signal omega is obtained by utilizing a speed sensorrSetting the signal according to the rotation speedWith the speed feedback signal omegarDifference, current set signal is generated by the speed loop controllerThe rotating speed ring controller is a traditional PI controller.
In this embodiment, the quasi-proportional fuzzy resonant structure packageIncluding quasi-resonant controllers and fuzzy controllers. The fuzzy quasi-proportional resonant controller compares the error sum and the change rate of the output current according to the given current and the estimated current, and the error sum and the change rate can be obtained through the control calculation of the fuzzy quasi-proportional resonant controllerAndobtaining u by coordinate transformationαAnd uβAnd inputting the signals to the SVPWM module.
The input variables of the fuzzy controller include the deviation e of the current and the change rate e of the deviationcTime difference delta t between two zero points, and output variable delta k of proportional coefficient of quasi-proportional resonanceiIntercept angular frequency adjustment Δ ωc。
The fuzzy subset takes 7 fuzzy values, which are respectively { PB, PM, PS, ZE, NS, NM, NB } (positive, small, zero, small, medium, negative, large). The input and output membership functions are all triangular membership functions, and the defuzzification method adopts a maximum membership method.
Find out e, ecΔ t and Δ ki、ΔωcThe fuzzy relation between the two is continuously detected in the running processcAnd Δ t, for Δ k according to the fuzzy principlei、ΔωcPerforming online modification to satisfy different e and ecΔ t for parameter Δ ki、ΔωcThe fuzzy controller automatically adjusts the output variable delta K according to the state of the controlled objecti、ΔωcThe fuzzy controller outputs a result expression as follows:
Ki=Ki0+ΔKi (1)
ωc=ωc0+Δωc (2)
in the formula, Ki0、ωc0Is an initial parameter, k, of a quasi-proportional resonant controller obtained according to a conventional parameter-tuning methodi、ωcIs the current sampling period parameter value.
Further, the quasi-proportional resonant controller comprises the following specific steps:
the transfer function of the quasi-proportional resonant controller is:
in the formula, kiIs a proportionality coefficient, omega0For resonant fundamental angular frequency, krAs a resonance parameter, ωcIs the cut-off angular frequency.
And (3) experimental verification:
the motor parameters used in the experiment were: number of pole pairs pnStator inductance L4d=5.25e-3H,Lq12e-3H, stator resistance R0.958 Ω, flux linkage ψf0.1827Wb, moment of inertia J0.003 kg m2The damping coefficient B is 0, the rotational speed is set to 1000r/min, the load torque is 0, the load torque is applied suddenly at 0.1s for 10N · m, and the simulation time is 0.4 s. Comparing the graph (a) and the graph (b) of fig. 3, it can be known that the ripple of the d-axis current and the q-axis current simulated by the present invention is smaller than that of the conventional vector simulation current, comparing the graph (a) and the graph (b) of fig. 4, it can be known that the waveform distortion of the conventional vector simulation stator current is larger, but the waveform of the present invention simulation stator current has only a slight distortion, comparing the graph (a) and the graph (b) of fig. 5, it can be known that the torque of the electromagnetic torque simulated by the present invention is 9.8-10.1N · m after being stabilized, and the electromagnetic torque of the conventional vector simulation graph (b) amplified waveform fluctuates in the range of 9.6-11.9N · m in the period of 0.1-0.16 s.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method for suppressing torque ripple of a permanent magnet synchronous motor based on fuzzy quasi-proportional resonance is characterized by comprising the following steps:
step A: calculating q-axis given currentAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference and the rate of change thereof;
and B: at a given currentAnd a feedback current iqDifference between signals and given currentAnd a feedback signal idThe difference is used as input, and the q-axis voltage vector is usedAnd d-axis voltage vectorRespectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axisAnd a feedback current iqDifference between signals and rate of change thereof, d-axis set currentAnd a feedback signal idThe difference, the change rate thereof and the time difference delta t between two zero points are used as input, and the adjustment quantity delta k of the proportionality coefficient of quasi-proportional resonance is usediIntercept angular frequency adjustment Δ ωcRespectively establishing q-axis fuzzy controllers and d-axis fuzzy controllers for output;
2. The method for suppressing the torque ripple of the permanent magnet synchronous motor based on the fuzzy quasi-proportional resonance as claimed in claim 1, wherein the step A specifically comprises the following steps:
sampling DC voltage of inverter and three-phase stator current of motor, calculating to obtain feedback current i of motorqAnd id(ii) a Sampling a direct-current voltage signal by using a voltage sensor, and obtaining a voltage u on a three-phase static coordinate system through switch state reconstructiona、ubAnd ucSampling a current signal i on a three-phase stationary coordinate system using a current sensora、ibAnd icObtaining a current component i on a two-phase static coordinate system through CLARK coordinate transformationαAnd iβObtaining the current i on the two-phase synchronous rotating coordinate through PARK conversiondAnd iq。
4. The method for suppressing the torque ripple of the PMSM based on the fuzzy quasi-proportional resonance as claimed in claim 3, wherein in the step A, the motor rotation speed feedback signal ω is obtained by using a speed sensorrSetting the signal according to the rotation speedWith the speed feedback signal omegarDifference, current set signal is generated by the speed loop controllerThe rotating speed ring controller is a traditional PI controller.
5. The method for suppressing the torque ripple of the permanent magnet synchronous motor based on the fuzzy quasi-proportional resonance as claimed in claim 1, wherein in the step C, the fuzzy controller comprises the following specific steps:
the input variables of the fuzzy controller include the deviation e of the current and the change rate e of the deviationcTime difference delta t between two zero points, and output variable delta k of proportional coefficient of quasi-proportional resonanceiIntercept angular frequency adjustment Δ ωcFind out e, ecΔ t and Δ ki、ΔωcThe fuzzy relation between the two is continuously detected in the running processcAnd Δ t, for Δ k according to the fuzzy principlei、ΔωcPerforming online modification to satisfy different e and ecΔ t for parameter Δ ki、ΔωcThe fuzzy controller automatically adjusts the output variable delta k according to the state of the controlled objecti、ΔωcThe fuzzy controller outputs a result expression as follows:
ki=ki0+Δki (1)
ωc=ωc0+Δωc (2)
in the formula, ki0、ωc0Is an initial parameter, k, of a quasi-proportional resonant controller obtained according to a conventional parameter-tuning methodi、ωcIs the current sampling period parameter value.
6. The method for suppressing the torque ripple of the permanent magnet synchronous motor based on the fuzzy quasi-proportional resonance as claimed in claim 5, wherein the quasi-proportional resonance controller comprises the following specific steps:
the transfer function of the quasi-proportional resonant controller is:
in the formula, kiIs a proportionality coefficient, omega0For resonant fundamental angular frequency, krAs a resonance parameter, ωcIs the cut-off angular frequency.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010843469.7A CN112039386A (en) | 2020-08-20 | 2020-08-20 | Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010843469.7A CN112039386A (en) | 2020-08-20 | 2020-08-20 | Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor |
Publications (1)
Publication Number | Publication Date |
---|---|
CN112039386A true CN112039386A (en) | 2020-12-04 |
Family
ID=73579924
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010843469.7A Pending CN112039386A (en) | 2020-08-20 | 2020-08-20 | Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN112039386A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112821736A (en) * | 2021-01-27 | 2021-05-18 | 湖南大学 | Method, system and medium for suppressing harmonic waves of machine side converter of disc type counter-rotating permanent magnet hydroelectric generator |
CN113098335A (en) * | 2021-05-17 | 2021-07-09 | 吉林大学 | Permanent magnet synchronous motor harmonic suppression method based on fuzzy QPR control and voltage compensation |
CN113733935A (en) * | 2021-09-30 | 2021-12-03 | 武汉理工大学 | Electric vehicle transmission system torsional vibration suppression method and system based on electromechanical coupling model |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103595323A (en) * | 2013-11-20 | 2014-02-19 | 天津大学 | Current control method for improving output torque of permanent magnet synchronous motor overmodulation area |
CN104201721A (en) * | 2014-09-12 | 2014-12-10 | 广西师范大学 | Single-phase grid connection inverter control method based on composite control mode |
CN108306295A (en) * | 2018-03-20 | 2018-07-20 | 哈尔滨理工大学 | Adaptive ratio resonance controls Active Power Filter-APF |
-
2020
- 2020-08-20 CN CN202010843469.7A patent/CN112039386A/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103595323A (en) * | 2013-11-20 | 2014-02-19 | 天津大学 | Current control method for improving output torque of permanent magnet synchronous motor overmodulation area |
CN104201721A (en) * | 2014-09-12 | 2014-12-10 | 广西师范大学 | Single-phase grid connection inverter control method based on composite control mode |
CN108306295A (en) * | 2018-03-20 | 2018-07-20 | 哈尔滨理工大学 | Adaptive ratio resonance controls Active Power Filter-APF |
Non-Patent Citations (1)
Title |
---|
姚鑫 等: "光伏并网逆变器模糊准PR控制仿真研究", 《电测与仪表》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112821736A (en) * | 2021-01-27 | 2021-05-18 | 湖南大学 | Method, system and medium for suppressing harmonic waves of machine side converter of disc type counter-rotating permanent magnet hydroelectric generator |
CN113098335A (en) * | 2021-05-17 | 2021-07-09 | 吉林大学 | Permanent magnet synchronous motor harmonic suppression method based on fuzzy QPR control and voltage compensation |
CN113733935A (en) * | 2021-09-30 | 2021-12-03 | 武汉理工大学 | Electric vehicle transmission system torsional vibration suppression method and system based on electromechanical coupling model |
CN113733935B (en) * | 2021-09-30 | 2023-08-22 | 武汉理工大学 | Torsional vibration suppression method and system for electric vehicle transmission system based on electromechanical coupling model |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Wang et al. | Enhanced linear ADRC strategy for HF pulse voltage signal injection-based sensorless IPMSM drives | |
Zhou et al. | Model-free deadbeat predictive current control of a surface-mounted permanent magnet synchronous motor drive system | |
Xu et al. | Direct torque and flux regulation of an IPM synchronous motor drive using variable structure control approach | |
An et al. | Adjustable model predictive control for IPMSM drives based on online stator inductance identification | |
Comanescu et al. | Decoupled current control of sensorless induction-motor drives by integral sliding mode | |
Zhang et al. | A constant switching frequency-based direct torque control method for interior permanent-magnet synchronous motor drives | |
CN112039386A (en) | Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor | |
Gou et al. | Integral sliding mode control for starting speed sensorless controlled induction motor in the rotating condition | |
Zhang et al. | Robust plug-in repetitive control for speed smoothness of cascaded-PI PMSM drive | |
CN108377117A (en) | Permanent magnet synchronous motor recombination current control system based on PREDICTIVE CONTROL and method | |
Rafaq et al. | Online multiparameter estimation for robust adaptive decoupling PI controllers of an IPMSM drive: Variable regularized APAs | |
Sriprang et al. | Permanent magnet synchronous motor dynamic modeling with state observer-based parameter estimation for AC servomotor drive application | |
Wu et al. | Complex-coefficient synchronous frequency filter-based position estimation error reduction for sensorless IPMSM drives | |
Sriprang et al. | Robust flatness control with extended Luenberger observer for PMSM drive | |
Kumar et al. | Continuous fast terminal sliding surface-based sensorless speed control of pmbldcm drive | |
CN111293946B (en) | Method for suppressing harmonic current of motor | |
CN113422550B (en) | High-speed motor low carrier ratio control method based on complex vector decoupling and delay compensation | |
Wang et al. | Fast High-Order Terminal Sliding-Mode Current Controller for Disturbance Compensation and Rapid Convergence in Induction Motor Drives | |
Lin et al. | Design and implementation of a chattering-free non-linear sliding-mode controller for interior permanent magnet synchronous drive systems | |
Wang et al. | Comparative study of low-pass filter and phase-locked loop type speed filters for sensorless control of AC drives | |
Liu et al. | Model predictive control of permanent magnet synchronous motor based on parameter identification and dead time compensation | |
CN111049442A (en) | Method for suppressing rotational speed pulsation of servo motor | |
Zhang et al. | A robust deadbeat predictive control scheme for dual three-phase PMSM | |
Li et al. | Sensorless control for surface mounted PM machine with a high inertial load | |
Guo et al. | A full-order sliding mode flux observer with stator and rotor resistance adaptation for induction motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201204 |
|
RJ01 | Rejection of invention patent application after publication |