CN115347841A - Dead-beat prediction current loop control method for permanent magnet synchronous motor - Google Patents

Dead-beat prediction current loop control method for permanent magnet synchronous motor Download PDF

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CN115347841A
CN115347841A CN202211159454.4A CN202211159454A CN115347841A CN 115347841 A CN115347841 A CN 115347841A CN 202211159454 A CN202211159454 A CN 202211159454A CN 115347841 A CN115347841 A CN 115347841A
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current
sliding mode
speed
observed value
permanent magnet
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郝文波
徐睿琦
赵悦
纪游
景菲
林欣魄
刘健行
顾智行
赵雷雷
李元开
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State Grid Heilongjiang Electric Power Co Ltd Electric Power Research Institute
State Grid Corp of China SGCC
Harbin Institute of Technology Shenzhen
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State Grid Heilongjiang Electric Power Co Ltd Electric Power Research Institute
State Grid Corp of China SGCC
Harbin Institute of Technology Shenzhen
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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
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • 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
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A dead-beat prediction current loop control method for a permanent magnet synchronous motor belongs to the technical field of motor control. The invention solves the problems of parameter mismatching in the current loop and strong interference of parameters and loads in the speed loop in the existing compensation process. The method comprises the steps of establishing a mathematical model of the permanent magnet synchronous motor, and obtaining a current loop supercoiled sliding-mode observer by using the mathematical model; establishing a motor motion equation with disturbance, and designing a speed ring high-order sliding mode observer; observing the speed ring disturbance of the motor by using a speed ring supercoiled sliding-mode observer to obtain a disturbance observation result; improving a sliding mode approximation law by using the actual rotating speed and the given value of the rotating speed of the motor to obtain a speed control law; and inputting the observed value and the speed control law of the current loop supercoiled sliding-mode observer into a dead-beat current controller to obtain a current loop control signal. The invention is suitable for dead-beat prediction current control of the permanent magnet synchronous motor.

Description

一种永磁同步电机无差拍预测电流环控制方法A Deadbeat Predictive Current Loop Control Method for Permanent Magnet Synchronous Motor

技术领域technical field

本发明属于电机控制技术领域。The invention belongs to the technical field of motor control.

背景技术Background technique

在永磁同步电机驱动系统中，传统的控制方法主要有矢量控制和直接转矩控制。但对于高速发展的工业领域而言，传统的控制策略并不能满足不断发展的工业需求，因此一些新型现代控制方法相继被学者们提出。模型预测控制自问世以来已经在复杂工业过程中取得了巨大成功，从原来的启发式控制算法发展成为了工业领域新的学科分支。无差拍预测电流控制作为一种典型的基于模型的方法，系统模型的失配会严重降低控制器的性能。通过设计一个观测器来估计扰动与不确定性变量，然后将估计到的干扰补偿到预测控制器中是一种十分有效的方法，但是现有的补偿过程中存在电流环中参数失配问题和速度环中参数和负载的干扰性强的问题。In the permanent magnet synchronous motor drive system, the traditional control methods mainly include vector control and direct torque control. However, for the rapidly developing industrial field, traditional control strategies cannot meet the continuously developing industrial needs, so some new modern control methods have been proposed by scholars one after another. Model predictive control has achieved great success in complex industrial processes since its inception, and has developed from the original heuristic control algorithm to a new branch of the industry. Deadbeat predictive current control is a typical model-based method, and the mismatch of the system model will seriously degrade the performance of the controller. It is a very effective method to estimate the disturbance and uncertainty variables by designing an observer, and then compensate the estimated disturbance to the predictive controller, but the existing compensation process has the problem of parameter mismatch in the current loop and The problem of strong interference of parameters and loads in the speed loop.

发明内容Contents of the invention

本发明目的是为了解决现有补偿过程中存在电流环中参数失配问题和速度环中参数和负载的干扰性强的问题，提供了一种永磁同步电机无差拍预测电流控制方法。The purpose of the present invention is to solve the problem of parameter mismatch in the current loop and the strong interference of parameters and loads in the speed loop in the existing compensation process, and to provide a permanent magnet synchronous motor deadbeat prediction current control method.

本发明所述一种永磁同步电机无差拍预测电流控制方法，包括：A deadbeat predictive current control method for a permanent magnet synchronous motor according to the present invention, comprising:

步骤一、建立永磁同步电机的数学模型，利用所述数学模型，获取电流环超螺旋滑模观测器；Step 1, establishing a mathematical model of the permanent magnet synchronous motor, using the mathematical model to obtain a current loop superhelical sliding mode observer;

建立带有扰动的电机运动方程，设计速度环高阶滑模观测器；Establish the motion equation of the motor with disturbance, and design a high-order sliding mode observer for the speed loop;

步骤二、利用速度环超螺旋滑模观测器对电机的速度环扰动进行观测，获取扰动观测结果；Step 2, using the speed loop superhelical sliding mode observer to observe the disturbance of the speed loop of the motor, and obtain the disturbance observation result;

步骤三、利用电机实际转速和转速给定值对滑模趋近律改进，将所述扰动观测结果补偿到改进后的滑模趋近律中，获得速度控制律；Step 3, using the actual speed of the motor and the given value of the speed to improve the sliding mode approach law, and compensating the disturbance observation results into the improved sliding mode approach law to obtain the speed control law;

步骤四、利用电流环超螺旋滑模观测器对电流环进行观测，将电流环超螺旋滑模观测器的观测值和速度控制律输入到无差拍电流控制器，获取电流环控制信号。Step 4: Use the current loop superhelical sliding mode observer to observe the current loop, and input the observation value and speed control law of the current loop superhelical sliding mode observer to the deadbeat current controller to obtain the current loop control signal.

进一步地，本发明中，建立永磁同步电机的数学模型的方法为：Further, in the present invention, the method for establishing the mathematical model of the permanent magnet synchronous motor is:

建立永磁同步电机在dq坐标系下的定子电流方程：Establish the stator current equation of the permanent magnet synchronous motor in the dq coordinate system:

Figure BDA0003858952520000021
Figure BDA0003858952520000021

其中：ud,uq分别为dq坐标系下的定子电压的d轴分量和q轴分量；id,iq分别为dq坐标系下定子电流的d轴分量和q轴分量；R为定子电阻；Ld,Lq分别为d、q轴定子电感；ωe为电机的角速度；ψf为转子永磁体磁链幅值；Among them: u d , u q are the d-axis component and q-axis component of the stator voltage in the dq coordinate system; id and i q are the d -axis component and q-axis component of the stator current in the dq coordinate system; R is the stator voltage Resistance; L d , L q are d and q axis stator inductance respectively; ω e is the angular velocity of the motor; ψ f is the flux amplitude of the permanent magnet of the rotor;

采用前向欧拉法对所述定子电流方程进行离散化，在一个调制周期后控制实际电流矢量i(k+1)达到参考电流值i*(k+1)，i(k+1)＝i*(k+1)，获取永磁同步电机的离散电流模型：The forward Euler method is used to discretize the stator current equation, and after one modulation cycle, the actual current vector i(k+1) is controlled to reach the reference current value i * (k+1), i(k+1)= i * (k+1), to obtain the discrete current model of the permanent magnet synchronous motor:

Figure BDA0003858952520000022
Figure BDA0003858952520000022

其中，ud(k)是dq坐标系下定子电压第k个调制周期的d轴分量；uq(k)是dq坐标系下定子电压第k个调制周期的q轴分量；Ts为采样周期，id(k)是dq坐标系下定子电流第k个调制周期的d轴分量，id(k)是dq坐标系下定子电流第k个调制周期的q轴分量，

Figure BDA0003858952520000023
是dq坐标系下定子电流第k+1个调制周期的d轴分量的给定值，
Figure BDA0003858952520000024
是dq坐标系下定子电流第k+1个调制周期的q轴分量的给定值。Among them, u d (k) is the d-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; u q (k) is the q-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; T s is the sampling period, id (k) is the d -axis component of the kth modulation period of the stator current in the dq coordinate system, and id (k) is the q-axis component of the kth modulation period of the stator current in the dq coordinate system,
Figure BDA0003858952520000023
is the given value of the d-axis component of the k+1th modulation period of the stator current in the dq coordinate system,
Figure BDA0003858952520000024
It is the given value of the q-axis component of the k+1th modulation period of the stator current in the dq coordinate system.

进一步地，本发明中，步骤一中，利用所述数学模型，获取电流环超螺旋滑模观测器的方法为：Further, in the present invention, in step 1, using the mathematical model, the method of obtaining the current loop superhelical sliding mode observer is:

利用所述数学模型建立包含参数不确定性的电压方程，根据所述包含参数不确定性的电压方程，获取电流环超螺旋滑模观测器表达式为：Using the mathematical model to establish a voltage equation containing parameter uncertainty, according to the voltage equation containing parameter uncertainty, the expression of the current loop superhelical sliding mode observer is obtained as:

Figure BDA0003858952520000025
Figure BDA0003858952520000025

Figure BDA0003858952520000031
Figure BDA0003858952520000031

其中，

Figure BDA0003858952520000032
为id的观测值，
Figure BDA0003858952520000033
为iq的观测值，k1为d轴电流观测器的第一控制参数，k2为d轴电流观测器的第二控制参数，k3为d轴电流观测器的第三控制参数；k4为q轴电流观测器的第一控制参数，k5为q轴电流观测器的第二控制参数，k6为q轴电流观测器的第三控制参数，Fd,Fq分别为fd,fq的导数，
Figure BDA0003858952520000034
分别为
Figure BDA0003858952520000035
的导数，
Figure BDA0003858952520000036
为Fq的观测值，
Figure BDA0003858952520000037
为Fd的观测值，
Figure BDA0003858952520000038
为Fq的导数，
Figure BDA0003858952520000039
为
Figure BDA00038589525200000310
的导数，sgn()为符号函数，
Figure BDA00038589525200000311
为fd的观测值，
Figure BDA00038589525200000312
为fq的观测值，fd、fq分别为d轴和q轴参数的扰动。in,
Figure BDA0003858952520000032
is the observed value of i d ,
Figure BDA0003858952520000033
is the observed value of i q , k 1 is the first control parameter of the d-axis current observer, k 2 is the second control parameter of the d-axis current observer, k 3 is the third control parameter of the d-axis current observer; k 4 is the first control parameter of the q-axis current observer, k 5 is the second control parameter of the q-axis current observer, k 6 is the third control parameter of the q-axis current observer, F d and F q are respectively f d , the derivative of f q ,
Figure BDA0003858952520000034
respectively
Figure BDA0003858952520000035
derivative of
Figure BDA0003858952520000036
is the observed value of F q ,
Figure BDA0003858952520000037
is the observed value of F d ,
Figure BDA0003858952520000038
is the derivative of F q ,
Figure BDA0003858952520000039
for
Figure BDA00038589525200000310
The derivative of , sgn() is a symbolic function,
Figure BDA00038589525200000311
is the observed value of f d ,
Figure BDA00038589525200000312
is the observed value of f q , and f d and f q are the disturbances of the d-axis and q-axis parameters respectively.

进一步地，本发明中，还包括对电流环超螺旋滑模观测器进行离散的步骤，具体为：Further, in the present invention, the step of discretizing the superhelical sliding mode observer of the current loop is also included, specifically:

利用前向欧拉法，使观测的电流和扰动的误差在有限时间内收敛到零，电流环超螺旋滑模观测器的离散时间方程为：Using the forward Euler method, the observed current and disturbance errors converge to zero within a finite time, and the discrete time equation of the current loop superhelical sliding mode observer is:

Figure BDA00038589525200000313
Figure BDA00038589525200000313

Figure BDA00038589525200000314
Figure BDA00038589525200000314

其中，k为调制周期个数，Ts表示调制周期，

Figure BDA00038589525200000315
为id在第k+1个调制周期时的观测值，
Figure BDA00038589525200000316
为iq在第k+1个调制周期时的观测值，
Figure BDA00038589525200000317
为fd在第k个调制周期时的观测值，
Figure BDA00038589525200000318
为fd在第k+1个调制周期时的观测值，
Figure BDA00038589525200000319
为Fd在第k+1个调制周期时的观测值，
Figure BDA00038589525200000320
为Fd在第k个调制周期时的观测值，
Figure BDA00038589525200000321
为fq第k个调制周期时的观测值，
Figure BDA00038589525200000322
为fq第k+1个调制周期时的观测值，
Figure BDA0003858952520000041
为Fq第k+1个调制周期时的观测值，
Figure BDA0003858952520000042
为Fq第k个调制周期时的观测值，
Figure BDA0003858952520000043
为id在第k个调制周期时的观测值。Among them, k is the number of modulation cycles, T s represents the modulation cycle,
Figure BDA00038589525200000315
is the observed value of i d at the k+1th modulation period,
Figure BDA00038589525200000316
is the observed value of i q at the k+1th modulation period,
Figure BDA00038589525200000317
is the observed value of f d at the kth modulation period,
Figure BDA00038589525200000318
is the observed value of f d at the k+1th modulation period,
Figure BDA00038589525200000319
is the observed value of F d at the k+1th modulation cycle,
Figure BDA00038589525200000320
is the observed value of F d at the kth modulation period,
Figure BDA00038589525200000321
is the observed value of f q at the kth modulation period,
Figure BDA00038589525200000322
is the observed value of f q at the k+1th modulation cycle,
Figure BDA0003858952520000041
is the observed value of F q at the k+1th modulation period,
Figure BDA0003858952520000042
is the observed value of F q at the kth modulation period,
Figure BDA0003858952520000043
is the observed value of i d at the kth modulation period.

进一步地，本发明中，步骤一种，带有扰动的电机运动方程为：Further, in the present invention, in step one, the motor motion equation with disturbance is:

Figure BDA0003858952520000044
Figure BDA0003858952520000044

其中，Pn为磁极对数；ωm为电机机械角速度；B为摩擦系数；J为转动惯量，ρ为参数摄动和外部负载的总扰动。Among them, P n is the number of magnetic pole pairs; ω m is the mechanical angular velocity of the motor; B is the friction coefficient; J is the moment of inertia, and ρ is the total disturbance of parameter perturbation and external load.

进一步地，本发明中，步骤一中，速度环高阶滑模观测器为：Further, in the present invention, in step 1, the high-order sliding mode observer of the velocity loop is:

Figure BDA0003858952520000045
Figure BDA0003858952520000045

式中，

Figure BDA0003858952520000046
为速度观测误差，
Figure BDA0003858952520000047
为ρ的观测值，D为ρ的导数，
Figure BDA0003858952520000048
为D的观测值，kw1为速度环高阶滑模观测器的第一控制参数，kw2为速度环高阶滑模观测器的第二控制参数，kw3为速度环高阶滑模观测器的第三控制参数，
Figure BDA0003858952520000049
为电机机械角速度ωm的观测值。In the formula,
Figure BDA0003858952520000046
is the velocity observation error,
Figure BDA0003858952520000047
is the observed value of ρ, D is the derivative of ρ,
Figure BDA0003858952520000048
is the observed value of D, k w1 is the first control parameter of the speed loop high-order sliding mode observer, k w2 is the second control parameter of the speed loop high-order sliding mode observer, k w3 is the speed loop high-order sliding mode observation The third control parameter of the device,
Figure BDA0003858952520000049
is the observed value of the motor mechanical angular velocity ω m .

进一步地，本发明中，步骤一中，还包括对速度环高阶滑模观测器进行离散化的步骤，具体为：Further, in the present invention, step 1 also includes the step of discretizing the high-order sliding mode observer of the velocity loop, specifically:

Figure BDA00038589525200000410
Figure BDA00038589525200000410

其中，

Figure BDA00038589525200000411
为电机机械角速度第k+1个调制周期时的观测值，ωm(k)为电机机械角速度第k个调制周期时的观测值，
Figure BDA00038589525200000412
为D第k个调制周期时的观测值。in,
Figure BDA00038589525200000411
is the observed value at the k+1th modulation cycle of the motor mechanical angular velocity, ω m (k) is the observed value at the kth modulation cycle of the motor mechanical angular velocity,
Figure BDA00038589525200000412
is the observed value at the kth modulation period of D.

进一步地，本发明中，步骤三中，利用电机实际转速和转速给定值对滑模趋近律改进的方法为：Further, in the present invention, in step 3, the method for improving the sliding mode reaching law by using the actual speed of the motor and the given value of the speed is as follows:

定义滑模面：Define the sliding surface:

Figure BDA00038589525200000413
Figure BDA00038589525200000413

其中，ew为转速误差；c为积分型滑模面的积分系数；s为滑模面；Among them, e w is the speed error; c is the integral coefficient of the integral sliding mode surface; s is the sliding mode surface;

Figure BDA00038589525200000414
Figure BDA00038589525200000414

式中，

Figure BDA0003858952520000051
为转速给定值；In the formula,
Figure BDA0003858952520000051
is the speed given value;

改进滑模趋近律为：The improved sliding mode reaching law is:

Figure BDA0003858952520000052
Figure BDA0003858952520000052

式中，

Figure BDA0003858952520000053
为滑模面s的导数，ks为切换增益，ε为可变项ε+(1-ε)e-δ|s|的增益，kt为线性增益，δ为指数项e-δ|s|的增益，且ks＞0,kt＞0,δ＞0,0＜ε＜1，当系统远离滑模面时，符号函数前面的系数趋近于ks|e|/ε，
Figure BDA0003858952520000054
的值大于ks，加快了收敛速度，当系统到达滑模面时，符号函数前面的系数趋近于ks|ew|，
Figure BDA0003858952520000055
的值小于ks，实现限制抖振。In the formula,
Figure BDA0003858952520000053
is the derivative of the sliding mode surface s, k s is the switching gain, ε is the gain of the variable term ε+(1-ε)e -δ|s| , k t is the linear gain, and δ is the exponential term e -δ|s | , and k s >0, k t >0, δ>0, 0<ε<1, when the system is far away from the sliding mode surface, the coefficient in front of the sign function tends to k s |e|/ε,
Figure BDA0003858952520000054
The value of is greater than k s , which speeds up the convergence speed. When the system reaches the sliding mode surface, the coefficient in front of the sign function tends to k s |e w |,
Figure BDA0003858952520000055
A value of less than k s achieves limited chattering.

进一步地，本发明中，步骤三中，获得速度控制律的方法为：Further, in the present invention, in step 3, the method for obtaining the speed control law is:

将观测的参数摄动和外部负载的总扰动ρ补偿到控制律中，可得速度控制律为：Compensating the observed parameter perturbation and the total disturbance ρ of the external load into the control law, the speed control law can be obtained as:

Figure BDA0003858952520000056
Figure BDA0003858952520000056

Figure BDA0003858952520000057
为电机机械角速度给定值，
Figure BDA0003858952520000058
为
Figure BDA0003858952520000059
的导数。
Figure BDA0003858952520000057
is the given value of the mechanical angular velocity of the motor,
Figure BDA0003858952520000058
for
Figure BDA0003858952520000059
derivative of .

本发明所设计的高阶(三阶，本领域定义二阶以上为高阶)超螺旋滑模观测器可以估计未来电流值和参数失配引起的集中扰动，并有效地消除参数失配的影响，提高电流环的抗扰性能。此外，在速度环中采用改进的滑模趋近律设计速度控制器并设计三阶超螺旋滑模观测器估计参数摄动和外部负载的总扰动补偿到速度控制器中，为电流环提供稳定的电流参考值。The high-order (third-order, defined in the art as high-order above second-order) superhelical sliding mode observer designed by the present invention can estimate the concentrated disturbance caused by future current value and parameter mismatch, and effectively eliminate the influence of parameter mismatch , improve the anti-interference performance of the current loop. In addition, an improved sliding mode reaching law is used in the speed loop to design the speed controller and a third-order super-helical sliding mode observer is designed to estimate the parameter perturbation and the total disturbance of the external load to be compensated in the speed controller to provide stability for the current loop current reference value.

附图说明Description of drawings

图1为本发明基于高阶滑模观测器的永磁同步电机无差拍预测电流控制原理框图；Fig. 1 is the principle block diagram of the present invention's deadbeat prediction current control of permanent magnet synchronous motor based on high-order sliding mode observer;

图2为速度环采用PI控制，电流环采用传统的无差拍预测电流控制且电阻参数变标称参数的10倍，id,iq电流效果图；Figure 2 is the effect diagram of i d , i q current when the speed loop adopts PI control, the current loop adopts traditional deadbeat predictive current control and the resistance parameter becomes 10 times of the nominal parameter;

图3为速度环采用PI控制，电流环采用传统的无差拍预测电流控制且电感参数变标称参数的2倍，id,iq电流效果图；Figure 3 is the current effect diagram of i d and i q when the speed loop adopts PI control, the current loop adopts traditional deadbeat predictive current control and the inductance parameter becomes twice the nominal parameter;

图4为速度环采用PI控制，电流环采用传统的无差拍预测电流控制且磁链参数变标称参数的4倍，id,iq电流效果图；Figure 4 is the current effect diagram of i d and i q when the speed loop adopts PI control, the current loop adopts traditional deadbeat predictive current control and the flux linkage parameter is changed to 4 times of the nominal parameter;

图5为速度环采用PI控制，电流环采用无差拍预测电流控制结合高阶滑模观测器且电阻参数变标称参数的10倍，id,iq电流效果图；Fig. 5 is the speed loop adopts PI control, the current loop adopts deadbeat predictive current control combined with high-order sliding mode observer and the resistance parameter becomes 10 times of the nominal parameter, i d , i q current effect diagram;

图6为速度环采用PI控制，电流环采用无差拍预测电流控制结合高阶滑模观测器且电感参数变标称参数的2倍，id,iq电流效果图；Fig. 6 is the speed loop adopts PI control, the current loop adopts deadbeat predictive current control combined with high-order sliding mode observer, and the inductance parameter becomes twice the nominal parameter, the current effect diagram of i d and i q ;

图7为速度环采用PI控制，电流环采用无差拍预测电流控制结合高阶滑模观测器且磁链参数变标称参数的4倍，id,iq电流效果图；Fig. 7 is the speed loop adopts PI control, the current loop adopts deadbeat predictive current control combined with high-order sliding mode observer and the flux linkage parameter becomes 4 times of the nominal parameter, i d , i q current effect diagram;

图8为采用的改进滑模趋近律速度控制方法的转速图；Fig. 8 is the rotating speed diagram of the improved sliding mode reaching law speed control method adopted;

图9为采用改进滑模趋近律结合高阶滑模观测器控制方法的转速图。Fig. 9 is a diagram of the rotational speed using the improved sliding mode reaching law combined with the high-order sliding mode observer control method.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

具体实施方式一：下面结合图1说明本实施方式，本实施方式所述一种永磁同步电机无差拍预测电流控制方法，包括：Specific Embodiment 1: The present embodiment will be described below in conjunction with FIG. 1 . A dead-beat predictive current control method for a permanent magnet synchronous motor described in this embodiment includes:

步骤一、建立永磁同步电机的数学模型，利用所述数学模型，获取电流环超螺旋滑模观测器；Step 1, establishing a mathematical model of the permanent magnet synchronous motor, using the mathematical model to obtain a current loop superhelical sliding mode observer;

建立带有扰动的电机运动方程，设计速度环高阶滑模观测器；Establish the motion equation of the motor with disturbance, and design a high-order sliding mode observer for the speed loop;

步骤二、利用速度环超螺旋滑模观测器对电机的速度环扰动进行观测，获取扰动观测结果；Step 2, using the speed loop superhelical sliding mode observer to observe the disturbance of the speed loop of the motor, and obtain the disturbance observation result;

步骤三、利用电机实际转速和转速给定值对滑模趋近律改进，将所述扰动观测结果补偿到改进后的滑模趋近律中，获得速度控制律；Step 3, using the actual speed of the motor and the given value of the speed to improve the sliding mode approach law, and compensating the disturbance observation results into the improved sliding mode approach law to obtain the speed control law;

步骤四、利用电流环超螺旋滑模观测器对电流环进行观测，将电流环超螺旋滑模观测器的观测值和速度控制律输入到无差拍电流控制器，获取电流环控制信号。Step 4: Use the current loop superhelical sliding mode observer to observe the current loop, and input the observation value and speed control law of the current loop superhelical sliding mode observer to the deadbeat current controller to obtain the current loop control signal.

本发明提高了永磁同步电机速度和电流抗扰性能和跟踪精度。本发明将参数变化和外部负载变化视为集总扰动，建立内置式永磁同步电机的数学模型，进而构造了两个三阶超螺旋滑模观测器来分别估计速度和电流回路中的集总扰动，并将估计出的扰动前馈到对应的控制器中进行补偿，以提高系统电流环鲁棒性和跟踪精度。此外，为了得到稳定的电流环给定值，在转速控制中采用了一种改进的滑模趋近律，不仅降低了控制信号中的抖振和缩短系统状态到达滑模面所需的时间，还进一步提高了抗扰性能。实验结果证明了本发明的有效性。本发明中，在获取电流环控制信号，将电流环控制信号输入至电流控制器，电流控制器产生电压控制信号

Figure BDA0003858952520000071
经过坐标变换变为
Figure BDA0003858952520000072
进入SVPMW调制模块，产生控制脉冲给到逆变器模块以驱动永磁同步电机转动。The invention improves the speed and current anti-disturbance performance and tracking precision of the permanent magnet synchronous motor. The present invention regards parameter changes and external load changes as lumped disturbances, establishes a mathematical model of the built-in permanent magnet synchronous motor, and then constructs two third-order superhelical sliding mode observers to estimate the lumped disturbance in the speed and current loops respectively. Disturbance, and the estimated disturbance is fed forward to the corresponding controller for compensation, so as to improve the system current loop robustness and tracking accuracy. In addition, in order to obtain a stable current loop given value, an improved sliding mode approach law is used in the speed control, which not only reduces the chattering in the control signal and shortens the time required for the system state to reach the sliding mode surface, The anti-interference performance is further improved. Experimental results prove the effectiveness of the present invention. In the present invention, after obtaining the current loop control signal, the current loop control signal is input to the current controller, and the current controller generates the voltage control signal
Figure BDA0003858952520000071
After coordinate transformation into
Figure BDA0003858952520000072
Enter the SVPMW modulation module to generate control pulses to the inverter module to drive the permanent magnet synchronous motor to rotate.

进一步地，本发明中，建立永磁同步电机的数学模型的方法为：Further, in the present invention, the method for establishing the mathematical model of the permanent magnet synchronous motor is:

建立永磁同步电机在dq坐标系下的定子电流方程：Establish the stator current equation of the permanent magnet synchronous motor in the dq coordinate system:

Figure BDA0003858952520000073
Figure BDA0003858952520000073

其中：ud,uq分别为dq坐标系下的定子电压的d轴分量和q轴分量；id,iq分别为dq坐标系下定子电流的d轴分量和q轴分量；R为定子电阻；Ld,Lq分别为d、q轴定子电感；ωe为电机的角速度；ψf为转子永磁体磁链幅值；Among them: u d , u q are the d-axis component and q-axis component of the stator voltage in the dq coordinate system; id and i q are the d -axis component and q-axis component of the stator current in the dq coordinate system; R is the stator voltage Resistance; L d , L q are d and q axis stator inductance respectively; ω e is the angular velocity of the motor; ψ f is the flux amplitude of the permanent magnet of the rotor;

采用前向欧拉法对所述定子电流方程进行离散化，在一个调制周期后控制实际电流矢量i(k+1)达到参考电流值i*(k+1)，i(k+1)＝i*(k+1)，获取永磁同步电机的离散电流模型：The forward Euler method is used to discretize the stator current equation, and after one modulation cycle, the actual current vector i(k+1) is controlled to reach the reference current value i * (k+1), i(k+1)= i * (k+1), to obtain the discrete current model of the permanent magnet synchronous motor:

Figure BDA0003858952520000074
Figure BDA0003858952520000074

其中，ud(k)是dq坐标系下定子电压第k个调制周期的d轴分量；uq(k)是dq坐标系下定子电压第k个调制周期的q轴分量；Ts为采样周期，id(k)是dq坐标系下定子电流第k个调制周期的d轴分量，id(k)是dq坐标系下定子电流第k个调制周期的q轴分量，

Figure BDA0003858952520000075
是dq坐标系下定子电流第k+1个调制周期的d轴分量的给定值，
Figure BDA0003858952520000076
是dq坐标系下定子电流第k+1个调制周期的q轴分量的给定值，。Among them, u d (k) is the d-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; u q (k) is the q-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; T s is the sampling period, id (k) is the d -axis component of the kth modulation period of the stator current in the dq coordinate system, and id (k) is the q-axis component of the kth modulation period of the stator current in the dq coordinate system,
Figure BDA0003858952520000075
is the given value of the d-axis component of the k+1th modulation period of the stator current in the dq coordinate system,
Figure BDA0003858952520000076
is the given value of the q-axis component of the k+1th modulation period of the stator current in the dq coordinate system,.

进一步地，本发明中，步骤一中，利用所述数学模型，获取电流环超螺旋滑模观测器的方法为：Further, in the present invention, in step 1, using the mathematical model, the method of obtaining the current loop superhelical sliding mode observer is:

利用所述数学模型建立包含参数不确定性的电压方程，根据所述包含参数不确定性的电压方程，获取电流环超螺旋滑模观测器表达式为：Using the mathematical model to establish a voltage equation containing parameter uncertainty, according to the voltage equation containing parameter uncertainty, the expression of the current loop superhelical sliding mode observer is obtained as:

Figure BDA0003858952520000081
Figure BDA0003858952520000081

Figure BDA0003858952520000082
Figure BDA0003858952520000082

其中，

Figure BDA0003858952520000083
为id的观测值，
Figure BDA0003858952520000084
为iq的观测值，k1为d轴电流观测器的第一控制参数，k2为d轴电流观测器的第二控制参数，k3为d轴电流观测器的第三控制参数；k4为q轴电流观测器的第一控制参数，k5为q轴电流观测器的第二控制参数，k6为q轴电流观测器的第三控制参数，Fd,Fq分别为fd,fq的导数，
Figure BDA0003858952520000085
分别为
Figure BDA0003858952520000086
的导数，
Figure BDA0003858952520000087
为Fq的观测值，
Figure BDA0003858952520000088
为Fd的观测值，
Figure BDA0003858952520000089
为Fq的导数，
Figure BDA00038589525200000810
为
Figure BDA00038589525200000811
的导数，sgn()为符号函数，
Figure BDA00038589525200000812
为fd的观测值，
Figure BDA00038589525200000813
为fq的观测值，fd、fq分别为d轴和q轴参数的扰动。in,
Figure BDA0003858952520000083
is the observed value of i d ,
Figure BDA0003858952520000084
is the observed value of i q , k 1 is the first control parameter of the d-axis current observer, k 2 is the second control parameter of the d-axis current observer, k 3 is the third control parameter of the d-axis current observer; k 4 is the first control parameter of the q-axis current observer, k 5 is the second control parameter of the q-axis current observer, k 6 is the third control parameter of the q-axis current observer, F d and F q are respectively f d , the derivative of f q ,
Figure BDA0003858952520000085
respectively
Figure BDA0003858952520000086
derivative of
Figure BDA0003858952520000087
is the observed value of F q ,
Figure BDA0003858952520000088
is the observed value of F d ,
Figure BDA0003858952520000089
is the derivative of F q ,
Figure BDA00038589525200000810
for
Figure BDA00038589525200000811
The derivative of , sgn() is a symbolic function,
Figure BDA00038589525200000812
is the observed value of f d ,
Figure BDA00038589525200000813
is the observed value of f q , and f d and f q are the disturbances of the d-axis and q-axis parameters respectively.

进一步地，本发明中，还包括对电流环超螺旋滑模观测器进行离散的步骤，具体为：Further, in the present invention, the step of discretizing the superhelical sliding mode observer of the current loop is also included, specifically:

利用前向欧拉法，使观测的电流和扰动的误差在有限时间内收敛到零，电流环超螺旋滑模观测器的离散时间方程为：Using the forward Euler method, the observed current and disturbance errors converge to zero within a finite time, and the discrete time equation of the current loop superhelical sliding mode observer is:

Figure BDA00038589525200000814
Figure BDA00038589525200000814

Figure BDA0003858952520000091
Figure BDA0003858952520000091

其中，k为调制周期个数，Ts表示调制周期，

Figure BDA0003858952520000092
为id在第k+1个调制周期时的观测值，
Figure BDA0003858952520000093
为iq在第k+1个调制周期时的观测值，
Figure BDA0003858952520000094
为fd在第k个调制周期时的观测值，
Figure BDA0003858952520000095
为fd在第k+1个调制周期时的观测值，
Figure BDA0003858952520000096
为Fd在第k+1个调制周期时的观测值，
Figure BDA0003858952520000097
为Fd在第k个调制周期时的观测值，
Figure BDA0003858952520000098
为fq第k个调制周期时的观测值，
Figure BDA0003858952520000099
为fq第k+1个调制周期时的观测值，
Figure BDA00038589525200000910
第k+1个调制周期时的观测值，
Figure BDA00038589525200000911
为Fq第k个调制周期时的观测值，
Figure BDA00038589525200000912
为id在第k个调制周期时的观测值。Among them, k is the number of modulation cycles, T s represents the modulation cycle,
Figure BDA0003858952520000092
is the observed value of i d at the k+1th modulation period,
Figure BDA0003858952520000093
is the observed value of i q at the k+1th modulation cycle,
Figure BDA0003858952520000094
is the observed value of f d at the kth modulation period,
Figure BDA0003858952520000095
is the observed value of f d at the k+1th modulation period,
Figure BDA0003858952520000096
is the observed value of F d at the k+1th modulation cycle,
Figure BDA0003858952520000097
is the observed value of F d at the kth modulation period,
Figure BDA0003858952520000098
is the observed value of f q at the kth modulation period,
Figure BDA0003858952520000099
is the observed value of f q at the k+1th modulation cycle,
Figure BDA00038589525200000910
The observed value at the k+1th modulation period,
Figure BDA00038589525200000911
is the observed value of F q at the kth modulation period,
Figure BDA00038589525200000912
is the observed value of i d at the kth modulation period.

进一步地，本发明中，步骤一种，带有扰动的电机运动方程为：Further, in the present invention, in step one, the motor motion equation with disturbance is:

Figure BDA00038589525200000913
Figure BDA00038589525200000913

其中，Pn为磁极对数；ωm为电机机械角速度；B为摩擦系数；J为转动惯量，ρ为参数摄动和外部负载的总扰动。Among them, P n is the number of magnetic pole pairs; ω m is the mechanical angular velocity of the motor; B is the friction coefficient; J is the moment of inertia, and ρ is the total disturbance of parameter perturbation and external load.

进一步地，本发明中，步骤一中，速度环高阶滑模观测器为：Further, in the present invention, in step 1, the high-order sliding mode observer of the velocity loop is:

Figure BDA00038589525200000914
Figure BDA00038589525200000914

式中，

Figure BDA00038589525200000915
为速度观测误差，
Figure BDA00038589525200000916
为ρ的观测值，D为ρ的导数，
Figure BDA00038589525200000917
为D的观测值，kw1为速度环高阶滑模观测器的第一控制参数，kw2为速度环高阶滑模观测器的第二控制参数，kw3为速度环高阶滑模观测器的第三控制参数，
Figure BDA00038589525200000918
为电机机械角速度ωm的观测值。In the formula,
Figure BDA00038589525200000915
is the velocity observation error,
Figure BDA00038589525200000916
is the observed value of ρ, D is the derivative of ρ,
Figure BDA00038589525200000917
is the observed value of D, k w1 is the first control parameter of the speed loop high-order sliding mode observer, k w2 is the second control parameter of the speed loop high-order sliding mode observer, k w3 is the speed loop high-order sliding mode observation The third control parameter of the device,
Figure BDA00038589525200000918
is the observed value of the motor mechanical angular velocity ω m .

进一步地，本发明中，步骤一中，还包括对速度环高阶滑模观测器进行离散化的步骤，具体为：Further, in the present invention, step 1 also includes the step of discretizing the high-order sliding mode observer of the velocity loop, specifically:

Figure BDA0003858952520000101
Figure BDA0003858952520000101

其中，

Figure BDA0003858952520000102
为电机机械角速度第k+1个调制周期时的观测值，ωm(k)为电机机械角速度第k个调制周期时的观测值，
Figure BDA0003858952520000103
为D第k个调制周期时的观测值。in,
Figure BDA0003858952520000102
is the observed value at the k+1th modulation cycle of the motor mechanical angular velocity, ω m (k) is the observed value at the kth modulation cycle of the motor mechanical angular velocity,
Figure BDA0003858952520000103
is the observed value at the kth modulation period of D.

进一步地，本发明中，步骤三中，利用电机实际转速和转速给定值对滑模趋近律改进的方法为：Further, in the present invention, in step 3, the method for improving the sliding mode reaching law by using the actual speed of the motor and the given value of the speed is as follows:

定义滑模面：Define the sliding surface:

Figure BDA0003858952520000104
Figure BDA0003858952520000104

其中，ew为转速误差；c为积分型滑模面的积分系数；s为滑模面；Among them, e w is the speed error; c is the integral coefficient of the integral sliding mode surface; s is the sliding mode surface;

Figure BDA0003858952520000105
Figure BDA0003858952520000105

式中，

Figure BDA0003858952520000106
为转速给定值；In the formula,
Figure BDA0003858952520000106
is the speed given value;

改进滑模趋近律为：The improved sliding mode reaching law is:

Figure BDA0003858952520000107
Figure BDA0003858952520000107

式中，

Figure BDA0003858952520000108
为滑模面s的导数，ks为切换增益，ε为可变项ε+(1-ε)e-δ|s|的增益，kt为线性增益，δ为指数项e-δ|s|的增益，且ks＞0,kt＞0,δ＞0,0＜ε＜1，当系统远离滑模面时，符号函数前面的系数趋近于ks|e|/ε，
Figure BDA0003858952520000109
的值大于ks，加快了收敛速度，当系统到达滑模面时，符号函数前面的系数趋近于ks|ew|，
Figure BDA00038589525200001010
的值小于ks，实现限制抖振。In the formula,
Figure BDA0003858952520000108
is the derivative of the sliding mode surface s, k s is the switching gain, ε is the gain of the variable term ε+(1-ε)e -δ|s| , k t is the linear gain, and δ is the exponential term e -δ|s | , and k s >0, k t >0, δ>0, 0<ε<1, when the system is far away from the sliding mode surface, the coefficient in front of the sign function tends to k s |e|/ε,
Figure BDA0003858952520000109
The value of is greater than k s , which speeds up the convergence speed. When the system reaches the sliding mode surface, the coefficient in front of the sign function tends to k s |e w |,
Figure BDA00038589525200001010
A value of less than k s achieves limited chattering.

进一步地，本发明中，步骤三中，获得速度控制律的方法为：Further, in the present invention, in step 3, the method for obtaining the speed control law is:

将观测的参数摄动和外部负载的总扰动ρ补偿到控制律中，可得速度控制律为：Compensating the observed parameter perturbation and the total disturbance ρ of the external load into the control law, the speed control law can be obtained as:

Figure BDA00038589525200001011
Figure BDA00038589525200001011

Figure BDA00038589525200001012
为电机机械角速度给定值，
Figure BDA00038589525200001013
为
Figure BDA00038589525200001014
的导数。
Figure BDA00038589525200001012
is the given value of the mechanical angular velocity of the motor,
Figure BDA00038589525200001013
for
Figure BDA00038589525200001014
derivative of .

本发明中，步骤一中采用内置式永磁同步电机在dq坐标系下的定子电流方程为：In the present invention, the stator current equation of the built-in permanent magnet synchronous motor under the dq coordinate system in step 1 is:

Figure BDA0003858952520000111
Figure BDA0003858952520000111

电磁转矩方程：Electromagnetic torque equation:

Figure BDA0003858952520000112
Figure BDA0003858952520000112

运动方程：Motion equation:

Figure BDA0003858952520000113
Figure BDA0003858952520000113

其中：ud,uq；id,iq分别为dq坐标系下的定子电压和定子电流；R为定子电阻；Ld,Lq分别为dq轴电感；ωe为电角速度；ψf为转子永磁体磁链幅值；Te为电磁转矩；Pn为磁极对数；ωm为机械角速度；TL为负载转矩；B为摩擦系数；J为转动惯量。Among them: u d , u q ; id , i q are stator voltage and stator current in dq coordinate system respectively; R is stator resistance; L d , L q are dq axis inductance respectively; ω e is electrical angular velocity; ψ f T e is the electromagnetic torque; P n is the number of magnetic pole pairs; ω m is the mechanical angular velocity; T L is the load torque; B is the friction coefficient; J is the moment of inertia.

应用前向欧拉法对(1)中所示的模型进行离散化，永磁同步电机的离散电流模型可以表示为：Apply forward Euler method to discretize the model shown in (1), the discrete current model of permanent magnet synchronous motor can be expressed as:

Figure BDA0003858952520000114
Figure BDA0003858952520000114

其中，Ts为采样周期。根据离散的永磁同步电机的离散电流模型，在一个调制周期后，使实际电流矢量达到参考电流即i(k+1)＝i*(k+1)，此时定子电压表达式如下：Among them, T s is the sampling period. According to the discrete current model of the discrete permanent magnet synchronous motor, after one modulation cycle, the actual current vector reaches the reference current i(k+1)=i * (k+1), at this time the expression of the stator voltage is as follows:

Figure BDA0003858952520000115
Figure BDA0003858952520000115

随着电机运行或外部条件的变化，控制器中设置的参数可能与实际不同。包含参数不确定性的电压方程表示为：As the motor runs or the external conditions change, the parameters set in the controller may be different from the actual ones. The voltage equation including parameter uncertainties is expressed as:

Figure BDA0003858952520000116
Figure BDA0003858952520000116

其中，fd、fq为参数扰动。Among them, f d and f q are parameter perturbations.

用实验结果说明本发明的有效性，本发明的系统参数如表1，本发明的整体控制框图如图1所示。电机空载启动，给定转速为1500r/min，并在运行过程中负载转矩突变为12N·m。在图2到图7的对比可知，电阻的变化对于系统的电流的影响并不明显，但当电感和磁链变化时，传统控制方法的电流脉动变大，跟踪精度下降。且在磁链变化时最为明显，电流iq完全跟踪不上参考电流iqref。本发明所设计的系统在电阻、电感、磁链发生变化时，表现出更好的动态和稳态性能。由图8和图9可知，本发明所设计的系统在负载发生变化时，转速的调节时间更小，且转速跌落也更小。实验表明本发明所设计的系统具有更好的动态和稳态性能。Illustrate effectiveness of the present invention with experimental result, system parameter of the present invention is as table 1, and overall control block diagram of the present invention is as shown in Figure 1. The motor starts without load, the given speed is 1500r/min, and the load torque suddenly changes to 12N·m during operation. From the comparison of Figure 2 to Figure 7, it can be seen that the change of resistance has no obvious influence on the current of the system, but when the inductance and flux linkage change, the current ripple of the traditional control method becomes larger and the tracking accuracy decreases. And it is most obvious when the flux linkage changes, and the current i q cannot track the reference current i qref completely . The system designed by the invention shows better dynamic and steady-state performance when the resistance, inductance and flux linkage change. It can be seen from Fig. 8 and Fig. 9 that when the load changes in the system designed by the present invention, the adjustment time of the speed is shorter, and the speed drop is also smaller. Experiments show that the system designed by the present invention has better dynamic and steady-state performance.

表1Table 1

Figure BDA0003858952520000121
Figure BDA0003858952520000121

虽然在本文中参照了特定的实施方式来描述本发明，但是应该理解的是，这些实施例仅仅是本发明的原理和应用的示例。因此应该理解的是，可以对示例性的实施例进行许多修改，并且可以设计出其他的布置，只要不偏离所附权利要求所限定的本发明的精神和范围。应该理解的是，可以通过不同于原始权利要求所描述的方式来结合不同的从属权利要求和本文中所述的特征。还可以理解的是，结合单独实施例所描述的特征可以使用在其他所述实施例中。Although the invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It is therefore to be understood that numerous modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the invention as defined by the appended claims. It shall be understood that different dependent claims and features described herein may be combined in a different way than that described in the original claims. It will also be appreciated that features described in connection with individual embodiments can be used in other described embodiments.

Claims (9)

1.一种永磁同步电机无差拍预测电流环控制方法，其特征在于，包括：1. A deadbeat prediction current loop control method for permanent magnet synchronous motors, characterized in that it comprises: 步骤一、建立永磁同步电机的数学模型，利用所述数学模型，获取电流环超螺旋滑模观测器；Step 1, establishing a mathematical model of the permanent magnet synchronous motor, using the mathematical model to obtain a current loop superhelical sliding mode observer; 建立带有扰动的电机运动方程，设计速度环高阶滑模观测器；Establish the motion equation of the motor with disturbance, and design a high-order sliding mode observer for the speed loop; 步骤二、利用速度环超螺旋滑模观测器对电机的速度环扰动进行观测，获取扰动观测结果；Step 2, using the speed loop superhelical sliding mode observer to observe the disturbance of the speed loop of the motor, and obtain the disturbance observation result; 步骤三、利用电机实际转速和转速给定值对滑模趋近律改进，将所述扰动观测结果补偿到改进后的滑模趋近律中，获得速度控制律；Step 3, using the actual speed of the motor and the given value of the speed to improve the sliding mode approach law, and compensating the disturbance observation results into the improved sliding mode approach law to obtain the speed control law; 步骤四、利用电流环超螺旋滑模观测器对电流环进行观测，将电流环超螺旋滑模观测器的观测值和速度控制律输入到无差拍电流控制器，获取电流环控制信号。Step 4: Use the current loop superhelical sliding mode observer to observe the current loop, and input the observation value and speed control law of the current loop superhelical sliding mode observer to the deadbeat current controller to obtain the current loop control signal. 2.根据权利要求1所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，建立永磁同步电机的数学模型的方法为：2. a kind of permanent magnet synchronous motor deadbeat prediction current loop control method according to claim 1, is characterized in that, the method for setting up the mathematical model of permanent magnet synchronous motor is: 建立永磁同步电机在dq坐标系下的定子电流方程：Establish the stator current equation of the permanent magnet synchronous motor in the dq coordinate system:
Figure FDA0003858952510000011
Figure FDA0003858952510000011
 其中：ud,uq分别为dq坐标系下的定子电压的d轴分量和q轴分量；id,iq分别为dq坐标系下定子电流的d轴分量和q轴分量；R为定子电阻；Ld,Lq分别为d、q轴定子电感；ωe为电机的角速度；ψf为转子永磁体磁链幅值；Among them: u d , u q are the d-axis component and q-axis component of the stator voltage in the dq coordinate system; id and i q are the d -axis component and q-axis component of the stator current in the dq coordinate system; R is the stator voltage Resistance; L d , L q are d and q axis stator inductance respectively; ω e is the angular velocity of the motor; ψ f is the flux amplitude of the permanent magnet of the rotor; 采用前向欧拉法对所述定子电流方程进行离散化，在一个调制周期后控制实际电流矢量i(k+1)达到参考电流值i*(k+1)，i(k+1)＝i*(k+1)，获取永磁同步电机的离散电流模型：The forward Euler method is used to discretize the stator current equation, and after one modulation cycle, the actual current vector i(k+1) is controlled to reach the reference current value i * (k+1), i(k+1)= i * (k+1), to obtain the discrete current model of the permanent magnet synchronous motor:
Figure FDA0003858952510000012
Figure FDA0003858952510000012
 其中，ud(k)是dq坐标系下定子电压第k个调制周期的d轴分量；uq(k)是dq坐标系下定子电压第k个调制周期的q轴分量；Ts为采样周期，id(k)是dq坐标系下定子电流第k个调制周期的d轴分量，id(k)是dq坐标系下定子电流第k个调制周期的q轴分量，
Figure FDA0003858952510000013
是dq坐标系下定子电流第k+1个调制周期的d轴分量的给定值，
Figure FDA0003858952510000014
是dq坐标系下定子电流第k+1个调制周期的q轴分量的给定值。Among them, u d (k) is the d-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; u q (k) is the q-axis component of the k-th modulation cycle of the stator voltage in the dq coordinate system; T s is the sampling period, id (k) is the d -axis component of the kth modulation period of the stator current in the dq coordinate system, and id (k) is the q-axis component of the kth modulation period of the stator current in the dq coordinate system,
Figure FDA0003858952510000013
is the given value of the d-axis component of the k+1th modulation period of the stator current in the dq coordinate system,
Figure FDA0003858952510000014
It is the given value of the q-axis component of the k+1th modulation period of the stator current in the dq coordinate system. 3.根据权利要求2所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，步骤一中，利用所述数学模型，获取电流环超螺旋滑模观测器的方法为：3. a kind of permanent magnet synchronous motor deadbeat prediction current loop control method according to claim 2, it is characterized in that, in step 1, utilize described mathematical model, the method for obtaining current loop superhelical sliding mode observer is : 利用所述数学模型建立包含参数不确定性的电压方程，根据所述包含参数不确定性的电压方程，获取电流环超螺旋滑模观测器表达式为：Using the mathematical model to establish a voltage equation containing parameter uncertainty, according to the voltage equation containing parameter uncertainty, the expression of the current loop superhelical sliding mode observer is obtained as:
Figure FDA0003858952510000021
Figure FDA0003858952510000021
Figure FDA0003858952510000022
Figure FDA0003858952510000022
 其中，
Figure FDA0003858952510000023
Figure FDA0003858952510000024
为id的观测值，
Figure FDA0003858952510000025
为iq的观测值，k1为d轴电流观测器的第一控制参数，k2为d轴电流观测器的第二控制参数，k3为d轴电流观测器的第三控制参数；k4为q轴电流观测器的第一控制参数，k5为q轴电流观测器的第二控制参数，k6为q轴电流观测器的第三控制参数，Fd,Fq分别为fd,fq的导数，
Figure FDA0003858952510000026
分别为
Figure FDA0003858952510000027
的导数，
Figure FDA0003858952510000028
为Fq的观测值，
Figure FDA0003858952510000029
为Fd的观测值，
Figure FDA00038589525100000210
为Fq的导数，
Figure FDA00038589525100000211
为
Figure FDA00038589525100000212
的导数，sgn()为符号函数，
Figure FDA00038589525100000213
为fd的观测值，
Figure FDA00038589525100000214
为fq的观测值，fd、fq分别为d轴和q轴参数的扰动。in,
Figure FDA0003858952510000023
Figure FDA0003858952510000024
is the observed value of i d ,
Figure FDA0003858952510000025
is the observed value of i q , k 1 is the first control parameter of the d-axis current observer, k 2 is the second control parameter of the d-axis current observer, k 3 is the third control parameter of the d-axis current observer; k 4 is the first control parameter of the q-axis current observer, k 5 is the second control parameter of the q-axis current observer, k 6 is the third control parameter of the q-axis current observer, F d and F q are respectively f d , the derivative of f q ,
Figure FDA0003858952510000026
respectively
Figure FDA0003858952510000027
derivative of
Figure FDA0003858952510000028
is the observed value of F q ,
Figure FDA0003858952510000029
is the observed value of F d ,
Figure FDA00038589525100000210
is the derivative of F q ,
Figure FDA00038589525100000211
for
Figure FDA00038589525100000212
The derivative of , sgn() is a symbolic function,
Figure FDA00038589525100000213
is the observed value of f d ,
Figure FDA00038589525100000214
is the observed value of f q , and f d and f q are the disturbances of the d-axis and q-axis parameters respectively. 4.根据权利要求3所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，还包括对电流环超螺旋滑模观测器进行离散的步骤，具体为：4. A kind of permanent magnet synchronous motor deadbeat prediction current loop control method according to claim 3, is characterized in that, also comprises the step of discretizing the current loop superhelical sliding mode observer, specifically: 利用前向欧拉法，使观测的电流和扰动的误差在有限时间内收敛到零，电流环超螺旋滑模观测器的离散时间方程为：Using the forward Euler method, the observed current and disturbance errors converge to zero within a finite time, and the discrete time equation of the current loop superhelical sliding mode observer is:
Figure FDA00038589525100000215
Figure FDA00038589525100000215
Figure FDA0003858952510000031
Figure FDA0003858952510000031
 其中，k为调制周期个数，Ts表示调制周期，
Figure FDA0003858952510000032
为id在第k+1个调制周期时的观测值，
Figure FDA0003858952510000033
为iq在第k+1个调制周期时的观测值，
Figure FDA0003858952510000034
为fd在第k个调制周期时的观测值，
Figure FDA0003858952510000035
为fd在第k+1个调制周期时的观测值，
Figure FDA0003858952510000036
为Fd在第k+1个调制周期时的观测值，
Figure FDA0003858952510000037
为Fd在第k个调制周期时的观测值，
Figure FDA0003858952510000038
为fq第k个调制周期时的观测值，
Figure FDA0003858952510000039
为fq第k+1个调制周期时的观测值，
Figure FDA00038589525100000310
为Fq第k+1个调制周期时的观测值，
Figure FDA00038589525100000311
为Fq第k个调制周期时的观测值，
Figure FDA00038589525100000312
为id在第k个调制周期时的观测值。Among them, k is the number of modulation cycles, T s represents the modulation cycle,
Figure FDA0003858952510000032
is the observed value of i d at the k+1th modulation period,
Figure FDA0003858952510000033
is the observed value of i q at the k+1th modulation cycle,
Figure FDA0003858952510000034
is the observed value of f d at the kth modulation period,
Figure FDA0003858952510000035
is the observed value of f d at the k+1th modulation period,
Figure FDA0003858952510000036
is the observed value of F d at the k+1th modulation cycle,
Figure FDA0003858952510000037
is the observed value of F d at the kth modulation period,
Figure FDA0003858952510000038
is the observed value of f q at the kth modulation period,
Figure FDA0003858952510000039
is the observed value of f q at the k+1th modulation cycle,
Figure FDA00038589525100000310
is the observed value of F q at the k+1th modulation period,
Figure FDA00038589525100000311
is the observed value of F q at the kth modulation period,
Figure FDA00038589525100000312
is the observed value of i d at the kth modulation period. 5.根据权利要求3或4所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，带有扰动的电机运动方程为：5. according to claim 3 or 4 described a kind of permanent magnet synchronous motor deadbeat prediction current loop control method, it is characterized in that, the motor equation of motion with disturbance is:
Figure FDA00038589525100000313
Figure FDA00038589525100000313
 其中，Pn为磁极对数；ωm为电机机械角速度；B为摩擦系数；J为转动惯量，ρ为参数摄动和外部负载的总扰动。Among them, P n is the number of magnetic pole pairs; ω m is the mechanical angular velocity of the motor; B is the friction coefficient; J is the moment of inertia, and ρ is the total disturbance of parameter perturbation and external load. 6.根据权利要求5所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，步骤一中，速度环高阶滑模观测器为：6. A kind of permanent magnet synchronous motor deadbeat prediction current loop control method according to claim 5, is characterized in that, in step 1, the speed loop high-order sliding mode observer is:
Figure FDA00038589525100000314
Figure FDA00038589525100000314
 式中，
Figure FDA00038589525100000315
为速度观测误差，
Figure FDA00038589525100000316
为ρ的观测值，
Figure FDA00038589525100000317
为D的观测值，D为ρ的导数，
Figure FDA00038589525100000318
为
Figure FDA00038589525100000319
的导数，kw1为速度环高阶滑模观测器的第一控制参数，kw2为速度环高阶滑模观测器的第二控制参数，kw3为速度环高阶滑模观测器的第三控制参数，
Figure FDA00038589525100000320
为电机机械角速度ωm的观测值，
Figure FDA00038589525100000321
为
Figure FDA00038589525100000322
的导数。In the formula,
Figure FDA00038589525100000315
is the velocity observation error,
Figure FDA00038589525100000316
is the observed value of ρ,
Figure FDA00038589525100000317
is the observed value of D, and D is the derivative of ρ,
Figure FDA00038589525100000318
for
Figure FDA00038589525100000319
k w1 is the first control parameter of the speed loop high-order sliding mode observer, k w2 is the second control parameter of the speed loop high-order sliding mode observer, k w3 is the first control parameter of the speed loop high-order sliding mode observer Three control parameters,
Figure FDA00038589525100000320
is the observed value of the motor mechanical angular velocity ω m ,
Figure FDA00038589525100000321
for
Figure FDA00038589525100000322
derivative of . 7.根据权利要求6所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，步骤一中，还包括对速度环高阶滑模观测器进行离散化的步骤，具体为：7. A deadbeat prediction current loop control method for permanent magnet synchronous motor according to claim 6, characterized in that, in step 1, it also includes the step of discretizing the high-order sliding mode observer of the speed loop, specifically for:
Figure FDA0003858952510000041
Figure FDA0003858952510000041
 其中，
Figure FDA0003858952510000042
为电机机械角速度第k+1个调制周期时的观测值，
Figure FDA0003858952510000043
为电机机械角速度第k个调制周期时的观测值，
Figure FDA0003858952510000044
为ρ在第k个调制周期时的观测值，
Figure FDA0003858952510000045
为ρ在第k+1个调制周期时的观测值，
Figure FDA0003858952510000046
为D在第k个调制周期时的观测值，
Figure FDA0003858952510000047
为D在第k+1个调制周期时的观测值。in,
Figure FDA0003858952510000042
is the observed value of the motor mechanical angular velocity at the k+1th modulation cycle,
Figure FDA0003858952510000043
is the observed value of the kth modulation period of the motor mechanical angular velocity,
Figure FDA0003858952510000044
is the observed value of ρ at the kth modulation period,
Figure FDA0003858952510000045
is the observed value of ρ at the k+1th modulation period,
Figure FDA0003858952510000046
is the observed value of D at the kth modulation period,
Figure FDA0003858952510000047
is the observed value of D at the k+1th modulation cycle. 8.根据权利要求7所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，步骤三中，利用电机实际转速和转速给定值对滑模趋近律改进的方法为：8. A kind of permanent magnet synchronous motor dead beat predictive current loop control method according to claim 7, is characterized in that, in step 3, utilizes the method for improving the sliding mode reaching law by using the actual speed of the motor and the given value of the speed for: 定义滑模面：Define the sliding surface:
Figure FDA0003858952510000048
Figure FDA0003858952510000048
 其中，ew为转速误差；c为积分型滑模面的积分系数；s为滑模面；Among them, e w is the speed error; c is the integral coefficient of the integral sliding mode surface; s is the sliding mode surface;
Figure FDA0003858952510000049
Figure FDA0003858952510000049
 式中，
Figure FDA00038589525100000410
为转速给定值；In the formula,
Figure FDA00038589525100000410
is the speed given value; 改进滑模趋近律为：The improved sliding mode reaching law is:
Figure FDA00038589525100000411
Figure FDA00038589525100000411
 式中，
Figure FDA00038589525100000412
为滑模面s的导数，ks为切换增益，ε为可变项ε+(1-ε)e-δ|s|的增益，kt为线性增益，δ为指数项e-δ|s|的增益，且ks＞0,kt＞0,δ＞0,0＜ε＜1，当系统远离滑模面时，
Figure FDA00038589525100000413
的值大于ks，加快收敛速度，当系统到达滑模面时，
Figure FDA00038589525100000414
的值小于ks，限制抖振。In the formula,
Figure FDA00038589525100000412
is the derivative of the sliding mode surface s, k s is the switching gain, ε is the gain of the variable term ε+(1-ε)e -δ|s| , k t is the linear gain, and δ is the exponential term e -δ|s | , and k s >0, k t >0, δ>0, 0<ε<1, when the system is far away from the sliding surface,
Figure FDA00038589525100000413
If the value is greater than k s , the convergence speed will be accelerated. When the system reaches the sliding surface,
Figure FDA00038589525100000414
Values smaller than k s limit chattering. 9.根据权利要求8所述的一种永磁同步电机无差拍预测电流环控制方法，其特征在于，步骤三中，获得速度控制律的方法为：9. A kind of permanent magnet synchronous motor deadbeat prediction current loop control method according to claim 8, is characterized in that, in step 3, the method for obtaining speed control law is: 将观测的参数摄动和外部负载的总扰动ρ补偿到控制律中，可得速度控制律为：Compensating the observed parameter perturbation and the total disturbance ρ of the external load into the control law, the speed control law can be obtained as:
Figure FDA00038589525100000415
Figure FDA00038589525100000415
Figure FDA00038589525100000416
为电机机械角速度给定值，
Figure FDA00038589525100000417
为
Figure FDA00038589525100000418
的导数。
Figure FDA00038589525100000416
is the given value of the mechanical angular velocity of the motor,
Figure FDA00038589525100000417
for
Figure FDA00038589525100000418
derivative of .
CN202211159454.4A 2022-09-22 2022-09-22 Dead-beat prediction current loop control method for permanent magnet synchronous motor Pending CN115347841A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116317747A (en) * 2023-01-18 2023-06-23 北京航空航天大学 Full-rotation-speed range tracking method for ultra-high-speed permanent magnet synchronous motor
CN117811445A (en) * 2024-02-28 2024-04-02 华侨大学 Novel ultra-spiral sliding mode robust load observation method for permanent magnet synchronous motor
CN119051500A (en) * 2024-08-15 2024-11-29 山东科技大学 Dead beat prediction control method for PIR type permanent magnet synchronous motor with disturbance suppression
CN119154734A (en) * 2024-11-19 2024-12-17 广东海洋大学 Ship electric propulsion motor double-sliding-mode control method, device and system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116317747A (en) * 2023-01-18 2023-06-23 北京航空航天大学 Full-rotation-speed range tracking method for ultra-high-speed permanent magnet synchronous motor
CN117811445A (en) * 2024-02-28 2024-04-02 华侨大学 Novel ultra-spiral sliding mode robust load observation method for permanent magnet synchronous motor
CN117811445B (en) * 2024-02-28 2024-05-21 华侨大学 Ultra-spiral sliding mode robust load observation method for permanent magnet synchronous motor
CN119051500A (en) * 2024-08-15 2024-11-29 山东科技大学 Dead beat prediction control method for PIR type permanent magnet synchronous motor with disturbance suppression
CN119154734A (en) * 2024-11-19 2024-12-17 广东海洋大学 Ship electric propulsion motor double-sliding-mode control method, device and system

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