CN114094892B - Permanent magnet synchronous motor control device and method for sliding mode observer and current prediction - Google Patents
Permanent magnet synchronous motor control device and method for sliding mode observer and current prediction 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode 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
- H02P21/22—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
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- 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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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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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Abstract
The invention discloses a permanent magnet synchronous motor control method for a sliding mode observer and current prediction, which comprises the following steps: collecting the rotating speed and the position angle of a permanent magnet synchronous motor; obtaining the current of a permanent magnet synchronous motor, and obtaining two-phase current and d and q axis voltages under a rotating coordinate system; establishing a motor feedforward disturbance compensation module to obtain d and q axis voltage disturbance quantities; establishing a sliding mode-Luneberg observation module to obtain d and q axis current observation values and a permanent magnet flux linkage calculation formula; establishing a dead beat current prediction module to obtain d and q axis reference voltages; and obtaining the voltage under the two-phase static coordinate system, and generating a switching pulse signal to drive the permanent magnet synchronous motor to operate. The invention can promote the dynamic response of the permanent magnet synchronous motor, reduce the influence on the dynamic performance of the system when the motor parameter is nonlinear, acquire the real-time flux linkage of the permanent magnet by adopting a sliding film-Luneberg state machine, and promote the robust performance of the speed regulation system when the flux linkage of the motor is changed.
Description
Technical Field
The invention relates to a permanent magnet synchronous motor control device and method for a sliding mode observer and current prediction.
Background
In recent years, as an alternating current speed regulation core component in an electric drive system, a permanent magnet synchronous motor is widely applied to the fields of military, aerospace and industry due to the excellent characteristics of low power consumption, high power density, wide speed regulation range, good controllability and the like, so that a servo environment with high technical density also has higher and higher requirements on motor control performance precision. However, the permanent magnet which is a key element in the motor is easily affected by complex and changeable operating environments such as humidity, high temperature, chemical corrosion and the like, so that irreversible loss of magnetism is caused, and the control performance of the motor is seriously degraded. In addition, as the permanent magnet synchronous motor is a strong coupling, nonlinear and multivariable complex time-varying system, the control performance can be directly affected by the deviation of motor parameters, and the factors greatly limit the popularization and application of the permanent magnet synchronous motor.
In order to ensure the high-efficiency and reliable operation of the permanent magnet synchronous motor and a driving system, the research on fault-tolerant control of the permanent magnet synchronous motor is particularly important. The PID regulation mode in the traditional vector control is operated on a large scale in an electric drive system with the advantages of simple structure, obvious effect and easy realization, but the uncertainty caused to the electric control system by factors such as parameter perturbation, loss of magnetic failure and the like cannot be overcome in a high-performance servo system, and the effective fault tolerance under the fault condition is difficult to meet.
Disclosure of Invention
In order to solve the technical problems, the invention provides a permanent magnet synchronous motor control device with a simple structure, reliable operation and sliding mode observer and current prediction, and a control method thereof.
The technical scheme for solving the technical problems is as follows: a permanent magnet synchronous motor control device for a sliding mode observer and current prediction comprises a PI control module, a Clark conversion module, a Park conversion module, an inverse Park conversion module, a current sensor module, a position sensor module, a disturbance compensation module, a dead beat current prediction module, a SVPWM generation module, a permanent magnet synchronous motor module and a sliding mode-Lungberg observation module;
the current sensor module is connected with the Clark conversion module and the permanent magnet synchronous motor module and is used for collecting stator three-phase current i of the permanent magnet synchronous motor module a 、i b 、i c Sending the three-phase current to a Clark conversion module for converting a three-phase static coordinate system into a two-phase static coordinate system;
the Clark conversion module is connected with the Park conversion module and is used for converting the two-phase current i after conversion α 、i β Transmitting the two-phase static coordinate system to a Park conversion module for conversion from the two-phase static coordinate system to the two-phase rotary coordinate system;
the Park conversion module is connected with the sliding mode-Luneberg observation module, and the position sensor module simultaneously converts the motor position angle theta and the current i under the Clark converted two-phase synchronous coordinate system α 、i β Sending the current i to a Park conversion module to obtain the current i under a two-phase rotating coordinate system d And i q And the two-phase current i d 、i q Transmitting to a sliding mode-Luneberg observation module;
the sliding mode-Luneberg observation module is connected with the dead current prediction module and is used for obtaining the two-phase current i by the Park change module d 、i q Inputting the obtained data to a sliding mode-Luneberg observer for operation to obtain a d-axis flux linkage observed value f d Q-axis flux linkage observation f q Observed value of d-axis currentq-axis current observation +.>Sending the current to a dead beat current prediction module;
the disturbance compensation module is connected with the dead current prediction module, and the real-time angular velocity omega and the reference angular velocity omega of the motor obtained by the position sensor are used for e Input to a PI control module to obtain q-axis reference current i q ref And the q-axis reference current i q ref Set d-axis reference current i d ref Current of d axis i d Current on q axis i q Input to disturbance compensation module to obtain d and q axis voltage compensation quantity Deltau d 、Δu q Sending the current to a dead beat current prediction module;
the dead beat current prediction module and the inverse PaThe rk conversion module is connected and used for observing the d-axis current obtained by the sliding mode-Luneberg observation moduleq-axis current observation +.>d-axis flux linkage observation f d Observed value f of flux linkage with q axis q Input operation to obtain d-axis reference voltage u d * With q-axis reference voltage u q * Inputting to an inverse Park conversion module;
the inverse Park conversion module is connected with the SVPWM generation module and is used for obtaining d-axis reference voltage u by the dead-beat current prediction module d * With q-axis reference voltage u q * The motor position angle theta obtained by the position sensor is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Inputting the signal to an SVPWM generation module;
the SVPWM generation module is connected with the inverter module and converts the inverse Park to obtain the voltage u under the two-phase static coordinate system α 、u β And the signals are sent to an SVPWM generation module, and are modulated to generate switching pulse signals for the six-way inverter to drive a PMSM module to operate.
A permanent magnet synchronous motor control method of a sliding mode observer and current prediction comprises the following steps:
step 1: collecting the rotating speed and the position angle of a permanent magnet synchronous motor: acquiring the motor angular speed omega and the position angle theta through a position sensor, and transmitting the real-time position angle theta of the motor to a Park conversion module and an inverse Park conversion module;
step 2: obtaining the current of a permanent magnet synchronous motor: acquiring PMSM three-phase current, ab-phase voltage u by current/voltage sensor module ab With bc phase voltage u bc Obtaining a two-phase current i under a rotating coordinate system through Clark transformation and Park transformation d 、i q D-axis voltage u d Q-axis voltage u q ；
Step 3: establishing motor feed-forward disturbance compensationAnd (3) a module: the two-phase current i obtained in the step 2 is obtained d 、i q Q-axis reference current i q ref Reference current of d axis i d ref Inputting the voltage disturbance quantity delta u of the d-axis and the q-axis into a disturbance compensation module d 、Δu q ；
Step 4: establishing a sliding mode-Lungberg observation module: the d-axis current i obtained in the step 2 is calculated d Current on q axis i q D-axis voltage u d With q-axis voltage u q Inputting to a sliding mode-Luneberg observation module to obtain a d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculation
Step 5: establishing a dead beat current prediction module: the obtained d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculationd-axis voltage disturbance delta u d Voltage disturbance of q-axis deltau q Q-axis reference current i q ref Reference current of d axis i d ref Input to a dead beat current prediction module to calculate a d-axis reference voltage u d * With q-axis reference voltage u q * ；
Step 6: reference voltage u of d-axis d * Q-axis reference voltage u q * The motor position angle theta is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Will u α 、u β And the signals are input into the SVPWM generation module and are modulated to generate switching pulse signals for the six-way inverter to drive the PMSM module to operate.
The method for controlling the permanent magnet synchronous motor by using the sliding mode observer and the current prediction comprises the following specific steps of:
according to a mathematical model of the permanent magnet synchronous motor, a motor state equation after the feedforward disturbance compensator is introduced is as follows:
wherein: u is the voltage; Δu is the voltage compensation amount; Δx and Δy are d, q-axis current increments; d is motor disturbance caused by parameter mismatch; x and y are d and q axis currents when disturbance compensation is not added; A. b, E, C are all intermediate variables in which:
wherein: Δi d 、Δi q Respectively represent the current errors of D axis and q axis, D d 、D q The motor disturbance when the d-axis parameter and the q-axis parameter are respectively mismatched, R is a stator resistance, L is a stator inductance, ω is the angular speed of the permanent magnet synchronous motor, ψ r For permanent magnet flux linkage, a feedforward compensated motor current error value o is introduced i The system state equation is obtained as follows:
in which y ref For a given current value, solve for o i Second order differential equation:
o i ″+o i ′＝C(x+Δx)″+C(x+Δx)′＝Cξ (3)
wherein, the intermediate variable ζ=c (x+Δx) "+c (x+Δx)';
substituting formula (2) into formula (3)
ξ′＝(x+Δx)″′+(x+Δx)″＝Aξ+Bε (4)
Wherein the intermediate variable epsilon=deltau '+deltau', the compensator error state space equation is obtained according to the equation (2) and the equation (4):
z′＝Fz+Gε (5)
wherein F, Z, G is an intermediate variable which is,
and assuming that Deltau is present, so that the error o i Converging to zero, the feedforward compensation amount Δu is found to be:
wherein K is 0 、K 1 、K 2 Representing different integral coefficients K, e τ The natural constant is represented by τ to the power, τ being the multiplicative function;
after the compensation amount is determined, the stability of the compensator is proved according to the Lawster criterion, so that the value range of the compensator parameter is determined, and the formula (5) is rewritten as follows:
z′＝Fz-GKz (6)
the characteristic equation is:
wherein s represents equation solving in complex frequency domain, and I is identity matrix;
the K value range is obtained according to the Lawster criterion:
in the above method for controlling a permanent magnet synchronous motor by using a sliding mode observer and current prediction, in the step 4, a sliding mode-leber observer is designed, and the observer specifically comprises the following steps:
where ksgn (e) is a sliding mode control term, sgn () is a sign function,observations of x, y, u, respectively, x= [ i ] d i q ] T As a state variable of the system,u＝[u d u q ] T for system input, y= [ i ] d i q ] T For system output, intermediate variablesIntermediate variable->Wherein error->k. H is the matrix to be designed,k 1 、k 2 、h 1 、h 2 are real numbers to be designed, k 1 、k 2 Are all greater than 0;
reconstructing a state equation and (8) from the flux linkage to obtain an observer error equation as follows:
wherein:represents x, & gt>D is the motor disturbance caused by parameter mismatch, f is the physical variable of the motor, intermediate variable +.>e 1 、e 2 Error of actual value and estimated value in two states respectively, +.> Representing estimates of two state variables;
selectingFor the Lyapunov function, the derivative is available:
when a=H2w is designed, the influence of observer omega change on an error equation can be isolated, and the method can be obtained
Wherein k is 3 ＝min{k 1 ,k 2 Design k 3 ＝(||D||||f||) max +eta, eta is a constant, df=ksgn (e), and the permanent magnet flux linkage calculation formula is psi by substituting parameters rd ＝-k 2 sgn(e 2 )。
The specific process of dead beat current prediction control in the step 5 is as follows:
the state equation discrete form of the permanent magnet synchronous motor is as follows:
i(k+1)＝E(k)·i(k)+F·u(k)+P(k)
wherein E (k) and P (k) each represent an intermediate variable after integration, wherein T s For sampling time, i (k+1) is a stator current value at time k+1, u (k) is a stator voltage value at time k, ω (k) is a mechanical angular velocity of the motor at time k, L d 、L q L in the surface-mounted permanent magnet synchronous motor for expressing d and q axis inductances q ＝L d =l; the first-order Taylor formula decomposition is adopted to obtain: />The voltage vector equation of the available dead-beat predictive controller is u (k) =F -1 [i(k+1)-E(k)i(k)-P(k)]。
The invention has the beneficial effects that: the improved dead beat current prediction controller is adopted to replace the traditional PI controller, so that the dynamic response of the permanent magnet synchronous motor can be improved, and the influence on the dynamic performance of the system when the motor parameter is in nonlinear change is reduced. Meanwhile, a sliding film-Luneberger state machine is adopted to obtain the real-time flux linkage of the permanent magnet, so that the robustness of the speed regulation system is improved when the flux linkage of the motor is changed; the control mode of the invention has the advantages of better speed regulation performance and higher control precision, can accurately realize no static difference tracking of motor current under the condition of parameter deviation, improves the load carrying capacity of the motor under the loss of magnetism fault, has the fault-tolerant control function under the fault condition, and improves the service performance and service life of the permanent magnet synchronous motor under the severe working condition.
Drawings
Fig. 1 is a block diagram of a control device according to the present invention.
FIG. 2 is a flow chart of a control method of the present invention.
Fig. 3 is an output torque map of the control method of the present invention.
Fig. 4 is an output torque map of a conventional PI control method.
Fig. 5 is a graph showing the rotational speed response of the control method of the present invention.
Fig. 6 is a rotational speed response chart of a conventional PI control method.
Detailed Description
The invention is further described below with reference to the drawings and examples.
1-2, the permanent magnet synchronous motor control device for sliding mode observer and current prediction comprises a PI control module, a Clark conversion module, a Park conversion module, an inverse Park conversion module, a current sensor module, a position sensor module, a disturbance compensation module, a dead beat current prediction module, a SVPWM generation module, a permanent magnet synchronous motor module and a sliding mode-Lungberg observation module;
the saidThe current sensor module is connected with the Clark conversion module and the permanent magnet synchronous motor module and is used for collecting stator three-phase current i of the permanent magnet synchronous motor module a 、i b 、i c Sending the three-phase current to a Clark conversion module for converting a three-phase static coordinate system into a two-phase static coordinate system;
the Clark conversion module is connected with the Park conversion module and is used for converting the two-phase current i after conversion α 、i β Transmitting the two-phase static coordinate system to a Park conversion module for conversion from the two-phase static coordinate system to the two-phase rotary coordinate system;
the Park conversion module is connected with the sliding mode-Luneberg observation module, and the position sensor module simultaneously converts the motor position angle theta and the current i under the Clark converted two-phase synchronous coordinate system α 、i β Sending the current i to a Park conversion module to obtain the current i under a two-phase rotating coordinate system d And i q And the two-phase current i d 、i q Transmitting to a sliding mode-Luneberg observation module;
the sliding mode-Luneberg observation module is connected with the dead current prediction module and is used for obtaining the two-phase current i by the Park change module d 、i q Inputting the obtained data to a sliding mode-Luneberg observer for operation to obtain a d-axis flux linkage observed value f d Q-axis flux linkage observation f q Observed value of d-axis currentq-axis current observation +.>Sending the current to a dead beat current prediction module;
the disturbance compensation module is connected with the dead current prediction module, and the real-time angular velocity omega and the reference angular velocity omega of the motor obtained by the position sensor are used for e Input to a PI control module to obtain q-axis reference current i q ref And the q-axis reference current i q ref Set d-axis reference current i d ref Current of d axis i d Current on q axis i q Input to disturbance compensation module to obtain dQ-axis voltage compensation amount Deltau d 、Δu q Sending the current to a dead beat current prediction module;
the dead beat current prediction module is connected with the inverse Park conversion module and is used for obtaining a d-axis current observation value by the sliding mode-Luneberg observation moduleq-axis current observation +.>d-axis flux linkage observation f d Observed value f of flux linkage with q axis q Input operation to obtain d-axis reference voltage u d * With q-axis reference voltage u q * Inputting to an inverse Park conversion module;
the inverse Park conversion module is connected with the SVPWM generation module and is used for obtaining d-axis reference voltage u by the dead-beat current prediction module d * With q-axis reference voltage u q * The motor position angle theta obtained by the position sensor is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Inputting the signal to an SVPWM generation module;
the SVPWM generation module is connected with the inverter module and converts the inverse Park to obtain the voltage u under the two-phase static coordinate system α 、u β And the signals are sent to an SVPWM generation module, and are modulated to generate switching pulse signals for the six-way inverter to drive a PMSM module to operate.
A permanent magnet synchronous motor control method of a sliding mode observer and current prediction comprises the following steps:
step 1: collecting the rotating speed and the position angle of a permanent magnet synchronous motor: and acquiring the motor angular speed omega and the position angle theta through a position sensor, and transmitting the real-time position angle theta of the motor to a Park conversion module and an inverse Park conversion module.
Step 2: obtaining the current of a permanent magnet synchronous motor: acquiring PMSM three-phase current, ab-phase voltage u by current/voltage sensor module ab With bc phase voltage u bc Obtaining a rotary coordinate system through Clark transformation and Park transformationLower two-phase current i d 、i q D-axis voltage u d Q-axis voltage u q 。
Step 3: establishing a motor feedforward disturbance compensation module: the two-phase current i obtained in the step 2 is obtained d 、i q Q-axis reference current i q ref Reference current of d axis i d ref Inputting the voltage disturbance quantity delta u of the d-axis and the q-axis into a disturbance compensation module d 、Δu q 。
The specific steps of the step 3 are as follows:
according to a mathematical model of the permanent magnet synchronous motor, a motor state equation after the feedforward disturbance compensator is introduced is as follows:
wherein: u is the voltage; Δu is the voltage compensation amount; Δx and Δy are d, q-axis current increments; d is motor disturbance caused by parameter mismatch; x and y are d and q axis currents when disturbance compensation is not added; A. b, E, C are all intermediate variables in which:
wherein: Δi d 、Δi q Respectively represent the current errors of D axis and q axis, D d 、D q The motor disturbance when the d-axis parameter and the q-axis parameter are respectively mismatched, R is a stator resistance, L is a stator inductance, ω is the angular speed of the permanent magnet synchronous motor, ψ r For permanent magnet flux linkage, a feedforward compensated motor current error value o is introduced i The system state equation is obtained as follows:
in which y ref For a given current value, solve for o i Second order differential equation:
o i ″+o i ′＝C(x+Δx)″+C(x+Δx)′＝Cξ (3)
wherein, the intermediate variable ζ=c (x+Δx) "+c (x+Δx)';
substituting formula (2) into formula (3)
ξ′＝(x+Δx)″′+(x+Δx)″＝Aξ+Bε (4)
Wherein the intermediate variable epsilon=deltau '+deltau', the compensator error state space equation is obtained according to the equation (2) and the equation (4):
z′＝Fz+Gε (5)
wherein F, Z, G is an intermediate variable which is,
and assuming that Deltau is present, so that the error o i Converging to zero, the feedforward compensation amount Δu is found to be:
wherein K is 0 、K 1 、K 2 Representing different integral coefficients K, e τ And represents the natural constant to the power τ, τ being the multiplicative function.
After the compensation amount is determined, the stability of the compensator is proved according to the Lawster criterion, so that the value range of the compensator parameter is determined, and the formula (5) is rewritten as follows:
z′＝Fz-GKz (6)
the characteristic equation is:
where s represents the equation solved in the complex frequency domain and I is the identity matrix.
The K value range is obtained according to the Lawster criterion:
step 4: establishing a sliding mode-LongbergAnd an observation module: the d-axis current i obtained in the step 2 is calculated d Current on q axis i q D-axis voltage u d With q-axis voltage u q Inputting to a sliding mode-Luneberg observation module to obtain a d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculation
In step 4, designing a sliding mode-Luneberg observer, wherein the observer is specifically expressed as follows:
where ksgn (e) is a sliding mode control term, sgn () is a sign function,observations of x, y, u, respectively, x= [ i ] d i q ] T As state variables of the system, u= [ u ] d u q ] T For system input, y= [ i ] d i q ] T For system output, intermediate variablesIntermediate variable->Wherein error->k. H is the matrix to be designed,k 1 、k 2 、h 1 、h 2 are real numbers to be designed, k 1 、k 2 Are all greater than 0;
reconstructing a state equation and (8) from the flux linkage to obtain an observer error equation as follows:
wherein:represents x, & gt>D is the motor disturbance caused by parameter mismatch, f is the physical variable of the motor, intermediate variable +.>e 1 、e 2 Error of actual value and estimated value in two states respectively, +.> Representing estimates of two state variables.
SelectingFor the Lyapunov function, the derivative is available:
when a=H2w is designed, the influence of observer omega change on an error equation can be isolated, and the method can be obtained
Wherein k is 3 ＝min{k 1 ,k 2 Design k 3 ＝(||D||||f||) max +eta, eta is a constant, df=ksgn (e), and the permanent magnet flux linkage calculation formula is psi by substituting parameters rd ＝-k 2 sgn(e 2 )。
Step 5: establishing a dead beat current prediction module: the obtained d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculationd-axis voltage disturbance delta u d Voltage disturbance of q-axis deltau q Q-axis reference current i q ref Reference current of d axis i d ref Input to a dead beat current prediction module to calculate a d-axis reference voltage u d * With q-axis reference voltage u q * 。
The specific process of dead beat current prediction control is as follows:
the state equation discrete form of the permanent magnet synchronous motor is as follows:
i(k+1)＝E(k)·i(k)+F·u(k)+P(k)
wherein E (k) and P (k) each represent an intermediate variable after integration, wherein T s For sampling time, i (k+1) is a stator current value at time k+1, u (k) is a stator voltage value at time k, ω (k) is a mechanical angular velocity of the motor at time k, L d 、L q L in the surface-mounted permanent magnet synchronous motor for expressing d and q axis inductances q ＝L d =l; the first-order Taylor formula decomposition is adopted to obtain: />The voltage vector equation of the available dead-beat predictive controller is u (k) =F -1 [i(k+1)-E(k)i(k)-P(k)]。
Step 6: reference voltage u of d-axis d * Q-axis reference voltage u q * The motor position angle theta is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Will u α 、u β And the signals are input into the SVPWM generation module and are modulated to generate switching pulse signals for the six-way inverter to drive the PMSM module to operate.
The control method provided by the invention utilizes the Matlab R2016a/Simulink simulation platform to carry out simulation modeling on the control method, and the stability of the controlled system under the current loop control and dead beat fault-tolerant control of the traditional PI regulator is adopted under the condition of researching the same magnetic loss strip, and both the current loop control and the dead beat fault-tolerant control are adopted by i d Control strategy=0.
The parameters of the permanent magnet synchronous motor are shown in table 1.
Table 1 parameters of permanent magnet synchronous motor in Simulink
Tab.1 Permanent Magnet Synchronous Motor Parameters In Simulink
The sliding mode lunberg flux linkage observer parameters are set as follows:parameters and simulation conditions of a motor control system in Simulink are set as follows: the control frequency of the current loop is 2kHZ; given angular velocity omega ref Given T when the load torque is set to 0.15s =100 rad/s L =10n; the permanent magnet loses magnetism at 0.5s, and the flux linkage amplitude value is phi ro =0.341 Wb decreases to ψ' ro =0.187 Wb, the simulation time was set to 1s. The simulation waveforms are shown in fig. 3 to 6, and it can be seen from fig. 3 and 4 that when the motor fails, the torque at the moment of loss of magnetization is obviously dithered, and then the torque is recovered to the rated value and kept constant, so that the motor stably operates under the working condition of loss of magnetization failure. As can be seen from fig. 5 and 6, when a loss of excitation fault occurs, the actual rotation speed of the motor does not see obvious jitter, and keeps consistent with the given rotation speed. According to the comparison simulation experiment, when the permanent magnet synchronous motor has the loss of excitation fault, the sliding mode observer and the permanent magnet synchronous motor control method for current prediction have stronger robustness and better fault-tolerant control performance compared with the current traditional PI control.
Claims (4)
1. The permanent magnet synchronous motor control device for sliding mode observer and current prediction is characterized by comprising a PI control module, a Clark conversion module, a Park conversion module, an inverse Park conversion module, a current sensor module, a position sensor module, a disturbance compensation module, a dead beat current prediction module, a SVPWM generation module, a permanent magnet synchronous motor module and a sliding mode-Lungberg observation module;
the current sensor module is connected with the Clark conversion module and the permanent magnet synchronous motor module and is used for collecting stator three-phase current i of the permanent magnet synchronous motor module a 、i b 、i c Sending the three-phase current to a Clark conversion module for converting a three-phase static coordinate system into a two-phase static coordinate system;
the Clark conversion module is connected with the Park conversion module and is used for converting the two-phase current i after conversion α 、i β Transmitting the two-phase static coordinate system to a Park conversion module for conversion from the two-phase static coordinate system to the two-phase rotary coordinate system;
the Park conversion module is connected with the sliding mode-Luneberg observation module, and the position sensor module simultaneously converts the motor position angle theta and the current i under the Clark converted two-phase synchronous coordinate system α 、i β Sending the current i to a Park conversion module to obtain the current i under a two-phase rotating coordinate system d And i q And the two-phase current i d 、i q Transmitting to a sliding mode-Luneberg observation module;
the sliding mode-Luneberg observation module is connected with the dead current prediction module and is used for obtaining the two-phase current i by the Park change module d 、i q Inputting the obtained data to a sliding mode-Luneberg observer for operation to obtain a d-axis flux linkage observed value f d Q-axis flux linkage observation f q Observed value of d-axis currentq-axis current observation +.>Sending the current to a dead beat current prediction module;
the disturbance compensation module is connected with the dead current prediction module, and the real-time angular velocity omega and the reference angular velocity omega of the motor obtained by the position sensor are used for e Input to a PI control module to obtain q-axis reference current i q ref And the q-axis reference current i q ref Set d-axis reference current i d ref Current of d axis i d Current on q axis i q Input to disturbance compensation module to obtain d and q axis voltage compensation quantity Deltau d 、Δu q Sending the current to a dead beat current prediction module;
the dead beat current prediction module is connected with the inverse Park conversion module and is used for obtaining a d-axis current observation value by the sliding mode-Luneberg observation moduleq-axis current observation +.>d-axis flux linkage observation f d Observed value f of flux linkage with q axis q Input operation to obtain d-axis reference voltage u d * With q-axis reference voltage u q * Inputting to an inverse Park conversion module;
the inverse Park conversion module is connected with the SVPWM generation module and is used for obtaining d-axis reference voltage u by the dead-beat current prediction module d * With q-axis reference voltage u q * The motor position angle theta obtained by the position sensor is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Inputting the signal to an SVPWM generation module;
the SVPWM generation module is connected with the inverse Park conversion module and is used for converting the inverse Park to obtain the voltage u under the two-phase static coordinate system α 、u β The signals are sent to an SVPWM generation module, and are modulated to generate switching pulse signals for the six-way inverter to drive a PMSM module to operate;
according to a mathematical model of the permanent magnet synchronous motor, a motor state equation after the feedforward disturbance compensator is introduced is as follows:
wherein: u is the voltage; Δu is the voltage compensation amount; Δx and Δy are d, q-axis current increments; d is motor disturbance caused by parameter mismatch; x and y are d and q axis currents when disturbance compensation is not added; A. b, E, C are all intermediate variables in which:
wherein: Δi d 、Δi q Respectively represent the current errors of D axis and q axis, D d 、D q The motor disturbance when the d-axis parameter and the q-axis parameter are respectively mismatched, R is a stator resistance, L is a stator inductance, ω is the angular speed of the permanent magnet synchronous motor, ψ r For permanent magnet flux linkage, a feedforward compensated motor current error value o is introduced i The system state equation is obtained as follows:
in which y ref For a given current value, solve for o i Second order differential equation:
o i ″+o i ′＝C(x+Δx)″+C(x+Δx)′＝Cξ (3)
wherein, the intermediate variable ζ=c (x+Δx) "+c (x+Δx)';
substituting formula (2) into formula (3)
ξ′＝(x+Δx)″′+(x+Δx)″＝Aξ+Bε (4)
Wherein the intermediate variable epsilon=deltau '+deltau', the compensator error state space equation is obtained according to the equation (2) and the equation (4):
z′＝Fz+Gε (5)
wherein F, z and G are intermediate variables,
and assuming that Deltau is present, so that the error o i Converging to zero, the feedforward compensation amount Δu is found to be:
wherein K is 0 、K 1 、K 2 Representing different integral coefficients K, e τ The natural constant is represented by τ to the power, τ being the multiplicative function;
after the compensation amount is determined, the stability of the compensator is proved according to the Lawster criterion, so that the value range of the compensator parameter is determined, and the formula (5) is rewritten as follows:
z′＝Fz-GKz (6)
the characteristic equation is:
wherein s represents equation solving in complex frequency domain, and I is identity matrix;
the K value range is obtained according to the Lawster criterion:
2. the method for controlling a permanent magnet synchronous motor according to claim 1, characterized by comprising the steps of:
step 1: collecting the angular speed and the position angle of a permanent magnet synchronous motor: acquiring the motor angular speed omega and the position angle theta through a position sensor, and transmitting the real-time position angle theta of the motor to a Park conversion module and an inverse Park conversion module;
step 2: obtaining the current of a permanent magnet synchronous motor: by passing throughThe current/voltage sensor module obtains PMSM three-phase current, ab-phase voltage u ab With bc phase voltage u bc Obtaining a two-phase current i under a rotating coordinate system through Park transformation and Clark transformation d 、i q D-axis voltage u d Q-axis voltage u q ；
Step 3: establishing a motor feedforward disturbance compensation module: the two-phase current i obtained in the step 2 is obtained d 、i q Q-axis reference current i q ref Reference current of d axis i d ref Inputting the voltage disturbance quantity delta u of the d-axis and the q-axis into a disturbance compensation module d 、Δu q ；
Step 4: establishing a sliding mode-Lungberg observation module: the d-axis current i obtained in the step 2 is calculated d Current on q axis i q D-axis voltage u d With q-axis voltage u q Inputting to a sliding mode-Luneberg observation module to obtain a d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculation
Step 5: establishing a dead beat current prediction module: the obtained d-axis current observation value f d Q-axis current observation value f q Permanent magnet flux linkage calculationd-axis voltage disturbance delta u d Voltage disturbance of q-axis deltau q Q-axis reference current i q ref Reference current of d axis i d ref Input to a dead beat current prediction module to calculate a d-axis reference voltage u d * With q-axis reference voltage u q * ；
Step 6: reference voltage u of d-axis d * Q-axis reference voltage u q * The motor position angle theta is input into an inverse Park transformation module for operation to obtain the voltage u under a two-phase static coordinate system α 、u β Will u α 、u β Input to SVPWM generation module, modulated to generate six pathsThe inverter switch pulse signals drive the PMSM module to operate.
3. The method for controlling a permanent magnet synchronous motor according to claim 2, wherein in the step 4, a sliding mode-leber observer is designed, and the observer is specifically expressed as:
where ksgn (e) is a sliding mode control term, sgn () is a sign function,observations of x, y, u, respectively, x= [ i ] d i q ] T As state variables of the system, u= [ u ] d u q ] T For system input, y= [ i ] d i q ] T For system output, intermediate variablesIntermediate variable->Wherein L is d 、L q Represents d and q axis inductances, error->k. H is a matrix to be designed, < > and>k 1 、k 2 、h 1 、h 2 are real numbers to be designed, k 1 、k 2 Are all greater than 0;
reconstructing a state equation and (8) from the flux linkage to obtain an observer error equation as follows:
wherein:represents x, & gt>D is the motor disturbance caused by parameter mismatch, f is the physical variable of the motor, intermediate variable +.>e 1 、e 2 Error of actual value and estimated value in two states respectively, +.> Representing estimates of two state variables;
selectingFor the Lyapunov function, the derivative is available:
when a=H2w is designed, the influence of omega change on the error equation can be isolated, and the method can be obtained
Wherein k is 3 ＝min{k 1 ,k 2 Design k 3 ＝(||D|| ||f||) max +η, η is a constant, df=ksgn (e), substituting parameters to obtain permanent magnet flux linkage formula phi rd ＝-k 2 sgn(e 2 )。
4. The method for controlling the permanent magnet synchronous motor by using the sliding mode observer and current prediction according to claim 2, wherein the specific process of dead beat current prediction control in the step 5 is as follows:
the state equation discrete form of the permanent magnet synchronous motor is as follows:
i(k+1)＝E(k)·i(k)+F·u(k)+P(k)
wherein E (k) and P (k) each represent an intermediate variable after integration, wherein
T s For sampling time, i (k+1) is a stator current value at time k+1, u (k) is a stator voltage value at time k, ω (k) is a mechanical angular velocity of the motor at time k, L d 、L q L in the surface-mounted permanent magnet synchronous motor for expressing d and q axis inductances q ＝L d =l; the first-order Taylor formula decomposition is adopted to obtain: />The voltage vector equation of the available dead-beat predictive controller is u (k) =F -1 [i(k+1)-E(k)i(k)-P(k)]。
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