CN114679098A - Feedforward compensation method and device for permanent magnet synchronous motor, computer equipment and medium - Google Patents
Feedforward compensation method and device for permanent magnet synchronous motor, computer equipment and medium Download PDFInfo
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Abstract
The application relates to a feedforward compensation method, a feedforward compensation device, computer equipment, a computer-readable storage medium and a computer program product for a permanent magnet synchronous motor, wherein the method comprises the following steps: acquiring the operating parameters of the permanent magnet synchronous motor; determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition; determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load; and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value. By adopting the method, the dynamic performance of the system can be improved, and the feedforward compensation effect of the permanent magnet synchronous motor is improved.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a feedforward compensation method and apparatus for a permanent magnet synchronous motor, a computer device, a computer readable storage medium, and a computer program product.
Background
Permanent magnet synchronous machine has a great deal of advantages such as small, the quality is light, power density is low because the higher magnetic energy accumulation characteristic of permanent magnet, by wide application in servo control fields such as aerospace, industrial robot, digit control machine tool. In order to avoid performance fluctuation of the permanent magnet synchronous motor in the application process, which leads to reduction of the operation stability of the motor, the feedforward compensation is usually performed on the permanent magnet synchronous motor.
The traditional feedforward compensation method for the permanent magnet synchronous motor carries out friction feedforward compensation on the permanent magnet synchronous motor. Because the speed passes through zero, the vicinity of zero speed is influenced by static friction, and the friction torque has a discontinuous phenomenon of positive and negative jumping, so that the controller cannot follow the zero-crossing jumping of the friction torque. Therefore, the traditional feedforward compensation method for the permanent magnet synchronous motor has the defect of poor compensation effect.
Disclosure of Invention
In view of the above, it is necessary to provide a feedforward compensation method, apparatus, computer device, computer readable storage medium and computer program product for a permanent magnet synchronous motor, which improve the compensation effect.
In a first aspect, the application provides a feedforward compensation method for a permanent magnet synchronous motor. The method comprises the following steps:
acquiring the operating parameters of the permanent magnet synchronous motor;
determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition;
determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
In one embodiment, the friction coefficient model comprises a viscous friction coefficient model and a coulomb friction coefficient model; before determining the friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and the friction coefficient model of the permanent magnet synchronous motor under the no-load condition, the method further comprises the following steps:
Respectively acquiring a mechanical motion equation of the permanent magnet synchronous motor under the action of a first speed instruction and a second speed instruction; the first speed command and the second speed command correspond to different angular speed amplitudes and same angular frequency;
and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition according to each mechanical motion equation.
In one embodiment, the obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under no-load condition according to each mechanical motion equation includes:
respectively carrying out integral operation on each mechanical motion equation to obtain a corresponding integral equation;
and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition based on each integral equation.
In one embodiment, the mechanical motion equations of the permanent magnet synchronous motor under the action of the first speed command and the second speed command are obtained respectively; before determining the feedforward compensation value of the load torque of the permanent magnet synchronous motor according to the operation parameters and the load torque observation model of the permanent magnet synchronous motor under the condition of no constant load, the method further comprises the following steps:
Performing difference operation on each mechanical motion equation to obtain an unsteady-load mechanical motion equation;
performing integral operation on the unsteady load mechanical motion equation to obtain a rotational inertia model of the permanent magnet synchronous motor under the unsteady load condition;
and determining a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load according to the rotational inertia model and the state space expression of the permanent magnet synchronous motor.
In one embodiment, the friction feedforward compensation value and the load torque feedforward compensation value are quadrature axis current compensation values of the permanent magnet synchronous motor.
In one embodiment, the friction coefficient model comprises a viscous friction coefficient model and a coulomb friction coefficient model; the expression of the friction feedforward compensation value is as follows:
in the formula (I), the compound is shown in the specification,
feeding forward a compensation value for the friction; b is a viscous friction coefficient determined according to the viscous friction coefficient model; c is the coulomb friction coefficient determined according to the coulomb friction coefficient model; omegamIs the mechanical angular velocity; sgn is a sign function; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage.
In one embodiment, the load torque feedforward compensation value is expressed by:
In the formula (I), the compound is shown in the specification,
feeding forward a compensation value for the load torque;
a load torque observation value determined according to the load torque observation model; p isnIs a pole pair number;
is a rotor permanent magnet flux linkage.
In a second aspect, the application provides a feedforward compensation device for a permanent magnet synchronous motor. The device comprises:
the acquisition module is used for acquiring the operating parameters of the permanent magnet synchronous motor;
the friction feedforward compensation value determining module is used for determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the running parameters and the friction coefficient under the no-load condition;
the load torque feedforward compensation value determining module is used for determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and the feedforward compensation module is used for performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
In a third aspect, the application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
acquiring the operating parameters of the permanent magnet synchronous motor;
determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition;
determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
Acquiring the operating parameters of the permanent magnet synchronous motor;
determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the running parameters and the friction coefficient under the no-load condition;
determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
acquiring the operating parameters of the permanent magnet synchronous motor;
determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition;
Determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of unsteady load;
and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
According to the feedforward compensation method, the feedforward compensation device, the computer equipment, the computer readable storage medium and the computer program product for the permanent magnet synchronous motor, the friction feedforward compensation is carried out, meanwhile, the uncertain load torque feedforward compensation is carried out according to the load torque observation value, the phenomenon of 'crawling' at the speed zero crossing position can be compensated, the dynamic performance of a system is favorably improved, and the feedforward compensation effect of the permanent magnet synchronous motor is improved.
Drawings
FIG. 1 is a flow chart of a method for feed forward compensation of a permanent magnet synchronous motor in one embodiment;
FIG. 2 is a flow chart of a feedforward compensation method for a permanent magnet synchronous motor in another embodiment;
FIG. 3 is a control schematic diagram of a feedforward compensation method for a PMSM according to an embodiment;
FIG. 4 is a block diagram of a feedforward compensation arrangement for a PMSM according to one embodiment;
FIG. 5 is a block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions.
In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
The application provides a feedforward compensation method for a permanent magnet synchronous motor, which can be applied to a terminal, a server and the interaction between the terminal and the server. For ease of understanding, the following description will be given by taking a case where the method is applied to a terminal as an example. In one embodiment, as shown in fig. 1, the method includes steps S100 to S900.
Step S100: and acquiring the operating parameters of the permanent magnet synchronous motor.
The operating parameters of the permanent magnet synchronous motor may include mechanical angular velocity, angular frequency, linear velocity, rotor phase, direct axis current, quadrature axis current, and the like of the permanent magnet synchronous motor. Specifically, corresponding sensors may be configured to collect the operating parameters, and the sampled data may be sent to the terminal. Further, the specific way of acquiring the operating parameters of the permanent magnet synchronous motor by the terminal may be active acquisition or passive reception.
Step S400: and determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and the friction coefficient model of the permanent magnet synchronous motor under the no-load condition.
The friction coefficient model is used for representing the running parameters of the permanent magnet synchronous motor and the relation between the running parameters and the friction coefficient of the permanent magnet synchronous motor under the no-load condition. It is understood that in the friction coefficient model, the load-related parameter values are all set to zero. The friction coefficient of the permanent magnet synchronous motor may include a viscous friction coefficient, a coulomb friction coefficient and the like, and correspondingly, the friction coefficient model may include models corresponding to each type of friction coefficient, and the models are respectively used for representing the operation parameters of the permanent magnet synchronous motor and the relation between the operation parameters and the corresponding type of friction coefficient under the no-load condition. In the rotating process, due to the action of friction force, a certain error exists between the actual rotating speed and the target rotating speed of the motor, and therefore feedforward compensation can be carried out on the influence of the friction force so as to improve the stability of the performance of the motor.
Specifically, since the friction coefficient is a mechanical parameter of the motor itself, and is unrelated to the load torque, the operation parameter can be substituted into the friction coefficient model of the permanent magnet synchronous motor under the no-load condition to obtain the corresponding friction coefficient. And determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the friction coefficient and by combining the electromagnetic torque and the mechanical motion equation of the motor.
Further, the friction feedforward compensation value may include a direct-axis current compensation value and/or a quadrature-axis current compensation value. In one embodiment, the friction feed forward compensation value is a quadrature current compensation value. The straight shaft is also called as a d shaft and is the central axis of a rotor magnetic pole of the permanent magnet synchronous motor, and the direction of the straight shaft points to the N pole from the S pole; the quadrature axis is also called the q-axis, which is perpendicular to the d-axis. Specifically, after the park transformation is performed on each phase current of the permanent magnet synchronous motor, the quadrature axis current and the direct axis current of the motor can be obtained, so that the diagonalization of a stator inductance matrix is realized, and the motion analysis process of the motor is simplified. The vector control strategy that the direct axis current is equal to zero is adopted, only the quadrature axis current needs to be compensated, at the moment, the friction feedforward compensation value is the quadrature axis current compensation value, the current static decoupling of the quadrature axis and the direct axis can be realized, the step response speed of the motor is favorably improved, and the performance of the whole system is further improved.
In one embodiment, the friction coefficient model includes a viscous friction coefficient model and a coulomb friction coefficient model; the expression of the friction feedforward compensation value is:
in the formula (I), the compound is shown in the specification,
feeding forward a compensation value for friction; b is a viscous friction coefficient determined according to the viscous friction coefficient model; c is a coulomb friction coefficient determined according to the coulomb friction coefficient model; omegamIs the mechanical angular velocity; sgn is a sign function; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage.
Specifically, the voltage equation of the permanent magnet synchronous motor in the synchronous rotating coordinate system is as follows:
in the formula udAnd uqD-axis voltage and q-axis voltage, respectively; i.e. idAnd iqD-axis current and q-axis current, respectively; l isdAnd LqD-axis inductance and q-axis inductance respectively; rsA stator winding phase resistance; omegaeIs the electrical angular velocity; psifIs a rotor permanent magnet flux linkage.
Surface-mounted permanent magnet synchronous motor idIn the vector control of 0, the electromagnetic torque of the motor is:
Te＝1.5pnψfiq (3)
in the formula, TeIs an electromagnetic torque, pnIs the number of pole pairs.
The mechanical motion equation of the permanent magnet synchronous motor is as follows:
wherein J is moment of inertia, ωmIs the mechanical angular velocity, B is the viscous friction coefficient, C is the coulomb friction coefficient, TLIs the load torque.
At no load, the load torque T LAnd the q-axis current compensation value required for overcoming the friction torque without considering the load can be derived according to the formula (3) and the formula (4), namely the q-axis current compensation value is an expression of the friction feedforward compensation value corresponding to the formula (1). In the application process, the mechanical angular speed of the motor acquired in real time, and the viscous friction coefficient and the coulomb friction coefficient obtained according to the friction coefficient model are substituted into the formula (1), so that the friction feedforward compensation value of the q-axis current of the permanent magnet synchronous motor can be obtained. In the process of determining the friction feedforward compensation value, the viscous friction coefficient and the coulomb friction coefficient are considered at the same time, so that the compensation precision is improved, and the compensation effect is improved.
Step S800: and determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and the load torque observation model of the permanent magnet synchronous motor under the condition of no constant load.
The load torque observed value of the permanent magnet synchronous motor under the condition of no constant load is the load torque observed value of the permanent magnet synchronous motor, which is irrelevant to the load condition. The load torque observation model is used for representing the operation parameters of the permanent magnet synchronous motor and the relation between the load torque observation value of the permanent magnet synchronous motor under the condition of no constant load. It is understood that the load-torque observation model does not include parameters related to the load. In the rotation process, the motor may vibrate or resonate due to the influence of load disturbance, and based on the vibration or resonance, feed-forward compensation can be performed on the load torque so as to improve the stability of the motor performance.
Specifically, the operating parameters are substituted into the load torque observation model of the permanent magnet synchronous motor under the condition of the unsteady load, so that a corresponding load torque observation value can be obtained. And determining a load torque feedforward compensation value of the permanent magnet synchronous motor by combining an electromagnetic torque equation of the motor according to the load torque observation value.
Further, the load torque feedforward compensation value may include a direct-axis current compensation value and/or a quadrature-axis current compensation value. In one embodiment, the load torque feedforward compensation value is a quadrature current compensation value. For the specific definition of quadrature axis and direct current, see above, no further description is provided herein. Specifically, in the process of motor feedforward compensation, a vector control strategy that the direct axis current is equal to zero is adopted, only the quadrature axis current needs to be compensated, the current static decoupling of the quadrature axis and the direct axis can be realized, the improvement of the step response speed of the motor is facilitated, and the performance of the whole system is further improved.
In one embodiment, the load torque feedforward compensation value is expressed as:
in the formula (I), the compound is shown in the specification,
feeding forward the compensation value for the load torque;
a load torque observed value determined according to the load torque observed model; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage. Specifically, the formula (5) can be derived according to the formula (3), the algorithm is simple, and the working efficiency of feedforward compensation is improved.
Step S900: and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
Specifically, the friction feedforward compensation value and the load torque feedforward compensation value of the same axis can be directly superposed or subjected to weighted summation operation to obtain a comprehensive feedforward compensation value of the corresponding axis, and the feedforward compensation is performed on the permanent magnet synchronous motor based on the comprehensive feedforward compensation value.
According to the feedforward compensation method for the permanent magnet synchronous motor, the friction feedforward compensation is carried out, meanwhile, the uncertain load torque feedforward compensation is carried out according to the load torque observation value, the phenomenon of 'crawling' at the speed zero crossing position can be compensated, the dynamic performance of the system is favorably improved, and the feedforward compensation effect of the permanent magnet synchronous motor is improved.
It is understood that the friction coefficient model is not established in a unique manner, and for example, machine learning may be performed based on the neural network model to obtain a corresponding friction coefficient model. In one embodiment, the friction coefficient model includes a viscous friction coefficient model and a coulomb friction coefficient model. In the case of this embodiment, as shown in fig. 2, step S400 is preceded by step S200 and step S300. Wherein, steps S200 and S300 can be performed before, after, or in synchronization with step S100.
Step S200: and respectively acquiring a mechanical motion equation of the permanent magnet synchronous motor under the action of a first speed instruction and a second speed instruction.
The angular velocity amplitudes corresponding to the first speed command and the second speed command are different, the angular frequencies are the same, and the expressions of the mechanical angular velocities corresponding to the two speed commands are as follows:
ωm1＝A1sinωt (6)
ωm2＝A2sinωt (7)
in the formula, ωm1And ωm2Mechanical angular speeds corresponding to the first speed command and the second speed command respectively; a1 and a2 are mechanical angular velocity magnitudes corresponding to the first velocity command and the second velocity command, respectively; ω is the angular frequency and t is time.
And (4) substituting each mechanical angular speed into a formula (4) to obtain a mechanical motion equation of the permanent magnet synchronous motor under the action of a first speed command and a second speed command:
in the formula, Te1And Te2The electromagnetic torques corresponding to the first speed command and the second speed command are respectively. The electromagnetic torque can be obtained by collecting quadrature axis current under the corresponding speed command and substituting the equation (3).
Step S300: and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition according to each mechanical motion equation.
According to each mechanical motion equation, the specific mode of obtaining the viscous friction coefficient model and the coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition is not unique.
In one embodiment, the rotational inertia is obtained by substituting the calculation formula of the rotational inertia of the cylinder into the mass and the radius of the rotor, and each mechanical motion equation is substituted into the calculation formula of the rotational inertia of the cylinder to obtain a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition.
In particular, the load torque is zero in the unloaded condition, i.e. T in equations (8) and (9)L＝0，Te1And Te2The quadrature axis current under the corresponding speed instruction can be acquired and obtained by substituting the formula (3). That is, the expressions (8) and (9) correspond to a system of linear equations with respect to the viscous friction coefficient B and the coulomb friction coefficient C. According to the system of linear equations, a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor can be obtained.
In another embodiment, step S300 includes: respectively carrying out integral operation on each mechanical motion equation to obtain a corresponding integral equation; and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition based on each integral equation.
Specifically, in
In the interval, the integral operation is performed on the equation (8) and the equation (9) to obtain a pairThe corresponding integral equation:
and solving the integral equation to obtain a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition.
In one embodiment, in the process of performing integration operation on each mechanical motion equation to obtain the corresponding integration equation, the integration interval is
The expressions of the obtained viscous friction coefficient model and the coulomb friction coefficient model are respectively formula (12) and formula (3):
in that
The viscous friction coefficient model and the coulomb friction coefficient model are obtained by interval integration, so that the response speed can be increased, and the working efficiency of feedforward compensation is improved.
In the embodiment, a specific mode for determining the viscous friction coefficient and the coulomb friction coefficient under the no-load condition is provided, the algorithm is simple, and the efficiency is improved.
Similarly, the load torque observation model is not uniquely established, and for example, a corresponding friction coefficient model can be obtained by performing machine learning based on a neural network model. In an embodiment, with continued reference to fig. 2, after step S200 and before step S800, steps S500 to S700 are further included.
Step S500: and carrying out difference operation on each mechanical motion equation to obtain an unsteady-load mechanical motion equation.
Specifically, the difference operation is performed on the mechanical motion equations under the action of the first speed instruction and the second speed instruction, so that the load torques in the two mechanical motion equations can be cancelled out, and the unladen mechanical motion equation which is not influenced by the unknown load is obtained:
Te1-Te2＝(A1-A2)×(Jωcosωt+B sinωt) (14)
Note that sgn (ω) is a factorm1) And sgn (ω)m2) Equal, so sgn (ω) in the mechanical equation of motionm) The C term is also cancelled out.
Step S600: and performing integral operation on the mechanical motion equation under the condition of the unsteady load to obtain a rotational inertia model of the permanent magnet synchronous motor under the condition of the unsteady load.
Specifically, in
And (3) performing integral operation on the equation (8) and the equation (9) respectively to obtain corresponding integral equations, and further deducing a rotational inertia model of the permanent magnet synchronous motor under the condition of no load according to the integral equations, wherein the rotational inertia model is used for representing the relationship between the rotational inertia and the operation parameters of the motor.
In one embodiment, in the process of obtaining the rotational inertia model by performing integral operation on the mechanical motion equation without constant load, the integral interval is
The expression of the obtained rotational inertia model is as follows:
in that
The interval integration obtains a rotational inertia model, so that the response speed can be improved, and the working efficiency of feedforward compensation is improved.
Step S700: and determining a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load according to the rotational inertia model and the state space expression of the permanent magnet synchronous motor.
Specifically, based on the mechanical motion equation (4) of the permanent magnet synchronous motor, the state quantity X is set to (ω) m，TL)TInput quantity mu-Te-sgn(ωm) C, output quantity y ═ ωmThen there is a state space expression
In the formula (I), the compound is shown in the specification,
is the derivative of the state quantity X.
Let observer gain matrix L ═ (L)1，L2)TThen, there are:
in the formula (I), the compound is shown in the specification,
is a state quantity observed value;
is composed of
The derivative of (c).
Thereby, it is possible to obtain:
in the formula (I), the compound is shown in the specification,
is a mechanical angular velocity observation;
is composed of
A derivative of (a);
is a load torque observation;
is composed of
The derivative of (c). Based on a gain matrix determination algorithm of a Luenberger position observer, an optimal gain matrix can be determined, and equations (18) and (19) are replaced, so that a load torque observed value can be obtained
In the above embodiment, the load torque observed value under the condition of the unsteady load is obtained based on the moment of inertia under the condition of the unsteady load, so that the influence of load disturbance can be reduced, and the feedforward compensation effect of the motor is further improved.
For the sake of understanding, the feedforward compensation method of the permanent magnet synchronous motor will be described in detail below with reference to fig. 3. In one embodiment, as shown in fig. 3, in the control process of the permanent magnet synchronous motor, the position sensor acquires the position of the rotor of the motor and sends the position to the speed calculation module, and then the speed calculation module calculates the actual rotation speed, the mechanical angular speed and the angular frequency of the motor and sends the actual rotation speed, the mechanical angular speed and the angular frequency to the mechanical parameter identification module. Meanwhile, after the three-phase current sampling value is subjected to Clarke conversion and Park conversion, the actual quadrature axis current is obtained and input into the mechanical parameter identification module.
After the operation parameters are obtained, on one hand, the mechanical parameter identification module substitutes the parameters into a friction coefficient model to obtain a viscous friction coefficient B and a coulomb friction coefficient C of the permanent magnet synchronous motor, and then the friction compensation module obtains a friction feedforward compensation value of quadrature axis current according to the viscous friction coefficient B and the coulomb friction coefficient C; and on the other hand, substituting the parameters into the rotational inertia model to obtain the rotational inertia under the condition of no load, determining a corresponding load torque observation value according to the rotational inertia and the load torque observation model by the load torque observation and compensation module, and obtaining a load torque feedforward compensation value of the quadrature axis current based on the load torque observation value.
Further, the actual rotating speed calculated by the speed calculation module is input to the first adder 1, an error value is obtained by the first adder 1 according to the actual rotating speed and the given rotating speed and is input to the speed loop PI regulator 2, a speed error compensation value of the quadrature axis current is calculated by the speed loop PI regulator 2, and the speed error compensation value is input to the second adder 3. The second adder 3 superposes the speed error compensation value, the friction feedforward compensation value and the load torque feedforward compensation value to obtain a feedforward compensation value of the quadrature axis current, inputs the feedforward compensation value into the quadrature axis current loop PI controller 4, and outputs a quadrature axis voltage given value to the Park inverse transformation module according to the feedforward compensation value of the quadrature axis current by the quadrature axis current loop PI controller 4. Meanwhile, after the three-phase current sampling values are subjected to Clarke transformation and Park transformation, actual direct-axis current is obtained and input to the third adder 5. And the third adder 5 obtains an error value according to the actual direct-axis current and the given direct current and inputs the error value into the direct-axis current loop PI controller 6, and the direct-axis current loop PI controller 6 obtains a direct-axis voltage given value according to the direct-axis current error value and outputs the direct-axis voltage given value to the Park inverse transformation module.
The Park inverse transformation module obtains voltage components under a static two-phase coordinate system and inputs the voltage components into a space vector modulation module (SVPWM), the space vector modulation module obtains six paths of PWM waves and inputs the PWM waves into a three-phase inverter module, and finally the three-phase inverter module controls the permanent magnet synchronous motor to operate.
It should be noted that, in the above control process, the given value of the direct-axis current is zero. For the determination of the friction feedforward compensation value and the load torque feedforward compensation value, see above, the details are not repeated here.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a feedforward compensation device of the permanent magnet synchronous motor, which is used for realizing the feedforward compensation method of the permanent magnet synchronous motor. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so specific limitations in one or more embodiments of the feed-forward compensation device for the permanent magnet synchronous motor provided below can be referred to the limitations on the feed-forward compensation method for the permanent magnet synchronous motor, and are not described herein again.
In one embodiment, as shown in fig. 4, a feed-forward compensation apparatus 400 for a permanent magnet synchronous motor is provided, comprising an obtaining module 402, a friction feed-forward compensation value determining module 404, a load torque feed-forward compensation value determining module 406, and a feed-forward compensation module 408, wherein:
an obtaining module 402, configured to obtain an operating parameter of a permanent magnet synchronous motor;
a friction feedforward compensation value determining module 404, configured to determine a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameter and a friction coefficient model of the permanent magnet synchronous motor under a no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition;
The load torque feedforward compensation value determining module 406 is configured to determine a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameter and a load torque observation model of the permanent magnet synchronous motor under the condition of an unsteady load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and the feedforward compensation module 408 is configured to perform feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
In one embodiment, the friction coefficient model includes a viscous friction coefficient model and a coulomb friction coefficient model; the feedforward compensation device 400 of the permanent magnet synchronous motor further includes:
the mechanical motion equation acquisition module is used for respectively acquiring mechanical motion equations of the permanent magnet synchronous motor under the action of a first speed instruction and a second speed instruction; the angular velocity amplitudes corresponding to the first speed command and the second speed command are different, and the angular frequencies are the same;
and the friction coefficient model establishing module is used for obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition according to each mechanical motion equation.
In one embodiment, the friction coefficient model determination module is specifically configured to: respectively carrying out integral operation on each mechanical motion equation to obtain a corresponding integral equation; and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition based on each integral equation.
In one embodiment, the feedforward compensation device 400 for the permanent magnet synchronous motor further includes:
the system comprises an unsteady load mechanical motion equation determining module, a differential motion calculation module and a dynamic load calculation module, wherein the unsteady load mechanical motion equation determining module is used for performing difference calculation on each mechanical motion equation to obtain an unsteady load mechanical motion equation;
the rotational inertia model establishing module is used for performing integral operation on the mechanical motion equation under the condition of the unsteady load to obtain a rotational inertia model of the permanent magnet synchronous motor under the condition of the unsteady load;
and the load torque observation model establishing module is used for determining a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load according to the rotational inertia model and the state space expression of the permanent magnet synchronous motor.
In one embodiment, the friction feedforward compensation value and the load torque feedforward compensation value are quadrature axis current compensation values of the permanent magnet synchronous motor.
In one embodiment, the friction coefficient model includes a viscous friction coefficient model and a coulomb friction coefficient model; the expression of the friction feedforward compensation value is:
in the formula (I), the compound is shown in the specification,
feeding forward a compensation value for friction; b is a viscous friction coefficient determined according to the viscous friction coefficient model; c is a coulomb friction coefficient determined according to the coulomb friction coefficient model; omegamIs the mechanical angular velocity; sgn is a sign function; p nIs a pole pair number;
is a rotor permanent magnet flux linkage.
In one embodiment, the load torque feedforward compensation value is expressed by:
in the formula (I), the compound is shown in the specification,
feeding forward a compensation value for the load torque;
is a load torque observation determined from the load torque observation model; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage.
All or part of each module in the feedforward compensation device of the permanent magnet synchronous motor can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of feedforward compensation of a permanent magnet synchronous motor. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, carries out the steps in the method embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A feedforward compensation method for a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring the operating parameters of the permanent magnet synchronous motor;
determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the operation parameters and the friction coefficient under the no-load condition;
Determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of unsteady load;
and performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
2. The method of claim 1, wherein the friction coefficient model comprises a viscous friction coefficient model and a coulomb friction coefficient model; before determining the friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameter and the friction coefficient model of the permanent magnet synchronous motor under the no-load condition, the method further includes:
respectively acquiring a mechanical motion equation of the permanent magnet synchronous motor under the action of a first speed instruction and a second speed instruction; the angular velocity amplitudes of the first speed command and the second speed command are different, and the angular frequencies of the first speed command and the second speed command are the same;
and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition according to each mechanical motion equation.
3. The method according to claim 2, wherein obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under no load according to each mechanical motion equation comprises:
respectively carrying out integral operation on each mechanical motion equation to obtain a corresponding integral equation;
and obtaining a viscous friction coefficient model and a coulomb friction coefficient model of the permanent magnet synchronous motor under the no-load condition based on each integral equation.
4. The method according to claim 2, characterized in that the mechanical motion equations of the permanent magnet synchronous motor under the action of the first speed command and the second speed command are respectively obtained; before determining the feedforward compensation value of the load torque of the permanent magnet synchronous motor according to the operation parameters and the load torque observation model of the permanent magnet synchronous motor under the condition of no constant load, the method further comprises the following steps:
carrying out difference calculation on each mechanical motion equation to obtain an unsteady-load mechanical motion equation;
performing integral operation on the mechanical motion equation under the condition of the unsteady load to obtain a rotational inertia model of the permanent magnet synchronous motor under the condition of the unsteady load;
and determining a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load according to the rotational inertia model and the state space expression of the permanent magnet synchronous motor.
5. The method according to any one of claims 1 to 4, characterized in that the friction feedforward compensation value and the load torque feedforward compensation value are quadrature axis current compensation values of the permanent magnet synchronous motor.
6. The method of claim 5, wherein the friction coefficient model comprises a viscous friction coefficient model and a coulomb friction coefficient model; the expression of the friction feedforward compensation value is as follows:
in the formula iq_fcomFeeding forward a compensation value for the friction; b is a viscous friction coefficient determined according to the viscous friction coefficient model; c is the coulomb friction coefficient determined according to the coulomb friction coefficient model; omegamIs the mechanical angular velocity; sgn is a sign function; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage.
7. The method of claim 5, wherein the load torque feedforward compensation value is expressed by:
in the formula (I), the compound is shown in the specification,
feeding forward a compensation value for the load torque;
is a load torque observation determined from the load torque observation model; pnIs the number of pole pairs;
is a rotor permanent magnet flux linkage.
8. A feedforward compensation arrangement of a permanent magnet synchronous motor, characterized by comprising:
the acquisition module is used for acquiring the operating parameters of the permanent magnet synchronous motor;
The friction feedforward compensation value determining module is used for determining a friction feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a friction coefficient model of the permanent magnet synchronous motor under the no-load condition; the friction coefficient model is used for representing the relation between the running parameters and the friction coefficient under the no-load condition;
the load torque feedforward compensation value determining module is used for determining a load torque feedforward compensation value of the permanent magnet synchronous motor according to the operation parameters and a load torque observation model of the permanent magnet synchronous motor under the condition of no constant load; the load torque observation model is used for representing the relation between the operation parameters and the load torque observation value under the condition of the unsteady load;
and the feedforward compensation module is used for performing feedforward compensation on the permanent magnet synchronous motor according to the friction feedforward compensation value and the load torque feedforward compensation value.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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