CN114465530A - Speed control method and system of permanent magnet synchronous motor - Google Patents

Speed control method and system of permanent magnet synchronous motor Download PDF

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Publication number
CN114465530A
CN114465530A CN202210386856.1A CN202210386856A CN114465530A CN 114465530 A CN114465530 A CN 114465530A CN 202210386856 A CN202210386856 A CN 202210386856A CN 114465530 A CN114465530 A CN 114465530A
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permanent magnet
current
magnet synchronous
synchronous motor
voltage
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Inventor
闫栋宇
赵立军
余泽寰
龙鸿辉
于佳强
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Harbin Institute of Technology
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Harbin Institute of Technology
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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
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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

Abstract

A speed control method and a system of a permanent magnet synchronous motor solve the problem that the permanent magnet synchronous motor in the prior art is easy to generate larger current fluctuation under the condition of inaccurate parameter identification, and belong to the field of permanent magnet synchronous motor control. The invention comprises the following steps: collection permanent magnet synchronous motorIn combination with the electrical angle of the rotor of the PMSM
Figure DEST_PATH_IMAGE002A
Obtaining the current under a two-phase static coordinate systemi d 、i q Constructing a current complex vectori s By usingi s Using PI controllers and electrical angular velocities
Figure DEST_PATH_IMAGE004
Constructing a complex vector of voltagesu s (ii) a According tou s Obtaining voltage under two-phase static coordinate systemu d 、u q (ii) a By using
Figure DEST_PATH_IMAGE002AA
To pairu d 、u q Transforming to obtain voltage under two-phase rotating coordinate system
Figure DEST_PATH_IMAGE005
、
Figure DEST_PATH_IMAGE006
(ii) a According to
Figure 988110DEST_PATH_IMAGE005
And
Figure 905250DEST_PATH_IMAGE006
and modulating to obtain the duty ratio of the three-phase square wave, controlling the current of the permanent magnet synchronous motor and realizing the speed control.

Description

Speed control method and system of permanent magnet synchronous motor
Technical Field
The invention relates to a speed control method and system of a permanent magnet synchronous motor, and belongs to the field of permanent magnet synchronous motor control.
Background
The permanent magnet motor has the advantages of simple structure, small size, high efficiency and the like, is widely applied to the fields of robots, household appliances, electric automobiles and the like at present, and has higher and higher requirements on the precision and the reliability of motor speed control along with the enhancement of scientific and technological development and application and the promotion of intelligent technology and mobile operation dynamic operation precision. Compared with other types of motors, the permanent magnet synchronous motor has the characteristics of long service life, good speed regulation effect, high use safety and the like. The current control of the existing permanent magnet synchronous motor is mostly controlled by adopting a PI controller and feedforward decoupling, although the control method is simple, the control method is too dependent on motor parameters, and large current fluctuation is easily generated under the condition of inaccurate parameter identification, so that the accuracy of speed regulation is influenced.
Disclosure of Invention
The invention provides a speed control method and system of a permanent magnet synchronous motor, aiming at the problem that the permanent magnet synchronous motor in the prior art is easy to generate larger current fluctuation under the condition of inaccurate parameter identification and influences the speed regulation accuracy.
The invention discloses a speed control method of a permanent magnet synchronous motor, which comprises the following steps:
s1, collecting three-phase alternating current of the permanent magnet synchronous motor and combining the electric angle of the permanent magnet synchronous motor rotor
Figure 960457DEST_PATH_IMAGE001
Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqcurrent of shafti d 、i q ；
S2, utilizing currenti d 、i q Constructing a complex vector of currenti s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 774829DEST_PATH_IMAGE002
Constructing a complex vector of voltagesu s ；
Figure 534975DEST_PATH_IMAGE003
Or
Figure 802008DEST_PATH_IMAGE004
Wherein the content of the first and second substances,e s =i sD -i S ，i sD which represents a given value of the current,k p the proportional gain of the PI controller is represented,k i represents the integral gain of the PI controller,
Figure 908DEST_PATH_IMAGE005
it is shown that the flux linkage of the permanent magnet,jrepresenting imaginary part, electrical angular velocity
Figure 106005DEST_PATH_IMAGE002
According to the electrical angle
Figure 99369DEST_PATH_IMAGE001
Obtaining;
s3, according to the voltage complex vectoru s Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqvoltage of shaftu d 、u q ；
S4, utilizing electric angle
Figure 791382DEST_PATH_IMAGE001
Voltage ofu d 、u q Obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 793973DEST_PATH_IMAGE006
And
Figure 317358DEST_PATH_IMAGE007
voltage of shaft
Figure 419306DEST_PATH_IMAGE008
And
Figure 660932DEST_PATH_IMAGE009
；
s5, according to voltage
Figure 139318DEST_PATH_IMAGE008
And
Figure 517209DEST_PATH_IMAGE009
and modulating to obtain the duty ratio of the three-phase square wave, and controlling the current of the permanent magnet synchronous motor so as to control the torque of the permanent magnet synchronous motor.
Preferably, the electrical angle is
Figure 117955DEST_PATH_IMAGE001
The obtaining method comprises the following steps:
s11, constructing an observer with the input of the observer being current
Figure 17515DEST_PATH_IMAGE010
、
Figure 361909DEST_PATH_IMAGE011
And voltage
Figure 594307DEST_PATH_IMAGE008
And
Figure 303637DEST_PATH_IMAGE009
the output being back electromotive force of the permanent magnet synchronous motor
Figure 254276DEST_PATH_IMAGE006
Axial component
Figure 74464DEST_PATH_IMAGE012
And
Figure 426948DEST_PATH_IMAGE007
axial component
Figure 369496DEST_PATH_IMAGE013
(ii) a Electric current
Figure 745114DEST_PATH_IMAGE010
、
Figure 431310DEST_PATH_IMAGE011
Respectively shows the stators of the permanent magnet synchronous motors under a two-phase rotating coordinate system
Figure 74519DEST_PATH_IMAGE006
And
Figure 187969DEST_PATH_IMAGE007
the current of the shaft;
s12, enabling the rotor of the permanent magnet synchronous motor to rotate to a fixed starting position by controlling a magnetic field generated by the constant phase-A current;
s13, controlling current complex vectori s The rotor is driven to rotate by the rotation of the space vector field, so that the current complex vectori s The rotation speed in the space vector field is gradually increased;
s14, stopping increasing the current complex vector when the speed of the permanent magnet synchronous motor reaches the speed to be controlledi s Rotational speed of, reducing current complex vectori s Such that the rotor angle is the angle of the set current vector;
s15, starting an observer, and obtaining the current by using the methods from S1 to S4
Figure 113199DEST_PATH_IMAGE010
、
Figure 275190DEST_PATH_IMAGE011
And voltage
Figure 602266DEST_PATH_IMAGE008
And
Figure 558721DEST_PATH_IMAGE009
when the observer converges, the FOC algorithm is controlled by the vector to observe
Figure 971248DEST_PATH_IMAGE012
、
Figure 936930DEST_PATH_IMAGE013
According to
Figure 118513DEST_PATH_IMAGE012
、
Figure 573765DEST_PATH_IMAGE013
Calculating the electrical angle using an inverse trigonometric function
Figure 667664DEST_PATH_IMAGE001
；
S16, according to the electrical angle
Figure 233775DEST_PATH_IMAGE001
Obtaining electrical angular velocity
Figure 473126DEST_PATH_IMAGE002
。
Preferably, in S11, a lunberg observer is constructed, where the lunberg observer is:
Figure 99280DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 220819DEST_PATH_IMAGE015
，
Figure 528304DEST_PATH_IMAGE016
or
Figure 684479DEST_PATH_IMAGE017
，
Figure 481533DEST_PATH_IMAGE018
，
Figure 28052DEST_PATH_IMAGE019
，
Figure 935966DEST_PATH_IMAGE020
，
Figure 382865DEST_PATH_IMAGE021
To represent XIs determined by the estimated value of (c),
Figure 350821DEST_PATH_IMAGE022
to representYIs determined by the estimated value of (c),
Figure 446953DEST_PATH_IMAGE023
to represent
Figure 96240DEST_PATH_IMAGE021
The first derivative of (a) is,
Figure 961428DEST_PATH_IMAGE024
and K is the gain of the observer,
Figure 37969DEST_PATH_IMAGE025
；Lwhich represents the value of the inductance,Rrepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 a gain factor representing the observer for the voltage component;
obtaining back-emf by using a lunberg observer
Figure 621397DEST_PATH_IMAGE006
Axial component sum
Figure 136692DEST_PATH_IMAGE007
Axial component
Figure 794069DEST_PATH_IMAGE012
、
Figure 103828DEST_PATH_IMAGE013
。
Preferably, the S1 includes:
collecting three-phase alternating current of the permanent magnet synchronous motor, and obtaining a two-phase rotating coordinate system of the permanent magnet synchronous motor stator after Clark conversionLower part
Figure 610770DEST_PATH_IMAGE006
And
Figure 664177DEST_PATH_IMAGE007
current of shaft
Figure 441640DEST_PATH_IMAGE010
、
Figure 859983DEST_PATH_IMAGE011
Using the electrical angle of the rotor of the PMSM
Figure 355686DEST_PATH_IMAGE001
To current
Figure 947205DEST_PATH_IMAGE010
、
Figure 641491DEST_PATH_IMAGE011
After Park conversion is carried out, the stator of the permanent magnet synchronous motor under a two-phase static coordinate system is obtaineddShaft andqcurrent of shafti d 、i q 。
Preferably, the current complex vector in S2i s =i d +ji q 。
Preferably, in S3, according to
Figure 994850DEST_PATH_IMAGE026
Obtaining a voltage
Figure 774587DEST_PATH_IMAGE027
、
Figure 107479DEST_PATH_IMAGE028
。
As a preference, the first and second liquid crystal compositions are,
Figure 921852DEST_PATH_IMAGE029
、
Figure 744314DEST_PATH_IMAGE030
；
l represents inductance values of d-axis inductance component and q-axis inductance component, R represents stator resistance,
Figure 949030DEST_PATH_IMAGE006
a control parameter indicative of bandwidth.
Preferably, in S5, space vector pulse width modulation SVPWM is used according to the voltage
Figure 147931DEST_PATH_IMAGE008
And
Figure 754492DEST_PATH_IMAGE009
and modulating to obtain the three-phase square wave duty ratio.
The present invention also provides a speed control system of a permanent magnet synchronous motor, comprising:
the system comprises a transformation module, a voltage complex vector construction module, a coordinate transformation module, an inverse transformation module and a modulation module;
the transformation module is connected with the voltage complex vector construction module and used for collecting three-phase alternating current of the permanent magnet synchronous motor and combining the electric angle of the rotor of the permanent magnet synchronous motor
Figure 184075DEST_PATH_IMAGE001
Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqcurrent of shafti d 、i q And sending the voltage complex vector to a voltage complex vector construction module;
a voltage complex vector construction module connected with the coordinate conversion module and used for utilizing the currenti d 、i q Constructing a complex vector of currenti s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 938404DEST_PATH_IMAGE002
Constructing a complex vector of voltages
Figure 613099DEST_PATH_IMAGE031
And sending the data to a coordinate conversion module;
Figure 136484DEST_PATH_IMAGE003
or
Figure 566328DEST_PATH_IMAGE004
Wherein the content of the first and second substances,e s =i sD -i S ，i sD which represents a given value of the current,k p the proportional gain of the PI controller is represented,k i represents the integral gain of the PI controller,
Figure 745637DEST_PATH_IMAGE005
it is shown that the flux linkage of the permanent magnet,jrepresenting imaginary part, electrical angular velocity
Figure 20761DEST_PATH_IMAGE002
According to electrical angle
Figure 664231DEST_PATH_IMAGE001
Obtaining;
a coordinate conversion module connected with the inverse conversion module and used for converting the complex vector according to the voltageu s Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqvoltage of shaftu d 、u q And sending the data to an inverse transformation module;
inverse transformation module connected with the modulation module and used for utilizing electrical angle
Figure 937081DEST_PATH_IMAGE001
Voltage ofu d 、u q Obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 666003DEST_PATH_IMAGE006
And
Figure 181035DEST_PATH_IMAGE007
voltage of shaft
Figure 679013DEST_PATH_IMAGE008
And
Figure 388343DEST_PATH_IMAGE009
and sending the data to a modulation module;
a modulation module connected with the PMSM for regulating voltage
Figure 338981DEST_PATH_IMAGE008
And
Figure 159170DEST_PATH_IMAGE009
and modulating to obtain the duty ratio of the three-phase square wave, and controlling the current of the permanent magnet synchronous motor so as to control the torque of the permanent magnet synchronous motor.
Preferably, the system of the invention further comprises a luneberg observer and an inverse trigonometric function module;
a Roberter observer connected with the inverse trigonometric function module for observing the input
Figure 511654DEST_PATH_IMAGE015
Obtaining back electromotive force
Figure 391885DEST_PATH_IMAGE006
Axial component sum
Figure 829820DEST_PATH_IMAGE007
Axial component
Figure 250437DEST_PATH_IMAGE012
、
Figure 159224DEST_PATH_IMAGE013
And then sent to an inverse trigonometric function module,
Figure 272674DEST_PATH_IMAGE010
、
Figure 197905DEST_PATH_IMAGE011
respectively shows the stators of the permanent magnet synchronous motors under a two-phase rotating coordinate system
Figure 359896DEST_PATH_IMAGE006
And
Figure 421393DEST_PATH_IMAGE007
the current of the shaft;
an inverse trigonometric function module for
Figure 705743DEST_PATH_IMAGE012
、
Figure 55953DEST_PATH_IMAGE013
To obtain the electrical angle
Figure 83952DEST_PATH_IMAGE001
；
The Romberg observer is as follows:
Figure 203218DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 392891DEST_PATH_IMAGE015
，
Figure 292714DEST_PATH_IMAGE016
or
Figure 295043DEST_PATH_IMAGE017
，
Figure 596711DEST_PATH_IMAGE018
，
Figure 957285DEST_PATH_IMAGE019
，
Figure 282087DEST_PATH_IMAGE020
，
Figure 651889DEST_PATH_IMAGE021
To represent XIs determined by the estimated value of (c),
Figure 542484DEST_PATH_IMAGE022
to representYIs determined by the estimated value of (c),
Figure 277222DEST_PATH_IMAGE023
to represent
Figure 886058DEST_PATH_IMAGE021
The first derivative of (a) is,
Figure 997233DEST_PATH_IMAGE024
and K is the gain of the observer,
Figure 7915DEST_PATH_IMAGE025
；Lwhich represents the value of the inductance,Rrepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 representing the gain factor of the observer for the voltage component.
The invention has the beneficial effects that: the invention adopts a complex vector decoupling method, integrates feedforward decoupling, obviously reduces the fluctuation of a current loop, reduces the response time, improves the speed control, has low sensitivity of the current loop control effect on parameters, and reduces the influence of parameter identification on the control effect; the speed regulation range of the observer is wider, and the observer has good observation effect at medium speed and high speed.
Drawings
FIG. 1 is a schematic diagram of the control principle of the present invention;
fig. 2 is a schematic diagram of a PI controller.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1, the speed control method of the permanent magnet synchronous motor according to the present embodiment includes:
step one, collecting three-phase alternating current of a permanent magnet synchronous motor, and obtaining a permanent magnet synchronous motor stator under a two-phase rotating coordinate system after Clark conversion
Figure 975871DEST_PATH_IMAGE006
And
Figure 508221DEST_PATH_IMAGE007
current of shaft
Figure 219825DEST_PATH_IMAGE010
、
Figure 85013DEST_PATH_IMAGE011
；
Step two, utilizing the electric angle of the rotor of the permanent magnet synchronous motor
Figure 161553DEST_PATH_IMAGE001
To current
Figure 744981DEST_PATH_IMAGE010
、
Figure 932380DEST_PATH_IMAGE011
After Park conversion is carried out, the stator of the permanent magnet synchronous motor under a two-phase static coordinate system is obtaineddShaft andqcurrent of shafti d 、i q ；
Step three, utilizing currenti d 、i q Constructing a current complex vectori s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 917654DEST_PATH_IMAGE002
Constructing a complex vector of voltagesu s ；
Step four, according to the voltage complex vectoru s Obtaining a stator two-phase static coordinate system of a permanent magnet synchronous motordShaft andqvoltage of shaftu d 、u q ；
Step two to step four are calculated by a complex vector decoupling and PI controller method;
step five, utilizing electric angle
Figure 165095DEST_PATH_IMAGE001
To voltageu d 、u q Carrying out inverse Park conversion to obtain the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 235820DEST_PATH_IMAGE006
And
Figure 289226DEST_PATH_IMAGE007
voltage of shaft
Figure 565225DEST_PATH_IMAGE008
And
Figure 45884DEST_PATH_IMAGE009
；
step six, according to the voltage
Figure 276009DEST_PATH_IMAGE008
And
Figure 70789DEST_PATH_IMAGE009
SVPWM (space vector pulse width modulation) methodAnd controlling the current of the permanent magnet synchronous motor according to the duty ratio of the three-phase square wave, and further controlling the torque of the permanent magnet synchronous motor.
The principle of the complex vector decoupling and PI controller method in the embodiment is as follows:
firstly, defining a mathematical model under a synchronous rotating coordinate system of the permanent magnet synchronous motor:
Figure 765076DEST_PATH_IMAGE032
for a cathode motor, there areL d =L q =L
L d To representdAn axial inductance component;
L q representqAn axial inductance component;
Lrepresents an inductance value;
Figure 354320DEST_PATH_IMAGE002
representing the rotor electrical angular velocity;
Figure 399637DEST_PATH_IMAGE005
represents a permanent magnet flux linkage;
Rrepresenting the stator resistance;
it can be seen that the q-axis and d-axis voltage equations contain currents of each other, and a coupled system is obvious. The traditional control method is decoupled through a feedforward method, namely, a mathematical model is compensated on an output voltage value before the final input of the control method into a motor system
Figure 231064DEST_PATH_IMAGE033
And
Figure 779857DEST_PATH_IMAGE034
in this way, the system can be decoupled. However, the method of feed forward decoupling is transitionally dependent on the motor parameters, i.e. must be accurateL d 、L q And
Figure 805582DEST_PATH_IMAGE005
the coupling effect can be eliminated better. Therefore, the motor adopting the feedforward decoupling control method has the defects of current fluctuation and corresponding slowness.
The complex vector decoupling method adopted by the embodiment performs current loop control:
firstly, the control quantity and the current complex vector are constructedi s The real part thereof is composed ofi d Formed of imaginary parti q The structure is as follows:
i s =i d +ji q
similarly, a voltage complex vector is constructedu S Which is formed in part byu d Formed of imaginary partu q The structure is as follows:
u S =u d +ju q
the equation is combined with a motor mathematical model, and a new voltage equation consisting of current and voltage complex vectors can be obtained as follows:
Figure 72615DEST_PATH_IMAGE035
it can be seen that the two mutually coupled systems are integrated, and only the output voltage is needed
Figure 271515DEST_PATH_IMAGE036
I.e. the current can be controlled
Figure 612498DEST_PATH_IMAGE037
In the control ofi s At the same time, the utility model can simultaneously,i d andi q and is thus controlled.
The present embodiment adopts PI controller control:
Figure 871441DEST_PATH_IMAGE038
whereini sD Indicating given value of current, PI parameter can be selected
Figure 625770DEST_PATH_IMAGE039
、
Figure 300465DEST_PATH_IMAGE040
，
Figure 823851DEST_PATH_IMAGE006
A control parameter indicative of the bandwidth is provided,
Figure 689913DEST_PATH_IMAGE006
control system bandwidth of
Figure 665959DEST_PATH_IMAGE006
The larger the bandwidth, the faster the current response speed. But do not
Figure 206662DEST_PATH_IMAGE006
Can not be increased without limit, and the range of the output voltage of the controller should be considered for reasonable design
Figure 787816DEST_PATH_IMAGE006
The value of (c).
In the preferred embodiment, finally at the final outputu q Part can be compensated by feedforward
Figure 122983DEST_PATH_IMAGE002
Figure 851904DEST_PATH_IMAGE005
To make the model more fitReal model, as shown in fig. 2:
Figure 868402DEST_PATH_IMAGE041
electric angle of permanent magnet synchronous motor rotor in this embodiment
Figure 366379DEST_PATH_IMAGE001
The measurement can be carried out by using a sensor, and a sensor-free design can also be adopted; the traditional sensorless algorithm usually adopts a six-step commutation method, namely, the rotor position is estimated by detecting the back electromotive force on three phase lines, and the sensorless operation of the motor is realized by controlling six states of an inverter. However, the method cannot accurately control the current, and the final current waveform is square wave instead of sine wave, which may cause the problems of unstable operation, inflexible speed regulation and the like of the motor. The sensor-free FOC control algorithm is adopted in the implementation mode, the current can be accurately controlled, and the stable operation of the motor is realized. And observing the position and the speed of the motor by using a Romberg observer, and providing a position reference for the FOC algorithm.
The sensorless algorithm operates on the following principle:
constructing an observer;
before starting, firstly, by controlling constant A-phase current, a magnetic field generated by current enables a motor rotor to rotate to a fixed starting position, and then an open-loop starting process is started.
When starting in open loop, by controlling current complex vectori s The rotor is driven to rotate by the rotation of the space vector field, and the current complex vector
Figure 810130DEST_PATH_IMAGE042
The rotation speed in the space vector field is gradually increased;
when the motor reaches the speed to be controlled, the increase of the current complex vector is stoppedi s The motor will keep constant speed, the torque generated at this time is equal to the resistance, and a part of the current vector is q-axis current and a part of the current vector is d-axis current. Reducing current complex vector
Figure 462566DEST_PATH_IMAGE043
Of such a magnitude that the rotor angle is equal to the set current complex vectori s The angle of (c).
And finally, starting the observer, using the observed angle by a vector-oriented Control (FOC) algorithm when the observer converges, and switching from a speed open loop to a speed closed loop to finish one-time sensorless starting.
Starting an observer, and obtaining current by using the method from the first step to the fifth step
Figure 345071DEST_PATH_IMAGE010
、
Figure 635238DEST_PATH_IMAGE011
And voltage
Figure 577787DEST_PATH_IMAGE008
And
Figure 15721DEST_PATH_IMAGE009
when the observer converges, the FOC algorithm is controlled by the vector to observe the data
Figure 374021DEST_PATH_IMAGE012
、
Figure 846591DEST_PATH_IMAGE013
According to
Figure 632144DEST_PATH_IMAGE012
、
Figure 557375DEST_PATH_IMAGE013
Calculating the electrical angle by using an inverse trigonometric function
Figure 217901DEST_PATH_IMAGE001
；
According to the electrical angle
Figure 544977DEST_PATH_IMAGE001
Obtaining electrical angular velocity
Figure 829328DEST_PATH_IMAGE002
。
The observer of the present embodiment adopts a lunberg observer, which is:
Figure 179538DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 941958DEST_PATH_IMAGE015
，
Figure 123540DEST_PATH_IMAGE016
，
Figure 516476DEST_PATH_IMAGE018
，
Figure 416298DEST_PATH_IMAGE019
herein is assumed to be
Figure 920092DEST_PATH_IMAGE012
、
Figure 956181DEST_PATH_IMAGE013
All derivatives of (A) are 0, i.e.
Figure 582335DEST_PATH_IMAGE012
、
Figure 405672DEST_PATH_IMAGE013
The rate of change is zero.
Figure 509894DEST_PATH_IMAGE020
，
Figure 666069DEST_PATH_IMAGE021
To represent XIs determined by the estimated value of (c),
Figure 400807DEST_PATH_IMAGE022
to representYIs determined by the estimated value of (c),
Figure 9643DEST_PATH_IMAGE023
to represent
Figure 183135DEST_PATH_IMAGE021
The first derivative of (a) is,
Figure 131499DEST_PATH_IMAGE024
and K is the gain of the observer,
Figure 99455DEST_PATH_IMAGE025
；Lwhich represents the value of the inductance,Rrepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 a gain coefficient representing the observer for the voltage component; obtaining back-emf by using a lunberg observer
Figure 133271DEST_PATH_IMAGE006
Axial component sum
Figure 579295DEST_PATH_IMAGE007
Axial component
Figure 710062DEST_PATH_IMAGE012
、
Figure 285138DEST_PATH_IMAGE013
. On the premise of meeting the observability, the bandwidth of the observer can be set by adjusting the value of K.
Obtaining back-emf by means of a luneberg observer
Figure 868566DEST_PATH_IMAGE006
Axial component sum
Figure 118282DEST_PATH_IMAGE007
Axial component
Figure 41238DEST_PATH_IMAGE012
、
Figure 350997DEST_PATH_IMAGE013
；
According to the motor mathematical model, the method comprises the following steps:
Figure 421721DEST_PATH_IMAGE044
、
Figure 412811DEST_PATH_IMAGE045
the value of the electrical angle can be calculated from the inverse trigonometric function:
Figure 252591DEST_PATH_IMAGE046
the differential can calculate the electrical angular velocity:
Figure 733251DEST_PATH_IMAGE047
heretofore assume
Figure 963375DEST_PATH_IMAGE012
、
Figure 820473DEST_PATH_IMAGE013
The rate of change is zero, but as can be seen from the above equation,
Figure 514759DEST_PATH_IMAGE012
、
Figure 625976DEST_PATH_IMAGE013
there is a significant calculus relation, and in the preferred embodiment, the A of the Luenberger observer is modified’：
Figure 671293DEST_PATH_IMAGE017
The observer following effect can be further improved.
Figure 66502DEST_PATH_IMAGE048
The time for the current loop step response to reach 63% is less than 20% of the electrical time constant of the motor, the overshoot is less than 5%, and the observation angle error of the extended state observer is less than 10 °.
The embodiment also provides a speed control system of the permanent magnet synchronous motor, which comprises a transformation module, a voltage complex vector construction module, a coordinate transformation module, an inverse transformation module and a modulation module;
the transformation module is connected with the voltage complex vector construction module and is used for collecting three-phase alternating current of the permanent magnet synchronous motor and combining the electric angle of a rotor of the permanent magnet synchronous motor
Figure 552978DEST_PATH_IMAGE001
Obtaining d-axis and q-axis currents of the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemi d 、i q Sending the voltage complex vector to a voltage complex vector construction module;
the transformation module of the embodiment can adopt a Clark transformation module and a Park transformation module, and specifically, the three-phase alternating current of the permanent magnet synchronous motor is collected and input into the Clark transformation module, and the Clark transformation module performs Clark transformation to obtain the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 641020DEST_PATH_IMAGE006
And
Figure 406588DEST_PATH_IMAGE007
current of shaft
Figure 458683DEST_PATH_IMAGE010
、
Figure 563780DEST_PATH_IMAGE011
(ii) a The electrical angle of the rotor of the permanent magnet synchronous motor
Figure 822724DEST_PATH_IMAGE001
And current
Figure 249157DEST_PATH_IMAGE010
、
Figure 251748DEST_PATH_IMAGE011
Inputting the data to a Park conversion module which utilizes the electrical angle
Figure 775133DEST_PATH_IMAGE001
To current
Figure 611502DEST_PATH_IMAGE010
、
Figure 853128DEST_PATH_IMAGE011
After Park conversion is carried out, currents of a d axis and a q axis of a permanent magnet synchronous motor stator under a two-phase static coordinate system are obtainedi d 、i q ；
A voltage complex vector construction module connected with the coordinate conversion module for utilizing currenti d 、i q Constructing a complex vector of currenti s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 597093DEST_PATH_IMAGE002
Constructing a complex vector of voltagesu s Sending the data to a coordinate conversion module;
Figure 974984DEST_PATH_IMAGE049
or as shown in fig. 2:
Figure 575730DEST_PATH_IMAGE050
wherein the content of the first and second substances,e s =i sD -i S ，i sD which represents a given value of the current,k p representing PI controllersThe proportional gain is set to a value that is,k i represents the integral gain of the PI controller,
Figure 475291DEST_PATH_IMAGE005
it is shown that the flux linkage of the permanent magnet,jrepresenting an imaginary part; complex vector of currenti s =i d +ji q 。
A coordinate conversion module connected with the inverse conversion module and used for converting the complex vector according to the voltage
Figure 819684DEST_PATH_IMAGE051
Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqvoltage of shaftu d 、u q And then the data is sent to an inverse transformation module,u s =u d +ju q 。
inverse transformation module connected with the modulation module and used for utilizing electrical angle
Figure 255345DEST_PATH_IMAGE001
Voltage ofu d 、u q Obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 761413DEST_PATH_IMAGE006
And
Figure 915313DEST_PATH_IMAGE007
voltage of shaft
Figure 797819DEST_PATH_IMAGE008
And
Figure 822406DEST_PATH_IMAGE009
and sending the data to a modulation module;
a modulation module connected with the PMSM for regulating voltage
Figure 499375DEST_PATH_IMAGE008
And
Figure 937310DEST_PATH_IMAGE009
modulating to obtain three-phase square wave duty ratio, controlling current of permanent magnet synchronous motor to further control torque thereof, wherein the modulation module can adopt Space Vector Pulse Width Modulation (SVPWM) modulator to modulate according to voltage
Figure 325304DEST_PATH_IMAGE008
And
Figure 532294DEST_PATH_IMAGE009
and modulating to obtain the three-phase square wave duty ratio.
The system of this embodiment also includes a luneberg observer and an inverse trigonometric function module,
a Luenberger observer connected with the inverse trigonometric function module for observing the input
Figure 583427DEST_PATH_IMAGE015
Obtaining back electromotive force
Figure 508658DEST_PATH_IMAGE006
Axial component sum
Figure 405069DEST_PATH_IMAGE007
Axial component
Figure 732145DEST_PATH_IMAGE012
、
Figure 16496DEST_PATH_IMAGE013
And sending the data to an inverse trigonometric function module;
an inverse trigonometric function module for
Figure 366706DEST_PATH_IMAGE012
、
Figure 394705DEST_PATH_IMAGE013
To obtain the electrical angle
Figure 746927DEST_PATH_IMAGE001
。
The Romberg observer is as follows:
Figure 202179DEST_PATH_IMAGE014
wherein the content of the first and second substances,
Figure 305264DEST_PATH_IMAGE015
，
Figure 871375DEST_PATH_IMAGE016
or
Figure 907464DEST_PATH_IMAGE017
，
Figure 471300DEST_PATH_IMAGE018
，
Figure 592840DEST_PATH_IMAGE019
，
Figure 634745DEST_PATH_IMAGE020
，
Figure 790920DEST_PATH_IMAGE021
Represent XIs determined by the estimated value of (c),
Figure 587975DEST_PATH_IMAGE022
to representYIs determined by the estimated value of (c),
Figure 922046DEST_PATH_IMAGE023
to represent
Figure 829959DEST_PATH_IMAGE021
The first derivative of (a) is,
Figure 512744DEST_PATH_IMAGE024
and K is the gain of the observer,
Figure 480700DEST_PATH_IMAGE025
；Lindicating inductance value，RRepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 a gain factor representing the observer for the voltage component;
the principle of the speed control system of the permanent magnet synchronous motor according to the present embodiment is the same as that of the speed control method described above, and the difference is that the speed control system can be implemented by a programmable logic device, such as an FPGA.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features from different dependent claims and herein may be combined in ways other than those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other embodiments.

Claims (10)

1. A method of speed control of a permanent magnet synchronous motor, the method comprising:
s1, collecting three-phase alternating current of the permanent magnet synchronous motor and combining the electric angle of the permanent magnet synchronous motor rotor
Figure 878705DEST_PATH_IMAGE001
Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqcurrent of shafti d 、i q ；
S2, utilizing currenti d 、i q Constructing a complex vector of currenti s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 254323DEST_PATH_IMAGE002
Constructing a complex vector of voltagesu s ；
Figure 674940DEST_PATH_IMAGE003
Or
Figure 583728DEST_PATH_IMAGE004
Wherein the content of the first and second substances,e s =i sD -i S ，i sD which represents a given value of the current,k p the proportional gain of the PI controller is represented,k i represents the integral gain of the PI controller,
Figure 431598DEST_PATH_IMAGE005
it is shown that the flux linkage of the permanent magnet,jrepresenting imaginary part, electrical angular velocity
Figure 356829DEST_PATH_IMAGE002
According to the electrical angle
Figure 518820DEST_PATH_IMAGE001
Obtaining;
s3, according to the voltage complex vectoru s Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqvoltage of shaftu d 、u q ；
S4, utilizing electric angle
Figure 845896DEST_PATH_IMAGE001
Voltage ofu d 、u q Obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 130247DEST_PATH_IMAGE006
And
Figure 480457DEST_PATH_IMAGE007
voltage of shaft
Figure 242876DEST_PATH_IMAGE008
And
Figure 362142DEST_PATH_IMAGE009
；
s5, according to voltage
Figure 817394DEST_PATH_IMAGE008
And
Figure 717217DEST_PATH_IMAGE009
and modulating to obtain the duty ratio of the three-phase square wave, and controlling the current of the permanent magnet synchronous motor so as to control the torque of the permanent magnet synchronous motor.
2. Method for speed control of a permanent magnet synchronous motor according to claim 1, characterized in that the electrical angle is
Figure 719546DEST_PATH_IMAGE001
The obtaining method comprises the following steps:
s11, constructing an observer with the input of the observer being current
Figure 755635DEST_PATH_IMAGE010
、
Figure 319471DEST_PATH_IMAGE011
And voltage
Figure 706590DEST_PATH_IMAGE008
And
Figure 748496DEST_PATH_IMAGE009
the output being the back electromotive force of the PMSM
Figure 904671DEST_PATH_IMAGE012
Axial component
Figure 639408DEST_PATH_IMAGE013
And
Figure 248244DEST_PATH_IMAGE007
axial component
Figure 421737DEST_PATH_IMAGE014
(ii) a Electric current
Figure 868636DEST_PATH_IMAGE010
、
Figure 836592DEST_PATH_IMAGE011
Respectively shows the stators of the permanent magnet synchronous motors under a two-phase rotating coordinate system
Figure 870407DEST_PATH_IMAGE006
And
Figure 316432DEST_PATH_IMAGE007
the current of the shaft;
s12, enabling the rotor of the permanent magnet synchronous motor to rotate to a fixed starting position by controlling a magnetic field generated by the constant phase-A current;
s13, controlling current complex vectori s The rotor is driven to rotate by the rotation of the space vector field, so that the current complex vectori s The rotation speed in the space vector field is gradually increased;
s14, stopping increasing the current complex vector when the speed of the permanent magnet synchronous motor reaches the speed to be controlledi s Rotational speed of, reducing current complex vectori s Such that the rotor angle is the angle of the set current vector;
s15, starting an observer, and obtaining the current by using the methods from S1 to S4
Figure 384882DEST_PATH_IMAGE010
、
Figure 523740DEST_PATH_IMAGE011
And voltage
Figure 44851DEST_PATH_IMAGE008
And
Figure 294567DEST_PATH_IMAGE009
when the observer converges, the FOC algorithm is controlled by the vector to observe
Figure 739496DEST_PATH_IMAGE013
、
Figure 49255DEST_PATH_IMAGE014
According to
Figure 119979DEST_PATH_IMAGE013
、
Figure 111068DEST_PATH_IMAGE014
Calculating the electrical angle using an inverse trigonometric function
Figure 950849DEST_PATH_IMAGE001
；
S16, according to the electrical angle
Figure 369192DEST_PATH_IMAGE001
Obtaining electrical angular velocity
Figure 661633DEST_PATH_IMAGE002
。
3. The speed control method of a permanent magnet synchronous motor according to claim 2, wherein in S11, a lunberg observer is constructed as follows:
Figure 518730DEST_PATH_IMAGE015
wherein the content of the first and second substances,
Figure 150700DEST_PATH_IMAGE016
，
Figure 802261DEST_PATH_IMAGE017
or
Figure 847577DEST_PATH_IMAGE018
，
Figure 679005DEST_PATH_IMAGE019
，
Figure 227798DEST_PATH_IMAGE020
，
Figure 253523DEST_PATH_IMAGE021
，
Figure 520556DEST_PATH_IMAGE022
To representXIs determined by the estimated value of (c),
Figure 453877DEST_PATH_IMAGE023
to representYIs determined by the estimated value of (c),
Figure 60439DEST_PATH_IMAGE024
to represent
Figure 319382DEST_PATH_IMAGE022
The first derivative of (a) is,
Figure 808132DEST_PATH_IMAGE025
and K is the gain of the observer,
Figure 748406DEST_PATH_IMAGE026
；Lwhich represents the value of the inductance,Rrepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 a gain factor representing the observer for the voltage component;
obtaining back-emf by using a lunberg observer
Figure 271791DEST_PATH_IMAGE006
Axial component sum
Figure 872275DEST_PATH_IMAGE007
Axial component
Figure 113900DEST_PATH_IMAGE013
、
Figure 654603DEST_PATH_IMAGE014
。
4. The speed control method of a permanent magnet synchronous motor according to claim 1, wherein the S1 includes:
collecting three-phase alternating current of the permanent magnet synchronous motor, and obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system after Clark conversion
Figure 970178DEST_PATH_IMAGE006
And
Figure 570923DEST_PATH_IMAGE007
current of shaft
Figure 34266DEST_PATH_IMAGE010
、
Figure 316343DEST_PATH_IMAGE011
Using the electrical angle of the rotor of the PMSM
Figure 814320DEST_PATH_IMAGE001
To current
Figure 320388DEST_PATH_IMAGE010
、
Figure 474289DEST_PATH_IMAGE011
After Park conversion is carried out, the stator of the permanent magnet synchronous motor under a two-phase static coordinate system is obtaineddShaft andqcurrent of shafti d 、i q 。
5. The method of claim 1, wherein the current complex vector in S2i s =i d +ji q 。
6. The method for controlling the speed of a permanent magnet synchronous motor according to claim 1, wherein in S3, the method is performed according to
u S= u d + ju q Obtaining a voltageu d 、u q 。
7. The speed control method of a permanent magnet synchronous motor according to claim 1,k p =
Figure 356794DEST_PATH_IMAGE006
L、k i =
Figure 145496DEST_PATH_IMAGE006
R；
Lto representdAxial inductance component andqthe inductance value of the axis inductance component,Rthe resistance of the stator is represented by,
Figure 822465DEST_PATH_IMAGE006
a control parameter indicative of bandwidth.
8. The method for controlling the speed of a permanent magnet synchronous motor according to claim 1, wherein in S5, Space Vector Pulse Width Modulation (SVPWM) is used according to the voltage
Figure 260400DEST_PATH_IMAGE008
And
Figure 884279DEST_PATH_IMAGE009
and modulating to obtain the three-phase square wave duty ratio.
9. The speed control system of the permanent magnet synchronous motor is characterized by comprising a transformation module, a voltage complex vector construction module, a coordinate transformation module, an inverse transformation module and a modulation module;
the transformation module is connected with the voltage complex vector construction module and used for collecting three-phase alternating current of the permanent magnet synchronous motor and combining the electric angle of the rotor of the permanent magnet synchronous motor
Figure 91269DEST_PATH_IMAGE001
Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqcurrent of shafti d 、i q And sending the voltage complex vector to a voltage complex vector construction module;
a voltage complex vector construction module connected with the coordinate conversion module for utilizing currenti d 、i q Constructing a complex vector of currenti s Using complex vectors of currenti s Electrical angular velocity using PI controller and PMSM rotor
Figure 142402DEST_PATH_IMAGE002
Constructing a complex vector of voltagesu s And sending the data to a coordinate conversion module;
Figure 67633DEST_PATH_IMAGE003
or
Figure 229624DEST_PATH_IMAGE004
Wherein, the first and the second end of the pipe are connected with each other,e s =i sD -i S ，i sD which represents a given value of the current,k p the proportional gain of the PI controller is represented,k i represents the integral gain of the PI controller,
Figure 556700DEST_PATH_IMAGE005
it is shown that the flux linkage of the permanent magnet,jrepresenting imaginary part, electrical angular velocity
Figure 841051DEST_PATH_IMAGE002
According to the electrical angle
Figure 424217DEST_PATH_IMAGE001
Obtaining;
a coordinate conversion module connected with the inverse conversion module and used for converting the complex vector according to the voltageu s Obtaining the stator of the permanent magnet synchronous motor under a two-phase static coordinate systemdShaft andqvoltage of shaftu d 、u q And sending the data to an inverse transformation module;
inverse transformation module connected with the modulation module and used for utilizing electrical angle
Figure 452215DEST_PATH_IMAGE001
Voltage ofu d 、u q Obtaining the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 633798DEST_PATH_IMAGE006
And
Figure 26733DEST_PATH_IMAGE007
voltage of shaft
Figure 926556DEST_PATH_IMAGE008
And
Figure 430350DEST_PATH_IMAGE009
and sending the data to a modulation module;
a modulation module connected with the PMSM for regulating voltage
Figure 466439DEST_PATH_IMAGE008
And
Figure 92592DEST_PATH_IMAGE009
the duty ratio of the three-phase square wave is obtained through modulation, the current of the permanent magnet synchronous motor is controlled, and the torque of the permanent magnet synchronous motor is further controlled.
10. The speed control system of a permanent magnet synchronous machine according to claim 9, characterized in that the system further comprises a luneberg observer and an inverse trigonometric function module;
a Roberter observer connected with the inverse trigonometric function module for observing the input
Figure 151815DEST_PATH_IMAGE016
Obtaining back electromotive force
Figure 521617DEST_PATH_IMAGE006
Axial component sum
Figure 677792DEST_PATH_IMAGE007
Axial component
Figure 911065DEST_PATH_IMAGE013
、
Figure 519900DEST_PATH_IMAGE014
And then sent to an inverse trigonometric function module,
Figure 427814DEST_PATH_IMAGE010
and
Figure 376178DEST_PATH_IMAGE011
respectively represents the stator of the permanent magnet synchronous motor under a two-phase rotating coordinate system
Figure 344134DEST_PATH_IMAGE006
And
Figure 440266DEST_PATH_IMAGE007
the current of the shaft;
an inverse trigonometric function module for
Figure 89553DEST_PATH_IMAGE013
、
Figure 220320DEST_PATH_IMAGE014
To obtain the electrical angle
Figure 296861DEST_PATH_IMAGE001
；
The Romberg observer is as follows:
Figure 614709DEST_PATH_IMAGE015
wherein the content of the first and second substances,
Figure 130004DEST_PATH_IMAGE016
，
Figure 551496DEST_PATH_IMAGE017
or
Figure 861255DEST_PATH_IMAGE018
，
Figure 666400DEST_PATH_IMAGE019
，
Figure 657490DEST_PATH_IMAGE020
，
Figure 497270DEST_PATH_IMAGE021
，
Figure 977929DEST_PATH_IMAGE022
To representXIs determined by the estimated value of (c),
Figure 208054DEST_PATH_IMAGE023
to representYIs determined by the estimated value of (c),
Figure 799572DEST_PATH_IMAGE024
to represent
Figure 962700DEST_PATH_IMAGE022
The first derivative of (a) is,
Figure 614261DEST_PATH_IMAGE025
and K is the gain of the observer,
Figure 830217DEST_PATH_IMAGE026
；Lwhich represents the value of the inductance,Rrepresenting the stator resistance;k 1 representing the gain factor of the observer for the current component,k 2 representing the gain factor of the observer for the voltage component.
CN202210386856.1A 2021-06-24 2022-04-14 Speed control method and system of permanent magnet synchronous motor Pending CN114465530A (en)

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