CN114301351A - Based on idThree-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system (0) - Google Patents
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Abstract
The invention provides a method based on id0 three-phase PMSM noninductive three closed loop vector control system, its characterized in that, the system includes: a speed regulator unit; a voltage feedforward unit; voltage ofA feedforward compensation unit; an inverse Park transform unit; an SVPWM algorithm unit; an IPM isolation drive unit; a Clarke transformation unit; a Park transformation unit; and an SMO sliding mode observer unit. The invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system which is 0 solves the problems of unreliability, low precision, narrow motor speed regulation range, poor interference immunity, complex algorithm and the like of the three-phase permanent magnet synchronous motor in vector control.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motors, and particularly relates to a permanent magnet synchronous motor based on id0-phase three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a rotating magnetic field by permanent magnet excitation. The permanent magnet synchronous motor is widely applied to various products in the field of aviation due to the advantages of high efficiency, small torque ripple, fast dynamic response and the like, and further has higher and higher requirements on the control precision of the permanent magnet synchronous motor.
Therefore, a system for accurately controlling a permanent magnet synchronous motor is required.
Disclosure of Invention
The invention aims to provide a control system which is stable, safe and reliable in circuit performance, has good electromagnetic interference elimination capability and is small in energy loss, aiming at the problem that the control precision of a permanent magnet synchronous motor cannot be guaranteed to be used.
In order to achieve the above object, the present invention provides a method based on idThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system which is 0 comprises:
the speed regulator unit is used for regulating the angular speed signal set in the DSP processor;
the voltage feedforward unit is used for carrying out coordinate transformation on the signal passing through the speed regulator unit and generating components of the stator voltage on a d axis and a q axis;
the voltage feedforward compensation unit is used for compensating the output signal of the voltage feedforward unit;
the inverse Park conversion unit is used for performing inverse Park conversion on the signal compensated by the voltage feedforward compensation unit to generate voltage components under alpha and beta coordinate systems;
the SVPWM algorithm unit is used for performing space vector calculation on voltage components under the alpha and beta coordinate systems to generate six paths of PWM wave signals for driving the three-phase permanent magnet synchronous motor;
the IPM isolation driving unit is used for processing the six paths of PWM wave signals to obtain driving signals, and controlling the three-phase permanent magnet synchronous motor through the driving signals;
the Clarke transformation unit is used for performing Clarke transformation on the signals processed by the IPM isolation driving unit to generate current components of the stator current in alpha and beta coordinate systems;
the Park conversion unit is used for converting current components under the alpha and beta coordinate systems into current components on a d axis and a q axis; and
and the SMO sliding mode observer unit acquires voltage components and current components under alpha and beta coordinate systems, obtains a processed angular velocity signal through signal processing, feeds the processed angular velocity signal back to the DSP, adjusts the angular velocity given by the DSP according to the processed angular velocity signal, and transmits the adjusted angular velocity signal to the velocity adjuster unit to form a closed loop. (
The invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system which is 0 also has the characteristic that the signal passing through the speed regulator unit is a motor torque current set value
The invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system which is equal to 0 is also characterized in that the voltage feedforward compensation unit enables a component i of the stator current on a d axisdThe voltage feedforward compensation unit outputs the stator voltage u to the voltage feedforward unit as 0sdAnd usqCarry out compensation output Deltau usdAnd Δ usqAnd calculating the d and q axis components of the stator voltage
And
the invention provides a method based on idThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system which is 0 also has the characteristic that the inverse Park conversion unit also receives signal feedback theta of an SMO sliding mode observer unitrSaid feedback θrTo assist in the calculation of the voltage components in the alpha and beta coordinate systems.
The invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system is characterized in that the SVPWM algorithm unit calculates the received input signals by using a voltage space vector algorithm to obtain six paths of PWM output signals.
The invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system which is 0 is also characterized in that the IPM isolation driving unit comprises a three-phase motor output circuit and an output signal fault detection circuit, wherein the three-phase motor output circuit is used for converting six input PWM output signals into driving signals.
The invention provides a method based on idThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system is characterized in that the Clarke conversion unit converts the received three-phase stator current into a projection value i of the stator current on an alpha axis and a beta axis through 3/2 conversionsα、isβ。
The invention provides a method based on idThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system which is 0 is also characterized in that the Park conversion unit obtains a component i of the stator current on the dq axis through two-phase rotation-two-phase static coordinate conversionsd、isq。
The invention provides a method based on idThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system is characterized in that the SMO sliding mode observer unit calculates back electromotive force through an SMO theory according to a mathematical model of the three-phase permanent magnet synchronous motor to obtain rotor position and rotating speed information.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method based on idThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system which is 0 solves the problems of unreliability, low precision, narrow motor speed regulation range, poor interference immunity, complex algorithm and the like of the three-phase permanent magnet synchronous motor in vector control.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1: the embodiment of the invention provides a method based on idThe schematic diagram of a three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system is 0.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments are specifically described in the control system provided by the invention with reference to the attached drawings.
In the description of the embodiments of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only used for convenience in describing and simplifying the description of the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in FIG. 1, an i-based scheme is provideddThe three-phase permanent magnet synchronous motor noninductive three-closed-loop vector control system which is 0 comprises:
the speed regulator unit is used for regulating the angular speed signal set in the DSP processor;
the voltage feedforward unit is used for carrying out coordinate transformation on the signal passing through the speed regulator unit and generating components of the stator voltage on a d axis and a q axis;
the voltage feedforward compensation unit is used for compensating the output signal of the voltage feedforward unit;
the inverse Park conversion unit is used for performing inverse Park conversion on the signal compensated by the voltage feedforward compensation unit to generate voltage components under alpha and beta coordinate systems;
the SVPWM algorithm unit is used for performing space vector calculation on voltage components under the alpha and beta coordinate systems to generate six paths of PWM wave signals for driving the three-phase permanent magnet synchronous motor;
the IPM isolation driving unit is used for processing the six paths of PWM wave signals to obtain driving signals, and controlling the three-phase permanent magnet synchronous motor through the driving signals;
the Clarke transformation unit is used for performing Clarke transformation on the signals processed by the IPM isolation driving unit to generate current components of the stator current in alpha and beta coordinate systems;
the Park conversion unit is used for converting current components under the alpha and beta coordinate systems into current components on a d axis and a q axis; and
and the SMO sliding mode observer unit acquires voltage components and current components under alpha and beta coordinate systems, obtains a processed angular velocity signal through signal processing, feeds the processed angular velocity signal back to the DSP, adjusts the angular velocity given by the DSP according to the processed angular velocity signal, and transmits the adjusted angular velocity signal to the velocity adjuster unit to form a closed loop.
In the above embodiment, Park transform: two-phase rotation-two-phase stationary coordinate transformation. Inverse Park transformation: two-phase stationary coordinate-two-phase rotational transformation. Clarke transformation: and transforming between a three-phase static coordinate system and a two-phase static coordinate system. SVPWM algorithm: and (3) a voltage space vector pulse width modulation algorithm. IPM isolation drive: and (4) intelligent power driving. SMO sliding mode observer: sliding-mode observer
In some embodiments, the signal passing through the speed regulator unit is a motor torque current setpoint
In some embodiments, the voltage feedforward compensation unit makes the component i of the stator current on the d axisdThe voltage feedforward compensation unit outputs the stator voltage u to the voltage feedforward unit as 0sdAnd usqCarry out compensation output Deltau usdAnd Δ usqAnd calculating the d and q axis components of the stator voltage
And
in some embodiments, the inverse Park transformation unit further receives SMO sliding mode observer unit signal feedback θrSaid feedback θrTo assist in the calculation of the voltage components in the alpha and beta coordinate systems.
In some embodiments, the SVPWM algorithm unit uses a voltage space vector algorithm to calculate the received input signals to obtain six PWM output signals.
In some embodiments, the IPM isolation driving unit includes a three-phase motor output circuit that converts the input six-way PWM output signals into driving signals, and an output signal fault detection circuit.
In some embodiments, the Clarke transformation unit converts the received three-phase stator currents into projection values i of the stator currents on alpha and beta axes through 3/2 transformationsα、isβ。
In some embodiments, the Park transformation unit obtains the component i of the stator current on the dq axis through two-phase rotation-two-phase stationary coordinate transformationsd、isq。
In some embodiments, the SMO sliding mode observer unit calculates back electromotive force according to a mathematical model of the three-phase permanent magnet synchronous motor through an SMO theory to obtain information of the position and the rotating speed of the rotor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention. The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. Based on id0 three-phase PMSM noninductive three closed loop vector control system, its characterized in that, the system includes:
the speed regulator unit is used for regulating the angular speed signal set in the DSP processor;
the voltage feedforward unit is used for carrying out coordinate transformation on the signal passing through the speed regulator unit and generating components of the stator voltage on a d axis and a q axis;
the voltage feedforward compensation unit is used for compensating the output signal of the voltage feedforward unit;
the inverse Park conversion unit is used for performing inverse Park conversion on the signal compensated by the voltage feedforward compensation unit to generate voltage components under alpha and beta coordinate systems;
the SVPWM algorithm unit is used for performing space vector calculation on voltage components under the alpha and beta coordinate systems to generate six paths of PWM wave signals for driving the three-phase permanent magnet synchronous motor;
the IPM isolation driving unit is used for processing the six paths of PWM wave signals to obtain driving signals, and controlling the three-phase permanent magnet synchronous motor through the driving signals;
the Clarke transformation unit is used for performing Clarke transformation on the signals processed by the IPM isolation driving unit to generate current components of the stator current in alpha and beta coordinate systems;
the Park conversion unit is used for converting current components under the alpha and beta coordinate systems into current components on a d axis and a q axis; and
and the SMO sliding mode observer unit acquires voltage components and current components under alpha and beta coordinate systems, obtains a processed angular velocity signal through signal processing, feeds the processed angular velocity signal back to the DSP, adjusts the angular velocity given by the DSP according to the processed angular velocity signal, and transmits the adjusted angular velocity signal to the velocity adjuster unit to form a closed loop.
2. The i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that the signal passing through the speed regulator unit is a motor torque current given value
3. The i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that the voltage feedforward compensation unit enables a component i of a stator current on a d axisdThe voltage feedforward compensation unit outputs the stator voltage u to the voltage feedforward unit as 0sdAnd usqMake a compensation output of DeltausdAnd Δ usqAnd calculating the d and q axis components of the stator voltage
And
4. the i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that the inverse Park conversion unit also receives signal feedback theta of an SMO sliding mode observer unitrSaid feedback θrTo assist in the calculation of the voltage components in the alpha and beta coordinate systems.
5. The i-based link of claim 1dThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system is characterized in that the SVPWM algorithm unit calculates received input signals by using a voltage space vector algorithm to obtain six paths of PWM output signals.
6. The i-based link of claim 1dThe three-phase permanent magnet synchronous motor non-inductive three-closed-loop vector control system is characterized in that the IPM isolation driving unit comprises a three-phase motor output circuit and an output signal fault detection circuit, wherein the three-phase motor output circuit converts six input PWM output signals into driving signals.
7. The i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that the Clarke conversion unit converts the received three-phase stator current into a projection value i of the stator current on an alpha axis and a beta axis through 3/2 conversionsα、isβ。
8. The i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that PaThe rk conversion unit obtains a component i of the stator current on the dq axis through two-phase rotation-two-phase static coordinate conversionsd、isq。
9. The i-based link of claim 1dThe noninductive three-closed-loop vector control system of the three-phase permanent magnet synchronous motor is characterized in that the SMO sliding mode observer unit calculates back electromotive force through an SMO theory according to a mathematical model of the three-phase permanent magnet synchronous motor to obtain the position and rotating speed information of a rotor.
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|---|---|---|---|---|
| CN108242905A (en) * | 2018-03-09 | 2018-07-03 | 核工业理化工程研究院 | Using the control method and control system of the permanent magnet synchronous motor of large rotating inertia |
| CN109600080A (en) * | 2018-12-12 | 2019-04-09 | 吴江绿控电控科技有限公司 | A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor |
| CN110635740A (en) * | 2019-11-08 | 2019-12-31 | 浙江工业大学 | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy |
| CN111953255A (en) * | 2020-07-27 | 2020-11-17 | 陕西航空电气有限责任公司 | Control method and control device for integrated permanent magnet synchronous motor without position sensor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108242905A (en) * | 2018-03-09 | 2018-07-03 | 核工业理化工程研究院 | Using the control method and control system of the permanent magnet synchronous motor of large rotating inertia |
| CN109600080A (en) * | 2018-12-12 | 2019-04-09 | 吴江绿控电控科技有限公司 | A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor |
| CN110635740A (en) * | 2019-11-08 | 2019-12-31 | 浙江工业大学 | Permanent magnet synchronous motor vector control method based on voltage feedforward compensation strategy |
| CN111953255A (en) * | 2020-07-27 | 2020-11-17 | 陕西航空电气有限责任公司 | Control method and control device for integrated permanent magnet synchronous motor without position sensor |
Non-Patent Citations (1)
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| 李乾宇: "永磁同步电机自适应模糊控制方法的研究", 中国优秀硕士学位论文全文数据库工程科技Ⅱ辑, 15 March 2015 (2015-03-15), pages 9 - 12 * |
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