CN106208859A - PMSM Speed control method based on interference observer Yu repetitive controller - Google Patents

Abstract

The invention discloses a kind of magneto method for controlling speed regulation based on interference observer Yu repetitive controller, described magneto method for controlling speed regulation based on interference observer with repetitive controller builds interference observer to reconstruct the various interference in this system, and be fully compensated during the interference information equivalence of reconstruct to feedback control is inputted, with the suppression interference impact on system；On the basis of feedback control, repetitive controller is introduced forward path, to improve the tracking performance of system.The present invention, by setting up interference observer at position ring, makes the control of position ring not affected by Parameters variation and the external disturbance of permagnetic synchronous motor, thus improves the interference rejection capability of permagnetic synchronous motor.Additionally, with traditional control based on interference observer PID compared with, the Repetitive controller based on interference observer of the present invention ensure that error is floated in the least scope, improves the tracking accuracy of system.

Description

PMSM Speed control method based on interference observer Yu repetitive controller

Technical field

The invention belongs to permagnetic synchronous motor and control technical field, particularly relate to a kind of based on interference observer with repeat control The magneto method for controlling speed regulation of device processed.

Background technology

Along with developing rapidly of modern science and technology, particularly Power Electronic Technique, rare earth permanent-magnetic material, motor controls skill The development of art, the development for AC servo creates advantage, and permanent magnetic synchronous motor AC servo systems is present It is used widely in fields such as industry, national defence, manufacturing industry, household electrical appliance, particularly in robot, precision radar, military Weapon, Digit Control Machine Tool etc. require the highest field to AC servo motor performance, control accuracy, and AC servo is subject to Increasing concern.

The control method of Repetitive controller is derived from internal model principle, it is provided that eliminate the periodicity occurred in dynamical system by mistake Difference, the method improving tracking accuracy.Permagnetic synchronous motor is at a relatively high at workplace permissible accuracy, but during the output of motor stable state Have many interference, and these interference are main based on cyclical signal, if periodic perturbation is not processed by controller, then close Loop systems is extremely difficult to the performance requirement of strong jamming suppression and high precision tracking.

Summary of the invention

It is an object of the invention to provide a kind of magneto speed regulating control based on interference observer Yu repetitive controller Method, it is intended to solve the problem that in conventional control methods, interference rejection capability is not strong and tracking accuracy is the highest.

The present invention is achieved in that a kind of magneto speed regulating control side based on interference observer Yu repetitive controller Method, described magneto method for controlling speed regulation based on interference observer Yu repetitive controller, build interference observer with reconstruct Various interference in this system, and do the input of the interference information equivalence of reconstruct to feedback control carries out being fully compensated with suppression Disturb the impact on system；On the basis of feedback control, repetitive controller is introduced forward path, to improve the tracing property of system Energy.

Further, described magneto method for controlling speed regulation based on interference observer Yu repetitive controller includes following step Rapid:

Step one, collects relevant parameter sample information in permagnetic synchronous motor actual operating mode environment, with a young waiter in a wineshop or an inn Take advantage of the PMSM stator resistance of identification algorithm identifying motor, stator inductance, rotary inertia and viscous friction coefficient relevant parameter Sample information；

Step 2, arranges the sample information of relevant parameter, according to mechanics principle and Circuit Theorem, sets up permanent magnetism same Motor equation under step motor d-q coordinate system；

Step 3, obtains transmitting function for permagnetic synchronous motor motor, derives the model of interference observer；

Step 4, using motor position feedback variable as input variable, designs repetitive controller.

Further, the motor equation of described permagnetic synchronous motor:

$\left\{\begin{array}{c}{u}_{sd}=R_s{i}_{sd}+\frac{d}{dt}{\mathrm{\Φ}}_{sd}-{\mathrm{\ω\Φ}}_{sq}\\ u_{sq}=R_s{i}_{sq}+\frac{d}{dt}{\mathrm{\Φ}}_{sq}-{\mathrm{\ω\Φ}}_{sd}\\ T=\frac{3}{2}p\[{\mathrm{\ψ}}_f{i}_{sq}-(L_d-L_q)i_{sd}{i}_{sq}\]\end{array}\right.;$

Wherein u_sd,u_sqFor d, q axle stator voltage component；i_sd,i_sqFor d, q axle stator current components；Φ_sd,Φ_sqFor d, q Axle stator magnetic linkage component；Φ_sd=L_di_sd+ψ_f, Φ_sq=L_qi_sq；L_d,L_qFor d, q axle axle inductive component；R_sFor stator resistance；ω is The electrical angle speed of motor；ψ_fFor rotor permanent magnet magnetic linkage, it it is a constant；P is number of pole-pairs.

Further, to u_sqCarry out Laplace transform, can obtain after arrangement voltage/current transmission function:

$\frac{I_{sq}}{U_{sq}\left(s\right)-E_f\left(s\right)}=\frac{1}{L_{q}s+R_s}.$

Further, described interference observer Q₁Choosing of (s)；Q₁S () wave filter, relative to component level 3, takes wave filter knot herein Structure:

$Q_1\left(s\right)=\frac{1}{{\mathrm{\τ}}^3{s}^3+3{\mathrm{\τ}}^2{s}^2+3\mathrm{\τ}s+1}.$

Further, described repetitive controller acquisition methods includes:

The closed loop transfer function of repetitive controller is:

$T\left(s\right)=\frac{Y\left(s\right)}{R\left(s\right)}=\frac{C\left(s\right)P\left(s\right)}{1-Q_2\left(s\right)\exp (-Ls)+C\left(s\right)P\left(s\right)};$

Determine the wave filter Q in repetitive controller₂(s), | Q₂(j ω) | near 1, frequency band is the widest, Q₂S () is taken as single order Low pass filter, Q₂(s)=1/ (1+Ts)；

Determine series compensator C (s), make to meet | 1+G (j ω) | ＞ | Q₂(j ω) |,

Another object of the present invention is to provide a kind of and use described permanent magnetism based on interference observer Yu repetitive controller The permanent magnetic synchronous motor AC servo systems of electric machine speed regulation control method.

Another object of the present invention is to provide a kind of robot applying described permanent magnetic synchronous motor AC servo systems Control method.

Another object of the present invention is to provide a kind of accurate thunder applying described permanent magnetic synchronous motor AC servo systems Reach control method.

Another object of the present invention is to provide a kind of numerical control machine applying described permanent magnetic synchronous motor AC servo systems Bed control method.

The magneto method for controlling speed regulation based on interference observer Yu repetitive controller that the present invention provides, by place Put ring and set up interference observer, make the control of position ring not affected by Parameters variation and the external disturbance of permagnetic synchronous motor； By repetitive controller is introduced forward path, system is made to have high-precision tracking performance.With conventional PID control method phase Ratio, the suppression interference performance of system improves 20%, with traditional control based on interference observer PID compared with, the tracking of system Precision improves 15%.

The system structure that the present invention provides is simple, and good stability can be applicable in engineering practice；Setting up permanent magnet synchronous electric On the basis of machine (PMSM) system frequency-domain model, first structure interference observer is to reconstruct the various interference in this system, and incites somebody to action The interference information equivalence of reconstruct carries out in inputting to feedback control being fully compensated to suppress the interference impact on system；In feedback control On the basis of system, forward path introduces repetitive controller, to improve the system tracking ability to periodic input signal；For This coupled system structure, in conjunction with sensitive analysis and small gain theorem, designs controller parameter, it is achieved motor speed exports High precision tracking to desired output signal and the effective suppression to external disturbance.Unlike existing method, this two freedom Disturbance Rejection process and tracing control process can be designed and parameter tuning by degree structure independently, add the flexible of regulation Property.

On the basis of present invention mathematical model under setting up permagnetic synchronous motor (PMSM) d-q coordinate system, by structure Interference observer suppresses the interference impact on system, uses Repetitive Control Technique to improve the degree of accuracy of system, it is achieved forever simultaneously Magnetic-synchro motor (PMSM) tracking of position servo under d-q axial coordinate.On this basis, using the feedback variable of position ring as Control input variable, be that multiple subsystem designs repetitive controller based on interference observer by system decomposition, it is achieved permanent magnetism The purpose of the high precision tracking of synchronous electric machine position servo；Obtain permagnetic synchronous motor by systematic parameter on-line identification method to join The sample information of number；Relevant parameter is arranged, and sets up the vector model under permagnetic synchronous motor d-q coordinate system；Pass through Parameter of electric machine analysis design interference observer, improves system suppression interference performance；Become using motor position feedback as controlling input Amount, uses Repetitive Control design controller, improves systematic tracking accuracy.

Accompanying drawing explanation

Fig. 1 is the magneto speed regulating control side based on interference observer Yu repetitive controller that the embodiment of the present invention provides Method flow chart.

Fig. 2 is the permagnetic synchronous motor control block diagram that the embodiment of the present invention provides.

Fig. 3 is the permagnetic synchronous motor repeated controlling system block diagram based on interference observer that the embodiment of the present invention provides.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to Limit the present invention.

Below in conjunction with the accompanying drawings the application principle of the present invention is explained in detail.

As it is shown in figure 1, the magneto speed regulating control based on interference observer Yu repetitive controller of the embodiment of the present invention Method comprises the following steps:

S101: collect relevant parameter sample information in PMSM actual operating mode environment, use linear least squares method algorithm Identifying motor relevant parameter, such as relevant parameter samples such as PMSM stator resistance, stator inductance, rotary inertia and viscous friction coefficients This information；

S102: arranged by relevant parameter, under suitable assumed condition, according to mechanics principle and Circuit Theorem, sets up Motor equation under PMSM coordinate system；

S103: obtain transmitting function for PMSM motor, derive the model of interference observer；

S104: using motor position feedback variable as input variable, designs repetitive controller.

Below in conjunction with specific embodiment, the application principle of the present invention is further described.

Embodiment 1

Fig. 2 structure chart has set up a permagnetic synchronous motor interference observer control program based on Repetitive controller.

The invention discloses the control method of a kind of permagnetic synchronous motor, comprise the following steps that.

The embodiment of the present invention is collected relevant parameter sample information in PMSM actual operating mode environment and carries out system and distinguish Know, set up the mathematical model under d-q coordinate system according to relevant parameter.The mould of interference observer is gone out for this Derivation of Mathematical Model Type, obtains by system output value and the control input represented by estimated value, thus designs controller.PMSM makees at this controller Under with, motor servo output can carry out high precision tracking to desired output signal.

In the embodiment of the present invention, the repetitive controller method for designing of permagnetic synchronous motor based on interference observer include with Lower concrete steps:

Step 1: collect relevant parameter sample information in PMSM actual operating mode environment, use linear least squares method algorithm Identifying motor relevant parameter, such as relevant parameter samples such as PMSM stator resistance, stator inductance, rotary inertia and viscous friction coefficients This information；

Step 2: arranged by relevant parameter, under suitable assumed condition, according to mechanics principle and Circuit Theorem, sets up Motor equation under PMSM d-q coordinate system；

Step 3: obtain transmitting function for PMSM motor, derive the model of interference observer；

Step 4: using motor position feedback variable as input variable, designs repetitive controller.

In the present embodiment, in described step 1, obtain each parameter of motor.

In the present embodiment, in described step 2, obtain the motor equation of permagnetic synchronous motor:

$\left\{\begin{array}{c}{u}_{sd}=R_s{i}_{sd}+\frac{d}{dt}{\mathrm{\Φ}}_{sd}-{\mathrm{\ω\Φ}}_{sq}\\ u_{sq}=R_s{i}_{sq}+\frac{d}{dt}{\mathrm{\Φ}}_{sq}-{\mathrm{\ω\Φ}}_{sd}\\ T=\frac{3}{2}p\[{\mathrm{\ψ}}_f{i}_{sq}-(L_d-L_q)i_{sd}{i}_{sq}\]\end{array}\right.;$

Wherein u_sd,u_sqFor d, q axle stator voltage component；i_sd,i_sqFor d, q axle stator current components；Φ_sd,Φ_sqFor d, q Axle stator magnetic linkage component；Φ_sd=L_di_sd+ψ_f, Φ_sq=L_qi_sq；L_d,L_qFor d, q axle inductive component；R_sFor stator resistance；ω is electricity The electrical angle speed of machine；ψ_fFor rotor permanent magnet magnetic linkage, it it is a constant；P is number of pole-pairs.

In the present embodiment, described 3 further comprising the steps of:

Step 31: for step 2 equation, for decoupling i_sd,i_sqObtain maximum effective torque simultaneously, generally control i_sd=0, Then model becomes as follows:

$\left\{\begin{array}{c}{u}_{sd}=-{\mathrm{p\ω\Φ}}_{sq}\\ u_{sq}=R_s{i}_{sq}+L_q\frac{d}{dt}{i}_{sq}+{\mathrm{p\ω\ψ}}_f\\ T=\frac{3}{2}{\mathrm{p\ψ}}_f{i}_{sq}\end{array}\right.;$

Owing to there is u_sdComponent, it will produce armature-reaction torque in three-phase permanent synchronous servo motor, make torque There is nonlinear characteristic.But in actual three-phase permanent synchronous servo motor, L_qi_sq≤ψ_f, so armature-reaction impact can Ignore.

Step 32: motor equation is analyzed:

To u_sqCarry out Laplace transform, after arrangement, can obtain voltage, current transfer function:

$\frac{I_{sq}}{U_{sq}\left(s\right)-E_f\left(s\right)}=\frac{1}{L_{q}s+R_s};$

The mechanical equation of PMSM is simultaneously:

It is carried out Laplace transform can obtain:

$\frac{\mathrm{\ω}\left(s\right)}{T\left(s\right)-T_L\left(s\right)}=\frac{1}{Js};$

Control block diagram 3 is drawn by above-mentioned can easily drafting.

Further, Fig. 3 can get open-loop transfer function P (s) of positional servosystem.

Step 33: design interference observer:

The design key of interference observer is nominal plant model G_n(s) and low pass filter Q₁Choosing of (s).Ordinary circumstance Under, name object is exactly actual mathematical model P (s) of controlled system.So it is critical only that Q₁Choosing of (s).

Choose Q₁S () wave filter should make as far as possibleCanonical, in the present embodiment, nominal plant model is three rank transmission letters Number, because Q1 (s) wave filter is relative to component level 3, takes filter construction herein:

$Q_1\left(s\right)=\frac{1}{{\mathrm{\τ}}^3{s}^3+3{\mathrm{\τ}}^2{s}^2+3\mathrm{\τ}s+1}.$

For step 4, design repetitive controller has following steps:

Step 41: the closed loop transfer function of basic repetitive controller is:

$T\left(s\right)=\frac{Y\left(s\right)}{R\left(s\right)}=\frac{C\left(s\right)P\left(s\right)}{1-Q_2\left(s\right)\exp (-Ls)+C\left(s\right)P\left(s\right)};$

Step S42: determine the wave filter Q in repetitive controller₂(s), usually low pass filter, Q in reality₂S () more connects It is bordering on 1, i.e. | Q₂(j ω) | near 1, frequency band is the widest, and system system steady-state error is the least, and trace performance is the best.Generally Q₂ S () is taken as the low pass filter of single order, Q₂(s)=1/ (1+Ts).

Step 43: determine series compensator C (s), makes to meet | 1+G (j ω) | ＞ | Q₂(j ω) |,Work as M_s(j (M when ω) → 0_s(jω)≈1-Q₂S () exp (-jL ω) is system sensitivity amplitude-frequency gain), the sensitivity function of system is very Little, the impact of system will be the least by some characteristic of internal system of then causing because of the change of environmental condition and Parameters variation, because of And improve the robustness of system dynamic characteristic.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.

Claims (10)

1. a magneto method for controlling speed regulation based on interference observer Yu repetitive controller, it is characterised in that described base Magneto method for controlling speed regulation in interference observer with repetitive controller builds interference observer to reconstruct in this system Various interference, and will the interference information equivalence of reconstruct to feedback control input carry out being fully compensated with suppression interference system Impact；On the basis of feedback control, repetitive controller is introduced forward path.

2. magneto method for controlling speed regulation based on interference observer Yu repetitive controller as claimed in claim 1, it is special Levying and be, described magneto method for controlling speed regulation based on interference observer with repetitive controller comprises the following steps:

Step one, collects relevant parameter sample information in permagnetic synchronous motor actual operating mode environment, distinguishes with least square Know the PMSM stator resistance of algorithm identifying motor, stator inductance, rotary inertia and the sample of viscous friction coefficient relevant parameter Information；

Step 2, arranges the sample information of relevant parameter, according to mechanics principle and Circuit Theorem, sets up permanent magnet synchronous electric Motor equation under machine d-q coordinate system；

Step 3, obtains transmitting function for permagnetic synchronous motor motor, derives the model of interference observer；

Step 4, using motor position feedback variable as input variable, designs repetitive controller.

3. magneto method for controlling speed regulation based on interference observer Yu repetitive controller as claimed in claim 2, it is special Levy and be, the motor equation of described permagnetic synchronous motor:

$\left\{\begin{array}{c}{u}_{sd}=R_s{i}_{sd}+\frac{d}{dt}{\mathrm{\Φ}}_{sd}-{\mathrm{\ω\Φ}}_{sq}\\ u_{sq}=R_s{i}_{sq}+\frac{d}{dt}{\mathrm{\Φ}}_{sq}-{\mathrm{\ω\Φ}}_{sd}\\ T=\frac{3}{2}p\[{\mathrm{\ψ}}_f{i}_{sq}-(L_d-L_q)i_{sd}{i}_{sq}\]\end{array}\right.;$

Wherein u_sd,u_sqFor d, q axle stator voltage component；i_sd,i_sqFor d, q axle stator current components；Φ_sd,Φ_sqFixed for d, q axle Sub-magnetic linkage component；Φ_sd=L_di_sd+ψ_f, Φ_sq=L_qi_sq；L_d,L_qFor d, q axle inductive component；R_sFor stator resistance；ω is motor Electrical angle speed；ψ_fFor rotor permanent magnet magnetic linkage, it it is a constant；P is number of pole-pairs.

4. magneto method for controlling speed regulation based on interference observer Yu repetitive controller as claimed in claim 2, it is special Levy and be, to u_sqCarry out Laplace transform, can obtain after arrangement voltage/current transmission function:

$\frac{I_{sq}}{U_{sq}\left(s\right)-E_f\left(s\right)}=\frac{1}{L_{q}s+R_s}.$

5. magneto method for controlling speed regulation based on interference observer Yu repetitive controller as claimed in claim 2, it is special Levy and be, described interference observer Q₁Choosing of (s)；Q₁S () wave filter, relative to component level 3, takes filter construction herein:

$Q_1\left(s\right)=\frac{1}{{\mathrm{\τ}}^3{s}^3+3{\mathrm{\τ}}^2{s}^2+3\mathrm{\τ}s+1}.$

6. magneto method for controlling speed regulation based on interference observer Yu repetitive controller as claimed in claim 2, it is special Levying and be, described repetitive controller acquisition methods includes:

The closed loop transfer function of repetitive controller is:

$T\left(s\right)=\frac{Y\left(s\right)}{R\left(s\right)}=\frac{C\left(s\right)P\left(s\right)}{1-Q_2\left(s\right)\exp (-Ls)+C\left(s\right)P\left(s\right)};$

Determine the wave filter Q in repetitive controller₂(s), | Q₂(j ω) | near 1, frequency band is the widest, Q₂S () is taken as the low pass of single order Wave filter, Q₂(s)=1/ (1+Ts)；

Determine series compensator C (s), make to meet | 1+G (j ω) | ＞ | Q₂(j ω) |,

7. one kind uses magneto speed governing based on interference observer Yu repetitive controller described in claim 1-5 any one The permanent magnetic synchronous motor AC servo systems of control method.

8. the robot control method applying permanent magnetic synchronous motor AC servo systems described in claim 7.

9. the precision radar control method applying permanent magnetic synchronous motor AC servo systems described in claim 7.

10. the Digit Control Machine Tool control method applying permanent magnetic synchronous motor AC servo systems described in claim 7.