CN117811445A - Novel ultra-spiral sliding mode robust load observation method for permanent magnet synchronous motor - Google Patents
Novel ultra-spiral sliding mode robust load observation method for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention provides a novel ultra-spiral sliding mode robust load observation method for a permanent magnet synchronous motor, which is based on stator resistance and stator resistanceThe stator flux linkage is estimated by using a lower stator voltage model, the stator resistance change is compensated by using a temperature rise formula, and high is usedThe pass filter or notch filter filters the estimated stator flux linkage, so that error accumulation caused by direct current bias is eliminated, a voltage sensor is not needed, and the running cost is reduced. The method forms a sliding mode surface by the error between the actual rotating speed and the estimated rotating speed, adopts a second-order supercoiled sliding mode function, proves the stability of an observer, and carries out filtering through a phase-locked loop. Compared with a traditional load observer, the method has good observation effect on load torque and stronger robustness on the physical parameter changes of inductance and resistance in the permanent magnet synchronous motor; the method is suitable for a permanent magnet synchronous motor control system with an observation requirement on load torque, and can effectively avoid the influence of inductance change on load torque identification when the permanent magnet synchronous motor is demagnetized or saturated.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a novel method for observing a supercoiled sliding mode robust load of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is a synchronous motor which generates a constant magnetic field by using a permanent magnet. In a permanent magnet synchronous motor, permanent magnets are typically mounted on a rotor, and a set of windings on a stator produce a rotating magnetic field; when the rotor rotates, the magnetic field generated by the permanent magnet interacts with the rotating magnetic field on the stator, thereby generating electromagnetic torque to drive the motor to rotate. When the permanent magnet synchronous motor adopts model predictive control or other control methods requiring a system accurate model to achieve a specific target or improve dynamic performance, the challenge that load torque cannot be modeled is met, and the load torque of the permanent magnet synchronous motor is difficult to be measured by a sensor and can only be estimated. The physical parameters (such as inductance, resistance and permanent magnet flux linkage) of the permanent magnet synchronous motor tend to change in the running process, so that the estimation inaccuracy is further aggravated.
The current permanent magnet synchronous motor load observation method in the market is mainly divided into the following categories:
the first type of permanent magnet synchronous motor load observation method is to construct a Longboge full-dimensional load torque observer aiming at the characteristic that d-q axis inductances of the surface-mounted permanent magnet synchronous motor are equal; however, the load estimation method has a good effect only on the surface-mounted permanent magnet synchronous motor.
The second class of permanent magnet synchronous motor load observation method adoptsControlling, namely neglecting reluctance torque, and designing an adaptive dimension-reduction observer, an expansion observer or a sliding mode observer to estimate load torque; however, in practical application, it is not necessary to useControl, such as MTPA, is popular because of the desire for minimal copper consumption. As can be seen, such load observation methods have limitations.
The third type of permanent magnet synchronous motor load observation method is that a sliding mode load observer is built based on d-q axis inductance aiming at the built-in permanent magnet synchronous motor, and buffeting is eliminated by using an improved sliding mode function or a filter; but such does not mention the effect of inductance variations on the observed effect.
In summary, in practical application, the flux density of the permanent magnet synchronous motor will be saturated with the increase of the armature magnetic potential, so that the flux linkage and the current are in a nonlinear relationship; while most on-line identification methods based on ideal d-q axis voltage equations on the market today ignore these non-ideal factors, resulting in identification errors. Therefore, most online identification methods based on ideal d-q axis voltage equation on the market cause the problem of increasing observer steady state error when demagnetizing (e.g. weak magnetic control) or magnetically saturating.
In view of this, the present application is presented.
Disclosure of Invention
The invention provides a novel ultra-spiral sliding mode robust load observation method for a permanent magnet synchronous motor, which can at least partially improve the problems.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a novel ultra-spiral sliding mode robust load observation method for a permanent magnet synchronous motor comprises the following steps:
the method comprises the steps of obtaining a pre-deduced novel super-spiral sliding-mode permanent magnet synchronous motor load observer, wherein the expression is as follows:
wherein,for the actual mechanical angular velocity of the motor, < >>For mechanical angular velocity estimation, < >>Is the derivative of the mechanical angular velocity estimate, +.>For electromagnetic torque +.>For moment of inertia>Is viscous damping coefficient->For a priori estimate of the load torque,error is estimated for mechanical angular velocity,/->，/>As a sign function +.>For the derivative of the actual mechanical angular velocity of the motor, +.>、/>Are observer parameters and all require more than 0;
acquiring a direct-current side bus voltage and a last sampling moment inverter switching state, performing observation pretreatment according to the direct-current side bus voltage and the last sampling moment inverter switching state, and calculating the electromagnetic torqueTo perfect the novel supercoiled sliding mode permanent magnet synchronous motor load observer;
and filtering the output of the completed novel supercoiled sliding mode permanent magnet synchronous motor load observer by adopting a phase-locked loop to generate a load torque observation value.
Preferably, before obtaining the pre-deduced novel supercoiled sliding mode permanent magnet synchronous motor load observer, the method further comprises:
obtaining the actual mechanical angular velocity of the motorAnd mechanical angular velocity estimate +.>The actual mechanical angular velocity of the motor is +.>And said mechanical angular velocity estimate +.>Calculating to generate mechanical angular velocity estimation error +.>，And estimating the mechanical angular velocity error +.>Is set as a sliding die surface;
according to the kinematic equation and electromagnetic torque calculation of the permanent magnet synchronous motor, a novel robust load observer is designed, and the formula is as follows:
wherein,virtual control inputs for the new robust load observer;
the novel robust load observer adopts a second-order sliding mode supercoiled algorithm to perform convergence law calculation, and the formula is as follows:
wherein,estimating the derivative of the error for the mechanical angular velocity, +.>Is an intermediate variable +.>Is the first order derivative of the intermediate variable;
obtaining the virtual control inputThe formula is:
according to the virtual control inputAnd the novel robust load observer is deduced to obtain the novel supercoiled sliding mode permanent magnet synchronous motor load observer.
Preferably, a dc side bus voltage and a last sampling time inverter switching state are obtained, observation pretreatment is performed according to the dc side bus voltage and the last sampling time inverter switching state, and the electromagnetic torque is calculatedSpecifically the values of (2):
obtaining the voltage of a DC side busAnd a last sampling instant inverter switch state, wherein the last sampling instant inverter switch state comprises a last instant +.>An instruction voltage +.>And->；
According to the DC side bus voltageAnd the inverter switching state at the last sampling instant, determining the stator voltage vector to be +.>The components on the system are expressed as:
wherein,is the voltage value of the bus at the direct current side, +.>、/>For the last moment +.>Is set with command voltage, ">And->The stator voltage vector is +.>Component of tie, ++>The switching state of the three-phase inverter at the last sampling moment;
according to a resistance temperature rise formula, compensating the resistance change of the stator, wherein the formula is as follows:
wherein,for the temperature sampling value at the current time,/->For the current temperature->Phase resistance value of lower stator winding, +.>25->Phase electricity of lower windingResistance value->Is the temperature coefficient of resistance of copper material, +.>；
Performing estimation processing according to a pre-trained stator resistance-voltage model to estimate that the stator flux is inThe following components are expressed as:
wherein,、/>for stator flux linkage estimation value is +.>Component under the system, ++>，，/>A rotor electrical angle of 0 time, +.>Is a permanent magnet flux linkage->、/>For stator current vectorA tethered component;
and filtering the pre-estimated stator flux linkage by using a filter, wherein the formula is as follows:
wherein,for differentiating operator +.>Cut-off frequency for a first order high pass filter, < >>、/>Is the stator flux linkage after filtering is +.>A tethered component;
based on the stator flux linkage after the filtration is completed, the electromagnetic torque is calculatedThe formula is:
wherein,the pole pair number is the pole pair number of the permanent magnet synchronous motor.
Preferably, the filter is a high pass filter or a notch filter.
Preferably, a phase-locked loop is adopted to filter the output of the completed load observer of the novel supercoiled sliding mode permanent magnet synchronous motor, so as to generate a load torque observation value, which is specifically:
preprocessing by adopting a phase-locked loop closed loop transfer function, wherein the function formula is as follows:
wherein,for differentiating operator +.>For phase-locked loop proportional gain, +.>Integrating the gain for the phase-locked loop;
order the，/>Is a phase-locked loop cut-off frequency +.>For determining a filter bandwidth;
order the，/>For the damping ratio, the damping ratio +.>For determining the response speed and overshoot;
the phase-locked loop cut-off frequency is adjusted according to the obtained actual frequency response and the filtering requirementAnd the damping ratio->Adjusting;
the phase-locked loop is adopted to estimate the prior value of the load torqueFiltering to generate a load torque observation value, wherein the formula is as follows:
wherein,for load torque observations, +.>Is a phase-locked loop closed loop transfer function.
Preferably, the permanent magnet synchronous motor used in the novel supercoiled sliding mode permanent magnet synchronous motor load observer is a built-in permanent magnet synchronous motor or a surface-mounted permanent magnet synchronous motor.
Preferably, the d-q axis reference current given control of the permanent magnet synchronous motor in the novel supercoiled sliding mode permanent magnet synchronous motor load observer comprisesControl=0, maximum torque-to-current ratio control, field weakening control, or minimum loss control.
Compared with the prior art, the invention has the beneficial effects that:
the influence of inductance change on load torque identification during motor demagnetization or magnetic saturation is avoided, stator resistance change is compensated through a temperature rise formula, an estimated stator magnetic chain is filtered through a high-pass filter or a notch filter, error accumulation caused by direct current bias is eliminated, a voltage sensor is not needed, operation cost is reduced, and the observer has good robustness. The provided load observation method breaks the limitation of the traditional load observer, is suitable for non-salient pole type permanent magnet synchronous motor and salient pole type permanent magnet synchronous motor, and is not limited toControl, maximum torque =0Current ratio control (MTPA), field weakening control, minimum loss control. The load observation method can be used for load torque feedforward compensation of the permanent magnet synchronous motor speed loop controller, so that a specific optimization target is realized or dynamic performance is improved.
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Fig. 1 is a schematic flow chart of a novel ultra-spiral sliding mode robust load observation method for a permanent magnet synchronous motor, which is provided by the embodiment of the invention;
fig. 2 is a block diagram of a permanent magnet synchronous motor speed control system based on a supercoiled sliding mode robust load observer according to an embodiment of the present invention;
FIG. 3 is a block diagram of a PI speed controller employing load torque feedforward compensation provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a novel supercoiled sliding mode robust load observer provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a phase locked loop according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a first embodiment of the present invention discloses a novel ultra-spiral sliding mode robust load observing method for a permanent magnet synchronous motor, which can be executed by a load observing device (hereinafter referred to as observing device), in particular, one or more processors in the observing device, so as to implement the following method:
s101, acquiring a pre-deduced novel supercoiled sliding mode permanent magnet synchronous motor load observer, wherein the expression is as follows:
wherein,for the actual mechanical angular velocity of the motor, < >>For mechanical angular velocity estimation, < >>Is the derivative of the mechanical angular velocity estimate, +.>For electromagnetic torque +.>For moment of inertia>Is viscous damping coefficient->For a priori estimate of the load torque,error is estimated for mechanical angular velocity,/->，/>As a sign function +.>For the derivative of the actual mechanical angular velocity of the motor, +.>、/>Are observer parameters and all require more than 0;
preferably, before obtaining the pre-deduced novel supercoiled sliding mode permanent magnet synchronous motor load observer, the method further comprises:
obtaining the actual mechanical angular velocity of the motorAnd mechanical angular velocity estimate +.>The actual mechanical angular velocity of the motor is +.>And said mechanical angular velocity estimate +.>Calculating to generate mechanical angular velocity estimation error +.>，And estimating the mechanical angular velocity error +.>Is set as a sliding die surface;
according to the kinematic equation and electromagnetic torque calculation of the permanent magnet synchronous motor, a novel robust load observer is designed, and the formula is as follows:
wherein,virtual control inputs for the new robust load observer;
the novel robust load observer adopts a second-order sliding mode supercoiled algorithm to perform convergence law calculation, and the formula is as follows:
wherein,estimating the derivative of the error for the mechanical angular velocity, +.>Is an intermediate variable +.>Is the first order derivative of the intermediate variable;
obtaining the virtual control inputThe formula is:
according to the virtual control inputAnd the novel robust load observer is deduced to obtain the novel supercoiled sliding mode permanent magnet synchronous motor load observer.
S102, acquiring a direct-current side bus voltage and a last sampling moment inverter switching state, performing observation pretreatment according to the direct-current side bus voltage and the last sampling moment inverter switching state, and calculating the electromagnetic torqueTo perfect the novel supercoiled slip-form permanent magnet synchronizationA motor load observer;
specifically, step S102 includes: obtaining the voltage of a DC side busAnd a last sampling instant inverter switch state, wherein the last sampling instant inverter switch state comprises a last instant +.>An instruction voltage +.>And；
according to the DC side bus voltageAnd the inverter switching state at the last sampling instant, determining the stator voltage vector to be +.>The components on the system are expressed as:
wherein,is the voltage value of the bus at the direct current side, +.>、/>For the last moment +.>Is set with command voltage, ">Andthe stator voltage vector is +.>Component of tie, ++>The switching state of the three-phase inverter at the last sampling moment;
according to a resistance temperature rise formula, compensating the resistance change of the stator, wherein the formula is as follows:
wherein,for the temperature sampling value at the current time,/->For the current temperature->Phase resistance value of lower stator winding, +.>25->Lower winding phase resistance value->Is the temperature coefficient of resistance of copper material, +.>；
Performing estimation processing according to a pre-trained stator resistance-voltage model to estimate that the stator flux is inThe following components are expressed as:
wherein,、/>for stator flux linkage estimation value is +.>Component under the system, ++>，，/>A rotor electrical angle of 0 time, +.>Is a permanent magnet flux linkage->、/>For stator current vectorA tethered component;
and filtering the pre-estimated stator flux linkage by using a filter, wherein the formula is as follows:
wherein,for differentiating operator +.>Cut-off frequency for a first order high pass filter, < >>、/>Is the stator flux linkage after filtering is +.>A tethered component;
based on the stator flux linkage after the filtration is completed, the electromagnetic torque is calculatedThe formula is:
wherein,the pole pair number is the pole pair number of the permanent magnet synchronous motor.
Preferably, the filter is a high pass filter or a notch filter.
S103, filtering the output of the completed novel ultra-spiral sliding-mode permanent magnet synchronous motor load observer by adopting a phase-locked loop to generate a load torque observation value.
Specifically, step S103 includes: preprocessing by adopting a phase-locked loop closed loop transfer function, wherein the function formula is as follows:
wherein,for differentiating operator +.>Is a phase-locked loopProportional gain (I)>Integrating the gain for the phase-locked loop;
order the，/>Is a phase-locked loop cut-off frequency +.>For determining a filter bandwidth;
order the，/>For the damping ratio, the damping ratio +.>For determining the response speed and overshoot;
the phase-locked loop cut-off frequency is adjusted according to the obtained actual frequency response and the filtering requirementAnd the damping ratio->Adjusting;
the phase-locked loop is adopted to estimate the prior value of the load torqueFiltering to generate a load torque observation value, wherein the formula is as follows:
wherein,for load torque observations, +.>Is a phase-locked loop closed loop transfer function.
Specifically, in the present embodiment, first, the dc side bus voltage is used as a voltageAnd the inverter switching state at the last sampling time (or command voltage +.>、/>) Determine->And->：
In the method, in the process of the invention,is the voltage value of the bus at the direct current side, +.>、/>Is->Is set with command voltage, ">And->The stator voltage vector is +.>Component of tie, ++>The switching state of the three-phase inverter at the last sampling moment;
and compensating the resistance change of the stator by using a resistance temperature rise formula, wherein the formula is as follows:
in the method, in the process of the invention,for the temperature sampling value at the current time,/->For the current temperature->Phase resistance value of lower stator winding, +.>25->Lower winding phase resistance value->Is the temperature coefficient of resistance of copper material, +.>；
The voltage balance vector equation of the permanent magnet synchronous motor is as follows:
wherein,is the stator voltage vector of the permanent magnet synchronous motor，/>For stator current vector, ">The stator flux linkage vector is synthesized by a stator excitation flux linkage and a rotor permanent magnet flux linkage.
The flux linkage, voltage and current vector equation of the permanent magnet synchronous motor are as follows:
where j is an imaginary unit representing an axis phase lead axis of 90 degrees.
Substituting formula (4) into formula (3) yields:
listing the real and imaginary parts of equation (5) separatelyThe stator voltage equation is as follows:
estimating stator flux linkage in accordance with stator resistance-voltage modelThe following components:
wherein,、/>for stator flux linkage estimation value is +.>Component under the system, ++>，，/>For rotor electrical angle at time 0, i.e. +.>、/>Permanent magnet flux linkage at time 0->Projection on-axis, +.>、/>For stator current vector +.>Component under the system, ++>、/>To expand the counter potential vector at +.>The component below.
Considering the nonlinearity of the inverter, the IGBT turn-on voltage drop, there is a dc offset error between the command voltage and the real stator voltage, and the current sensor has noise interference, so the extended counter potential vector is expressed as:
in the method, in the process of the invention,to expand the counter potential vector +.>For DC bias, +.>Is noise interference.
Wherein, the formula (8) can be expressed as the forms of direct current, fundamental wave and harmonic wave components:
wherein,is DC offset; />As the fundamental component of the wave,to expand the amplitude of the back-emf fundamental wave, +.>And->The frequency and the phase of the extended back emf fundamental wave are respectively; />To expand the accumulation term of counter potential higher harmonics, < ->Is the harmonic frequency>And->Respectively is expansion counter potential->The frequency and phase of the subharmonic.
And (3) integrating the expanded counter potential according to a formula (7) to obtain a stator flux linkage estimated value:
wherein,the initial value of the magnetic linkage of the stator is +.>The component below.
It can be seen that the dc bias accumulates over time, resulting in further amplification of flux linkage observation errors over time. Therefore, the estimated stator flux linkage is filtered by using a high-pass filter or a notch filter to eliminate error accumulation caused by direct current bias, and the transfer function of the invention is as follows:
in the method, in the process of the invention,for differentiating operator +.>Is the cut-off frequency of the first order high pass filter.
Performing Laplace transform on the formula (9) to obtain a complex frequency domain expression of the extended counter potential vector:
the estimated stator flux linkage vector can be expressed in the s-domain as:
performing a first order high pass filter on the estimated stator flux linkage to obtain:
wherein the method comprises the steps ofIs the filtered stator flux linkage vector.
After high-pass filtering, the stator flux linkage has the direct current component term changed into:
performing Laplace inverse transformation on the formula (15) to obtain a time domain expression of the direct current component in the filtered stator flux linkage:
from equation (16), the dc offset no longer accumulates over time. And then, calculating the electromagnetic torque of the permanent magnet synchronous motor according to the filtered stator flux linkage:
error of velocity estimationAs slip formFace, i.e.)>The method comprises the steps of carrying out a first treatment on the surface of the According to the kinematic equation of the permanent magnet synchronous motor and the electromagnetic torque calculation method, a novel robust load observer is designed:
wherein,for the actual angular speed of the motor +.>For the angular velocity estimate +.>Is the derivative of the mechanical angular velocity estimate, +.>For electromagnetic torque +.>For moment of inertia>Is viscous damping coefficient->The input is virtually controlled for the observer.
The error convergence law of the observer adopts a second-order sliding-mode supercoiled algorithm:
wherein,estimating the derivative of the error for the mechanical angular velocity, +.>As a sign function +.>、/>Is a parameter to be set and is required to be larger than 0. According to the above formula, the virtual control input of the observer is available +.>：
The expression of the novel supercoiled sliding mode permanent magnet synchronous motor load observer can be obtained:
wherein,and a structural framework diagram of the novel supercoiled sliding mode permanent magnet synchronous motor load observer is used for estimating the load torque a priori, and is shown in fig. 4.
The defined state variables are:
state variable、/>For->And performing deviation solving and guiding to obtain:
can also be expressed as:
constructing a strong Lyapunov function, and obtaining:
wherein, after being replaced by the state variable of the formula (22),can be expressed as:
i.e.
Wherein,
according to Sylvester's theorem, when>At 0, the +>Positive and radial unbounded. According to formula (26), +.>For->Is a partial guide of (a):
substituting equation (24) into equation (29) yields:
wherein,
it can be noted here that the final result of equation (30) is given a negative sign, and therefore, if desiredFor->Is negative, then require +.>Is a positive definite matrix, i.e.)>、/>Are all greater than 0. It can be seen that when observer parameters +.>、/>When the above-mentioned conditions are met,is->Convergence to zero for a finite time, combined with the definition of the slip plane, indicates that the observer's velocity estimation error will converge to zero.
The kinematic equation of the permanent magnet synchronous motor is as follows:
wherein,for the mechanical angular velocity of the motor, which can be measured by a resolver or an encoder, +.>Is the derivative of the mechanical angular velocity of the motor; />Is electromagnetic torque; />Is the moment of inertia; />Is a viscous damping coefficient; />Is the load torque; />Is the number of magnetic pole pairs; />、/>Equivalent orthogonal axis current of the permanent magnet synchronous motor; />、/>Is the d-q axis inductance component; />Is a permanent magnet flux linkage.
The difference between the kinematic equation of the permanent magnet synchronous motor of the formula (32) and the formula (29) can be obtained:
obviously, when the observer reaches steady state (i.e. speed observation errorTrending to zero) there is ∈>I.e. the control input of the observer is approximated as load torque. To attenuate noise disturbances, the output of the observer is applied by a phase-locked loop>And filtering. The phase-locked loop closed loop transfer function is as follows:
in the method, in the process of the invention,for phase-locked loop proportional gain, +.>Integrating the gain for the phase locked loop.
Order theDetermining a filter bandwidth for a phase-locked loop cut-off frequency; let->For the damping ratio, the response speed and overshoot are determined. Adjusting +.>And->Two parameters. Finally, the observed value of the load torque is as follows:
preferably, the permanent magnet synchronous motor used in the novel supercoiled sliding mode permanent magnet synchronous motor load observer is a built-in permanent magnet synchronous motor or a surface-mounted permanent magnet synchronous motor.
Namely, the permanent magnet synchronous motor is a built-in (salient pole type) permanent magnet synchronous motor or a surface mounted (non-salient pole type) permanent magnet synchronous motor.
Preferably, the d-q axis reference current given control of the permanent magnet synchronous motor in the novel supercoiled sliding mode permanent magnet synchronous motor load observer comprisesControl=0, maximum torque-to-current ratio control, field weakening control, or minimum loss control.
That is, the permanent magnet synchronous motor d-q axis reference current setting method can be, but is not limited toControl=0, maximum torque to current ratio control (Maximum Torque Per Ampere, MTPA), field weakening control, minimum loss control.
In summary, the novel ultra-spiral sliding mode robust load observation method of the permanent magnet synchronous motor is used for carrying out load torque compensation on the speed loop controller; the stator flux linkage and the electromagnetic torque are calculated based on the stator resistance and the voltage model, so that the influence of inductance change on load identification during demagnetization or magnetic saturation is avoided, and the method has stronger robustness on the resistance and inductance physical parameter change of the permanent magnet synchronous motor; the estimated stator flux linkage is filtered by using a high-pass filter or a notch filter, so that error accumulation caused by direct current offset is eliminated, a voltage sensor is not needed, and the running cost is reduced.
In this embodiment, the novel method for observing the ultra-spiral sliding mode robust load of the permanent magnet synchronous motor can be used for a permanent magnet synchronous motor control system with observation requirements on load torque. Referring to fig. 2, a specific embodiment of a speed control system of a permanent magnet synchronous motor based on the novel ultra-spiral sliding mode robust load observation method of the permanent magnet synchronous motor comprises the following steps:
step one, PI speed control based on load torque feedforward compensation
The kinematic equation of the permanent magnet synchronous motor is as follows:
wherein,for the mechanical angular velocity of the motor, which can be measured by a resolver or an encoder, +.>Is the derivative of the mechanical angular velocity of the motor; />Is electromagnetic torque; />Is the moment of inertia; />Is a viscous damping coefficient; />Is the load torque; />Is the number of magnetic pole pairs; />、/>Equivalent orthogonal axis current of the permanent magnet synchronous motor; />、/>Is the d-q axis inductance component; />Is a permanent magnet flux linkage.
In order to facilitate the follow-up adoption of MTPA or flux weakening control and other current distribution strategies, the following steps are:wherein->Is a stator current vector.
The magnitude of the electromagnetic torque can be regarded as the same asIs proportional to the amplitude of (a). The permanent magnet synchronous motor kinematics equation can be expressed as:
the conventional PI speed controller is expressed as:
wherein,proportional gain for PI speed controller, +.>Integration gain for PI speed controller, +.>For differentiating operator +.>For reference input speed>For the actual rotational speed of the permanent magnet synchronous motor,/-or%>Reference stator current vector for current loop>
To suppress speed fluctuations that occur when external loads are suddenly changed, load torque feedforward compensation is employed, and as shown in fig. 3, the speed controller is designed to:
in which the load torque is not measurable, e.g. byAnd the load observer of the novel supercoiled sliding mode permanent magnet synchronous motor in the novel supercoiled sliding mode robust load observation method is used for estimating. According to rated current conversion, +.>And after clipping, the clipping is used as a reference current vector of a current distribution strategy such as MTPA in the next step.
And step two, a d-q current distribution method such as MTPA and the like. The method for giving the d-q axis reference current of the permanent magnet synchronous motor is not limited toControl of =0, such as maximum torque current ratio control (Maximum Torque Per Ampere, MTPA), field weakening control, minimum loss control, and the like. The present invention is exemplified by MTPA which pursues minimum copper consumption. Let->Set as armature current space vector +.>Phase angle with the straight axis (also referred to as torque angle) can be obtained:
the electromagnetic torque can be expressed as:
in the method, in the process of the invention,、/>the d-q axis inductors of the permanent magnet synchronous motor are respectively, and although the inductance change can cause uncertain results on the improvement of the efficiency of the MTPA, the load torque observation is not influenced. The relation of the electromagnetic torque per unit current with respect to the torque angle can be obtained from the formula (41):
and performing bias derivation on the pair of the formula (42) to obtain:
order theThen, the solution is as follows:
the reference current vector obtained in the first stepConfirm->And->：
Obtained by the formula (45)And->As a next step, step three refers to the quadrature axis current.
Step three, PI current control, namely detecting three-phase current of permanent magnet synchronous motor by using a Hall current sensor、/>、/>Detecting a rotor position of the permanent magnet synchronous motor using a rotary transformer or an encoder; clark transformation is carried out on the three-phase current to obtain two-phase current in a static coordinate system>、/>According to->、/>Performing Park transformation on the rotor position to obtain orthogonal axis current in a rotating coordinate system>、/>. Reference straight axis current according to step 2 +.>And the actual straight axis current +.>Error between the two, d-axis reference voltage is obtained by PI controller +.>The method comprises the steps of carrying out a first treatment on the surface of the According to the reference quadrature axis current obtained in step two +.>And the actual quadrature axis current +.>Error between the two, q-axis reference voltage +.>The method comprises the steps of carrying out a first treatment on the surface of the And outputting to the SVPWM modulation module in the fourth step.
Step four, space vector pulse width modulation of the three-phase inverter; the reference voltage of the orthogonal axis obtained according to the third step、Performing inverse Park transformation to obtain reference stator voltage of +.>Component of the system->、/>After SVPWM modulation, PWM signals are generated to control the on-off of 6 IGBTs in the three-phase inverter, and expected stator voltage and three-phase current are generated in the stator winding to drive the permanent magnet synchronous motor to operate.
In short, the control system of the permanent magnet synchronous motor is based on vector control, and the rotating speed of the motor can be controlled by a PI/PID controller, a sliding mode controller, a bang-bang controller, a fuzzy controller, a model prediction controller, an adaptive controller, an optimal controller and the like. Vector controlThe method comprises the steps of detecting three-phase current of the permanent magnet synchronous motor through a Hall current sensor、、/>Detecting rotor position and rotor mechanical angular speed of permanent magnet synchronous motor by rotary transformer or encoder>The method comprises the steps of carrying out a first treatment on the surface of the Clark transformation is carried out on the three-phase current to obtain two-phase current in a static coordinate system>、/>According to->、/>Performing Park transformation on the rotor position to obtain orthogonal axis current in a rotating coordinate system>、/>. The method for controlling the rotating speed of the permanent magnet synchronous motor comprises outputting a reference current vector through a load observer and a speed loop controller, and controlling the reference current vector by MTPA, weak magnetism or the reference current vector by the MTPA, weak magnetism or the reference current vector>The current distribution method of=0 outputs an orthogonal axis reference current, and based on the deviation between the actual orthogonal axis current and the reference orthogonal axis current, uses PI control, sliding mode control, model predictive control, active disturbance rejection control, or the like as a current loop control strategy to output a current loop d-After the q-axis reference stator voltage is subjected to Park inverse transformation, PWM signals of all bridge arms are obtained through SVPWM modulation and are output to an inverter, so that three-phase current is generated, and speed control of the permanent magnet synchronous motor is realized.
In this embodiment, the novel ultra-spiral sliding mode robust load observation method for the permanent magnet synchronous motor is not limited to be applied to feedforward compensation of a PI speed controller, and can be also applied to various permanent magnet synchronous motor control systems with estimation requirements for load torque. In addition, the specific method and processing steps involved in the novel ultra-spiral sliding mode robust load observation method of the permanent magnet synchronous motor are not limited to the specific method and processing steps mentioned in the embodiment, and the technologies such as Clark conversion, park conversion, SVPWM modulation, parameter selection of a PI speed/current controller and the like can be adopted.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a novel method for observing the robust load of a supercoiled sliding mode of a permanent magnet synchronous motor, which is characterized by comprising the following steps:
the method comprises the steps of obtaining a pre-deduced novel super-spiral sliding-mode permanent magnet synchronous motor load observer, wherein the expression is as follows:
wherein,for the actual mechanical angular velocity of the motor, < >>For mechanical angular velocity estimation, < >>Is the derivative of the mechanical angular velocity estimate, +.>For electromagnetic torque +.>For moment of inertia>Is viscous damping coefficient->For a priori estimate of load torque,/-, for the load torque>Error is estimated for mechanical angular velocity,/->，/>As a sign function +.>For the derivative of the actual mechanical angular velocity of the motor, +.>、/>Are observer parameters and all require more than 0;
acquiring a direct-current side bus voltage and a last sampling moment inverter switching state, performing observation pretreatment according to the direct-current side bus voltage and the last sampling moment inverter switching state, and calculating the electromagnetic torqueTo perfect the novel supercoiled sliding mode permanent magnet synchronous motor load observer;
and filtering the output of the completed novel supercoiled sliding mode permanent magnet synchronous motor load observer by adopting a phase-locked loop to generate a load torque observation value.
2. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 1, wherein before obtaining the pre-deduced ultra-spiral sliding mode permanent magnet synchronous motor load observer, the method further comprises the following steps:
obtaining the actual mechanical angular velocity of the motorAnd mechanical angular velocity estimate +.>For the actual mechanical angular velocity of the motorAnd said mechanical angular velocity estimate +.>Calculating to generate mechanical angular velocity estimation error +.>，And estimating the mechanical angular velocity error +.>Is set as a sliding die surface;
according to the kinematic equation and electromagnetic torque calculation of the permanent magnet synchronous motor, a novel robust load observer is designed, and the formula is as follows:
wherein,virtual control inputs for the new robust load observer;
the novel robust load observer adopts a second-order sliding mode supercoiled algorithm to perform convergence law calculation, and the formula is as follows:
wherein,estimating the derivative of the error for the mechanical angular velocity, +.>Is an intermediate variable +.>Is the first order derivative of the intermediate variable;
obtaining the virtual control inputThe formula is:
according to the virtual control inputAnd the novel robust load observer is deduced to obtain the novel supercoiled sliding mode permanent magnet synchronous motor load observer.
3. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 2, wherein the DC side bus voltage and the inverter switching state at the last sampling moment are obtained, and the DC side bus voltage and the inverter switching state are used for obtaining the DC side bus voltage and the inverter switching state at the last sampling momentThe inverter switch state at the previous sampling moment is observed and preprocessed, and the electromagnetic torque is calculatedSpecifically the values of (2):
obtaining the voltage of a DC side busAnd a last sampling instant inverter switch state, wherein the last sampling instant inverter switch state comprises a last instant +.>An instruction voltage +.>And->；
According to the DC side bus voltageAnd the inverter switching state at the last sampling instant, determining the stator voltage vector to be +.>The components on the system are expressed as:
wherein,is the voltage value of the bus at the direct current side, +.>、/>For the last moment +.>Is set with command voltage, ">And->The stator voltage vector is +.>Component of tie, ++>The switching state of the three-phase inverter at the last sampling moment;
according to a resistance temperature rise formula, compensating the resistance change of the stator, wherein the formula is as follows:
wherein,for the temperature sampling value at the current time,/->For the current temperature->Phase resistance value of lower stator winding, +.>Is 25Lower winding phase resistance value->Is the temperature coefficient of resistance of copper material, +.>；
Performing estimation processing according to a pre-trained stator resistance-voltage model to estimate that the stator flux is inThe following components are expressed as:
wherein,、/>for stator flux linkage estimation value is +.>Component under the system, ++>，，/>A rotor electrical angle of 0 time, +.>Is a permanent magnet flux linkage->、/>For stator current vectorA tethered component;
and filtering the pre-estimated stator flux linkage by using a filter, wherein the formula is as follows:
wherein,for differentiating operator +.>Cut-off frequency for a first order high pass filter, < >>、/>For the filtered stator flux linkageA tethered component;
based on the stator flux linkage after the filtration is completed, the electromagnetic torque is calculatedThe formula is:
wherein,the pole pair number is the pole pair number of the permanent magnet synchronous motor.
4. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 3, wherein the filter is a high-pass filter or a notch filter.
5. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 3, wherein the phase-locked loop is adopted to filter the output of the completed ultra-spiral sliding mode permanent magnet synchronous motor load observer, so as to generate a load torque observation value, which is specifically:
preprocessing by adopting a phase-locked loop closed loop transfer function, wherein the function formula is as follows:
wherein,for differentiating operator +.>For phase-locked loop proportional gain, +.>Integrating the gain for the phase-locked loop;
order the，/>Is a phase-locked loop cut-off frequency +.>For determining a filter bandwidth;
order the，/>For the damping ratio, the damping ratio +.>For determining the response speed and overshoot;
the phase-locked loop cut-off frequency is adjusted according to the obtained actual frequency response and the filtering requirementAnd the damping ratio->Adjusting;
the phase-locked loop is adopted to estimate the prior value of the load torqueFiltering to generate a load torque observation value, wherein the formula is as follows:
wherein,for load torque observations, +.>Is a phase-locked loop closed loop transfer function.
6. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 1, wherein the permanent magnet synchronous motor used in the novel ultra-spiral sliding mode permanent magnet synchronous motor load observer is a built-in permanent magnet synchronous motor or a surface-mounted permanent magnet synchronous motor.
7. The method for observing the ultra-spiral sliding mode robust load of the novel permanent magnet synchronous motor according to claim 1, wherein the permanent magnet synchronous motor d-q axis reference current given control in the novel ultra-spiral sliding mode permanent magnet synchronous motor load observer comprises the following steps ofControl=0, maximum torque-to-current ratio control, field weakening control, or minimum loss control.
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