CN105932926A - Reduced-order observer-based speed sensorless backstepping control method for permanent magnet synchronous motor - Google Patents
Reduced-order observer-based speed sensorless backstepping control method for permanent magnet synchronous motor Download PDFInfo
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- CN105932926A CN105932926A CN201610428704.8A CN201610428704A CN105932926A CN 105932926 A CN105932926 A CN 105932926A CN 201610428704 A CN201610428704 A CN 201610428704A CN 105932926 A CN105932926 A CN 105932926A
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Abstract
The invention provides a reduced-order observer-based speed sensorless backstepping control method for a permanent magnet synchronous motor. The reduced-order observer-based speed sensorless backstepping control method is based on a mathematic model under a d-q coordinate system of the permanent magnet synchronous motor (PMSM); a reduced-order observer is firstly designed by employing a Lyapunov stability theory and combining processing skills of a linear matrix inequality (LMI); observation and reconstruction of a rotor machine angular speed of the PMSM under the d-q coordinate system are achieved; a system is decomposed into a plurality of sub-systems by designing virtual control input comprising a reconstruction variable; a closed-loop system controller is designed by a backstepping control strategy, so that high-precision tracking of motor rotating speed output on an expected output signal is achieved. According to the method which is different from an existing method, the quantity of sensors is reduced by application of the reduced-order observer, so that the cost is reduced. Meanwhile, controller parameters are optimized by a controller integrated design on the basis of the LMI and the backstepping principle; and the tracking precision of the speed sensorless PMSM is improved.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor Speedless sensor based on reduced dimension observer
Counter push away control method.
Background technology
Along with semiconductor power device, permanent magnetism magnetic material and the development of control theory, permanent magnetism is same
Step motor (PMSM) is in current, play the most important effect in small-power motor control.
It is used that permasyn morot has compact conformation, high power density, high air-gap flux and high torque (HT)
The advantages such as property ratio.But, PMSM itself also exists such as stator current, electromagnetic torque, turns
The coupling of sub-magnetic linkage, many disadvantageous factors such as Parameter Perturbation and external disturbance, can directly result in
The dynamic property of control system declines.For improving torque response and the tracking performance of PMSM, closely
System structure and the method for designing of multiple improvement is occurred in that, such as modified feedback linearization control, cunning over Nian
Moding structure control, Passive Shape Control, counter push away control and Self Adaptive Control etc..Plan is controlled at these
In slightly, mostly suppose that PMSM electric current and motor position accurately can be surveyed.The most frequently used means are to adopt
It is used on armature spindle installation sensor directly to measure.But cross the installation of multisensor, system can be increased
The complexity of system and operating cost.
Chinese patent 201410564140 " a kind of varying load PMSM Speed adaptive
Answer sliding-mode control " describe the speed governing adaptive sliding-mode observer of a kind of permagnetic synchronous motor
Method.The speed tracking control strategy of the method uses sliding formwork to control, and uses self-adaptive link
Improve system robustness.Owing to sliding mode controller existing HF switch so that motor output turns
There is certain jitter phenomenon in speed.
Chinese patent 201410404242 is " a kind of without the control of sensor PMSM Speed
Strategy " describe a kind of permagnetic synchronous motor sensor speed regulating control strategy, the method is by inspection
Survey the three-phase current of permagnetic synchronous motor, obtain the electricity under alpha-beta coordinate system through Clarke conversion
Stream, converts through Park, it is thus achieved that the electric current under d-q coordinate system, and with the full Wei Guan of current flow configuration
Survey device.But full micr oprocessorism and controller are separated design by the method, thus reduce system
Stability.
Summary of the invention
It is an object of the invention to overcome the shortcoming of prior art, propose a kind of based on reduced dimension observer
Speedless sensor counter push away speed tracking control method.The present invention is used for designing varying load
PMSM speed regulating control strategy, to improve the reliability of PMSM control system, and further
Raising efficiency and reduction operating cost.
The technical scheme is that and be achieved in that: permanent magnet synchronous electric of based on reduced dimension observer
Machine Speedless sensor is counter pushes away control method, comprises the following steps:
1) the sample letter of permagnetic synchronous motor parameter is obtained by systematic parameter on-line identification method
Breath；
2) by step 1) in parameter arrange, and set up permagnetic synchronous motor d-q coordinate
Vector model under Xi；
3) design reduced dimension observer, it is achieved rotor mechanical angle speed and the sight of d shaft current
Survey and reconstruct；
4) export using current of electric and reconstruct angular velocity is as controlling input variable, system is divided
Solve as multiple subsystems and use the anti-control strategy that pushes away to design controller.
As the preferred technical scheme of one, described step 1), at PMSM actual operating mode
Environment is collected relevant parameter sample information, by the relevant ginseng of linear least squares method algorithm identifying motor
Number, described parameter includes that PMSM stator resistance, stator inductance, rotary inertia and viscous are rubbed
Wipe coefficient relevant parameter sample information.
As the preferred technical scheme of one, described step 2), by step 1) in parameter enter
Row arranges, according to mechanics principle and Circuit Theorem, with d-q shaft current, rotor mechanical angle
Speed is as system state variables, and q shaft current exports as system, load torque is as outside
Interference, sets up the vector model under PMSM d-q coordinate system.
As the preferred technical scheme of one, described step 3) the observation of rotor mechanical angle speed
With reconstruct, the observer of employing is dimensionality reduction, and its observer gain method for designing is based on linearly
The method for designing of MATRIX INEQUALITIES.
As the preferred technical scheme of one, described step 4) integrated manipulator design, be
Export using current of electric and reconstruct angular velocity is as controlling input variable, be multiple by system decomposition
Subsystem also uses the anti-control strategy that pushes away to design controller.
Have employed technique scheme, the invention have the benefit that the present invention is for designing change
Load P MSM speed regulating control strategy, to improve the reliability of PMSM control system, goes forward side by side
One step raising efficiency and reduction operating cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing used required in embodiment or description of the prior art will be briefly described, aobvious and
Easily insight, the accompanying drawing in describing below is only some embodiments of the present invention, for this area
From the point of view of those of ordinary skill, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other accompanying drawing.
The controller design flow diagram that Fig. 1 the present invention relates to；
The Control system architecture block diagram that Fig. 2 the present invention relates to.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present invention
Case is clearly and completely described, it is clear that described embodiment is only the present invention one
Divide embodiment rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under not making creative work premise,
Broadly fall into the scope of protection of the invention.
The controller design flow diagram that the present invention relates to is as it is shown in figure 1, the control system related to is tied
Structure block diagram is as shown in Figure 2.Step 1 obtains and identification for parameter of electric machine sample information.Step 2
Carry out PMSM being modeled under d-q coordinate system, obtain system state space equation, wherein
D-q shaft current, motor speed are as system state variables, and q shaft current is as recording system
Output, load torque are as external disturbance.Step 3 carries out Design of Reduced-Order Observers for Lipschitz and variable weight
Structure.Specific design step is as follows:
(1) the PMSM mathematical vector model set up for step 2, carries out controllability structure and divides
Solve；
(2) to surveying subsystem, construct reduced dimension observer, and set up dynamic observation error system
(3) application Lyapunov stability principle and LMI disposal skill, it is thus achieved that reduced dimension observer
Design and method for solving thereof；
(4) utilize reduced dimension observer that not measurable variable is carried out variableReconstruct.
On the basis of step 3 obtains reconstruct variable, step 4 is tracked controller design.Tool
Body design procedure is as follows:
(1) given expectation rotating speed output ω*, define tracking error eω=ω*-ω.Turn in conjunction with motor
Quick-action mechanics observational equation, it is considered to error dynamics subsystemWherein iqDirectly record, ω and id
Respectively byBe given；
(2) for subsystemChoose suitable Lyapunov function and virtual q shaft current functionProcess skilful in conjunction with inequality so that this subsystem Asymptotic Stability；
(3) definition q shaft current tracking errorAnd corresponding error dynamics system
Choose suitable Lyapunov function and q axle stator voltage functionMake subsystemAsymptotic surely
Fixed；
(4) d axle ideal current is setDefinition tracking errorIn conjunction with d axle
Electric current kinetics observational equation, it is considered to error dynamics subsystemWith (1), wherein iqDirectly survey
, ω and idRespectively byBe given；
(5) suitable Lyapunov function and d axle stator voltage function are chosenMake subsystem
Asymptotic Stability.
By above design procedure, reduced order observer method for designing based on LMI can be obtained,
Unlike conventional pole-assignment, the method can be by the LMI work in Matlab
Tool case solves easily.Additionally, anti-virtual current that control strategy obtains, the q axle of pushing away of application is fixed
Sub-voltage, d axle stator voltage input function can make subsystems Asymptotic Stability, so that
Permagnetic synchronous motor realizes electric current and the high precision tracking of expectation rotating speed output.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention,
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made,
Should be included within the scope of the present invention.
Claims (5)
1. permagnetic synchronous motor Speedless sensor based on reduced dimension observer is counter pushes away control method,
It is characterized in that, comprise the following steps:
1) the sample letter of permagnetic synchronous motor parameter is obtained by systematic parameter on-line identification method
Breath；
2) by step 1) in parameter arrange, and set up permagnetic synchronous motor d-q coordinate
Vector model under Xi；
3) design reduced dimension observer, it is achieved rotor mechanical angle speed and the sight of d shaft current
Survey and reconstruct；
4) export using current of electric and reconstruct angular velocity is as controlling input variable, system is divided
Solve as multiple subsystems and use the anti-control strategy that pushes away to design controller.
Permagnetic synchronous motor based on reduced dimension observer the most according to claim 1 is without speed
Sensor is counter pushes away control method for degree, it is characterised in that described step 1), in the actual fortune of PMSM
Row work condition environment is collected relevant parameter sample information, with linear least squares method algorithm identifying motor
Relevant parameter, described parameter include PMSM stator resistance, stator inductance, rotary inertia and
Viscous friction coefficient relevant parameter sample information.
Permagnetic synchronous motor based on reduced dimension observer the most according to claim 1 is without speed
Sensor is counter pushes away control method for degree, it is characterised in that described step 2), by step 1) in
Parameter arranges, according to mechanics principle and Circuit Theorem, with d-q shaft current, rotor
Mechanical angle speed is as system state variables, and q shaft current exports as system, load torque is made
For external disturbance, set up the vector model under PMSM d-q coordinate system.
Permagnetic synchronous motor based on reduced dimension observer the most according to claim 1 is without speed
Sensor is counter pushes away control method for degree, it is characterised in that described step 3) rotor mechanical angle speed
The observation of degree and reconstruct, the observer of employing is dimensionality reduction, and its observer gain method for designing is
Method for designing based on LMI.
Permagnetic synchronous motor based on reduced dimension observer the most according to claim 2 is without speed
Sensor is counter pushes away control method for degree, it is characterised in that described step 4) integrated manipulator set
Meter, be using current of electric output and reconstruct angular velocity as control input variable, by system decomposition
Control strategy design controller is pushed away for multiple subsystems employing are counter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610428704.8A CN105932926B (en) | 2016-06-16 | 2016-06-16 | Permanent magnet synchronous motor Speedless sensor based on reduced dimension observer is counter to push away control method |
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| CN201610428704.8A CN105932926B (en) | 2016-06-16 | 2016-06-16 | Permanent magnet synchronous motor Speedless sensor based on reduced dimension observer is counter to push away control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294137A (en) * | 2017-08-24 | 2017-10-24 | 北方民族大学 | Dual feedback wind power generation system pusher side current transformer is counter to push away variable structure control system and method |
| CN108768238A (en) * | 2018-06-27 | 2018-11-06 | 江南大学 | Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter |
| CN108123648B (en) * | 2017-11-30 | 2020-11-20 | 沈阳工业大学 | Linear servo position tracking control based on linear matrix inequality and sliding mode control |
| CN117498745A (en) * | 2023-11-10 | 2024-02-02 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
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| CN102843089A (en) * | 2012-08-23 | 2012-12-26 | 四川长虹电器股份有限公司 | Control method of permanent magnet synchronous motor (PMSM) for frequency conversion refrigerator |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
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2016
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| CN102843089A (en) * | 2012-08-23 | 2012-12-26 | 四川长虹电器股份有限公司 | Control method of permanent magnet synchronous motor (PMSM) for frequency conversion refrigerator |
| CN103036496A (en) * | 2012-12-12 | 2013-04-10 | 西安理工大学 | Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof |
| CN105227017A (en) * | 2015-10-27 | 2016-01-06 | 青岛远洋船员职业学院 | A kind of method and system for the angle of rake high-order MFAC of boats and ships gondola SSP |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107294137A (en) * | 2017-08-24 | 2017-10-24 | 北方民族大学 | Dual feedback wind power generation system pusher side current transformer is counter to push away variable structure control system and method |
| CN108123648B (en) * | 2017-11-30 | 2020-11-20 | 沈阳工业大学 | Linear servo position tracking control based on linear matrix inequality and sliding mode control |
| CN108768238A (en) * | 2018-06-27 | 2018-11-06 | 江南大学 | Permanent magnet synchronous motor based on LPV observers pushes away control method without sensor is counter |
| CN117498745A (en) * | 2023-11-10 | 2024-02-02 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
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| CN105932926B (en) | 2019-04-09 |
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Effective date of registration: 20230616 Address after: 411199 Shop 7-10, Building 4, Zhongnan Agricultural Machinery Electromechanical Market, No. 199, Tanshao Road, Changcheng Township, Yuhu District, Xiangtan, Hunan Province Patentee after: Hunan Gubo Electromechanical Co.,Ltd. Address before: Donkey pond in Hunan province Xiangtan City Yuhu District 411105 Patentee before: XIANGTAN University |