CN112821840A - Unsmooth self-adaptive direct torque control method and system for permanent magnet synchronous motor - Google Patents
Unsmooth self-adaptive direct torque control method and system for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a method and a system for controlling unsmooth self-adaptive direct torque of a permanent magnet synchronous motor, and belongs to the field of motor control. In order to improve the dynamic speed tracking performance and the anti-interference capability of a permanent magnet synchronous motor control system, the invention provides a non-smooth self-adaptive direct torque control method and a system of a permanent magnet synchronous motor. According to the scheme, under the direct torque control framework, the non-smooth self-adaptive controller and the second-order extended state observer are combined, so that the rotating speed convergence speed and the anti-disturbance performance of the permanent magnet synchronous motor are improved, the influence caused by parameter perturbation in the running process of the motor is effectively avoided, and the better dynamic stability is ensured. The composite control system has the advantages of simple structure, low calculation complexity, easiness in implementation and the like.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control systems, and provides a non-smooth self-adaptive direct torque control method and system for a permanent magnet synchronous motor.
Background
Because of the advantages of small volume, light weight, high power density and the like, a Permanent Magnet Synchronous Motor (PMSM) is widely applied to the fields of aerospace, electric automobiles, numerical control machines and the like with high control precision requirements. The control strategy of the permanent magnet synchronous motor mainly comprises the following steps: vector (Field Oriented Control/Vector Control), Direct Torque Control (Direct Torque Control), and Variable Voltage Variable Frequency Control (Variable Voltage Variable Frequency). The direct torque control technology directly takes torque as a control target, complex coordinate transformation is not needed, the designed motor parameters are few, the robustness is strong, the algorithm is simple, the dynamic response of the torque is fast, and the application is wide.
In order to realize high-precision speed control in the operation process of a permanent magnet synchronous motor direct torque control system, a high-performance PMSM driving system must have good dynamic speed tracking performance and disturbance resistance. In a traditional direct torque control system of a permanent magnet synchronous motor, a PI (proportional integral) controller is generally adopted to control a speed loop of the motor, but the traditional linear controller is difficult to overcome the influence of interference such as parameter uncertainty and external load disturbance on the operation of the motor, and the requirements of the system on dynamic response and anti-interference capability cannot be well considered. In view of the above problems, a finite time control technique has become an increasingly hot research point in the field of motor drive control, and the control technique has good disturbance rejection characteristics and good rotation speed convergence characteristics even when the system is subjected to external disturbance, and can simultaneously suppress the problems caused by parameter perturbation during the operation of the motor. On the other hand, the rapidity and stability of the control system are inevitably affected by external disturbance in the operation process of the permanent magnet synchronous motor, and if the controller does not consider the corresponding feedforward control design to compensate the closed-loop system, the performance of the closed-loop system is reduced.
The invention discloses a built-in permanent magnet synchronous motor anti-interference controller and a control method thereof in order to improve the dynamic response and anti-interference performance of the built-in permanent magnet synchronous motor, wherein the invention discloses a built-in permanent magnet synchronous motor anti-interference controller and a control method thereof in 2019, 25.10.2019.X. The invention has the disadvantages that although the number of adjustable parameters is reduced, the time for the rotating speed of the motor to converge to the reference value in the operation process is longer.
The Chinese patent application, application number CN201811630315.9, published 2018, 3 and 8 discloses a permanent magnet synchronous motor sliding mode control method based on an approximation rule and disturbance observation compensation. The invention designs an approach law algorithm and applies the approach law algorithm to the design of a speed controller in a sliding mode variable structure; and meanwhile, a saturation function is used for improving the disturbance observer in a control law of the disturbance observer, and a value observed by the disturbance observer is compensated into the speed controller, so that a permanent magnet synchronous motor sliding mode control strategy based on a proximity law and disturbance observation compensation is formed. A rotating speed-current double closed-loop control structure is adopted in a permanent magnet synchronous motor vector control system based on the strategy, and aiming at the problems of buffeting and anti-interference in sliding mode control, an integral sliding mode surface and a disturbance observer are added on the basis of a conventional sliding mode speed controller to inhibit disturbance caused by load change and improve the dynamic response of the system. The method has the disadvantages that the designed approach law cannot completely solve the buffeting problem in the sliding mode control system, the control precision of the motor control system is easily influenced, the number of adjustable parameters in the control system is large, and the complexity of parameter adjustment is improved.
Disclosure of Invention
1. Technical problem to be solved
In order to improve the dynamic speed tracking performance and the anti-interference capability of a permanent magnet synchronous motor control system, the invention provides a method and a system for controlling the non-smooth self-adaptive direct torque of a permanent magnet synchronous motor.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
Step 1: establishing a mechanical motion equation of the permanent magnet synchronous motor, analyzing disturbance components of a system according to the equation, and determining a disturbance compensation object;
step 2: a second-order extended state observer technology is introduced to realize the observation of the system lumped disturbance based on the extended state observer and complete the estimation of the system lumped disturbance;
and step 3: establishing a state equation of an error system according to an error state between a given speed and a feedback speed, and designing a system speed loop controller by utilizing a non-smooth self-adaptive control technology to obtain a given electromagnetic torque;
and 4, step 4: and establishing a non-smooth self-adaptive composite control system of the permanent magnet synchronous motor, and reasonably setting parameters on the premise of ensuring the stability of the observer.
Wherein step 1 comprises the following steps:
step 101, establishing a mechanical motion equation of the permanent magnet synchronous motor:
wherein ω isrIs the mechanical angular velocity of the motor, J is the moment of inertia, B is the damping coefficient, TLFor load torque, TeIs an electromagnetic torque.
Step 102, further, according to the mechanical motion equation of the permanent magnet synchronous motor, obtaining:
wherein
Is the total disturbance of the system,
is a reference input for electromagnetic torque.
From the above equation, the total disturbance of the system includes disturbances caused by damping, load torque, moment of inertia, and torque error. If the total disturbance of the system can be estimated, the disturbance compensation of the system can be realized, and the anti-interference capability of the system is improved.
Further, step 2 includes:
step 201, the design method of the second-order extended state observer is as follows:
an expansion state equation is first generated:
to simplify the system structure, the expansion equation of state is written for the system (1) columns, defining x1＝ωr、x2＝d(t)，
And
is a state quantity x1And x2The differential of (a) is determined,
differential for d (t):
step 202, further, designing a second-order extended state observer for equation (3) to estimate and compensate external disturbance and uncertainty terms of the system:
wherein z is1And z2Respectively, the feedback speed omegarAnd the estimate of the lumped disturbance d (t),
and
are respectively the state quantities z1And z2Differentiation of (2). J is moment of inertia, npIs electricityThe number of the machine pole pairs is,
is a permanent magnet flux linkage, beta1And beta2Is the observer gain.
Step 3 also comprises the following steps:
step 301, the design scheme of the non-smooth adaptive controller is as follows:
the state equation for the velocity tracking error e is as follows:
wherein the content of the first and second substances,
is the differentiation of the state quantity e.
Represents a reference rotational speed at which the rotational speed of the motor,
is composed of
The derivative of (c).
Step 302, designing a reference torque output by the non-smooth adaptive controller
Comprises the following steps:
wherein, ω is*For a given speed, q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) In order to be able to adjust the parameters,
is the designed adaptive updating law.
Step 303, combining the extended state observer and the non-smooth adaptive controller to generate a composite controller:
step 4 specifically includes:
step 401, firstly, a suitable pole is selected to meet the requirement for system stability, and a pole allocation method is adopted to obtain a corresponding parameter K value, so that the system meets the Hurwitz inequality.
Step 402, the parameter value of the adaptive update rate is set, the value is assigned in the range meeting the requirement (i.e. epsilon >0 and k >1), and the initial value of L is set to be 1.
And step 403, finally, setting the parameter values of the non-smooth adaptive control law, assigning values within a range meeting the requirements (namely q is greater than 0 and 0< m <1), and improving the operation effect by adjusting the parameters of the control law under the framework of direct torque operation of the motor.
Further, the specific adjustment process in step 403 is: the method comprises the steps of firstly giving a value within the range of a parameter m under the framework of direct torque operation of the motor, firstly taking 0 for the parameter q, observing the response effect of the rotating speed of the motor, then increasing the value of the parameter q until the response time of the rotating speed is less than an expected value in the process of reaching the given value after the motor is started, determining that the parameter q and m are suitable at the moment, if the ideal response speed cannot be reached, increasing the value of the parameter m, and repeating the steps until the response time is less than the expected value.
A non-smooth adaptive direct torque control system for a permanent magnet synchronous motor, the system comprising: the device comprises a permanent magnet synchronous motor control object, a non-smooth self-adaptive controller, a second-order extended state observer, a photoelectric encoder, a hysteresis comparator, an inverter and a coordinate transformation module; the system comprises: the device comprises a permanent magnet synchronous motor control object, a non-smooth self-adaptive controller, a second-order extended state observer, a photoelectric encoder, a hysteresis comparator, an inverter and a coordinate transformation module. Permanent magnet synchronous motor as controlled pairLike; the non-smooth self-adaptive controller is used for a controller of a rotating speed ring to realize the speed control of the motor; the second-order extended state observer is used for estimating lumped disturbance in the system; the photoelectric encoder is used for calculating the actual position and the actual rotating speed of the motor rotor; the hysteresis comparator is used for realizing the control of the flux linkage and the torque by the inner ring of the system; the stator flux linkage observation module is used for estimating a stator flux linkage value; the inverter is used for converting direct current into alternating current; the coordinate transformation module is used for converting the signals on the three-phase static coordinate system into the signals on the two-phase static coordinate system. Firstly, the phase current of the motor is obtained through sampling, and the estimated electromagnetic torque and flux linkage amplitude are output as feedback signals through an 3/2 coordinate transformation module and a stator flux linkage observation module. Actual rotational speed ω of the electric machinerCan be obtained by the output of the photoelectric encoder. Setting the rotation speed to a given value
With actual value of speed omegarAfter inputting into the non-smooth adaptive controller, adding the control quantity and the actual rotating speed omegarEstimated value z of lumped disturbance output after input of second-order extended state observer2Outputting electromagnetic torque reference value
Will be provided with
With the actual value T of the electromagnetic torqueeDifference and stator flux linkage setpoint
And the actual value
The difference value is input into a hysteresis comparator to output two output states delta T and delta psi, the two output states are input into a switching logic table to output an optimal voltage vector, the vector is input into an inverter, and a proper switching state is output to act on a motor to realize the control of the motor.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
the invention combines a non-smooth adaptive controller and a second-order extended state observer to solve the problems of parameter perturbation in a permanent magnet synchronous motor drive control system, insufficient speed tracking convergence and weak anti-interference performance. The lumped disturbance of the system is estimated through the second-order extended state observer, the estimated value of the lumped disturbance term is applied to feedforward compensation of the rotating speed loop control, and the anti-interference capacity of the system is improved. On the other hand, the linear PID controller in the traditional direct torque control system is converted into a novel non-smooth adaptive controller. Compared with the traditional PID controller, the non-smooth self-adaptive controller has the characteristic of enabling a closed-loop system to be rapidly converged in a limited time when the closed-loop system is close to a balance point, and the speed tracking performance of the motor driving system is improved. The non-smooth self-adaptive direct torque control method has the advantages that the structure is simple, the calculation complexity is low, and the defects of dynamic tracking performance, disturbance rejection performance and parameter perturbation inhibition capability in the traditional PMSM speed regulation system are overcome.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a block diagram of the control system of the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
Example 1
As shown in fig. 1, a non-smooth adaptive direct torque control system of a permanent magnet synchronous motor is composed of a permanent magnet synchronous motor control object, a non-smooth adaptive controller, a second-order extended state observer, a photoelectric encoder, a hysteresis comparator, an inverter and a coordinate transformation module. Three-phase stator current (i) of permanent magnet synchronous motorsa、isbAnd isc) Voltage (u)sa、usbAnd usc) Signals are output by a permanent magnet synchronous motor control object, and stator current (i) under a two-phase static coordinate system is obtained after passing through an 3/2 coordinate transformation modulesαAnd isβ) Voltage/voltage(usαAnd usβ) And is used to estimate the stator flux linkage and the electromagnetic torque, which estimates are directly used as feedback signals in the control loop. Actual rotational speed ω of the electric machinerCan be detected by a photoelectric encoder and calculated by a program.
Set value of rotation speed
With actual value of speed omegarThe difference value of the electromagnetic torque can be obtained through a non-smooth self-adaptive controller
Then the control quantity and the actual rotating speed omega are combinedrThe estimated value of the lumped disturbance can be output by the second-order extended state observer to be used for feedforward compensation of the control quantity, the anti-interference capability of the system is improved, and the given value of the electromagnetic torque is set
With the actual value T of the electromagnetic torqueeDifference and stator flux linkage setpoint
And the actual value
And then selecting an optimal voltage vector from the switch table according to the sector number of the stator flux linkage and the output state of the hysteresis comparator, and outputting the optimal voltage vector to the inverter to realize the control of the permanent magnet synchronous motor.
The design method of the non-smooth self-adaptive direct torque control system of the permanent magnet synchronous motor comprises the following steps:
establishing a mechanical motion equation of the permanent magnet synchronous motor:
wherein ω isrIs the mechanical angular velocity of the motor, J is the moment of inertia, B is the damping coefficient, TLFor load torque, TeIs an electromagnetic torque.
Furthermore, according to the mechanical motion equation of the permanent magnet synchronous motor, the following can be obtained:
wherein
Is the total disturbance of the system,
is a reference input for electromagnetic torque.
From the above equation, the total disturbance of the system includes disturbances caused by damping, load torque, moment of inertia, and torque error. If the total disturbance of the system can be estimated, the disturbance compensation of the system can be realized, and the anti-interference capability of the system is improved.
The design method of the second-order extended state observer comprises the following steps: an expansion state equation is first generated:
to simplify the system structure, the expansion equation of state is written for the system (2) columns, defining x1＝ωr、x2＝d(t)，
And
is a state quantity x1And x2The differential of (a) is determined,
differential for d (t):
further, a second-order extended state observer is designed for equation (3) to estimate and compensate for external disturbances and uncertainty terms of the system:
wherein z is1And z2Respectively, the feedback speed omegarAnd the estimate of the lumped disturbance d (t),
and
are respectively the state quantities z1And z2Differentiation of (2). J is moment of inertia, npThe number of the pole pairs of the motor is,
is a permanent magnet flux linkage, beta1And beta2Is the observer gain.
The design scheme of the non-smooth adaptive controller is as follows:
first, the equation of state for the velocity tracking error e is obtained as follows:
wherein the content of the first and second substances,
in order to be a differential of the state quantity e,
represents a reference rotational speed at which the rotational speed of the motor,
is composed of
The derivative of (c).
Further, the reference torque output by the designed non-smooth adaptive controller
Comprises the following steps:
wherein, ω is*For a given speed, q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) In order to be able to adjust the parameters,
is the designed adaptive updating law.
Further, the extended state observer and the non-smooth adaptive controller combine to produce a composite controller:
in summary, in the technical scheme, the second-order extended state observer is used for observing the system lumped disturbance to complete estimation of the system lumped disturbance, then the estimated value is compensated to the input end, disturbance observation feedforward control is achieved, and then the non-smooth adaptive controller is designed by using the finite time control technology to improve the dynamic response of the system. The specific implementation process is as follows:
1. starting procedure
In a traditional speed loop of the permanent magnet synchronous motor for direct torque control, a linear PI controller is generally adopted to control the actual rotating speed fed back by the motor to track a given reference rotating speed. However, the direct torque control based on the traditional linear PI controller has slow response speed in the starting process, long time for reaching the steady state and proportionality coefficient kpOvershoot is likely to occur if the feed value is too large. Capacitance with too small proportionality coefficientSteady state error is easy to cause, so that the rotating speed cannot be accurately tracked, and an integral coefficient k is required to be passedIThe error is eliminated, the speed is slow, and the effect is not ideal.
On the contrary, the non-smooth adaptive controller designed based on the finite time control technology can show better rotating speed tracking effect in a direct torque control system of the permanent magnet synchronous motor. First, a closed-loop system based on a non-smooth adaptive controller has the characteristic of fast convergence at a balance point, so the starting response speed is faster than that of a linear PI controller, and steady-state errors are not easy to generate. And the non-linear controller comprises a self-adaptive law
The gain can be self-adjusted by the online updated dynamic proportional gain function L. Meanwhile, the proportional gain K in the controller can be conveniently determined by a Hurwitz stability criterion.
2. Loading process
When a step load is suddenly applied to a permanent magnet synchronous motor in a stable operation, a permanent magnet synchronous motor direct torque control system adopting a linear PI controller in a speed loop can show a slower response speed. After the load is suddenly applied, the actual rotating speed can generate a sudden drop phenomenon, and then the steady state value is gradually recovered, because the rotating speed recovery process depends on the integral coefficient k in the PI controllerIThe continuous accumulation of the related integral terms can make the rotating speed return to the set value for a longer time.
On the contrary, the non-smooth adaptive direct torque control method adopted in the technical scheme adopts a second-order extended state observer to observe the lumped disturbance in the permanent magnet synchronous motor direct torque control system and perform feedforward compensation on the controller in real time, and the method not only can effectively eliminate the rotating speed reduction or speed fluctuation caused by the change of the musical notes in disturbance, but also can ensure that the control system has faster response speed and better anti-disturbance performance because the observed disturbance is directly compensated into the non-smooth adaptive control law.
The invention and its embodiments have been described above schematically, without limitation, and the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The representation in the drawings is only one of the embodiments of the invention, the actual construction is not limited thereto, and any reference signs in the claims shall not limit the claims concerned. Therefore, if a person skilled in the art receives the teachings of the present invention, without inventive design, a similar structure and an embodiment to the above technical solution should be covered by the protection scope of the present patent. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several of the elements recited in the product claims may also be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (9)
1. A method for controlling unsmooth self-adaptive direct torque of a permanent magnet synchronous motor is characterized by comprising the following steps:
step 1, establishing a mechanical motion equation of a permanent magnet synchronous motor, and determining a disturbance compensation object according to disturbance components of an equation analysis system;
step 2, introducing a second-order extended state observer technology to realize the system lumped disturbance observation based on the extended state observer and finish the estimation of the system lumped disturbance;
step 3, establishing a state equation of an error system according to the error state between the given speed and the feedback speed, and designing a system speed loop controller by utilizing a non-smooth self-adaptive control technology to obtain the given electromagnetic torque;
and 4, establishing a non-smooth self-adaptive direct torque control system of the permanent magnet synchronous motor, and reasonably setting parameters on the premise of ensuring the stability of the observer.
2. The method for controlling the unsmooth adaptive direct torque of the permanent magnet synchronous motor according to claim 1, wherein the method for determining the system disturbance compensation object in the step 1 is as follows:
mechanical equation of motion of permanent magnet synchronous motor:
wherein ω isrIs the mechanical angular velocity of the motor, J is the moment of inertia, B is the damping coefficient, TLFor load torque, the subscript L is the first letter of load in English, TeFor electromagnetic torque, subscript e denotes electromagnetism;
according to the mechanical motion equation of the permanent magnet synchronous motor, the following can be obtained:
wherein
Is the total disturbance of the system,
for reference input of electromagnetic torque, the superscript indicates the reference value,
the derivative of the mechanical angular speed of the machine is indicative of the angular acceleration of the rotor of the machine, the subscript r indicating the rotor.
3. The method for controlling the unsmooth adaptive direct torque of the permanent magnet synchronous motor according to claim 1, wherein the method for establishing the second-order extended state observer in the step 2 is as follows:
the second order extended state observer was built according to the following equation:
wherein z is1And z2Respectively, the feedback speed omegarAn estimate of the sum total disturbance,
and
are respectively the state quantities z1And z2Differential of (a), beta1And beta2Is the observer gain.
4. The method for controlling the unsmooth adaptive direct torque of the permanent magnet synchronous motor according to claim 1, wherein the design scheme of the unsmooth adaptive controller in the step 3 is as follows:
the state equation for the velocity tracking error e is as follows:
wherein the content of the first and second substances,
in order to be a differential of the state quantity e,
representing a given reference rotational speed at which the motor is operated,
is composed of
A derivative of (a);
reference torque of output
Comprises the following steps:
wherein the content of the first and second substances,
for a given reference speed, ωrIs the actual rotation speed; q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) In order to be able to adjust the parameters,
is the designed self-adaptive updating law, and J is the moment of inertia.
5. The method according to claim 4, wherein the composite controller is generated by combining the second-order extended state observer established in step 2 with the non-smooth adaptive controller in step 3:
6. the method for controlling the unsmooth adaptive direct torque of the permanent magnet synchronous motor according to claim 1, wherein the step 4 is implemented as follows:
step 401, selecting a proper pole to meet the requirement on the stability of the system, and obtaining a value of a corresponding parameter K by adopting a pole configuration method so that the system meets the Hurwitz inequality;
step 402, setting a parameter value of the self-adaptive update rate, assigning values in a range satisfying epsilon >0 and k >1, and setting an initial value of L as 1;
and 403, setting the parameter values of the non-smooth adaptive control law, assigning values in the range of q >0 and 0< m <1, and adjusting the parameters of the control law to realize operation optimization under the direct torque operation frame of the motor.
7. The method according to claim 6, wherein the step 403 specifically adjusts the following steps: the method comprises the steps of firstly giving a value within the range of a parameter m under the framework of direct torque operation of the motor, firstly taking 0 for the parameter q, observing the response effect of the rotating speed of the motor, then increasing the value of the parameter q until the response time of the rotating speed is less than an expected value in the process of reaching the given value after the motor is started, determining that the parameter q and m are suitable at the moment, if the ideal response speed cannot be reached, increasing the value of the parameter m, and repeating the steps until the response time is less than the expected value.
8. The system for controlling the non-smooth adaptive direct torque of the permanent magnet synchronous motor based on the method of any one of claims 1 to 7, wherein the system comprises: a second-order extended state observer and a non-smooth adaptive controller; the second-order extended state observer outputs an estimated value of lumped disturbance after receiving the actual rotating speed of the motor, and the non-smooth self-adaptive controller outputs an electromagnetic torque reference value based on the estimated value of the lumped disturbance.
9. The system of claim 8, further comprising: the device comprises a coordinate transformation module, a stator flux linkage observation module, a photoelectric encoder and a hysteresis comparator; the coordinate transformation module outputs electromagnetic torque to the hysteresis comparator after acquiring phase current of the motor, the photoelectric encoder acquires the actual rotating speed of the motor and outputs the actual rotating speed to the non-smooth self-adaptive controller, and the hysteresis comparator is used for comparing flux linkage output by the stator flux linkage observation module with torque output by the coordinate transformation module.
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| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
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