CN105337546B - Based on the permanent magnet synchronous motor control device and method for becoming order fractional order sliding formwork - Google Patents

Based on the permanent magnet synchronous motor control device and method for becoming order fractional order sliding formwork Download PDF

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CN105337546B
CN105337546B CN201510901086.XA CN201510901086A CN105337546B CN 105337546 B CN105337546 B CN 105337546B CN 201510901086 A CN201510901086 A CN 201510901086A CN 105337546 B CN105337546 B CN 105337546B
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order
synchronous motor
fuzzy
fractional order
permagnetic synchronous
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CN105337546A (en
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黄家才
崔磊
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Nanjing Kaitong Automation Technology Co., Ltd
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Nanjing Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control

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  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
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  • Control Of Ac Motors In General (AREA)

Abstract

The embodiment of the invention discloses a kind of based on the permanent magnet synchronous motor control device and method that become order fractional order sliding formwork, it is related to AC Servo Motor Control technical field, the problem of can solve the problem that hydraulic performance decline in fixed order fractional order sliding-mode control, and improve and follow precision.The present invention includes：Construction is fuzzy to become order controller, becomes order fractional order sliding-mode surface, and designs change order fractional order sliding formwork rotational speed governor and carry out rotational speed regulation.The operation that the present invention is applied to permagnetic synchronous motor controls.

Description

Based on the permanent magnet synchronous motor control device and method for becoming order fractional order sliding formwork
Technical field
The present invention relates to AC Servo Motor Control technical field, more particularly to it is a kind of based on becoming order fractional order sliding formwork Permanent magnet synchronous motor control device and method.
Background technology
Permagnetic synchronous motor has that compact-sized, power density is high, energy conversion efficiency is high, speed adjustable range is wide, in light weight The advantages that, it is better than numerous other types of motor in energy-saving and emission-reduction, environmentally friendly low-carbon etc., therefore emphasizing the big of low carbon development Under environment, industrial production and all kinds of energy resource systems based on army/people's technology are widely used in.
But permagnetic synchronous motor also has torque capacity to be gone magnetic confinement, electric machine structure complexity and system to control by permanent magnet The shortcomings of difficulty is big, especially runnability can be disturbed by external loading, inner parameter changes, object does not model and non-linear Probabilistic influence such as dynamic characteristic.It is main currently used for the robust stabili of the AC servo of permagnetic synchronous motor If nonlinear Control, Self Adaptive Control, H∞Control, sliding formwork control etc..Wherein, sliding formwork control is as a kind of variable-structure control side Method, when system phase path is being moved on designed sliding-mode surface, have to the indeterminate and external interference of systematic parameter Very strong robustness.
In current fractional order sliding mode control schemes, for the speed control of permagnetic synchronous motor, mainly by based on The fractional order differential construction fractional order sliding-mode surface S of velocity error, but the fixation order sliding mode control schemes designed based on this, When big initial error or actuator saturation, it may appear that the phenomenon that differential saturation effect and transient performance decline, so as to cause Fixed order sliding mode control schemes are difficult to the scene for being efficiently applied to the higher dynamic property of needs, cause to apply under this kind of scene The permagnetic synchronous motors of fixed order sliding mode control schemes, there is hydraulic performance decline, and the problem of speed follower precision reduces.
The content of the invention
Embodiments of the invention provide a kind of based on the permanent magnet synchronous motor control device for becoming order fractional order sliding formwork and side Method, the problem of can solve the problem that hydraulic performance decline in fixed order fractional order sliding-mode control, and improve and follow precision.
To reach above-mentioned purpose, embodiments of the invention adopt the following technical scheme that：
In a first aspect, embodiments of the invention provide a kind of permagnetic synchronous motor control based on change order fractional order sliding formwork Device, including：Current acquisition module, Clark conversion modules, position sensor, first comparator, the second comparator, the 3rd ratio Compared with device, PARK conversion modules, PARK inverse transform modules, q shaft currents controller, d shaft currents controller, space vector pulse width modulation Module, three-phase inverter, fuzzy change order controller, change order fractional order sliding formwork rotational speed governor and permagnetic synchronous motor PMSM；
The change order fractional order sliding formwork rotational speed governor, for carrying out rotational speed regulation processing and exporting result, institute Stating result includes：Q shaft current set-points i under the d-q coordinate systems transmitted to second comparatorq *Given with d shaft currents Value
Second comparator, for basisAnd iqCompare to obtain difference, and will be byAnd iqCompare obtained difference to The q shaft currents controller transmission, wherein, idAnd iqActual output current value respectively under d-q coordinate systems, idRepresent that d axles are real Border output current value, iqRepresent q axle actual output current values；
3rd comparator, for basisAnd idCompare to obtain difference, and will be byAnd idCompare obtained difference to The d shaft currents controller transmission；
The q shaft currents controller, for according to it is described byAnd iqCompare obtained difference, generate q shaft voltage output valves uq, and transmitted to the PARK inverse transform modules；
The d shaft currents controller, for according to it is described byAnd idCompare obtained difference, generate d shaft voltage output valves ud, and transmitted to the PARK inverse transform modules；
The PARK inverse transform modules, for according to uqAnd udPARK inverse transformations are carried out, are generated equivalent under alpha-beta coordinate system Voltage control set-point uαAnd uβ, and by uαAnd uβTo the space vector pulse width modulation module transfer；
The space vector pulse width modulation module, for according to uαAnd uβ, pulse width modulation (PWM) signal is generated, and to institute State three-phase inverter transmission；
The three-phase inverter, for according to the pulse width modulating signal, generating three-phase voltage signal, and utilize institute State three-phase voltage signal and control the permagnetic synchronous motor.
Second aspect, embodiments of the invention provide a kind of based on the permagnetic synchronous motor control for becoming order fractional order sliding formwork Method, including：
According to motor actual motion speed omega and speed preset value ωrefCompare to obtain difference e (t), the motor is permanent magnetism Synchronous motor PMSM；
Using e (t) and become order output α (t), construction becomes order fractional order sliding-mode surface Svo, wherein, α (t) becomes rank to be fuzzy The fuzzy output variable of secondary control device, α (t) is by the fuzzy order controller that becomes according to fixed order and system responsiveness energy Between relation, using velocity error e (t) as fuzzy input variable, generated by fuzzy logic instrument, the fuzzy logic instrument Including membership function and fuzzy rule；
By based on SvoThe change order fractional order sliding formwork rotational speed governor of design carries out rotational speed regulation, and obtains d-q coordinates Given value of current value under systemWith
According to q shaft current set-pointsWith q axle actual output current values iqCompare obtained difference, generation q shaft voltage outputs Value uq, and according to d shaft current set-pointsWith d axle actual output current values idCompare obtained difference, generation d shaft voltage outputs Value ud；
According to udAnd uqPARK inversion process is carried out, obtains the equivalent voltage control set-point u under alpha-beta coordinate systemαWith uβ；
According to uαAnd uβSpace vector pulse width modulation is carried out, generates pulse width modulation (PWM) signal, and utilize the pulse Bandwidth modulation signals control three-phase inverter generation three-phase voltage signal；
The permagnetic synchronous motor is controlled using the three-phase voltage signal.
The control device and method of permagnetic synchronous motor provided in an embodiment of the present invention, becoming order fractional order sliding formwork rotating speed Controller realizes order α (t) time-varying, and better than any fixed order u by the α (t) that fuzzy change order controller obtains, and is System response can obtain optimal control performance, so as to while traditional fractional order sliding mode controller is kept, solve Fixed-order In secondary fractional order sliding-mode control, integration saturation effect caused by big initial error or actuator saturation and temporarily The problem of state hydraulic performance decline, and there is more preferable dynamic property and anti-interference relative to fixed order fractional order sliding-mode control Kinetic force, and more accurate speed follower precision.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it will use below required in embodiment Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached Figure.
Fig. 1 is the structural representation of the control device of permagnetic synchronous motor provided in an embodiment of the present invention；
Fig. 2 provides the logic flow signal for the operation for becoming order fractional order sliding formwork rotational speed governor for the embodiment of the present invention Figure；
Fig. 3 is that Fixed-order subsystem response ratio provided in an embodiment of the present invention is relatively schemed；
Fig. 4 is the speed responsive figure of change order sliding formwork control permagnetic synchronous motor provided in an embodiment of the present invention；
Fig. 5 is the flow chart of the control method of permagnetic synchronous motor provided in an embodiment of the present invention；
Fig. 6 is difference e (t) of the speed preset with actual motion speed of permagnetic synchronous motor provided in an embodiment of the present invention Curve map；
Fig. 7 is the curve map that the fuzzy fuzzy order for becoming order controller provided in an embodiment of the present invention exports α (t)；
Fig. 8 is the fuzzy fuzzy input variable e (t) for becoming order controller provided in an embodiment of the present invention membership function Figure；
Fig. 9 is the membership function of the fuzzy fuzzy output variable α (t) for becoming order controller provided in an embodiment of the present invention Figure.
Embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party Formula is described in further detail to the present invention.Embodiments of the present invention are described in more detail below, the embodiment is shown Example is shown in the drawings, wherein same or similar label represents same or similar element or has identical or class from beginning to end Like the element of function.Embodiment below with reference to accompanying drawing description is exemplary, is only used for explaining the present invention, and can not It is construed to limitation of the present invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges Diction " comprising " refer to the feature, integer, step, operation, element and/or component be present, but it is not excluded that in the presence of or addition One or more other features, integer, step, operation, element, component and/or their groups.It should be understood that when we claim member Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or there may also be Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Wording used herein "and/or" includes any cell of one or more associated list items and all combined.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art Language and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also Understand, those terms defined in such as general dictionary, which should be understood that, to be had and the meaning in the context of prior art The consistent meaning of justice, and unless defined as here, will not be with idealizing or the implication of overly formal be explained.
The embodiment of the present invention provides a kind of based on the permanent magnet synchronous motor control device for becoming order fractional order sliding formwork, such as Fig. 1 It is shown, including：Current acquisition module, Clark conversion modules, position sensor, first comparator, the second comparator, the 3rd ratio Compared with device, PARK conversion modules, PARK inverse transform modules, q shaft currents controller, d shaft currents controller, space vector pulse width modulation SVPWM modules, three-phase inverter, fuzzy change order controller, change order fractional order sliding formwork rotational speed governor and permanent magnet synchronous electric Machine PMSM.
The change order fractional order sliding formwork rotational speed governor, for carrying out rotational speed regulation processing and exporting result, institute Stating result includes：Q shaft current set-points under the d-q coordinate systems transmitted to second comparatorGiven with d shaft currents Value
The operation logic of change order fractional order sliding formwork rotational speed governor in the present embodiment can be as shown in Figure 2.
Second comparator, for basisAnd iqCompare to obtain difference, and will be byAnd iqCompare obtained difference to The q shaft currents controller transmission, wherein, idAnd iqActual output current value respectively under d-q coordinate systems, idRepresent that d axles are real Border output current value, iqRepresent q axle actual output current values.
3rd comparator, for basisAnd idCompare to obtain difference, and will be byAnd idCompare obtained difference to The d shaft currents controller transmission.
The q shaft currents controller, for according to it is described byAnd iqCompare obtained difference, generate q shaft voltage output valves uq, and transmitted to the PARK inverse transform modules.
The d shaft currents controller, for according to it is described byAnd idCompare obtained difference, generate d shaft voltage output valves ud, and transmitted to the PARK inverse transform modules.
The PARK inverse transform modules, for according to uqAnd udPARK inverse transformations are carried out, are generated equivalent under alpha-beta coordinate system Voltage control set-point uαAnd uβ, and by uαAnd uβTo the space vector pulse width modulation module transfer.
The space vector pulse width modulation module, for according to uαAnd uβ, pulse width modulation (PWM) signal is generated, and to institute State three-phase inverter transmission.
The three-phase inverter, for according to the pulse width modulating signal, generating three-phase voltage signal, and utilize institute State three-phase voltage signal and control the permagnetic synchronous motor.
Wherein, the current acquisition module, for gathering the threephase stator electric current i of the permagnetic synchronous motora、ibAnd ic, And transmitted to the Clark conversion modules.
The Clark conversion modules, for according to ia、ibAnd ic, convert and obtain the equivalent current i under alpha-beta coordinate systemaWith iβ, and by iaAnd iβTransmitted to the PARK conversion modules.
The position sensor, for obtaining the speed of service ω and rotor position of the permagnetic synchronous motor, and by institute Motor rotor position θ is stated to transmit to the PARK conversion modules and PARK inverse transform modules respectively, and by the actual fortune of the motor Row speed omega is transmitted to the first comparator.
The PARK conversion modules, for according to θ, iaAnd iβ, carry out PARK conversion and obtain the reality under d-q coordinate systems Output current value idAnd iq, and by d axle actual output current values idTransmitted to the 3rd comparator, by q axle actual output currents Value iqTransmitted to second comparator.
The first comparator, for according to speed preset value ωrefWith the motor actual motion speed omega, compare Passed to difference e (t), and by e (t) to the fuzzy change order controller and the change order fractional order sliding formwork rotational speed governor It is defeated.
The fuzzy change order controller, for order output valve α (t) will to be become to the change order fractional order sliding formwork rotating speed Controller transmits.
When the control device operation for the permagnetic synchronous motor that the present embodiment provides, become the control of order fractional order sliding formwork rotating speed The order α (t) of device is time-varying, better than any fixed order u by the α (t) that fuzzy change order controller obtains, system response Optimal control performance can be obtained.And can overcome in fixed order fractional order sliding-mode control, due to big initial mistake The problem of integration saturation effect and transient performance caused by difference or actuator saturation decline.Proved below by experimental data The effect：
Relatively scheme specifically, providing Fixed-order subsystem response ratio as shown in Figure 3, wherein Fixed-order subdifferential sliding formwork speed Control response takes four groups of performance parameters during each order as shown in table 1.
Table 1
As can be drawn from Table 1, the overshoot of system is bigger for order value with the relation of fixed order, and overshoot value is smaller.System Regulating time be that, when order value increases to α=1.1, regulating time is slowly increased with the relation of fixed order.System it is steady State error is with the relation of fixed order, and when order increases to α=1, steady-state error is slowly reduced to 0, when order is more than 1 Afterwards, steady-state error becomes rapidly big.The load deviation of system is that order value is bigger, and load deviation is bigger with the relation of fixed order. When order is α=1.3, the overshoot of system is minimum, and when order is α=0.6, the overshoot value of system is maximum.When order be α= When 0.6, the regulating time of system is minimum, and when order is α=1.1, the regulating time of system is maximum.When order is α=1, The steady-state error of system is minimum, and when order is α=1.3, the steady-state error of system is maximum.When order is α=0.6, system Load deviation it is minimum, when order is α=1.3, the load deviation of system is maximum.
Further, during the control device operation of the permagnetic synchronous motor provided when the present embodiment, if load be present in system Disturbance and Parameter Perturbation, the control device of the present embodiment have more preferable dynamic property and Ability of Resisting Disturbance, and more accurate Speed follower precision.The effect is proved below by experimental data：
Specifically, the speed responsive figure of change order sliding formwork control permagnetic synchronous motor as shown in Figure 4 is provided, wherein becoming rank Four groups of performance parameters of secondary sliding formwork control permagnetic synchronous motor speed responsive are as shown in table 3：
Table 3
The control device of permagnetic synchronous motor provided in an embodiment of the present invention, becoming order fractional order sliding formwork rotational speed governor Realize order α (t) time-varying, and become that the α (t) that order controller obtains is better than any fixed order u, and system responds by fuzzy Optimal control performance can be obtained, so as to while traditional fractional order sliding mode controller is kept, overcome fixed order fraction In rank sliding-mode control, integration saturation effect and transient performance caused by big initial error or actuator saturation The problem of decline, and there is more preferable dynamic property and anti-interference kinetic energy relative to fixed order fractional order sliding-mode control Power, and more accurate speed follower precision.
The embodiment of the present invention provides a kind of based on the method for controlling permanent magnet synchronous motor flow for becoming order fractional order sliding formwork, use In above-mentioned control device as shown in Figure 5, this method mainly includes：
101, according to motor actual motion speed omega and speed preset value ωrefCompare to obtain difference e (t).
Wherein, the motor is permagnetic synchronous motor PMSM.In the present embodiment, the speed preset of permagnetic synchronous motor with The difference e (t) of actual motion speed, meet curve map as shown in Figure 6.
102, using difference e (t) and become order output α (t), construction becomes order fractional order sliding-mode surface Svo。
Wherein, α (t) is the fuzzy fuzzy output variable for becoming order controller, and α (t) is by the fuzzy change order controller According to the relation between fixed order and system responsiveness energy, using velocity error e (t) as fuzzy input variable, by fuzzy Logic tools generate, and the fuzzy logic toolkit includes membership function and fuzzy rule.In the present embodiment, obscure and become order The fuzzy order output α (t) of controller, meets curve map as shown in Figure 7.
103, by based on change order fractional order sliding-mode surface SvoThe change order fractional order sliding formwork rotational speed governor of design is carried out Rotational speed regulation, and obtain the given value of current value under d-q coordinate systemsWith
Specifically, the torque of the permagnetic synchronous motor in the present embodiment is expressed asWherein, P is extremely right Number, ψfFor the magnetic linkage of permanent magnet.
Permagnetic synchronous motor mechanical equation is expressed asWherein, J is motor rotary inertia, TLFor load Torque.
State equation of the permagnetic synchronous motor under d-q coordinate systems is expressed asWherein, ωrefFor speed Set-point, ω are speed feedback value.
Become order sliding-mode surface and be expressed as Svo=c1x1+c2Dα(t)x1, wherein, α (t) ∈ [0,1.5], c1And c2For positive coefficient. And to becoming order differential sliding-mode surface SvoDifferentiating to obtain：Or become rank The derivative of subdifferential sliding-mode surfaceIt is also denoted asIts In,For motor fisrt feature parameter,For motor second feature parameter.
Have when system is being moved on sliding-mode surfaceDesigned using constant speed tendency rate, i.e.,Wherein, ε, k>0.
Q shaft currents controlled quentity controlled variable exports
The stabilization of the change order fractional order sliding formwork rotational speed governor in the present embodiment is proved especially by Lyapunov functions Property：
Lyapunov functionsWherein, need to meet condition according to Lyapunov Theory of Stability, synovial membrane faceAbove-mentioned Lyapunov functions side is differentiated, can be obtained：
Therefore deduce that, the change order fractional order sliding formwork rotational speed governor in the present embodiment is stable, and system can be from Arbitrary initial state reaches diverter surface in finite time.
The fractional order GrunwaldLetnikov used in the present embodiment is defined as：
Wherein, the upper bound and lower bound of a, t respectively as calculus, α is order,For the fractional order for f (t) Computing,For the abbreviation of binomial expression formula, Γ () is Gamma functions, and [] represents less than the maximum of numerical value in bracket Integer.
Thus the change order expression formula that the GrunwaldLetnikov fractional orders of the present embodiment define is designed as：
The discrete form for becoming order expression formula is designed as： Wherein, CTRepresent the sampling interval (CT=0.0001 (s)).
Order fractional order sliding-mode surface S will be become in the present embodimentvoConstruction：Svo=C1e(t)+C2Dα(t)E (t),
Wherein, e (t) is defined as speed preset value ωrefWith motor actual speed ω relatively after difference, t is defined as the time Variable, sliding formwork coefficient C1>0, C2>0, Dα(t)E (t) is defined as the change order fractional order differential value of difference e (t), and α (t) is defined as becoming The order of order fractional order sliding-mode surface, and 0<α(t)<1.5.
Become order fractional order sliding formwork rotational speed governor model into：
Wherein, motor fisrt feature coefficientP is defined as the number of pole-pairs of permagnetic synchronous motor, and J is defined as forever The rotary inertia of magnetic-synchro motor, ψfThe magnetic linkage that permanent magnet interlinks with stator is defined as, B is defined as damped coefficient.It is defined as The derivative of velocity error, sgn () are sign function, and ε is defined as handoff gain, and ε>0, k is defined as proportional gain, and k>0.
104, according to q shaft current set-pointsWith q axle actual output current values iqCompare obtained difference, generate q shaft voltages Output valve uq, and according to d shaft current set-pointsWith d axle actual output current values idCompare obtained difference, generate d shaft voltages Output valve ud。
105, according to d shaft voltage output valves udWith q shaft voltage output valves uqPARK inversion process is carried out, obtains alpha-beta coordinate Equivalent voltage control set-point u under systemαAnd uβ。
106, set-point u is controlled according to the equivalent voltage under alpha-beta coordinate systemαAnd uβ, space vector pulse width modulation is carried out, it is raw Into pulse width modulation (PWM) signal, and utilize pulse width modulating signal control three-phase inverter generation three-phase voltage letter Number.
107, control the permagnetic synchronous motor using the three-phase voltage signal.
Specifically, in the present embodiment, the process of PARK inverse transformations, Clark conversion and PARK conversion includes：
According to matrixCarry out PARK inverse transformations.
According to matrixCarry out Clark conversion.
According to matrixCarry out PARK conversion.
In the present embodiment, e (t) membership function abscissa is (- 40,40) rad/s, and ordinate is (0,1), linearly Indexing, triangle degree of membership figure, is divided into five degree of membership regions (NB, NS, ZE, PS, PB).
α (t) membership function abscissa is (- 0.55,1.2), and ordinate is (0,1), and linear indexing, triangle is subordinate to Figure is spent, is divided into five degree of membership regions (VS, S, M, B, VB).
Corresponding relation in the fuzzy rule includes：NB corresponds to VS, and NS corresponds to VS, and ZE corresponds to VS, and PS corresponds to M, PB pairs Answer VB.
Such as：The fuzzy input variable e (t) of fuzzy change order controller as shown in Figure 8 membership function figure, and The membership function figure of the fuzzy output variable α (t) of fuzzy change order controller as shown in Figure 9.It is also, fuzzy to become order control Fuzzy rule as shown in table 2 can be used in device processed：
Table 2
Also include in the present embodiment：
The performance data of the speed control response of fixed order is obtained, the performance data includes overshoot σ, regulating time tε, steady-state error e and load deviation eL, wherein, the system that the overshoot σ represents deviates given maximum value, during the regulation Between tεThe response of expression system enters and is maintained at time of the error band corresponding to 10%, and the steady-state error e represents error letter Number steady-state component, the load deviation eLRepresent that system deviates given maximum value when load occurs.
According to the performance data and the corresponding relation of fixed order, it is fixed between order and system responsiveness energy Relation.
Also include in the present embodiment：
Obtain the three-phase current i of the permagnetic synchronous motora、ib、ic, and Clark conversion is carried out, generate under alpha-beta coordinate system Equivalent current iaAnd iβ。
Obtain the motor actual motion speed omega and rotor position of the permagnetic synchronous motor.
According to θ, iaAnd iβPARK conversion is carried out, generates the output current value i under d-q coordinate systemsdAnd iq。
In the present embodiment, it is described to become order fractional order sliding-mode surface S using e (t) and change order output α (t), constructionvo, bag Include：
According to α (t) and e (t), S is obtainedvo=C1e(t)+C2Dα(t)e(t)
Wherein, e (t) represents speed preset value ωrefWith motor actual speed ω relatively after difference, t represent when anaplasia Amount, sliding formwork coefficient C1>0,C2>0, Dα(t)E (t) represents the change order fractional order differential value of difference e (t), and α (t) represents to become order point The order of number rank sliding-mode surface, and 0<α(t)<1.5.
It is described become order fractional order sliding formwork rotational speed governor model into：
Wherein, the fisrt feature coefficient of the permagnetic synchronous motorP represents the permagnetic synchronous motor Number of pole-pairs, J represent the rotary inertia of the permagnetic synchronous motor, ψfThe magnetic linkage that the permanent magnet interlinks with stator is represented, B is represented Damped coefficient.The derivative of velocity error is represented, sgn () is sign function, and ε represents handoff gain, and ε>0, k represents ratio Example gain, and k>0.
The control method of permagnetic synchronous motor provided in an embodiment of the present invention, becoming order fractional order sliding formwork rotational speed governor Realize order α (t) time-varying, and become that the α (t) that order controller obtains is better than any fixed order u, and system responds by fuzzy Optimal control performance can be obtained, so as to while traditional fractional order sliding mode controller is kept, overcome fixed order fraction In rank sliding-mode control, integration saturation effect and transient performance caused by big initial error or actuator saturation The problem of decline, and there is more preferable dynamic property and anti-interference kinetic energy relative to fixed order fractional order sliding-mode control Power, and more accurate speed follower precision.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for equipment For applying example, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method Part explanation.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM) etc..
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all should It is included within the scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.

Claims (2)

  1. It is 1. a kind of based on the method for controlling permanent magnet synchronous motor for becoming order fractional order sliding formwork, it is characterised in that including：
    According to motor actual motion speed omega and speed preset value ωrefCompare to obtain difference e (t), the motor is permanent-magnet synchronous Motor PMSM；
    Using e (t) and become order output α (t), construction becomes order fractional order sliding-mode surface Svo, wherein, α (t) becomes order control to be fuzzy The fuzzy output variable of device processed, α (t) is by the fuzzy change order controller according between fixed order and system responsiveness energy Relation, using velocity error e (t) as fuzzy input variable, generated by fuzzy logic instrument, the fuzzy logic toolkit includes Membership function and fuzzy rule；
    By based on SvoThe change order fractional order sliding formwork rotational speed governor of design carries out rotational speed regulation, and obtains under d-q coordinate systems Given value of current valueWith
    According to q shaft current set-pointsWith q axle actual output current values iqCompare obtained difference, generation q shaft voltage output valves uq, And according to d shaft current set-pointsWith d axle actual output current values idCompare obtained difference, generation d shaft voltage output valves ud；
    According to udAnd uqPARK inversion process is carried out, obtains the equivalent voltage control set-point u under alpha-beta coordinate systemαAnd uβ；
    According to uαAnd uβSpace vector pulse width modulation is carried out, generates pulse width modulation (PWM) signal, and utilize the pulse width Modulated signal control three-phase inverter generation three-phase voltage signal；
    The permagnetic synchronous motor is controlled using the three-phase voltage signal；
    E (t) membership function abscissa is (- 40,40) rad/s, and ordinate is (0,1), linear indexing, triangle degree of membership Figure, it is divided into five degree of membership regions (NB, NS, ZE, PS, PB)；
    α (t) membership function abscissa is (- 0.55,1.2), and ordinate is (0,1), linear indexing, triangle degree of membership figure Shape, it is divided into five degree of membership regions (VS, S, M, B, VB)；
    Corresponding relation in the fuzzy rule includes：NB corresponds to VS, and NS corresponds to VS, and ZE corresponds to VS, and PS corresponds to M, and PB corresponds to VB；
    Also include：
    The performance data of the speed control response of fixed order is obtained, the performance data includes overshoot σ, regulating time tε, stable state Error e and load deviation eL, wherein, the overshoot σ represents that system deviates given maximum value, the regulating time tεTable Show that system response enters and is maintained at time of the error band corresponding to 10%, the steady-state error e represents the steady of error signal State component, the load deviation eLRepresent that system deviates given maximum value when load occurs；
    According to the performance data and the corresponding relation of fixed order, the pass being fixed between order and system responsiveness energy System；
    Also include：
    Obtain the three-phase current i of the permagnetic synchronous motora、ib、ic, and Clark conversion is carried out, under generation alpha-beta coordinate system etc. Imitate electric current iαAnd iβ；
    Obtain the motor actual motion speed omega and rotor position of the permagnetic synchronous motor；
    According to θ, iαAnd iβPARK conversion is carried out, generates the output current value i under d-q coordinate systemsdAnd iq；
    It is described to become order fractional order sliding-mode surface S using e (t) and change order output α (t), constructionvo, including：
    According to α (t) and e (t), S is obtainedvo=C1e(t)+C2Dα(t)e(t)
    Wherein, e (t) represents speed preset value ωrefWith motor actual speed ω relatively after difference, t represents time variable, sliding Mode coefficient C1>0,C2>0, Dα(t)E (t) represents the change order fractional order value of difference e (t), and α (t) represents to become order fractional order sliding formwork The order in face, and 0<α(t)<1.5；
    It is described become order fractional order sliding formwork rotational speed governor model into：
    Wherein, the fisrt feature coefficient of the permagnetic synchronous motorP represents the extremely right of the permagnetic synchronous motor Number, J represent the rotary inertia of the permagnetic synchronous motor, ψfThe magnetic linkage that the permanent magnet interlinks with stator is represented, B represents damping Coefficient；The derivative of velocity error is represented, sgn () is sign function, and ε represents handoff gain, and ε>0, k represents that ratio increases Benefit, and k>0.
  2. 2. according to the method for claim 1, it is characterised in that including：
    According to matrixCarry out PARK inverse transformations；
    According to matrixCarry out Clark conversion；
    According to matrixCarry out PARK conversion.
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