CN105827170B - Permagnetic synchronous motor rotating speed position detecting system and method based on Lyapunov stability - Google Patents
Permagnetic synchronous motor rotating speed position detecting system and method based on Lyapunov stability Download PDFInfo
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Abstract
The present invention relates to permagnetic synchronous motor control technology field, a kind of permagnetic synchronous motor rotating speed position detecting system and method based on Lyapunov stability are provided, to solve the problems, such as the accuracy deficiency of current permagnetic synchronous motor rotating speed method for detecting position, the system includes motor referrer module, motor adjustable model, subtraction block and adaptive law module, and wherein adaptation module includes identifier computing module and convergence judges and position computation module.Technical scheme identification precision proposed by the present invention is higher, therefore can realize the accurate control to motor.
Description
Technical field
The invention belongs to permagnetic synchronous motor control technology field, it is more particularly to a kind of based on Lyapunov stability forever
Magnetic-synchro motor speed position detecting system and method.
Background technology
At present, one of the difficult point in permanent magnet synchronous brushless DC motor vector control without position sensor and key technology be just
It is the method for detecting position and detection technique of rotor.
It is disclosed at present as the technology of permanent magnet synchronous brushless DC motor non-position sensor vector control method
Method for detecting position has establishes " the state observer method " of model and based on motor electricity by the voltage to rotor, detection electric current
" the flux observer method " of pressing mold type, there is " higher hamonic wave injection method " and by the i.e. given voltage of the output of vector controlled
Command value (Vd*,Vq*) with current detection value (Id,Iq), resistance (R*), the q axles of angular speed rotational speed command value (ω *) and motor
Inductance value (Lq*) according to formula" the phase of control shaft benchmark calculated
Presumed value θc" with " error amount between phase value θ " of the permanent-magnet motor rotor under identical dq coordinate systems, i.e. axis error Δ θ,
So as to obtain control method of rotor-position etc..
The Chinese patent of Application No. 201310192101.9《A kind of position-sensorless control device and position detection side
Method》Using formulaAxis error is calculated, then Δ θ is locked by phaselocked loop
To 0 method obtain rotor running frequency method obtain rotor angular speed.Due in low frequency, current command value Id
Very little and close to 0, d axle control voltages Vd* absolute value very little, also close to 0, counter electromotive force very little, plus detection error
Deng causing obtained axis error Δ θ very inaccurate, the rotor speed estimated is very inaccurate, causes detected rotor position
Put with larger error, easily cause control error problem.
The content of the invention
【Technical problems to be solved】
It is an object of the invention to provide a kind of permagnetic synchronous motor rotating speed position based on Lyapunov stability to detect system
System and method, to solve the problems, such as the accuracy deficiency of current permagnetic synchronous motor rotating speed method for detecting position.
【Technical scheme】
The present invention is achieved by the following technical solutions.
Present invention firstly relates to a kind of permagnetic synchronous motor rotating speed position detecting system based on Lyapunov stability, bag
Include：
Motor reference model, the state equation of the model are：
Wherein：ud、uqRespectively motor stator d shaft voltages, q axles
Voltage, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively
For motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value；
Motor adjustable model, the state equation of the model are：
Wherein id'、iq' it is respectively motor
Stator d shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default negative-feedback system
Number；
Subtraction block, it is configured to：Receive motor stator d shaft currents, the reality of q shaft currents of motor reference model output
Actual value and the motor stator d shaft currents of motor adjustable model output, the identifier of q shaft currents, solution obtain motor stator d axles
The difference e of current actual value and motor stator d shaft current identifiersd, motor stator q shaft currents actual value and motor stator q axles electricity
Flow the difference e of identifierq, and by ed、eqSend to adaptive law module；
Adaptive law module, it includes identifier computing module and convergence judges and position computation module, the identifier
Computing module is configured to：Receive id'、iq'、ed、eq, select a public affairs in the first formula, the second formula and the 3rd formula
The identifier ω ' of rotor rotating speed is calculated in formula, wherein the first formula is：
g1For positive count；Second formula is： g2For positive count；3rd formula
For：g3For positive count, ω 0 is default identification initial value；The convergence is sentenced
Disconnected and position computation module is configured to：Under same rotor rotary speed actual value, adjacent rotor rotating speed twice is judged
Whether the difference of identifier is less than default convergence threshold δ, if it is turns motor speed identification value ω ' now as motor
Fast actual value ω, by being integrated to obtain the position θ of rotor to the actual value ω of motor speed：It is on the contrary
Then motor speed identification value ω ' is sent to the motor speed identification value ω ' of motor adjustable model more new motor adjustable model.
As a preferred embodiment, the degeneration factor k1、k2Meet：
The invention further relates to a kind of permagnetic synchronous motor rotating speed method for detecting position based on Lyapunov stability, including
Step：
A, motor reference model and motor adjustable model are established, the state equation of the motor reference model is：
Wherein：ud、uqRespectively motor stator d shaft voltages, q axles
Voltage, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively
For motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value；The motor is adjustable
The state equation of model is：
Wherein id'、iq' it is respectively motor
Stator d shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default negative-feedback system
Number；
B, solve and obtain the difference e of motor stator d shaft currents actual value and motor stator d shaft current identifiersd, motor stator
The difference e of q shaft currents actual value and motor stator q shaft current identifiersq；
C, select a formula in the first formula, the second formula and the 3rd formula that distinguishing for rotor rotating speed is calculated
Knowledge value ω ', wherein the first formula is：g1For positive count；Second formula
For：g2For positive count；3rd formula is：g3For positive count, ω0For default identification initial value；
D, under same rotor rotary speed actual value, judge whether the difference of the adjacent Speed Identification value of rotor twice is small
In default convergence threshold δ, if it is using motor speed identification value ω ' now as motor speed actual value ω, pass through
The actual value ω of motor speed is integrated to obtain the position θ of rotor：It is on the contrary then distinguish motor speed
Knowledge value ω ' sends to the motor speed identification value ω ' of motor adjustable model more new motor adjustable model, return to step B and carried out down
An iteration.
As a preferred embodiment, the degeneration factor k1、k2Meet：
The present invention is specifically described below.
Motor reference model (true model) is write as to the form of matrix：
I.e.：
WhereinFor differential operator,
Constructing variable and motor reference model identical motor adjustable model：
Being write as matrix form is：
I.e.：
Wherein
In order to ensure that adjustable model is restrained, there is negative characteristic root, while it is anti-in order to improve convergence rate to introduce error minus
Feedforward coefficient k1、k2, it is as follows to construct adjustable model：
Write motor adjustable model as matrix form：
I.e.：
Wherein ed=id-id', eq=iq-iq'
Wherein k1、k2The two parameters are to meet Lyapunov (Liapunov) stability conditions and improve to receive
The error minus feedback parameter held back speed and introduced.
Formula (1) is subtracted each other and can obtained with formula (2)：
I.e.
Order：AndThen：
Construct liapunov function：
SelectionEven P is unit matrix, then have：
And it can be seen from Lyapunov stability condition, to make liapunov function stable, needNegative definite, selectionEven P is unit matrix,
Due to：
Then
It can be seen that as long as adjustment degeneration factor k1And k2, so that it may so thatWithSet up, so that P (A-G)+(A-G)TP is negative definite matrix.
So k1And k2Taking specifically makes Into
Vertical value.
Due to：
So
In addition, orderConstruct diagonal matrix, wherein g1、g2、g3For positive number, therefore：
SimilarlyWherein
Tr (X) representing matrixs X mark, that is, represent the main diagonal element sums of matrix X.
So：
When：
Due toFor the current actual revolution of motor, its derivative is 0, i.e.,It can obtain：
Wherein ω 0 is initial value for integral,g1、g2、g3For positive count.
Pass through optional adaptive law formula (3), (4), (5), so that it may obtain motor speed actual value ω Adaptive Identification
Value ω ', in the case of system convergence, using ω ' as motor actual speed ω, motor is obtained by carrying out integral operation to ω
The position θ of rotor：The running frequency f of rotor is obtained by the π f of ω=2 simultaneously.
【Beneficial effect】
Technical scheme proposed by the present invention has the advantages that：
The present invention is based on Lyapunov stability conditions, and the adaptive of motor speed ω is obtained using self-adaptation control method
Identifier ω ', in the case of system convergence, using ω ' as motor actual speed ω, by carrying out integral operation acquisition to ω
The position θ and running frequency of rotor, because the identification precision of the present invention is higher, therefore the accurate control to motor can be realized
System.
Brief description of the drawings
Fig. 1 is the inspection of the permagnetic synchronous motor rotating speed position based on Lyapunov stability that embodiments of the invention one provide
The theory diagram of examining system.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below by the embodiment of the present invention
Carry out clear, complete description.
Embodiment one
Fig. 1 is the detection of the permagnetic synchronous motor rotating speed position based on Lyapunov stability that the embodiment of the present invention one provides
The theory diagram of system.As shown in figure 1, the system includes motor referrer module, motor adjustable model, subtraction block and adaptive
Module is restrained, wherein adaptive law module includes identifier computing module and convergence judges and position computation module.
The state equation of motor reference model is：
Wherein：ud、uqRespectively motor stator d shaft voltages, q axles
Voltage, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively
For motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value.
The state equation of motor adjustable model is：
Wherein id'、iq' it is respectively motor
Stator d shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default negative-feedback system
Number.Degeneration factor k1、k2Meet：
Subtraction block, it is configured to：Receive motor stator d shaft currents, the reality of q shaft currents of motor reference model output
Actual value and the motor stator d shaft currents of motor adjustable model output, the identifier of q shaft currents, solution obtain motor stator d axles
The difference e of current actual value and motor stator d shaft current identifiersd, motor stator q shaft currents actual value and motor stator q axles electricity
Flow the difference e of identifierq, and by ed、eqSend to adaptive law module.
Identifier computing module is configured to：Receive id'、iq'、ed、eq, select the first formula, the second formula and the 3rd
The identifier ω ' of rotor rotating speed is calculated in a formula in formula, wherein the first formula is：g1For positive count；Second formula is：g2For positive count；3rd formula is： g3For positive count, ω 0 is default identification initial value.
Convergence judges and position computation module is configured to：Under same rotor rotary speed actual value, adjacent two are judged
Whether the difference of secondary rotor Speed Identification value is less than default convergence threshold δ, if it is by motor speed identification now
Value ω ' is used as motor speed actual value ω, by being integrated to obtain the position of rotor to the actual value ω of motor speed
θ：It is on the contrary then by motor speed identification value ω ' send to motor adjustable model more new motor adjustable model motor
Speed Identification value ω '.
Examine the permagnetic synchronous motor rotating speed position based on Lyapunov stability realized using the system in embodiment one
Survey method may be referred to following specific method embodiments.
Embodiment two
Embodiment two provides a kind of permagnetic synchronous motor rotating speed method for detecting position based on Lyapunov stability, the party
Method comprises the following steps：
(1) motor reference model and motor adjustable model are established.
The state equation of motor reference model is：
Wherein：ud、uqRespectively motor stator d shaft voltages, q axles
Voltage, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively
For motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value；The motor is adjustable
The state equation of model is：
Wherein id'、iq' it is respectively motor
Stator d shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default negative-feedback system
Number.
(2) solve and obtain the difference e of motor stator d shaft currents actual value and motor stator d shaft current identifiersd, motor it is fixed
The difference e of sub- q shaft currents actual value and motor stator q shaft current identifiersq。
(3) select a formula in the first formula, the second formula and the 3rd formula that rotor rotating speed is calculated
Identifier ω ', wherein the first formula is：g1For positive count；Second is public
Formula is：g2For positive count；3rd formula is：g3For positive count, ω 0 is default identification initial value.
(4) under same rotor rotary speed actual value, judge the adjacent Speed Identification value of rotor twice difference whether
Less than default convergence threshold δ, if it is using motor speed identification value ω ' now as motor speed actual value ω, lead to
Cross and the actual value ω of motor speed is integrated to obtain the position θ of rotor：It is on the contrary then by motor speed
Identifier ω ' is sent to motor adjustable model with the motor speed identification value ω ' of more new motor adjustable model, return to step (two)
Carry out next iteration.In this step, convergence threshold δ is a less positive number, and its specific size is carried out according to identification precision
Selection.
As can be seen from the above embodiments, the embodiment of the present invention is based on Lyapunov stability conditions, and use is self-adaptive controlled
Method processed obtains motor speed ω Adaptive Identification value ω ', in the case of system convergence, regard ω ' as actual turn of motor
Fast ω, by ω carry out integral operation obtain rotor position θ and running frequency, due to the present invention identification precision compared with
Height, therefore the accurate control to motor can be realized.
It is to be appreciated that the embodiment of foregoing description is the part of the embodiment of the present invention, rather than whole embodiments, also not
It is limitation of the present invention.Based on embodiments of the invention, those of ordinary skill in the art are not paying creative work premise
Lower obtained every other embodiment, belongs to protection scope of the present invention.
Claims (2)
- A kind of 1. permagnetic synchronous motor rotating speed position detecting system based on Lyapunov stability, it is characterised in that including：Motor reference model, the state equation of the model are：Wherein：ud、uqRespectively motor stator d shaft voltages, q axles electricity Pressure, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively Motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value；Motor adjustable model, the state equation of the model are：Wherein id'、iq' it is respectively motor stator D shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default degeneration factor；Subtraction block, it is configured to：Receive motor stator d shaft currents, the actual value of q shaft currents of motor reference model output And motor stator d shaft currents, the identifier of q shaft currents of motor adjustable model output, solution obtain motor stator d shaft currents The difference e of actual value and motor stator d shaft current identifiersd, motor stator q shaft currents actual value and motor stator q shaft currents distinguish The difference e of knowledge valueq, and by ed、eqSend to adaptive law module；Adaptive law module, it includes identifier computing module and convergence judges and position computation module, and the identifier calculates Module is configured to：Receive id'、iq'、ed、eq, select a formula in the first formula, the second formula and the 3rd formula to calculate The identifier ω ' of rotor rotating speed is obtained, wherein the first formula is：g1 For positive count；Second formula is： g2For positive count；3rd formula is：g3For positive count, ω 0 is default identification initial value；It is described convergence judge and Position computation module is configured to：Under same rotor rotary speed actual value, adjacent rotor Speed Identification twice is judged Whether the difference of value is less than default convergence threshold δ, if it is real using motor speed identification value ω ' now as motor speed Actual value ω, by being integrated to obtain the position θ of rotor to the actual value ω of motor speed：On the contrary then general Motor speed identification value ω ' is sent to the motor speed identification value ω ' of motor adjustable model more new motor adjustable model；The degeneration factor k1、k2Meet：
- 2. a kind of permagnetic synchronous motor rotating speed method for detecting position based on Lyapunov stability, it is characterised in that including step Suddenly：A, motor reference model and motor adjustable model are established, the state equation of the motor reference model is：Wherein：ud、uqRespectively motor stator d shaft voltages, q axles electricity Pressure, id、iqRespectively motor stator d shaft currents actual value, q shaft current actual values, R are motor stator resistance, Ld、LqRespectively Motor stator d axle inductances, q axle inductances, KeFor permanent magnet flux linkage, ω is rotor rotary speed actual value；The motor adjustable die The state equation of type is：Wherein id'、iq' it is respectively motor stator D shaft currents identifier, q shaft current identifiers, ω ' are rotor Speed Identification value, k1、k2For default degeneration factor；B, solve and obtain the difference e of motor stator d shaft currents actual value and motor stator d shaft current identifiersd, motor stator q axles electricity Flow the difference e of actual value and motor stator q shaft current identifiersq；C, select a formula in the first formula, the second formula and the 3rd formula that the identifier of rotor rotating speed is calculated ω ', wherein the first formula is：g1For positive count；Second formula is：g2For positive count；3rd formula is：g3For positive count, ω0For default identification initial value；D, under same rotor rotary speed actual value, judge whether the difference of the adjacent Speed Identification value of rotor twice is less than in advance If convergence threshold δ, if it is using motor speed identification value ω ' now as motor speed actual value ω, by electricity The actual value ω of machine rotating speed is integrated to obtain the position θ of rotor：It is on the contrary then by motor speed identification value ω ' sends to the motor speed identification value ω ' of motor adjustable model more new motor adjustable model, return to step B and carried out next time Iteration；The degeneration factor k1、k2Meet：
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| CN103986400B (en) * | 2014-05-30 | 2016-04-20 | 清华大学 | Based on the model reference adaptive system parameters automatic setting method that two dimension fuzzy controls |
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