CN103825516B - A kind of composite controller of synchronous motor - Google Patents

Abstract

The present invention proposes a kind of synchronous motor composite controller, belongs to Motor Control Field, it is characterised in that contain: speed feed-forward device, the phase current controller that a velocity feedback controller is identical with the number of phases with number.Wherein phase current controller comprises a lead lag network, phase current closed loop controller.Speed command obtains speed feed-forward voltage through described speed feed-forward device.Speed command is phase current instruction through described velocity feedback controller.Described phase current instruction respectively obtains phase current feedforward voltage respectively through described lead lag network and described phase current closed loop controller and phase current feedback controls voltage.It is each phase control voltage that speed feed-forward voltage, phase current feedforward voltage and phase current feedback control voltage sum.The present invention controls to have less closed loop gain, higher stability margin under same performance index compared with traditional closed-loop.Clear physics conception, design of control law are convenient, be easily programmed realization.

Description

A kind of composite controller of synchronous motor

Technical field

The present invention relates to the driving control method of synchronous motor, belong to motor control technology field.

Background technology

The feedforward is adopted to control the compound control structure combined with feedback closed loop.The introducing of feedforward controller, overcomes the control action that the outputs such as pure feedback control need change and form just correction of deviation after deviation, than pure feedback control more " more in time ", improves the phase-frequency characteristic of system.It is simultaneously introduced feedback control and in conjunction with the feedforward, eliminates the inverse dynamics feedforward and cause output error because of modeling error own or external disturbance.

Conventional rotating speed composite controller, under frequency domain, generally design its feedforward controller and feedback controller, its input and output are DC quantity, obtain rotating coordinate transform again after the motor under frequency domain controls voltage, and its feedback control voltage and feedforward voltage have identical phase place.The present invention adopts rotating speed to control to control, with phase current, the control structure that dicyclo is nested, and rotational speed governor and phase current controller are respectively adopted compound control structure；The rotating speed feedforward is using rotational speed setup as input, and its output rotates coordinate transform, with counter electromotive force of motor homophase；The output of speed closed loop controller is as the given input of multiphase current controller, and its value is proportional to torque needed for motor；Phase current controller is realize the control target that direct-axis current component is zero, make phase current phase place and counter electromotive force of motor homophase, the input of its given value of current rotates coordinate transform, respectively as the given input that phase current lead lag network and phase current feedback control；Phase current lead lag network carries out feedforward compensation according to armature model, and introduces low pass filter；Phase current closed loop controller is used for eliminating torque error, it is achieved high accuracy Torque Control；Rotating speed feedforward voltage, phase current feedforward voltage control the control voltage that vector is real electrical machinery of voltage with phase current feedback.

The present invention is compared with conventional rotating speed composite controller, it is achieved that each phase current is independently controlled.The output that the given input of its phase current controller, rotating speed feedover rotates coordinate transform respectively, the feedforward output, the output of phase current closed loop controller and the output of rotating speed feedforward controller that make phase current lead lag network have different phase places, and above three compensation dosage is carried out vector summation, there is clear physics conception, algorithm is simple, it is easily programmed, the feature that control accuracy is high.

Summary of the invention

It is an object of the invention to provide a kind of quickly, clear physics conception, robustness are high, design of control law is convenient and are easily programmed the composite control method of synchronous motor of realization.

For achieving the above object, the present invention is by the following technical solutions:

The composite controller of a kind of synchronous motor, it is characterised in that contain: speed feed-forward device, velocity feedback controller, a N number of phase current controller, N represents the number of phases of synchronous motor；Wherein:

Speed feed-forward device comprises a proportional component, a rotating coordinate transformation device；Described proportional component is determined by synchronous motor back electromotive force constant, and its mathematic(al) representation is C_e, described spinner velocity external reference input ω_rAfter described proportional component, obtain speed feed-forward voltage magnitude C_eω_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaThe above motor φ of three-phase and three-phase=(-2 π/N) × (X-1), X is represented each phase winding of motor, desirable 1,2,3 ..., N；Described speed feed-forward voltage magnitude, through described rotating coordinate transformation device, obtains the speed feed-forward voltage of N number of winding: e_FFX=C_eω_rsin(θ+φ)；

Velocity feedback controller comprises a subtractor, a PID controller and a rotating coordinate transformation device；Described subtractor realizes spinner velocity external reference input ω_rWith rotor velocity ω additive operation, obtain produce speed error；Above-mentioned speed error, through described PID controller, obtains the phase-current reference input amplitude i being directly proportional to moment needed for system_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaThe above motor φ of three-phase and three-phase=(-2 π/N) × (X-1), X is represented each phase winding of motor, desirable 1,2,3 ..., N；Described phase-current reference input amplitude i_rThrough described rotating coordinate transformation device, obtain N number of phase-current reference input i_{X_r}=i_rSin (θ+φ), N number of phase current controller is arrived in output；

N number of phase current controller, each described phase current controller comprises a subtractor, phase current lead lag network, a phase current feedback controller；Described subtractor realizes described phase-current reference input i_{X_r}With phase current i_XAdditive operation, obtains producing phase current error；Described phase current feedback controller is PI controller, and above-mentioned phase current error, through described phase current feedback controller, obtains phase current feedback and controls voltage u_FX；The look-ahead portion of described phase current lead lag network is obtained by synchronous motor armature mathematical model, its value is determined by synchronous motor each phase winding inductance, each phase resistance, owing to the introducing of differentiation element is likely to measurement by magnification noise, therefore the lagging portion of described phase current lead lag network is a low pass filter, and the span of the time constant of wherein said low pass filter isDescribed phase current lead lag network is by pull-type conversion, and its mathematic(al) representation is:Wherein T is the time constant of described low pass filter, and L is each phase winding inductance, and R is each phase winding resistance；Described phase-current reference input i_{X_r}Through described lead lag network, obtain phase current feedforward voltage u_FFX=Zi_rSin (θ+φ), whereinAccording to synchronous motor each phase inductance L, each phase resistance R, low pass filter time constant is tried to achieve；N number of described phase current controller exports N number of described phase current feedback altogether and controls voltage u_FXWith N number of phase current feedforward voltage u_FFX；

The speed feed-forward voltage e of described N number of winding_FFX, N number of phase current feedback control voltage u_FXWith N number of phase current feedforward voltage u_FFXSue for peace, obtain controlling voltage vector in real time and being of N number of winding: u_X=u_FFX+u_FX+e_FFX

The composite controller of a kind of synchronous motor provided by the present invention, have clear physics conception, design of control law is convenient, programming realization is convenient, computing real-time is high, system robustness advantages of higher, the independence facilitating implementation every phase winding controls, it is especially suitable for the fault-tolerant motor that each phase winding is separate, especially break down at it, it is easy to control the phase and amplitude of healthy phases, and control method and motor mathematical model are organically combined, introduce the feedforward of motor inversion model so that closed loop controller has the stability margin of less controller gain and Geng Gao.

The composite controller to biphase synchronous motor that the present invention proposes, it is equally applicable to the polyphase synchronous machine that each phase winding is separate, the method not only describes the vector control method of whole electric machine control system, and its control structure has clear and definite physical significance so that the physical concept of this Torque Control method becomes apparent from.The method design of control law is convenient, is beneficial to programming realization, controls effect obvious, has control accuracy height, strong robustness, system effectiveness advantages of higher.

Accompanying drawing explanation

Fig. 1: the composite controller theory diagram of the biphase synchronous motor of the present invention.

Fig. 2: the composite controller theory diagram of the N synchronised motor of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing and example, the invention will be further described, and accompanying drawing described herein is only used for providing a further understanding of the present invention, for the part of the application, does not constitute the restriction to the present invention program.

The present invention, for existing common biphase synchronous motor and N synchronised motor, illustrates specific embodiment of the invention process.

Embodiment one:

The composite controller of a kind of synchronous motor, it is characterised in that contain: speed feed-forward device, velocity feedback controller, two phase current controllers；Wherein:

Speed feed-forward device comprises a proportional component, a rotating coordinate transformation device；Described proportional component is determined by synchronous motor back electromotive force constant, and its mathematic(al) representation is C_e, described spinner velocity external reference input ω_rAfter described proportional component, obtain speed feed-forward voltage magnitude C_eω_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaDescribed speed feed-forward voltage magnitude, through described rotating coordinate transformation device, obtains the speed feed-forward voltage of two windings:

$\left\{\begin{array}{c}{e}_{\mathrm{FFA}}=C_e{\mathrm{\ω}}_r\sin \mathrm{\θ}\\ e_{\mathrm{FFB}}=C_e{\mathrm{\ω}}_r\sin (\mathrm{\θ}-\frac{\mathrm{\π}}{2})\end{array}\right.;$

Velocity feedback controller comprises a subtractor, a PID controller and a rotating coordinate transformation device；Described subtractor realizes spinner velocity external reference input ω_rWith rotor velocity ω additive operation, obtain produce speed error；Above-mentioned speed error, through described PID controller, obtains the phase-current reference input amplitude i being directly proportional to moment needed for system_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaDescribed phase-current reference input amplitude i_rThrough described rotating coordinate transformation device, obtain two phase-current reference inputs $\left\{\begin{array}{c}{i}_{A\_r}=i_r\sin \mathrm{\θ}\\ i_{B\_r}=i_r\sin (\mathrm{\θ}-\frac{\mathrm{\π}}{2})\end{array}\right.,$ Export two phase current controllers；

Two phase current controllers, each described phase current controller comprises a subtractor, phase current lead lag network, a phase current feedback controller；Described subtractor realizes described phase-current reference input i_{A_r}、i_{B_r}With phase current i_A、i_BAdditive operation, obtains producing phase current error；Described phase current feedback controller is PI controller, and above-mentioned phase current error, through described phase current feedback controller, obtains phase current feedback and controls voltage u_FA、u_FB；The look-ahead portion of described phase current lead lag network is obtained by synchronous motor armature mathematical model, its value is determined by synchronous motor each phase winding inductance, each phase resistance, owing to the introducing of differentiation element is likely to measurement by magnification noise, therefore the lagging portion of described phase current lead lag network is a low pass filter, and the span of the time constant of wherein said low pass filter isDescribed phase current lead lag network is by pull-type conversion, and its mathematic(al) representation is:Wherein T is the time constant of described low pass filter, and L is each phase winding inductance, and R is each phase winding resistance；Described phase-current reference input i_{A_r}、i_{B_r}Through described lead lag network, obtain phase current feedforward voltage $\left\{\begin{array}{c}{u}_{\mathrm{FFA}}=Z{i}_r\sin \mathrm{\θ}\\ u_{\mathrm{FFB}}=Z{i}_r\sin (\mathrm{\θ}-\frac{\mathrm{\π}}{2})\end{array}\right.,$ WhereinAccording to synchronous motor each phase inductance L, each phase resistance R, low pass filter time constant is tried to achieve；

The speed feed-forward voltage e of said two winding_FFA、e_FFA, two phase current feedback control voltage u_FA、u_FBWith two phase current feedforward voltage u_FFA、u_FFBSue for peace, obtain controlling voltage vector in real time and being of two windings:

$\left\{\begin{array}{c}{u}_A=u_{\mathrm{FA}}+u_{\mathrm{FFA}}+e_{\mathrm{FFA}}\\ u_B=u_{\mathrm{FB}}+u_{\mathrm{FFB}}+e_{\mathrm{FFB}}\end{array}\right..$

Embodiment two:

The composite controller of a kind of synchronous motor, it is characterised in that contain: speed feed-forward device, velocity feedback controller, a N number of phase current controller, N represents the number of phases of synchronous motor；Wherein:

Speed feed-forward device comprises a proportional component, a rotating coordinate transformation device；Described proportional component is determined by synchronous motor back electromotive force constant, and its mathematic(al) representation is C_e, described spinner velocity external reference input ω_rAfter described proportional component, obtain speed feed-forward voltage magnitude C_eω_r；Described rotating coordinate transformation device is for comprising phase difference between motor rotor position angle θ and each phase and first-phase_XSIN function, its mathematic(al) representation is sin (θ+φ_X), to the above motor φ of three-phase and three-phase_X=(-2 π/N) × (X-1), X represents each phase winding of motor, desirable 1,2,3 ..., N；Described speed feed-forward voltage magnitude, through described rotating coordinate transformation device, obtains the speed feed-forward voltage of N number of winding:

$\left\{\begin{array}{c}{e}_{\mathrm{FF}1}=C_e{\mathrm{\ω}}_r\sin \mathrm{\θ}\\ e_{\mathrm{FF}2}=C_e{\mathrm{\ω}}_r\sin (\mathrm{\θ}-\frac{2\mathrm{\π}}{N})\\ ...\\ e_{\mathrm{FFN}}=C_e{\mathrm{\ω}}_r\sin (\mathrm{\θ}-\frac{2(N-1)\mathrm{\π}}{N})\end{array}\right.;$

Velocity feedback controller comprises a subtractor, a PID controller and a rotating coordinate transformation device；Described subtractor realizes spinner velocity external reference input ω_rWith rotor velocity ω additive operation, obtain produce speed error；Above-mentioned speed error, through described PID controller, obtains the phase-current reference input amplitude i being directly proportional to moment needed for system_r；Described rotating coordinate transformation device is for comprising phase difference between motor rotor position angle θ and each phase and first-phase_XSIN function, its mathematic(al) representation is sin (θ+φ_X), to the above motor φ of three-phase and three-phase_X=(-2 π/N) × (X-1), X represents each phase winding of motor, desirable 1,2,3 ..., N；Described phase-current reference input amplitude i_rThrough described rotating coordinate transformation device, obtain the input of N number of phase-current reference $\left\{\begin{array}{c}{i}_{1\_r}=i_r\sin \mathrm{\θ}\\ i_{2\_r}=i_r\sin (\mathrm{\θ}-\frac{2\mathrm{\π}}{N})\\ ...\\ i_{N\_r}=i_r\sin (\mathrm{\θ}-\frac{2(N-1)\mathrm{\π}}{N})\end{array}\right.,$ N number of phase current controller is arrived in output；

N number of phase current controller, each described phase current controller comprises a subtractor, phase current lead lag network, a phase current feedback controller；Described subtractor realizes described phase-current reference input i_{X_r}With phase current i_XAdditive operation, obtains producing phase current error；Described phase current feedback controller is PI controller, and above-mentioned phase current error, through described phase current feedback controller, obtains phase current feedback and controls voltage u_FX；The look-ahead portion of described phase current lead lag network is obtained by synchronous motor armature mathematical model, its value is determined by synchronous motor each phase winding inductance, each phase resistance, owing to the introducing of differentiation element is likely to measurement by magnification noise, therefore the lagging portion of described phase current lead lag network is a low pass filter, and the span of the time constant of wherein said low pass filter isDescribed phase current lead lag network is by pull-type conversion, and its mathematic(al) representation is:Wherein T is the time constant of described low pass filter, and L is each phase winding inductance, and R is each phase winding resistance；Described phase-current reference input i_{X_r}Through described lead lag network, obtain phase current feedforward voltage $\left\{\begin{array}{c}{u}_{\mathrm{FF}1}=Z_1{i}_r\sin \mathrm{\θ}\\ u_{\mathrm{FF}2}=Z_2{i}_r\sin (\mathrm{\θ}-\frac{2\mathrm{\π}}{N})\\ ...\\ u_{\mathrm{FFN}}=Z_N{i}_r\sin (\mathrm{\θ}-\frac{2(N-1)\mathrm{\π}}{N})\end{array}\right.,$ WhereinAccording to synchronous motor each phase inductance L, each phase resistance R, low pass filter time constant is tried to achieve；N number of described phase current controller exports N number of described phase current feedback altogether and controls voltage u_FXWith N number of phase current feedforward voltage u_FFX；

The speed feed-forward voltage e of described N number of winding_FFX, N number of phase current feedback control voltage u_FXWith N number of phase current feedforward voltage u_FFXSue for peace, obtain controlling voltage vector in real time and being of N number of winding: $\left\{\begin{array}{c}{u}_1=u_{F1}+u_{\mathrm{FF}1}+e_{\mathrm{FF}1}\\ u_2=u_{F2}+u_{\mathrm{FF}2}+e_{\mathrm{FF}2}\\ ...\\ u_N=u_{\mathrm{FN}}+u_{\mathrm{FFN}}+e_{\mathrm{FFN}}\end{array}\right..$

Above-described detailed description of the invention; the purpose of the present invention, technical scheme and beneficial effect have been further described; it is it should be understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (1)

1. the composite controller of a synchronous motor, it is characterised in that contain: speed feed-forward device, velocity feedback controller, a N number of phase current controller, N represents the number of phases of synchronous motor；Wherein:

Speed feed-forward device comprises a proportional component, a rotating coordinate transformation device；Described proportional component is determined by synchronous motor back electromotive force constant, and its mathematic(al) representation is C_e, spinner velocity external reference input ω_rAfter described proportional component, obtain speed feed-forward voltage magnitude C_eω_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaTo the above motor φ of three-phase and three-phase_X=(-2 π/N) × (X-1), X represents each phase winding of motor, desirable 1,2,3 ..., N；Described speed feed-forward voltage magnitude, through described rotating coordinate transformation device, obtains the speed feed-forward voltage of N number of winding: e_FFX=C_eω_rsin(θ+φ_X)；

Velocity feedback controller comprises a subtractor, a PID controller and a rotating coordinate transformation device；Described subtractor realizes spinner velocity external reference input ω_rWith rotor velocity ω additive operation, obtain produce speed error；Above-mentioned speed error, through described PID controller, obtains the phase-current reference input amplitude i being directly proportional to moment needed for system_r；Described rotating coordinate transformation device is comprise the SIN function of phase difference between motor rotor position angle θ and each phase and first-phase, and its mathematic(al) representation is sin (θ+φ), to biphase synchronous motor, in formulaTo the above motor φ of three-phase and three-phase_X=(-2 π/N) × (X-1), X represents each phase winding of motor, desirable 1,2,3 ..., N；Described phase-current reference input amplitude i_rThrough described rotating coordinate transformation device, obtain N number of phase-current reference input i_{X_r}=i_rsin(θ+φ_X), N number of phase current controller is arrived in output；

N number of phase current controller, each described phase current controller comprises a subtractor, phase current lead lag network, a phase current feedback controller；Described subtractor realizes described phase-current reference input i_{X_r}With phase current i_XAdditive operation, obtains producing phase current error；Described phase current feedback controller is PI controller, and above-mentioned phase current error, through described phase current feedback controller, obtains phase current feedback and controls voltage u_FX；The look-ahead portion of described phase current lead lag network is obtained by synchronous motor armature mathematical model, its value is determined by synchronous motor each phase winding inductance, each phase resistance, owing to the introducing of differentiation element is likely to measurement by magnification noise, therefore the lagging portion of described phase current lead lag network is a low pass filter, and the span of the time constant of wherein said low pass filter isDescribed phase current lead lag network is by pull-type conversion, and its mathematic(al) representation is:Wherein T is the time constant of described low pass filter, and L is each phase winding inductance, and R is each phase winding resistance；Described phase-current reference input i_{X_r}Through described lead lag network, obtain phase current feedforward voltage u_FFX=Zi_rsin(θ+φ_X), whereinAccording to synchronous motor each phase inductance L, each phase resistance R, low pass filter time constant is tried to achieve；N number of described phase current controller exports N number of described phase current feedback altogether and controls voltage u_FXWith N number of phase current feedforward voltage u_FFX；

The speed feed-forward voltage e of described N number of winding_FFX, N number of phase current feedback control voltage u_FXWith N number of phase current feedforward voltage u_FFXSue for peace, obtain controlling voltage vector in real time and being of N number of winding: u_X=u_FFX+u_FX+e_FFX。