CN104601071A - Permanent magnet synchronous motor current loop sliding mode control system based on disturbance observer - Google Patents

Abstract

The invention relates to a permanent magnet synchronous motor current loop sliding mode control method based on a disturbance observer. Through the construction of a multiple-input multiple-output sliding mode controller and the adoption of the coupling relationship exists among multiple inputs, decoupling tracking control of a current loop can be realized, and a current control inner ring is enabled to have only one controller, that is, the sliding mode controller. Meanwhile, when considering outside disturbance and the change of system parameters, the robustness controlled by a sliding mode variable structure will be weakened. Therefore, in order to further improve the robustness of the system, a disturbance observer is added to a control strategy and used for online forecasting the uncertainty of the system due to the change of the parameters and the outside disturbance and compensating them to the sliding mode controller. Therefore, the error compensation of the system currents can be realized, the accurate control of the currents can be ensured and the speed adjustment performance of the permanent magnet synchronous motor can be improved. The permanent magnet synchronous motor current loop sliding mode control system based on the disturbance observer enables the permanent magnet synchronous motor to have better robustness and the capacity of interference rejection when keeping fast tracking response, and is simple in system structure, high in stability and applicable to engineering practice.

Description

Based on the permagnetic synchronous motor electric current loop System with Sliding Mode Controller of disturbance observer

Technical field

The present invention relates to Motor Control Field, particularly relate to a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer and control method thereof.

Background technology

Permagnetic synchronous motor is a kind of novel motor grown up in recent years, there is the advantage that rotor moment of inertia is little, efficiency is high, power density is large, reliability is high, therefore be very applicablely applied in high performance servo system, such as in occasions such as Digit Control Machine Tools, permanent magnet synchronous motor progressively replaces direct current machine and induction machine.Simultaneously because permagnetic synchronous motor is without the need to field winding, significantly reduces volume, alleviate weight, reduce loss, avoid that the motor feels hot, improve efficiency and power factor, therefore can be more and more extensive in the application of following permagnetic synchronous motor.

The control method of sliding moding structure is suitable for the non linear system of Parameter uncertainties.Constantly switched by controlled quentity controlled variable by control strategy, namely the structure of system ceaselessly changes, and targetedly forces system enters the sliding-mode surface slip preset.After system enters sliding formwork state, the stability of system and dynamic quality only depend on the parameter of sliding-mode surface and sliding-mode surface.Because sliding mode can design, and have nothing to do with system parameter variations and external disturbance, therefore strong robustness, reliability are high.Therefore the control method of sliding moding structure is more and more controlled the attention on boundary in recent years.But the robustness of sliding mode variable structure control method is also conditional, when external interference and system parameter variations larger time, the robustness of Sliding mode variable structure control will weaken, cannot suppress system parameters and external interference, therefore in order to improve the robustness of system further, many scholars have just introduced disturbance observer, these Uncertainties are estimated by design disturbance observer, the error of bucking-out system, thus while raising systematic function, improve adaptivity and the robustness of system.

Summary of the invention

The object of the present invention is to provide a kind of permagnetic synchronous motor electric current loop sliding-mode control based on disturbance observer, while making system have good tracking performance, there is again good robustness and antijamming capability.

For achieving the above object, technical scheme of the present invention is a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer, comprises a main circuit and a control circuit; Described main circuit comprises an AC power, and described AC power is connected for the three-phase inverter powering to the operation of permagnetic synchronous motor with one through a rectifier; Described control circuit comprises a Current Control inner ring, the power circuit of a speeds control outer shroud and for powering to control circuit, be provided with in described Current Control inner ring one for control permanent magnetic step motor sliding mode controller with one for realizing the disturbance observer that permagnetic synchronous motor is connected with sliding mode controller; Described sliding mode controller is connected with described three-phase inverter through a SVPWM module.

Further, described power circuit comprises 1.8V DC power supply, 3.3V DC power supply, 5V DC power supply and 15V DC power supply.

Further, described speeds control outer shroud comprises a speed control, and the output of described speed control is connected with the input of described sliding mode controller.

Further, also comprise one for detecting the current sensor of the every phase stator current of permanent magnetic step motor, the output of described current sensor is connected with the input of described sliding mode controller.

Based on the control method of a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer described above, comprise the steps:

Step S1: the sliding formwork parameter of setting sliding mode controller, obtains sliding-mode surface equation;

Step S2: the control law obtaining sliding mode controller;

Step S3: design disturbance observer, obtains the state space equation of disturbance observer, and obtains the Uncertainty of system according to disturbance observer;

Step S4: the control law obtaining the sliding mode controller based on disturbance observer;

Step S5: carry out SVPWM modulation, obtains the drive singal of permanent magnetic step motor reality.

Further,

In described step S1, according to known permagnetic synchronous motor voltage equation:

$\left\{\begin{array}{c}{v}_q=R_0{i}_q+L_0\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_0{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{0}w\\ v_d=R_0{i}_d+L_0\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_{0}w{i}_q\end{array}\right.;$

Wherein, v _d, v _qbe respectively the stator voltage under d-q axis coordinate system, i _d, i _qbe respectively the stator current under d-q axis coordinate system; R ₀for each phase stator resistance of permagnetic synchronous motor, L ₀for each phase stator inductance of permagnetic synchronous motor, φ ₀for the magnetic linkage of permagnetic synchronous motor, w is permagnetic synchronous motor angular speed, n _pfor the number of pole-pairs of permagnetic synchronous motor; With the error signal e of stator current _qand e _dfor the sliding formwork parameter of sliding mode controller, by e _qand e _dform parameter vector e=[e _qe _d] ^t, obtaining sliding-mode surface equation is: S=e+C ∫ edt, wherein

$C=\left[\begin{array}{cc}{c}_{11}& c_{12}\\ c_{13}& c_{14}\end{array}\right].$

Further, in described step S2, according to the sliding-mode surface equation that step 1 obtains, choosing Reaching Law is wherein ε, K are diagonal matrix, and sgn (S) is column vector, namely $\mathrm{\ϵ}=\left[\begin{array}{cc}{\mathrm{\ϵ}}_1& 0\\ 0& {\mathrm{\ϵ}}_2\end{array}\right],K=\left[\begin{array}{cc}{k}_1& 0\\ 0& k_2\end{array}\right],$ The control law obtaining sliding mode controller is:

Further, described step S3 is further comprising the steps of:

Step S31: as the parameter R of permagnetic synchronous motor, during L, φ change, obtaining the voltage equation after permagnetic synchronous motor Parameters variation is:

$\left\{\begin{array}{c}{v}_q=(R_o+\mathrm{\ΔR})i_q+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_d+n_p({\mathrm{\φ}}_o+\mathrm{\Δ\φ})w+{\mathrm{\ϵ}}_q\\ v_d=(R_o+\mathrm{\ΔR})i_d+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Really not measuring of definition permagnetic synchronous motor is: $\left\{\begin{array}{c}{\mathrm{\δ}}_q=\mathrm{\Δ}{\mathrm{Ri}}_q+\mathrm{\ΔL}\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p\mathrm{\ΔL}{\mathrm{wi}}_d+n_p\mathrm{\Δ\φw}+{\mathrm{\ϵ}}_q\\ {\mathrm{\δ}}_d=\mathrm{\Δ}{\mathrm{Ri}}_d+\mathrm{\ΔL}\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p\mathrm{\ΔL}{\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Step S32: the Uncertainty in step S31 is simplified the voltage equation after permagnetic synchronous motor Parameters variation, obtains:

$\left\{\begin{array}{c}{v}_q=R_o{i}_q+L_o\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w+{\mathrm{\δ}}_q\\ v_d=R_o{i}_d+L_o\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_{o}w{i}_q+{\mathrm{\δ}}_d\end{array}\right.;$

Wherein, Δ R, Δ L, Δ φ is respectively the parameter R of permagnetic synchronous motor, the variable quantity of L, φ, ε _dand ε _qfor all the other Uncertainties of permanent magnetic step motor electric current loop;

Step S33: the derivative of setting Uncertainty is zero, namely $\left\{\begin{array}{c}{\stackrel{\·}{\mathrm{\δ}}}_q=0\\ {\stackrel{\·}{\mathrm{\δ}}}_d=0\end{array}\right.,$ By Uncertainty δ=[δ _qδ _d] ^tas state variable, defining its estimated value is $\widehat{\mathrm{\δ}}={\left[\begin{array}{cc}{\widehat{\mathrm{\δ}}}_q& {\widehat{\mathrm{\δ}}}_d\end{array}\right]}^T,$ In conjunction with the voltage equation after permagnetic synchronous motor Parameters variation, the state space equation obtaining disturbance observer is:

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{\mathrm{\δ}}\end{array}\right)=\left(\begin{array}{cc}{A}_{11}& A_{12}\\ A_{21}& A_{22}\end{array}\right)\left(\begin{array}{c}x\\ \mathrm{\δ}\end{array}\right)+\left(\begin{array}{c}{B}_1\\ B_{\text{2}}\end{array}\right)v+\left(\begin{array}{c}{G}_1\\ G_2\end{array}\right)$

Wherein, x=[i _qi _d] ^t, v=[v _qv _d] ^t, $G_1={\left[\begin{array}{cc}\frac{-n_p{\mathrm{\φ}}_{o}w}{L_o}& 0\end{array}\right]}^T,G_2=\left[\begin{array}{c}0\\ 0\end{array}\right],$ $A_{22}=A_{21}=B_2=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right],$

$A_{11}=\left[\begin{array}{cc}-\frac{R_o}{L_o}& -n_{p}w\\ n_{p}w& -\frac{R_o}{L_p}\end{array}\right],A_{12}=\left[\begin{array}{cc}-\frac{1}{L_o}& 0\\ 0& -\frac{1}{L_o}\end{array}\right],B_1=\left[\begin{array}{cc}\frac{1}{L_o}& 0\\ 0& \frac{1}{L_o}\end{array}\right];$

Step S34: according to the state space equation of disturbance observer in step S33, the Uncertainty obtaining system is:

be the response of open loop disturbance observer;

Step S35: according to the response of open loop disturbance observer in step S34, the dynamic response obtaining closed loop disturbance observer is:

$T\stackrel{\·\·}{\widehat{\mathrm{\δ}}}+(I-\mathrm{T\λ}(A_{22}-L{A}_{12}))\stackrel{\·}{\widehat{\mathrm{\δ}}}-(A_{22}-L{A}_{12})\widehat{\mathrm{\δ}}=(L{A}_{12}-A_{22})\mathrm{\δ};$ Wherein, matrix λ and L is the gain matrix of disturbance observer, and T is determined by matrix L.

Further, by the Uncertainty that disturbance observer in step S34 obtains, compensate in the output of sliding mode controller, the control law obtained based on the sliding mode controller of disturbance observer is:

$U=\left[\begin{array}{c}{u}_q\\ u_d\end{array}\right]=\left[\begin{array}{c}{L}_o{\stackrel{\·}{i}}_q^{*}+R_o{i}_q+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w\\ L_o{\stackrel{\·}{i}}_d^{*}+R_o{i}_d-n_p{L}_o{\mathrm{wi}}_q\end{array}\right]+\widehat{\mathrm{\δ}}+L_o\mathrm{\ϵsgn}\left(S\right)+L_o\mathrm{KS}+L_o\mathrm{Ce}.$

Compared to prior art, the present invention has following beneficial effect:

(1) the present invention by increasing disturbance observer in Current Control inner ring, makes the control of electric current loop not by the Parameters variation of permanent magnetic step motor and the impact of external disturbance, improve tracking accuracy and the interference free performance of permanent magnetic step motor electric current loop;

(2) compared with controlling with traditional sliding formwork, the sliding mode controller based on disturbance observer designed herein, can realize the uneoupled control of electric current loop, can reduce fluctuation during systematic steady state, improves stable state accuracy;

(3), compared with observer disorderly with tradition, described disturbance observer is the Systems with Linear Observation device of second order, fast response time, and structure is simple;

(4) system configuration provided by the invention is simple, and stability is high, can be applicable in engineering practice.

Accompanying drawing explanation

Fig. 1 is multivariable System with Sliding Mode Controller block diagram of the present invention.

Fig. 2 is the structural design block diagram of disturbance observer of the present invention.

Embodiment

Below in conjunction with accompanying drawing, technical scheme of the present invention is specifically described.

As shown in Fig. 1 ~ 2, a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer that the embodiment of the present invention provides, comprises a main circuit and a control circuit; Described main circuit comprises an AC power, and described AC power is connected for the three-phase inverter powering to the operation of permagnetic synchronous motor with one through a rectifier; Described control circuit comprises a Current Control inner ring, the power circuit of a speeds control outer shroud and for powering to control circuit, be provided with in described Current Control inner ring one for control permanent magnetic step motor sliding mode controller with one for realizing the disturbance observer that permagnetic synchronous motor is connected with sliding mode controller; Described sliding mode controller is connected with described three-phase inverter through a SVPWM module.

From the foregoing, the present invention, by increasing disturbance observer in Current Control inner ring, makes current loop control not by the Parameters variation of permanent magnetic step motor and the impact of external disturbance, improves tracking accuracy and the interference free performance of permanent magnetic step motor electric current loop; Compared with controlling with traditional sliding formwork, described sliding mode controller is multivariable sliding mode controller, can realize the uneoupled control of electric current loop, can reduce fluctuation during systematic steady state, improves stable state accuracy; Compared with the disorderly observer of tradition, described disturbance observer is the Systems with Linear Observation device of second order, fast response time, and structure is simple; System configuration provided by the invention is simple, and stability is high, can be applicable in engineering practice.

In the present embodiment, described power circuit comprises 1.8V DC power supply, 3.3V DC power supply, 5V DC power supply and 15V DC power supply.

In the present embodiment, described speeds control outer shroud comprises a speed control, and the output of described speed control is connected with the input of described sliding mode controller.

In the present embodiment, also comprise one for detecting the current sensor of the every phase stator current of permanent magnetic step motor, the output of described current sensor is connected with the input of described sliding mode controller.

Based on the control method of a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer described above, comprise the steps:

Step S1: the sliding formwork parameter of setting sliding mode controller, obtains sliding-mode surface equation;

Step S2: the control law obtaining sliding mode controller;

Step S3: design disturbance observer, obtains the state space equation of disturbance observer, and obtains the Uncertainty of system according to disturbance observer;

Step S4: the control law obtaining the sliding mode controller based on disturbance observer;

Step S5: carry out SVPWM modulation, obtains the drive singal of permanent magnetic step motor reality.

In the present embodiment, in described step S1, according to known permagnetic synchronous motor voltage equation:

$\left\{\begin{array}{c}{v}_q=R_0{i}_q+L_0\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_0{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{0}w\\ v_d=R_0{i}_d+L_0\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_{0}w{i}_q\end{array}\right.;$

Wherein, v _d, v _qbe respectively the stator voltage under d-q axis coordinate system, i _d, i _qbe respectively the stator current under d-q axis coordinate system; R ₀for each phase stator resistance of permagnetic synchronous motor, L ₀for each phase stator inductance of permagnetic synchronous motor, φ ₀for the magnetic linkage of permagnetic synchronous motor, w is permagnetic synchronous motor angular speed, n _pfor the number of pole-pairs of permagnetic synchronous motor; With the error signal e of stator current _qand e _dfor the sliding formwork parameter of sliding mode controller, by e _qand e _dform parameter vector e=[e _qe _d] ^t, obtaining sliding-mode surface equation is: S=e+C ∫ edt, wherein

$C=\left[\begin{array}{cc}{c}_{11}& c_{12}\\ c_{13}& c_{14}\end{array}\right].$

In the present embodiment, in described step S2, according to the sliding-mode surface equation that step 1 obtains, choosing Reaching Law is wherein ε, K are diagonal matrix, and sgn (S) is column vector, namely $\mathrm{\ϵ}=\left[\begin{array}{cc}{\mathrm{\ϵ}}_1& 0\\ 0& {\mathrm{\ϵ}}_2\end{array}\right],K=\left[\begin{array}{cc}{k}_1& 0\\ 0& k_2\end{array}\right],$ The control law obtaining sliding mode controller is:

In the present embodiment, described step S3 is further comprising the steps of:

Step S31: as the parameter R of permagnetic synchronous motor, during L, φ change, obtaining the voltage equation after permagnetic synchronous motor Parameters variation is:

$\left\{\begin{array}{c}{v}_q=(R_o+\mathrm{\ΔR})i_q+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_d+n_p({\mathrm{\φ}}_o+\mathrm{\Δ\φ})w+{\mathrm{\ϵ}}_q\\ v_d=(R_o+\mathrm{\ΔR})i_d+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Really not measuring of definition permagnetic synchronous motor is: $\left\{\begin{array}{c}{\mathrm{\δ}}_q=\mathrm{\Δ}{\mathrm{Ri}}_q+\mathrm{\ΔL}\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p\mathrm{\ΔL}{\mathrm{wi}}_d+n_p\mathrm{\Δ\φw}+{\mathrm{\ϵ}}_q\\ {\mathrm{\δ}}_d=\mathrm{\Δ}{\mathrm{Ri}}_d+\mathrm{\ΔL}\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p\mathrm{\ΔL}{\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Step S32: the Uncertainty in step S31 is simplified the voltage equation after permagnetic synchronous motor Parameters variation, obtains:

$\left\{\begin{array}{c}{v}_q=R_o{i}_q+L_o\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w+{\mathrm{\δ}}_q\\ v_d=R_o{i}_d+L_o\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_{o}w{i}_q+{\mathrm{\δ}}_d\end{array}\right.;$

Wherein, Δ R, Δ L, Δ φ is respectively the parameter R of permagnetic synchronous motor, the variable quantity of L, φ, ε _dand ε _qfor all the other Uncertainties of permanent magnetic step motor electric current loop;

Step S33: the derivative of setting Uncertainty is zero, namely $\left\{\begin{array}{c}{\stackrel{\·}{\mathrm{\δ}}}_q=0\\ {\stackrel{\·}{\mathrm{\δ}}}_d=0\end{array}\right.,$ By Uncertainty δ=[δ _qδ _d] ^tas state variable, defining its estimated value is $\widehat{\mathrm{\δ}}={\left[\begin{array}{cc}{\widehat{\mathrm{\δ}}}_q& {\widehat{\mathrm{\δ}}}_d\end{array}\right]}^T,$ In conjunction with the voltage equation after permagnetic synchronous motor Parameters variation, the state space equation obtaining disturbance observer is:

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{\mathrm{\δ}}\end{array}\right)=\left(\begin{array}{cc}{A}_{11}& A_{12}\\ A_{21}& A_{22}\end{array}\right)\left(\begin{array}{c}x\\ \mathrm{\δ}\end{array}\right)+\left(\begin{array}{c}{B}_1\\ B_{\text{2}}\end{array}\right)v+\left(\begin{array}{c}{G}_1\\ G_2\end{array}\right);$

Wherein, x=[i _qi _d] ^t, v=[v _qv _d] ^t, $G_1={\left[\begin{array}{cc}\frac{-n_p{\mathrm{\φ}}_{o}w}{L_o}& 0\end{array}\right]}^T,G_2=\left[\begin{array}{c}0\\ 0\end{array}\right],$ $A_{22}=A_{21}=B_2=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right],$

$A_{11}=\left[\begin{array}{cc}-\frac{R_o}{L_o}& -n_{p}w\\ n_{p}w& -\frac{R_o}{L_p}\end{array}\right],A_{12}=\left[\begin{array}{cc}-\frac{1}{L_o}& 0\\ 0& -\frac{1}{L_o}\end{array}\right],B_1=\left[\begin{array}{cc}\frac{1}{L_o}& 0\\ 0& \frac{1}{L_o}\end{array}\right];$

Step S34: according to the state space equation of disturbance observer in step S33, the Uncertainty obtaining system is:

be the response of open loop disturbance observer;

Step S35: according to the response of open loop disturbance observer in step S34, the dynamic response obtaining closed loop disturbance observer is:

$T\stackrel{\·\·}{\widehat{\mathrm{\δ}}}+(I-\mathrm{T\λ}(A_{22}-L{A}_{12}))\stackrel{\·}{\widehat{\mathrm{\δ}}}-(A_{22}-L{A}_{12})\widehat{\mathrm{\δ}}=(L{A}_{12}-A_{22})\mathrm{\δ};$ Wherein, matrix λ and L is that disturbance is seen

Survey the gain matrix of device, T is determined by matrix L.Described disturbance observer is second order disturbance observer, rings

Answer speed fast, structure is simple.

In the present embodiment, by the Uncertainty that disturbance observer in step S34 obtains, compensate in the output of sliding mode controller, the control law obtained based on the sliding mode controller of disturbance observer is:

$U=\left[\begin{array}{c}{u}_q\\ u_d\end{array}\right]=\left[\begin{array}{c}{L}_o{\stackrel{\·}{i}}_q^{*}+R_o{i}_q+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w\\ L_o{\stackrel{\·}{i}}_d^{*}+R_o{i}_d-n_p{L}_o{\mathrm{wi}}_q\end{array}\right]+\widehat{\mathrm{\δ}}+L_o\mathrm{\ϵsgn}\left(S\right)+L_o\mathrm{KS}+L_o\mathrm{Ce}.$

From the foregoing, the present invention adopts ripe vector control technology to design, and first detects the stator three-phase current i of permanent magnetic linear synchronous motor with current sensor _a, i _b, i _c, and stator three-phase current is converted through Clark, obtain the current i under two-phase rest frame _αand i _β, then through Park conversion by the current i under two-phase rest frame _αand i _βbe transformed into the current i under two-phase rotating coordinate system _dand i _q, i _dand i _qbe the feedback current of electric current loop.In order to improve the power factor of motor in permagnetic synchronous motor vector control technology, reduce torque pulsation, if d shaft current is given as i _d ^*=0, and q shaft current set-point is the output i of speeds control outer shroud PI controller _q ^*.

In sum, the permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer provided by the invention and control method thereof, have again good robustness and antijamming capability while making control system have good tracking performance.

Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.

Claims (9)

1. based on a permagnetic synchronous motor electric current loop System with Sliding Mode Controller for disturbance observer, it is characterized in that: comprise a main circuit and a control circuit; Described main circuit comprises an AC power, and described AC power is connected for the three-phase inverter powering to the operation of permagnetic synchronous motor with one through a rectifier; Described control circuit comprises a Current Control inner ring, the power circuit of a speeds control outer shroud and for powering to control circuit, be provided with in described Current Control inner ring one for control permanent magnetic step motor sliding mode controller with one for realizing the disturbance observer that permagnetic synchronous motor is connected with sliding mode controller; Described sliding mode controller is connected with described three-phase inverter through a SVPWM module.

2. a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer according to claim 1, is characterized in that: described power circuit comprises 1.8V DC power supply, 3.3V DC power supply, 5V DC power supply and 15V DC power supply.

3. a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer according to claim 1, it is characterized in that: described speeds control outer shroud comprises a speed control, the output of described speed control is connected with the input of described sliding mode controller.

4. a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer according to claim 1, it is characterized in that: also comprise one for detecting the current sensor of the every phase stator current of permanent magnetic step motor, the output of described current sensor is connected with the input of described sliding mode controller.

5., based on the control method of a kind of permagnetic synchronous motor electric current loop System with Sliding Mode Controller based on disturbance observer described in the claims 1, it is characterized in that, comprise the steps:

Step S1: the sliding formwork parameter of setting sliding mode controller, obtains sliding-mode surface equation;

Step S2: the control law obtaining sliding mode controller;

Step S3: design disturbance observer, obtains the state space equation of disturbance observer, and obtains the Uncertainty of system according to disturbance observer;

Step S4: the control law obtaining the sliding mode controller based on disturbance observer;

Step S5: carry out SVPWM modulation, obtains the drive singal of permanent magnetic step motor reality.

6. a kind of permagnetic synchronous motor electric current loop sliding-mode control based on disturbance observer according to claim 5, is characterized in that:

In described step S1, according to known permagnetic synchronous motor voltage equation:

$\left\{\begin{array}{c}{v}_q=R_0{i}_q+L_0\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_0{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{0}w\\ v_d=R_0{i}_d+L_0\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_0{\mathrm{wi}}_q\end{array}\right.;$

Wherein, v _d, v _qbe respectively the stator voltage under d-q axis coordinate system, i _d, i _qbe respectively the stator current under d-q axis coordinate system; R ₀for each phase stator resistance of permagnetic synchronous motor, L ₀for each phase stator inductance of permagnetic synchronous motor, φ ₀for the magnetic linkage of permagnetic synchronous motor, w is permagnetic synchronous motor angular speed, n _pfor the number of pole-pairs of permagnetic synchronous motor; With the error signal e of stator current _qand e _dfor the sliding formwork parameter of sliding mode controller, by e _qand e _dform parameter vector e=[e _qe _d] ^t, obtaining sliding-mode surface equation is: S=e+C ∫ edt, wherein $C=\left[\begin{array}{cc}{c}_{11}& c_{12}\\ c_{13}& c_{14}\end{array}\right].$

7. a kind of permagnetic synchronous motor electric current loop sliding-mode control based on disturbance observer according to claim 5, is characterized in that: in described step S2, and according to the sliding-mode surface equation that step 1 obtains, choosing Reaching Law is wherein ε, K are diagonal matrix, and sgn (S) is column vector, namely $\mathrm{\ϵ}=\left[\begin{array}{cc}{\mathrm{\ϵ}}_1& 0\\ 0& {\mathrm{\ϵ}}_2\end{array}\right],K=\left[\begin{array}{cc}{k}_1& 0\\ 0& k_2\end{array}\right],$ The control law obtaining sliding mode controller is:

8. a kind of permagnetic synchronous motor electric current loop sliding-mode control based on disturbance observer according to claim 5, it is characterized in that, described step S3 is further comprising the steps of:

Step S31: as the parameter R of permagnetic synchronous motor, during L, φ change, obtaining the voltage equation after permagnetic synchronous motor Parameters variation is:

$\left\{\begin{array}{c}{v}_q=(R_o+\mathrm{\ΔR})i_q+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_d+n_p({\mathrm{\φ}}_o+\mathrm{\Δ\φ})w+{\mathrm{\ϵ}}_q\\ v_d=(R_o+\mathrm{\ΔR})i_d+(L_o+\mathrm{\ΔL})\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p(L_o+\mathrm{\ΔL}){\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Really not measuring of definition permagnetic synchronous motor is: $\left\{\begin{array}{c}{\mathrm{\δ}}_q=\mathrm{\Δ}{\mathrm{Ri}}_q+\mathrm{\ΔL}\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p\mathrm{\ΔL}{\mathrm{wi}}_d+n_p\mathrm{\Δ\φw}+{\mathrm{\ϵ}}_q\\ {\mathrm{\δ}}_d=\mathrm{\Δ}{\mathrm{Ri}}_d+\mathrm{\ΔL}\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p\mathrm{\ΔL}{\mathrm{wi}}_q+{\mathrm{\ϵ}}_d\end{array}\right.;$

Step S32: the Uncertainty in step S31 is simplified the voltage equation after permagnetic synchronous motor Parameters variation, obtains:

$\left\{\begin{array}{c}{v}_q=R_o{i}_q+L_o\frac{{\mathrm{di}}_q}{\mathrm{dt}}+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w+{\mathrm{\δ}}_q\\ v_d=R_o{i}_d+L_o\frac{{\mathrm{di}}_d}{\mathrm{dt}}-n_p{L}_o{\mathrm{wi}}_q+{\mathrm{\δ}}_d\end{array}\right.;$

Wherein, Δ R, Δ L, Δ φ is respectively the parameter R of permagnetic synchronous motor, the variable quantity of L, φ, ε _dand ε _qfor all the other Uncertainties of permanent magnetic step motor electric current loop;

Step S33: the derivative of setting Uncertainty is zero, namely $\left\{\begin{array}{c}{\stackrel{\·}{\mathrm{\δ}}}_q=0\\ {\stackrel{\·}{\mathrm{\δ}}}_d=0\end{array}\right.,$ By Uncertainty δ=[δ _qδ _d] ^tas state variable, defining its estimated value is $\widehat{\mathrm{\δ}}={\left[\begin{array}{cc}{\widehat{\mathrm{\δ}}}_q& {\widehat{\mathrm{\δ}}}_d\end{array}\right]}^T,$ In conjunction with the voltage equation after permagnetic synchronous motor Parameters variation, the state space equation obtaining disturbance observer is:

$\left(\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·}{\mathrm{\δ}}\end{array}\right)=\left(\begin{array}{cc}{A}_{11}& A_{12}\\ A_{21}& A_{22}\end{array}\right)\left(\begin{array}{c}x\\ \mathrm{\δ}\end{array}\right)+\left(\begin{array}{c}{B}_1\\ B_2\end{array}\right)v+\left(\begin{array}{c}{G}_1\\ G_2\end{array}\right)$

Wherein, x=[i _qi _d] ^t, v=[v _qv _d] ^t, $G_1={\left[\begin{array}{cc}\frac{-n_p{\mathrm{\φ}}_{o}w}{L_o}& 0\end{array}\right]}^T,G_2=\left[\begin{array}{c}0\\ 0\end{array}\right],$ $A_{22}=A_{21}=B_2=\left[\begin{array}{cc}0& 0\\ 0& 0\end{array}\right],$

$A_{11}=\left[\begin{array}{cc}-\frac{R_o}{L_o}& -n_{p}w\\ n_{p}w& -\frac{R_o}{L_o}\end{array}\right],A_{12}=\left[\begin{array}{cc}-\frac{1}{L_o}& 0\\ 0& -\frac{1}{L_o}\end{array}\right],B_1=\left[\begin{array}{cc}\frac{1}{L_o}& 0\\ 0& \frac{1}{L_o}\end{array}\right];$

Step S34: according to the state space equation of disturbance observer in step S33, the Uncertainty obtaining system is:

be the response of open loop disturbance observer;

Step S35: according to the response of open loop disturbance observer in step S34, the dynamic response obtaining closed loop disturbance observer is:

$T\stackrel{\·\·}{\widehat{\mathrm{\δ}}}+(I-\mathrm{T\λ}(A_{22}-{\mathrm{LA}}_{12}))\stackrel{\·}{\widehat{\mathrm{\δ}}}-(A_{22}-L{A}_{12})\widehat{\mathrm{\δ}}=({\mathrm{LA}}_{12}-A_{22})\mathrm{\δ};$ Wherein, matrix λ and L is the gain matrix of disturbance observer, and T is determined by matrix L.

9. a kind of permagnetic synchronous motor electric current loop sliding-mode control based on disturbance observer according to claim 5, it is characterized in that: the Uncertainty that disturbance observer in step S34 is obtained, compensate in the output of sliding mode controller, the control law obtained based on the sliding mode controller of disturbance observer is:

$U=\left[\begin{array}{c}{u}_q\\ u_d\end{array}\right]=\left[\begin{array}{c}{L}_0{\stackrel{\·}{i}}_q^{*}+R_o{i}_q+n_p{L}_o{\mathrm{wi}}_d+n_p{\mathrm{\φ}}_{o}w\\ L_o{\stackrel{\·}{i}}_d^{*}+R_o{i}_d-n_p{L}_o{\mathrm{wi}}_q\end{array}\right]+\widehat{\mathrm{\δ}}+L_o\mathrm{\ϵsgn}\left(S\right)+L_o\mathrm{KS}+L_o\mathrm{Ce}.$