CN116979855A - PMSM direct torque parameter self-adaptive control method for elastic potential energy storage system - Google Patents
PMSM direct torque parameter self-adaptive control method for elastic potential energy storage system Download PDFInfo
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Classifications
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J15/00—Systems for storing electric energy
- H02J15/007—Systems for storing electric energy involving storage in the form of mechanical energy, e.g. fly-wheels
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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
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Abstract
The invention provides a PMSM direct torque parameter self-adaptive control method, belonging to the technical field of motor control; the energy storage system solves the problem that the response speed and the disturbance resistance are required to be simultaneously considered in the energy storage process of the novel elastic potential energy storage system; based on an accurate mathematical model of the energy storage system, a reverse thrust control algorithm is combined, the rotating speed, the torque and the magnetic linkage are used as virtual control variables, the reference component of the stator voltage under a two-phase static coordinate system is obtained, meanwhile, the torque/moment of inertia self-adaptive law is designed to eliminate the influence of system parameter disturbance on the control performance of the energy storage process, a voltage space vector modulation method is further applied to generate a switching signal with constant frequency, the operation of a frequency converter is controlled, and the PMSM is driven to complete the energy storage process of the system. The invention is applied to a novel elastic potential energy storage system.
Description
Technical Field
The invention provides a PMSM direct torque parameter self-adaptive control method, belonging to the technical field of motor control.
Background
The novel elastic potential energy storage is an energy storage mode for storing elastic potential energy through a plane spiral spring set (spiral torsion springs, STSs), and is suitable for a short-time high-power energy storage power generation occasion. In the energy storage process, a permanent magnet synchronous motor (permanent magnet synchronous motor, PMSM) drives an energy storage box group to gradually screw up STSs packaged in the energy storage box group, the counter torque of the energy storage box is rapidly increased, the moment of inertia is continuously changed at the same time, the PMSM output torque is required to rapidly respond to the change of the torque of the energy storage box, and meanwhile, parameter disturbance of the energy storage box is restrained, so that mechanical shake of the STSs is avoided, and the energy storage efficiency and the service life of the unit are reduced. The existing control method comprises the steps of firstly identifying real-time parameters of an energy storage box through a forgetting factor least square identification algorithm, feeding back the real-time parameters to a control system, adding an identification error inhibition link, and adopting different control algorithms to cause abnormal complexity and huge calculation amount of the system, wherein the control strategy is in a 'two-step walking' mode of firstly identifying and then controlling although the novel elastic potential energy storage performance requirement is met; or the control model is not based on direct torque control, but sacrifices part of response speed, although a "parameter self-adaption" control thought is also adopted, and the "step-by-step" is identified and controlled. Therefore, a PMSM strong robust control technology based on a direct torque control model is needed, parameter identification and control can be realized, torque quick response can be realized, disturbance parameters are effectively inhibited, and stable and efficient completion of an energy storage system is ensured.
Disclosure of Invention
The invention provides a PMSM direct torque parameter self-adaptive control method for a novel elastic potential energy storage system, which aims to solve the problem that the response speed and disturbance rejection performance are required to be simultaneously considered in the energy storage process of the novel elastic potential energy storage system.
In order to solve the technical problems, the invention adopts the following technical scheme: a PMSM direct torque parameter self-adaptive control method for an elastic potential energy storage system comprises the following steps:
a. according to the characteristics of the energy storage box, a parameter configuration mathematical model is established, and the expression is as follows:
establishing a mathematical model of the PMSM under an alpha and beta axis coordinate system, wherein the expression is as follows:
stator current equation:
stator flux linkage equation:
a rotor motion equation;
electromagnetic torque equation:
in the above formula: m represents that the energy storage box group is formed by connecting m energy storage boxes in series; n represents that each energy storage box is packaged with n STSs in parallel; t (T) mnL The torque of the energy storage box group is; j (J) mn The moment of inertia is the energy storage box group; t (T) 0 Initial torque for a single STS; e is the STS elastic modulus, I is the STS moment of inertia, L, b and h are the STS length, width and thickness respectively; omega is the motor rotation speed; t is time; t is t max Time required for the whole process of energy storage; j (J) 0 A moment of inertia fixing portion for STS; j (J) e Is the maximum value of the STS moment of inertia variation part; u (u) α 、u β Is stator alpha and beta axis voltage; i.e α 、i β The current is stator alpha and beta axis current; e (E) α 、E β An alpha-beta axis component of the back electromotive force of the motor; psi phi type α 、ψ β Is stator flux-linkage psi s Alpha, beta axis component of (a); t (T) e Is electromagnetic torque; n is n p The pole pair number of the motor is; j is moment of inertia; t (T) L Is the load torque; b (B) m Is a viscous damping coefficient; r is stator resistance; l is stator inductance; n is n max The number of turns of the energy storage box group is effective.
b. Direct torque adaptive control algorithm:
in the above formula: psi phi type s Is a stator flux linkage; t (T) e Is electromagnetic torque; omega is the motor rotation speed; omega ref 、T eref 、ψ sref Is omega, T e 、ψ s A reference value; e, e ω 、e T 、e ψ Is omega, T e 、ψ s An error variable;is T L A J real time value; delta T L ΔJ is T L A J variation value; k (k) 1 Gain is controlled for rotational speed; k (k) 2 Gain is controlled for electromagnetic torque; k (k) 3 Gain is controlled for flux linkage; u (u) αref 、u βref Is u α 、u β A reference value; r is (r) 1 The load torque adaptive coefficient; r is (r) 2 Is a rotational inertia self-adaptive coefficient; u (u) α 、u β Is stator alpha and beta axis voltage; i.e α 、i β The current is stator alpha and beta axis current; e (E) α 、E β An alpha-axis component of the back electromotive force of the motor; psi phi type α 、ψ β Is stator flux-linkage psi s Alpha, beta axis component of (a); r is stator resistance; l is stator inductance; n is n p The pole pair number of the motor is; />Is->Is the first derivative of (a); />Is omega ref Is the first derivative of (a); />Is omega ref Is a second derivative of (2); />Is delta T L Is the first derivative of (a); />Is the first derivative of Δj.
c will control the voltage u αref 、u βref And the direct torque strong robust control of the energy storage process is realized by inputting the direct torque strong robust control into a PMSM mathematical model.
Compared with the prior art, the invention has the following beneficial effects: the invention is based on a PMSM direct torque control model, combines a back-thrust control algorithm to adjust control parameters in real time, and corrects disturbance caused by parameter deviation through a self-adaptive control law of torque and moment of inertia, so that the control system improves control precision and energy storage system performance while not losing control speed.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a control block diagram of a novel elastic potential energy storage system;
FIG. 2 is a PMSM rotational speed waveform from a simulation analysis of a novel elastic potential energy storage system according to the control method of the present invention;
FIG. 3 is a PMSM torque waveform from a simulation analysis of a novel elastic potential energy storage system according to the control method of the present invention;
fig. 4 is a PMSM stator current waveform obtained by performing simulation analysis on a novel elastic potential energy storage system according to the control method of the present invention.
Detailed Description
As shown in fig. 1 to 4, the invention provides a direct torque parameter adaptive control method in the energy storage process of a novel elastic potential energy storage unit, which comprises the steps of firstly establishing a mathematical model of an energy storage system formed by an energy storage box parameter configuration mathematical model and a PMSM direct torque control model; based on a PMSM direct torque control model, through a back-thrust control algorithm and a parameter self-adaptive control idea, a positive convergence Lyapunov function is gradually constructed to obtain a rotating speed, a torque and a magnetic linkage back-thrust controller, a control target reference value and a voltage and current detection value are input to obtain a reference component of PMSM stator voltage under a two-phase static coordinate system, a voltage space vector modulation method is further applied to generate a switching signal with constant frequency, a frequency converter is controlled to operate, and the PMSM is driven to complete a system energy storage process.
The method according to the invention is further described below with reference to the accompanying drawings.
1. Novel elastic potential energy storage system mathematical model
The control block diagram of the novel elastic potential energy storage system is shown in fig. 1, the novel elastic potential energy storage system is formed by sequentially connecting a mechanical elastic energy storage box, a PMSM and an inverter, and the inverter realizes stable and efficient energy storage of the novel elastic potential energy storage system under the control method of the invention.
The mathematical model of the PMSM in the α, β axis coordinate system can be written as:
stator current equation:
stator flux linkage equation:
a rotor motion equation;
electromagnetic torque equation:
in the above formula: u (u) α 、u β Is the voltage of the alpha and beta axes of the stator, i α 、i β Is the stator alpha and beta axis current, L is the stator inductance, ψ α 、ψ β Is the component of the magnetic chain alpha and beta axes of the stator, R is the stator phase resistance, n p Is the pole pair number, omega of the rotorThe rotation speed of the motor, J is the rotation inertia, T e Is electromagnetic torque, T L For load torque, B m For viscous damping coefficient E α 、E β Alpha and beta axis components of the back electromotive force of the motor.
The energy storage box group is a system energy storage unit, and is formed by connecting m energy storage boxes in series, n STSs are packaged in parallel in a single energy storage box, and the mathematical model is as follows:
in the above formula:is a real time value; delta T L Δj is the change value; t (T) L J is a nominal value; t (T) 0 Initial torque for a single STS; e is the STS elastic modulus, I is the STS moment of inertia, L, b and h are the STS length, width and thickness respectively; omega is the motor rotation speed; t is time; t is t max Time required for the whole process of energy storage; j (J) 0 A moment of inertia fixing portion for STS; j (J) e Is the maximum value of the STS moment of inertia variation part; n is n max The number of turns of the energy storage box group is effective.
2. Direct torque parameter adaptive control system design
The system control targets are PMSM rotating speed, torque and flux linkage, and an error variable e is defined according to a reverse thrust control principle ω 、e T 、e ψ The following are provided:
the primary control objective of the system is that the rotating speed is stable, and the Lyapunov function V is selected 1 The following are provided:
select e ω For virtual control variables, forming subsystem, viscous damping coefficient B m The value is usually very small, and in order to simplify the control system, a zero value is taken, and the derivative is obtained:
in order to make equation (9) negative, a torque reference value is selected as:
similarly, to control torque and flux linkage, a Lyapunov function V is constructed 2 The following are provided:
the derivative is obtained by:
in order to realize accurate identification of torque and rotational inertia and feedback to a control system, the following settings are set:
substitution of formula (14) into formula (13) yields:
the expression (15) includes the actual control variable u α 、u β To achieve the control objective, u α 、u β Reference value u αref 、u βref The values are as follows:
the torque/flux linkage reverse controller is formed by the formula (16) and the formula (17), and the formula (16) and the formula (17) are substituted into the formula (15), so that the torque/flux linkage reverse controller can be obtained:
construction of Lyapunov function V containing variations in torque and moment of inertia 3 The following are provided:
the derivation of formula (19) can be obtained:
in order to realize the self-adaptive control of torque and moment of inertia, the self-adaptive control law is constructed as follows:
substitution of formula (21) into formula (20) yields:
the method can obtain:
due to V 3 Bounded, according to the Barbalat theory, it is possible to:
the same principle can be obtained:
thus, the closed loop system is progressively stable.
The control method provided by the invention is used for performing control software simulation analysis. Let the parameters of the PMSM be: stator phase resistance R s =2.875Ω; stator inductance l=0.033H; permanent magnet flux ψ f =0.38wb; rotor pole pair number n p =10; viscous damping coefficient B m =0n/rad/s. The controller parameters were selected as follows: k (k) 1 ＝0.01，k 2 ＝300，k 3 ＝50，r 1 ＝0.02，r 2 =0.08, the simulation step size was set to 0.0001min, and the run time was 1min.
The PMSM speed reference values are as follows:
the simulation results are shown in fig. 2 to 4. Fig. 2 is a graph of rotational speed, and it can be seen that the rotational speed of the system is basically free from overshoot, and the system can reach the command value quickly with a little shake, and the adjustment time is short, the transient performance is excellent, and no pulsation is basically generated. Fig. 3 shows a torque curve, and it can be seen that the system torque response is rapid and the pulsation is small, which is very beneficial to the more rigid control object of the novel elastic potential energy system. Fig. 4 shows the stator phase current waveform contrast, increasing with increasing torque.
The novel elastic potential energy storage system disclosed by the invention has the advantages that the energy storage process is completed by driving the energy storage box through the permanent magnet synchronous motor, the energy storage form of the energy storage box is elastic potential energy, the storage medium is a large-sized plane spiral spring, the installation structure and the operation characteristic are complex, a strong robustness control algorithm is needed, and the torque can be quickly responded and disturbance can be effectively restrained. Aiming at the problem, the invention designs a direct torque self-adaptive control method of the permanent magnet synchronous motor based on an accurate mathematical model of the energy storage system, by taking the rotating speed, the torque and the magnetic linkage as virtual control variables through a reverse thrust control algorithm and combining the self-adaptive control law of the torque and the moment of inertia, and controls the inverter to drive the PMSM to complete the energy storage process. The implementation example shows that the control method has the advantages of improving dynamic performance while keeping the advantage of quick response of the traditional direct torque control, obviously reducing rotation speed and torque pulsation, reducing shaking in the energy storage process of the system, improving energy storage efficiency and prolonging the service life of the system.
The specific structure of the invention needs to be described that the connection relation between the component modules adopted by the invention is definite and realizable, and besides the specific description in the embodiment, the specific connection relation can bring about corresponding technical effects, and on the premise of not depending on execution of corresponding software programs, the technical problems of the invention are solved, the types of the components, the modules and the specific components, the connection modes of the components and the expected technical effects brought by the technical characteristics are clear, complete and realizable, and the conventional use method and the expected technical effects brought by the technical characteristics are all disclosed in patents, journal papers, technical manuals, technical dictionaries and textbooks which can be acquired by a person in the field before the application date, or the prior art such as conventional technology, common knowledge in the field, and the like, so that the provided technical scheme is clear, complete and the corresponding entity products can be reproduced or obtained according to the technical means.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (3)
1. A PMSM direct torque parameter self-adaptive control method for an elastic potential energy storage system is characterized by comprising the following steps of: the method comprises the following steps:
s1: establishing a mathematical model of a novel elastic potential energy storage system formed by an energy storage box parameter configuration mathematical model and a PMSM direct torque control model;
s2: based on a PMSM direct torque control model, combining a reverse thrust control algorithm and a parameter self-adaptive control idea, gradually constructing a positive convergence Lyapunov function, taking the rotating speed, the torque and the magnetic linkage as virtual control variables to obtain a rotating speed, a torque and magnetic linkage reverse thrust controller, and inputting a control target reference value and a voltage and current detection value to obtain a reference component of PMSM stator voltage under a two-phase stationary coordinate system;
s3: and generating a switching signal with constant frequency by using a voltage space vector modulation method, controlling the operation of a frequency converter, and driving the PMSM to complete the energy storage process of the system.
2. The method for adaptively controlling the PMSM direct torque parameters of the elastic potential energy storage system according to claim 1, wherein the method comprises the following steps: the novel elastic potential energy storage system drives the energy storage boxes to complete an energy storage process through the PMSM, the energy storage form of the energy storage boxes is elastic potential energy, the energy storage box group is formed by connecting m energy storage boxes in series, n STSs are packaged in parallel in a single energy storage box, and the mathematical model is as follows:
in the above formula: t (T) mnL The torque of the energy storage box group is; j (J) mn The moment of inertia is the energy storage box group; t (T) 0 Initial torque for a single STS; e is the STS elastic modulus, I is the STS moment of inertia, L, b and h are the STS length, width and thickness respectively; omega is the motor rotation speed; t is time; t is t max Time required for the whole process of energy storage; j (J) 0 A moment of inertia fixing portion for STS; j (J) e Is the maximum value of the STS moment of inertia variation part; n is n max The number of effective work turns of the energy storage box group;
the mathematical model of the PMSM direct torque control model under an alpha and beta axis coordinate system is as follows:
stator current equation:
stator flux linkage equation:
equation of rotor motion:
electromagnetic torque equation:
in the above formula: u (u) α 、u β Is the voltage of the alpha and beta axes of the stator, i α 、i β Is the stator alpha and beta axis current, L is the stator inductance, ψ α 、ψ β Is the component of the magnetic chain alpha and beta axes of the stator, R is the stator phase resistance, n p The pole pair number of the rotor, omega is the mechanical angular velocity of the rotor, J is the moment of inertia and T e Is electromagnetic torque, T L For load torque, B m For viscous damping coefficient E α 、E β Alpha and beta axis components of the back electromotive force of the motor.
3. The method for adaptively controlling the PMSM direct torque parameters of the elastic potential energy storage system according to claim 2, wherein the method comprises the following steps: in the step S2, a PMSM direct torque control model and a torque and moment of inertia adaptive control law are combined, and a voltage controller is designed, and the expression of the voltage controller is as follows:
in the above formula: psi phi type s Is a stator flux linkage; t (T) e Is electromagnetic torque; omega is the motor rotation speed; omega ref 、T eref 、ψ sref Is omega, T e 、ψ s A reference value; e, e ω 、e T 、e ψ Is omega, T e 、ψ s An error variable;is a load torque real time value; />Is a moment of inertia real-time value; delta T L Is a load torque variation value; Δj is the moment of inertia variation value; t (T) L Is the nominal value of the load torque; j is the nominal value of moment of inertia; k (k) 1 Gain is controlled for rotational speed; k (k) 2 Gain is controlled for electromagnetic torque; k (k) 3 Gain is controlled for flux linkage; u (u) αref 、u βref Is u α 、u β A reference value; r is (r) 1 The load torque adaptive coefficient; r is (r) 2 Is a rotational inertia self-adaptive coefficient; u (u) α 、u β Is stator alpha and beta axis voltage; i.e α 、i β The current is stator alpha and beta axis current; e (E) α 、E β An alpha-axis component of the back electromotive force of the motor; psi phi type α 、ψ β Is stator flux-linkage psi s Alpha, beta axis component of (a); r is stator resistance; l is stator inductance; n is n p The pole pair number of the motor is; />Is->Is the first derivative of (a); />Is omega ref Is the first derivative of (a); />Is omega ref Is a second derivative of (2); />Is delta T L Is the first derivative of (a); />Is the first derivative of Δj.
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