CN103236814B - Fractional integral sliding mode-based speed control method and device for permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a fractional integral sliding mode-based speed control method for a permanent magnet synchronous motor. The fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor comprises the following steps of constructing a fractional integral sliding mode surface S, and designing a fractional integral sliding mode rotary speed controller for performing rotary speed regulation. The invention also discloses a fractional integral sliding mode-based speed control device for the permanent magnet synchronous motor. According to the fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor disclosed by the invention, high-performance speed following control of the motor can be realized under the condition that parameter perturbation and load disturbance exist in a control system for the permanent magnet synchronous motor, and the defect that an integral saturation effect and the transient performance are reduced due to a big initial error or actuator saturation in traditional integral sliding mode control is overcome.

Description

Based on the permagnetic synchronous motor method for control speed of fractional order integration sliding formwork

Technical field

The present invention relates to a kind of permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork and device, belong to AC Servo Motor Control technical field.

Background technology

The advantages such as permagnetic synchronous motor has compact conformation, power density is high, energy conversion efficiency is high, speed adjustable range is wide, lightweight, are widely used in the field such as industrial, civilian, military.

Because permagnetic synchronous motor is typical non-linear, a Multivariable Coupling system, and its performance is subject to probabilistic impacts such as external loading disturbance, inner parameter change, the non-modeling of object and non-linear dynamic characteristic.In order to obtain good dynamic response, some robust stabili are as nonlinear Control, adaptive control, H _∞control, sliding formwork control etc. are introduced in the research of AC servo in succession.Advantages such as wherein sliding formwork to control with its strong robustness, response fast, physics realization is simple and obtain the attention of researcher.

Sliding formwork controls as a kind of variable structure control method, when system phase path is moved on designed sliding-mode surface, has very strong robustness to the indeterminate of system parameters and external interference.From the mid-90 in 20th century, research is successively had Sliding mode variable structure control to be applied in the control of AC servo.In order to solve during traditional sliding formwork controls the steady-state error problem existed further, integration item can be introduced in the design of sliding-mode surface.Add integration item in sliding-mode surface systematic steady state error can be allowed to reduce, effectively weaken the effect of buffeting, the stability strengthening controller.

For the speeds control of permagnetic synchronous motor, the Integral Sliding Mode face S designed by prior art is defined as follows:

$S=e\left(t\right)+C_1{\∫}_0^{t}e\left(\mathrm{\τ}\right)\mathrm{d\τ},$

The Integral Sliding Mode face S that can find out designed by prior art is the integer rank integration based on velocity error, therefore the integral sliding mode control device obtained also is integer rank, when large initial error or actuator saturation, degradation problem under saturation integral effect and transient performance can be caused.

In the present invention, based on the fractional calculus of state variable, construct non-linear fractional order integration sliding-mode surface, and design a kind of new fractional order integration sliding mode controller, be applied in the speed follower control system of permagnetic synchronous motor, while maintenance conventional integer rank integral sliding mode control device, effectively overcome degradation problem under saturation integral effect and transient performance.

Summary of the invention

Technical problem to be solved by this invention is to provide one can under there is Parameter Perturbation, load disturbance situation in control system for permanent-magnet synchronous motor, realize controlling the high-performance speed follower of motor, and overcome the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork and the device of saturation integral effect and the transient performance decline caused due to large initial error or actuator saturation in existing integral sliding mode control.

The present invention adopts following technical scheme to solve the problems of the technologies described above: the present invention devises a kind of permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork, comprises following concrete steps:

Step (1): the three-phase current i gathering permagnetic synchronous motor _a, i _b, i _c, and carry out Clark conversion, be converted into the equivalent current i under alpha-beta coordinate system _aand i _β;

Step (2): the motor actual motion speed omega and the rotor position that are obtained permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in step (2), by the equivalent current i under alpha-beta coordinate system in motor rotor position θ and step (1) _aand i _βcarry out PARK conversion, produce the actual output current value i under d-q coordinate system _dand i _q;

Step (4): utilize the motor actual motion speed omega in step (2) and speed preset value ω _refdifference e (t) relatively, structure fractional order integration sliding-mode surface S;

Step (5): design fractional order integration sliding formwork rotational speed governor according to the fractional order integration sliding-mode surface S in step (4) and carry out rotational speed regulation, thus q shaft current set-point under obtaining d-q coordinate system ;

Step (6): to q shaft current set-point with q axle actual output current value i _qdifference is relatively carried out q shaft current and is regulated process, produces q shaft voltage output valve u _q, to d shaft current set-point with d axle actual output current value i _ddifference is relatively carried out d shaft current and is regulated process, produces d shaft voltage output valve u _d, by the voltage output value u under above-mentioned d-q coordinate system _dand u _qcarry out PARK inversion process, thus the equivalent voltage obtained under alpha-beta coordinate system controls set-point u _αand u _β, set-point u is controlled to described equivalent voltage _αand u _βcarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal to control three-phase inverter and produce three-phase voltage signal, and utilize described three-phase voltage signal to control permagnetic synchronous motor operation.

As a kind of optimization method of the present invention: the Clark conversion in described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

As a kind of optimization method of the present invention: the PARK conversion in described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right].$

As a kind of optimization method of the present invention: in described step (4), the following formula of fractional order integration sliding-mode surface S of structure represents:

$S=e\left(t\right)+C_1\·D_t^{-u}{}_{0}e\left(t\right)+\mathrm{\φ}\left(t\right)=e\left(t\right)+C_1{C}^{-u}e\left(t\right)+\mathrm{\φ}\left(t\right),$

Wherein, e (t) is defined as speed preset value ω _refdifference after comparing with motor actual speed ω, t is defined as time variable, sliding formwork coefficient C ₁>0, be defined as the fractional order integration value of difference e (t), u is defined as the order of fractional order integration sliding-mode surface, and 0<u<1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n>0, and with be respectively the initial value of difference e (t) when t=0 and fractional order integration value.

As a kind of optimization method of the present invention: in described step (5), the model of the fractional order integration sliding formwork rotational speed governor of design is:

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor fisrt feature coefficient motor second feature coefficient p is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fbe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient; be defined as the derivative of speed preset value, sgn () is sign function, and ε is defined as handoff gain, and ε >0.

As a kind of optimization method of the present invention: in described step (6), PARK inverse transformation is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

The present invention have also been devised a kind of permagnetic synchronous motor speed control unit based on fractional order integration sliding formwork, comprise current acquisition module, position transducer, Clark conversion module, the first comparator, the second comparator, the 3rd comparator, PARK conversion module, q shaft current controller, d shaft current controller, PARK inverse transform module, space vector pulse width modulation module, three-phase inverter and permagnetic synchronous motor, also comprise fractional order integration sliding formwork rotational speed governor, wherein:

Described current acquisition module is for gathering motor threephase stator current i _a, i _band i _c, and transfer to Clark conversion module;

Described Clark conversion module is used for motor threephase stator current i _a, i _band i _cbe transformed to the equivalent current i under alpha-beta coordinate system _aand i _β, and by i _aand i _βtransfer to PARK conversion module;

Described position transducer obtains motor actual motion speed omega and the rotor position of permagnetic synchronous motor, and described motor rotor position θ is transferred to PARK conversion module and PARK inverse transform module respectively, described motor speed of service ω is transferred to the first comparator;

Described PARK conversion module is by the equivalent current i under the rotor position that receives and alpha-beta coordinate system _a, i _βcarry out PARK conversion, produce the actual output current value i under d-q coordinate system _dand i _q, and by d axle actual output current value i _dtransfer to the 3rd comparator, by q axle actual output current value i _qtransfer to the second comparator;

Described first comparator is by speed preset value ω _refdifference e (t) after comparing with motor actual motion speed omega transfers to fractional order integration sliding formwork rotational speed governor, and described fractional order integration sliding formwork rotational speed governor carries out rotational speed regulation process, q shaft current set-point under output d-q coordinate system and transfer to the second comparator, described q shaft current set-point with q axle actual output current value i _qthrough the second comparator relatively after difference input to q shaft current controller, described q shaft current controller produces q shaft voltage output valve u _q, and transfer to PARK inverse transform module;

D shaft current set-point with d axle actual output current value i _dthrough the 3rd comparator relatively after difference input to d shaft current controller, described d shaft current controller produces d shaft voltage output valve u _d, and transfer to PARK inverse transform module;

The q shaft voltage output valve u that described PARK inverse transform module will receive _qwith d shaft voltage output valve u _dcarry out PARK inverse transformation, the equivalent voltage produced under alpha-beta coordinate system controls set-point u _αand u _β, and by u _αand u _βtransfer to space vector pulse width modulation module;

Described space vector pulse width modulation module utilizes the equivalent voltage under the alpha-beta coordinate system received to control set-point u _αand u _βproduce pwm signal, and transfer to three-phase inverter, described pwm signal controls three-phase inverter and produces three-phase voltage signal, and three-phase inverter utilizes described three-phase voltage signal to control permagnetic synchronous motor and runs.

The present invention compared with prior art tool has the following advantages:

1. propose in the present invention based in the permagnetic synchronous motor method for control speed of fractional order integration sliding formwork, the order u of fractional order integration sliding formwork rotational speed governor is adjustable, can obtain best control performance by choosing suitable order u;

2. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork proposed in the present invention, can overcome in the integral sliding mode control method of conventional integer rank, the saturation integral effect caused due to large initial error or actuator saturation and transient performance decline;

3. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork proposed in the present invention, when system exists load disturbance and Parameter Perturbation, has better dynamic property and Ability of Resisting Disturbance, and more accurate speed follower precision.

Accompanying drawing explanation

Fig. 1 is theory diagram of the present invention;

Fig. 2 be mid-score rank of the present invention Integral Sliding Mode rotational speed governor theory diagram;

Fig. 3 is mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork controls, PI controls ramp response comparison diagram;

Fig. 4 is the partial enlarged drawing of a part in Fig. 3;

Fig. 5 is the sinusoidal response comparison diagram that mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork control;

Fig. 6 is the partial enlarged drawing of b part in Fig. 5;

Fig. 7 is the sinusoidal tracking Error Graph that mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork control.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail:

As shown in Figure 1, the present invention devises a kind of permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork, comprises following concrete steps:

Step (1): the three-phase current i gathering permagnetic synchronous motor _a, i _b, i _c, and carry out Clark conversion, be converted into the equivalent current i under alpha-beta coordinate system _aand i _β;

Step (2): the motor actual motion speed omega and the rotor position that are obtained permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in step (2), by the equivalent current i under alpha-beta coordinate system in motor rotor position θ and step (1) _aand i _βcarry out PARK conversion, produce the actual output current value i under d-q coordinate system _dand i _q;

Step (4): utilize the motor actual motion speed omega in step (2) and speed preset value ω _refdifference e (t) relatively, structure fractional order integration sliding-mode surface S;

Step (5): design fractional order integration sliding formwork rotational speed governor according to the fractional order integration sliding-mode surface S in step (4) and carry out rotational speed regulation, thus q shaft current set-point under obtaining d-q coordinate system

Step (6): to q shaft current set-point with q axle actual output current value i _qdifference is relatively carried out q shaft current and is regulated process, produces q shaft voltage output valve u _q, to d shaft current set-point with d axle actual output current value i _ddifference is relatively carried out d shaft current and is regulated process, produces d shaft voltage output valve u _d, by the voltage output value u under above-mentioned d-q coordinate system _dand u _qcarry out PARK inversion process, thus the equivalent voltage obtained under alpha-beta coordinate system controls set-point u _αand u _β, set-point u is controlled to described equivalent voltage _αand u _βcarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal to control three-phase inverter and produce three-phase voltage signal, and utilize described three-phase voltage signal to control permagnetic synchronous motor operation.

As a kind of optimization method of the present invention: the Clark conversion in described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

As a kind of optimization method of the present invention: the PARK conversion in described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right].$

As a kind of optimization method of the present invention: in described step (4), the following formula of fractional order integration sliding-mode surface S of structure represents:

$S=e\left(t\right)+C_1\&CenterDot;D_t^{-u}{}_{0}e\left(t\right)+\mathrm{\&phi;}\left(t\right)=e\left(t\right)+C_1{C}^{-u}e\left(t\right)+\mathrm{\&phi;}\left(t\right),$

Wherein, e (t) is defined as speed preset value ω _refdifference after comparing with motor actual speed ω, t is defined as time variable, sliding formwork coefficient C ₁>0, be defined as the fractional order integration value of difference e (t), u is defined as the order of fractional order integration sliding-mode surface, and 0<u<1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n>0, and with be respectively the initial value of difference e (t) when t=0 and fractional order integration value, in sum, to arbitrary initial condition e (0), be carved with S=0 when t=0, namely the initial condition of system is just on sliding-mode surface, eliminates arrival process.

As a kind of optimization method of the present invention: in described step (5), the model of the fractional order integration sliding formwork rotational speed governor of design is:

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor fisrt feature coefficient motor second feature coefficient p is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fbe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient; be defined as the derivative of speed preset value, sgn () is sign function, and ε is defined as handoff gain, and ε >0.

As a kind of optimization method of the present invention: in described step (6), PARK inverse transformation is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$

In a particular embodiment, we design the step of fractional order integration sliding formwork rotational speed governor as shown in Figure 2:

Step a: the mechanical motion equation of permagnetic synchronous motor under d-q coordinate system can be written as

$\stackrel{\&CenterDot;}{\mathrm{\&omega;}}+\mathrm{g\&omega;}+\mathrm{\&Gamma;}={\mathrm{hi}}_q,$

Wherein, motor third feature coefficient t _lbe defined as the load torque of permagnetic synchronous motor, consider the Parameter uncertainties amount in motor operation course, the mechanical motion equation of permagnetic synchronous motor can be written as further

$\stackrel{\&CenterDot;}{\mathrm{\&omega;}}+(g+\mathrm{\&Delta;g})\mathrm{\&omega;}+(\mathrm{\&Gamma;}+\mathrm{\&Delta;\&Gamma;})=(h+\mathrm{\&Delta;h})i_q,$

Wherein, Δ h is defined as the variable quantity of motor fisrt feature coefficient h, and Δ g is defined as the variable quantity of motor second feature coefficient g, and Δ Γ is defined as the variable quantity of motor third feature coefficient Γ;

To permagnetic synchronous motor speed preset value ω _refdifference e (t) after comparing with motor actual speed ω is differentiated

Wherein, procedure function disturbing function δ (t)=Δ g ω+Δ Γ+Γ-Δ hi _q;

Step b: fractional order integration sliding-mode surface S is differentiated and can be obtained:

$\stackrel{\&CenterDot;}{S}=\stackrel{\&CenterDot;}{e}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right);$

Step c: have when system is moved on sliding-mode surface and utilize and to obtain in step a then have:

Thus obtain,

Steps d: adopt constant speed tendency rate, design fractional order integration sliding formwork control law is as follows:

Step e: trying to achieve the output of q shaft current controlled quentity controlled variable by following formula is:

$i_q^{*}=\frac{1}{h}({\stackrel{\&CenterDot;}{\mathrm{\&omega;}}}_{\mathrm{ref}}+{\mathrm{g\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{\&CenterDot;}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right));$

Step f: the stability of the fractional order integration sliding formwork rotational speed governor designed by proving, being defined as follows Lyapunov function is:

$V=\frac{1}{2}{S}^2,$

Differentiated in above-mentioned Lyapunov function limit, and utilize the q shaft current controlled quentity controlled variable obtained in step e to export, can obtain:

We can find out, when handoff gain ε meets ε >| δ (t) | time, have then according to Lyapunov Theory of Stability, now designed fractional order integration sliding formwork rotational speed governor is stable, and system can reach diverter surface from arbitrary initial state in finite time.

The present invention have also been devised a kind of permagnetic synchronous motor speed control unit based on fractional order integration sliding formwork, comprise current acquisition module, position transducer, Clark conversion module, the first comparator, the second comparator, the 3rd comparator, PARK conversion module, q shaft current controller, d shaft current controller, PARK inverse transform module, space vector pulse width modulation module, three-phase inverter and permagnetic synchronous motor, also comprise fractional order integration sliding formwork rotational speed governor, wherein:

Described current acquisition module is for gathering motor threephase stator current i _a, i _band i _c, and transfer to Clark conversion module;

Described Clark conversion module is used for motor threephase stator current i _a, i _band i _cbe transformed to the equivalent current i under alpha-beta coordinate system _aand i _β, and by i _aand i _βtransfer to PARK conversion module;

Described position transducer obtains motor actual motion speed omega and the rotor position of permagnetic synchronous motor, and described motor rotor position θ is transferred to PARK conversion module and PARK inverse transform module respectively, described motor speed of service ω is transferred to the first comparator;

Described PARK conversion module is by the equivalent current i under the rotor position that receives and alpha-beta coordinate system _a, i _βcarry out PARK conversion, produce the actual output current value i under d-q coordinate system _dand i _q, and by d axle actual output current value i _dtransfer to the 3rd comparator, by q axle actual output current value i _qtransfer to the second comparator;

Described first comparator is by speed preset value ω _refdifference e (t) after comparing with motor actual motion speed omega transfers to fractional order integration sliding formwork rotational speed governor, and described fractional order integration sliding formwork rotational speed governor carries out rotational speed regulation process, q shaft current set-point under output d-q coordinate system , and transfer to the second comparator, described q shaft current set-point with q axle actual output current value i _qthrough the second comparator relatively after difference input to q shaft current controller, described q shaft current controller produces q shaft voltage output valve u _q, and transfer to PARK inverse transform module;

D shaft current set-point with d axle actual output current value i _dthrough the 3rd comparator relatively after difference input to d shaft current controller, described d shaft current controller produces d shaft voltage output valve u _d, and transfer to PARK inverse transform module;

The q shaft voltage output valve u that described PARK inverse transform module will receive _qwith d shaft voltage output valve u _dcarry out PARK inverse transformation, the equivalent voltage produced under alpha-beta coordinate system controls set-point u _αand u _β, and by u _αand u _βtransfer to space vector pulse width modulation module;

Described space vector pulse width modulation module utilizes the equivalent voltage under the alpha-beta coordinate system received to control set-point u _αand u _βproduce pwm signal, and transfer to three-phase inverter, described pwm signal controls three-phase inverter and produces three-phase voltage signal, and three-phase inverter utilizes described three-phase voltage signal to control permagnetic synchronous motor and runs.

As shown in Figure 3, be mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork controls, PI controls ramp response comparison diagram;

Fig. 4 is the partial enlarged drawing of a part in Fig. 3;

As shown in Figure 5, be sinusoidal response comparison diagram that mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork control;

Fig. 6 is the partial enlarged drawing of b part in Fig. 5;

As shown in Figure 7, be sinusoidal tracking Error Graph that mid-score rank integral sliding mode control of the present invention and traditional quadrature sliding formwork control;

As can be seen from Fig. 3-Fig. 7, when system exists load disturbance, institute's extracting method controls than traditional quadrature sliding formwork and conventional PI controls to have better dynamic property, stronger Ability of Resisting Disturbance, and more accurate speed follower precision.

Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.

Claims (5)

1. based on a permagnetic synchronous motor method for control speed for fractional order integration sliding formwork, it is characterized in that, comprise following concrete steps:

Step (1): the three-phase current i gathering permagnetic synchronous motor _a, i _b, i _c, and carry out Clark conversion, be converted into the equivalent current i under alpha-beta coordinate system _aand i _β;

Step (2): the motor actual motion speed omega and the rotor position that are obtained permagnetic synchronous motor by position transducer;

Step (3): according to the motor rotor position θ in step (2), by the equivalent current i under alpha-beta coordinate system in motor rotor position θ and step (1) _aand i _βcarry out PARK conversion, produce the actual output current value i under d-q coordinate system _dand i _q;

Step (4): utilize the motor actual motion speed omega in step (2) and speed preset value ω _refdifference e (t) relatively, structure fractional order integration sliding-mode surface S;

In described step (4), the following formula of fractional order integration sliding-mode surface S of structure represents:

S＝e(t)+C ₁· ₀D _t ^-ue(t)+φ(t)＝e(t)+C ₁D ^-ue(t)+φ(t)，

Wherein, e (t) is defined as speed preset value ω _refdifference after comparing with motor actual speed ω, t is defined as time variable, sliding formwork coefficient C ₁>0, ₀d _t ^-ue (t)=D ^-ue (t) is defined as the fractional order integration value of difference e (t), and u is defined as the order of fractional order integration sliding-mode surface, and 0<u<1;

φ (t) is defined as attenuation function, φ (t)=φ (0) e ^-t/n, n is rate of decay constant, and n>0, and φ (0)=-e (0)-C ₁. ₀d ₀ ^-ue (t), e (0) and ₀d ₀ ^-ue (t) is respectively the initial value of difference e (t) when t=0 and fractional order integration value;

Step (5): design fractional order integration sliding formwork rotational speed governor according to the fractional order integration sliding-mode surface S in step (4) and carry out rotational speed regulation, thus q shaft current set-point under obtaining d-q coordinate system

Step (6): to q shaft current set-point with q axle actual output current value i _qdifference is relatively carried out q shaft current and is regulated process, produces q shaft voltage output valve u _q, to d shaft current set-point with d axle actual output current value i _ddifference is relatively carried out d shaft current and is regulated process, produces d shaft voltage output valve u _d, by the voltage output value u under above-mentioned d-q coordinate system _dand u _qcarry out PARK inversion process, thus the equivalent voltage obtained under alpha-beta coordinate system controls set-point u _αand u _β, set-point u is controlled to described equivalent voltage _αand u _βcarry out space vector pulse width modulation, produce pwm signal, utilize described pwm signal to control three-phase inverter and produce three-phase voltage signal, and utilize described three-phase voltage signal to control permagnetic synchronous motor operation.

2. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork according to claim 1, is characterized in that, the Clark conversion in described step (1) is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right].$

3. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork according to claim 1, is characterized in that, the PARK conversion in described step (3) is expressed as matrix:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& \sin \mathrm{\&theta;}\\ -\sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right].$

4. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork according to claim 1, is characterized in that, in described step (5), the model of the fractional order integration sliding formwork rotational speed governor of design is:

$i_q^{*}=\frac{1}{h}({\stackrel{.}{\mathrm{\&omega;}}}_{\mathrm{ref}}+g{\mathrm{\&omega;}}_{\mathrm{ref}}-\mathrm{ge}\left(t\right)+C_1{D}^{1-u}e\left(t\right)+\stackrel{.}{\mathrm{\&phi;}}\left(t\right)+\mathrm{\&epsiv;sgn}\left(S\right)),$

Wherein, motor fisrt feature coefficient motor second feature coefficient p is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as the moment of inertia of permagnetic synchronous motor, ψ _fbe defined as the magnetic linkage of permanent magnet and stator interlinkage, B is defined as damping coefficient; be defined as the derivative of speed preset value, sgn () is sign function, and ε is defined as handoff gain, and ε >0.

5. the permagnetic synchronous motor method for control speed based on fractional order integration sliding formwork according to claim 1, is characterized in that, in described step (6), PARK inverse transformation is expressed as matrix:

$\left[\begin{array}{c}{i}_{\mathrm{\&alpha;}}\\ i_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\&theta;}& -\sin \mathrm{\&theta;}\\ \sin \mathrm{\&theta;}& \cos \mathrm{\&theta;}\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right].$