CN115133832A - Real-time parameter correction method for surface-mounted permanent magnet synchronous motor - Google Patents
Real-time parameter correction method for surface-mounted permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P2207/055—Surface mounted magnet motors
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Abstract
The invention provides a parameter real-time correction method of a surface-mounted permanent magnet synchronous motor, which can dynamically correct system parameters in real time by collecting the current in the motor operation in real time, replaces the complex compensation mode such as adopting an extended state observer and the like in the prior art, and directly improves the parameters. In the method, the operation is not required to be carried out all the time, only the corresponding parameter correction is required to be carried out when the parameter mismatch occurs, and the calculation can be stopped immediately once the mismatch is eliminated and the current response is recovered to be normal. Therefore, the method obviously improves the anti-interference performance and robustness of the system by a very simple and small-computation-amount technical means.
Description
Technical Field
The invention belongs to the technical field of current control of permanent magnet synchronous motors, and particularly relates to a surface-mounted permanent magnet synchronous motor parameter real-time correction technology.
Background
The parameter mismatch phenomenon of the permanent magnet synchronous motor can cause the problem that the current generates static error, oscillation, overshoot and other response quality reduction, and can further reflect the motor operation, and the specific expression mainly includes that large torque pulsation occurs during the operation, and finally the steady state performance of the motor is extremely deteriorated, so how to solve the parameter mismatch is a very important technical problem in the motor control at present. For the technical problem, in the prior art, parameterization-free control is mostly adopted, that is, real-time values acquired by the motor are used for replacing motor parameters. For example, in the document "Improved Model Predictive Control for SPMSM drivers with Parameter Mismatch", the Current equation is reconstructed by using the collected Current values at different times, so as to realize non-parametric Predictive Control. However, this method has a large computation amount, and the reconstructed new parameters need to be continuously computed, so that the computation burden of the system is large. Although a simpler Inductance correction method is proposed in the literature, "Transmission Performance Improvement of High-Speed Surface-Mounted PMSM drive by Online Inductance Identification", the method can perform correction only once when the reference Current changes, and the reliability of correction needs to be enhanced.
Disclosure of Invention
In view of the above, the present invention provides a real-time parameter correction method for a surface-mounted permanent magnet synchronous motor, which specifically includes the following steps:
the method comprises the steps of firstly, collecting three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current k moment in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
establishing a dead-beat control model of the permanent magnet synchronous motor, and predicting d-axis and q-axis currents at the k +1 moment by using data acquired in real time; in the case of parameter mismatch, q-axis reference current i is based on the same time within a plurality of sampling periods q With the actually generated q-axis current
The following correction is carried out on the flux linkage parameters of the permanent magnet of the motor according to the static error between the two magnetic flux linkage parameters:
in the formula (I), the compound is shown in the specification,
showing the flux linkage of the permanent magnet of the motor before correction,
representing the corrected permanent magnet flux linkage of the motor, alpha is a correction coefficient, L s Is the inductance of the motor, R is the resistance value of the stator winding of the motor, omega e Is the electrical angular velocity, T, of the motor s Is a sampling period;
step three, d-axis and q-axis currents at the k +1 moment predicted in the step two
And
and a reference current for calculating the d-axis voltage U to be applied at the time of k +1 d (k +1), and performing the following correction on the motor inductance parameter:
in the formula (I), the compound is shown in the specification,
the inductance of the motor before the correction is shown,
representing the corrected motor inductance, wherein beta is a correction coefficient;
wherein the content of the first and second substances,
in the formula i d (k+1)、i q (k +1) d and q-axis reference currents at the time of k +1, i d (k +2) is the d-axis reference current at time k +2,
d-axis current actually generated at the moment k + 2;
and step four, replacing corresponding parameters in the dead-beat control model of the permanent magnet synchronous motor with the real-time corrected permanent magnet flux linkage and inductance parameters of the motor, continuously predicting d-axis and q-axis currents at the next moment, and calculating d-axis and q-axis voltages needing to be applied based on SVPWM modulation.
Further, the dead-beat control model established in the step two is specifically based on the following mathematical model of the permanent magnet synchronous motor:
in the formula, t is a time variable.
Further, in the case of parameter mismatch, the specific prediction process of the q-axis current is as follows:
calculating to obtain q-axis reference current i at the moment of k +2 q (k +2) and the actually generated q-axis current
And determining the static error on the basis of:
further, the d-axis voltage U required to be applied at the moment k +1 is calculated in the third step d (k +1), first based on
The assumption that the value of (1) is neglected to be 0, then U needs to be applied d (k +1) is calculated as:
in combination with the current actually generated by the d-axis at time k + 2:
the two formulas are combined to obtain:
therefore, the motor inductance parameter can be corrected.
The parameter real-time correction method of the surface-mounted permanent magnet synchronous motor provided by the invention can be used for dynamically correcting the system parameters in real time by collecting the current in the motor operation in real time, and replaces the complex compensation mode such as an extended state observer and the like in the prior art to directly improve the parameters. In the method, the operation is not required to be carried out all the time, only the corresponding parameter correction is required to be carried out when the parameter mismatch occurs, and the calculation can be stopped immediately once the mismatch is eliminated and the current response is recovered to be normal. Therefore, the method obviously improves the anti-interference performance and robustness of the system by extremely simple and convenient technical means with small computation amount.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a conceptual framework diagram of a method provided in accordance with the present invention;
FIG. 3 is a d-axis and q-axis current diagram without the mismatch of motor parameters by the method of the present invention;
fig. 4 is a d-axis and q-axis current diagram under the condition that the motor parameters are not mismatched by adopting the method provided by the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a real-time parameter correction method for a surface-mounted permanent magnet synchronous motor, which specifically comprises the following steps as shown in figure 1:
the method comprises the steps of firstly, collecting three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current k moment in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
establishing a dead-beat control model of the permanent magnet synchronous motor, and predicting d-axis and q-axis currents at the k +1 moment by using data acquired in real time; in the case of parameter mismatch, q-axis reference current i is based on the same time within a plurality of sampling periods q With the actually generated q-axis current
And (3) performing the following correction on the flux linkage parameters of the permanent magnet of the motor according to the static error between the magnetic flux linkage parameters:
in the formula (I), the compound is shown in the specification,
showing the permanent magnet flux linkage of the motor before correction,
represents the corrected permanent magnet flux linkage of the motor, alpha is a correction coefficient, L s Is the inductance of the motor, R is the resistance value of the stator winding of the motor, omega e Is the electrical angular velocity, T, of the motor s Is a sampling period;
step three, d-axis and q-axis currents at the k +1 moment predicted in the step two
And
and a reference current for calculating the d-axis voltage U to be applied at the time of k +1 d (k +1), and performing the following corrections to the motor inductance parameters:
in the formula (I), the compound is shown in the specification,
the inductance of the motor before correction is shown,
representing the corrected motor inductance, wherein beta is a correction coefficient;
wherein the content of the first and second substances,
in the formula i d (k+1)、i q (k +1) d and q-axis reference currents at the time k +1, i d (k +2) is the d-axis reference current at time k +2,
d-axis current actually generated at the moment k + 2;
and step four, replacing corresponding parameters in the dead beat control model of the permanent magnet synchronous motor with the real-time corrected permanent magnet flux linkage and inductance parameters of the motor, continuously predicting d-axis and q-axis currents at the next moment, and calculating d-axis and q-axis voltages needing to be applied based on SVPWM modulation. The principle framework of the above process is shown in fig. 2.
In a preferred embodiment of the present invention, the dead-beat control model established in step two is specifically based on the following mathematical model of the permanent magnet synchronous motor:
in the formula, t is a time variable.
When no parameter mismatch occurs, the following prediction can be performed on the d-axis current and the q-axis current at the k +1 time by using the mathematical model:
the d-and q-axis voltages to be applied at the time k +1 can be calculated as:
considering that the voltage vector calculated when the motor parameters are mismatched is not the optimal voltage vector, an algorithm needs to be designed for parameter correction. Based on this consideration, in the case of parameter mismatch, the specific prediction process of the q-axis current is:
calculating to obtain q-axis reference current i at the moment of k +2 q (k +2) and the actually generated q-axis current
And determining the static error on the basis of:
the voltage to be applied at time k +1 and the current actually generated at time k +2 are calculated as:
based on
The assumption that the value of (1) is neglected to be 0, then U needs to be applied d (k +1) is:
in combination with the current actually generated by the d-axis at time k + 2:
the two formulas are combined to obtain:
therefore, the correction of the inductance parameter of the motor is realized.
Fig. 3 and 4 show the specific effect of d-axis and q-axis currents after the method of the invention is used and the method of real-time correction of parameters is not used. By comparing the current image without the method when the inductance is 2 times mismatched with the current image after the method is used (as shown in fig. 3), it can be clearly seen that the method successfully suppresses the current oscillation caused by parameter mismatch, and by comparing the current image without the method when the flux linkage is 2 times mismatched with the current image using the method (as shown in fig. 4), it can be seen that the method also successfully solves the current overshoot problem caused by flux linkage mismatch. The method has important significance for safe and stable work and efficiency improvement of the motor.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A real-time parameter correction method for a surface-mounted permanent magnet synchronous motor is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the steps of firstly, collecting three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current k moment in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
establishing a dead-beat control model of the permanent magnet synchronous motor, and predicting d-axis and q-axis currents at the k +1 moment by using data acquired in real time; in the case of parameter mismatch, q-axis reference current i is based on the same time within a plurality of sampling periods q With the actually generated q-axis current
And (3) performing the following correction on the flux linkage parameters of the permanent magnet of the motor according to the static error between the magnetic flux linkage parameters:
in the formula (I), the compound is shown in the specification,
showing the flux linkage of the permanent magnet of the motor before correction,
representing the corrected permanent magnet flux linkage of the motor, alpha is a correction coefficient, L s Is the inductance of the motor, R is the resistance value of the stator winding of the motor, omega e Is the electrical angular velocity, T, of the motor s Is a sampling period;
step three, d-axis and q-axis currents at the k +1 moment predicted in the step two
And
and a reference current for calculating the d-axis voltage U to be applied at the time of k +1 d (k +1), and performing the following corrections to the motor inductance parameters:
in the formula (I), the compound is shown in the specification,
the inductance of the motor before correction is shown,
representing the corrected motor inductance, wherein beta is a correction coefficient;
wherein the content of the first and second substances,
in the formula i d (k+1)、i q (k +1) d and q-axis reference currents at the time of k +1, i d (k +2) is the d-axis reference current at time k +2,
d-axis current actually generated at the moment k + 2;
and step four, replacing corresponding parameters in the dead-beat control model of the permanent magnet synchronous motor with the real-time corrected permanent magnet flux linkage and inductance parameters of the motor, continuously predicting d-axis and q-axis currents at the next moment, and calculating d-axis and q-axis voltages needing to be applied based on SVPWM modulation.
2. The method of claim 1, wherein: the dead-beat control model established in the step two is specifically based on the following mathematical model of the permanent magnet synchronous motor:
in the formula, t is a time variable.
3. The method of claim 2, wherein: under the condition of parameter mismatch, the specific prediction process of the q-axis current is as follows:
calculating to obtain q-axis reference current i at the moment of k +2 q (k +2) and the actually generated q-axis current
And determining the static error on the basis of:
4. the method of claim 3, wherein: step three, calculating d-axis voltage U required to be applied at the moment of k +1 d (k +1) is based first on
The assumption that the value of (1) is neglected to be 0, then U needs to be applied d (k +1) is calculated as:
in combination with the current actually generated by the d-axis at time k + 2:
the two formulas are combined to obtain:
thereby correcting the motor inductance parameter.
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011223718A (en) * | 2010-04-08 | 2011-11-04 | Toyo Electric Mfg Co Ltd | Controller for permanent magnet synchronous motor |
| US20160268938A1 (en) * | 2013-10-17 | 2016-09-15 | Csr Zhuzhou Electric Locomotive Research Institute Co., Ltd. | Direct-axis current protection method and device for permanent magnet synchronous motor drive system |
| CN110492817A (en) * | 2019-08-05 | 2019-11-22 | 北方工业大学 | A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor |
| CN111478632A (en) * | 2020-05-12 | 2020-07-31 | 北京理工大学 | Observer-free control method for improving parameter robustness of permanent magnet synchronous motor |
| CN112422002A (en) * | 2020-10-09 | 2021-02-26 | 北京理工大学 | Robust permanent magnet synchronous motor single current sensor prediction control method |
| CN114531082A (en) * | 2022-03-15 | 2022-05-24 | 北京理工大学 | Permanent magnet synchronous motor dead-beat current prediction fuzzy control method based on AESO |
| US20220399841A1 (en) * | 2021-06-08 | 2022-12-15 | Rolls-Royce Plc | Permanent magnet electric machine control |
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- 2022-07-08 CN CN202210798401.0A patent/CN115133832B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011223718A (en) * | 2010-04-08 | 2011-11-04 | Toyo Electric Mfg Co Ltd | Controller for permanent magnet synchronous motor |
| US20160268938A1 (en) * | 2013-10-17 | 2016-09-15 | Csr Zhuzhou Electric Locomotive Research Institute Co., Ltd. | Direct-axis current protection method and device for permanent magnet synchronous motor drive system |
| CN110492817A (en) * | 2019-08-05 | 2019-11-22 | 北方工业大学 | A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor |
| CN111478632A (en) * | 2020-05-12 | 2020-07-31 | 北京理工大学 | Observer-free control method for improving parameter robustness of permanent magnet synchronous motor |
| CN112422002A (en) * | 2020-10-09 | 2021-02-26 | 北京理工大学 | Robust permanent magnet synchronous motor single current sensor prediction control method |
| US20220399841A1 (en) * | 2021-06-08 | 2022-12-15 | Rolls-Royce Plc | Permanent magnet electric machine control |
| CN114531082A (en) * | 2022-03-15 | 2022-05-24 | 北京理工大学 | Permanent magnet synchronous motor dead-beat current prediction fuzzy control method based on AESO |
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