CN113644853B - Permanent magnet synchronous motor directional correction system based on Longboge observer - Google Patents
Permanent magnet synchronous motor directional correction system based on Longboge observer Download PDFInfo
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- CN113644853B CN113644853B CN202110740562.XA CN202110740562A CN113644853B CN 113644853 B CN113644853 B CN 113644853B CN 202110740562 A CN202110740562 A CN 202110740562A CN 113644853 B CN113644853 B CN 113644853B
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- 238000012937 correction Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims description 9
- 230000004907 flux Effects 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 101000841267 Homo sapiens Long chain 3-hydroxyacyl-CoA dehydrogenase Proteins 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- JJYKJUXBWFATTE-UHFFFAOYSA-N mosher's acid Chemical compound COC(C(O)=O)(C(F)(F)F)C1=CC=CC=C1 JJYKJUXBWFATTE-UHFFFAOYSA-N 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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Classifications
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a permanent magnet synchronous motor directional correction system based on a Robert observer, which comprises a current closed-loop adjustment module, a directional offset detection module and a space directional angle compensation module; the current closed loop adjusting module obtains dq voltage instructions through the deviation of the dq current instructions and the dq current feedback through the PI controller respectively, the directional offset detecting module detects space directional deviation by adopting a Robert observer, and the space directional angle compensating module carries out PI adjustment on the detected variable output by the directional offset detecting module to obtain space directional compensation quantity and applies the space directional compensation quantity to a current angle to obtain a compensated angle. The invention does not need to measure any additional physical quantity; the universality is extremely strong, and certain tolerance is provided for parameters; the deviation recognition of the orientation of the permanent magnet synchronous motor under the parameter perturbation is solved; the problem of directional calibration after deviation recognition is solved, and torque output precision is improved.
Description
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a permanent magnet synchronous motor directional correction system based on a Robert observer.
Background
In an in-vehicle permanent magnet synchronous motor (IPMSM) control system, a controlled object in an actual application scene, namely the IPMSM, inevitably changes, so that control parameters cured in advance in a control program fail, and the motor runs at a high speed, so that insufficient flux weakening causes voltage saturation, and the stability of a motor driving system is endangered.
The embedded permanent magnet synchronous motor has the characteristics of high power density, wide operation range and high efficiency, and is widely used for driving motors of electric automobiles; the torque equation is:
wherein T is e Is the electromagnetic torque of the motor; p (P) n The number of the magnetic pole pairs of the motor;magnetic flux for the rotor permanent magnet; i.e q For q-axis current, i d Is d-axis current; l (L) d The d-axis inductance; l (L) q The q-axis inductance; in the IPSM normal driving process, T e ＞0，i q ＞0，i d ＜0，L d ＜L q 。
As can be seen from the above equation, torque is positively correlated with current, but different dq axis current combinations correspond to different torques, with each fixed current magnitude having a particular set of dq current combinations that will maximize the torque output of the motor at that current. Due to saturation of the magnetic field, the dq-axis inductance L after the current is greater than a certain range d 、L q The variation range can reach as much as 200% at maximum along with the variation of the current. The variation of these parameters makes it very difficult or even impossible to solve the optimal dq current combination at each current on-line. Therefore, in motor control for vehicles, the optimal current combination corresponding to each torque is generally obtained through experimental test and calibration. All such current combinations within the full torque range are connected together to form a line called the maximum torque to current ratio (MTPA) curve of the IPMSM.
In addition, the operation of the IPMSM for the vehicle depends on that the inverter converts the bus of the power battery into three-phase alternating current, which means that the motor terminal voltage is constrained by the direct current bus; the voltage equation for IPMSM is:
wherein V is d For motor d-axis voltage, V q The q-axis voltage of the motor; r is R s For stator resistance, ω is the electrical angular velocity of the motor.
At high speed steady state, motor terminal voltage V s Is approximately:
when the motor speed is increased, the voltage of the motor end is increased, when the current amplitude exceeds the alternating voltage amplitude provided by the bus voltage, the weak magnetic control is needed, and the maximum alternating voltage provided by the current bus is the voltage limit V s_lmt The expression is generally:
wherein V is dc For bus voltage, MI max The maximum modulation ratio (maximum modulation index) of the motor control system is generally about 1 and 1.1027 at maximum.
In order to obtain a current combination which can meet a torque equation and meet voltage limitation, the dq current combination corresponding to each torque under different buses and rotating speeds is still obtained through calibration by an experimental means; and then the data are made into a table and stored in a digital control chip, and torque instructions under different rotating speeds and bus voltages are converted into corresponding dq current instructions through table lookup when the motor runs in real time.
The premise that the process can work normally is that the current combination obtained through calibration of the prototype experiment can be suitable for each motor in the same type; in practical applications, the following aspects may not be satisfied:
1. when the motor is produced in batch, the process and the rotary zero setting have deviation, so that the directional deviation of the whole dq coordinate system is inevitably caused, and the accurate output of torque is further affected;
2. the inconsistency of the sampling circuits of the controller can lead to different delay parameters at different rotating speeds, thereby causing different directional deviations at each rotating speed and further influencing the accurate output of torque;
3. the inconsistency of the wave generating circuit of the controller can lead to different delay parameters at different rotating speeds, so that different directional deviations at each rotating speed are caused, and the accurate output of torque is affected.
Disclosure of Invention
The invention aims to solve the defects of the prior art that the motor is in space orientation deviation detection and deviation compensation in the mass production process, and provides a permanent magnet synchronous motor orientation correction system based on a Robert observer.
The aim of the invention is realized by the following technical scheme: a permanent magnet synchronous motor directional correction system based on a Robert observer comprises a current closed-loop adjustment module, a directional offset detection module and a space directional angle compensation module; the current closed-loop regulation module obtains dq voltage instructions udq through the deviation of the dq current instructions and the dq current feedback idq through the PI controller respectively;
the directional offset detection module adopts a Robert observer to detect space directional offset, and inputs current feedback idq and voltage command udq in the current closed-loop regulation module and outputs detection variable g;
the spatial orientation angle compensation module is used for pi-adjusting the detection variable g output by the orientation offset detection module to obtain a spatial orientation compensation quantity delta theta, and applying the spatial orientation compensation quantity delta theta to the current angle theta to obtain a compensated angle theta comp 。
Further, the leber observer is as follows:
v＝[ud uq-wFlux 0 0] T
where id is the d-axis component of dq current feedback idq and iq is the q-axis component of dq current feedback idq;the method comprises the steps of pre-estimating the observation of id and iq by a Drabert observer, wherein n is a state variable in the Drabert observer; ud is the d-axis component of the dq voltage command udq, uq is the d-axis component of the dq voltage command udq, w is motor speed, and Flux is motor Flux; r is the resistance of the armature winding of the motor, ld is the d-axis inductance of the motor, and Lq is the q-axis inductance of the motor; k is a stable feedback coefficient.
Further, stabilizing the feedback coefficient K to be A lb -KC lb The real parts of the characteristic roots of the matrix are all negative.
Further, in the spatial orientation angle compensation module, the compensation amount Δθ is:
wherein K is p 、K i Proportional coefficient, integral coefficient for pi adjustment.
Further, the current angle θ is read by the resolver.
Further, the angle theta after the compensation of the space orientation angle compensation module comp The method comprises the following steps:
θ comp ＝θ-Δθ。
further, when g=0, it means that the orientation is accurate; when g >0, the orientation is larger; when g <0, the orientation is indicated to be small.
The beneficial effects of the invention are as follows:
1. the invention does not need to measure any additional physical quantity;
2. the invention has extremely strong universality and certain tolerance to parameters;
3. the invention solves the deviation recognition of the orientation of the permanent magnet synchronous motor under the parameter perturbation; the problem of directional calibration after deviation recognition is solved, and torque output precision is improved.
Drawings
FIG. 1 is a block diagram of an electrical equation inside a motor; wherein, (a) is d-axis (straight axis) and (b) is q-axis (quadrature axis);
FIG. 2 is a block diagram of the operation of the directional offset detection module (the Drabert observer);
FIG. 3 is a schematic diagram of the variation of the detected variable g with time; wherein, the ordinate is g, and no unit exists; the abscissa is time in seconds; (a) when the orientation is accurate, g=0; (b) g >0 when the orientation is larger; (c) when the orientation is smaller, g is less than 0;
FIG. 4 is a diagram showing the effect of the spatial orientation angle compensation module; wherein the abscissa is time in seconds; (a) For the change of g (g=0→g <0→g=0), the left arrow indicates that g is suddenly changed from 0 to negative when the orientation deviation is artificially added, and the right arrow indicates that g is recovered to be normal after the spatial orientation angle compensation module is inserted; (b) The change (normal→abnormal→normal) of idq is physically measured, iq is positive, id is negative, and the unit is A.
Detailed Description
The invention discloses a permanent magnet synchronous motor directional correction system based on a Longboge observer, which comprises the following components:
(1) The current closed loop adjusting module: this part is the dependency module of the present invention. The function of the method is that the dq voltage command udq is obtained through the deviation of the dq current command and the dq current feedback idq through the PI controller respectively; wherein the dq current range is three-phase current i based on physical sampling abc And the sampling angle theta of the rotary transformer is obtained by abc/dq conversion. The module is an essential part of permanent magnet synchronous motor control, belongs to common knowledge in the field, and is not unique.
(2) The directional offset detection module: the part is the key point of the invention, and the function is to detect the space orientation deviation by using a Robert observer without depending on the detection of any physical quantity, and the input is a current feedback idq and a voltage command udq in a current closed loop regulation module, and the output is a detection variable g.
As shown in fig. 1, in the prior art, the input of the electrical state space equation inside the motor is w, ud, and uq, and the output is id, iq, which are specifically as follows:
y＝Cx
x＝y＝[id iq] T ，u＝[ud uq-wFlux] T
wherein R is the resistance of the armature winding of the motor, ld is the d-axis (direct axis) inductance of the motor, lq is the q-axis (quadrature axis) inductance of the motor, and w is the motor speed (under electrical angle). id is the d-axis component of dq current feedback idq and iq is the q-axis component of dq current feedback idq. ud is the d-axis component of dq voltage command udq and uq is the d-axis component of dq voltage command udq. Flux is the motor Flux linkage. All the above parameters can be determined by prototype experiments. The measurement method is not discussed.
As shown in fig. 2, the lambger observer designed by the invention is as follows:
v＝[ud uq-wFlux 0 0] T wherein K is a stable feedback coefficient designed according to parameters, and K is required to enable A to be lb -KC lb The real parts of the characteristic roots of the matrix are all negative.The observation of x, y, id, iq by the leber observer is predicted, n and g are state variables inside the leber observer, wherein n has no physical meaning and is not applied in the invention.
The detection variable g output by the leber observer is detected, when g=0, the orientation is considered to be accurate, otherwise, the orientation is inaccurate. As shown in fig. 3, when g=0, the orientation is considered to be accurate; when g is more than 0, the orientation is considered to be larger; when g <0, the orientation is considered to be small.
(3) A spatial orientation angle compensation module: this part is the key to which the present invention is applied, and its function is to obtain the spatially oriented compensation amount Δθ based on the output g of the orientation offset detection module, and apply it to the θ read by the resolver.
The following pi adjustments are made to the test variable g:
wherein K is p 、K i The proportional coefficient and the integral coefficient of the pi regulator.
Applying delta theta to the resolver read theta, the final compensated angle being theta comp ：
θ comp ＝θ-Δθ
As shown in fig. 4, the spatial orientation is artificially modified by deviation, g is suddenly changed, and g gradually converges back to 0 after the spatial orientation angle compensation module is interposed; actual idq (physical measurement) also goes from bias to return to normal.
Claims (3)
1. The permanent magnet synchronous motor directional correction system based on the Dragon observer is characterized by comprising a current closed-loop adjusting module, a directional offset detecting module and a space directional angle compensating module;
the current closed-loop regulation module obtains dq voltage instructions udq through the deviation of the dq current instructions and the dq current feedback idq through the PI controller respectively;
the directional offset detection module adopts a Robert observer to detect space directional offset, and inputs current feedback idq and voltage command udq in the current closed-loop regulation module and outputs detection variable g; when g=0, it means that the orientation is accurate; when g >0, it indicates a greater orientation; when g <0, the orientation is small;
the space orientation angle compensation mouldThe block is used for pi-adjusting the detection variable g output by the orientation offset detection module to obtain the spatially oriented compensation quantity delta theta, and applying the spatially oriented compensation quantity delta theta to the current angle theta to obtain the compensated angle theta comp The method comprises the steps of carrying out a first treatment on the surface of the Reading the current angle theta by a rotary transformer; the angle theta after the compensation of the space orientation angle compensation module comp The method comprises the following steps: θ comp ＝θ-Δθ；
The leberger observer is as follows:
v＝[ud uq-wFlux 0 0] T
where id is the d-axis component of dq current feedback idq and iq is the q-axis component of dq current feedback idq;the method comprises the steps of pre-estimating the observation of id and iq by a Drabert observer, wherein n is a state variable in the Drabert observer; ud is the d-axis component of the dq voltage command udq, uq is the d-axis component of the dq voltage command udq, w is motor speed, and Flux is motor Flux; r is motor electricityThe resistance of the pivot winding, ld is the d-axis inductance of the motor, and Lq is the q-axis inductance of the motor; k is a stable feedback coefficient.
2. The permanent magnet synchronous motor directional correction system based on a lambger observer according to claim 1, wherein the stable feedback coefficient K satisfies the condition a lb -KC lb The real parts of the characteristic roots of the matrix are all negative.
3. The permanent magnet synchronous motor orientation correction system based on the lambger observer according to claim 1, wherein in the spatial orientation angle compensation module, the compensation amount Δθ is:
wherein K is p 、K i Proportional coefficient, integral coefficient for pi adjustment.
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| US9106177B2 (en) * | 2012-01-05 | 2015-08-11 | GM Global Technology Operations LLC | Method and system for sensorless control of an electric motor |
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