CN209844868U - Dead beat current prediction control system of permanent magnet synchronous motor - Google Patents
Dead beat current prediction control system of permanent magnet synchronous motor Download PDFInfo
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Abstract
The utility model discloses a permanent magnet synchronous motor dead beat current predictive control system, which comprises a fractional order sliding mode controller, a rotor angular speed and a rotating speed difference of a given rotating speed of the permanent magnet synchronous motor are controlled to obtain a reference current component, and the reference current component is input into the dead beat current predictive controller; a dead beat current prediction controller for predicting a control voltage of the dq axis at the present time based on the dq axis current estimation value and a reference current of the dq axis; the sliding mode disturbance observer is used for obtaining a voltage disturbance quantity and a current estimation value under parameter change and inputting the voltage disturbance quantity and the current estimation value into the dead-beat prediction current controller; the coordinate transformation module is used for obtaining equivalent current under dq axis coordinates and inputting the equivalent current into the sliding mode disturbance observer; and the driving module is used for obtaining the three-phase input voltage of the permanent magnet synchronous motor and driving the permanent magnet synchronous motor to operate. The utility model discloses the system makes fractional order calculus and sliding mode variable structure control combine together, can weaken the system at the buffeting of slip mode in-process, has improved the control accuracy of rotational speed.
Description
Technical Field
The utility model belongs to the technical field of PMSM, concretely relates to PMSM dead beat current predictive control system.
Background
In an alternating current speed regulating system, a Permanent Magnet Synchronous Motor (PMSM) is used as a controlled object, and the Permanent Magnet Synchronous Motor has the advantages of simple structure, wide speed regulating range, high efficiency, reliable operation, small volume, good dynamic and static characteristics and the like. The permanent magnet synchronous motor control system is a strong coupling variable nonlinear system, most PMSM speed regulation systems adopt PI control algorithm, the algorithm is simple, the reliability is high, the speed regulation is convenient, and the like, the control requirement in a certain range can be met.
In recent years, in order to improve and enhance the control performance of a PMSM speed control system, some novel control algorithms such as fuzzy control, adaptive control, sliding mode variable structure control, current prediction control and the like are also proposed by researchers at home and abroad. The current prediction control is widely applied to alternating current speed regulation occasions, the next state is predicted and the optimal control quantity of the system is solved through analyzing a system mathematical model, and a current prediction algorithm is mostly adopted in a PMSM speed regulation system current loop and can obtain good current response characteristics. However, the speed loop still adopts the PI control algorithm, so the anti-interference performance of the speed loop is not improved, and the technical problems of low dynamic response speed, low robustness and the like are solved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a PMSM dead beat current predictive control system has solved the problem that current control system dynamic response speed is slow, the robustness is low.
The utility model adopts the technical proposal that the permanent magnet synchronous motor dead beat current prediction control system comprises a fractional order sliding mode controller, a dead beat current prediction controller, a sliding mode disturbance observer, a coordinate transformation module and a driving module;
the fractional order sliding mode controller is used for obtaining a reference current component of a d axis after controlling according to the collected rotor angular speed of the permanent magnet synchronous motor at the current moment and the rotating speed difference of the given rotating speed, and then inputting the reference current component into the dead-beat current prediction controller;
a dead beat current prediction controller for predicting a voltage under the dq axis at the present time with the dq axis current estimation value and a reference current of the dq axis at the next time;
the sliding mode disturbance observer is used for obtaining a voltage disturbance quantity and a current estimation value under parameter change according to the collected current, inputting the current estimation value into the dead-beat prediction current controller, and compensating the voltage disturbance quantity and the predicted control voltage;
the coordinate transformation module is used for inputting the equivalent current of the permanent magnet synchronous motor under the dq axis coordinate at the current moment obtained by coordinate transformation of the collected three-phase current of the stator into the sliding mode disturbance observer;
and the driving module is used for compensating the dq axis voltage at the current moment, which is obtained by the dead-beat current prediction controller according to the current estimation value and the reference current of the dq axis at the next moment, and the voltage compensation quantity obtained by the sliding mode disturbance observer to obtain a control voltage, carrying out coordinate transformation and space vector modulation on the control voltage to obtain the on-off of six pipes of six pulse waveform control inverters, and enabling the three-phase voltage obtained after inversion to be used as the three-phase input voltage of the permanent magnet synchronous motor so that the permanent magnet synchronous motor stably operates.
The utility model is also characterized in that,
the coordinate transformation module comprises a Clark transformation module and a Park transformation module and is used for collecting three-phase current ia，ib，icClark conversion is carried out through a Clark conversion module, Park conversion is carried out through a Park conversion module in sequence to obtain equivalent current i of the permanent magnet synchronous motor under the dq axis coordinate at the current momentdAnd iqAnd inputting the data to a sliding mode disturbance observer.
The drive module comprises a Park inverse transformation module, a space vector modulation module and an inverter, wherein the Park inverse transformation module inversely transforms a drive voltage obtained by compensating a dq axis voltage at the current moment and a voltage compensation quantity obtained by a sliding mode disturbance observer, which are obtained by predicting a dead-beat prediction current controller according to a rotating speed difference, a current estimation value and a reference current of a dq axis at the next moment, and then inputs the drive voltage to the space vector modulation module, the space vector modulation module modulates six paths of pulse modulation waveforms obtained by modulation and inputs the modulated waveforms to six tubes of the inverter for inversion to obtain a three-phase input voltage of the permanent magnet synchronous motor, so that the permanent magnet synchronous motor stably operates.
The beneficial effects of the utility model are that, a PMSM current prediction Control system that does not beat makes fractional Order calculus and Sliding Mode variable structure Control combine together based on FOSMC (fractional Order Sliding Mode Control), controls the rotational speed in the system, because fractional Order calculus has more degrees of freedom, and can weaken the shake of system in the Sliding Mode in-process, has improved the Control accuracy of rotational speed; the current loop adopts dead-beat current prediction control, when system parameters change along with temperature and frequency, a sliding mode disturbance observer is designed to compensate the generated errors, so that better current characteristics can be obtained, the anti-interference performance of the speed loop is improved, and the system can stably run.
Drawings
Fig. 1 is a schematic structural diagram of a deadbeat current prediction control system of a permanent magnet synchronous motor according to the present invention;
fig. 2 is a flow chart of a control method of the dead beat current predictive control system of the permanent magnet synchronous motor of the present invention;
fig. 3 is a motion track diagram of the dead-beat current predictive control system of the permanent magnet synchronous motor of the present invention on the sliding mode surface;
FIG. 4 is a schematic view of the FOSMC of the present invention converging with a conventional SMC in a sliding mode;
FIG. 5 is a speed response diagram of a conventional control system with a PI-controlled speed loop at idle;
fig. 6 is a speed response diagram of SMC current predictive control when the deadbeat current predictive control system of the permanent magnet synchronous motor of the present invention is empty;
FIG. 7 is a graph of the speed response of the PI control when the conventional control system is under a sudden load;
fig. 8 is a speed response diagram of SMC current predictive control when the dead beat current predictive control system of the present invention suddenly loads;
fig. 9 is a current response waveform diagram of the dead beat current predictive control system of the permanent magnet synchronous motor under DCPC;
fig. 10 is a waveform diagram of current response of the deadbeat current predictive control system of the permanent magnet synchronous motor in the SMDO + DCPC;
fig. 11 is a rotation speed response diagram of the speed loop of the dead-beat current predictive control system of the permanent magnet synchronous motor under the control of the SMC;
fig. 12 is a rotation speed response diagram of the speed loop of the permanent magnet synchronous motor dead beat current predictive control system under the control of the FOSMC.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model discloses a PMSM dead beat current predictive control system, as shown in FIG. 1, includes fractional order sliding mode controller, dead beat current predictive controller, sliding mode disturbance observer, coordinate transformation module and drive module;
the fractional order sliding mode controller is used for obtaining a reference current component of a d axis after controlling according to the collected rotor angular speed of the permanent magnet synchronous motor at the current moment and the rotating speed difference of the given rotating speed, and then inputting the reference current component into the dead-beat current prediction controller;
the dead beat current prediction controller is used for predicting a voltage vector under the dq axis at the current moment according to the dq axis current estimation value and the reference current of the dq axis at the next moment;
the sliding mode disturbance observer is used for obtaining a voltage disturbance quantity and a current estimation value under parameter change according to the collected current, inputting the current estimation value into the dead-beat prediction current controller, and compensating the voltage disturbance quantity and the predicted control voltage;
the coordinate transformation module is used for inputting the equivalent current of the permanent magnet synchronous motor under the dq axis coordinate at the current moment obtained by coordinate transformation of the collected three-phase current of the stator into the sliding mode disturbance observer;
and the driving module is used for compensating the dq axis voltage at the current moment, which is obtained by the dead-beat prediction current controller according to the current estimation value and the reference current prediction of the dq axis at the next moment, and the voltage disturbance quantity obtained by the sliding mode disturbance observer to obtain a control voltage, carrying out coordinate transformation and space vector modulation (SVPWM) on the control voltage to obtain the on-off of six pipes of six pulse waveform control inverters, and carrying out inversion to obtain the three-phase input voltage of the permanent magnet synchronous motor so that the permanent magnet synchronous motor operates.
The coordinate transformation module comprises a Clark transformation module and a Park transformation module, and the three-phase current i is acquireda，ib，icClark conversion is carried out through a Clark conversion module, Park conversion is carried out through a Park conversion module in sequence to obtain equivalent current i of the permanent magnet synchronous motor under the dq axis coordinate at the current momentdAnd iqAnd inputting the data to a sliding mode disturbance observer.
The drive module comprises a Park inverse transformation module, a space vector modulation module and an inverter, wherein the Park inverse transformation module carries out Park inverse transformation on control voltage obtained by compensating dq axis voltage at the current moment and voltage compensation quantity obtained by a sliding mode disturbance observer through dead beat prediction current controller according to the rotating speed difference, the current estimation value and the reference current of the dq axis at the next moment, and then the control voltage is input to the space vector modulation module, six paths of pulse modulation waveforms obtained through modulation of the space vector modulation module are input to six tubes of the inverter for inversion, and then three-phase input voltage of the permanent magnet synchronous motor is obtained, so that the permanent magnet synchronous motor can stably operate.
The utility model discloses a PMSM deadbeat current predictive control system's control method, as shown in FIG. 2, concrete operation process includes following step:
step 1, establishing a voltage equation of a permanent magnet synchronous motor under a three-phase static coordinate system, and obtaining a voltage equation, a stator flux linkage equation and an electromagnetic torque equation under a dq coordinate system through coordinate transformation;
in the step 1, a voltage equation of the permanent magnet synchronous motor in a three-phase static coordinate system is shown as a formula (1):
in the formula uAIs a phase A stator voltage, uBIs the stator voltage of phase B, uCIs the C-phase stator voltage, RsIs the resistance of each phase winding, iAIs a phase A stator current, iBIs a B-phase stator current, icFor stator current of C phase,. psiAFor a phase stator flux linkage, psiBFor stator flux linkage of phase B, #CIs a C-phase stator flux linkage;
a voltage equation, a stator flux linkage equation and an electromagnetic torque equation under a dq axis coordinate system are respectively shown as formula (2), formula (3) and formula (4):
in the formula udIs the stator voltage component on the d-axis, uqIs the stator voltage component on the q-axis, idIs the stator current component on the d-axis, iqIs the stator current component, psi, on the q-axisdIs the stator flux linkage component, psi, on the d-axisqIs the stator flux linkage component on the q-axis, LdStator inductance of d-axis, LqStator inductance of q-axis,. psifCoupling flux, omega, generated for permanent magnetsrAs electrical angular velocity, TeFor outputting electromagnetic torque, pnIs the number of pole pairs, R, of the motorsIs the resistance of each phase winding.
Step 2, collecting the rotor angular velocity omega of the permanent magnet synchronous motormAnd stator three-phase current ia，ib，icAnd performing Clark conversion and Park conversion on the acquired three-phase current to obtain equivalent current i of the permanent magnet synchronous motor under the dq axis coordinate at the current momentdAnd iq；
Step 3, converting the collected rotor angular speed of the permanent magnet synchronous motor into an electrical angular speed, comparing the electrical angular speed with a given rotating speed to obtain a rotating speed difference, taking the rotating speed difference as a control quantity, and designing a sliding mode surface and a fractional order sliding mode controller;
the specific process of the step 3 comprises the following steps:
step 3.1, defining the state variable as x, as shown in formula (5):
x＝ω*-ω (5)
in the formula, omega is a given rotating speed, and omega is an actual rotating speed;
step 3.2, determining a sliding mode surface and an approach rate, as shown in the formula (6) and the formula (7):
in the formula, S is a sliding mode switching surface, k1And k is2Is the gain of the sliding mode surface,is a fractional calculus operator, t is the lower limit of the calculus operator, and alpha is the order of the operatorτ is the time of change;
in the formula, epsilon and K are the coefficients of an approach law;is a fractional calculus operator; alpha is the order of the operator; beta and mu are design parameters; sgn (·) is a sign function; p and q are odd numbers larger than zero, and P is larger than q;
step 3.3, designing a fractional order sliding mode controller according to the sliding mode surface and the approach law in the step 3.2, as shown in a formula (8):
where J is the moment of inertia, P is the logarithm of the pole, phifIs rotor flux linkage, k1And k is2Is the sliding mode surface gain, epsilon and K are the coefficients of the approach law,is a fractional calculus operator, alpha is the order of the operator, beta, mu is a design parameter, sgn (-) is a sign function, P and q are odd numbers larger than zero, and P > q,b is a friction coefficient, and S is a sliding mode switching surface;
step 4, equivalent current i of dq axis at the current momentdAnd iqObtaining voltage disturbance quantity f under parameter change through sliding mode disturbance observerd(k+1)、fq(k+1)And a current estimate;
the specific process of step 4 is as follows:
step 4.1, establishing a mathematical model of the sliding mode disturbance observer, as shown in formulas (9) to (11):
wherein f isdAnd fqThe disturbance amounts when the parameters are changed, respectively, (F)dAnd FqThe change rate of the parameter disturbance quantity is 0); Δ R, Δ L, Δ ψfRespectively the deviation of the resistance, inductance and flux linkage of the motor;
step 4.2, establishing a mathematical model of the Sliding Mode Disturbance Observer (SMDO) as shown in formulas (12) to (13):
wherein u isdIs the stator voltage component on the d-axis, uqIs the stator voltage component on the q-axis, LdStator inductance of d-axis, LqIs the stator inductance of the q-axis,andare respectively idAnd iqEstimated value of (1), RsIs resistance,. psifCoupling flux, omega, generated for permanent magnetseIn order to be the electrical angular velocity,andestimating the disturbance caused by the motor parameter deviation; k is a radical ofdAnd kqIs a sliding mode parameter; fdsAnd FqsIs a sliding mode control function;
step 4.3, obtaining an error equation according to the mathematical model formula (1) of the permanent magnet synchronous motor established in the step 1 and the mathematical model formula (9) -formula (13) of the sliding mode disturbance observer established in the step 4.2, wherein the error equation is shown as a formula (14) and a formula (15):
wherein the content of the first and second substances,andestimating error amounts for the dq-axis currents, respectively;andestimating error quantities for the disturbances, respectively;
and 4.4, obtaining a sliding mode control function according to the sliding mode control, wherein the sliding mode control function is shown as a formula (16):
wherein p isd、pq、λp、λqSign () is a sign function for the approach law parameters;
step 4.5, obtaining the value range of the parameters of the sliding mode observer according to the stability analysis of the Lyapunov function as shown in (17):
step 4.6, discretizing the error mathematical model in the step 4.3 to obtain a dq-axis current and disturbed sliding mode observer mathematical model when the motor parameters are disturbed, wherein the dq-axis current and the disturbed sliding mode observer mathematical model are shown as a formula (18) and a formula (19):
wherein the content of the first and second substances,andis the dq-axis current estimated by a sliding-mode observer,andthe disturbance estimator is a disturbance estimator caused by parameter change estimated by a sliding mode observer;
step 5, inputting the current estimation value of the dq axis obtained in the step 4 and the reference current at the next moment into the dead-beat current prediction controller, and predicting the control voltage under the dq axis at the current momentAnd
the specific process of step 5 is as follows:
step 5.1, selecting the motor current as a state variable, and obtaining a discrete current expression under a dq coordinate system by adopting a forward Euler method, wherein the expression is shown in formula (20):
in the formula, k is sampling time;
step 5.2, setting the current at the next sampling moment equal to the given reference current, namelyThe ideal deadbeat control voltage is obtained as shown in equation (21):
step 5.3, the product obtained in step 4.6Andas the disturbance amount, the disturbance amount is fed back to the action voltage vector of the dead-beat current prediction control, that is, in equations (9) and (10), and the final control voltage vector at the present time is obtained:
in the formula (I), the compound is shown in the specification,andfinal control voltage vectors, u, for d-axis and q-axis respectivelyd(k)And uq(k)Respectively the control voltage of the dq axis in the ideal state,andthe disturbance quantity caused by parameter change is estimated by a sliding mode observer;
step 6, obtaining the voltage vector U of the dq axis at the current time obtained in the step 5* d(k)And U* q(k)qAnd (4) respectively compensating the voltage disturbance quantity obtained in the step (4), obtaining a voltage vector under an alpha beta coordinate system through Park inverse transformation, inputting the voltage vector into a space vector modulation module to obtain six driving pulses, driving six pipes of the inverter, enabling the inverter to output three-phase voltage to the permanent magnet synchronous motor, and ensuring the stable operation of the motor.
The utility model discloses set up simulation model based on MATLAB software, compare foretell permanent magnet synchronous machine dead beat electric current predictive control system and traditional SMC control method and traditional PI control method.
The adopted parameters of the permanent magnet synchronous motor are as follows: stator resistance R is 0.958 Ω, and stator direct axis inductance Ld0.00525mH, stator quadrature inductance Lq0.00525mH, number of pole pairs np3, rotor flux linkage Ψf0.1728Wb, rated speed Nr1000r/min, moment of inertia J0.003 kg m2The rated torque T is 14N · m.
According to the utility model discloses a control system's control method adopts the utility model discloses a control system controls PMSM, and fig. 3 makes the system at the movement track schematic diagram on the slip form face under the SMC control method, and the system arrives the slip form face from the infinity and finally at slip form face steady operation, and does not receive the influence of system parameter, and PI control is linear control method and PMSM control system is nonlinear system, so the utility model discloses change the speed ring PI control method of traditional motor vector control system into FOSMC control method and current ring PI control method into the current prediction control of taking a beat nothing; fig. 5 and 6 are speed response graphs of the PI control and the SMC current prediction control respectively when the motor is unloaded, it can be seen from comparison between fig. 5 and 6 that when the motor is unloaded and started, the PI control is obviously overshot, and the SMC control realizes no overshoot at the start, fig. 7 and 8 are speed response graphs of the PI control and the SMC current prediction control respectively when the system is suddenly loaded, and it can be seen from comparison between fig. 7 and 8 that when the system is suddenly loaded, the influence of load change on the system under the SMC is obviously smaller than that of the PI control system, and the given value can be quickly recovered. Fig. 4 is a schematic diagram of convergence of the FOSMC control and the conventional SMC control on a sliding mode surface, and since the conventional SMC is an integer-order system, and the switching frequency of an actual execution mechanism does not follow a theoretical high-frequency switching action when converging on the sliding mode surface, the time delay and the space delay of the actual system are caused, so that the convergence area is large, and the fractional-order calculus has multiple degrees of freedom, and slowly transfers energy, so that the impact on the system is small, and the convergence area is small compared with the integer-order system, so that the shake brought by the conventional sliding mode control itself can be weakened. Fig. 9 and fig. 10 are respectively a DCPC current response waveform diagram and an SMDO + DCPC current response waveform diagram of the system of the present invention, and it can be seen from a comparison between fig. 9 and fig. 10 that a disturbance observer is introduced to compensate for a voltage vector, and a current in the system can well follow a given current. Fig. 11 and 12 are rotational speed response diagrams of a speed loop of a system under control of a conventional SMC and under control of an FOSMC, respectively, and it can be seen from a comparison of fig. 11 and 12 that FOSMC can reduce the jitter of the conventional sliding mode control itself. Because the control voltage of the system of the prediction of the current predictive control of the dead beat is under the ideal condition, but actual system can be along with influences such as temperature, frequency, and system parameters can change in the operation process, so the utility model discloses introduce the sliding mode disturbance observer at the feedback channel, obtain the voltage vector that the disturbance compensation volume of system gives the prediction.
The utility model discloses a PMSM current prediction control system current loop adopts current prediction control of dead beat, and the rotational speed ring combines fractional order and slipform control, weakens trembling of traditional slipform control bringing and shakes, and when system parameter changes along with temperature, frequency, has introduced the slipform disturbance observer, has compensated produced error, can obtain better current characteristic, and improves the interference killing feature of speed ring, makes the system can the steady operation.
Claims (3)
1. The dead-beat current prediction control system of the permanent magnet synchronous motor is characterized by comprising a fractional order sliding mode controller, a dead-beat current prediction controller, a sliding mode disturbance observer, a coordinate transformation module and a driving module;
the fractional order sliding mode controller is used for obtaining a reference current component of a d axis after controlling according to the collected rotor angular speed of the permanent magnet synchronous motor at the current moment and the rotating speed difference of the given rotating speed, and then inputting the reference current component into the dead-beat current prediction controller;
the dead beat current prediction controller is used for predicting the voltage under the dq axis at the current moment by using the current estimation value of the dq axis and the reference current of the dq axis at the next moment;
the sliding mode disturbance observer is used for obtaining a voltage disturbance quantity and a current estimation value under parameter change according to the collected current, inputting the current estimation value into the dead-beat prediction current controller, and compensating the voltage disturbance quantity and the predicted control voltage;
the coordinate transformation module is used for inputting the equivalent current of the permanent magnet synchronous motor under the dq axis coordinate at the current moment obtained by coordinate transformation of the collected three-phase current of the stator into the sliding mode disturbance observer;
the driving module is used for compensating dq axis control voltage at the current moment obtained by the dead-beat prediction current controller according to the current estimation value and the reference current prediction of the dq axis at the next moment and the voltage compensation quantity obtained by the sliding mode disturbance observer to obtain final control voltage, controlling the on-off of six switching tubes of the inverter by the control voltage through coordinate transformation and space vector modulation six pulse waveforms, and obtaining three-phase input voltage of the permanent magnet synchronous motor after inversion to enable the permanent magnet synchronous motor to operate stably.
2. The system for predicting and controlling the dead-beat current of the permanent magnet synchronous motor according to claim 1, wherein the coordinate transformation module comprises a Clark transformation module and a Park transformation module, and the collected three-phase current i isa，ib，icSequentially performing Clark conversion by a Clark conversion moduleCarrying out Park conversion through a Park conversion module to obtain an equivalent current i of the permanent magnet synchronous motor under the dq axis coordinate at the current momentdAnd iqAnd inputting the data to a sliding mode disturbance observer.
3. The system of claim 1, wherein the driving module comprises a Park inverse transformation module, a space vector modulation module and an inverter, the Park inverse transformation module inversely transforms a driving voltage obtained by compensating a dq axis voltage at a current moment and a voltage compensation amount obtained by a sliding mode disturbance observer, which are predicted by the dead-beat prediction current controller according to a rotating speed difference, a current estimation value and a reference current of a dq axis at a next moment, and then inputs the driving voltage to the space vector modulation module, and the space vector modulation module inverts six pulse modulation waveforms obtained by modulation and inputs the six pulse modulation waveforms to six tubes of the inverter to obtain a three-phase input voltage of the permanent magnet synchronous motor, so that the permanent magnet synchronous motor stably operates.
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| CN111969920B (en) * | 2020-08-05 | 2024-03-19 | 上海新时达电气股份有限公司 | Permanent magnet synchronous motor starting method and device |
| CN114157203A (en) * | 2021-11-30 | 2022-03-08 | 西安理工大学 | Method for calculating torque current instruction value for surface-mounted permanent magnet synchronous motor |
| CN114157203B (en) * | 2021-11-30 | 2023-12-01 | 百恒石油装备有限公司 | Method for solving torque current command value of surface-mounted permanent magnet synchronous motor |
| CN114362626A (en) * | 2022-01-28 | 2022-04-15 | 同济大学 | Prediction control method and system for supercoiled sliding-mode observer of permanent magnet synchronous motor |
| CN114362626B (en) * | 2022-01-28 | 2024-04-09 | 同济大学 | Prediction control method and system for supercoiled sliding mode observer of permanent magnet synchronous motor |
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