CN102751935A - Method for suppressing asynchronous motor interference under rotating speed open loop of electric car - Google Patents
Method for suppressing asynchronous motor interference under rotating speed open loop of electric car Download PDFInfo
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- CN102751935A CN102751935A CN2012102271225A CN201210227122A CN102751935A CN 102751935 A CN102751935 A CN 102751935A CN 2012102271225 A CN2012102271225 A CN 2012102271225A CN 201210227122 A CN201210227122 A CN 201210227122A CN 102751935 A CN102751935 A CN 102751935A
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Abstract
The invention belongs to the technical field for controlling motors of electric cars, and particularly relates to a method for suppressing asynchronous motor interference under a rotating speed open loop of an electric car; the method comprises the steps of: estimating to obtain an interference value of an input torque of an asynchronous motor by an interference observer according to a rotating speed output by the asynchronous motor for the electric car, and enabling the obtained interference value to be equivalent to current interferences of a d axis and a q axis, wherein the d axis and the q axis are directed based on a rotor magnetic chain, the d axis current indicates an exciting current and the q axis current indicates a torque current; and superposing the equivalent interference value on the currents of the d axis and the q axis through filtering so as to eliminate the interference generated by the input torque of the asynchronous motor. By the method provided by the invention, the interference value of the input torque is obtained from the rotating speed output by the asynchronous motor based on the principle of the interference observer, the interference value is enabled to be equivalent to the current interferences of the d axis and the q axis, and equivalent interference value is superposed on the d and q axis currents through filtering, the parameter variation condition of the asynchronous motor is overcome, and the control precision of a controller over the asynchronous motor is improved in the case that the interference exists, so that the motor has good operating performance.
Description
Technical field
The invention belongs to electric vehicle motor control technology field, more specifically, relate to a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed.
Background technology
In order to tackle the problem that energy shortage, environmental pollution etc. become increasingly conspicuous, electric motor car has become the focus of research with its low emission, low noise and other advantages.At present, the frequency conversion drive asynchronous machine is widely used in the electric motor car, compares with general asynchronous machine control; Electric motor car will adopt asynchronous machine; On the performance aspect the control stationarity, have higher requirement so,, not only will the dynamic change of motor be responded fast promptly for electric vehicle control system; Simultaneously also need, external parameter have strong interference free performance when undergoing mutation.
Since induction motor dynamics, its torque will change instantaneously, not easy to control the torque change, so there are some specific to the induction motor torque control methods, such as Chinese patent literature Publication date July 5, 2006 Day, Publication No. CN1797936 invention patent applications, the application discloses a speed sensorless induction motor speed control torque control methods, including variable containing the base resistance of the motor stator side aspect adaptive motor temperature changes and The horizontal axis current actual value IQ, direct axis current actual value ID, three-phase / two-phase synchronous rotating coordinate transformation sectors, including pulse-width modulated voltage to develop sub-flux-oriented vector control frequency converter (00), characterized in that: the horizontal axis torque current IQ ** current setpoint limiter through positive and negative aspects (10) after subtraction of IQ * in part (11) at minus synchronous rotating coordinate transformation from the horizontal part of the actual current value IQ after that current error, the current error and then the amplification factor K1 is proportional component (14) and integrator (15), the conclusion that the estimated value of the rotational speed N; speed estimated by the amplification factor of the proportional component is K2 (16) after to speed angular frequency WM, speed angular frequency and wavers link (12) Office and computing aspects from the function F1 (17) The output of the slip angular frequency derived by adding W2 W1 and sent to the stator angular frequency modulation frequency speed detector (00); function F1 has three operational aspects of the input, the first one for the IQ ** through positive and negative aspects of the limiter (10) after IQ *, the second is from the synchronous rotating coordinate transformation part of the direct axis current actual value ID, the third stator flux setpoint ψ1 *; stator flux setpoint ψ1 * has been sent to the inverter and were proportional component (14); stator flux setpoint ψ1 * directed at direct axis D; when implemented in software, the proportional part (14) and (16) is achieved by multiplication link.But this kind scheme can not solve the situation that asynchronous machine is applicable to electric motor car.Because electric motor car load torque meeting in the process of moving transient change; Make in the control procedure of asynchronous machine; Interior circular current shakes excessive even control is dispersed; In addition, the electric motor car power torque that is operated under the rotating speed open loop mode also can produce the input interference greatly owing to driver's pedal acceleration dynamics, and this also can produce the concussion of interior circular current and disperse.In order to make electric motor car avoid over current fault in the process of moving and go steadily as far as possible, this interference rejection capability to the electric motor car vector control is had higher requirement.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art; A kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed is provided; Through this method the torque interference is suppressed; Overcome the non-synchronous motor parameter situation of change, improved controller and make motor reach good runnability in the control precision of disturbing asynchronous machine under the situation about existing.
For realizing above-mentioned purpose, technical scheme of the present invention is following:
A kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed; It is characterized in that: according to the rotating speed of the asynchronous machine of electric vehicle output; Estimation obtains the interference value of the input torque of asynchronous machine through interference observer; And the equivalence of the interference value that obtains is the current interference based on the d axle and the q axle of rotor flux linkage orientation, and wherein the d shaft current is represented exciting current, the q shaft current is represented torque current; Interference value after the equivalence is added on the electric current of d axle and q axle through filtering again, is used to offset the interference that the asynchronous machine input torque produces.
The rotating speed of said asynchronous machine output is that the actual machine rotating speed through encoder sampling asynchronous machine obtains.
Said
dThe axle with
qShaft current obtains after coordinate transform through the three-phase current that current sensor collects actual asynchronous machine.
The input torque of said asynchronous machine
Wherein,
Be number of pole-pairs,
Be mutual inductance,
Be the inductance of rotor,
For after the coordinate transform
qShaft current,
Be rotor flux, wherein:
,
Be the rotor-exciting time constant,
For
dShaft current.
When there is interference in the input torque of asynchronous machine; Interference value is
; Thus can the interference of input torque is equivalent to torque current with above the rotor flux, promptly
，
Wherein
.
The interference of rotor flux
; Can think that by above-mentioned equivalent expression there is interference
in torque current, there is interference
in rotor flux.Therefore torque disturbs equivalence to arrive
d,
qThe interference of shaft current is following:
Through following formula, the complete equivalence of the interference of input torque is arrived
dThe axle with
qAbove the interference of shaft current, the interference that therefore will suppress torque just can be converted into inhibition
d,
qThe interference of shaft current.
The principle of said interference observer is: the first step, calculate the interference of torque according to the tachometer of asynchronous machine output; Second step, design parameter
With
In the 3rd step,, obtain through filter filtering High-frequency Interference
dThe axle with
qShaft current is disturbed and is added to above the actual current ring.
Wherein
With
Satisfy:
As long as in realization, make like this
With
Satisfy the relation of formula (5), just can input torque be disturbed
Equivalence does
dAxle,
qShaft current is disturbed.
It is following that said interference suppresses tactful concrete steps:
(1), confirms the model of induction machine under synchronous rotating frame
The Mathematical Modeling of AC induction motor is the multivariable system of a high-order, non-linear, close coupling, for the ease of motor is analyzed and researched, is necessary real electrical machinery is carried out suitable hypothesis, takes out Utopian motor model.
(2), confirm vector control according to transfer function
Because the present invention considers the situation of rotating speed open loop, therefore be directed to vector control as long as consider current inner loop, promptly set
d,
qThe desired value of shaft current, through the PI controller, the output current of assurance real electrical machinery is followed the tracks of last prestige value after sitting quietly and marking conversion.
(3), confirm the interference observer transfer function according to asynchronous machine equation of motion transfer function
The kinematic system expression formula of confirming according to step (1) obtains doing its inverse system, promptly disturbs the transfer function of observer:
So just accomplish the interference value that from the asynchronous machine input information, observes input torque.
(4), confirm the filtering link
Because the parameter of controlled device etc. changes; In controller, adopt nominal model to realize; And increased a transfer function with filtering characteristic; Its role is to: taking into account system is implemented in load torque and disturbs low frequency blocking-up and high frequency through characteristic in the process of inhibition the response requirement with, stability and low-frequency range system of the robustness of parameter.
Beneficial effect of the present invention is following:
The present invention is based on the principle of interference observer, from the rotating speed of asynchronous machine output, obtain the interference value of input torque, and do its equivalence
d,
qThe interference of shaft current is being added to through the filtering link
d,
qAbove the shaft current, overcome the non-synchronous motor parameter situation of change, improved controller and make motor reach good runnability in the control precision of disturbing asynchronous machine under the situation about existing.
Description of drawings
Fig. 1 is an electric motor car induction machine Interference Control strategy theory diagram.
Fig. 2 is the concrete structure figure of interference observer among Fig. 1.
Fig. 3 is the electric motor car vector control structure chart of band interference observer.
Fig. 4 does not use electric motor car induction machine of the present invention to disturb the output curve diagram that suppresses tactful real electrical machinery.
Fig. 5 is to use electric motor car induction machine of the present invention to disturb the output curve diagram that suppresses tactful real electrical machinery.
Embodiment
Describe below in conjunction with the accompanying drawing specific embodiments of the invention, so that those skilled in the art understands the present invention better.What need point out especially is that in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present invention, these were described in here and will be left in the basket.
Shown in Fig. 1-2, electric motor car asynchronous machine of the present invention disturbs and suppresses mainly to comprise torque ring PI controller, magnetic field ring PI controller and three parts of interference observer.
Torque PI controller module: be that error amount with torque current is as input; Through the PI control algolithm; As output, realize the control of torque current ring with torque voltage
.Owing to adopt the rotating speed open loop mode, provide the reference value
of torque current.Gather the three-phase current of motor simultaneously; Through coordinate transform, obtain the torque current
and the field supply
of real electrical machinery.Reference value
is made difference with actual value
and is input in the PI controller; Through ratio P and integration I link; Real time altering output valve
; Guarantee that torque current reaches set point, torque reaches the expectation torque.
Magnetic field PI controller module: be that reference value
and actual value with field supply is as input
; Through the PI control algolithm; As output, realize the control of torque current ring with magnetic field voltage
.Operation principle is identical with torque PI controller.
Interference observer: be with electric system output
as the input; Through inverse system
and poor with controlled quentity controlled variable
; The estimated value that obtains disturbing
; Variation issue for the parameter that solves controlled device; Add filter
, be implemented in low frequency blocking-up and the high frequency through characteristic disturbed in the process of inhibition.
As shown in Figure 3; In the present embodiment, the vector control system of electric motor car induction machine band interference observer of the present invention comprises the given module of the given module of id1 1, iq1 2, PI controller module 3, d ring transfer function module 4, q ring transfer function module 5, magnetic linkage transfer function module 6, dynamometer machine module 7, AC induction motor transfer function module 8 and interference observer module 9 of the present invention.
Wherein, the given module 1 of id1 is exported the instruction current id1* and the iq1* of expectation with the given module 2 of iq1 according to the instruction that the CAN assembly sends; PI control module 2 is used for calculating torque voltage and magnetic field voltage U d1 and Uq1 through the motor actual current id1 and the iq1 of instruction current id1* and iq1* and feedback for output violent change gradual change PI; D ring transfer function module 4 is calculated motor actual current id and iq at this moment with q ring transfer function module 5 by voltage U d and Uq; Magnetic linkage transfer function module 6 is used to calculate the size of the current magnetic linkage value of asynchronous machine; Dynamometer machine module 7 provides motor needed load torque; AC induction motor transfer function module 8 is calculated the asynchronous machine rotating speed of this moment through electromagnetic torque and load torque; Interference observer module 9 of the present invention, internal structure is as shown in Figure 2, estimates the interference of d ring and q ring through the actual speed of asynchronous machine output.Change to non-synchronous motor parameter, in observer, adopt nominal model, and increase filter, be implemented in load torque and disturb low frequency blocking-up and high frequency through characteristic in the process of inhibition.
Under the ad hoc hypothesis condition, the model of induction machine under synchronous rotating frame can be described as:
Wherein:
Consider that squirrel cage induction motor rotor winding is short-circuit state, so
;
Get
dAxle and rotor flux vector
Direction overlaps, then
,
The purpose of Vector Control System of Induction Motor is exactly through coordinate transform, and the variable in the three phase static coordinate system is passed through equivalent transformation in rotating coordinate system, can the phase current of motor be become DC component this moment and help control.In can to two cordic phase rotators being with the model conversion of motor simultaneously, changing the coupling between the various aleatory variables of former asynchronous machine model, and reduced the exponent number of system, helped the realization of control system.
By
Wherein
, so just obtained
d,
qThe interference value of shaft current is through being introduced in the vector control after the filtering link, to increase control precision again.
Embodiment 2
Electric motor car asynchronous machine of the present invention disturbed to suppress application of policies is that 1419kg, battery pack peak power are 25KW in certain electric motor car vehicle body weight, the induction machine peak power is to experimentize in the electric motor car of 75KW.The dynamometer machine speed setting is at 314.1593 rad/s (3000rpm).
Do not use when of the present invention, as can beappreciated from fig. 4, when rotating speed surpass set rotating speed after, dynamometer machine shock load torque causes rotating speed to descend very soon, drops to set rotating speed when following, the load torque of dynamometer machine output is got back to zero again, rotating speed is rising very soon again.In the whole process
i d ,
i q With the electromagnetic torque equivalent of asynchronous machine very big saltus step having taken place all, causes control performance to worsen.With regard to above-mentioned experimental system, the unexpected variation of the load torque that dynamometer machine provides is exactly the load disturbance of an impact for the asynchronous machine control system.
As shown in Figure 5, do not contrast when of the present invention with using, use the present invention after, the rotating speed of asynchronous machine,
i d ,
i q , electromagnetic torque all compares steadily; Saltus step when not having shock load before to occur; Take to can be good at improving the control effect under the torque disturbance situation, proved the validity of electric motor car induction machine exciting current setter of the present invention based on the control strategy of load torque disturbance feedback inhibition.
Although above the illustrative embodiment of the present invention is described; So that the technical staff in present technique field understands the present invention, but should be clear, the invention is not restricted to the scope of embodiment; To those skilled in the art; As long as various variations appended claim limit and the spirit and scope of the present invention confirmed in, these variations are conspicuous, all utilize innovation and creation that the present invention conceives all at the row of protection.
Claims (6)
1. method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed; It is characterized in that: according to the rotating speed of the asynchronous machine of electric vehicle output; Estimation obtains the interference value of the input torque of asynchronous machine through interference observer; And the equivalence of the interference value that obtains is the current interference based on the d axle and the q axle of rotor flux linkage orientation, and wherein the d shaft current is represented exciting current, the q shaft current is represented torque current; Interference value after the equivalence is added on the electric current of d axle and q axle through filtering again, is used to offset the interference that the asynchronous machine input torque produces.
2. a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed according to claim 1 is characterized in that: the rotating speed of said asynchronous machine output is that the actual machine rotating speed through encoder sampling asynchronous machine obtains.
3. a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed according to claim 1 is characterized in that: said
dThe axle with
qThe electric current of axle is to obtain after coordinate transform through the three-phase current that current sensor collects actual asynchronous machine; The input torque of said asynchronous machine
, wherein,
Be number of pole-pairs,
Be mutual inductance,
Be the inductance of rotor,
For after the coordinate transform
qThe electric current of axle,
Be rotor flux,
,
Be the rotor-exciting time constant,
For
dThe electric current of axle.
4. a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed according to claim 3; It is characterized in that: when there is interference in the input torque of said asynchronous machine; Interference value is
; Thus that the interference value of input torque is equivalent to torque current with above the rotor flux; I.e.
, wherein
;
The interference of rotor flux
; Draw torque current by equivalent expression
and have interference
, there is interference
in rotor flux;
Therefore torque disturbs equivalence following to the interference of the electric current of d axle and q axle:
Through following formula, the complete equivalence of interference of the input torque of asynchronous machine is arrived
dThe axle with
qAbove the interference of shaft current, the interference that therefore will suppress torque just is converted into the interference of the electric current that suppresses d axle and q axle.
5. a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed according to claim 1 is characterized in that: the principle of said interference observer is to calculate the interference value of torque earlier according to the tachometer of asynchronous machine output; Design parameter again
With
, make
With
Satisfy:
Through filter filtering High-frequency Interference, obtain at last
dThe axle with
qShaft current is disturbed and is added to above the actual current ring.
6. a kind of method that the inhibition asynchronous machine disturbs under the open loop of electric motor car rotating speed according to claim 1 is characterized in that concrete steps are following:
(1), confirms the model of induction asynchronous machine under synchronous rotating frame;
(2), confirm vector control according to transfer function;
(3), confirm the interference observer transfer function according to asynchronous machine equation of motion transfer function:
, promptly accomplished the interference value that from the asynchronous machine input information, observes input torque;
(4), confirm filtering stack, the interference that counteracting asynchronous machine input torque produces.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649850A (en) * | 2018-05-15 | 2018-10-12 | 天津工业大学 | Improve the internal permanent magnet synchronous motor current control method of UDE |
| CN110277941A (en) * | 2019-06-28 | 2019-09-24 | 东南大学 | Magneto, rotor-position control method, device |
| CN111371360A (en) * | 2020-04-15 | 2020-07-03 | 商飞信息科技（上海）有限公司 | Three-phase squirrel-cage asynchronous motor control method based on anti-interference observer |
| CN111431438A (en) * | 2020-04-02 | 2020-07-17 | 武汉港迪电气传动技术有限公司 | Synchronous control method for multi-motor rigid coupling |
| CN115236980A (en) * | 2022-06-30 | 2022-10-25 | 安徽大学 | Direct current motor anti-interference control method based on asynchronous disturbance observer and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1797936A (en) * | 2004-12-20 | 2006-07-05 | 卢骥 | Torque control method for frequency control of asynchronous motor with no speed sensor |
| CN101133547A (en) * | 2005-03-31 | 2008-02-27 | 东芝电梯株式会社 | Control device |
| CN101359892A (en) * | 2007-08-03 | 2009-02-04 | 通用汽车环球科技运作公司 | Method and system for control permanent magnet motor |
-
2012
- 2012-07-03 CN CN201210227122.5A patent/CN102751935B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1797936A (en) * | 2004-12-20 | 2006-07-05 | 卢骥 | Torque control method for frequency control of asynchronous motor with no speed sensor |
| CN101133547A (en) * | 2005-03-31 | 2008-02-27 | 东芝电梯株式会社 | Control device |
| CN101359892A (en) * | 2007-08-03 | 2009-02-04 | 通用汽车环球科技运作公司 | Method and system for control permanent magnet motor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649850A (en) * | 2018-05-15 | 2018-10-12 | 天津工业大学 | Improve the internal permanent magnet synchronous motor current control method of UDE |
| CN108649850B (en) * | 2018-05-15 | 2021-05-11 | 天津工业大学 | UDE built-in permanent magnet synchronous motor current control method |
| CN110277941A (en) * | 2019-06-28 | 2019-09-24 | 东南大学 | Magneto, rotor-position control method, device |
| CN111431438A (en) * | 2020-04-02 | 2020-07-17 | 武汉港迪电气传动技术有限公司 | Synchronous control method for multi-motor rigid coupling |
| CN111371360A (en) * | 2020-04-15 | 2020-07-03 | 商飞信息科技（上海）有限公司 | Three-phase squirrel-cage asynchronous motor control method based on anti-interference observer |
| CN115236980A (en) * | 2022-06-30 | 2022-10-25 | 安徽大学 | Direct current motor anti-interference control method based on asynchronous disturbance observer and storage medium |
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Effective date of registration: 20180426 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: Dongfang Electric Co., Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: Dongfang Electric Corporation |