CN114844402A - Vector control system of high-power permanent magnet synchronous motor - Google Patents

Vector control system of high-power permanent magnet synchronous motor Download PDF

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Publication number
CN114844402A
CN114844402A CN202210199843.3A CN202210199843A CN114844402A CN 114844402 A CN114844402 A CN 114844402A CN 202210199843 A CN202210199843 A CN 202210199843A CN 114844402 A CN114844402 A CN 114844402A
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motor
current
control system
vector control
module
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Inventor
王江
刘经纬
王鹏
范世鹏
侯淼
胡少勇
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference

Abstract

The invention discloses a vector control system of a high-power permanent magnet synchronous motor, which comprises: the sampling module is used for detecting voltage and current signals of the motor; the control module receives the signals collected by the sampling module and generates pulse signals; the inverter circuit supplies power to the motor and is a three-phase bridge type uncontrolled rectifying circuit; the driving module controls the switching state of a bridge arm of the inverter circuit according to the pulse signal so as to control the motor to rotate; the power switch in the inverter circuit is a MOSFET power switch with withstand voltage of more than or equal to 540V and maximum current of more than or equal to 40A. The vector control system of the high-power permanent magnet synchronous motor disclosed by the invention can realize accurate angle erection of a missile by adopting an electric cylinder to replace a hydraulic cylinder in large-scale missile erection launching.

Description

Vector control system of high-power permanent magnet synchronous motor
Technical Field
The invention relates to a vector control system of a high-power permanent magnet synchronous motor, belonging to the technical field of motor control.
Background
Because the load of the execution part is larger, the large-scale missile erecting device adopts a hydraulic cylinder, and although the hydraulic cylinder has a compact structure and large output thrust, the hydraulic cylinder has the problems of 'running, overflowing, dripping, leaking', large vibration and the like.
The existing part of small and medium sized missile erecting launching devices adopt electric cylinders to replace hydraulic cylinders, the electric cylinders generally adopt permanent magnet synchronous motors (permanent magnet synchronous motors) of vector control strategies, the motor control strategies are simple, the torque characteristics are better, however, the existing vector control strategies have the problem that the power factor can be gradually reduced along with the increase of output torque, the input is the expected rotating speed of the permanent magnet synchronous motors instead of the expected rotor position of the permanent magnet synchronous motors, accurate position control on missile erecting cannot be carried out, and the large missile erecting launching device is difficult to directly apply to large missile erecting launching.
For the above reasons, the present inventors have conducted extensive studies on the conventional vector control system of the permanent magnet synchronous motor, and have proposed a vector control method capable of overcoming the above problems.
Disclosure of Invention
In order to overcome the above problems, the present inventors have conducted intensive studies and provide a vector control system for a high power permanent magnet synchronous motor, comprising:
the sampling module is used for detecting voltage and current signals of the motor;
the control module receives the signals collected by the sampling module and generates pulse signals;
the inverter circuit supplies power to the motor and is a three-phase bridge type uncontrolled rectifying circuit;
and the driving module controls the switching state of a bridge arm of the inverter circuit according to the pulse signal so as to control the motor to rotate.
Preferably, the power switch in the inverter circuit is a MOSFET power switch with a withstand voltage of 540V or more.
Preferably, the power switch in the inverter circuit is a MOSFET power switch with a maximum current of 40A or more.
Preferably, the driving module is provided with a driving chip, the pulse signal controls the state of the MOSFET power switch through the driving chip to realize the control of the switching state of the bridge arm of the inverter circuit,
the driving chip is an IR2104S type driving chip.
Preferably, in the sampling module, the current sampling obtains the current value in the circuit by connecting a resistor in series at the output end of the inverter circuit and measuring the voltage drop generated by the resistor.
Preferably, in the sampling module, the voltage sampling circuit structure is as shown in fig. 3.
Preferably, the control module is provided with an MRAS module, which estimates the position and speed of the motor rotor according to the motor voltage and current signals detected by the sampling module, and uses the estimated values of the position and speed of the motor rotor as the actual position and speed of the motor rotor.
Preferably, a space vector pulse width modulator, a position loop, a speed loop and a current loop are arranged in the control module,
the position ring comprises a position PI controller, and the given value of the rotating speed of the motor is obtained by comparing the actual position of the rotor of the motor with the given position;
the speed loop comprises a speed PI controller, and reference current of a motor quadrature axis is obtained by comparing a motor rotating speed given value with the actual speed of a motor rotor;
the current loop comprises a direct-axis current PI controller and a quadrature-axis current PI controller, wherein the direct-axis current PI controller obtains a direct-axis component reference voltage value under a two-phase rotating coordinate system by comparing a direct-axis detection current of the motor with a direct-axis reference current; the quadrature axis current PI controller obtains a quadrature axis component reference voltage value under a two-phase rotating coordinate system by comparing the quadrature axis detection current with the quadrature axis reference current,
the space vector pulse width modulator is used for modulating the quadrature component reference voltage value under the two-phase rotating coordinate system into a pulse signal.
Preferably, the MRAS module includes an adaptive law, a reference model, and an adjustable model, and compares the output results of the reference model and the adjustable model, and the generated error is input into the adaptive law, and the adaptive law forms a feedback quantity to update the quantity to be estimated in the adjustable model, so that the error is minimized.
Preferably, the reference model is represented as:
Figure BDA0003527097140000031
wherein R is the resistance of the stator; omega e Is electrical angular velocity, i '═ i' d ,i′ q ] T Represents the output of the reference model and has:
Figure BDA0003527097140000032
wherein psi f Is a rotor flux linkage; u. of d 、u q 、i d 、i q Stator voltage and current components under a d-q coordinate system respectively; l is q Stator quadrature axis inductance; l is d A stator straight-axis inductor;
the tunable model is represented as:
Figure BDA0003527097140000033
Figure BDA0003527097140000034
wherein the content of the first and second substances,
Figure BDA0003527097140000041
representing the estimated current as an output quantity of the adjustable model;
Figure BDA0003527097140000042
representing the adjustable electrical angular velocity, which is the quantity to be estimated of the adjustable model;
the adaptation law is represented as:
Figure BDA0003527097140000043
where p denotes the first derivative, C, I denotes the identity matrix,
Figure BDA0003527097140000044
Figure BDA0003527097140000045
Figure BDA0003527097140000046
the invention has the advantages that:
(1) accurate vector control of the high-power permanent magnet synchronous motor is realized;
(2) the electric cylinder can be adopted to replace a hydraulic cylinder to carry out accurate angle erection on the missile in large-scale missile erection launching;
(3) and a position sensor is not required to be additionally arranged, so that the cost and the installation space are saved.
Drawings
FIG. 1 is a schematic diagram of a vector control system of a high-power permanent magnet synchronous motor according to a preferred embodiment of the invention;
FIG. 2 shows a circuit for connecting a driving chip and an inverter circuit in a vector control system of a high-power permanent magnet synchronous motor according to a preferred embodiment of the invention;
FIG. 3 is a schematic diagram showing a voltage sampling circuit in a vector control system of a high-power permanent magnet synchronous motor according to a preferred embodiment of the invention;
FIG. 4 is a schematic diagram illustrating the MRAS module in the vector control system of the high-power permanent magnet synchronous motor according to a preferred embodiment of the present invention;
FIG. 5 is a graph showing the comparison between the position of the rotor of the motor estimated by the MRAS module and the actual position of the rotor of the motor at a given rotation speed of 600r/min in embodiment 1;
FIG. 6 shows the error between the position of the rotor of the motor estimated by the MRAS module and the actual position of the rotor of the motor at a given rotation speed of 600r/min in embodiment 1;
FIG. 7 shows simulation results of the actual position, the estimated position and the given position of the rotor of the motor when the input given value of the position is a step signal in embodiment 1;
FIG. 8 shows the error between the actual position and the given position of the rotor of the motor when the position input given value is a step signal in embodiment 1;
fig. 9 shows the error between the actual position and the estimated position of the rotor of the motor when the position input given value is a step signal in embodiment 1.
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The vector control system of the high-power permanent magnet synchronous motor provided by the invention, as shown in fig. 1, comprises:
the sampling module is used for detecting voltage and current signals of the motor;
the control module receives the signals collected by the sampling module and generates pulse signals;
the inverter circuit supplies power to the motor and is a three-phase bridge type uncontrolled rectifying circuit;
and the driving module controls the switching state of a bridge arm of the inverter circuit according to the pulse signal so as to control the motor to rotate.
According to the invention, the control module is a digital signal processor chip, such as a DSPTMS320F28335, the chip can achieve most development conditions, 6 paths of high-precision PWM signals are output, data and programs are not influenced or interfered with each other, and working time is not conflicted with each other.
One of the purposes of the invention is to provide a motor vector control system which can be applied to a large-scale missile erecting device, and a permanent magnet synchronous motor needs to meet the minimum requirement of 20A/10 KW.
According to the principle of a three-phase bridge type uncontrolled rectifying circuit, the output voltage of the circuit is the peak value of the voltage of an alternating current power grid line, namely the direct current bus voltage is the peak value of the voltage of the alternating current power grid line and the direct current bus voltage U d ：
Figure BDA0003527097140000061
Wherein, U d Is a dc bus voltage; u shape in The effective value of the input end AC power grid line voltage is shown, and accordingly, the power switch in the inverter circuit is a MOSFET power switch with the withstand voltage of more than or equal to 540V.
Preferably, the power switch in the inverter circuit is voltage-withstanding V DSS 650V MOSFET power switch.
Since the three-phase permanent magnet synchronous motor generally adopts a star connection method, that is, the line current and the phase current are 20A, the peak current flowing through the MOSFET is:
Figure BDA0003527097140000062
wherein, I m1 Is the peak current flowing through the MOSFET; and I is the rated current effective value A of the permanent magnet synchronous motor.
Further, considering the overload effect, the peak current flowing through the MOSFET is:
Figure BDA0003527097140000063
wherein, I m2 Is the peak current flowing through the MOSFET; k is the designed overload capacity of the converter, and is usually 1.5; p is the power designed to be driven; u shape in Is the effective value of the input end AC power grid line voltage.
Namely, the power switch in the inverter circuit is a MOSFET power switch with the maximum current more than or equal to 40A.
According to I m1 ≈28A，I m2 Approximately equal to 39A, preferably with a maximum current I D As a power switch in an inverter circuit, for example, a tin-free violet microelectronics ltd model TPV65R080C MOSFET power switch 47A MOSFET.
Due to the adoption of withstand voltage V DSS 650V, maximum current I D For a power switch of 47A, a gate-source driving voltage of 15V is required to drive the MOSFET power switch on and off. However, the output pulse signal of the traditional control module chip, such as the DSPTMS320F28335 chip, is 3.3V, the output level is low and the driving capability is insufficient, and the on-off of the high-power MOSFET cannot be directly controlled.
According to the invention, the driving module is provided with a driving chip, the pulse signal controls the state of the MOSFET power switch through the driving chip to realize the control of the switching state of the bridge arm of the inverter circuit,
preferably, the driving chip is an IR2104S type driving chip, and the driving chip is connected with an inverter circuit, and has a structure shown in fig. 2, where PWMUH is an input, OUTPUT _ U is an OUTPUT signal of the inverter circuit and its driving circuit, and it is connected with U in the stator of the three-phase permanent magnet synchronous motor to provide three-phase sinusoidal alternating-current voltage for the motor, it should be noted that fig. 2 shows the inverter and driving circuit of U phase, and V phase and W phase are similar to each other.
In the present invention, preferably, in the sampling module, the current sampling is performed by connecting a resistor in series to an output terminal of the inverter circuit, and measuring a voltage drop generated by the resistor to obtain a current value in the circuit, and this sampling method is also called a direct sampling method and is widely used in practical engineering.
In a preferred embodiment, in the sampling module, the voltage sampling circuit structure is as shown in fig. 3.
In the invention, the vector control is to decouple the stator current, decompose the stator current into the exciting current and the torque current and respectively perform independent control.
In the invention, the exciting current is always controlled to be 0, and then the torque current is independently controlled so as to achieve the purpose of controlling the electromagnetic torque.
The traditional vector control device of the permanent magnet synchronous motor mainly comprises two control loops, namely a speed loop and a current loop,
the purpose of the speed loop PI control is to control the rotating speed of the motor, so that the actual rotating speed of the motor can quickly follow the required rotating speed, and the reference current is obtained through the speed loop as an outer loop part;
the purpose of the current loop PI control is to control the current of the motor, so that the current of a two-phase rotating coordinate system obtained by coordinate transformation of three-phase current at the motor end can follow the required current output by the speed loop, and is an inner loop part.
The inventor finds that the input of the conventional two-control-ring permanent magnet synchronous motor vector control device is the expected rotating speed of the permanent magnet synchronous motor, the high-precision control on the actual position of a permanent magnet synchronous motor rotor cannot be realized, and the device is difficult to be directly applied to large missile erection launching.
In the invention, a position ring is added on the basis of the traditional permanent magnet synchronous motor vector control device with two control rings to solve the problem.
Specifically, as shown in fig. 1, an MRAS module is disposed in the control module, and estimates a motor rotor position and a motor rotor speed according to the motor voltage and current signals detected by the sampling module, and the estimated values of the motor rotor position and the motor rotor speed are used as the motor rotor actual position and the motor rotor actual speed.
The inventor finds that although the actual position of the motor rotor and the actual speed of the motor rotor can be obtained by arranging the position sensor at the position of the motor rotor, the position sensor has the problems of high cost, large size, difficult installation, low reliability and the like in use.
The structure of the MRAS module is shown in fig. 4, and includes an adaptive law, a reference model, and an adjustable model, where the reference model and the adjustable model respectively output results under the same excitation, the output results of the reference model and the adjustable model are compared, the generated error is input into the adaptive law, and the adaptive law forms a feedback quantity to update a quantity to be estimated in the adjustable model, so that the error is as small as possible, that is, the output of the adjustable model tracks the output of the reference model.
The traditional mathematical model of the current of the permanent magnet synchronous motor can be expressed as follows:
Figure BDA0003527097140000091
wherein R is the resistance of the stator; omega e Is the electrical angular velocity; psi f Is a rotor flux linkage; u. of d 、u q 、i d 、i q Stator voltage and current components under a d-q coordinate system respectively; l is q Stator quadrature axis inductance; l is d Is a stator straight-axis inductor.
The inventor finds that the current mathematical model of the permanent magnet synchronous motor under the d-q coordinate system contains the motor rotating speed to be estimated, is only related to the rotating speed, and can obtain a reference model from the current mathematical model of the traditional permanent magnet synchronous motor through proper transformation.
The reference model may be expressed as:
Figure BDA0003527097140000092
wherein R is the resistance of the stator; omega e Is electrical angular velocity, i '═ i' d ,i′ q ] T To representThe output of the reference model, and there are:
Figure BDA0003527097140000101
due to i d 、i q 、ψ f 、L d The parameters are all measurable or known parameters, and the output quantity of the reference model is a known quantity.
The tunable model is represented as:
Figure BDA0003527097140000102
Figure BDA0003527097140000103
wherein the content of the first and second substances,
Figure BDA0003527097140000104
representing the estimated current as an output quantity of the adjustable model;
Figure BDA0003527097140000105
and the adjustable electrical angular velocity is represented and is the quantity to be estimated of the adjustable model.
The adaptation law is set as:
Figure BDA0003527097140000106
where p denotes the first derivative, C, I denotes the identity matrix,
Figure BDA0003527097140000107
Figure BDA0003527097140000108
Figure BDA0003527097140000109
through a large amount of practices, the MRAS module provided by the invention can be gradually stable, and the output of the adjustable model can well track the output of the reference model, so that the to-be-estimated quantity of the adjustable model, namely the adjustable electrical angular velocity, can be obtained.
According to the invention, the position and the speed of the motor rotor can be estimated by integrating the adjustable electrical angular velocity obtained by the MRAS module, and specifically, the estimated speed of the motor rotor can be obtained by integrating the adjustable electrical angular velocity; and integrating the estimated speed of the motor rotor again to obtain the estimated position of the motor rotor.
According to the invention, a space vector pulse width modulator, a position loop, a speed loop and a current loop are arranged in the control module,
further, a given value of the speed ring is output through the position ring, a reference value of the current ring is output through the speed ring, a reference voltage of the motor is obtained through the current ring according to the reference value, the motor is driven through the space vector pulse width modulator according to the reference voltage, then the actual position of the rotor of the motor and the given position are input into the position ring, the position ring outputs the given value of the speed ring at the next moment, and through the circulation, the three-closed-loop vector control of the permanent magnet synchronous motor is achieved.
Specifically, the position ring comprises a position PI controller, and the motor rotating speed set value is obtained by comparing the actual position and the set position of the motor rotor
Figure BDA0003527097140000111
The speed ring comprises a speed PI controller which compares the given value of the rotating speed of the motor
Figure BDA0003527097140000112
With the actual speed omega of the motor rotor m Obtaining the reference current of the motor quadrature axis
Figure BDA0003527097140000113
The current loop comprises a direct axis current PI controller anda quadrature axis current PI controller, wherein the direct axis current PI controller compares the direct axis detection current i of the motor d With reference current of direct axis
Figure BDA0003527097140000114
Obtaining a direct component reference voltage value under a two-phase rotation (d-q) coordinate system
Figure BDA0003527097140000115
The quadrature axis current PI controller detects the current i by comparing the quadrature axes q And quadrature reference current
Figure BDA0003527097140000116
Obtaining a quadrature component reference voltage value under a two-phase rotation (d-q) coordinate system
Figure BDA0003527097140000117
The direct axis reference current
Figure BDA0003527097140000118
The PI controller is a proportional-integral controller, which is a commonly used linear regulation controller, and the structure of the PI controller is not described in detail in the present invention, for example, a digital PI regulator is adopted, which may be denoted as u (kt) ═ Kx [ K ] p *e(kT)+K i *Σe(kT)]Wherein: kx is a constant coefficient; t is a sampling period; k is the sampling frequency; u (kT) is the output of the kth digital PI regulator; k p Is a proportionality coefficient; e (kt) denotes the deviation of the kth input digital PI regulator; k i Is an integral coefficient; Σ denotes 0 to k summations.
Further, as in the conventional vector control device for a permanent magnet synchronous motor with two control loops, the control module further includes a clark transformation module, a park transformation module and a park inverse transformation module to realize transformation between three coordinate systems in the permanent magnet synchronous motor, where the three coordinate systems include a three-phase stationary (a-b-c) coordinate system, a two-phase stationary (α - β) coordinate system and a two-phase synchronous rotating (d-q) coordinate system, and the three coordinate systems are coordinate systems commonly used in the permanent magnet synchronous motor.
The Clark conversion module is used for converting the coordinate from the a-b-c coordinate system to the alpha-beta coordinate system, so that the detection value i of the three-phase current of the permanent magnet synchronous motor is obtained A 、i B 、i C Converted into the alpha-component i of the stator current α Beta axis component i β Of its transformation matrix T 3s/2s Comprises the following steps:
Figure BDA0003527097140000121
the park transformation module is used for transforming the coordinates from an alpha-beta coordinate system to a d-q coordinate system so as to transform an alpha-axis component i of the stator current α Beta axis component i β Converted into motor direct-axis detection current i d And quadrature axis detection current i q Of its transformation matrix T 2s/2r Comprises the following steps:
Figure BDA0003527097140000122
wherein theta is e Is the position angle of the rotor magnetic pole;
the inverse park transformation module is used for the coordinate transformation from a d-q coordinate system to an alpha-beta coordinate system, so that the direct-axis component is referenced to the voltage value
Figure BDA0003527097140000123
Quadrature component reference voltage value
Figure BDA0003527097140000124
Converted into alpha axis reference voltage value under alpha-beta coordinate system
Figure BDA0003527097140000125
Reference voltage value of beta axis
Figure BDA0003527097140000126
Its transformation matrix T 2r/2s Comprises the following steps:
Figure BDA0003527097140000127
wherein theta is e Is rotor magnetThe position angle of the pole;
the space vector pulse width modulator is used for converting a quadrature component reference voltage value under a two-phase rotating coordinate system, namely an alpha axis reference voltage value
Figure BDA0003527097140000128
And the beta axis reference voltage value is modulated into a pulse signal.
Examples
Example 1
According to the structure shown in the figure 1, a high-power permanent magnet synchronous motor vector control system is built in a simulation environment (matlab), the device comprises a sampling module, a control module, an inverter circuit and a driving module, wherein a position ring is arranged at the outermost side, a speed ring is arranged in the middle, and a current ring is arranged at the innermost side;
the reference model may be expressed as:
Figure BDA0003527097140000131
wherein R is the resistance of the stator; omega e Is electrical angular velocity, i '═ i' d ,i′ q ] T Represents the output of the reference model and has:
Figure BDA0003527097140000132
the tunable model is represented as:
Figure BDA0003527097140000133
Figure BDA0003527097140000134
wherein the content of the first and second substances,
Figure BDA0003527097140000135
indicating estimated current, being adjustableThe output quantity of the model;
Figure BDA0003527097140000136
and the adjustable electrical angular velocity is represented and is the quantity to be estimated of the adjustable model.
The adaptation law is set as:
Figure BDA0003527097140000141
where p denotes the first derivative, C, I denotes the identity matrix,
Figure BDA0003527097140000142
Figure BDA0003527097140000143
Figure BDA0003527097140000144
comparing the output results of the reference model and the adjustable model, inputting the generated error into the adaptive law, and forming feedback quantity by the adaptive law to update the quantity to be estimated in the adjustable model so as to minimize the error; at the moment, integrating the obtained quantity to be estimated of the adjustable model to obtain the estimated speed of the motor rotor; integrating the estimated speed of the motor rotor again to obtain the estimated position of the motor rotor, and taking the estimated position of the motor rotor and the estimated speed of the motor rotor as the actual position and the actual speed of the motor rotor;
the position ring comprises a position PI controller, and the motor rotating speed given value is obtained by comparing the actual position and the given position of the motor rotor
Figure BDA0003527097140000145
The speed ring comprises a speed PI controller which compares the given value of the rotating speed of the motor
Figure BDA0003527097140000146
With the actual speed omega of the motor rotor m Obtaining the reference current of the motor quadrature axis
Figure BDA0003527097140000147
The current loop comprises a direct-axis current PI controller and a quadrature-axis current PI controller, wherein the direct-axis current PI controller compares direct-axis detection current i of the motor d With reference current of direct axis
Figure BDA0003527097140000148
Obtaining a direct component reference voltage value under a two-phase rotation (d-q) coordinate system
Figure BDA0003527097140000149
The quadrature axis current PI controller detects the current i by comparing the quadrature axis q And quadrature reference current
Figure BDA00035270971400001410
Obtaining a quadrature component reference voltage value under a two-phase rotation (d-q) coordinate system
Figure BDA00035270971400001411
The direct axis reference current
Figure BDA00035270971400001412
Wherein the PMSM is set as follows:
magnetic linkage psi f 0.175 Wb; d-axis and q-axis components L of stator winding inductance in a two-phase rotating (d-q) coordinate system d ＝L q 0.0085H; the resistance R of the motor stator is 2.875 omega; the damping coefficient B is 0; moment of inertia J-0.0000048 kg m 2 (ii) a The number of pole pairs p is 4;
the parameter of the q-axis current loop PI control is K p ＝17.708，K i 5989.58; the parameter of the d-axis current loop PI control is K p ＝17.708，K i 5989.58; the parameter of the speed loop PI control is K p ＝1，K i 0.05; the parameter of the position loop PI regulator is K p ＝350、K i ＝50。
The given input rotation speed is set to be 600r/min, the initial value of the load torque is 0, the step is carried out to 10N m when t is 0.2s, and the initial rotation speed of the motor is 0.
Given the rotation speed of 600r/min, comparing the position of the motor rotor estimated by the MRAS module with the actual position of the motor rotor, and the result is shown in FIG. 5, wherein the peak values of the two are both 6.28rad, namely 360 degrees; the error between the two is shown in fig. 6.
As can be seen from the figure, the estimated position in embodiment 1 is substantially the same as the actual position of the rotor of the motor, i.e. the estimated position of the rotor of the motor is more accurate.
The model is simulated, the position set value is input at a certain moment, namely the situation that the deviation between the actual position of the motor rotor and the given position is caused due to the fact that the motor rotation quantity is insufficient at the moment is represented, so that the problem of the rotor position deviation caused by the reduction of the power factor under the condition of large output torque is simulated, and the effect that whether the device can quickly track the position set value is achieved, namely the actual position deviation of the electronic rotor cannot occur under the condition of large output torque is achieved.
Specifically, the input position set value signal is set to be a step signal, and the phenomenon of deviation of the actual electronic position of the motor after the power factor is reduced is simulated.
The step signal theta ref For 10rad, the simulation results of the actual position, the estimated position and the given position of the rotor of the motor are shown in FIG. 7, the error between the actual position and the given position of the rotor of the motor is shown in FIG. 8, and the error between the actual position and the estimated position of the rotor of the motor is shown in FIG. 9.
7-9, it can be seen that there is only a very short time lag between the estimated position and the actual position of the rotor, the estimated rotation speed is zero only in a period of time when the motor is just started, and the actual rotation speed of the motor is not zero, the accuracy of the estimated position of the rotor obtained gradually increases as the operation time of the motor increases, and finally the estimated position and the actual position tend to be the same, the average value of the estimated error of the rotor position is 0.0043rad, the final output torque and the motor rotation speed respond quickly and well follow the given value, i.e. under the condition of large output torque, the device can still ensure that the actual position of the rotor of the motor reaches the expected given position, thereby well completing the given control command.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", and the like indicate orientations or positional relationships based on operational states of the present invention, and are only used for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.

Claims (10)

1. A high-power permanent magnet synchronous motor vector control system is characterized by comprising:
the sampling module is used for detecting voltage and current signals of the motor;
the control module receives the signals collected by the sampling module and generates pulse signals;
the inverter circuit supplies power to the motor and is a three-phase bridge type uncontrolled rectifying circuit;
and the driving module controls the switching state of a bridge arm of the inverter circuit according to the pulse signal so as to control the motor to rotate.
2. The high power PMSM vector control system according to claim 1,
and the power switch in the inverter circuit is a MOSFET power switch with the withstand voltage of more than or equal to 540V.
3. The high power PMSM vector control system of claim 2,
the power switch in the inverter circuit is a MOSFET power switch with the maximum current more than or equal to 40A.
4. The high power PMSM vector control system of claim 3,
the driving module is provided with a driving chip, the pulse signal controls the state of the MOSFET power switch through the driving chip to realize the control of the switching state of the bridge arm of the inverter circuit,
the driving chip is an IR2104S type driving chip.
5. The high power PMSM vector control system according to claim 1,
in the sampling module, a resistor is connected in series with the output end of the inverter circuit in the current sampling, and the current value in the circuit is obtained by measuring the voltage drop generated by the resistor.
6. The high power PMSM vector control system according to claim 1,
in the sampling module, the structure of a voltage sampling circuit is shown in figure 3.
7. The high power PMSM vector control system according to claim 1,
and the control module is internally provided with an MRAS module, estimates the position and the speed of the motor rotor according to the motor voltage and current signals detected by the sampling module, and takes the estimated values of the position and the speed of the motor rotor as the actual position and the actual speed of the motor rotor.
8. The high power PMSM vector control system of claim 7,
the control module is provided with a space vector pulse width modulator, a position ring, a speed ring and a current ring,
the position ring comprises a position PI controller, and the given value of the rotating speed of the motor is obtained by comparing the actual position of the rotor of the motor with the given position;
the speed ring comprises a speed PI controller, and reference current of a motor quadrature axis is obtained by comparing a motor rotating speed set value with the actual speed of a motor rotor;
the current loop comprises a direct-axis current PI controller and a quadrature-axis current PI controller, wherein the direct-axis current PI controller obtains a direct-axis component reference voltage value under a two-phase rotating coordinate system by comparing a direct-axis detection current of the motor with a direct-axis reference current; the quadrature axis current PI controller obtains a quadrature axis component reference voltage value under a two-phase rotating coordinate system by comparing the quadrature axis detection current with the quadrature axis reference current,
the space vector pulse width modulator is used for modulating the quadrature component reference voltage value under the two-phase rotating coordinate system into a pulse signal.
9. The high power PMSM vector control system of claim 7,
the MRAS module comprises an adaptive law, a reference model and an adjustable model, the output results of the reference model and the adjustable model are compared, the generated error is input into the adaptive law, and the adaptive law forms feedback quantity to update the quantity to be estimated in the adjustable model, so that the error is minimum.
10. The high power PMSM vector control system of claim 9,
the reference model is represented as:
Figure FDA0003527097130000031
wherein R is the resistance of the stator; omega e Is electrical angular velocity, i '═ i' d ,i′ q ] T Represents the output of the reference model and has:
Figure FDA0003527097130000032
wherein psi f Is a rotor flux linkage; u. of d 、u q 、i d 、i q Stator voltage and current components under a d-q coordinate system respectively; l is q Stator quadrature axis inductance; l is d A stator straight-axis inductor;
the tunable model is represented as:
Figure FDA0003527097130000033
Figure FDA0003527097130000034
wherein the content of the first and second substances,
Figure FDA0003527097130000035
representing the estimated current as an output quantity of the adjustable model;
Figure FDA0003527097130000036
representing the adjustable electrical angular velocity, which is the quantity to be estimated of the adjustable model;
the adaptation law is represented as:
Figure FDA0003527097130000041
where p denotes the first derivative, C, I denotes the identity matrix,
Figure FDA0003527097130000042
Figure FDA0003527097130000043
Figure FDA0003527097130000044
CN202210199843.3A 2022-03-01 2022-03-01 Vector control system of high-power permanent magnet synchronous motor Pending CN114844402A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116073735A (en) * 2022-11-22 2023-05-05 珠海极海半导体有限公司 Permanent magnet synchronous motor circuit and automobile power control system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116073735A (en) * 2022-11-22 2023-05-05 珠海极海半导体有限公司 Permanent magnet synchronous motor circuit and automobile power control system
CN116073735B (en) * 2022-11-22 2024-03-26 珠海极海半导体有限公司 Permanent magnet synchronous motor circuit and automobile power control system

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