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 PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H02P21/18—Estimation of position or speed
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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
Technical Field
The invention belongs to the technical field of motor control.
Background
In a permanent magnet synchronous motor driving system, the traditional control method mainly comprises vector control and direct torque control. However, for the rapidly developing industrial field, the traditional control strategy cannot meet the continuously developing industrial demand, so that some new modern control methods are proposed by the scholars one after another. Model predictive control has been successful in complex industrial processes since the advent, and has evolved from the original heuristic control algorithm to a new branch of discipline in the industrial field. Dead-beat predictive current control is a typical model-based method, and the mismatch of system models can seriously degrade the performance of the controller. The method is an effective method for estimating disturbance and uncertainty variables by designing an observer and then compensating the estimated disturbance into a predictive controller, but the existing compensation process has the problems of parameter mismatch in a current loop and strong disturbance of parameters and loads in a speed loop.
Disclosure of Invention
The invention aims to solve the problems of parameter mismatch in a current loop and strong interference of parameters and loads in a speed loop in the conventional compensation process, and provides a dead-beat prediction current control method for a permanent magnet synchronous motor.
The invention discloses a dead-beat prediction current control method for a permanent magnet synchronous motor, which comprises the following steps of:
step one, establishing a mathematical model of a 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 approach law by utilizing the actual rotating speed and a rotating speed given value of the motor, and compensating the disturbance observation result into the improved sliding mode approach law to obtain a speed control law;
and fourthly, observing the current loop by using the current loop supercoiled sliding-mode observer, inputting the observed value and the speed control law of the current loop supercoiled sliding-mode observer to the deadbeat current controller, and acquiring a current loop control signal.
Further, in the present invention, the method for establishing the mathematical model of the permanent magnet synchronous motor comprises:
establishing a stator current equation of the permanent magnet synchronous motor under a dq coordinate system:
wherein: u. of d ,u q D-axis component and q-axis component of stator voltage under dq coordinate system respectively; i.e. i d ,i q D-axis component and q-axis component of stator current under dq coordinate system respectively; r is a stator resistor; l is a radical of an alcohol d ,L q Stator inductances of d and q axes respectively; omega e Is the angular velocity of the motor; psi f The amplitude of the flux linkage of the permanent magnet of the rotor;
discretizing the stator current equation by adopting a forward Euler method, and controlling an actual current vector i (k + 1) to reach a reference current value i after one modulation period * (k+1)，i(k+1)＝i * (k + 1), obtaining a discrete current model of the permanent magnet synchronous motor:
wherein u is d (k) Is the d-axis component of the kth modulation period of the stator voltage in the dq coordinate system; u. of q (k) Is the q-axis component of the kth modulation period of the stator voltage in the dq coordinate system; t is s Is a sampling period, i d (k) Is the d-axis component, i, of the k-th modulation period of the stator current in dq coordinate system d (k) Is the q-axis component of the k-th modulation period of the stator current in the dq coordinate system,
is a given value of a d-axis component of a (k + 1) th modulation period of the stator current under a dq coordinate system,
is a given value of a q-axis component of a k +1 th modulation period of the stator current in a dq coordinate system.
Further, in the present invention, in the first step, the method for obtaining the current-loop supercoiled sliding-mode observer by using the mathematical model includes:
establishing a voltage equation containing parameter uncertainty by using the mathematical model, and acquiring an expression of the current loop superspiral sliding-mode observer according to the voltage equation containing parameter uncertainty, wherein the expression is as follows:
wherein,
is i d Is detected by the measured values of (a) and (b),
is i q Observed value of (a), k 1 Is a first control parameter, k, of a d-axis current observer 2 Is a second control parameter, k, of the d-axis current observer 3 A third control parameter that is a d-axis current observer; k is a radical of 4 Is a first control parameter, k, of a q-axis current observer 5 Is a second control parameter, k, of the q-axis current observer 6 A third control parameter, F, for the q-axis current observer d ,F q Are respectively f d ,f q The derivative of (a) of (b),
are respectively as
The derivative of (a) of (b),
is F q Is detected by the measured values of (a) and (b),
is F d Is detected by the measured values of (a) and (b),
is F q The derivative of (a) of (b),
is composed of
Sgn () is a sign function,
is f d Is detected by the measured values of (a) and (b),
is f q Observed value of f d 、f q Perturbation of the d-axis and q-axis parameters, respectively.
Further, the invention also includes a step of discretizing the current loop supercoiled sliding mode observer, specifically:
by utilizing a forward Euler method, the errors of observed current and disturbance are converged to zero in a limited time, and a discrete time equation of a current loop supercoiled sliding-mode observer is as follows:
wherein k is the number of modulation cycles, T s Which is indicative of the period of the modulation,
is i d The observed value at the k +1 modulation period,
is i q The observed value at the k +1 th modulation period,
is f d The observed value at the k-th modulation period,
is f d The observed value at the k +1 modulation period,
is F d The observed value at the k +1 th modulation period,
is F d The observed value at the k-th modulation period,
is f q The observed value at the k-th modulation period,
is f q The observed value at the k +1 th modulation period,
is F q The observed value at the k +1 th modulation period,
is F q The observed value at the k-th modulation period,
is i d Observed value at k modulation period.
Further, in the present invention, in the first step, the motor motion equation with disturbance is:
wherein, P n Is the number of magnetic pole pairs; omega m The mechanical angular speed of the motor; b is a friction coefficient; j is the moment of inertia, and ρ is the parametric perturbation and the total perturbation of the external load.
Further, in the present invention, in the first step, the speed loop high-order sliding mode observer is:
in the formula,
in order to observe the error in the speed,
is the observed value of p, D is the derivative of p,
is an observed value of D, k w1 Is a first control parameter, k, of a high-order sliding-mode observer of the speed loop w2 Is a second control parameter, k, of a speed-loop high-order sliding-mode observer w3 Is a third control parameter of the speed loop high-order sliding mode observer,
for mechanical angular velocity omega of the motor m The observed value of (1).
Further, in the present invention, in the first step, a step of discretizing a high-order sliding mode observer of the velocity ring is further included, specifically:
wherein,
is the observed value, omega, of the motor mechanical angular velocity at the k +1 th modulation period m (k) Is the observed value of the k modulation period of the mechanical angular speed of the motor,
is observed value at the k modulation period.
Further, in the third step, the method for improving the sliding mode approach law by using the actual rotating speed and the given value of the rotating speed of the motor comprises the following steps:
defining a slip form surface:
wherein e is w Is the error of the rotating speed; c is an integral coefficient of an integral sliding mode surface; s is a slip form surface;
in the formula,
setting a rotating speed value;
the improved sliding mode approach law is as follows:
in the formula,
the derivative of slip form surface s, k s For switching the gain, ε is a variable term ε + (1- ε) e -δ|s| Gain of (k) t In order to obtain a linear gain, the gain is, δ is an exponential term e -δ|s| And k is s ＞0,k t Greater than 0, delta greater than 0,0 < epsilon < 1, when the system is far away from the sliding mode surface, the coefficient in the front of the sign function approaches k s |e|/ε，
A value of greater than k s The convergence speed is accelerated, and when the system reaches the sliding mode, the coefficient in front of the sign function approaches to k s |e w |，
Value of (A)Less than k s And buffeting is limited.
Further, in the third step, the method for obtaining the speed control law includes:
compensating the observed parameter perturbation and the total disturbance rho of the external load into a control law, wherein the obtained speed control law is as follows:
The high-order (third order, more than second order defined in the field is high order) supercoiled sliding mode observer designed by the invention can estimate the concentrated disturbance caused by the mismatch of future current values and parameters, effectively eliminate the influence of the mismatch of the parameters and improve the anti-interference performance of a current loop. In addition, a speed controller is designed by adopting an improved sliding mode approach law in a speed ring, and a third-order supercoiled sliding mode observer is designed to estimate parameter perturbation and compensate total disturbance of an external load into the speed controller, so that a stable current reference value is provided for a current ring.
Drawings
FIG. 1 is a schematic block diagram of dead-beat prediction current control of a permanent magnet synchronous motor based on a high-order sliding-mode observer according to the present invention;
FIG. 2 is a graph of PI control for the speed loop, 10 times the nominal resistance parameter for the current loop, and conventional dead-beat predictive current control for the current loop d ,i q A current effect graph;
FIG. 3 shows the speed loop using PI control, the current loop using conventional dead-beat predictive current control with 2 times the nominal inductance parameter, i d ,i q A current effect graph;
FIG. 4 is a graph of PI control for the speed loop, 4 times the flux linkage parameter to the nominal parameter for the current loop using conventional dead-beat predictive current control d ,i q A current effect graph;
FIG. 5 shows that the speed loop adopts PI control, the current loop adopts dead-beat prediction current control combined with a high-order sliding-mode observer, and the resistance parameter is changed to 10 times of the nominal parameter, i d ,i q A current effect graph;
FIG. 6 shows that the speed loop adopts PI control, the current loop adopts deadbeat prediction current control combined with a high-order sliding-mode observer, and inductance parameters are changed to 2 times, i, of nominal parameters d ,i q A current effect graph;
FIG. 7 shows that the speed loop adopts PI control, the current loop adopts dead-beat prediction current control combined with a high-order sliding-mode observer, and flux linkage parameters are changed to be 4 times, i, of nominal parameters d ,i q A current effect graph;
FIG. 8 is a rotation speed diagram of an improved sliding mode approach law speed control method adopted;
FIG. 9 is a rotation speed diagram of a control method combining an improved sliding mode approach law with a high-order sliding mode observer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first embodiment is as follows: the present embodiment is described below with reference to fig. 1, and a method for dead-beat prediction current control of a permanent magnet synchronous motor according to the present embodiment includes:
establishing a mathematical model of a permanent magnet synchronous motor, and acquiring 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 approach law by using the actual rotating speed and the given value of the rotating speed of the motor, and compensating the disturbance observation result to the improved sliding mode approach law to obtain a speed control law;
and fourthly, observing the current loop by using the current loop supercoil sliding mode observer, inputting the observed value and the speed control law of the current loop supercoil sliding mode observer into the dead-beat current controller, and acquiring a current loop control signal.
The invention improves the speed and current anti-interference performance and tracking precision of the permanent magnet synchronous motor. The invention regards parameter change and external load change as lumped disturbance, establishes a mathematical model of the built-in permanent magnet synchronous motor, further constructs two third-order supercoiled sliding-mode observers to respectively estimate the lumped disturbance in a speed loop and a current loop, and feeds the estimated disturbance forward to a corresponding controller for compensation, so as to improve the robustness and the tracking precision of a system current loop. In addition, in order to obtain a stable current loop set value, an improved sliding mode approach law is adopted in the rotating speed control, so that buffeting in a control signal is reduced, the time required by a system state to reach a sliding mode surface is shortened, and the anti-interference performance is further improved. The experimental results prove the effectiveness of the invention. In the invention, a current loop control signal is obtained and input to a current controller, and the current controller generates a voltage control signal
Is transformed into by coordinate
Entering SVPMW modulation module, generating control pulse to inverter module to driveThe permanent magnet synchronous motor rotates.
Further, in the present invention, the method for establishing the mathematical model of the permanent magnet synchronous motor comprises:
establishing a stator current equation of the permanent magnet synchronous motor under a dq coordinate system:
wherein: u. of d ,u q Respectively a d-axis component and a q-axis component of the stator voltage under the dq coordinate system; i all right angle d ,i q D-axis component and q-axis component of stator current under dq coordinate system respectively; r is a stator resistor; l is a radical of an alcohol d ,L q Stator inductances of d and q axes respectively; omega e Is the angular velocity of the motor; psi f The amplitude of the flux linkage of the permanent magnet of the rotor;
discretizing the stator current equation by adopting a forward Euler method, and controlling an actual current vector i (k + 1) to reach a reference current value i after a modulation period * (k+1)，i(k+1)＝i * (k + 1), obtaining a discrete current model of the permanent magnet synchronous motor:
wherein u is d (k) Is the d-axis component of the kth modulation period of the stator voltage in the dq coordinate system; u. u q (k) Is the q-axis component of the kth modulation period of the stator voltage under the dq coordinate system; t is a unit of s Is a sampling period, i d (k) Is the d-axis component, i, of the k-th modulation period of the stator current in dq coordinate system d (k) Is the q-axis component of the k-th modulation period of the stator current in the dq coordinate system,
is a given value of a d-axis component of a (k + 1) th modulation period of the stator current under a dq coordinate system,
is the dq coordinate systemThe given value of the q-axis component of the (k + 1) th modulation period of the lower stator current.
Further, in the present invention, in the first step, the method for obtaining the current-loop supercoiled sliding-mode observer by using the mathematical model includes:
establishing a voltage equation containing parameter uncertainty by using the mathematical model, and obtaining an expression of the current loop supercoiled sliding mode observer according to the voltage equation containing parameter uncertainty, wherein the expression is as follows:
wherein,
is i d Is measured in a time-domain manner by a time-domain,
is i q Observed value of (a), k 1 Is a first control parameter, k, of a d-axis current observer 2 Is a second control parameter, k, of the d-axis current observer 3 A third control parameter that is a d-axis current observer; k is a radical of formula 4 Is a first control parameter, k, of a q-axis current observer 5 As a second control parameter, k, of the q-axis current observer 6 A third control parameter, F, of the q-axis current observer d ,F q Are respectively f d ,f q The derivative of (a) is determined,
are respectively as
The derivative of (a) of (b),
is F q Is detected by the measured values of (a) and (b),
is F d Is detected by the measured values of (a) and (b),
is F q The derivative of (a) of (b),
is composed of
Sgn () is a sign function,
is f d Is measured in a time-domain manner by a time-domain,
is f q Observed value of (a), f d 、f q Perturbation of the d-axis and q-axis parameters, respectively.
Further, the invention also includes a step of discretizing the current loop supercoiled sliding mode observer, specifically:
by utilizing a forward Euler method, the errors of observed current and disturbance are converged to zero in a limited time, and a discrete time equation of the current loop superspiral sliding-mode observer is as follows:
wherein k is the number of modulation periods, T s Which is indicative of the period of the modulation,
is i d The observed value at the k +1 th modulation period,
is i q The observed value at the k +1 th modulation period,
is f d The observed value at the k-th modulation period,
is f d The observed value at the k +1 th modulation period,
is F d The observed value at the k +1 modulation period,
is F d The observed value at the k-th modulation period,
is f q The observed value at the k-th modulation period,
is f q The observed value at the k +1 th modulation period,
the observed value at the k +1 th modulation period,
is F q The observed value at the k-th modulation period,
is i d Observed value at k modulation period.
Further, in the present invention, in the first step, the motor motion equation with disturbance is:
wherein, P n The number of magnetic pole pairs is shown; omega m The mechanical angular speed of the motor; b is a friction coefficient; j is the moment of inertia, and ρ is the parameter perturbation and the total disturbance of the external load.
Further, in the present invention, in the first step, the speed loop high-order sliding mode observer is:
in the formula,
in order to observe the error in the speed,
is the observed value of p, D is the derivative of p,
is an observed value of D, k w1 Is a first control parameter, k, of a high-order sliding mode observer of a speed ring w2 Is a second control parameter, k, of a speed-loop high-order sliding-mode observer w3 Is a third control parameter of the speed loop high-order sliding mode observer,
for mechanical angular velocity omega of the motor m The observed value of (a).
Further, in the present invention, in the first step, a step of discretizing the speed ring high-order sliding-mode observer is further included, specifically:
wherein,
is the observed value, omega, of the motor mechanical angular velocity at the k +1 th modulation period m (k) Is the observed value of the k modulation period of the mechanical angular speed of the motor,
is observed value at the k modulation period.
Further, in the third step, the method for improving the sliding mode approach law by using the actual rotating speed and the given value of the rotating speed of the motor comprises the following steps:
defining a slip form surface:
wherein e is w Is the error of the rotating speed; c is an integral coefficient of an integral sliding mode surface; s is a slip form surface;
in the formula,
setting a rotating speed value;
the improved sliding mode approach law is as follows:
in the formula,
the derivative of the slip-form surface s, k s For switched gain, ε is the variable term ε + (1- ε) e -δ|s| Gain of (k) t For linear gain, δ is an exponential term e -δ|s| And k is s ＞0,k t Greater than 0, delta greater than 0,0 < epsilon < 1, when the system is far away from the sliding mode surface, the coefficient in front of the sign function approaches k s |e|/ε，
A value of greater than k s The convergence speed is accelerated, and when the system reaches the sliding mode, the coefficient in front of the sign function approaches to k s |e w |，
Value of less than k s And buffeting limitation is realized.
Further, in the third step, the method for obtaining the speed control law includes:
compensating the observed parameter perturbation and the total disturbance rho of the external load into a control law, wherein the obtained speed control law is as follows:
In the invention, a stator current equation of the built-in permanent magnet synchronous motor in a dq coordinate system is adopted in the first step as follows:
electromagnetic torque equation:
equation of motion:
wherein: u. u d ,u q ；i d ,i q Stator voltage and stator current under dq coordinate system respectively; r is a stator resistor; l is d ,L q Dq-axis inductances, respectively; omega e Is the electrical angular velocity; psi f The amplitude of the flux linkage of the permanent magnet of the rotor; t is a unit of e Is the electromagnetic torque; p is n The number of magnetic pole pairs is shown; omega m Is the mechanical angular velocity; t is L Is the load torque; b is a friction coefficient; j is moment of inertia.
The forward euler method is applied to discretize the model shown in (1), and the discrete current model of the permanent magnet synchronous motor can be represented as follows:
wherein, T s Is the sampling period. According to a discrete current model of a discrete permanent magnet synchronous motor, after one modulation period, an actual current vector reaches a reference current, namely i (k + 1) = i * (k + 1), the stator voltage expression at this time is as follows:
the parameters set in the controller may be different from actual as the motor operates or external conditions change. The voltage equation containing the parameter uncertainty is expressed as:
wherein f is d 、f q Is a parametric perturbation.
The effectiveness of the invention is demonstrated by experimental results, the system parameters of the invention are shown in Table 1, and the overall control block diagram of the invention is shown in Table 1As shown in fig. 1. The motor is started without load, the given rotating speed is 1500r/min, and the load torque is suddenly changed into 12 N.m in the running process. As can be seen from a comparison between fig. 2 and fig. 7, the change in resistance does not significantly affect the current of the system, but when the inductance and flux linkage change, the current ripple of the conventional control method becomes large, and the tracking accuracy decreases. And most obvious when the magnetic linkage changes, current i q Fully-tracking not-on reference current i qref . The system designed by the invention shows better dynamic and steady-state performances when the resistance, the inductance and the flux linkage change. As can be seen from fig. 8 and 9, the system designed by the present invention has a shorter regulation time of the rotation speed and a smaller rotation speed drop when the load changes. Experiments show that the system designed by the invention has better dynamic and steady-state performance.
TABLE 1
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (9)
1. A dead-beat prediction current loop control method for a permanent magnet synchronous motor is characterized by comprising the following steps:
establishing a mathematical model of a permanent magnet synchronous motor, and acquiring 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 approach law by using the actual rotating speed and the given value of the rotating speed of the motor, and compensating the disturbance observation result to the improved sliding mode approach law to obtain a speed control law;
and fourthly, observing the current loop by using the current loop supercoiled sliding-mode observer, inputting the observed value and the speed control law of the current loop supercoiled sliding-mode observer to the deadbeat current controller, and acquiring a current loop control signal.
2. The dead-beat prediction current loop control method of the permanent magnet synchronous motor according to claim 1, wherein the method for establishing the mathematical model of the permanent magnet synchronous motor comprises the following steps:
establishing a stator current equation of the permanent magnet synchronous motor in a dq coordinate system:
wherein: u. of d ,u q Respectively a d-axis component and a q-axis component of the stator voltage under the dq coordinate system; i all right angle d ,i q D-axis component and q-axis component of stator current under dq coordinate system respectively; r is a stator resistor; l is d ,L q Stator inductances of d and q axes respectively; omega e Is the angular velocity of the motor; psi f The amplitude of the flux linkage of the permanent magnet of the rotor;
discretizing the stator current equation by adopting a forward Euler method, and controlling an actual current vector i (k + 1) to reach a reference current value i after a modulation period * (k+1)，i(k+1)＝i * (k + 1), acquiring a discrete current model of the permanent magnet synchronous motor:
wherein u is d (k) Is the d-axis component of the kth modulation period of the stator voltage in the dq coordinate system; u. u q (k) Is the q-axis component of the kth modulation period of the stator voltage under the dq coordinate system; t is a unit of s Is a sampling period, i d (k) Is the d-axis component, i, of the kth modulation period of the stator current in dq coordinate system d (k) Is the q-axis component of the k-th modulation period of the stator current in the dq coordinate system,
is a given value of a d-axis component of a k +1 th modulation period of the stator current in a dq coordinate system,
is a given value of the q-axis component of the k +1 th modulation period of the stator current in the dq coordinate system.
3. The method for controlling the dead-beat prediction current loop of the permanent magnet synchronous motor according to claim 2, wherein in the first step, the method for obtaining the current loop supercoiled sliding-mode observer by using the mathematical model comprises the following steps:
establishing a voltage equation containing parameter uncertainty by using the mathematical model, and obtaining an expression of the current loop supercoiled sliding mode observer according to the voltage equation containing parameter uncertainty, wherein the expression is as follows:
wherein,
is i d Is detected by the measured values of (a) and (b),
is i q Observed value of (a), k 1 Is a first control parameter, k, of a d-axis current observer 2 Second control parameter, k, of d-axis current observer 3 A third control parameter of the d-axis current observer; k is a radical of 4 Is a first control parameter, k, of a q-axis current observer 5 Is a second control parameter, k, of the q-axis current observer 6 A third control parameter, F, for the q-axis current observer d ,F q Are respectively f d ,f q The derivative of (a) of (b),
are respectively as
The derivative of (a) of (b),
is F q Is detected by the measured values of (a) and (b),
is F d Is detected by the measured values of (a) and (b),
is F q The derivative of (a) of (b),
is composed of
Sgn () is a sign function,
is f d Is measured in a time-domain manner by a time-domain,
is f q Observed value of (a), f d 、f q Perturbation of the d-axis and q-axis parameters, respectively.
4. The dead-beat prediction current loop control method of the permanent magnet synchronous motor according to claim 3, further comprising a step of discretizing a current loop supercoiled sliding-mode observer, specifically:
by utilizing a forward Euler method, the errors of observed current and disturbance are converged to zero in a limited time, and a discrete time equation of a current loop supercoiled sliding-mode observer is as follows:
wherein k is the number of modulation periods, T s Which is indicative of the period of the modulation,
is i d The observed value at the k +1 th modulation period,
is i q The observed value at the k +1 th modulation period,
is f d The observed value at the k-th modulation period,
is f d The observed value at the k +1 th modulation period,
is F d The observed value at the k +1 th modulation period,
is F d The observed value at the k-th modulation period,
is f q The observed value at the k-th modulation period,
is f q The observed value at the k +1 th modulation period,
is F q The observed value at the k +1 th modulation period,
is F q The observed value at the k-th modulation period,
is i d Observed value at k modulation period.
5. The dead-beat prediction current loop control method for the permanent magnet synchronous motor according to claim 3 or 4, characterized in that a motor motion equation with disturbance is as follows:
wherein, P n Is the number of magnetic pole pairs; omega m The mechanical angular speed of the motor; b is a friction coefficient; j is the moment of inertia, and ρ is the parameter perturbation and the total disturbance of the external load.
6. The method for controlling the dead-beat prediction current loop of the permanent magnet synchronous motor according to claim 5, wherein in the first step, the speed loop high-order sliding mode observer is as follows:
in the formula,
in order to observe the error in the speed,
as an observed value of p,
is the observed value of D, which is the derivative of p,
is composed of
Derivative of (k), k w1 Is a first control parameter, k, of a high-order sliding mode observer of a speed ring w2 Is a second control parameter, k, of a speed-loop high-order sliding-mode observer w3 Is a third control parameter of the speed loop high-order sliding mode observer,
for mechanical angular velocity omega of the motor m Is measured in a time-domain manner by a time-domain,
is composed of
The derivative of (c).
7. The method for controlling the dead-beat prediction current loop of the permanent magnet synchronous motor according to claim 6, wherein the first step further comprises a step of discretizing a high-order sliding mode observer of the speed loop, and specifically comprises the following steps:
wherein,
is the observed value of the mechanical angular speed of the motor in the k +1 modulation period,
is the observed value of the k modulation period of the mechanical angular speed of the motor,
is the observed value of p at the k-th modulation period,
is the observed value of p at the k +1 modulation period,
is the observed value of D at the k-th modulation period,
is the observed value of D at the k +1 modulation period.
8. The method for controlling the dead-beat prediction current loop of the permanent magnet synchronous motor according to claim 7, wherein in the third step, the method for improving the sliding mode approach law by using the actual rotating speed and the given value of the rotating speed of the motor comprises the following steps:
defining a slip form surface:
wherein e is w Is the error of the rotating speed; c is an integral coefficient of an integral sliding mode surface; s is a slip form surface;
in the formula,
setting a rotating speed value;
the improved sliding mode approach law is as follows:
in the formula,
the derivative of the slip-form surface s, k s For switching the gain, ε is a variable term ε + (1- ε) e -δ|s| Gain of (k) t For linear gain, δ is an exponential term e -δ|s| And k is s ＞0,k t More than 0, delta more than 0, more than 0 and less than 1, when the system is far away from the sliding mode surface,
a value of greater than k s The convergence speed is accelerated, when the system reaches the sliding mode,
value of less than k s And buffeting is limited.
9. The method for controlling the dead-beat predicted current loop of the permanent magnet synchronous motor according to claim 8, wherein in the third step, the method for obtaining the speed control law comprises the following steps:
compensating the observed parameter perturbation and the total disturbance rho of the external load into a control law, wherein the obtained speed control law is as follows:
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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