CN113922725A - Dust collector high-speed motor control method and self-adaptive variable-structure rotating speed controller - Google Patents
Dust collector high-speed motor control method and self-adaptive variable-structure rotating speed controller 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
- H02P21/22—Current control, e.g. using a current control loop
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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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
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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
-
- 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
- H02P2207/055—Surface mounted magnet motors
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Abstract
The embodiment of the invention discloses a control method of a high-speed motor of a dust collector and a self-adaptive variable-structure rotating speed controller, which aim to solve the problem of unsatisfactory control effect when the parameter variation range of a system is large in the prior art. According to the high-speed motor control method of the dust collector, aiming at the rotating speed control of the motor, for a given initial condition, after a plurality of times of self-adaptive slope adjustment, the track finally enters a stable area on a final switching line, and on the premise of keeping the strong robustness of variable structure control, the variable structure control is realized at the fastest speed. The invention combines the self-adaptive control with the variable structure control to construct a variable structure self-adaptive control model, which can reduce the influence of parameter change and load disturbance on the speed regulating system of the ultra-high speed permanent magnet motor.
Description
Technical Field
The invention relates to a motor control method, in particular to a high-speed motor control method and a high-speed motor controller for a dust collector.
Background
The motor is a key part of the dust collector, strong power is the most direct guarantee of suction force, and the performance of the dust collector can be guaranteed only by realizing the speed of more than one hundred thousand revolutions per minute. Therefore, the method has important significance for the optimal control of the high-speed motor.
When the permanent magnet motor runs at a super high speed of more than tens of thousands of turns, the dynamic performance of the system can be influenced by the change of system parameters, load disturbance and the like. The traditional PID controller has fixed parameters and a relatively simple control method, and has a good effect in the control of a low-order linear system. However, in a speed regulation system with the characteristics of high order, nonlinearity and strong coupling, such as a control object of an ultra-high speed permanent magnet motor, a PID speed controller hardly has a good suppression effect on nonlinear disturbances, such as load disturbance and parameter change, and the control effect and precision of the system hardly meet the requirements of performance indexes.
The traditional variable structure control has a good effect in the control of a nonlinear and uncertain system, and the method has strong robustness on parameter variation and external interference. However, due to the characteristics of the variable structure control theory, when the parameter variation range of the system is large, buffeting will occur, and even the dynamic performance of the unmodeled part in the system is excited.
Disclosure of Invention
The embodiment of the invention provides a dust collector high-speed motor control method and a self-adaptive variable-structure rotating speed controller, which aim to solve the problem of unsatisfactory control effect when the parameter variation range of a system is large in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
in the first aspect, a method for controlling a high-speed motor of a dust collector aims at the rotation speed control of the motor, and finally, a track enters a stable area on a final switching line through a plurality of times of self-adaptive slope adjustment on a given initial condition, so that variable structure control is realized at the fastest speed on the premise of keeping the robustness of the variable structure control.
Further, the motor is a permanent magnet motor, and the salient pole effect of the motor is ignored aiming at the rotation speed control of the motor.
Further, the adaptive variable structure controller mathematical model corresponding to the control method is constructed on the basis of a Lyapunov function and the LaSalle invariance principle under a d-q coordinate system, the input of the mathematical model is given by speed and receives speed feedback, and the output of the mathematical model is q-axis reference current.
Further, in the control method, the motion equation of the permanent magnet motor defined in the d-q coordinate system is as follows:
where K is the motor torque coefficient, J is the moment of inertia converted to the motor side, B is the viscous friction coefficient, and T islIs the load torque, Δ TlIs a torque disturbance; omega is the angular velocity of the motor side; i.e. iqIs the q-axis current; and make the following assumptions:
assume one: speed given ω*Second order conductibility;
assume two: disturbance torque Δ TlAnd its first derivative is bounded;
suppose three: the variation parameters J, K, B are bounded.
Further, the expression for controlling the output q-axis reference current is:
wherein the content of the first and second substances,
J0to initial moment of inertia, k1Is the torque coefficient of the load side, k1＞0，
For velocity tracking error e1The first derivative of (a) is,
B0in order to have an initial viscous friction coefficient,
giving x for speeddFirst derivative of c1Is a constant that is positive in number,
as an estimate of the total uncertainty F,
giving x for speeddH and beta are normal numbers, s is a switching function, alpha is a characteristic index of the Lyapunov function, and epsilon is a characteristic constant of the Lyapunov function.
In a second aspect, a self-adaptive variable structure rotating speed controller for a high-speed motor of a dust collector is constructed by combining a LaSalle invariance principle and a mathematical model based on a Lyapunov function under a d-q coordinate system, wherein the input of the controller is given speed and receives speed feedback, the output of the controller is q-axis reference current, and the expression is as follows:
the invention has at least the following beneficial effects:
the invention combines adaptive control and variable structure control to construct a variable structure adaptive control model, can reduce the influence of parameter change and load disturbance on a speed regulating system of an ultra-high speed permanent magnet motor, and is a novel control strategy for solving the problem of uncertain parameters or time-varying parameter systems: the system can automatically change the slope of the switching line, and for a given initial condition, the system makes the track enter a stable region on the final switching line after a plurality of times of self-adaptive slope adjustment, so that the variable structure control is realized at the fastest speed on the premise of keeping the robustness of the variable structure control.
Compared with the traditional PID control effect, the speed controller has better robustness.
Drawings
In order to more clearly illustrate the prior art and the present invention, the drawings which are needed to be used in the description of the prior art and the embodiments of the present invention will be briefly described. It should be apparent that the drawings in the following description are merely exemplary, and that other drawings may be derived from the provided drawings by those of ordinary skill in the art without inventive effort.
The structures, proportions, sizes, and other dimensions shown in the specification are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims, and it is to be understood that all such modifications, changes in proportions, or alterations in size which do not affect the efficacy or objectives of the invention are not to be seen as within the scope of the present invention.
FIG. 1 is a block diagram of an adaptive control scheme;
FIG. 2 is a schematic diagram of an adaptive variable architecture controller;
FIG. 3 is a speed response curve based on a PI controller;
FIG. 4 is a PI controller based speed error curve;
FIG. 5 is a speed response curve based on an adaptive variable structure controller;
FIG. 6 is a graph of a rotational speed error based on an adaptive variable structure controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Adaptive control introduction
Since any one actual system always has different degrees of uncertainty, it is difficult to accurately model the controlled object in actual engineering. Such uncertainty is represented by internal uncertainty such as uncertainty in the structure and parameters of the mathematical model of the object, and external uncertainty such as load disturbance or measurement noise. Therefore, when the conventional feedback control method encounters such problems, the performance of the controller may be degraded. Adaptive control is a control method that can modify its own characteristics according to the dynamic change characteristics of an object or disturbance, and thus can reduce the influence of these uncertain factors. The principle is as follows: and carrying out online estimation on unknown parameters of the controlled object according to the system measurement signals, and then calculating control input by using the estimated parameters. The schematic block diagram is shown in fig. 1.
Second, variable Structure control brief introduction
Variable structure control is a special class of discontinuous, nonlinear control. The control method differs from conventional control mainly in discontinuity of control. This property will force the system to move according to a defined "sliding mode" which can be designed and independent of system parameters and disturbances, so that a system in variable structure motion is very robust.
Thirdly, the design of the rotation speed controller controlled by the self-adaptive variable structure of the embodiment of the invention
The embodiment of the invention firstly carries out mathematical modeling on the ultra-high speed permanent magnet motor, then designs a rotating speed controller based on a self-adaptive variable structure aiming at the uncertain system parameters and the uncertain disturbance existing when the ultra-high speed motor operates, and adopts a Lyapunov stability theory to prove the stability of the designed rotating speed controller, and finally carries out simulation experiment comparison verification to ensure that the designed controller has stronger anti-interference capability.
(1) Description of system model
The target motor of the embodiment of the invention is a high-speed permanent magnet motor, the salient pole effect of the motor can be ignored, and the motion equation of the motor is as follows:
for the convenience of controller design, the motor model is analyzed in a d-q coordinate system. Under a two-phase synchronous rotation d-q coordinate system, the motion equation of the permanent magnet motor is shown as the formula (3):
in the formula (3), the reaction mixture is,
as a motor torque coefficient, J is a moment of inertia converted to a motor side, B is a viscous friction coefficient, and T islIs the load torque, Δ TlIs a torque disturbance. According to the actual operation condition of the motor and the formula (3), the following assumptions are made:
assume that 1: speed given ω*And second order conductibility.
Assume 2: disturbance torque Δ TlAnd its first derivative is bounded, i.e.:
assume that 3: the variation parameters J, K, B are all bounded, i.e.
To facilitate the design of the controller, the following variables are taken:
derivation of both sides of the equation of equation (3) yields equation (6):
in the formula (6), d (T) is the disturbance torque Δ TlInduced external disturbance, Δ Ac、ΔBcIs the system parameter uncertainty part.
The total uncertainty can be made as:
F＝ΔAcx2+ΔBcu+d(t) (7)
further rewriting formula (6) to formula (8):
wherein the content of the first and second substances,
(2) design of self-adaptive variable structure rotating speed controller
Suppose the velocity command is xd＝ω*The controller design process is as follows:
defining the velocity tracking error as e1＝x1-xdThen, then
Defining a Lyapunov function
Definition of
Wherein c is1Is a positive constant, e2In order to be a virtual control item,
then
Then
Defining a switching function as
s＝k1e1+e2 (11)
Wherein k is1＞0。
Then
Due to k1+c1> 0, obviously if s is 0, then e1＝0，e2Is equal to 0 and
defining a Lyapunov function
Then
The design controller is
Where h and β are normal numbers.
Bringing into (15)
Available in the expression
Get
Due to the fact that
Wherein eT＝[e1 e2]If Q is guaranteed to be positive definite matrix, then
Due to the fact that
By taking h and c1And k1The value of (c) can be such that | Q | is > 0, thereby ensuring that Q is positive, thereby ensuring that
According to the LaSalle invariance principle, the method can be used for obtaining
When e ≡ 0, s ≡ 0, then when t → ∞, there are e → 0, s → 0, and thus e ≡ 01→0，e2→ 0, then x1→xd，
Considering that in practical control, the uncertainty and the applied disturbance term are usually unknown, the upper bound of the total uncertainty F cannot be accurately determined. F is estimated by using an adaptive method, and finally the design of the rotating speed controller is finished.
Assuming that the uncertain part of the parameters and the external variation item interfere slowly, taking
Defining a Lyapunov function
Wherein the content of the first and second substances,
is an F estimated value; error of F is
Gamma is a normal number.
Then
The controller and the adaptive law are respectively designed as follows:
substitution into
The following can be obtained:
the formula (18) and the rewritten formula (25) are:
if Q is a positive definite matrix, have
Wherein Q is designed according to the same formula (20).
From equation (23), the q-axis reference current can be found as:
finally, a schematic diagram of the adaptive variable structure controller is shown in fig. 2.
In order to analyze the control effect of the adaptive variable structure rotating speed controller and keep the PI control parameters of the dI current loop and the PI control parameters of the Iq current loop unchanged, the PI speed controller and the adaptive variable structure rotating speed controller designed by the embodiment of the invention are respectively adopted as the rotating speed controller to carry out experiments.
PI rotation speed controller system experiment: according to the simulation experiment conditions, a rotating speed response curve and a rotating speed response error curve based on the PI rotating speed controller are obtained, and are shown in fig. 3 and 4.
The simulation experiment of the self-adaptive variable-structure rotating speed controller system of the embodiment comprises the following steps: according to the simulation experiment conditions, a rotating speed response curve and a rotating speed response error curve based on the self-adaptive variable structure rotating speed controller are obtained, and are shown in fig. 5 and 6.
It can be seen by comparison that, when the motor system is in idle load, the motor system adopting the PI rotating speed controller overshoots about 300rpm, the adjusting time is about 2.5s, the steady-state error is about 25rpm, the motor system adopting the self-adaptive variable structure rotating speed controller overshoots about 100rpm, the adjusting time is about 0.3s, and the steady-state error is about 10 rpm. Therefore, compared with the traditional PI controller, the adaptive variable structure controller provided by the embodiment of the invention has better anti-interference performance.
The present invention has been described in considerable detail by the general description and the specific examples given above. It should be noted that it is obvious that several variations and modifications can be made to these specific embodiments without departing from the inventive concept, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A method for controlling a high-speed motor of a dust collector is characterized in that aiming at the rotation speed control of the motor, a track enters a stable area on a final switching line after a plurality of times of self-adaptive slope adjustment on a given initial condition, and the variable structure control is realized at the fastest speed on the premise of keeping the strong robustness of the variable structure control.
2. The high-speed motor control method for vacuum cleaner as claimed in claim 1, wherein the motor is a permanent magnet motor, and a salient pole effect of the motor is neglected for the rotation speed control of the motor.
3. The method for controlling the high-speed motor of the dust collector as claimed in claim 2, wherein the mathematical model of the adaptive variable structure controller corresponding to the control method is constructed on the basis of a Lyapunov function and by combining with a LaSalle invariance principle under a d-q coordinate system, the input of the mathematical model is given by speed and receives speed feedback, and the output of the mathematical model is q-axis reference current.
4. The method of claim 3, wherein the equation of motion of the permanent magnet motor defined in the d-q coordinate system is as follows:
where K is the motor torque coefficient, J is the moment of inertia converted to the motor side, B is the viscous friction coefficient, and T islIs the load torque, Δ TlIs a torque disturbance; omega is the angular velocity of the motor side; i.e. iqIs the q-axis current; and make the following assumptions:
assume one: speed given ω*Second order conductibility;
assume two: disturbance torque Δ TlAnd its first derivative is bounded;
suppose three: the variation parameters J, K, B are bounded.
5. The method for controlling the high-speed motor of the dust collector as claimed in claim 4, wherein the expression for controlling the output q-axis reference current is as follows:
wherein the content of the first and second substances,
J0to initial moment of inertia, k1Is the torque coefficient of the load side, k1＞0，
For velocity tracking error e1The first derivative of (a) is,
B0in order to have an initial viscous friction coefficient,
giving x for speeddFirst derivative of c1Is a constant that is positive in number,
as an estimate of the total uncertainty F,
giving x for speeddH and beta are normal numbers, s is a switching function, alpha is a characteristic index of the Lyapunov function, and epsilon is a characteristic constant of the Lyapunov function.
6. A self-adaptive variable structure rotating speed controller for a high-speed motor of a dust collector is characterized in that a mathematical model of the controller is constructed on the basis of a Lyapunov function and the LaSalle invariance principle under a d-q coordinate system, the input of the controller is speed setting and speed feedback is received, the output of the controller is q-axis reference current, and the expression is as follows:
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108365787A (en) * | 2018-03-23 | 2018-08-03 | 东南大学 | A kind of Permanent-magnet Synchronous-motor Speed Servo System and its design method based on internal model control |
| CN109067275A (en) * | 2018-09-11 | 2018-12-21 | 广东工业大学 | A kind of permanent-magnetism linear motor chaotic control method based on decoupling self-adaptive sliding formwork |
| CN110266218A (en) * | 2019-06-24 | 2019-09-20 | 南京理工大学 | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA |
| CN112773507A (en) * | 2021-01-29 | 2021-05-11 | 南京凌华微电子科技有限公司 | Robot system for orthopedic surgery |
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Patent Citations (4)
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|---|---|---|---|---|
| CN108365787A (en) * | 2018-03-23 | 2018-08-03 | 东南大学 | A kind of Permanent-magnet Synchronous-motor Speed Servo System and its design method based on internal model control |
| CN109067275A (en) * | 2018-09-11 | 2018-12-21 | 广东工业大学 | A kind of permanent-magnetism linear motor chaotic control method based on decoupling self-adaptive sliding formwork |
| CN110266218A (en) * | 2019-06-24 | 2019-09-20 | 南京理工大学 | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA |
| CN112773507A (en) * | 2021-01-29 | 2021-05-11 | 南京凌华微电子科技有限公司 | Robot system for orthopedic surgery |
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| Title |
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| 范成旺: "超高速永磁同步电机驱动控制器设计", 中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑, no. 6, pages 23 - 34 * |
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