CN112953335A - Finite time self-adaptive composite control method and system for permanent magnet synchronous motor - Google Patents
Finite time self-adaptive composite control method and system for permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a finite time self-adaptive composite control method and a finite time self-adaptive composite control system for a permanent magnet synchronous motor. In order to improve the rotating speed tracking performance and the anti-interference and anti-parameter perturbation capacity of a permanent magnet synchronous motor control system, the invention provides a finite time self-adaptive composite control method and a system of a permanent magnet synchronous motor, wherein the system comprises a controlled object, a Park inverse transformation unit, an encoder, a current loop finite time controller, a finite time sliding mode state observer, a finite time self-adaptive feedback controller, a Park transformation unit, a Clark transformation unit, an SVPWM system and an inverter, the finite time sliding mode state observer and the finite time self-adaptive feedback controller are combined, and a current loop i is introducedd、iqThe limited time control accelerates the speed convergence of the permanent magnet synchronous motor, improves the anti-interference and parameter perturbation resistance, and increases the dynamic stability. And has better robustness to the motor parameters.
Description
Technical Field
The invention relates to the field of control systems of permanent magnet synchronous motors, and provides a finite time self-adaptive composite control method and system of a permanent magnet synchronous motor.
Background
A Permanent Magnet Synchronous Motor (PMSM) is a device of an alternating current driving system using the PMSM as a driving motor, and replaces an excitation winding of an electrically excited motor with a permanent magnet. With the rapid development of various related new technologies such as new materials, mechatronics, power electronics, computers, control theories and the like, the permanent magnet synchronous motor control system has developed a wide application field, and can realize high-speed, high-precision, high-stability, quick-response, high-efficiency and energy-saving motion control. The control strategy of the permanent magnet synchronous motor mainly comprises the following steps: vector control, direct torque control and variable voltage and variable frequency control, wherein the vector control strategy is a permanent magnet synchronous motor control strategy which is researched and applied more at home and abroad at present. The vector control can be combined with parameters such as resistance inductance and the like in the motor to calculate the current rotating speed and position, and necessary correction is carried out, so that when the motor runs at different frequencies, a better control mode can be obtained, better performance can be obtained, the low-frequency torque is large, the dynamic response is good, and the motor is often applied to various complex alternating current motor driving systems.
In order to realize high-precision control of the rotating speed in the running process of the permanent magnet synchronous motor vector control system, a high-performance permanent magnet synchronous motor driving system must have good dynamic speed tracking performance and disturbance resistance. In a conventional vector control system of a permanent magnet synchronous motor, a PI (proportional integral) controller is generally adopted to control the motor, but due to the variation factors such as parameters, friction force, load and the like in unmodeled dynamics, a great amount of interference and uncertainty exist in a PMSM (permanent magnet synchronous motor) control system, the starting response speed of PI (proportional integral) control is slow, the anti-interference capability is poor, the interference is difficult to be rapidly limited, and the stable operation of the motor is maintained. In order to solve the above problems, the finite time control has gradually become a research hotspot in the field of motor drive control, and the control technology has the advantage that the system still shows good disturbance resistance and good rotation speed convergence under the condition of external interference. In addition, in the operation process of the permanent magnet synchronous motor, external disturbance can affect the rapidity and stability of the control system, 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 can be reduced.
The invention discloses a permanent magnet synchronous motor control method and a control system based on a speed change approach rate in China patent application, application number CN201910445375.1, published 2019, 7 and 26.s.A sliding mode controller of the permanent magnet synchronous motor is designed based on an integral sliding mode surface s and the speed change approach rate; and controlling the q-axis control current of the permanent magnet synchronous motor by adopting a sliding mode controller. By adopting the variable speed approach rate, the sliding mode controller meets the existence and arrival conditions of the sliding mode, so that the response speed and the steady-state performance of the sliding mode controller are improved, and the control precision and the stability of the permanent magnet synchronous motor during operation are further improved. The method has the defects that although the variable speed approach is adopted in the control system, the buffeting problem of sliding mode control cannot be completely solved, and the buffeting problem still exists in the whole system in the control process.
The Chinese patent application, application number CN201811447079.7, published 2019, 4 and 9 discloses a vector control system and method for a fuzzy sliding mode controlled permanent magnet synchronous motor. Based on the traditional sliding mode control, the fuzzy controller is used for switching the sliding mode surface, the variable gain is introduced into the fuzzy control to achieve the purposes of meeting the existing conditions of the sliding mode and reducing buffeting, and meanwhile, the strong robustness and the anti-interference capability of the control system are improved. The invention has the disadvantages that the shaking phenomenon cannot be eliminated and the rapid convergence performance cannot be obtained.
Disclosure of Invention
1. Technical problem to be solved
In order to improve the rotating speed dynamic tracking performance and the anti-interference capability of a permanent magnet synchronous motor control system, the invention provides a finite time self-adaptive composite control method and a system of a permanent magnet synchronous motord、iqThe method has the advantages of improving the dynamic tracking performance of the rotating speed of the permanent magnet synchronous motor and the parameter perturbation resistance and anti-interference capability, along with good robustness on motor parameters.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
A finite time self-adaptive composite control method for a permanent magnet synchronous motor comprises the following steps:
step 1, establishing a motion equation of a permanent magnet synchronous motor, and determining a lumped disturbance term which comprises the friction torque, external load disturbance and current tracking error;
and 3, carrying out coordinate transformation on the state equation of the tracking error of the rotating speed according to the designed self-adaptive updating law. Designing a finite time self-adaptive feedback controller according to the new state equation;
and 4, generating a composite controller combining the finite time sliding mode state observer and the finite time self-adaptive feedback controller, and ensuring good parameter perturbation resistance and interference resistance while meeting the requirement of quickly tracking the reference rotating speed.
Step 5, designing a current loop id、iqThe finite time controller is combined with the finite time composite controller of the speed ring to form an integral finite time control system.
Further, the establishing the lumped disturbance term in the motion equation of the permanent magnet synchronous motor in the step 1 includes the following steps:
step 101, the equation of motion of the permanent magnet synchronous motor is as follows:
wherein J is moment of inertia, npP is the initial letter of the pole of the magnetic pole,
for a permanent magnet flux linkage, f is the first letter of flux, here denoted the magnetic flux, B is the coefficient of viscous friction, iqIs the q-axis component of the stator current, omega is the actual angular velocity of the motor,
is the differential of the state quantity omega, TLFor load torque, L is the first letter of load,
for a given q-axis reference current, the superscript indicates the meaning of the reference and the subscript q indicates the q-axis.
Step 102, determining a lumped disturbance term of a Permanent Magnet Synchronous Motor (PMSM) and rewriting a motor motion equation: order to
Can be considered to be lumped disturbances including friction, external load disturbances and q-axis current loop tracking errors. The equation of motion for the motor can be simplified as:
further, the step 2 further comprises the following steps:
step 201, generating an expansion state equation
To simplify the system architecture, the expansion equation of state is written for the system (1) column, where
Differential for d (t):
step 202, designing a finite time sliding mode state observer for equation (3) to estimate and compensate external interference and uncertainty terms of the system:
wherein the content of the first and second substances,
and
respectively, an estimate of the feedback speed omega and the lumped disturbance
Is determined by the estimated value of (c),
and
are respectively state quantities
And
differentiation of (2). J is moment of inertia, npP is the initial letter of the pole of the magnetic pole,
for a permanent magnet flux linkage, f is the first letter of flux, here denoted the magnetic flux, B is the viscous friction coefficient, and g and η are the observer gains.
Further, the step 3 further comprises the following steps:
step 301, establishing a motor motion equation of the permanent magnet synchronous motor without interference:
in step 302, the state equation of the tracking error e of the rotating speed is as follows:
wherein e ═ ω*-，
Is the differentiation of the state quantity e。ω*Represents a reference rotational speed at which the rotational speed of the motor,
is omega*The derivative of (c).
Step 303, generating a finite time adaptive feedback controller:
where L is a proportional gain function, the adaptive update law (8) can make the function progressively more accurate.
Wherein epsilon and k are adjustable parameters, epsilon is more than 0, and k is more than 1.
Furthermore, the composite controller in step 4 considers the influence of lumped disturbance, and designs a control system based on the combination of the finite time sliding mode state observer feedforward compensation and the finite time adaptive feedback controller for the drive control system of the permanent magnet synchronous motor, wherein the control system comprises:
the composite controller combines the feedforward compensation of the finite time sliding-mode state observer and a finite time self-adaptive feedback controller:
wherein q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) For adjustable parameters, g and η are observer gains. L is a time-varying function in the controller as a proportional gain that, according to the designed adaptive update law:
becomes more accurate and satisfies L (t)0)＝1，t0Is the initial moment of operation of the motor.
Further advance toStep 5, in order to make the current loop converge to the ideal state quantity in a limited time, the current loop id、iqDesigned as a finite time controller
Wherein k isd(kd>1) D represents the d-axis, kq(kq>1) Q represents the q-axis, γd(0<γd<1)，γq(0<γq<1) In order to be able to adjust the parameters,
reference currents, i, of d-and q-axes, respectivelyd，iqThe feedback currents are d-axis and q-axis.
A limited-time adaptive compound control system for a permanent magnet synchronous motor, the system comprising: the system comprises a controlled object, a Park inverse conversion unit, an encoder, a current loop finite time controller, a finite time sliding mode state observer, a finite time self-adaptive feedback controller, a Park conversion unit, a Clark conversion unit, an SVPWM system and an inverter;
the Park inverse transformation unit is used for realizing d-axis and q-axis voltages ud、uqVoltage V to static coordinate systemα、VβThe conversion of (1);
the encoder is used for measuring the rotating speed omega of the motor;
the current loop finite time controller is used for inputting d and q-axis reference currents
And a feedback current id、iqProcesses the deviation amount of (d) and (q) to output d and q axis voltages ud、uq；
The finite time sliding mode state observer is used for receiving feedback rotating speed omega and q-axis reference current
Estimating disturbancesA value;
the Park conversion unit is used for realizing the current i in the static coordinate systemα、iβCurrent i to rotating coordinate systemd、iqThe conversion of (1);
the Clark conversion unit is used for realizing the current i under the stator coordinate systema、ibCurrent i to stationary frameα、iβThe conversion of (1);
the SVPWM system is used for carrying out PWM to generate an actual pulse width modulation signal;
the inverter is used for converting direct current into alternating current.
Comparing the given speed with the feedback speed, inputting the result into a finite time self-adaptive controller, and outputting a q-axis reference current
Reference current
And a feedback current id、iqComparing, and outputting d-and q-axis voltages u via a finite time controller of a current loopd、uqThen the voltage is converted into voltage V under a static coordinate system through Park inverse transformationα、VβPWM modulation is carried out through an SVPWM module to generate an actual pulse width modulation signal, the actual pulse width modulation signal is input into a three-phase inverter, and the three-phase inverter converts direct current into alternating current Va、Vb、VcAnd voltage is input into the motor, and a current sensor collects stator current ia、ibObtaining the current i under a static coordinate system through Clark transformationα、iβThen, after Park transformation, the current i under the rotating coordinate system is obtainedd、iqA sensor at the motor end measures the rotating speed omega of the motor, and a finite time sliding mode state observer receives the feedback rotating speed omega and the q-axis reference current
Estimating the disturbance value d (t), multiplying by the coefficient
And obtaining a disturbance feedforward compensation value.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
the invention designs a finite time self-adaptive composite control method for a permanent magnet synchronous motor, which combines a finite time sliding mode state observer and a finite time self-adaptive feedback controller and introduces a current loop id、iqThe problems of slow speed tracking convergence and poor anti-interference capability in a permanent magnet synchronous motor control system are solved by the limited time control. The lumped disturbance of the system is estimated through the finite time sliding mode state observer, and the estimated value of the lumped disturbance term is acted on the feedforward compensation of the speed loop control, so that the anti-interference capability of the system is improved. In addition, a finite time self-adaptive feedback controller is used for replacing a traditional PID controller, and compared with the traditional PID controller, the controller can calculate the proportional gain L in real time according to the difference value between the given rotating speed and the actual rotating speed through a self-adaptive law, so that when the whole closed-loop control system reaches the position near a balance point, the rapid convergence is realized, and the rotating speed tracking performance and the parameter perturbation resistance of the motor are improved.
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 specific examples.
Examples
As shown in fig. 2, a finite time adaptive composite control system based on a permanent magnet synchronous motor is composed of a controlled object, a Park inverse transformation unit, an encoder, a current loop finite time controller, a finite time sliding mode state observer, a finite time adaptive feedback controller, a Park transformation unit, a Clark transformation unit, an SVPWM system and an inverter. System gives d-axis reference current
To be 0, reference currents of d and q axes
And the actual current id、iqRespectively differencing and inputting the differences into a finite time controller to obtain d and q axis voltages udAnd uq，udAnd uqObtaining the voltage u under a two-phase static coordinate system through Park inverse transformationαAnd uβPWM modulation is carried out through an SVPWM module to generate an actual pulse width modulation signal, the actual pulse width modulation signal is input into a three-phase inverter, and the three-phase inverter converts direct current into alternating current to drive the permanent magnet synchronous motor. The three-phase output current of the motor is subjected to Clark conversion to obtain the current of the motor under a two-phase static alpha beta coordinate system, and then the two-phase current i under a d-q rotating coordinate system is obtained through Park conversiondAnd iq. The encoder is installed on the motor side of the permanent magnet synchronous motor, and can detect and calculate the space phase of the magnetic pole axis of the rotor and the actual angular speed omega of the rotor.
Given angular velocity ω of a permanent magnet synchronous motorrAnd the system inputs the error of the actual angular velocity omega and the actual angular velocity omega into a finite time self-adaptive feedback controller to improve the convergence rate and the parameter perturbation resistance of a rotating speed loop and output a q-axis reference current
The system references actual angular speed omega and q-axis current
Inputting the current into a finite time sliding mode state observer, outputting an estimated value of lumped disturbance, and carrying out q-axis reference current
And feed-forward compensation is carried out, the anti-interference capability of the system is improved, limited time control is introduced into the current loop, and the robustness and the anti-interference capability of the system are further improved.
As shown in fig. 2, a composite control method based on a permanent magnet synchronous motor, which is a composite controller combining a finite time adaptive feedback controller and a finite time sliding mode state observer, includes the following steps:
the equation of motion of a permanent magnet synchronous motor is as follows:
wherein J is moment of inertia, npThe number of the pole pairs of the motor is,
is a permanent magnet flux linkage, B is a viscous friction coefficient, iqIs the q-axis component of the stator current, omega is the actual angular velocity of the motor,
is the differential of the state quantity omega, TLIn order to be the load torque,
for a given quadrature reference current.
Determining a lumped disturbance term of a Permanent Magnet Synchronous Motor (PMSM) and rewriting a motor motion equation:
order to
Can be considered to be lumped disturbances including friction, external load disturbances and q-axis current loop tracking errors. The equation of motion for the motor can be simplified as:
generating an expanded equation of state
To simplify the system architecture, the expansion equation of state is written for the system (1) column, where
Differential for d (t):
designing a finite time sliding mode state observer according to equation (2):
wherein the content of the first and second substances,
and
respectively an estimate of the feedback rotational speed omega and an estimate of the aggregate disturbance,
and
are respectively state quantities
And
differentiation of (2). J is moment of inertia, npThe number of the pole pairs of the motor is,
is the permanent magnet flux linkage, B is the viscous friction coefficient, and g and η are the observer gains.
Establishing a motion equation of the permanent magnet synchronous motor without interference:
the state equation of the rotating speed tracking error e is as follows:
wherein e ═ ω*-，
Is the differentiation of the state quantity e. Omega*Represents a reference rotational speed at which the rotational speed of the motor,
is omega*The derivative of (c).
Generating a finite time adaptive feedback controller:
where L is a proportional gain function, the adaptive update law (8) can make the function progressively more accurate.
Wherein epsilon and k are adjustable parameters, epsilon is more than 0, and k is more than 1.
Considering the influence of lumped disturbance on the system, a control system based on the combination of feed-forward compensation of a finite time sliding mode state observer and a finite time adaptive feedback controller is designed for a drive control system of a permanent magnet synchronous motor:
the composite controller combines the feedforward compensation of the finite time sliding-mode state observer and a finite time self-adaptive feedback controller:
wherein q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) Is an adjustable parameter. g and η are observer gains. L isAs a time-varying function of the proportional gain in the controller, the function is according to the designed adaptive update law:
becomes more accurate and satisfies l (t)0)＝1，t0Is the initial moment of operation of the motor.
In order to enable the current loop to converge to the ideal state quantity for a limited time, the current loop id、iqFinite time controller
Wherein k isd(kd>1)，kq(kq>1)，γd(0<γd<1)，γq(0<γq<1) In order to be able to adjust the parameters,
reference currents of d-axis and q-axis, respectively, the superscript denotes the reference value, the subscript d denotes the d-axis, the subscript q denotes the q-axis, id，iqThe feedback currents are d-axis and q-axis.
In conclusion, the sliding-mode observer and the finite-time adaptive composite controller are combined, and the finite-time control of the current loop is introduced, so that the defects of the rotating speed tracking performance and the interference resistance performance in the traditional permanent magnet synchronous motor control system are overcome. According to the technical scheme, the finite time sliding mode state observer is used for observing the lumped disturbance of the system to obtain a disturbance estimation value, the disturbance estimation value is compensated to an input end to carry out feedforward control on the system, and then a finite time self-adaptive feedback controller is adopted to improve the dynamic characteristic and the parameter perturbation resistance of the system.
Compared with the traditional PI controller, the scheme embodies the advantages of the composite control in the starting and loading processes and is represented as follows:
1. in the conventional permanent magnet synchronous motor control, a rotating speed ring generally adopts PI control to realize the tracking of a given rotating speedIn the starting process of the machine, a PI controlled system is used, the convergence speed is low, overshoot can be caused by overlarge proportional coefficient, the actual rotating speed cannot reach the given rotating speed due to undersize, steady-state errors occur, the steady-state errors can be eliminated through the integral effect, and the convergence time can be prolonged. The finite time self-adaptive controller has the characteristic of fast convergence at a balance point, has better speed tracking performance in actual control, and cannot generate overshoot. And incorporates in the controller a law which can be based on adaptation
The dynamic proportional gain L updated in real time enables the whole system to be more stable in the control process.
2. When the motor runs stably, a step load is suddenly added to the motor, the actual rotating speed of the motor suddenly drops, the PI controller continuously accumulates errors through an integral action to eliminate the deviation between the given rotating speed and the feedback rotating speed, the rotating speed is increased and is restored to the given value, but the process is long in time and poor in response. In the scheme, the disturbance estimation is carried out through the finite time sliding mode observer and is compensated into the controller, the given value can be quickly recovered, and the disturbance value observed by the observer is directly acted into the controller, so that the whole control system has better dynamic response characteristic and anti-jamming capability.
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 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 (8)
1. A finite time self-adaptive composite control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
step 1, establishing a motion equation of a permanent magnet synchronous motor, and determining a lumped disturbance term;
step 2, designing a finite time sliding mode state observer for estimating lumped disturbance and performing feedforward compensation on the system;
step 3, designing a finite time self-adaptive feedback controller of the speed loop omega according to the model of the permanent magnet synchronous motor;
step 4, generating a composite controller combined by a finite time sliding mode state observer and a finite time self-adaptive feedback controller;
step 5, designing a current loop id、iqThe finite time controller is combined with the finite time composite controller of the speed ring to construct an integral finite time control system.
2. The finite time adaptive composite control method of the permanent magnet synchronous motor according to claim 1, characterized in that the specific method for determining the lumped disturbance term in step 1 is as follows:
establishing a permanent magnet synchronous motor control model and determining a disturbance item:
wherein J is moment of inertia, npP is the initial letter of the pole of the magnetic pole,
for a permanent magnet flux linkage, f is the first letter of the flux, here denoted the magnetic flux, B isCoefficient of viscous friction iqIs the q-axis component of the stator current, omega is the actual rotational speed of the motor,
is the differentiation of the state quantity; t isLFor load torque, L is the first letter of load,
for a given quadrature reference current, the superscript indicates the meaning of the reference and the subscript q indicates the q-axis;
are considered to be lumped disturbances including friction, external load disturbances and q-axis current loop tracking errors.
3. The finite time adaptive compound control method of the permanent magnet synchronous motor according to claim 1, characterized in that the specific method for establishing the finite time state sliding-mode observer in step 2 comprises the following steps:
determining an extended state equation for a PMSM system that accounts for lumped disturbances
Writing an expansion equation of state for the motor equation column, wherein
Differential for d (t):
designing a finite time sliding mode state observer aiming at the formula:
wherein the content of the first and second substances,
and
respectively, an estimate of the feedback speed omega and the lumped disturbance
Where t represents time,
and
are respectively state quantities
And
differentiation of (1); j is moment of inertia, npP is the initial letter of the pole of the magnetic pole,
for the permanent magnet flux linkage, f is the magnetic flux, B is the viscous friction coefficient, and g and η are the observer gains.
4. The finite time adaptive compound control method of the permanent magnet synchronous motor according to claim 1, characterized in that the finite time adaptive feedback controller of the speed loop ω is designed in step 3 by a specific method:
establishing a motion equation of the permanent magnet synchronous motor under the condition of no interference:
establishing a state equation of a rotating speed tracking error e:
wherein e ═ ω*-ω，ω*Represents a reference rotational speed at which the rotational speed of the motor,
is a reference rotation speed omega*The first derivative of (a);
establishing q-axis reference current output by finite time adaptive feedback controller
Comprises the following steps:
wherein, ω is*For a given speed, the superscript denotes the reference value, ω is the actual speed, q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) For adjustable parameters, L is a proportional gain function.
5. The finite time adaptive composite control method of the permanent magnet synchronous motor according to claim 1, characterized in that according to step 4, a finite time state observer and a finite time adaptive feedback controller are combined to generate a composite controller:
wherein the content of the first and second substances,
for a given q-axis reference current, the superscript denotes the reference value, the subscript q denotes the q-axis, ω*For a given speed, ω is the actual speed, q (q)>0)、ε(ε>0)、K(K<0)、k(k>1) And m (0)<m<1) For adjustable parameters, L is a proportional gain function.
6. The finite time adaptive compound control method of the permanent magnet synchronous motor according to claim 1, wherein a current loop i is designed in step 5d、iqOf a current loop output ud、uqThe finite time controller is as follows:
wherein k isd(kd>1) D represents the d-axis, kq(kq>1) Q represents the q-axis, γd(0<γd<1)，γq(0<γq<1) In order to be able to adjust the parameters,
reference currents of d-axis and q-axis respectively, superscript denotes reference value, subscript d denotes d-axis, subscript q denotes q-axis, id，iqThe feedback currents are d-axis and q-axis.
7. The finite time adaptive composite control system of the permanent magnet synchronous motor based on the method of any one of claims 1 to 6, characterized in that the system comprises: the system comprises a finite time self-adaptive controller, a current loop finite time controller and a finite time sliding mode state observer; the finite time self-adaptive controller compares a given speed with a feedback speed to output a q-axis reference current, and the current loop finite time controller is used for processing deviation values of the input d-axis reference current and the input q-axis reference current and the feedback current and then outputting d-axis voltage and q-axis voltage; the finite time sliding mode state observer is used for estimating an output disturbance value after receiving the feedback rotating speed and the q-axis reference current.
8. The finite time adaptive compound control system of a permanent magnet synchronous motor according to claim 7, characterized in that the system further comprises: the Park inverse transformation unit is used for realizing the conversion of d-axis voltage and q-axis voltage to voltage under a static coordinate system, outputting the converted voltage to an SVPWM system for PWM modulation, and generating an actual pulse width modulation signal; the Clark conversion unit is used for converting the current in the stator coordinate system into the current in the static coordinate system, and outputting the converted current to the Park converter to obtain the current in the rotating coordinate system.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113708697A (en) * | 2021-07-14 | 2021-11-26 | 江苏大学 | Permanent magnet synchronous motor speed regulation control method with actuator saturation |
| CN114400935A (en) * | 2021-12-31 | 2022-04-26 | 西安理工大学 | Induction motor composite control method based on rapid finite time control |
| CN114448308A (en) * | 2022-01-14 | 2022-05-06 | 江苏大学 | Novel variable gain sliding mode control method for permanent magnet synchronous motor speed regulation system |
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