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 PDF

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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
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current
fuzzy
quasi
axis
difference
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张海刚
孔祥胜
张文
王步来
解嘉懿
罗俊
赵德成
徐兵
储雷
童中祥
杨俊�
孙平飞
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Shanghai Institute of Technology
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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
    • 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

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 current
Figure DDA0002642261250000011
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure DDA0002642261250000012
And a feedback signal idThe difference and the rate of change thereof; and B: at a given current
Figure DDA0002642261250000013
And a feedback current iqDifference between signals and given current
Figure DDA0002642261250000014
And a feedback signal idThe difference is used as input, and the q-axis voltage vector is used
Figure DDA0002642261250000015
And d-axis voltage vector
Figure DDA0002642261250000016
Respectively establishing q-axis and d-axis quasi-resonance controllers for output; and C: current is set at q-axis
Figure DDA0002642261250000017
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure DDA0002642261250000018
And 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 voltage
Figure DDA0002642261250000019
And
Figure DDA00026422612500000110
output voltage vector after being transformed by PARK inverse transformation unit
Figure DDA00026422612500000111
And
Figure DDA00026422612500000112
and the space vector modulation module outputs a PWM control signal.

Description

Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor
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 current
Figure BDA0002642261230000021
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure BDA0002642261230000022
And a feedback signal idThe difference and the rate of change thereof;
and B: at a given current
Figure BDA0002642261230000023
And a feedback current iqDifference between signals and given current
Figure BDA0002642261230000024
And a feedback signal idThe difference is used as input, and the q-axis voltage vector is used
Figure BDA0002642261230000025
And d-axis voltage vector
Figure BDA0002642261230000026
Respectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axis
Figure BDA0002642261230000027
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure BDA0002642261230000028
And 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 voltage
Figure BDA0002642261230000029
And
Figure BDA00026422612300000210
output voltage vector after being transformed by PARK inverse transformation unit
Figure BDA00026422612300000211
And
Figure BDA00026422612300000212
and 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
Figure BDA00026422612300000213
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 speed
Figure BDA00026422612300000214
With the speed feedback signal omegarDifference, current set signal is generated by the speed loop controller
Figure BDA00026422612300000215
The 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:
Figure BDA0002642261230000031
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
Figure BDA0002642261230000051
A second Park transformation module 9 for transforming the current i in the stationary coordinate systemαAnd iβConversion to a given current by Park
Figure BDA0002642261230000052
And 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 10
Figure BDA0002642261230000053
And a feedback current iqThe sum of the differences of the signals will give a given current through the second comparator module 11
Figure BDA0002642261230000054
And a feedback signal idThe difference is input, and the voltage in the rotating coordinate system is output
Figure BDA0002642261230000055
And
Figure BDA0002642261230000056
a first Park conversion module 4 for inputting the voltage
Figure BDA0002642261230000057
And
Figure BDA0002642261230000058
obtaining the voltage under a static coordinate system through rotation change
Figure BDA0002642261230000059
And
Figure BDA00026422612300000510
an SVPWM module 5 for inputting the voltage
Figure BDA00026422612300000511
And
Figure BDA00026422612300000512
and 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 current
Figure BDA0002642261230000061
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure BDA0002642261230000062
And a feedback signal idThe difference and the rate of change thereof;
and B: at a given current
Figure BDA0002642261230000063
And a feedback current iqDifference between signals and given current
Figure BDA0002642261230000064
And a feedback signal idThe difference is used as input, and the q-axis voltage vector is used
Figure BDA0002642261230000065
And d-axis voltage vector
Figure BDA0002642261230000066
Respectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axis
Figure BDA0002642261230000067
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure BDA0002642261230000068
And 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 voltage
Figure BDA0002642261230000069
And
Figure BDA00026422612300000610
output voltage vector after being transformed by PARK inverse transformation unit
Figure BDA00026422612300000611
And
Figure BDA00026422612300000612
and 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 A
Figure BDA00026422612300000613
Specifically, a motor rotating speed feedback signal omega is obtained by utilizing a speed sensorrSetting the signal according to the rotation speed
Figure BDA00026422612300000614
With the speed feedback signal omegarDifference, current set signal is generated by the speed loop controller
Figure BDA00026422612300000615
The 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 controller
Figure BDA00026422612300000616
And
Figure BDA00026422612300000617
obtaining 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:
Figure BDA0002642261230000071
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 current
Figure FDA0002642261220000011
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure FDA0002642261220000012
And a feedback signal idThe difference and the rate of change thereof;
and B: at a given current
Figure FDA0002642261220000013
And a feedback current iqDifference between signals and given current
Figure FDA0002642261220000014
And a feedback signal idThe difference is used as input, and the q-axis voltage vector is used
Figure FDA0002642261220000015
And d-axis voltage vector
Figure FDA0002642261220000016
Respectively establishing q-axis and d-axis quasi-resonance controllers for output;
and C: current is set at q-axis
Figure FDA0002642261220000017
And a feedback current iqDifference between signals and rate of change thereof, d-axis set current
Figure FDA0002642261220000018
And 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 voltage
Figure FDA0002642261220000019
And
Figure FDA00026422612200000110
output voltage vector after being transformed by PARK inverse transformation unit
Figure FDA00026422612200000111
And
Figure FDA00026422612200000112
and the space vector modulation module outputs a PWM control signal.
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。
3. The method for suppressing the torque ripple of the PMSM based on the fuzzy quasi-proportional resonance as claimed in claim 1, wherein the given current is obtained by calculation of a speed loop controller in the step A
Figure FDA00026422612200000113
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 speed
Figure FDA00026422612200000114
With the speed feedback signal omegarDifference, current set signal is generated by the speed loop controller
Figure FDA00026422612200000115
The 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:
Figure FDA0002642261220000021
in the formula, kiIs a proportionality coefficient, omega0For resonant fundamental angular frequency, krAs a resonance parameter, ωcIs the cut-off angular frequency.
CN202010843469.7A 2020-08-20 2020-08-20 Fuzzy quasi-proportional resonance-based torque ripple suppression method for permanent magnet synchronous motor Pending CN112039386A (en)

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