CN115483856B - PMSM (permanent magnet synchronous motor) non-inductive control system based on improved synovial membrane observer and working method thereof - Google Patents
PMSM (permanent magnet synchronous motor) non-inductive control system based on improved synovial membrane observer and working method thereof Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a PMSM control system based on an improved synovial membrane observer, which comprises a current sampling module, a Clark conversion module, a Park conversion module, an improved synovial membrane observer, a first PI controller, a second PI controller, a third PI controller, an Anti-Park module, a space vector pulse width modulation SVPWM module and an inverter module, wherein the current sampling module is used for collecting phase currents I a and I b of the PMSM in a three-phase static coordinate system, and the Clark conversion module is respectively connected with the Park conversion module and the improved synovial membrane observer and is used for performing Clark conversion processing on phase currents I a and I b of the PMSM obtained by the current sampling module in the three-phase static coordinate system so as to respectively obtain phase currents I alph and I beta of the PMSM in the two-phase static coordinate system. The invention can solve the technical problems that the buffeting phenomenon of the system is aggravated due to abrupt change of the sliding mode surface switching function of the existing sliding film observer control strategy, and the observation precision of the system is low due to direct extraction of the observation value after only first-order filtering treatment.
Description
Technical Field
The invention belongs to the technical field of motor driving, and particularly relates to a Permanent Magnet Synchronous Motor (PMSM) noninductive control system based on an improved synovial membrane observer and a working method thereof.
Background
The sensorless control strategy adopted by the conventional motor control is subjected to certain constraint under the influence of multiple factors such as external environment, so that the sensorless control strategy capable of obtaining information such as angles, speeds and the like of the motor without a mechanical sensor becomes a research hot spot, and the characteristics of simple structure, high robustness, high immunity and the like of the synovial membrane sensorless control strategy become the most common logic algorithm in the sensorless control strategy.
The implementation flow of the sliding film non-sensing control strategy can be roughly divided into: 1. inputting a voltage component and a current component in a two-phase static coordinate system into a logic block diagram; 2. building a circulation network through a mathematical model of input parameters to obtain observation information; 3. performing adaptive filtering processing on the observation information, and outputting an observation back electromotive force; 4. and carrying out phase-locked loop processing on the observed counter electromotive force to obtain angle and speed information of the motor.
However, the existing synovial observer control strategies described above have some non-negligible drawbacks: the first sliding mode surface switching function is suddenly changed, so that the buffeting phenomenon of the system is aggravated; secondly, directly extracting an observed value subjected to first-order filtering treatment, so that the system observation precision is low; thirdly, angle and speed information is directly extracted by adopting an arctangent function, and system errors are directly amplified, so that the buffeting phenomenon of the system is aggravated; fourth, the conventional PI is adopted as the motor outer ring treatment, and the time-varying performance is not provided, so that the system operation process is slow.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a PMSM (permanent magnet synchronous motor) non-inductive control system based on an improved synovial observer and a working method thereof, and aims to solve the technical problems that the system buffeting phenomenon is aggravated due to abrupt change of a sliding mode surface switching function, the system observing precision is low due to direct extraction of an observed value only after first-order filtering treatment, and the system buffeting phenomenon is aggravated due to direct extraction of angle and speed information by adopting an arctangent function, and the system buffeting phenomenon is aggravated due to the direct amplification of the system error due to the adoption of the arctangent function, and the system has no time variability due to the adoption of the conventional PI as an outer ring treatment of a motor, so that the system running process is slow.
In order to achieve the above object, according to one aspect of the present invention, there is provided a PMSM control system based on an improved synovial observer, including a current sampling module, a Clark conversion module, a Park conversion module, an improved synovial observer, a first PI controller, a second PI controller, a third PI controller, an Anti-Park module, a space vector pulse width modulation SVPWM module, and an inverter module, wherein the current sampling module is respectively connected to the Clark conversion module and the inverter module, and is used for collecting phase currents I a and I b of the PMSM in a three-phase stationary coordinate system (that is, abc axis);
The Clark conversion module is respectively connected with the Park conversion module and the improved sliding film observer and is used for performing Clark conversion processing on the phase currents I a and I b of the PMSM in the three-phase static coordinate system, which are obtained by the current sampling module, so as to obtain phase currents I alpha and I beta of the PMSM in the two-phase static coordinate system.
The Park conversion module is respectively connected with the second PI controller and the third PI controller and is used for carrying out Park conversion processing on the phase currents I alpha and I beta under the two-phase static coordinate system obtained by the Clark conversion module so as to respectively obtain phase currents I do and I qo of the PMSM under the two-phase rotating coordinate system;
The improved synovial membrane observer is connected with the first PI controller and is used for processing phase currents I alpha and I beta under a two-phase static coordinate system obtained by Clark transformation and phase voltages U alpha and U beta of the PMSM under the two-phase static coordinate system obtained by Anti-Park transformation to respectively obtain an observation angle theta and an observation angular speed omega eo of the PMSM;
The first PI controller is connected with the second PI controller and is used for PI processing the difference value between the target speed N ref of the PMSM and the observation angular speed omega eo of the improved synovial observer and the variation of the difference value to obtain a target current value I qref of the PMSM under the intersecting axis;
The second PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value between the target current I dref of the PMSM under the direct axis and the phase current I do of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U d of the PMSM under the direct axis;
The third PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value of the target current value I qref of the PMSM under the intersecting axis and the phase current I qo of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U q of the PMSM under the intersecting axis;
The Anti-Park conversion module is connected with the SVPWM module and is used for carrying out Anti-Park conversion processing on a target voltage value U d of the PMSM under a direct axis obtained by the second PI controller and a target voltage value U q of the PMSM under an intersecting axis obtained by the third PI controller so as to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system;
the SVPWM module is connected with the inverter module and is used for acquiring a target pulse signal according to the phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system obtained by the Anti-Park conversion module and the observation angle theta obtained by the improved synovial membrane observer, and controlling the inverter module through the target pulse signal so as to further realize vector control of the PMSM.
In general, the above system conceived by the present invention can achieve the following advantageous effects compared to the prior art:
(1) The system of the invention adopts hyperbolic tangent function to replace the switching function of the traditional synovial membrane observer as the switching function of the synovial membrane surface, and has smoothness in the switching of the accessory of the sliding mode surface. Therefore, the technical problem that the switching surface is suddenly changed and the buffeting phenomenon of the system is aggravated caused by a switching function in the traditional sliding film observer can be solved;
(2) The system adopts the self-adaptive synovial membrane observer to carry out second-order filtering treatment, so that the accuracy and the self-adaptive rate of the observed value of the system are improved, and the technical problem of low observation accuracy in the traditional synovial membrane observer can be solved;
(3) The system adopts the phase-locked loop to replace the arc tangent function of the traditional synovial observer as the angle and speed information extraction strategy of the motor, so that the direct influence of noise is optimized, and the anti-interference performance is enhanced, thereby solving the technical problems of noise influence and anti-interference performance in the traditional synovial observer;
(4) The system adopts the fuzzy PI to replace the conventional PI of the traditional synovial membrane observer as the motor outer ring control, so that the system self-adaptability is improved, and the technical problem of time-varying system parameters in the motor control process can be solved.
According to another aspect of the present invention, there is provided a working method of the PMSM non-sensing control system based on the improved synovial observer, comprising the steps of:
(1) Collecting phase currents I a and I b of the PMSM in a three-phase static coordinate system (namely an abc axis) through a current sampling module;
(2) And (3) performing Clark conversion processing on the phase currents I a and I b of the PMSM in the three-phase static coordinate system obtained in the step (1) through a Clark conversion module to obtain phase currents I alpha and I beta of the PMSM in the two-phase static coordinate system.
(3) Judging whether the noninductive control needs to be started, if yes, turning to the step (4), otherwise, stopping the PMSM operation, and ending the process;
(4) And (3) obtaining the observation angle theta and the observation angular velocity omega eo of the PMSM according to phase currents I alpha and I beta of the PMSM in a two-phase static coordinate system and phase voltages U alpha and U beta of the PMSM in the two-phase static coordinate system, which are obtained by an Anti-Park conversion module, by improving a synovial observer.
(5) Performing Park conversion processing on d-phase currents I alpha and I beta of the PMSM obtained in the step (2) under a two-phase static coordinate system and an observation angle theta of the PMSM obtained in the step (4) through a Park conversion module to obtain phase currents I do and I qo of the PMSM under a two-phase rotating coordinate system;
(6) Performing fuzzy PI processing on a difference value between a target speed N ref of the PMSM and an observation angular speed omega eo of the improved synovial observer and a variation of the difference value through a first PI controller to obtain a target current value I qref of the PMSM under a quadrature axis;
(7) Performing PI processing on the difference value of the target current value I qref of the PMSM under the quadrature axis, which is obtained in the step (6), and the phase current I qo of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a third PI controller, so as to obtain a target voltage value U q of the PMSM under the quadrature axis; meanwhile, PI processing is carried out on a target current value I dref of the PMSM under the straight axis and a difference value of phase current I do of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a second PI controller, so as to obtain a target voltage value U d of the PMSM under the straight axis;
(8) Performing Anti-Park conversion processing on the target voltage values U q and U d of the PMSM obtained in the step (7) under the alternating-direct axis and the observation angle theta of the PMSM obtained in the step (4) through an Anti-Park conversion module to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system;
(9) Vector pulse width modulation processing is carried out on the phase voltages U alpha and U beta of the PMSM, which are obtained in the step (8), under a two-phase static coordinate system through an SVPWM module so as to obtain a target pulse signal, and an inverter module is controlled through the target pulse signal, so that vector control of the PMSM is realized;
(10) And judging whether the target speed N ref of the PMSM is 0, if so, ending the process, otherwise, returning to the step (1).
Preferably, step (4) comprises the sub-steps of:
(4-1) establishing a current state equation based on phase currents I alpha and I beta of the PMSM in the two-phase stationary coordinate system, and phase voltages U alpha and U beta of the PMSM in the two-phase stationary coordinate system;
(4-2) performing replacement processing on the switching function of the conventional synovial observer by using a hyperbolic tangent function to obtain an improved synovial observer, and performing reconstruction processing on the current state equation obtained in the step (4-1) by using the improved synovial observer to obtain a current observation state equation of the improved synovial observer;
(4-3) performing a difference processing on the current observation state equation obtained in the step (4-2) and the current state equation obtained in the step (4-1) to obtain a current error state equation;
(4-4) obtaining a counter electromotive force error state equation when a point in the motion process of the sliding film reaches the sliding mode surface according to the current error state equation obtained in the step (4-3);
(4-5) creating an adaptive observer and an observer state equation thereof for the back electromotive force error state equation obtained in the step (4-4);
(4-6) performing phase-locked loop processing on the back electromotive force observed value E alphae、Ebetae obtained in the step (4-5) to obtain an observed angle θ and an observed angular velocity ω eo.
Preferably, the current state equation established in the step (4-1) is represented by the following formula (1):
Wherein L is the inductance value of the stator in the PMSM; r is the resistance of the stator in the PMSM; e alpha and E beta are extended back emf of the stator in the PMSM in a two-phase stationary coordinate system, and satisfy the following equation (2):
Wherein ω e is the angular speed of the rotor in the PMSM; psi f is the flux linkage of the stator in the PMSM; θ e is the electrical angle of the rotor in the PMSM.
Preferably, the current observation state equation in step (4-2) is represented by the following formula (3):
Wherein, I alphao、Ibetao is the current observation component of the stator in the PMSM under the two-phase static coordinate system; e alphao and E betao are the back EMF components of the stator in the PMSM in a two-phase stationary coordinate system, and there is Ealphao＝-ωeψfsin(θeo),Ebetao＝ωeψf cos(θeo),θeo representing the observed electrical angle of the rotor in the PMSM; l is the gain coefficient of the self-adaptive synovial observer, which is specifically equal to 350, K is the preset synovial gain coefficient, which is specifically equal to 200; s represents an input state quantity; k is a negative constant and satisfies Where I alphae and I betae are the current error components of the stator in the PMSM in the two-phase stationary coordinate system, respectively, and I alphae＝Ialphao- Ialpha、Ibetae＝Ibetao-Ibeta;Ealphae、Ebetae is the back emf error component of the stator in the PMSM in the two-phase stationary coordinate system, respectively.
Preferably, the current error state equation in step (4-3) is represented by the following formula (4):
Preferably, the back electromotive force error state equation obtained in the step (4-4) is represented by the following formula (5):
preferably, the observer state equation in step (4-5) is represented by the following formula (6):
Where ω ee is the error electrical angle of the rotor in the PMSM.
In general, the above working method conceived by the present invention can achieve the following advantageous effects compared to the prior art:
(1) The method of the invention adopts the step (3), which simplifies the hardware cost and the function of the peripheral equipment by judging whether to start the noninductive control. Therefore, the technical problems of starting and stopping in the motor control process can be solved;
(2) The method adopts the step (4) and the step (4-2), which adopts the hyperbolic tangent function to replace the switching function of the traditional synovial observer as the switching function of the synovial surface, and the switching of the accessory of the sliding mode surface has smoothness. Therefore, the technical problem that the switching surface is suddenly changed and the buffeting phenomenon of the system is aggravated caused by a switching function in the traditional sliding film observer can be solved;
(3) The method adopts the step (4) and the step (4-5), and adopts the self-adaptive synovial membrane observer to carry out second-order filtering treatment, so that the accuracy and the self-adaptive rate of the system observation value are improved. Therefore, the technical problem of low observation precision in the traditional synovial membrane observer can be solved;
(4) The method adopts the phase-locked loop to replace the arc tangent function of the traditional synovial membrane observer as the angle and speed information extraction strategy of the motor due to the adoption of the step (4) and the step (4-6), so that the direct influence of noise is optimized, and the anti-interference performance is enhanced. Therefore, the technical problems of noise influence and noise immunity in the traditional synovial membrane observer can be solved;
(5) The method adopts the step (6) to replace the conventional PI of the traditional synovial membrane observer as the motor outer ring control, thereby improving the system self-adaptability. Therefore, the technical problem of time-varying system parameters in the motor control process can be solved;
(6) The method of the present invention adopts the step (10) of determining whether the cycle is ended by determining whether the target rotation speed is zero. Therefore, the technical problems of low running speed, long consumption time and long and bulky data can be solved.
Drawings
FIG. 1 is a schematic block diagram of a PMSM control system of the present invention based on an improved synovial observer;
FIG. 2 is a flow chart of a method of operation of the PMSM non-sensory control system of the present invention based on an improved synovial observer;
Fig. 3 is a schematic diagram of the phase locked loop process in step (4-6) of the method of operation of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, the present invention provides a PMSM control system based on an improved synovial membrane observer, which includes a current sampling module, a Clark conversion module, a Park conversion module, an improved synovial membrane observer, a first PI controller, a second PI controller, a third PI controller, an Anti-Park module, a space vector pulse width modulation (Space Vector Pulse Width Modulation, abbreviated as SVPWM) module, and an inverter module.
The current sampling module is respectively connected with the Clark conversion module and the inverter module and is used for collecting phase currents I a and I b of the PMSM under a three-phase static coordinate system (namely an abc axis);
The Clark conversion module is respectively connected with the Park conversion module and the improved sliding film observer and is used for performing Clark conversion treatment on phase currents I a and I b of the PMSM in a three-phase static coordinate system, which are obtained by the current sampling module, so as to respectively obtain phase currents I alpha and I beta of the PMSM in the two-phase static coordinate system (namely an alpha beta axis);
The Park conversion module is respectively connected with the second PI controller and the third PI controller and is used for carrying out Park conversion processing on the phase currents I alpha and I beta under the two-phase static coordinate system obtained by the Clark conversion module so as to respectively obtain phase currents I do and I qo of the PMSM under the two-phase rotating coordinate system (namely, dq axis);
The improved synovial membrane observer is connected with the first PI controller and is used for processing phase currents I alpha and I beta under a two-phase static coordinate system obtained by Clark transformation and phase voltages U alpha and U veta of the PMSM under the two-phase static coordinate system obtained by Anti-Park transformation to respectively obtain an observation angle theta and an observation angular speed omega eo of the PMSM;
The first PI controller is connected with the second PI controller and is used for PI processing the difference value between the target speed N ref of the PMSM and the observation angular speed omega eo of the improved synovial observer and the variation of the difference value to obtain a target current value I qref of the PMSM under the intersecting axis;
The second PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value between the target current I dref of the PMSM under the direct axis and the phase current I do of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U d of the PMSM under the direct axis;
The third PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value of the target current value I qref of the PMSM under the intersecting axis and the phase current I qo of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U q of the PMSM under the intersecting axis;
The Anti-Park conversion module is connected with the SVPWM module and is used for carrying out Anti-Park conversion processing on a target voltage value U d of the PMSM under a direct axis obtained by the second PI controller and a target voltage value U q of the PMSM under an intersecting axis obtained by the third PI controller so as to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system (alpha beta axis);
the SVPWM module is connected with the inverter module and is used for acquiring a target pulse signal according to phase voltages U alpha and U beta of the PMSM (permanent magnet synchronous motor) obtained by the Anti-Park conversion module under a two-phase static coordinate system (alpha beta axis) and an observation angle theta obtained by the improved synovial membrane observer, and controlling the inverter module through the target pulse signal so as to further realize vector control of the PMSM.
As shown in fig. 2, the present invention further provides a working method of the PMSM non-sensing control system based on the improved synovial observer, which includes the following steps:
(1) Collecting phase currents I a and I b of the PMSM in a three-phase static coordinate system (namely an abc axis) through a current sampling module;
(2) Performing Clark conversion treatment on the phase currents I a and I b of the PMSM obtained in the step (1) under a three-phase static coordinate system through a Clark conversion module to obtain phase currents I alpha and I beta of the PMSM under a two-phase static coordinate system (namely an alpha beta axis);
(3) Judging whether the noninductive control needs to be started, if yes, turning to the step (4), otherwise, stopping the PMSM operation, and ending the process;
The step (3) has the advantage that the running and stopping states of the motor can be controlled by judging whether to start the non-inductive control strategy method.
(4) And (3) obtaining the observation angle theta and the observation angular velocity omega eo of the PMSM according to phase currents I alpha and I beta of the PMSM in a two-phase static coordinate system and phase voltages U alpha and U beta of the PMSM in the two-phase static coordinate system, which are obtained by an Anti-Park conversion module, by improving a synovial observer.
It should be noted that, the initial values of the phase voltages U alpha and U beta of the PMSM obtained by the Anti-Park conversion module under the two-phase stationary coordinate system are both zero;
(5) Performing Park conversion processing on d-phase currents I alpha and I beta of the PMSM obtained in the step (2) under a two-phase static coordinate system and an observation angle theta of the PMSM obtained in the step (4) through a Park conversion module to obtain phase currents I do and I qo of the PMSM under a two-phase rotating coordinate system (namely, dq axis);
(6) Performing fuzzy PI processing on a difference value between a target speed N ref of the PMSM and an observation angular speed omega eo of the improved synovial observer and a variation of the difference value through a first PI controller to obtain a target current value I qref of the PMSM under a quadrature axis;
The step (6) has the advantages that fuzzy PI is adopted as motor outer ring control, so that the self-adaptability and time-varying property of the system operation are enhanced.
(7) Performing PI processing on the difference value of the target current value I qref of the PMSM under the quadrature axis, which is obtained in the step (6), and the phase current I qo of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a third PI controller, so as to obtain a target voltage value U q of the PMSM under the quadrature axis; meanwhile, PI processing is carried out on a target current value I dref of the PMSM under the straight axis and a difference value of phase current I do of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a second PI controller, so as to obtain a target voltage value U d of the PMSM under the straight axis;
It should be noted that, the present invention adopts a vector control strategy with I dref =0;
(8) Performing Anti-Park conversion processing on the target voltage values U q and U d of the PMSM obtained in the step (7) under the alternating-direct axis and the observation angle theta of the PMSM obtained in the step (4) through an Anti-Park conversion module to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system;
(9) Vector pulse width modulation processing is carried out on the phase voltages U alpha and U beta of the PMSM, which are obtained in the step (8), under a two-phase static coordinate system through an SVPWM module so as to obtain a target pulse signal, and an inverter module is controlled through the target pulse signal, so that vector control of the PMSM is realized;
(10) Judging whether the target speed N ref of the PMSM is 0 or not, if so, ending the process, otherwise, returning to the step (1);
The advantage of this step (10) is that it determines whether the cycle is ended by determining whether the target rotational speed is zero. Therefore, the technical problems of low running speed, long consumption time and long and bulky data can be solved.
Specifically, step (4) includes the sub-steps of:
(4-1) establishing a current state equation based on phase currents I alpha and I beta of the PMSM in the two-phase stationary coordinate system, and phase voltages U alpha and U beta of the PMSM in the two-phase stationary coordinate system, as shown in the following formula (1):
Wherein L is the inductance value of the stator in the PMSM; r is the resistance of the stator in the PMSM; e alpha and E beta are extended back emf of the stator in the PMSM in a two-phase stationary coordinate system, and satisfy the following equation (2):
Wherein ω e is the angular speed of the rotor in the PMSM; psi f is the flux linkage of the stator in the PMSM; θ e is the electrical angle of the rotor in the PMSM;
(4-2) performing substitution processing on the switching function of the conventional synovial observer by using a hyperbolic tangent function to obtain an improved synovial observer, and performing reconstruction processing on the current state equation obtained in the step (4-1) by using the improved synovial observer to obtain a current observation state equation of the improved synovial observer, wherein the current observation state equation is represented by the following formula (3):
Wherein, I alphao、Ibetao is the current observation component of the stator in the PMSM under the two-phase static coordinate system; e alphao and E betao are the back EMF components of the stator in the PMSM in a two-phase stationary coordinate system, and there is Ealphao＝-ωeψfsin(θeo),Ebetao＝ωeψf cos(θeo),θeo representing the observed electrical angle of the rotor in the PMSM; k is a preset slide film gain coefficient which is specifically equal to 200; s represents an input state quantity; k is a negative constant and satisfies Wherein I alphae and I betae are the current error components of the stator in the PMSM in the two-phase stationary coordinate system, respectively, and I alphae＝Ialphae-Ialphae、Ibetae＝Ibetao-Ibeta;Ealphae、Ebetae is the back electromotive force error components of the stator in the PMSM in the two-phase stationary coordinate system, respectively;
the step (4-2) has the advantage that the hyperbolic tangent function is adopted to replace the switching function of the traditional sliding film observer as the switching function of the sliding film surface, and the switching of the sliding film surface accessory has smoothness. Therefore, the technical problem that the switching surface is suddenly changed and the buffeting phenomenon of the system is aggravated due to the switching function in the traditional synovial membrane observer can be solved.
(4-3) Performing a difference processing on the current observation state equation obtained in the step (4-2) and the current state equation obtained in the step (4-1) to obtain a current error state equation, wherein the current error state equation is represented by the following formula (4):
(4-4) obtaining a counter electromotive force error state equation (I alphae、 Ibetae in the formula (4) is equal to 0) when a point in the motion process of the synovium reaches the sliding surface according to the current error state equation obtained in the step (4-3), wherein the counter electromotive force error state equation is shown in the following formula (5):
(4-5) creating an adaptive observer and an observer state equation thereof for the back electromotive force error state equation obtained in the step (4-4), as shown in the following formula (6):
Wherein ω ee is the error electrical angle (i.e., the amount of error in electrical angle) of the rotor in the PMSM; l is the gain factor of the adaptive synovial observer, which is specifically equal to 350.
The step (4-5) has the advantages that the self-adaptive synovial membrane observer is adopted to carry out second-order filtering treatment, and the accuracy and the self-adaptive rate of the system observation value are improved. Therefore, the technical problem of low observation precision in the traditional synovial membrane observer can be solved.
(4-6) Phase-locked loop processing (the block diagram of which is shown in fig. 3) is performed on the back electromotive force observed value E alphao、Ebetao obtained in the step (4-5) to obtain an observed angle θ and an observed angular velocity ω eo.
The step (4-6) has the advantages that a phase-locked loop is adopted to replace an arctangent function of a traditional synovial observer to serve as an angle and speed information extraction strategy of the motor, so that the direct influence of noise is optimized, and the anti-interference performance is enhanced. Therefore, the technical problems of noise influence and noise immunity in the traditional synovial membrane observer can be solved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A PMSM control system based on an improved synovial membrane observer, which comprises a current sampling module, a Clark conversion module, a Park conversion module, the improved synovial membrane observer, a first PI controller, a second PI controller, a third PI controller, an Anti-Park module, a space vector pulse width modulation SVPWM module and an inverter module, and is characterized in that,
The current sampling module is respectively connected with the Clark conversion module and the inverter module and is used for collecting phase currents I a and I b of the PMSM under a three-phase static coordinate system;
The Clark conversion module is respectively connected with the Park conversion module and the improved sliding film observer and is used for performing Clark conversion treatment on the phase currents I a and I b of the PMSM in the three-phase static coordinate system, which are obtained by the current sampling module, so as to respectively obtain phase currents I alpha and I beta of the PMSM in the two-phase static coordinate system;
The Park conversion module is respectively connected with the second PI controller and the third PI controller and is used for carrying out Park conversion processing on the phase currents I alpha and I beta under the two-phase static coordinate system obtained by the Clark conversion module so as to respectively obtain phase currents I do and I qo of the PMSM under the two-phase rotating coordinate system;
The improved synovial membrane observer is connected with the first PI controller and is used for processing phase currents I alpha and I beta under a two-phase static coordinate system obtained by Clark transformation and phase voltages U alpha and U beta of the PMSM under the two-phase static coordinate system obtained by Anti-Park transformation to respectively obtain an observation angle theta and an observation angular speed omega eo of the PMSM;
The first PI controller is connected with the second PI controller and is used for PI processing the difference value between the target speed N ref of the PMSM and the observation angular speed omega eo of the improved synovial observer and the variation of the difference value to obtain a target current value I qref of the PMSM under the intersecting axis;
The second PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value between the target current I dref of the PMSM under the direct axis and the phase current I do of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U d of the PMSM under the direct axis;
The third PI controller is connected with the Anti-Park conversion module and is used for PI processing the difference value of the target current value I qref of the PMSM under the intersecting axis and the phase current I qo of the PMSM under the two-phase rotation coordinate system to obtain a target voltage value U q of the PMSM under the intersecting axis;
The Anti-Park conversion module is connected with the SVPWM module and is used for carrying out Anti-Park conversion processing on a target voltage value U d of the PMSM under a direct axis obtained by the second PI controller and a target voltage value U q of the PMSM under an intersecting axis obtained by the third PI controller so as to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system;
The SVPWM module is connected with the inverter module and is used for acquiring a target pulse signal according to the phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system obtained by the Anti-Park conversion module and the observation angle theta obtained by the improved synovial membrane observer, and controlling the inverter module through the target pulse signal so as to further realize vector control of the PMSM.
2. A method of operating the improved synovial observer-based PMSM sensorless control system of claim 1, comprising the steps of:
(1) Collecting phase currents I a and I b of the PMSM under a three-phase static coordinate system through a current sampling module;
(2) Performing Clark conversion treatment on the phase currents I a and I b of the PMSM obtained in the step (1) under a three-phase static coordinate system through a Clark conversion module to obtain phase currents I alpha and I beta of the PMSM under the two-phase static coordinate system;
(3) Judging whether the noninductive control needs to be started, if yes, turning to the step (4), otherwise, stopping the PMSM operation, and ending the process;
(4) Obtaining phase currents I alpha and I beta of the PMSM under a two-phase static coordinate system and phase voltages U alpha and U beta of the PMSM under the two-phase static coordinate system by an improved synovial observer according to the step (2), and obtaining an observation angle theta and an observation angular speed omega eo of the PMSM;
(5) Performing Park conversion processing on d-phase currents I alpha and I beta of the PMSM obtained in the step (2) under a two-phase static coordinate system and an observation angle theta of the PMSM obtained in the step (4) through a Park conversion module to obtain phase currents I do and I qo of the PMSM under a two-phase rotating coordinate system;
(6) Performing fuzzy PI processing on a difference value between a target speed N ref of the PMSM and an observation angular speed omega eo of the improved synovial observer and a variation of the difference value through a first PI controller to obtain a target current value I qref of the PMSM under a quadrature axis;
(7) Performing PI processing on the difference value of the target current value I qref of the PMSM under the quadrature axis, which is obtained in the step (6), and the phase current I qo of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a third PI controller, so as to obtain a target voltage value U q of the PMSM under the quadrature axis; meanwhile, PI processing is carried out on a target current value I dref of the PMSM under the straight axis and a difference value of phase current I do of the PMSM under the two-phase rotation coordinate system, which is obtained in the step (5), through a second PI controller, so as to obtain a target voltage value U d of the PMSM under the straight axis;
(8) Performing Anti-Park conversion processing on the target voltage values U q and U d of the PMSM obtained in the step (7) under the alternating-direct axis and the observation angle theta of the PMSM obtained in the step (4) through an Anti-Park conversion module to obtain phase voltages U alpha and U beta of the PMSM under a two-phase static coordinate system;
(9) Vector pulse width modulation processing is carried out on the phase voltages U alpha and U beta of the PMSM, which are obtained in the step (8), under a two-phase static coordinate system through an SVPWM module so as to obtain a target pulse signal, and an inverter module is controlled through the target pulse signal, so that vector control of the PMSM is realized;
(10) And judging whether the target speed N ref of the PMSM is 0, if so, ending the process, otherwise, returning to the step (1).
3. The method of operating a PMSM sensorless control system based on an improved synovial observer of claim 2, wherein step (4) includes the substeps of:
(4-1) establishing a current state equation based on phase currents I alpha and I beta of the PMSM in the two-phase stationary coordinate system, and phase voltages U alpha and U beta of the PMSM in the two-phase stationary coordinate system;
(4-2) performing replacement processing on the switching function of the conventional synovial observer by using a hyperbolic tangent function to obtain an improved synovial observer, and performing reconstruction processing on the current state equation obtained in the step (4-1) by using the improved synovial observer to obtain a current observation state equation of the improved synovial observer;
(4-3) performing a difference processing on the current observation state equation obtained in the step (4-2) and the current state equation obtained in the step (4-1) to obtain a current error state equation;
(4-4) obtaining a counter electromotive force error state equation when a point in the motion process of the sliding film reaches the sliding mode surface according to the current error state equation obtained in the step (4-3);
(4-5) creating an adaptive observer and an observer state equation thereof for the back electromotive force error state equation obtained in the step (4-4);
(4-6) performing phase-locked loop processing on the back electromotive force observed value E alphae、Ebetae obtained in the step (4-5) to obtain an observed angle θ and an observed angular velocity ω eo.
4. The method of claim 3, wherein the current state equation established in the step (4-1) is represented by the following formula (1):
Wherein L is the inductance value of the stator in the PMSM; r is the resistance of the stator in the PMSM; e alpha and E beta are extended back emf of the stator in the PMSM in a two-phase stationary coordinate system, and satisfy the following equation (2):
Wherein ω e is the angular speed of the rotor in the PMSM; psi f is the flux linkage of the stator in the PMSM; θ e is the electrical angle of the rotor in the PMSM.
5. The method of claim 4, wherein the current observation state equation in the step (4-2) is represented by the following formula (3):
wherein, I alphao、Ibetao is the current observation component of the stator in the PMSM under the two-phase static coordinate system; e alphao and E betao are the back EMF components of the stator in the PMSM in a two-phase stationary coordinate system, and there is Ealphao＝-ωeψfsin(θeo),Ebetao＝ωeψfcos(θeo),θeo representing the observed electrical angle of the rotor in the PMSM; l is the gain coefficient of the self-adaptive synovial observer, which is specifically equal to 350, K is the preset synovial gain coefficient, which is specifically equal to 200; s represents an input state quantity; k is a negative constant and satisfies Where I alphae and I betae are the current error components of the stator in the PMSM in the two-phase stationary coordinate system, respectively, and I alphae＝Ialphao-Ialpha、Ibetae＝Ibetao-Ibeta;Ealphae、Ebetae is the back emf error component of the stator in the PMSM in the two-phase stationary coordinate system, respectively.
6. The method of claim 5, wherein the current error state equation in step (4-3) is represented by the following formula (4):
7. the method of claim 6, wherein the back EMF error state equation obtained in step (4-4) is represented by the following formula (5):
8. The method of claim 7, wherein the observer state equation in step (4-5) is represented by the following formula (6):
Where ω ee is the error electrical angle of the rotor in the PMSM.
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