CN113037157A - Construction method of coreless outer rotor bearingless permanent magnet motor decoupling controller - Google Patents

Construction method of coreless outer rotor bearingless permanent magnet motor decoupling controller Download PDF

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CN113037157A
CN113037157A CN202110195963.1A CN202110195963A CN113037157A CN 113037157 A CN113037157 A CN 113037157A CN 202110195963 A CN202110195963 A CN 202110195963A CN 113037157 A CN113037157 A CN 113037157A
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displacement
input
support vector
vector machine
permanent magnet
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CN113037157B (en
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王鑫
朱熀秋
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Hefei Jiuzhou Longteng Scientific And Technological Achievement Transformation Co ltd
Ningbo Zhuotai Electronics Co ltd
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Jiangsu University
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
    • 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
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

Abstract

The invention discloses a construction method of a decoupling controller of a bearingless permanent magnet motor with an ironless outer rotor, which constructs a composite controlled object containing the bearingless permanent magnet synchronous motor with the ironless outer rotor, adopts a least square support vector machine, 2 integrators and 3 transfer functions to construct a generalized inverse of the least square support vector machine, the generalized inverse of the least square support vector machine is connected with the composite controlled object in series to form a pseudo-linear system consisting of two displacement integral pseudo-linear subsystems and a rotating speed integral pseudo-linear subsystem, an anti-interference closed-loop controller consisting of a pre-filter and a displacement regulator is designed for the pseudo-linear system, and the pre-filter in the anti-interference closed-loop regulator is used, so that the signal input by the decoupling controller of the motor is more smooth, the influence of step signals and impact signals is avoided, the output can better follow command signals, and the following effect is better, the bandwidth of the controller is obviously improved, and therefore the control performance of the motor decoupling controller is improved.

Description

Construction method of coreless outer rotor bearingless permanent magnet motor decoupling controller
Technical Field
The invention belongs to the technical field of electric transmission control equipment, and particularly relates to a construction method of a decoupling controller of a coreless outer rotor bearingless permanent magnet synchronous motor, which is suitable for high-performance control of the coreless outer rotor bearingless permanent magnet synchronous motor.
Background
The coreless outer rotor bearingless permanent magnet synchronous motor is a novel motor which applies a bearingless technology and a coreless technology to a common outer rotor permanent magnet synchronous motor, on the basis of the permanent magnet synchronous motor, a magnetic bearing winding coil generating radial suspension force and a motor stator winding are laminated together to realize bearingless of the motor, and the stator material of the motor is replaced by a non-magnetic material from an original magnetic material to realize coreless of the motor. The coreless outer rotor bearingless permanent magnet synchronous motor not only has the advantages of high efficiency, high power factor, small volume, light weight, good control performance and the like of the permanent magnet synchronous motor, but also has the advantages of no friction, no abrasion, no need of lubrication, high rotation precision and the like of the magnetic bearing, and further reduces the eddy current and the magnetic resistance loss of the bearingless permanent magnet synchronous motor.
However, the coreless outer rotor bearingless permanent magnet synchronous motor has a very complex electromagnetic relationship, is a multivariable, nonlinear and strong-coupling complex system, and has complex coupling relationships between two-degree-of-freedom radial suspension forces and between the radial suspension force and the rotating speed, so that the coreless outer rotor bearingless permanent magnet synchronous motor needs to be subjected to nonlinear decoupling control to realize stable suspension operation and stepless speed regulation under different working conditions of the coreless outer rotor bearingless permanent magnet synchronous motor. Regarding the decoupling control technology of the bearingless permanent magnet synchronous motor, most of the prior art has a mode of combining a common support vector machine inverse system method with a robust controller, the document with the Chinese patent publication No. CN 102790576A discloses that the support vector machine inverse system is applied to decoupling control of the bearingless permanent magnet synchronous motor to realize two-degree-of-freedom decoupling control of the bearingless permanent magnet synchronous motor, and the document with the Chinese patent publication No. CN 102801382A discloses that the support vector machine inverse system is applied to decoupling control of the bearingless asynchronous motor to realize five-degree-of-freedom decoupling control of the bearingless asynchronous motor. The conventional support vector machine inverse system used in the above document is open-loop unstable, and robust controllers have some disadvantages in dynamic performance or parameter adjustability. In order to enable the support vector machine inverse system to have the characteristic of stable open loop, the generalized inverse of the support vector machine can be used for configuring system parameters, so that the pseudo linear system has a stable open loop relation, which is better than the performance of the traditional alpha order inverse system. And an anti-interference closed-loop regulator with simple parameter adjustment and good anti-interference performance is used for replacing a robust controller, so that the decoupling control of the bearingless permanent magnet synchronous motor has more excellent control performance.
Disclosure of Invention
The invention aims to provide a construction method of a decoupling controller (hereinafter referred to as a motor decoupling controller) of an ironless outer rotor bearingless permanent magnet motor, which is based on the generalized inverse of a least square support vector machine, can realize nonlinear decoupling control between two-degree-of-freedom radial suspension force and between the radial suspension force and the rotating speed of the ironless outer rotor bearingless permanent magnet synchronous motor under the load condition, and can effectively improve various control performance indexes of the ironless outer rotor bearingless permanent magnet synchronous motor, such as steady-state tracking precision, dynamic response speed, parameter robustness and disturbance suppression.
The invention provides a construction method of a coreless outer rotor bearingless permanent magnet motor decoupling controller, which adopts the technical scheme that: the structure of a composite controlled object comprising a coreless outer rotor bearingless permanent magnet synchronous motor is characterized in that the composite controlled object uses four reference currents
Figure BDA0002946539000000021
As input, a displacement x in x, y directionM，yMAnd a rotational speed omegaeAs an output, the method further comprises the following steps:
step 1) constructing a least square support vector machine generalized inverse by adopting a least square support vector machine, 2 integrators and 3 transfer functions, wherein the least square support vector machine generalized inverse is based on the displacement xM、yMSecond derivative of (2)
Figure BDA0002946539000000022
And a rotational speed omegaeFirst derivative of
Figure BDA0002946539000000023
As input, four reference currents are output
Figure BDA0002946539000000024
Step 2) the least square support vector machine generalized inverse is connected with the composite controlled object in series to form a pseudo linear subsystem consisting of a first displacement integral type pseudo linear subsystem, a second displacement integral type pseudo linear subsystem and a rotating speed integral type pseudo linear subsystem, wherein the input of the first displacement integral type pseudo linear subsystem is
Figure BDA0002946539000000025
The output being the displacement xMThe input of the second shift integral pseudo linear subsystem is
Figure BDA0002946539000000026
The output being the displacement yM(ii) a The input of the rotating speed integral type pseudo linear subsystem is
Figure BDA0002946539000000027
The output being the displacement omegae；
Step 3) a first displacement regulator is connected in series in front of the first displacement integral type pseudo linear subsystem, a second displacement regulator is connected in series in front of the second displacement integral type pseudo linear subsystem, and a rotating speed regulator is connected in series in front of the rotating speed integral type pseudo linear subsystem; the inputs of the first, second and third pre-filters are respectively the reference displacement in x and y directions in one-to-one correspondence
Figure BDA0002946539000000028
And a reference rotational speed
Figure BDA0002946539000000029
The output is correspondingly the filtered displacement instruction value
Figure BDA00029465390000000210
Figure BDA00029465390000000211
And a rotational speed command value
Figure BDA00029465390000000212
The displacement instruction value
Figure BDA00029465390000000213
And a displacement xMDifferencing to obtain a displacement error e in the x directionxAs input to the first displacement regulator, the first displacement regulator is derived
Figure BDA00029465390000000214
The displacement instruction value
Figure BDA00029465390000000215
And a displacement yMDifferencing to obtain a y-direction displacement error signal eyAs an input to the second displacement regulator, the second displacement regulator is fed
Figure BDA00029465390000000216
The rotating speed instruction value
Figure BDA00029465390000000217
With the speed of rotation omegaeDifferencing to obtain a rotational speed error signal eωAs an input to the speed regulator, the speed regulator is obtained
Figure BDA00029465390000000218
The first, second and third pre-filters (51, 52, 53) are all
Figure BDA00029465390000000219
Filter of Fr(s) is the transfer function of the pre-filter, ωrIs the bandwidth parameter, s is the laplacian operator.
The rotational speed regulator is
Figure BDA0002946539000000031
PI regulator of (1)PID(s) is the transfer function of a displacement regulator having a PID kernel; kPIDAs a PID kernel parameter, ωcIs the desired bandwidth.
The invention has the beneficial effects that:
1) the use of the pre-filter in the anti-interference closed-loop regulator enables the signal input by the motor decoupling controller to be more gentle, avoids the influence of step signals and impact signals, enables the output to better follow the instruction signal, and enables the bandwidth of the controller to be remarkably improved due to better following effect, thereby improving the control performance of the motor decoupling controller.
2) The anti-interference closed-loop regulator is formed by the prefilter, the displacement regulator and the rotating speed regulator respectively, the anti-interference closed-loop regulator has a parameter adjusting method similar to the traditional PID, and meanwhile, due to the introduction of the bandwidth parameter and the prefilter, after the bandwidth of the controller is improved, the PID nuclear parameter of the anti-interference closed-loop regulator has a wider adjusting range, so the anti-interference closed-loop regulator is better than the PID controller in parameter applicability, and meanwhile, the regulator can also well inhibit external disturbance and internal disturbance, so the anti-interference closed-loop regulator can better resist the disturbance, and the operation control performance of the coreless outer rotor bearingless permanent magnet synchronous motor is better.
3) The motor is subjected to decoupling control in a mode of constructing the generalized inverse system, and the pseudo linear system has a stable open-loop relation by configuring parameters of the generalized inverse system, so that the performance of the system is better than that of the traditional alpha-order inverse system. Meanwhile, a least square support vector machine with the advantages of high learning speed, short training time, easy optimization of a network structure and the like is adopted to establish a model of the motor, and the decoupling control problem of multivariable nonlinear strong coupling of the motor is solved.
4) The control of a multivariable, nonlinear and strong coupling time-varying system, namely the coreless outer rotor bearingless permanent magnet synchronous motor, is converted into the control of two displacement second-order standard linear subsystems and a rotating speed first-order standard linear subsystem by constructing the generalized inverse of a least square support vector machine. The anti-interference closed-loop controller is designed by utilizing a regulator method, so that dynamic decoupling between two-degree-of-freedom radial suspension forces and between the radial suspension force and the rotating speed is realized. Therefore, the control of a two-degree-of-freedom displacement system and the rotating speed of the motor can be independently realized, and the high-performance operation control of the coreless outer rotor bearingless permanent magnet synchronous motor is obtained.
5) The motor decoupling controller constructed by the invention has simple control structure and excellent control performance, is also suitable for controlling other types of bearingless motors and various motors supported by a magnetic bearing.
Drawings
Fig. 1 is a schematic block diagram of a composite controlled object 28 composed of a first PI controller 11, a second PI controller 12, a third PI controller 21, a fourth PI controller 22, a first Park inverse transformation 13, a second Park inverse transformation 23, a first Park transformation 14, a second Park transformation 24, a first SVPWM inverter 15, a second SVPWM inverter 25, a first Clarke transformation 16, a second Clarke transformation 26, and an ironless outer rotor bearingless permanent magnet synchronous motor 27, and an equivalent diagram thereof;
FIG. 2 is a block diagram of the construction of the generalized inverse 3 of the least squares support vector machine;
FIG. 3 is a schematic block diagram of a pseudo linear system 4 composed of a least squares support vector machine generalized inverse 3 and a composite controlled object 28 and an equivalent thereof;
fig. 4 is a connection block diagram of the disturbance rejection closed-loop regulator 5 composed of a first pre-filter 51, a second pre-filter 52, a third pre-filter 53, a first displacement regulator 54, a second displacement regulator 55, and a rotation speed regulator 56, and the pseudo linear system 4;
fig. 5 is a connection block diagram of the disturbance rejection closed-loop regulator 5, the least squares support vector machine generalized inverse 3 and the composite controlled object 28;
fig. 6 is a block diagram of the decoupling controller of the motor according to the present invention.
Detailed Description
Referring to fig. 1, a first PI controller 11, a second PI controller 12, a third PI controller 21, a fourth PI controller 22, a first Park inverse transformation module 13, a second Park inverse transformation module 23, a first Park transformation module 14, a second Park transformation module 24, a first Clarke transformation module 16, a second Clarke transformation module 26, a first SVPWM inverter 15, a second SVPWM inverter 26, and a coreless outer rotor bearingless permanent magnet synchronous motor 27 are combined as a whole to form a composite controlled object 28, the composite controlled object 28 is equivalent to a differential equation model of 5 th order, and the relative order of a system vector is {2,2,1 }. As shown in fig. 2, a least squares support vector machine generalized inverse 3 of a composite controlled object having 8 input nodes and 4 output nodes is constructed by using a least squares support vector machine 31 having 8 input nodes and 4 output nodes, plus 2 integrators, and 3 transfer functions based on input and output. As shown in fig. 3, the least square support vector machine generalized inverse 3 is connected in series before the composite controlled object 28, and the least square support vector machine generalized inverse 3 and the composite controlled object 28 are synthesized into the pseudo-linear system 4 composed of two displacement second-order transfer function standard pseudo-linear subsystems and a speed first-order transfer function standard pseudo-linear subsystem, so that a complex multivariable, nonlinear and strongly coupled control system is converted into the control of the two second-order transfer function standard pseudo-linear subsystems and the first-order transfer function standard pseudo-linear subsystem. Referring to fig. 4, for two second-order subsystems and one first-order subsystem that have been linearly decoupled, an anti-interference PID regulator design method is adopted to design a first pre-filter 51, a second pre-filter 52, a third pre-filter 53, a first displacement regulator 54, a second displacement regulator 55 and a rotation speed regulator 56, respectively, and the anti-interference closed-loop controller 5 is composed of the first pre-filter 51, the second pre-filter 52, the third pre-filter 53, the first displacement regulator 54, the second displacement regulator 55 and the rotation speed regulator 56. Finally, the decoupling controller of the coreless outer rotor bearingless permanent magnet motor is formed by an anti-interference closed-loop controller 5, a least square support vector machine generalized inverse 3, a first PI controller 11, a second PI controller 12, a third PI controller 21, a fourth PI controller 22, a first Park inverse transformation module 13, a second Park inverse transformation module 23, a first Park transformation module 14, a second Park transformation module 24, a first Clarke transformation module 16, a second Clarke transformation module 26, a first SVPWM inverter 15 and a second SVPWM inverter 26, and nonlinear dynamic decoupling control is carried out on the coreless outer rotor bearingless permanent magnet synchronous motor 27. The specific implementation comprises the following 7 steps:
1) as shown in fig. 1, a composite controlled object 28 including an ironless outer rotor bearingless permanent magnet synchronous motor 27 is constructed. In the feedback channel, the output end of the coreless outer rotor bearingless permanent magnet synchronous motor 27 is respectively connected with a first Clarke conversion module 16 and a second Clarke conversion moduleAnd the output end of the second Clarke conversion module 26 is connected with the second Park conversion module 24 in series, and the output end of the first Clarke conversion module 16 is connected with the first Park conversion module 14 in series. The first Park conversion module 14 and the second Park conversion module 24 are fed back to the forward channel. In the forward channel, a first PI controller 11 and a second PI controller 12 are connected in series before a first Park inverse transformation 13, a third PI controller 21 and a fourth PI controller 22 are connected in series before a second Park inverse transformation 23, the first Park inverse transformation 13 is connected in series before an ironless outer rotor bearingless permanent magnet synchronous motor 27 through a first SVPWM inverter 15, and the second Park inverse transformation 23 is connected in series before the ironless outer rotor bearingless permanent magnet synchronous motor 27 through a second SVPWM inverter 25, so as to jointly form a composite controlled object 28. The composite controlled object 28 has four reference currents
Figure BDA0002946539000000051
With signal as input, with displacement x in x, y directionM、yMAnd the rotational speed omega of the motor rotoreAs an output.
The torque current i is obtained by collecting the torque current and the suspension current of the coreless outer rotor bearingless permanent magnet synchronous motor 27Ma、iMbAnd a levitation current iBa、iBbThe torque current i can be converted by means of a first Clarke transformation 16Ma、iMbIs converted into iMα、iMβTo i withMα、iMβAs input to the first Park transformation 14, an output i is obtainedMd、iMq. Will obtain iMd、iMqAnd torque current command value
Figure BDA0002946539000000052
The difference is made, and the obtained current difference is input to the corresponding first PI controller 11 and second PI controller 12. The current error can be converted into control voltage through the first PI controller 11 and the second PI controller 12 respectively
Figure BDA0002946539000000053
And
Figure BDA0002946539000000054
signal to be converted control voltage
Figure BDA0002946539000000055
And
Figure BDA0002946539000000056
as an input signal of the first Park inverse transformation 13, an output voltage can be obtained
Figure BDA0002946539000000057
And
Figure BDA0002946539000000058
then the obtained output voltage is used
Figure BDA0002946539000000059
And
Figure BDA00029465390000000510
the torque voltage u of the coreless outer rotor bearingless permanent magnet synchronous motor 27 can be obtained as an input of the first SVPWM inverter 15Ma、uMbAnd uMcInputting a signal. The torque current i can be converted by a second Clarke transformation 26Ba、iBbIs converted into iBα、iBβTo i withBα、iBβAs input to the second Park transformation 24, an output i is availableBd、iBq. Will obtain iBd、iBqAnd torque current command value
Figure BDA00029465390000000511
The difference is made, and the obtained current difference is input to the corresponding third PI controller 21 and fourth PI controller 22. The current error can be converted into control voltage by the third PI controller 21 and the fourth PI controller 22
Figure BDA00029465390000000512
And
Figure BDA00029465390000000513
converting the control voltage
Figure BDA00029465390000000514
And
Figure BDA00029465390000000515
as an input signal of the second Park inverse transformation 23, an output voltage can be obtained
Figure BDA00029465390000000516
And
Figure BDA00029465390000000517
then the obtained output voltage is used
Figure BDA0002946539000000061
And
Figure BDA0002946539000000062
as an input of the second SVPWM inverter 25, the levitation voltage u of the coreless outer rotor bearingless permanent magnet synchronous motor 27 can be obtainedBa、uBbAnd uBcInputting a signal. The obtained torque voltage uMa、uMbAnd uMcAnd a levitation voltage uBa、uBbAnd uBcThe displacement x can be obtained as an input signal of the coreless outer rotor bearingless permanent magnet synchronous motor 27M、yMAnd a rotational speed omegae。
2) Through analysis, equivalence and derivation, a basis on a method is provided for the construction and the learning training of the generalized inverse of the least square support vector machine. Firstly, a mathematical model of a composite controlled object 28 is established, based on the working principle of the coreless outer rotor bearingless permanent magnet synchronous motor 27, the mathematical model of the coreless outer rotor bearingless permanent magnet synchronous motor 27 is established, closed-loop control of torque and suspension is formed through Clarke transformation and Park transformation in a feedback channel and PI controller, Park inverse transformation and linear amplification in a forward channel, and the mathematical model of the composite controlled object 28, namely a 5-order differential equation, is obtained, wherein the relative order of vectors of the equation is {2,2,1 }. Derivation can prove that the 5 th order differential equation is reversible, namely a generalized inverse system exists, three inputs of the inverse system can be determined to be two displacement second-order derivatives and one first-order derivative of the rotating speed, and four outputs are respectively four inputs of the composite controlled object 28. A least squares support vector machine generalized inverse 3 can thus be constructed, as shown in fig. 2. Provides a method basis for learning and training.
3) As shown in fig. 2, a least squares support vector machine generalized inverse 3 is constructed by using a least squares support vector machine 31, 2 integrators and 3 input-output-based transfer functions, and the least squares support vector machine generalized inverse 3 is displaced by x in x and y directionsM、yMSecond derivative of (2)
Figure BDA0002946539000000063
And the rotational speed omega of the motor rotoreFirst derivative of
Figure BDA0002946539000000064
As input, four reference currents are output
Figure BDA0002946539000000065
Wherein the number of input nodes of the least squares support vector machine 31 is 8, the number of output layer nodes is 4, and the vector coefficient and the threshold of the least squares support vector machine 31 are determined in the next off-line learning. Using a least squares support vector machine 31 with 8 input nodes, 4 output nodes plus two integrators s-1A second order normalized transfer function s/(a)12s2+a11s+a10) A second order normalized transfer function s/(a)22s2+a21s+a20) And a first order canonical transfer function s/(a)31s+a30) Forming a generalized inverse 3 of a least squares support vector machine, wherein s is a Laplace operator; a is10、a11、a12、a20、a21、a22、a30、a31Respectively, constant coefficients of a second-order standard type transfer function, the values of which can be adjusted according to actual operation, wherein the optimal damping coefficient value in engineering application, namely a, is selected10、a12、a20、a22、a30、a31Are all taken to be 1, a11、a21All taken to be 1.414.
Wherein: the first input of the generalized inverse 3 of the least squares support vector machine is displacement
Figure BDA0002946539000000066
Displacement of
Figure BDA0002946539000000067
As a first input to the least squares support vector machine 31, a displacement
Figure BDA0002946539000000068
Through the first input-output based second-order standard type transfer function s/(a)12s2+a11s+a10) Then, the displacement x is outputMFirst derivative of
Figure BDA0002946539000000071
As a second input to the least squares support vector machine 31,
Figure BDA0002946539000000072
then passes through a first integrator s-1Rear output displacement xMBy a displacement xMAs a third input to the least squares support vector machine 31. The second input of the generalized inverse 3 of the least squares support vector machine is displacement
Figure BDA0002946539000000073
Displacement of
Figure BDA0002946539000000074
As a fourth input to the least squares support vector machine 31, a displacement
Figure BDA0002946539000000075
Passing through a second order normalized transfer function s/(a)22s2+a21s+a20) Rear output yMFirst derivative of
Figure BDA0002946539000000076
As a fifth input to the least squares support vector machine 31,
Figure BDA0002946539000000077
then passes through a second integrator s-1Rear output displacement yM，yMAs the sixth input to the least squares support vector machine 31. The third input of the generalized inverse 3 of the least squares support vector machine is the rotation speed
Figure BDA0002946539000000078
Rotational speed
Figure BDA0002946539000000079
As a seventh input to the least squares support vector machine 31,
Figure BDA00029465390000000710
through a third input-output-based first-order standard type transfer function s/(a)31s+a30) After that, the output rotation speed omegae，ωeAs the eighth input to the least squares support vector machine 31. The output of the least squares support vector machine 31 is four reference currents output by the generalized inverse 3 of the least squares support vector machine
Figure BDA00029465390000000711
4) The vector coefficients and thresholds of the least squares support vector machine 31 are adjusted and determined as follows: (1) four reference currents
Figure BDA00029465390000000712
Is applied to the input end of the composite controlled object 28 as a step excitation signal to acquire the displacement x of the coreless outer rotor bearingless permanent magnet synchronous motor 27M、yMAnd a rotational speed omegae. (2) Will bit xM、yMRespectively solving the first derivative and the second derivative of the rotation speed omega off lineeThe first derivative is calculated, and the signals are normalized to form a training sample set of the least square support vector machine 31
Figure BDA00029465390000000713
(3) And selecting a Gaussian kernel function as the kernel function of the least square support vector machine 31, setting the regularization parameter of the least square support vector machine 31 to be 996, and setting the kernel width to be 3.5, so as to adjust the vector coefficient and the threshold of the least square support vector machine 31 off line.
5) As shown in fig. 3, two displacement integral type pseudo-linear subsystems and one rotation speed integral type pseudo-linear subsystem are formed. The least square support vector machine generalized inverse 3 and the composite controlled object 28 are connected in series to form a pseudo linear system 4, and the pseudo linear system 4 is composed of a first displacement integral type pseudo linear subsystem 41, a second displacement integral type pseudo linear subsystem 42 and a rotating speed integral type pseudo linear subsystem 43. Wherein the input of the shift integral pseudo linear subsystem 41 is
Figure BDA00029465390000000714
The output being the displacement xMThe input to the shift integral pseudo linear subsystem 42 is
Figure BDA00029465390000000715
The output being the displacement yM(ii) a The input to the rotational speed integral type pseudo linearity subsystem 43 is
Figure BDA00029465390000000716
The output being the displacement omegae. Therefore, nonlinear dynamic decoupling between two-degree-of-freedom radial suspension force and between the radial suspension force and the rotating speed is realized, and the control of a complex nonlinear system is converted into the control of three simple univariate linear systems.
6) As shown in fig. 5, the anti-disturbance closed-loop controller 5 is designed. Regulators are respectively designed for two displacement integral type pseudo linear subsystems 41 and 42 and one rotation speed integral type pseudo linear subsystem 43. Corresponding first prefilter 51 and first displacement adjuster 54 are designed for the displacement integral pseudo linear control subsystem 41, and the first displacement adjuster 54 is connected in series in front of the displacement integral pseudo linear control subsystem 41. Designing corresponding second prefilter 52 and second phase shift modulation for phase shift integration pseudowire control subsystem 42The node 55 and the second displacement regulator 55 are connected in series before the displacement integral pseudo linear subsystem 42. A third prefilter 53 and a rotational speed regulator 56 are designed for one rotational speed integral type pseudo linear subsystem 43, and the rotational speed regulator 56 is connected in series before the rotational speed integral type pseudo linear subsystem 43. Wherein the input of the first pre-filter 51 is the reference displacement in the x-direction
Figure BDA0002946539000000081
The output is the displacement instruction value in the x direction after filtering
Figure BDA0002946539000000082
Filtering the x-direction displacement instruction value
Figure BDA0002946539000000083
Displacement x from the detected x directionMTaking the difference to obtain the displacement error e in the x directionxAnd apply the displacement error exAs input to the first displacement regulator 54, the input is obtained after being regulated by the first displacement regulator 54
Figure BDA0002946539000000084
A first displacement regulator 54 is connected in series before the displacement integrating pseudo linear subsystem 41,
Figure BDA0002946539000000085
the displacement x in the x direction is obtained as an input to the displacement integral pseudo linear subsystem 41M. Similarly, the input to the second prefilter 52 is a reference displacement in the y-direction
Figure BDA0002946539000000086
The output is the displacement instruction value of the y direction after filtering
Figure BDA0002946539000000087
The filtered displacement instruction value in the y direction
Figure BDA0002946539000000088
With the detected displacement signal y in the y-directionMMaking a difference between the two steps,obtaining a displacement error signal e in the y directionyAnd the signal is used as the input of the second displacement regulator 55, and after the regulation of the second displacement regulator 55, the output signal is obtained
Figure BDA0002946539000000089
Will be provided with
Figure BDA00029465390000000810
As an input of the shift integral pseudo linear subsystem 42, a shift signal y in the y direction is obtainedM. Similarly, the input of the third pre-filter 53 is the reference rotation speed
Figure BDA00029465390000000811
The output is the filtered rotating speed instruction value
Figure BDA00029465390000000812
Filtering the speed instruction value
Figure BDA00029465390000000813
With detected speed signal omegaeMaking difference to obtain rotation speed error signal eωAnd sends the signal eωAs an input of the rotational speed regulator 56, the output signal is obtained after being regulated by the rotational speed regulator 56
Figure BDA00029465390000000814
The obtained rotating speed
Figure BDA00029465390000000815
As an input of the rotational speed integral type pseudo linear subsystem 43, the rotational speed integral type pseudo linear subsystem 43 outputs a rotational speed ωe. In the implementation process of the invention, an anti-interference closed-loop controller 5 is formed by all the prefilters and all the regulators, wherein a given reference signal is slowed down by the prefilters, so that a tracking signal can better follow the reference signal, thereby improving the dynamic performance of displacement; the regulator adopts a PID core structure, the structure only needs to determine PID core parameters and bandwidth parameters, and the regulator can better regulate according to the engineering regulation experience of PIDAnd guiding engineering application. The parameters of the regulator are selected and adjusted according to the operation parameters of the coreless outer rotor bearingless permanent magnet synchronous motor, and the first pre-filter 51 and the second pre-filter 52 are selected in the form of
Figure BDA00029465390000000816
Wherein Fr(s) represents the transfer function of the pre-filter, ωrAs a bandwidth parameter of the filter, 50, x and y displacements were set
Figure BDA0002946539000000091
And
Figure BDA0002946539000000092
filtered by the corresponding first pre-filter 51 and second pre-filter 52 to obtain
Figure BDA0002946539000000093
And
Figure BDA0002946539000000094
according to setting different bandwidth parameters omega of filterrThe dynamic performance of the system can be adjusted, thereby improving the bandwidth of the whole displacement control system. The first displacement regulator 54 and the second displacement regulator 55 are both selected in the form of
Figure BDA0002946539000000095
In which CPID(s) representing a transfer function of a displacement regulator having a PID kernel; kPIDFor PID kernel parameter, set to 3, ωcRepresenting the desired bandwidth, ωcThe first displacement adjuster 54 and the second displacement adjuster 55 set the displacement error e in the x and y directions to 50, λ represents a weight coefficient and is set to 0.01xAnd eyAs input, regulated to obtain output
Figure BDA0002946539000000096
And
Figure BDA0002946539000000097
in the process, only the kernel parameter K of PID is neededPID、ωcAnd λ, and ωcThe product of λ and λ is typically less than 1, where the product of the two is set to 0.5. The third pre-filter 53 is also optionally of the form
Figure BDA0002946539000000098
In which Fr(s) represents the transfer function of the pre-filter, the bandwidth parameter ω of the filterrSet to 500, rotation speed command value
Figure BDA0002946539000000099
As the input of the third pre-filter 53, the filtered rotation speed command value is obtained after filtering
Figure BDA00029465390000000910
By setting different bandwidth parameters omega in the third pre-filter 53rA corresponding control performance can be obtained, where the bandwidth parameter ωrSet to 500. The speed regulator 56 takes the form of
Figure BDA00029465390000000911
The PI regulator of (1), wherein CPI(s) represents the transfer function of a tachometer regulator with a PI kernel, KPIAs a PI nuclear parameter, KPIIs set to 5, omegacRepresenting the desired bandwidth, set to 500, rotational speed error eωAs an input to the speed regulator 56, an output is obtained after regulation by the speed regulator 56
Figure BDA00029465390000000912
The output of the disturbance rejection closed-loop regulator 5 is
Figure BDA00029465390000000913
And
Figure BDA00029465390000000914
it is used as 3 inputs of generalized inverse 3 of least square support vector machineAdjusting generalized inverse 3 of the support vector machine of the least squares to obtain the output reference current
Figure BDA00029465390000000915
And will be referenced to the current
Figure BDA00029465390000000916
As an input of the composite controlled object 28, the displacement x can be detected by the displacement sensor and the rotation speed sensorM，yMAnd an output rotation speed omegaeThe whole controller adopts the structure of the anti-interference closed-loop regulator, so that the control parameters of the whole controller are directly related to the bandwidth, and the anti-interference and decoupling capacity of the system is improved by configuring the corresponding bandwidth coefficient.
7) And forming an anti-interference least square support vector machine generalized inverse decoupling controller 6. The anti-interference closed-loop controller 5 is connected in series before the least square support vector machine generalized inverse 3, and the anti-interference closed-loop controller 5, the least square support vector machine generalized inverse 3 and the composite controlled object 28 jointly form the anti-interference least square support vector machine generalized inverse decoupling controller 6 of the coreless outer rotor bearingless permanent magnet synchronous motor, namely the motor decoupling controller, as shown in fig. 6.
From the foregoing, it will be appreciated that those skilled in the art, upon attaining an object of the present invention, may readily produce alterations to, variations of, and departures from the spirit and scope of the present invention.

Claims (10)

1. A construction method of a decoupling controller of a coreless outer rotor bearingless permanent magnet motor is used for constructing a composite controlled object containing the coreless outer rotor bearingless permanent magnet synchronous motor, and the composite controlled object uses four reference currents
Figure FDA0002946538990000011
As input, a displacement x in x, y directionM，yMAnd a rotational speed omegaeAs an output, the method is characterized by further comprising the following steps:
step 1) constructing a least square support vector machine generalized inverse (3) by adopting a least square support vector machine (31), 2 integrators and 3 transfer functions, wherein the least square support vector machine generalized inverse (3) is formed by the displacement xM、yMSecond derivative of (2)
Figure FDA0002946538990000012
And a rotational speed omegaeFirst derivative of
Figure FDA0002946538990000013
As input, four reference currents are output
Figure FDA0002946538990000014
Step 2) the least square support vector machine generalized inverse (3) is connected with the composite controlled object in series to form a pseudo linear system (4) which consists of a first displacement integral pseudo linear subsystem (41), a second displacement integral pseudo linear subsystem (42) and a rotating speed integral pseudo linear subsystem (43), wherein the input of the first displacement integral pseudo linear subsystem (41) is
Figure FDA0002946538990000015
The output being the displacement xMThe input to the second shift integral pseudolinear subsystem (42) is
Figure FDA0002946538990000016
The output being the displacement yM(ii) a The input of the rotating speed integral type pseudo linear subsystem (43) is
Figure FDA0002946538990000017
The output being the displacement omegae；
Step 3) a first displacement regulator (54) is connected in series before the first displacement integral type pseudo linear subsystem (41), a second displacement regulator (55) is connected in series before the second displacement integral type pseudo linear subsystem (42), and the rotating speed is regulatedThe economizer (56) is connected in series in front of the rotating speed integral pseudo-linear subsystem (43); the input of the first, second and third pre-filters (51, 52, 53) are respectively corresponding to the reference displacement in x and y directions
Figure FDA0002946538990000018
Figure FDA0002946538990000019
And a reference rotational speed
Figure FDA00029465389900000110
The output is correspondingly the filtered displacement instruction value
Figure FDA00029465389900000111
And a rotational speed command value
Figure FDA00029465389900000112
The displacement instruction value
Figure FDA00029465389900000113
And a displacement xMDifferencing to obtain a displacement error e in the x directionxThe first displacement regulator (54) receives as input the first displacement regulator (54)
Figure FDA00029465389900000114
The displacement instruction value
Figure FDA00029465389900000115
And a displacement yMDifferencing to obtain a y-direction displacement error signal eyThe second displacement regulator (55) receives an input as an input to the second displacement regulator (55)
Figure FDA00029465389900000116
The rotating speed instruction value
Figure FDA00029465389900000117
With the speed of rotation omegaeDifferencing to obtain a rotational speed error signal eωThe rotational speed regulator (56) is used as an input of the rotational speed regulator (56)
Figure FDA00029465389900000118
2. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 1, wherein the decoupling controller comprises: in step 3), the first, second and third pre-filters (51, 52, 53) are all
Figure FDA00029465389900000119
Filter of Fr(s) is the transfer function of the pre-filter, ωrIs the bandwidth parameter, s is the laplacian operator.
3. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 2, wherein: bandwidth parameter ω of the first and second pre-filters (51, 52)r50, bandwidth parameter ω of the third pre-filter (53)rIs 500.
4. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 1, wherein the decoupling controller comprises: in step 3), the first and second displacement adjusters (54, 55) are both
Figure FDA0002946538990000021
PID regulator of, KPIDAs a PID kernel parameter, CPID(s) transfer function of a displacement regulator with PID kernel, KPIDAs a PID kernel parameter, ωcFor the desired bandwidth, s is the laplacian.
5. The method of claim 4 wherein the decoupling controller is configured as a bearingless permanent magnet motor with an ironless outer rotor,the method is characterized in that: said KPIDA value of 3, omegacThe value was 50 and the lambda value was 0.01.
6. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 1, wherein the decoupling controller comprises: in step 3), the rotating speed regulator (56) is
Figure FDA0002946538990000022
PI regulator of (1)PI(s) is the transfer function of a speed regulator with a PI core, KPIAs a PI nuclear parameter, ωcFor the desired bandwidth, s is the laplacian.
7. The method for constructing a coreless outer rotor bearingless permanent magnet motor decoupling controller according to claim 6, wherein: said KPIValue of 5, omegacThe value is 500.
8. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 1, wherein the decoupling controller comprises: in the step 1), the first input of the generalized inverse (3) of the least squares support vector machine is a displacement xMSecond derivative of (2)
Figure FDA0002946538990000023
As a first input to a least squares support vector machine (31),
Figure FDA0002946538990000024
then passing through the first second-order standard type transfer function s/(a)12s2+a11s+a10) First derivative of post-output displacement
Figure FDA0002946538990000025
As a second input to the least squares support vector machine (31),
Figure FDA0002946538990000026
then passes through a first integrator s-1Displacement x of rear outputMAs a third input to the least squares support vector machine (31), the second input to the generalized inverse of the least squares support vector machine (3) is the displacement yMSecond derivative of (2)
Figure FDA0002946538990000027
As a fourth input to the least squares support vector machine (31),
Figure FDA0002946538990000028
then passing through a second-order standard type transfer function s/(a)22s2+a21s+a20) Displacement y of rear outputMFirst derivative of
Figure FDA0002946538990000029
As a fifth input to the least squares support vector machine (31),
Figure FDA00029465389900000210
then passes through a second integrator s-1Displacement y of rear outputMAs the sixth input of the least squares support vector machine (31), the third input of the generalized inverse of the least squares support vector machine (3) is the rotation speed omegaeFirst derivative of
Figure FDA00029465389900000211
As a seventh input to the least squares support vector machine (31),
Figure FDA00029465389900000212
passing through a third first-order standard type transfer function s/(a)31s+a30) Rear output speed omegaeAs the eighth input of the least squares support vector machine (31), s is the laplacian; a is10、a11、a12、a20、a21、a22、a30、a31Is a constant coefficient of a second order standard type transfer function.
9. The method for constructing a coreless outer rotor bearingless permanent magnet motor decoupling controller according to claim 8, wherein: constant coefficient a of the second order canonical transfer function10、a12、a20、a22、a30、a31Are all 1, a11、a21Are all 1.414.
10. The method for constructing a decoupling controller of a coreless outer rotor bearingless permanent magnet motor according to claim 1, wherein the decoupling controller comprises: the output end of the coreless outer rotor bearingless permanent magnet synchronous motor is respectively connected with a first Clarke conversion module (16) and a second Clarke conversion module (26), the output end of the first Clarke conversion module (16) is connected with a first Park conversion module (14) in series, the output end of the second Clarke conversion module (26) is connected with a second Park conversion module (24) in series, a first PI controller (11) and a second PI controller (12) are connected in series before a first Park inverse transformation (13), a third PI controller (21) and a fourth PI controller (22) are connected in series before a second Park inverse transformation (23), the first Park inverse transformation (13) is connected in series before the coreless outer rotor bearingless permanent magnet synchronous motor through a first SVPWM inverter (15), and the second Park inverse transformation (23) is connected in series before the coreless outer rotor bearingless permanent magnet synchronous motor through a second SVPWM inverter (25), so that the composite controlled object is formed.
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