CN115189609A - A Integral Sliding Mode Predictive Control Method for Permanent Magnet Synchronous Motors - Google Patents

A Integral Sliding Mode Predictive Control Method for Permanent Magnet Synchronous Motors Download PDF

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CN115189609A
CN115189609A CN202210905761.6A CN202210905761A CN115189609A CN 115189609 A CN115189609 A CN 115189609A CN 202210905761 A CN202210905761 A CN 202210905761A CN 115189609 A CN115189609 A CN 115189609A
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sliding mode
current
integral
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axis
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汪凤翔
李政
柯栋梁
何龙
柯哲涵
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Quanzhou Institute of Equipment Manufacturing
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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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • 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
    • 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
    • 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

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Abstract

本发明提供一种永磁同步电机积分滑模预测控制方法，包括：首先获取电气平台采样得到的转速传感器信号，将所述转速传感器信号与速度命令相减，传入积分滑模预测速度控制器，计算得到电流控制信号，所述积分滑模预测速度控制器以积分滑模面为目标结构结合预测转速模型构建得到；然后将所述电流控制信号与电气平台采样得到的实际信号做差，将得到的值输入到积分滑模预测电流控制器，输出电压进入电流环，通过空间矢量调制得到脉冲信号；最后将得到的脉冲信号输出给控制电机，驱动电机运行，实现转速环与电流环的控制。本发明方法实现基于滑模预测速度控制和滑模预测电流控制的级联控制，提高系统响应的鲁棒性与响应速度。

Figure 202210905761

The invention provides an integral sliding mode predictive control method for a permanent magnet synchronous motor. , the current control signal is obtained by calculation, and the integral sliding mode predictive speed controller is constructed with the integral sliding mode surface as the target structure combined with the predicted rotational speed model; The obtained value is input to the integral sliding mode predictive current controller, the output voltage enters the current loop, and the pulse signal is obtained through space vector modulation; finally, the obtained pulse signal is output to the control motor, which drives the motor to run, and realizes the control of the speed loop and the current loop. . The method of the invention realizes the cascade control based on the sliding mode predictive speed control and the sliding mode predictive current control, and improves the robustness and response speed of the system response.

Figure 202210905761

Description

一种永磁同步电机积分滑模预测控制方法A Integral Sliding Mode Predictive Control Method for Permanent Magnet Synchronous Motors

技术领域technical field

本发明涉及永磁同步电机技术领域，尤其涉及一种永磁同步电机积分滑模预测控制方法。The invention relates to the technical field of permanent magnet synchronous motors, in particular to an integral sliding mode predictive control method of permanent magnet synchronous motors.

背景技术Background technique

永磁同步电动机以永磁体提供励磁，使电动机结构较为简单，降低了加工和装配费用，且省去了容易出问题的集电环和电刷，提高了电动机运行的可靠性，又因无需励磁电流，没有励磁损耗，提高了电动机的效率和功率密度。基于这些优点，永磁同步电机(PMSM)被广泛应用于驱动装置。传统的转速环与电流环的控制器为PI控制器，但是PI控制器的参数设置只能应用于某一特定的工作范围，当点击工作状态发生变化时PI控制器的控制效果降低，且由于永磁同步电机本身是一个强耦合、多变量、非线性的复杂系统，存在永磁体退磁的风险，PI控制器也无法提供较佳的性能。The permanent magnet synchronous motor uses permanent magnets to provide excitation, which makes the motor structure simpler, reduces the processing and assembly costs, and saves the slip rings and brushes that are prone to problems, which improves the reliability of the motor operation. current, without excitation losses, increasing the efficiency and power density of the motor. Based on these advantages, permanent magnet synchronous motors (PMSM) are widely used in drives. The traditional speed loop and current loop controllers are PI controllers, but the parameter settings of the PI controller can only be applied to a specific working range. When the click working state changes, the control effect of the PI controller decreases, and due to the The permanent magnet synchronous motor itself is a complex system with strong coupling, multi-variable and nonlinear, there is the risk of demagnetization of the permanent magnet, and the PI controller cannot provide better performance.

目前也提出一些新型的控制算法如模糊控制、自适应控制、预测控制等，但主要还是针对以其中某一种控制方法且仅针对系统中的某一个侧重点进行优化，对整体的控制性能提高有限。At present, some new control algorithms are also proposed, such as fuzzy control, adaptive control, predictive control, etc., but they are mainly aimed at optimizing one of the control methods and only a certain focus in the system, which improves the overall control performance. limited.

发明内容SUMMARY OF THE INVENTION

本发明要解决的技术问题，在于提供一种永磁同步电机积分滑模预测控制方法，基于滑模预测速度控制和滑模预测电流控制的级联控制，实现系统响应的鲁棒性与快速性。The technical problem to be solved by the present invention is to provide an integral sliding mode predictive control method for a permanent magnet synchronous motor. Based on the cascade control of sliding mode predictive speed control and sliding mode predictive current control, the robustness and rapidity of the system response are realized. .

本发明是这样实现的：一种永磁同步电机积分滑模预测控制方法，包括如下步骤：The present invention is achieved in this way: a method for integral sliding mode predictive control of a permanent magnet synchronous motor, comprising the following steps:

步骤1、获取电气平台采样得到的转速传感器信号ωr，将所述转速传感器信号ωr与速度命令

Figure BDA0003772424730000011
相减，传入积分滑模预测速度控制器，计算得到电流控制信号
Figure BDA0003772424730000021
并基于id＝0控制方法得到d轴的电流控制信号
Figure BDA0003772424730000022
所述积分滑模预测速度控制器以积分滑模面为目标结构结合预测转速模型构建得到；Step 1. Obtain the rotational speed sensor signal ω r sampled by the electrical platform, and compare the rotational speed sensor signal ω r with the speed command
Figure BDA0003772424730000011
Subtraction, input to the integral sliding mode predictive speed controller, and calculate the current control signal
Figure BDA0003772424730000021
And based on the id = 0 control method, the current control signal of the d -axis is obtained
Figure BDA0003772424730000022
The integral sliding mode predictive speed controller is constructed by taking the integral sliding mode surface as the target structure and the predictive rotational speed model;

步骤2、将所述电流控制信号

Figure BDA0003772424730000023
和
Figure BDA0003772424730000024
与分别电气平台采样得到的实际信号id和iq做差，将得到的值输入到积分滑模预测电流控制器，输出电压uq和ud进入电流环，通过空间矢量调制得到脉冲信号；所述积分滑模预测电流控制器是按d-q电流坐标系设计的电流环的滑模预测电流控制器，包括d轴电流控制回路模块和q轴电流控制回路模块；Step 2, the current control signal
Figure BDA0003772424730000023
and
Figure BDA0003772424730000024
Make a difference with the actual signals id and i q sampled by the electrical platform respectively, input the obtained value to the integral sliding mode predictive current controller, the output voltages u q and u d enter the current loop, and obtain the pulse signal through space vector modulation ; The integral sliding mode predictive current controller is a sliding mode predictive current controller of a current loop designed according to the dq current coordinate system, including a d-axis current control loop module and a q-axis current control loop module;

步骤3、将得到的脉冲信号输出给控制电机，驱动电机运行，实现转速环与电流环的控制。Step 3. Output the obtained pulse signal to the control motor, drive the motor to run, and realize the control of the speed loop and the current loop.

进一步的，所述积分滑模预测速度控制器的具体实现方式如下：Further, the specific implementation of the integral sliding mode predictive speed controller is as follows:

步骤a1、建立转速环的永磁同步电机模型：Step a1, establish the permanent magnet synchronous motor model of the speed loop:

Figure BDA0003772424730000025
Figure BDA0003772424730000025

其中，ωm为转子机械角速度，J为转动惯量，Te为电磁转矩，Tl为负载转矩，B为摩擦系数，ψf为永磁体磁链，iq为q轴的电流，Pn为极对数，

Figure BDA00037724247300000210
为转速的导数；Among them, ω m is the mechanical angular velocity of the rotor, J is the moment of inertia, T e is the electromagnetic torque, T l is the load torque, B is the friction coefficient, ψ f is the permanent magnet flux linkage, i q is the q-axis current, P n is the pole logarithm,
Figure BDA00037724247300000210
is the derivative of the rotational speed;

步骤a2、确定滑模控制的积分滑模面：Step a2, determine the integral sliding mode surface of the sliding mode control:

Figure BDA0003772424730000026
Figure BDA0003772424730000026

其中，sω(t)为滑模面，eω(t)为给定值与反馈值的的误差，cω为积分的系数；Among them, s ω (t) is the sliding mode surface, e ω (t) is the error between the given value and the feedback value, and c ω is the integral coefficient;

步骤a3、基于预测控制建立经过时间T的滑模面表示为：In step a3, the sliding mode surface of the elapsed time T is established based on the predictive control and expressed as:

Figure BDA0003772424730000027
Figure BDA0003772424730000027

步骤a4、确定滑模面在不同阶的模型：Step a4. Determine the models of the sliding surface at different orders:

Figure BDA0003772424730000028
Figure BDA0003772424730000028

其中，cω表示转速环的积分面系数，eω为给定转速与实际转速的偏差，

Figure BDA0003772424730000029
为转速的控制命令值；Among them, c ω represents the integral surface coefficient of the speed loop, e ω is the deviation between the given speed and the actual speed,
Figure BDA0003772424730000029
is the control command value of the speed;

步骤a5、将滑模面代入滑模预测模型架构：Step a5. Substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000031
Figure BDA0003772424730000031

其中T为控制周期，kω为系数，sgn为符号函数，εω为符号函数系数；where T is the control period, k ω is the coefficient, sgn is the sign function, and ε ω is the sign function coefficient;

步骤a6、得到积分滑模预测速度控制器为：In step a6, the integral sliding mode prediction speed controller is obtained as:

Figure BDA0003772424730000032
Figure BDA0003772424730000032

进一步的，所述q轴电流控制回路模块具体实现方式如下：Further, the specific implementation of the q-axis current control loop module is as follows:

步骤b1、建立电流环iq轴系数学模型：Step b1, establish the current loop iq axis coefficient mathematical model:

Figure BDA0003772424730000033
Figure BDA0003772424730000033

其中，uq为q轴的电压，id、iq分别为d、q轴的电流，ωe为电机转子电角速度，R为定子电阻，Ld、Lq分别为d、q轴电感，ψf为永磁体磁链；Among them, u q is the voltage of the q axis, id and i q are the current of the d and q axes, respectively, ω e is the electrical angular velocity of the motor rotor, R is the stator resistance, L d and L q are the inductances of the d and q axes, respectively, ψ f is the permanent magnet flux linkage;

步骤b2、设计电流环积分滑模面：Step b2, design the current loop integral sliding mode surface:

Figure BDA0003772424730000034
Figure BDA0003772424730000034

其中，sq为q轴的电流环积分滑模面，eq为给定值与反馈值的误差，cq为滑模面系数；Among them, s q is the current loop integral sliding mode surface of the q axis, e q is the error between the given value and the feedback value, and c q is the sliding mode surface coefficient;

步骤b3、预测经过时间T的滑模面表示为：Step b3, the sliding surface of the predicted time T is expressed as:

Figure BDA0003772424730000035
Figure BDA0003772424730000035

步骤b4、确定滑模面在不同阶的模型：Step b4, determine the models of the sliding surface in different orders:

Figure BDA0003772424730000036
Figure BDA0003772424730000036

其中，sq为q轴电流环滑模面，

Figure BDA0003772424730000037
为q轴电流环滑模面的导数，cq为q轴电流环滑模面参数，eq为给定值与反馈值的误差；Among them, s q is the sliding mode surface of the q-axis current loop,
Figure BDA0003772424730000037
is the derivative of the sliding mode surface of the q-axis current loop, c q is the parameter of the sliding mode surface of the q-axis current loop, and e q is the error between the given value and the feedback value;

步骤b5、将滑模面代入滑模预测模型架构：Step b5: Substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000038
Figure BDA0003772424730000038

Figure BDA0003772424730000039
Figure BDA0003772424730000039

步骤b6、对积分滑模预测q轴电流控制器进行简化：Step b6, simplify the integral sliding mode prediction q-axis current controller:

Figure BDA0003772424730000041
Figure BDA0003772424730000041

进一步的，所述d轴电流控制回路模块具体实现方式如下：Further, the specific implementation of the d-axis current control loop module is as follows:

步骤c1、建立电流环id轴系数学模型：Step c1, establish the current loop id axis coefficient mathematical model:

Figure BDA0003772424730000042
Figure BDA0003772424730000042

其中，ud为d轴的电压，id、iq分别为d、q轴的电流，ωe为电机转子电角速度，R为定子电阻，Ld、Lq分别为d、q轴电感；Among them, ud is the voltage of the d axis, id and i q are the current of the d and q axes, respectively, ω e is the electrical angular velocity of the motor rotor, R is the stator resistance, and L d and L q are the inductances of the d and q axes, respectively;

步骤c2、设计电流环积分滑模面：Step c2, design the current loop integral sliding mode surface:

Figure BDA0003772424730000043
Figure BDA0003772424730000043

步骤c3、预测经过时间T的滑模面表示为：Step c3, the sliding surface of the predicted elapsed time T is expressed as:

Figure BDA0003772424730000048
Figure BDA0003772424730000048

步骤c4、确定滑模面在不同阶的模型：Step c4, determine the models of the sliding surface at different orders:

Figure BDA0003772424730000044
Figure BDA0003772424730000044

步骤c5、将滑模面代入滑模预测模型架构：Step c5, substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000045
Figure BDA0003772424730000045

Figure BDA0003772424730000046
Figure BDA0003772424730000046

步骤c6、对积分滑模预测d轴电流控制器进行简化：Step c6, simplify the integral sliding mode prediction d-axis current controller:

Figure BDA0003772424730000047
Figure BDA0003772424730000047

本发明具有如下优点：结合积分滑模控制的结构与模型预测控制算法，设计积分滑模预测控制器(ISMPC)，并基于永磁同步电机的转速模型与电流模型，设计滑模预测速度与电流控制算法，实现速度环与电流环的强鲁棒性跟踪，提高系统整体的响应速度。The invention has the following advantages: combining the structure of the integral sliding mode control and the model predictive control algorithm, the integral sliding mode predictive controller (ISMPC) is designed, and based on the rotational speed model and the current model of the permanent magnet synchronous motor, the sliding mode prediction speed and current are designed The control algorithm realizes the strong robust tracking of the speed loop and the current loop, and improves the overall response speed of the system.

附图说明Description of drawings

下面参照附图结合实施例对本发明作进一步的说明。The present invention will be further described below with reference to the accompanying drawings and embodiments.

图1为本发明一种永磁同步电机积分滑模预测控制方法执行流程图。FIG. 1 is an execution flow chart of an integral sliding mode predictive control method for a permanent magnet synchronous motor according to the present invention.

图2为本发明滑模预测控制算法结构示意图。FIG. 2 is a schematic structural diagram of the sliding mode predictive control algorithm of the present invention.

图3为本发明系统结构示意图。FIG. 3 is a schematic diagram of the system structure of the present invention.

具体实施方式Detailed ways

如图1至图3所示，本发明提供的一种永磁同步电机积分滑模预测控制方法，包括如下步骤：As shown in FIGS. 1 to 3 , a method for integral sliding mode predictive control of a permanent magnet synchronous motor provided by the present invention includes the following steps:

步骤1、获取电气平台采样得到的转速传感器信号ωr，将所述转速传感器信号ωr与速度命令

Figure BDA0003772424730000051
相减，传入积分滑模预测速度控制器，计算得到电流控制信号
Figure BDA0003772424730000052
并基于id＝0控制方法得到d轴(即d-q坐标系中的d轴)的电流控制信号
Figure BDA0003772424730000053
所述积分滑模预测速度控制器以积分滑模面为目标结构结合预测转速模型构建得到；Step 1. Obtain the rotational speed sensor signal ω r sampled by the electrical platform, and compare the rotational speed sensor signal ω r with the speed command
Figure BDA0003772424730000051
Subtraction, input to the integral sliding mode predictive speed controller, and calculate the current control signal
Figure BDA0003772424730000052
And based on the id = 0 control method, the current control signal of the d axis (ie the d axis in the dq coordinate system) is obtained
Figure BDA0003772424730000053
The integral sliding mode predictive speed controller is constructed by taking the integral sliding mode surface as the target structure and the predictive rotational speed model;

步骤2、将所述电流控制信号

Figure BDA0003772424730000054
和
Figure BDA0003772424730000055
分别与电气平台采样得到的实际信号id和iq做差，将得到的值输入到积分滑模预测电流控制器，输出电压uq和ud进入电流环，通过空间矢量调制得到脉冲信号；所述积分滑模预测电流控制器是按d-q电流坐标系设计的电流环的滑模预测电流控制器，包括d轴电流控制回路模块和q轴电流控制回路模块；Step 2, the current control signal
Figure BDA0003772424730000054
and
Figure BDA0003772424730000055
The difference is made with the actual signals id and i q sampled by the electrical platform respectively, and the obtained values are input into the integral sliding mode predictive current controller, the output voltages u q and ud enter the current loop, and the pulse signal is obtained through space vector modulation ; The integral sliding mode predictive current controller is a sliding mode predictive current controller of a current loop designed according to the dq current coordinate system, including a d-axis current control loop module and a q-axis current control loop module;

步骤3、将得到的脉冲信号输出给控制电机，驱动电机运行，实现转速环与电流环的控制。Step 3. Output the obtained pulse signal to the control motor, drive the motor to run, and realize the control of the speed loop and the current loop.

如图3所示，整个系统平台为三层结构。最下层为电气平台包括负载逆变器、驱动逆变器与对托电机；中间层为数字信号处理层，包括模数转换，增量式编码器，控制器，串口通信，与脉冲生成模块；最上层为算法模型，主要包括克拉克与帕克变换，控制系统模型与空间矢量变换。首先采样电气层的电流，转速等信号传送至中间层数字信号处理器，进行模数转换与转速编码转换，在算法层根据输入信号与电机模型进行控制模型计算，得到最优脉冲通过PWM发送至驱动器，并且通过串口通信与上位机相连接，进行控制，从而完成整个系统的控制。As shown in Figure 3, the entire system platform is a three-layer structure. The bottom layer is the electrical platform including the load inverter, the drive inverter and the supporting motor; the middle layer is the digital signal processing layer, including analog-to-digital conversion, incremental encoder, controller, serial communication, and pulse generation module; The top layer is the algorithm model, mainly including Clark and Parker transformation, control system model and space vector transformation. First, the current, speed and other signals of the electrical layer are sampled and sent to the middle layer digital signal processor for analog-to-digital conversion and speed code conversion. At the algorithm layer, the control model is calculated according to the input signal and the motor model, and the optimal pulse is sent to the The drive is connected with the host computer through serial communication to control, so as to complete the control of the entire system.

较佳的，所述积分滑模预测速度控制器的具体实现方式如下：Preferably, the specific implementation of the integral sliding mode predictive speed controller is as follows:

步骤a1、建立转速环的永磁同步电机模型：Step a1, establish the permanent magnet synchronous motor model of the speed loop:

Figure BDA0003772424730000061
Figure BDA0003772424730000061

其中，ωm为转子机械角速度，J为转动惯量，Te为电磁转矩，Tl为负载转矩，B为摩擦系数，ψf为永磁体磁链，iq为q轴的电流，Pn为极对数，

Figure BDA0003772424730000064
为转速的导数；Among them, ω m is the mechanical angular velocity of the rotor, J is the moment of inertia, T e is the electromagnetic torque, T l is the load torque, B is the friction coefficient, ψ f is the permanent magnet flux linkage, i q is the q-axis current, P n is the pole logarithm,
Figure BDA0003772424730000064
is the derivative of the rotational speed;

步骤a2、确定滑模控制的积分滑模面：Step a2, determine the integral sliding mode surface of the sliding mode control:

Figure BDA0003772424730000062
Figure BDA0003772424730000062

其中，sω(t)为滑模面，eω(t)为给定值与反馈值的的误差，cω为积分的系数；Among them, s ω (t) is the sliding mode surface, e ω (t) is the error between the given value and the feedback value, and c ω is the integral coefficient;

步骤a3、基于预测控制建立经过时间T(即一个控制周期)的滑模面表示为：In step a3, the sliding mode surface of the elapsed time T (that is, a control period) based on the predictive control is established as:

Figure BDA0003772424730000065
Figure BDA0003772424730000065

步骤a4、确定滑模面在不同阶的模型：Step a4. Determine the models of the sliding surface at different orders:

Figure BDA0003772424730000063
Figure BDA0003772424730000063

其中，cω表示转速环的积分面系数，eω为给定转速与实际转速的偏差，

Figure BDA0003772424730000071
为转速的控制命令值；Among them, c ω represents the integral surface coefficient of the speed loop, e ω is the deviation between the given speed and the actual speed,
Figure BDA0003772424730000071
is the control command value of the speed;

步骤a5、将滑模面代入滑模预测模型架构：Step a5. Substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000072
Figure BDA0003772424730000072

其中T为控制周期，kω为系数，sgn为符号函数，εω为符号函数系数；where T is the control period, k ω is the coefficient, sgn is the sign function, and ε ω is the sign function coefficient;

步骤a6、得到积分滑模预测速度控制器为：In step a6, the integral sliding mode prediction speed controller is obtained as:

Figure BDA0003772424730000073
Figure BDA0003772424730000073

较佳的，所述q轴电流控制回路模块具体实现方式如下：Preferably, the specific implementation of the q-axis current control loop module is as follows:

步骤b1、建立电流环iq轴系数学模型：Step b1, establish the current loop iq axis coefficient mathematical model:

Figure BDA0003772424730000074
Figure BDA0003772424730000074

其中，uq为q轴的电压，id、iq分别为d、q轴的电流，ωe为电机转子电角速度，R为定子电阻，Ld、Lq分别为d、q轴电感，ψf为永磁体磁链；Among them, u q is the voltage of the q axis, id and i q are the current of the d and q axes, respectively, ω e is the electrical angular velocity of the motor rotor, R is the stator resistance, L d and L q are the inductances of the d and q axes, respectively, ψ f is the permanent magnet flux linkage;

步骤b2、设计电流环积分滑模面：Step b2, design the current loop integral sliding mode surface:

Figure BDA0003772424730000075
Figure BDA0003772424730000075

其中，sq为q轴的电流环积分滑模面，eq为给定值与反馈值的误差，cq为滑模面系数；Among them, s q is the current loop integral sliding mode surface of the q axis, e q is the error between the given value and the feedback value, and c q is the sliding mode surface coefficient;

步骤b3、预测经过时间T的滑模面表示为：Step b3, the sliding surface of the predicted time T is expressed as:

Figure BDA0003772424730000076
Figure BDA0003772424730000076

步骤b4、确定滑模面在不同阶的模型：Step b4, determine the models of the sliding surface in different orders:

Figure BDA0003772424730000077
Figure BDA0003772424730000077

其中，sq为q轴电流环滑模面，

Figure BDA0003772424730000078
为q轴电流环滑模面的导数，cq为q轴电流环滑模面参数，eq为给定值与反馈值的误差；Among them, s q is the sliding mode surface of the q-axis current loop,
Figure BDA0003772424730000078
is the derivative of the sliding mode surface of the q-axis current loop, c q is the parameter of the sliding mode surface of the q-axis current loop, and e q is the error between the given value and the feedback value;

步骤b5、将滑模面代入滑模预测模型架构：Step b5: Substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000079
Figure BDA0003772424730000079

Figure BDA0003772424730000081
Figure BDA0003772424730000081

步骤b6、对积分滑模预测q轴电流控制器进行简化：Step b6, simplify the integral sliding mode prediction q-axis current controller:

Figure BDA0003772424730000082
Figure BDA0003772424730000082

较佳的，所述d轴电流控制回路模块具体实现方式如下：Preferably, the specific implementation of the d-axis current control loop module is as follows:

步骤c1、建立电流环id轴系数学模型：Step c1, establish the current loop id axis coefficient mathematical model:

Figure BDA0003772424730000083
Figure BDA0003772424730000083

其中，ud为d轴的电压，id、iq分别为d、q轴的电流，ωe为电机转子电角速度，R为定子电阻，Ld、Lq分别为d、q轴电感；Among them, ud is the voltage of the d axis, id and i q are the current of the d and q axes, respectively, ω e is the electrical angular velocity of the motor rotor, R is the stator resistance, and L d and L q are the inductances of the d and q axes, respectively;

步骤c2、设计电流环积分滑模面：Step c2, design the current loop integral sliding mode surface:

Figure BDA0003772424730000084
Figure BDA0003772424730000084

步骤c3、预测经过时间T的滑模面表示为：Step c3, the sliding surface of the predicted elapsed time T is expressed as:

Figure BDA0003772424730000085
Figure BDA0003772424730000085

步骤c4、确定滑模面在不同阶的模型：Step c4, determine the models of the sliding surface at different orders:

Figure BDA0003772424730000086
Figure BDA0003772424730000086

步骤c5、将滑模面代入滑模预测模型架构：Step c5, substitute the sliding mode surface into the sliding mode prediction model architecture:

Figure BDA0003772424730000087
Figure BDA0003772424730000087

Figure BDA0003772424730000088
Figure BDA0003772424730000088

步骤c6、对积分滑模预测d轴电流控制器进行简化：Step c6, simplify the integral sliding mode prediction d-axis current controller:

Figure BDA0003772424730000089
Figure BDA0003772424730000089

本申请实施例中提供的技术方案，至少具有如下技术效果或优点：其一为采用滑模预测速度控制方法进行电机的转速环控制，综合提升了滑模控制的鲁棒性与预测控制的响应速度。其二为在d-q电流坐标系中，设计d轴q轴两个滑模预测电流控制方法，实现电流环的高速鲁棒响应，进而提高整体控制精度。The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: one is that the sliding mode predictive speed control method is used to control the rotational speed loop of the motor, which comprehensively improves the robustness of the sliding mode control and the response of the predictive control. speed. The second is to design two sliding-mode predictive current control methods for the d-axis and q-axis in the d-q current coordinate system to achieve high-speed robust response of the current loop, thereby improving the overall control accuracy.

虽然以上描述了本发明的具体实施方式，但是熟悉本技术领域的技术人员应当理解，我们所描述的具体的实施例只是说明性的，而不是用于对本发明的范围的限定，熟悉本领域的技术人员在依照本发明的精神所作的等效的修饰以及变化，都应当涵盖在本发明的权利要求所保护的范围内。Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments we describe are only illustrative, rather than used to limit the scope of the present invention. Equivalent modifications and changes made by a skilled person in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims (4)

1. An integral sliding mode prediction control method for a permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed command
Figure FDA0003772424720000011
Subtracting, transmitting into an integral sliding mode predicted speed controller, and calculatingObtaining a current control signal
Figure FDA0003772424720000012
And is based on i d Method for controlling =0 to obtain current control signal of d axis
Figure FDA0003772424720000013
The integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, the current control signal is used
Figure FDA0003772424720000014
And
Figure FDA0003772424720000015
with actual signals i sampled by respective electrical platforms d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
and 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop.
2. The method of claim 1, wherein: the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
Figure FDA0003772424720000016
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia,T e for electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is a current of q-axis, P n The number of the pole pairs is the number of the pole pairs,
Figure FDA0003772424720000017
is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
Figure FDA0003772424720000018
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value from the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T based on the predictive control, and expressing as follows:
Figure FDA0003772424720000019
step a4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000021
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,
Figure FDA0003772424720000022
the control command value is the rotating speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000023
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
Figure FDA0003772424720000024
3. the method of claim 1, wherein: the q-axis current control loop module is specifically realized as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
Figure FDA0003772424720000025
wherein u is q Is the voltage of the q-axis, i d 、i q Currents of d and q axes, ω e Is the electrical angular velocity of the motor rotor, R is the stator resistance, L d 、L q D, q-axis inductances,. Psi f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
Figure FDA0003772424720000026
wherein s is q Current loop integral slip form plane of q-axis, e q Error of given value from feedback value, c q Is the sliding mode surface coefficient;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure FDA0003772424720000027
step b4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000031
wherein s is q Is a q-axis current loop sliding mode surface,
Figure FDA0003772424720000032
is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q Is the error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000033
Figure FDA0003772424720000034
step b6, simplifying an integral sliding mode prediction q-axis current controller:
Figure FDA0003772424720000035
4. the method of claim 1, wherein: the d-axis current control loop module is specifically realized as follows:
step c1, establishing a current loop id shafting mathematical model:
Figure FDA0003772424720000036
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity, R, of the rotor of the machineIs stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
Figure FDA0003772424720000037
step c3, the sliding mode surface of the predicted elapsed time T is expressed as:
Figure FDA0003772424720000038
step c4, determining models of the sliding mode surface in different orders:
Figure FDA0003772424720000039
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
Figure FDA0003772424720000041
Figure FDA0003772424720000042
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
Figure FDA0003772424720000043
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