CN105227006A - A kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor - Google Patents

Abstract

The invention discloses a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor, PMSM circuit system comprises three subsystems, and described circuit comprises the multiplication link of state variable, anti-phase link, addition and integral element; Described multiplication link, anti-phase link, addition and integral element, adopt the electronic devices and components of operational amplifier, electric capacity, resistance, analog multiplier to carry out circuit realiration to system.A kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor provided by the invention, can realize addition and integral element in PMSM system by a discharge circuit simultaneously, decrease the number of discharge circuit, simplify the circuit structure of system; Only regulate a variable resistor can realize the change of system parameters.Easily observe PMSM output variable by the process of stable state to the change of chaos, the dynamic behaviour abundant to heightened awareness PMSM system provides a kind of innovative approach.

Description

A kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor

Technical field

The present invention relates to a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor, belong to design of electronic circuits technical field.

Background technology

Noise is low, power density is high, volume is little, efficiency advantages of higher because it has for permanent magnet synchronous motor, obtains and use widely in the industrial circle such as industrial robot, semiconductor production.PMSM is the system of non-linear a, close coupling, and there will be the chaos phenomenons such as the intermittent oscillation of torque and rotational speed, control performance be unstable when parameter is in specific region, therefore, carrying out chaos analysis to PMSM has very important realistic meaning.

Under d-q reference axis, the Mathematical Modeling of PMSM can be written as

$\left[\begin{array}{c}\frac{{\mathrm{di}}_d}{dt}\\ \frac{{\mathrm{di}}_q}{dt}\\ \frac{d\mathrm{\ω}}{dt}\end{array}\right]=\left[\begin{array}{c}\frac{u_d-{\mathrm{Ri}}_d+{\mathrm{\ωL}}_q{i}_q}{L_d}\\ \frac{u_q-{\mathrm{Ri}}_q-{\mathrm{\ωL}}_d{i}_d-{\mathrm{\ω\ψ}}_r}{L_q}\\ \frac{n_p{\mathrm{\ψ}}_r{i}_q+n_p(L_d-L_q)i_d{i}_q-T_L-\mathrm{\β}\mathrm{\ω}}{J_{eq}}\end{array}\right]---\left(1\right)$

In formula, variable i d, iq are respectively d axle, q axle stator current, ω is mechanical angle speed, and variable ud, uq are respectively d axle, q shaft voltage stator voltage, and np is magnetic pole logarithm, Jeq is moment of inertia, β is viscous friction coefficient, and TL is load torque, and Ψ r is rotor permanent magnet magnetic linkage, R represents stator winding, and Ld, Lq are respectively d axle, q axle stator inductance.By affine transformation and time scale transformation, formula (1) is changed to nondimensional state equation:

$\left\{\begin{array}{c}\frac{d{\tilde{i}}_d}{dt}=-{\tilde{i}}_d+\widetilde{\mathrm{\ω}}{\tilde{i}}_d+{\tilde{u}}_d\\ \frac{d{\tilde{i}}_q}{dt}=-{\tilde{i}}_q-\widetilde{\mathrm{\ω}}{\tilde{i}}_d+\mathrm{\γ}\widetilde{\mathrm{\ω}}+{\tilde{u}}_q\\ \frac{d\widetilde{\mathrm{\ω}}}{dt}=\mathrm{\σ}({\tilde{i}}_q-\widetilde{\mathrm{\ω}})-{\tilde{T}}_L\end{array}\right.---\left(2\right)$

In formula, $\mathrm{\γ}=-\frac{{\mathrm{\ψ}}_r}{{\mathrm{kL}}_q},\mathrm{\σ}=\frac{\mathrm{\β}\mathrm{\ϵ}}{J_{eq}},{\tilde{u}}_d=\frac{1}{Rk}{u}_d,{\tilde{u}}_q=\frac{1}{Rk}{u}_q,{\tilde{T}}_L=\frac{{\mathrm{\ϵ}}^2}{J_{eq}}{T}_L,$ $k=\frac{\mathrm{\β}}{n_p{\mathrm{\ϵ\ψ}}_r},\mathrm{\ϵ}=\frac{L_q}{R}.$

The balance point of system (2) meets:

$\left\{\begin{array}{c}{\tilde{i}}_d^{eq}={{\widetilde{\mathrm{\ω}}}_{eq}}^2+\frac{{\tilde{T}}_L}{\mathrm{\σ}}+{\tilde{u}}_d\\ {\tilde{i}}_q^{eq}={\widetilde{\mathrm{\ω}}}_{eq}+\frac{{\tilde{T}}_L}{\mathrm{\σ}}\\ {{\widetilde{\mathrm{\ω}}}_{eq}}^3+\frac{{\tilde{T}}_L}{\mathrm{\σ}}{{\widetilde{\mathrm{\ω}}}_{eq}}^2+({\tilde{u}}_d-\mathrm{\γ}+1){\widetilde{\mathrm{\ω}}}_{eq}+\frac{{\tilde{T}}_L}{\mathrm{\σ}}-{\tilde{u}}_q=0\end{array}\right.---\left(3\right)$

In formula, with for system balancing point.

For situation, PMSM can be regarded as and run power-off suddenly after a period of time, without the situation of input voltage and zero load.Three balance points can being obtained system in this case by formula (3) are:

$S_0=(0,0,0),S_1=(\mathrm{\γ}-1,\sqrt{\mathrm{\γ}-1},\sqrt{\mathrm{\γ}-1}),S_2=(\mathrm{\γ}-1,-\sqrt{\mathrm{\γ}-1},-\sqrt{\mathrm{\γ}-1})---\left(4\right)$

In formula, S ₀for the null solution balance point of system, S ₁, S ₂for non-trivial balance point.For two non-trivial balance points, the proper polynomial of the Jacobian matrix of its correspondence is:

D(λ)＝λ ³+(2+σ)λ ²+(σ+γ)λ+2σ(γ-1)(5)

In formula, λ is the characteristic root of proper polynomial.Can be obtained, when PMSM parameter by formula (5) time, the characteristic value corresponding to two non-trivial balance points is:

${\mathrm{\λ}}_1=-(\mathrm{\σ}+2),{\mathrm{\λ}}_2=j\sqrt{\frac{2\mathrm{\σ}(\mathrm{\σ}+1)}{(\mathrm{\σ}-2)}},{\mathrm{\λ}}_3=-j\sqrt{\frac{2\mathrm{\σ}(\mathrm{\σ}+1)}{(\mathrm{\σ}-2)}}---\left(6\right)$

Because λ 1 is negative real number, λ 2, λ 3 are two pure imaginary numbers.So, as γ=γ _htime, two balance points are all unstable equilibrium point, and the lienarized equation of formula (2) correspondence will produce Hopf branch; As γ > γ _htime, three balance points all will become unstable, and system will enter chaos state.

When σ=5.46, γ _h=14.93.Make initial condition get γ=8, utilize Matlab/Simulink software, as shown in Figure 1, system is in stable state to simulation result; γ=14.36, as shown in Figure 2, system is in limit cycle state to simulation result; γ=40, simulation result as seen in figures 3-6, system is in chaos state.

Summary of the invention

Object: in order to overcome the deficiencies in the prior art, the invention provides a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor.

Technical scheme: for solving the problems of the technologies described above, the technical solution used in the present invention is:

Adopt electronic devices and components to realize a new-type circuit for permagnetic synchronous motor, PMSM circuit system comprises three subsystems, and described circuit comprises the multiplication link of state variable, anti-phase link, addition and integral element.

Described multiplication link, anti-phase link, addition and integral element, adopt the electronic devices and components of operational amplifier, electric capacity, resistance, analog multiplier to carry out circuit realiration to system;

Described anti-phase link comprises the first anti-phase link, the second anti-phase link, the 3rd anti-phase link, described first anti-phase link comprises resistance, R15, R16, operational amplifier LM741, the operational amplifier input signal 0.1*x2*x3 of described first anti-phase link accesses inverting input by R16, and output end voltage feeds back in input circuit by R16; Described second anti-phase link comprises resistance R11, R12, operational amplifier LM741, and the operational amplifier input signal x3 of described second anti-phase link accesses inverting input by R11, and output end voltage feeds back in input circuit by R12; Described 3rd anti-phase link comprises resistance R13, R14, operational amplifier LM741, and the input signal x2 of described 3rd anti-phase link accesses inverting input by R13, and output end voltage is fed back in input circuit by R14.

Described multiplication link comprises the first multiplication link, the second multiplication link, described first multiplication link comprises analog multiplier AD633, electric capacity C4, C5, resistance R17, R18, and described second multiplication link comprises analog multiplier AD633, electric capacity C6, C7, resistance R17, R18; 1 port, 3 ports of the analog multiplier of described first multiplication link meet external input signal X1, X3 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x1*x3; 1 port, 3 ports of the analog multiplier of described second multiplication link meet external input signal X3, X2 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x2*x3; Described resistance R17, R18 are used for DC partial voltage and carry out linear bias compensation to the direct current biasing of analog multiplier;

Described addition and integral element comprise the first addition and integral element, the second addition and integral element, the 3rd addition and integral element; Described first addition and integral element comprise resistance R1, R2, R8, electric capacity C1, operational amplifier LM741, two input signal the x1 in parallel ,-0.1*x2*x3 of described first addition and integral element access the inverting input of LM741 respectively by resistance R1 and R2, the output signal of LM741 feeds back in input circuit by electric capacity C1, and R8 is connected in parallel on electric capacity C1; Described second addition and integral element comprise resistance R3, R4, R5, R10, electric capacity C2, operational amplifier LM741, two input signal-x3 in parallel, the 0.1*x1*x3 of described second addition and integral element access the inverting input of LM741 respectively by resistance R4 and R5, the output signal of LM741 feeds back in input circuit by electric capacity C2, and R3, R10 are connected in parallel on electric capacity C2; Described 3rd addition and integral element comprise resistance R6, R7, R9, electric capacity C3, operational amplifier LM741, two input signal the x3 in parallel ,-x2 of described 3rd addition and integral element access the inverting input of LM741 respectively by resistance R6 and R7, the output signal of LM741 feeds back in input circuit by electric capacity C3, and R9 is connected in parallel on electric capacity C3.

The value of the RC proportionality coefficient of described addition and integral element is for regulating frequency and the amplitude of PMSM system.

Described resistance R4, R6, R7 are all set to variable resistor, and the resistance of R6 and R7 sets according to the size of parameter σ, by the conversion of PMSM system model and analysis, facilitate the adjustment of circuit.

The setting of described variable resistor R4 resistance is relevant with parameter γ, and for the change along with resistance R4, PMSM system enters chaos state by stable state, becomes unstable.

Beneficial effect: a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor provided by the invention, addition and integral element in PMSM system can be realized by a discharge circuit simultaneously, decrease the number of discharge circuit, simplify the circuit structure of system; Only regulate a variable resistor can realize the change of system parameters.Easily observe PMSM output variable by the process of stable state to the change of chaos, the dynamic behaviour abundant to heightened awareness PMSM system provides a kind of innovative approach.

Accompanying drawing explanation

State variable when Fig. 1 is parameter γ=8 time-domain diagram;

The three-phase diagram of system when Fig. 2 is parameter γ=14.36;

The three-phase diagram of system when Fig. 3 is parameter γ=40;

State variable when Fig. 4 is parameter γ=40 time-domain diagram;

State variable when Fig. 5 is parameter γ=40 two-dimentional phasor;

State variable when Fig. 6 is parameter γ=40 two-dimentional phasor;

Fig. 7 is circuit diagram of the present invention;

Fig. 8 is the first anti-phase link circuit diagram;

Fig. 9 is the second anti-phase link circuit diagram;

Figure 10 is the 3rd anti-phase link circuit diagram;

Figure 11 is the first multiplication ring joint circuit diagram;

Figure 12 is the second multiplication ring joint circuit diagram;

Figure 13 is the first addition and integral element circuit diagram;

Figure 14 is the second addition and integral element circuit diagram;

Figure 15 is the 3rd addition and integral element circuit diagram;

Figure 16 be R4=100k Ω and parameter γ=8 time system state variables x1 time-domain diagram;

Figure 17 be R4=100k Ω and parameter γ=8 time system state variables x1 frequency-domain waveform;

Figure 18 be R4=25k Ω and parameter γ=40 time system state variables x1 time-domain diagram;

Figure 19 be R4=25k Ω and parameter γ=40 time system state variables x1 frequency-domain waveform;

Figure 20 is the two-dimentional phasor of R4=25k Ω and parameter γ=40 system state variables x3-x1 constantly;

Figure 21 is the two-dimentional phasor of R4=25k Ω and parameter γ=40 system state variables x3-x2 constantly.

Embodiment

Below in conjunction with accompanying drawing, circuit structure of the present invention and operation principle are described in detail.

As shown in Figure 7, a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor, PMSM circuit system comprises three subsystems, and described circuit comprises the multiplication link of state variable, anti-phase link, addition and integral element.

Described multiplication link, anti-phase link, addition and integral element, adopt the electronic devices and components of operational amplifier, electric capacity, resistance, analog multiplier to carry out circuit realiration to system;

As shown in Figure 8,9, 10, described anti-phase link comprises the first anti-phase link, the second anti-phase link, the 3rd anti-phase link, described first anti-phase link comprises resistance, R15, R16, operational amplifier LM741, the operational amplifier input signal 0.1*x2*x3 of described first anti-phase link accesses inverting input by R16, and output end voltage feeds back in input circuit by R16; Described second anti-phase link comprises resistance R11, R12, operational amplifier LM741, and the operational amplifier input signal x3 of described second anti-phase link accesses inverting input by R11, and output end voltage feeds back in input circuit by R12; Described 3rd anti-phase link comprises resistance R13, R14, operational amplifier LM741, and the input signal x2 of described 3rd anti-phase link accesses inverting input by R13, and output end voltage is fed back in input circuit by R14.

As shown in Figure 11,12, described multiplication link comprises the first multiplication link, the second multiplication link, described first multiplication link comprises analog multiplier AD633, electric capacity C4, C5, resistance R17, R18, and described second multiplication link comprises analog multiplier AD633, electric capacity C6, C7, resistance R17, R18; 1 port, 3 ports of the analog multiplier of described first multiplication link meet external input signal X1, X3 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x1*x3; 1 port, 3 ports of the analog multiplier of described second multiplication link meet external input signal X3, X2 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x2*x3; Described resistance R17, R18 are used for DC partial voltage and carry out linear bias compensation to the direct current biasing of analog multiplier;

As shown in Figure 13,14,15, described addition and integral element comprise the first addition and integral element, the second addition and integral element, the 3rd addition and integral element; Described first addition and integral element comprise resistance R1, R2, R8, electric capacity C1, operational amplifier LM741, two input signal the x1 in parallel ,-0.1*x2*x3 of described first addition and integral element access the inverting input of LM741 respectively by resistance R1 and R2, the output signal of LM741 feeds back in input circuit by electric capacity C1, and R8 is connected in parallel on electric capacity C1; Described second addition and integral element comprise resistance R3, R4, R5, R10, electric capacity C2, operational amplifier LM741, two input signal-x3 in parallel, the 0.1*x1*x3 of described second addition and integral element access the inverting input of LM741 respectively by resistance R4 and R5, the output signal of LM741 feeds back in input circuit by electric capacity C2, and R3, R10 are connected in parallel on electric capacity C2; Described 3rd addition and integral element comprise resistance R6, R7, R9, electric capacity C3, operational amplifier LM741, two input signal the x3 in parallel ,-x2 of described 3rd addition and integral element access the inverting input of LM741 respectively by resistance R6 and R7, the output signal of LM741 feeds back in input circuit by electric capacity C3, and R9 is connected in parallel on electric capacity C3.

Embodiment is as follows:

Can be seen by system equation (2), contain the addition of state variable in equation, subtract each other, be multiplied and differential, therefore, the devices such as operational amplifier, electric capacity, resistance, multiplier can be adopted to build anti-phase link, addition link, multiplication link and integral element and circuit realiration is carried out to system.

When ${\tilde{u}}_d={\tilde{u}}_q={\tilde{T}}_L=0,$ From simulation result, variable ${\tilde{i}}_d\∈(10,70),$ the frequency of system mode is lower than 2Hz, and frequency is lower.Therefore, before employing circuit realiration, need respectively from amplitude and the enterprising line translation of frequency.

Because the supply voltage of operational amplifier in electronic circuit and analog multiplier provides scope between (-15V ,+15V), the size of PMSM state of chaotic system variable is beyond the operating voltage range of the electronic devices such as operational amplifier.So, make new state variable x=(x1, x2, x3) be previous status variable 1/m, the state variable size after conversion does not exceed the operating voltage range of (-15V ,+15V).After conversion, the equation of system is as follows:

$\left\{\begin{array}{c}\frac{{\mathrm{dx}}_1}{dt}=-x_1+{\mathrm{mx}}_2{x}_3\\ \frac{{\mathrm{dx}}_2}{dt}=-x_2-{\mathrm{mx}}_1{x}_3+{\mathrm{\γx}}_3\\ \frac{{\mathrm{dx}}_3}{dt}=\mathrm{\σ}(x_2-x_3)\end{array}\right.---\left(7\right)$

For formula (7), non-linear partial is realized by analog multiplier AD633, and the function that analog multiplier AD633 realizes is as follows:

$W=\frac{(X_1-X_2)(Y_1-Y_2)}{10V}+Z---\left(8\right)$

State variable x1, x3 and x2, x3 are respectively through after analog multiplier computing, and its output valve is respectively 0.1x1x3 and 0.1x2x3.

Because the frequency of system is lower, in order to complete, track continuous print attractor phasor can be seen on oscilloscope, the frequency of system can be improved by time scale transformation, order

τ＝t/μ(9)

Namely a chronomere under t scale equals the 1/ μ chronomere under τ scale, and bring up to original μ doubly by the frequency of time scale transformation system, formula (7) is converted to:

$\left\{\begin{array}{c}{x}_1=-(\mathrm{\μ}\∫x_{1}d\mathrm{\τ}+10m\mathrm{\μ}\∫\left(-0.1x_2{x}_3\right)d\mathrm{\τ})\\ x_2=-(\mathrm{\μ}\∫x_{1}d\mathrm{\τ}+10m\mathrm{\μ}\∫\left(0.1x_2{x}_3\right)d\mathrm{\τ}+\mathrm{\γ}\mathrm{\μ}\∫\left(-x_3\right)d\mathrm{\τ})\\ x_3=-(\mathrm{\σ}\mathrm{\μ}\∫\left(-x_2\right)d\mathrm{\τ}+\mathrm{\σ}\mathrm{\μ}\∫x_{3}d\mathrm{\τ})\end{array}\right.---\left(10\right)$

Change system frequency and amplitude by the value arranging integrating circuit proportionality coefficient RC, therefore formula (10) can be exchanged into:

$\left\{\begin{array}{c}{x}_1=-(\frac{1}{R_1{C}_1}\∫x_{1}d\mathrm{\τ}+\frac{1}{R_2{C}_1}\∫\left(-0.1x_2{x}_3\right)d\mathrm{\τ})\\ x_2=-(\frac{1}{R_3{C}_2}\∫x_{2}d\mathrm{\τ}+\frac{1}{R_5{C}_2}\∫\left(0.1x_1{x}_3\right)d\mathrm{\τ}+\frac{1}{R_4{C}_2}\∫\left(-x_3\right)d\mathrm{\τ})\\ x_3=-(\frac{1}{R_7{C}_3}\∫\left(-x_2\right)d\mathrm{\τ}+\frac{1}{R_6{C}_3}\∫x_{3}d\mathrm{\τ})\end{array}\right.---\left(11\right)$

In formula, $\mathrm{\μ}=\frac{1}{R_1{C}_1}=\frac{1}{R_3{C}_2},10m\mathrm{\μ}=\frac{1}{R_2{C}_1}=\frac{1}{R_5{C}_2},\mathrm{\γ}\mathrm{\μ}=\frac{1}{R_4{C}_2},$ $\mathrm{\σ}\mathrm{\μ}=\frac{1}{R_6{C}_3}=\frac{1}{R_7{C}_3}.$

By to the conversion of PMSM system model and analysis, in order to circuit adjustment is convenient, resistance R4, R6 and R7 is selected to be variable resistor.Based on formula (11), the circuit of the present invention's design as shown in Figure 7.

Circuit comprises 3 anti-phase links, 2 multiplication links, 3 additions and integral element.3 anti-phase links as seen in figs. 8-10.In Fig. 8, input signal 0.1x2x3 connects the inverting input of LM741 by resistance R16, the output signal of LM741 feeds back in input circuit by resistance R15, R16 with R15 resistance is identical, and making the output signal of LM741 and input signal equivalent anti-phase is-0.1x2x3.In like manner, Fig. 9 is input signal x3 is that input signal x2 is through anti-phase link output-x2 through anti-phase link output-x3, Figure 10.

2 multiplication links as shown in Figure 11,12.In Figure 11, input signal x1, x3 connect 1,3 ports of analog multiplier respectively, and 5,8 ports connect external stabilized power, and through known to the actual measurement of analog multiplier AD633, it exists the deviation of Z=50mV.Therefore, when circuit realiration, need to carry out linear bias compensation-50mV to this direct current biasing, this circuit adopts DC partial voltage to compensate, and selects R17=1000k Ω, R18=4k Ω.The product that port 7 exports two external input signals is 0.1x1x3, and in like manner, Figure 12 is that input signal x2, x3 export 0.1x2x3 through multiplication link.

3 additions and integral element are as illustrated in figs. 13-15.In Figure 13, two input signal x1 in parallel ,-0.1x2x3 connect the inverting input of LM741 respectively by resistance R1 and R2, the output signal of LM741 feeds back in input circuit by electric capacity C1, R8 is connected in parallel on the resistance on electric capacity C1, for electric capacity provides discharge loop, prevents it saturated.Achieve addition and integral element by a computing circuit simultaneously, realize exporting, that is:

$x_1=-(\frac{1}{R_1{C}_1}\∫x_{1}d\mathrm{\τ}+\frac{1}{R_2{C}_1}\∫\left(-0.1x_2{x}_3\right)d\mathrm{\τ})$

In like manner, Figure 14 is that three input signals x2 ,-x3,0.1x1x3 realize exporting by addition and integral element, that is:

$x_2=-(\frac{1}{R_3{C}_2}\∫x_{2}d\mathrm{\τ}+\frac{1}{R_5{C}_2}\∫\left(0.1x_1{x}_3\right)d\mathrm{\τ}+\frac{1}{R_4{C}_2}\∫\left(-x_3\right)d\mathrm{\τ})$

Figure 15 is that two input signal-x2 in parallel, x3 realize exporting by addition and integral element,

That is: $x_3=-(\frac{1}{R_7{C}_3}\∫\left(-x_2\right)d\mathrm{\τ}+\frac{1}{R_6{C}_3}\∫x_{3}d\mathrm{\τ}).$

Select m=10, μ=100, capacitance resistance is respectively C1=C2=C3=0.01uF, R1=R3=1000k Ω, R2=R5=10k Ω, R11=R12=R13=R14=R15=R16=10k Ω, R8=R9=R10=5000k Ω.Due to parameter σ=5.46, setting R6=R7=183.15k Ω.

From analysis, the selection of resistance R4 resistance is relevant with parameter γ, and under different γ value, system presents different dynamic behaviours.Value according to γ changes, and selects the resistance that resistance R4 is different, as shown in table 1,

The R4 resistance value that the different γ value of table 1 is corresponding

The present invention utilizes the novel permanent magnetic synchronous motor chaos circuit of Orcad/Pspice software to design to carry out simulation analysis.When R4=100k Ω and γ=8, system is in stable state, and simulation result is as shown in Figure 16,17, and Figure 16 is the time-domain diagram of state variable x1, consistent with Simulink simulation result, and Figure 17 is the frequency-domain waveform of state variable x1.When regulating R4 to 25k Ω and γ=40, system enters chaos state, and simulation result is as shown in Figure 18, Figure 19, Figure 20 and Figure 21.As can be seen from Table 1, only a variable resistor R4 need be regulated can to realize the change of system parameters γ, easily observe the change of system dynamic behaviour, indicate feasibility of the present invention.

The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (5)

1. adopt electronic devices and components to realize a new-type circuit for permagnetic synchronous motor, it is characterized in that: PMSM circuit system comprises three subsystems, described circuit comprises the multiplication link of state variable, anti-phase link, addition and integral element.

2. a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor according to claim 1, it is characterized in that: described multiplication link, anti-phase link, addition and integral element, adopt the electronic devices and components of operational amplifier, electric capacity, resistance, analog multiplier to carry out circuit realiration to system;

Described multiplication link comprises the first multiplication link, the second multiplication link, described first multiplication link comprises analog multiplier AD633, electric capacity C4, C5, resistance R17, R18, and described second multiplication link comprises analog multiplier AD633, electric capacity C6, C7, resistance R17, R18; 1 port, 3 ports of the analog multiplier of described first multiplication link meet external input signal X1, X3 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x1*x3; 1 port, 3 ports of the analog multiplier of described second multiplication link meet external input signal X3, X2 respectively; 5 ports, 8 ports connect external stabilized power; 7 ports export 0.1*x2*x3; Described resistance R17, R18 are used for DC partial voltage and carry out linear bias compensation to the direct current biasing of analog multiplier;

Described anti-phase link comprises the first anti-phase link, the second anti-phase link, the 3rd anti-phase link, described first anti-phase link comprises resistance R15, R16, operational amplifier LM741, the operational amplifier input signal 0.1*x2*x3 of described first anti-phase link accesses inverting input by R16, and output end voltage feeds back in input circuit by R16; Described second anti-phase link comprises resistance R11, R12, operational amplifier LM741, and the operational amplifier input signal x3 of described second anti-phase link accesses inverting input by R11, and output end voltage feeds back in input circuit by R12; Described 3rd anti-phase link comprises resistance R13, R14, operational amplifier LM741, and the input signal x2 of described 3rd anti-phase link accesses inverting input by R13, and output end voltage feeds back in input circuit by R14;

Described addition and integral element comprise the first addition and integral element, the second addition and integral element, the 3rd addition and integral element; Described first addition and integral element comprise resistance R1, R2, R8, electric capacity C1, operational amplifier LM741, two input signal the x1 in parallel ,-0.1*x2*x3 of described first addition and integral element access the inverting input of LM741 respectively by resistance R1 and R2, the output signal of LM741 feeds back in input circuit by electric capacity C1, and R8 is connected in parallel on electric capacity C1; Described second addition and integral element comprise resistance R3, R4, R5, R10, electric capacity C2, operational amplifier LM741, two input signal-x3 in parallel, the 0.1*x1*x3 of described second addition and integral element access the inverting input of LM741 respectively by resistance R4 and R5, the output signal of LM741 feeds back in input circuit by electric capacity C2, and R3, R10 are connected in parallel on electric capacity C2; Described 3rd addition and integral element comprise resistance R6, R7, R9, electric capacity C3, operational amplifier LM741, two input signal the x3 in parallel ,-x2 of described 3rd addition and integral element access the inverting input of LM741 respectively by resistance R6 and R7, the output signal of LM741 feeds back in input circuit by electric capacity C3, and R9 is connected in parallel on electric capacity C3.

3. a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor according to claim 2, is characterized in that: the value of the RC proportionality coefficient of described addition and integral element is for regulating frequency and the amplitude of PMSM system.

4. a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor according to claim 3, it is characterized in that: described resistance R4, R6, R7 are all set to variable resistor, the resistance of R6 and R7 sets according to the size of parameter σ, by to the conversion of PMSM system model and analysis, facilitate the adjustment of circuit.

5. a kind of new-type circuit adopting electronic devices and components to realize permagnetic synchronous motor according to claim 4, it is characterized in that: the setting of described variable resistor R4 resistance is relevant with parameter γ, for the change along with resistance R4, PMSM system enters chaos state by stable state, becomes unstable.