CN115133828A - Permanent magnet synchronous motor control method and system - Google Patents
Permanent magnet synchronous motor control method and system Download PDFInfo
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- CN115133828A CN115133828A CN202210899488.0A CN202210899488A CN115133828A CN 115133828 A CN115133828 A CN 115133828A CN 202210899488 A CN202210899488 A CN 202210899488A CN 115133828 A CN115133828 A CN 115133828A
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a permanent magnet synchronous motor control method, which comprises the following steps: s1, setting the mechanical angular speed expected value omega * The difference value between the current mechanical angular velocity value of the rotor and the current mechanical angular velocity value of the rotor is used as a system state quantity variable x; s2, detecting whether the system is far away from the sliding mode surface, namely whether | S | is greater than 1, if so, approaching the law
The exponent α of the middle power term is 0, otherwise, the approximation law
The power term index alpha in (1) takes the value as follows: 0<α<1; s3 based on the approach law
Constructing expected q-axis current i of permanent magnet synchronous motor under d-q-axis coordinate system q * Expectation of q-axis current i q * To control the current q-axis current input of the permanent magnet synchronous motor. The invention provides a new approach law, which selects different power term indexes from the distance from a sliding mode surface, introduces system state variables into the index terms, constructs a novel approach law with variable index power terms and variable index term coefficients, and effectively weakens buffeting of a system on the premise of keeping the faster approach speed of a control system.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a permanent magnet synchronous motor control method and system.
Background
Permanent Magnet Synchronous Motors (PMSM) are widely used in various industries due to their advantages of simple structure, high power density, good dynamic performance, etc. However, the permanent magnet synchronous motor is a typical nonlinear multivariable coupling system, in the actual operation of the motor, parameters such as flux linkage, dq-axis inductance and the like are changed due to magnetic saturation, and uncertainty generated by the changes has a great influence on the control performance. In addition, different external environments may also affect the stability of the drive system. The traditional PID control depends on the accuracy of a system model, and the requirement of a high-precision control system is difficult to meet when the internal parameters of the system change or the system is disturbed externally. Therefore, it is necessary to solve the above problems by a method having a superior control effect.
The sliding mode control is widely applied to the field of motor control due to strong robustness, high response speed and insensitivity to perturbation of internal parameters of a system and external disturbance. But the buffeting problem of the traditional sliding mode control restricts the performance of the sliding mode control. In order to solve the buffeting problem of sliding mode control, solutions are provided from different angles, for example, concepts of a quasi-sliding mode and a boundary layer are introduced into the design of sliding mode control, a saturation function is adopted to replace a switching function, buffeting is effectively avoided or weakened, and in addition, a sliding mode control method based on an approximation law is provided. Among the buffeting weakening methods, an approach law method can ensure the dynamic characteristics and stability of the system, but the traditional exponential, power approach law and the like cannot realize quick convergence to a sliding mode surface while avoiding buffeting.
Disclosure of Invention
The invention provides a control method of a permanent magnet synchronous motor, aiming at improving the problems.
The invention is realized in this way, a permanent magnet synchronous motor control method, the method specifically includes the following steps:
s1, obtaining the expected value omega of the mechanical angular speed * With current rotor mechanical angular velocity value z 1 The difference value of (a) is used as a system state quantity variable x;
s2, detecting whether the system is far away from the sliding mode surface, namely whether | S | is more than or equal to 1, if so, approaching the law
The exponent α of the middle power term is 0, otherwise, the approximation law
The power term index alpha in (1) takes the value as follows: 0<α<1；
S3 based on the approach law
And ESO observation value constructionExpected q-axis current i of magnetic synchronous motor under d-q axis coordinate system q * Expectation of q-axis current i q * To control the current q-axis current input of the permanent magnet synchronous motor.
Further, the law of approach
The expression of (c) is specifically as follows:
wherein x is a system state quantity variable, λ and β are constants larger than zero, k is a constant larger than zero, s represents a sliding mode surface, ε is a constant larger than zero, α represents a power term index, α is 0 when | s | > is 1, and 0< α <1 when | s | < 1.
Further, a q-axis current i is desired q * The calculation formula of (a) is specifically as follows:
wherein the content of the first and second substances,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, and J is rotational inertia;
b is the viscous friction coefficient, D is the comprehensive disturbance of the system; c is the coefficient of the slip form surface, c>0, s denotes the slip form face.
Further, before step S3, the method further includes:
s4, obtaining the observed value z of the comprehensive disturbance 2 (t) comparing the observed value z 2 (t) as a complex disturbance D of the system further, an observed value z of the complex disturbance 2 (t) calculating based on the following formula;
wherein e is 1 (t) is the error between the observed value of mechanical angular velocity and the current actual value of mechanical angular velocity, z 1 (t) is an observed value of mechanical angular velocity, z 2 (t) is the observed Total disturbance value, β 1 、β 2 Is the observer gain coefficient, beta 3 >0 is a tuning parameter of the hyperbolic tangent function,
p is the polar logarithm, /) f Is a permanent magnet flux linkage, J is the moment of inertia,
and B is a viscous friction coefficient.
Further, the current mechanical angular velocity value of the rotor is the observed value z of the current mechanical angular velocity of the rotor 1 Or the detected value ω of the current mechanical angular velocity of the rotor m 。
The present invention is achieved as such, a permanent magnet synchronous motor control system, comprising:
the system comprises a permanent magnet synchronous motor, a sliding mode controller, an observer, a q-axis PI current regulator, a d-axis PI current regulator and a three-phase inverter;
detected three-phase currents i a 、i b 、i c Obtaining i under dq axis coordinate system through CLARK transformation and PARK transformation d 、i q The current mechanical angular velocity omega of the rotor of the permanent magnet synchronous motor is measured m And the present q-axis current i q Inputting an observer, outputting the comprehensive disturbance D to a sliding mode controller by the observer, and giving a mechanical angular speed given value omega * Observed value z of mechanical angular velocity 1 Or observed value omega of mechanical angular velocity m Making difference, inputting the difference into a sliding mode controller, and outputting an expected q-axis current i of the permanent magnet synchronous motor under a d-q-axis coordinate system by the sliding mode controller q * Let a desired d-axis current i d * 0, we expect q-axis current i q * With the present q-axis current i q Taking the difference as the input of the q-axis PI current regulator, and obtaining the expected d-axis current i d * And d-axis current i d Taking the difference as the input of d-axis current regulator and the output of d-and q-axis current regulators in the rotating coordinate system d 、u q As input of inverse PARK transform, stator voltage u is output after transformation α 、u β And generating a switching signal acting on the three-phase inverter as a reference voltage vector generated by SVPWM, and finally driving the permanent magnet synchronous motor to operate.
Further, a desired q-axis current i is integrated in the sliding mode controller q * The calculation model of (2) is as follows:
wherein the content of the first and second substances,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, and J is rotational inertia;
b is the viscous friction coefficient, D is the comprehensive disturbance of the system; c is the coefficient of the slip form surface, c>0。
Law of approach
The expression of (c) is specifically as follows:
wherein x is a system state quantity variable, λ and β are constants larger than zero, k is a constant larger than zero, s represents a sliding mode surface, ε is a constant larger than zero, α represents a power term index, α is 0 when | s | > is 1, and 0< α <1 when | s | < 1.
Furthermore, a state observation equation is integrated in the observer, and the calculation complex is based on the state observation equationObserved value z of resultant disturbance 2 (t) observed value z of the comprehensive disturbance 2 (t) is the comprehensive disturbance D, and the state observation equation is concretely as follows;
wherein e is 1 (t) is the error between the observed value of mechanical angular velocity and the current actual value of mechanical angular velocity, z 1 (t) is an observed value of mechanical angular velocity, z 2 (t) is the observed Total disturbance value, β 1 、β 2 Is the observer gain coefficient, beta 3 The parameters are adjusted for the hyperbolic tangent function,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, J is rotational inertia,
and B is a viscous friction coefficient.
The invention provides a new approach law, which is characterized in that different power term indexes are selected according to the distance from a sliding mode surface, and system state variables are introduced into the index terms, so that a novel approach law with variable index power terms and variable index term coefficients is constructed, and buffeting of a system is effectively weakened on the premise of keeping the faster approach speed of a control system; in addition, an extended state observer based on a hyperbolic tangent function is designed, real-time observation and accurate tracking of the angular speed and load disturbance of the motor are achieved, then the observed value is subjected to feedforward compensation to the sliding mode controller, the switching gain of the controller is reduced, buffeting is weakened, and the dynamic performance of the system is improved.
Drawings
Fig. 1 is a flowchart of a permanent magnet synchronous motor control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a permanent magnet synchronous motor control system according to an embodiment of the present invention;
fig. 3 is a comparison diagram of PMSM simulation rotation speed under the conventional PID control and NRLASMC control provided in the embodiment of the present invention;
FIG. 4 is a schematic diagram of the torque output of the PMSM simulation provided by the embodiment of the present invention, wherein (a) is the torque output under the conventional PID control, and (b) is the torque output under the NRLASMC control;
fig. 5 is a comparison diagram of three-phase current input of PMSM simulation provided in an embodiment of the present invention, where (a) is three-phase input current under conventional PID control, and (b) is three-phase input current under NRLASMC control;
FIG. 6 is an ESO observation of the simulated load torque provided by the embodiment of the present invention;
FIG. 7 is a simulated ESO tracking error of angular velocity provided by an embodiment of the present invention;
fig. 8 is a comparison diagram of the rotation speed when the PMSM starts to rotate under the PID control and the NRLASMC control provided by the embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The invention provides a new approach law, which is characterized in that different power term indexes are selected according to the distance from a sliding mode surface, and a system state variable is introduced into the index terms, so that a novel approach law with variable index power terms and variable index term coefficients is constructed, and the buffeting of a system is effectively weakened on the premise of keeping the faster approach speed of a control system.
Fig. 1 is a flowchart of a method for controlling a permanent magnet synchronous motor according to an embodiment of the present invention, where the method specifically includes the following steps:
s1, obtaining the expected value omega of the mechanical angular speed * Observed value z of current mechanical angular velocity 1 Or current mechanical angular velocity observation ω m The difference value of (a) is used as a system state quantity variable x;
s2, detecting whether the system is far away from the sliding mode surface, namely whether | S | is more than or equal to 1, if so, approaching the law
The exponent α of the power term in (1) is 0, otherwise, the law is approached
The power term index alpha in (1) takes the value as follows: 0<α<1；
Therein, the law of approach
The expression of (c) is specifically as follows:
wherein x is a system state quantity variable, λ and β are constants larger than zero, k is a constant larger than zero, s represents a sliding mode surface, ε is a constant larger than zero, α represents a power term index, α is 0 when | s | > is 1, and 0< α <1 when | s | < 1.
Further suppressing the system buffeting and improving the system adjusting precision, so that the selected integral sliding mode surface s is as follows:
wherein t represents the current time, c is a sliding mode surface coefficient, the value is a constant larger than zero, and tau is an integral variable of time.
When | s | ≧ 1, namely the system state quantity variable x is considered to be far away from the sliding mode surface, the power term index α is 0, and the system state variable | x | is relatively large, at which time e is -β|x| The system approaches to the sliding mode surface according to the variable index approach law, has the advantage of rapidly approaching to the sliding mode surface, and can change the approach speed by adjusting the size of lambda; when s is less than 1, namely the system state variable x is close to the sliding mode surface, the value range of the power term index is 0< alpha <1, the system state variable x is smaller, and e -β|x| The system approaches to 1, the exponential term approaches to zero, the power term plays a main role in approaching, the system has a lower approaching speed when approaching to a sliding mode surface, and a state variable x is introduced, so that the system is stable and stableSystem chatter is further attenuated.
S3 based on the approach law
And ESO (electronic stability organization) is used for constructing the expected q-axis current i of the permanent magnet synchronous motor under the current d-q-axis coordinate system q * Expectation of q-axis current i q * The current q-axis current input of the permanent magnet synchronous motor is controlled.
Wherein the content of the first and second substances,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, and J is rotational inertia;
b is viscous friction coefficient, D is comprehensive disturbance of the system, c is sliding mode surface coefficient>0。
Establishing an equation of the permanent magnet synchronous motor under a d-q axis coordinate system, and adopting an expected d axis current i d * The PMSM voltage equation is then:
wherein u is d 、u q 、i d 、i q Stator voltages and currents of d and q axes, L d 、L q D and q axes, p is the number of pole pairs, R s Is stator resistance, # f Is a permanent magnet flux linkage, omega m Is the mechanical angular speed of the rotor.
Torque T of PMSM under dq axis coordinate system e The equation is:
T e ＝1.5pψ f i q (5)
the PMSM equation of motion is:
wherein, T e 、T L Electromagnetic torque and load torque are respectively, J is rotational inertia, and B is a viscous friction coefficient.
By substituting equation (5) into equation (6), the motion equation of the permanent magnet synchronous motor can be written as:
considering the effects of system disturbances and system parameter variations, equation (7) is written as:
is apparent from the formula (6)
D is the comprehensive disturbance of the system, and relates to the influence of load disturbance and the change of each parameter of the system, then
Wherein Δ 1 、Δ 2 、Δ 3 For each parameter i q 、ω m And T L The amount of change in (c).
Defining the rotating speed tracking error as:
x＝ω * -ω m (9)
ω * the given value is the mechanical angular velocity.
The derivative of the speed tracking error is:
then, the desired q-axis current i can be obtained from the equations (1), (2) and (10) q * Expression ofThe formula is as follows:
in the embodiment of the invention, the extended state observer based on the hyperbolic tangent function is further designed to realize real-time observation and accurate tracking of the angular speed and the load disturbance of the motor, and then the observed value is subjected to feedforward compensation to the sliding mode controller, so that the switching gain of the controller is reduced, buffeting is weakened, and the dynamic performance of the system is improved.
In order to accurately observe the total disturbance D and simultaneously improve the self-adaption and dynamic response capabilities of the extended state observer, a novel extended state observation equation based on a hyperbolic tangent function is designed, and the observation equation is as follows:
wherein e is 1 (t) is an observed value of mechanical angular velocity (z) 1 (t)) and the current actual mechanical angular velocity value (ω) m ) Error between, z 1 (t) is an observed value of mechanical angular velocity, z 2 (t) is the observed Total disturbance value, β 1 、β 2 Is the observer gain coefficient, beta 3 >0 is the hyperbolic tangent function adjustment parameter, and therefore, before step S3, the method further includes:
s4, obtaining the observed value z of the comprehensive disturbance 2 (t) comparing the observed value z 2 (t) as a comprehensive disturbance D of the system.
Fig. 2 is a schematic structural diagram of a permanent magnet synchronous motor control system according to an embodiment of the present invention, and for convenience of description, only a part related to the embodiment of the present invention is shown, where the system includes:
a Permanent Magnet Synchronous Motor (PMSM), a sliding mode controller (NRLSMC), an observer (ESO), a q-axis PI current regulator, a d-axis PI current regulator, and a three-phase inverter;
detected three-phase currents i a 、i b 、i c Obtained by CLARK conversion and PARK conversionI in dq axis coordinate system d 、i q ；
The current mechanical angular velocity omega of the rotor of the permanent magnet synchronous motor m Inputting an observer, outputting the comprehensive disturbance D to a sliding mode controller by the observer, and giving a mechanical angular speed given value omega * And or the detected value omega of the mechanical angular speed m Making difference, inputting the difference into a sliding mode controller, and outputting an expected q-axis current i of the permanent magnet synchronous motor under a d-q-axis coordinate system by the sliding mode controller q * Let a desired d-axis current i d * 0, we expect q-axis current i q * With the present q-axis current i q Taking the difference as the input of the q-axis PI current regulator, and obtaining the expected d-axis current i d * And d-axis current i d Taking the difference as the input of the d-axis current regulator and the output of the d-axis current regulator and the q-axis current regulator as u in a rotating coordinate system d 、u q As input of inverse PARK transform, stator voltage u is output after transformation α 、u β And generating a switching signal acting on the three-phase inverter as a reference voltage vector generated by SVPWM, and finally driving the permanent magnet synchronous motor to operate.
In the embodiment of the present invention, the desired q-axis current i is expressed by the formula (3) q * The calculation model of (2) is stored in a sliding mode controller, and the state observation equation recorded in the formula (12) is integrated on an observer.
And (3) stability analysis:
let s be z 1 (t)-ω m Then from the reachability condition to the sliding mode:
verifying the stability of the control system by using a Lyapunov function, and constructing a Lyapunov function V:
the stability conditions of Lyapunov are as follows:
according to the formulae (2), (10) and (11), the above formulae can be written as
Wherein the parameters satisfy epsilon > 0, k > 0, 0 ═ alpha <1, 0< lambda, 0< beta, when s → 0,
known from the Lyapunov function stability theorem, the designed sliding mode controller is gradually stable.
Fig. 3, fig. 4, and fig. 5 are simulation comparison graphs of the rotation speed, the output torque, and the three-phase input current of the NRLASMC control of the present invention and the conventional PID control, respectively, and it can be clearly seen that the PMSM under the NRLASMC control can reach the steady state quickly and without overshoot, the rotation speed fluctuation is small under the condition of sudden load increase, the time for recovering the steady state is short, and the control performance is apparently due to the PID control.
Fig. 6 and 7 are respectively result graphs of the ESO torque tracking error and the angular velocity tracking error, and it can be seen that the response speed of the proposed ESO observed given torque is fast, the observation error is small, the angular velocity tracking error is small, and the convergence speed is fast. Fig. 8 is a comparison graph of the rotation speed of the PMSM during the starting and the rotation speed under the PID control and the NRLASMC control, and the experimental results show the superior control performance of the present invention.
The invention has been described by way of example, and it is obvious that the invention is not limited to the embodiments described above, but it is within the scope of the invention to employ various insubstantial modifications of the inventive concepts and techniques, or to apply them directly to other applications without such modifications.
Claims (9)
1. A permanent magnet synchronous motor control method is characterized by specifically comprising the following steps:
s1, setting the mechanical angular speed expected value omega * Mechanical angular velocity of the rotorThe difference value of the values is used as a system state quantity variable x;
s2, detecting whether the system is far away from the sliding mode surface, namely whether | S | is more than or equal to 1, if so, approaching the law
The exponent α of the middle power term is 0, otherwise, the approximation law
The power term index alpha in (1) takes the value as follows: 0<α<1；
S3 based on the approach law
Establishing expected q-axis current i of the permanent magnet synchronous motor under a d-q-axis coordinate system according to ESO observation values q * Expectation of q-axis current i q * To control the current q-axis current input of the permanent magnet synchronous motor.
2. The permanent magnet synchronous motor control method according to claim 1, wherein the approximation law
The expression of (c) is specifically as follows:
wherein x is a system state quantity variable, λ and β are constants larger than zero, k is a constant larger than zero, s represents a sliding mode surface, ε is a constant larger than zero, α represents a power term index, α is 0 when | s | > is 1, and 0< α <1 when | s | < 1.
3. The permanent magnet synchronous motor control method of claim 1, wherein a q-axis current i is desired q * The calculation formula of (a) is specifically as follows:
wherein the content of the first and second substances,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, and J is rotational inertia;
b is the viscous friction coefficient, D is the comprehensive disturbance of the system; c is the slip form surface coefficient, c>0, s denotes the slip form face.
4. The permanent magnet synchronous motor control method according to claim 3, further comprising, before step S3:
s4, obtaining the observed value z of the comprehensive disturbance 2 (t) comparing the observed value z 2 (t) as a comprehensive disturbance D of the system.
5. The permanent magnet synchronous motor control method according to claim 4, wherein the observed value z of the comprehensive disturbance 2 (t) calculating based on the following formula;
wherein e is 1 (t) is the error between the observed value of mechanical angular velocity and the current actual value of mechanical angular velocity, z 1 (t) is an observed value of mechanical angular velocity, z 2 (t) is the observed Total disturbance value, β 1 、β 2 Is the observer gain coefficient, beta 3 >0 is a tuning parameter of the hyperbolic tangent function,
p is the polar logarithm, /) f Is a permanent magnet flux linkage, J is rotational inertia,
and B is a viscous friction coefficient.
6. The permanent magnet synchronous motor control method according to claim 5, wherein the current mechanical angular velocity value of the rotor is a current mechanical angular velocity observed value z of the rotor 1 Or the detected value ω of the current mechanical angular velocity of the rotor m 。
7. A permanent magnet synchronous motor control system, the system comprising:
the system comprises a permanent magnet synchronous motor, a sliding mode controller, an observer, a q-axis PI current regulator, a d-axis PI current regulator and a three-phase inverter;
detected three-phase currents i a 、i b 、i c Obtaining i under dq axis coordinate system through CLARK transformation and PARK transformation d 、i q The current mechanical angular velocity omega of the rotor of the permanent magnet synchronous motor m And the present q-axis current i q Inputting an observer, outputting the comprehensive disturbance D to a sliding mode controller by the observer, and giving a mechanical angular speed given value omega * Observed value z of mechanical angular velocity 1 Or observed value omega of mechanical angular velocity m Making a difference, inputting the difference into a sliding mode controller, and outputting an expected q-axis current i of the permanent magnet synchronous motor under a d-q axis coordinate system by the sliding mode controller q * Let a desired d-axis current i d * 0, we expect q-axis current i q * With the present q-axis current i q Taking the difference as the input of a q-axis PI current regulator, and calculating the expected d-axis current i d * And d-axis current i d Taking the difference as the input of d-axis current regulator and the output of d-and q-axis current regulators in the rotating coordinate system d 、u q As input of inverse PARK transform, stator voltage u is output after transformation α 、u β And as a reference voltage vector generated by SVPWM, generating a switching signal acted on the three-phase inverter, and finally driving the permanent magnet synchronous motor to operate.
8. The PMSM control system of claim 7, wherein the sliding mode controller has the desired q-axis current i integrated therein q * The calculation model of (2) is as follows:
wherein the content of the first and second substances,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, and J is rotational inertia;
b is the viscous friction coefficient, D is the comprehensive disturbance of the system; c is the slip form surface coefficient, c>0。
Law of approach
The expression of (c) is specifically as follows:
where x is a system state quantity variable, λ and β are constants greater than zero, k is a constant greater than zero, s represents a sliding mode surface, ∈ is a constant greater than zero, α represents a power term index, and α is 0 when | s | > is 1 and 0< α <1 when | s | < 1.
9. The permanent magnet synchronous motor control system according to claim 7, wherein a state observation equation is integrated in the observer, and the observed value z of the comprehensive disturbance is calculated based on the state observation equation 2 (t) observed value z of the comprehensive disturbance 2 (t) is the comprehensive disturbance D, and the state observation equation is concretely as follows;
wherein e is 1 (t) is the error between the observed value of mechanical angular velocity and the current actual value of mechanical angular velocity, z 1 (t) is an observed value of mechanical angular velocity, z 2 (t) is the observed Total disturbance value, β 1 、β 2 Is the observer gain coefficient, beta 3 The parameters are adjusted for the hyperbolic tangent function,
p is the logarithm of the pole, # f Is a permanent magnet flux linkage, J is rotational inertia,
and B is a viscous friction coefficient.
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| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
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| CN116248003A (en) * | 2023-05-06 | 2023-06-09 | 四川省产品质量监督检验检测院 | Sliding mode control-based method and system for controlling active disturbance rejection speed of switched reluctance motor |
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