CN106655938B - Control system for permanent-magnet synchronous motor and control method based on High-Order Sliding Mode method - Google Patents
Control system for permanent-magnet synchronous motor and control method based on High-Order Sliding Mode method Download PDFInfo
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- CN106655938B CN106655938B CN201710019290.8A CN201710019290A CN106655938B CN 106655938 B CN106655938 B CN 106655938B CN 201710019290 A CN201710019290 A CN 201710019290A CN 106655938 B CN106655938 B CN 106655938B
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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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The present invention relates to a kind of control system for permanent-magnet synchronous motor based on High-Order Sliding Mode method, it is characterized in that, it includes Clark conversion module, Park conversion module, rotary transformer, High-Order Sliding Mode observer, second order supercoil sliding mode controller, first comparator, the second comparator, permanent magnet synchronous motor d shaft current ring pi controller, permanent magnet synchronous motor q shaft current ring pi controller, Park inverse transform module, Pulse width modulation module and inverter；The items that the present invention can fast and effeciently adjust permanent magnet synchronous motor in the case where being interfered output and input parameter, and rapid dynamic response speed, robustness is high, improve the control precision and its reliability of operation of permanent magnet synchronous motor.
Description
Technical field
The present invention relates to permanent magnet synchronous motor technical fields, and in particular to a kind of permanent-magnet synchronous based on High-Order Sliding Mode method
Electric machine control system and control method.
Background technique
In recent years, with the development of rare earth permanent-magnetic material and electric power device, permanent magnet synchronous motor (Permanent
Magnet Synchronous Motor, PMSM) it has been obtained widely with its high-performance, high torque (HT) ratio of inertias and high-energy density
Concern, the especially decline of permanent-magnet material price and the raising of magnetic property, greatly pushed permanent magnet synchronous motor development and
Using.In recent years, in high-precision, the servo-system of wide speed regulating range, permanent magnet synchronous motor system is just playing increasingly heavier
The effect wanted.Permanent magnet synchronous motor is a multivariable, the nonlinear system of close coupling, its application environment is generally complex
And various interference are usually present, exist simultaneously the uncertainties such as Parameter Perturbation, load disturbance.
In existing electric machines control technology, vector controlled is most widely used.Permanent magnet synchronous motor vector controlled is using speed
The double circle structure for ring and the current inner loop of being outside one's consideration, wherein electric current loop generally requires first by three-phase current by synchronously rotating reference frame
Transformation (Direct-quadrature axis transformation, abbreviation dq transformation), then carries out PI respectively
(Proportional-Integral, PI) adjust, using PI adjust result as PWM (Pulse Width Modulation,
Pulse width modulation) modulation input quantity, export control signal through PWM algorithm, complete control to motor.Speed ring generally adds
Enter some control strategies, recently as modern control theory, electric power device and power electronic technique and other related
The further development of science, many speed adjustment strategies about permanent magnet synchronous motor speed ring are suggested one after another, such as PREDICTIVE CONTROL, certainly
Suitable solution, ANN Control, fuzzy control etc..Nevertheless, traditional vector control electric motor dynamic response is slower, and
The parameter of electric machine can change with operating condition load etc. in operational process, i.e. load disturbance etc., and then will affect the control of motor
Precision.
Summary of the invention
The purpose of the present invention is to provide a kind of control system for permanent-magnet synchronous motor based on High-Order Sliding Mode method and controls
Method, the system and method can fast and effeciently adjust every input of permanent magnet synchronous motor and defeated in the case where being interfered
Parameter out, rapid dynamic response speed, robustness is high, improves the control precision and its reliability of operation of permanent magnet synchronous motor.
In order to solve the above technical problems, a kind of permanent magnet synchronous motor control based on High-Order Sliding Mode method disclosed by the invention
System, which is characterized in that it includes Clark conversion module, Park conversion module, rotary transformer, High-Order Sliding Mode observer, two
Rank supercoil sliding mode controller, first comparator, the second comparator, permanent magnet synchronous motor d shaft current ring pi controller,
Permanent magnet synchronous motor q shaft current ring pi controller, Park inverse transform module, Pulse width modulation module and inverter；
Wherein, the rotor parameter output end of the input terminal connection permanent magnet synchronous motor of rotary transformer, rotary transformer
The rotor position data input terminal of rotor-position output end connection Park conversion module；The rotor velocity data of rotary transformer
Output end connects the rotor velocity data input pin of High-Order Sliding Mode observer, the observation interference value output of High-Order Sliding Mode observer
The observation interference value input terminal of end connection second order supercoil sliding mode controller；The rotor velocity data output end of rotary transformer
It is also connected with the rotor velocity input terminal of second order supercoil sliding mode controller；The reference data of second order supercoil sliding mode controller is defeated
Enter end for receiving preset permanent magnet synchronous motor given rotating speed；The second ratio of output end connection of second order supercoil sliding mode controller
Compared with the reference data input terminal of device, the output end of second order supercoil sliding mode controller is also connected with the observation number of High-Order Sliding Mode observer
According to input terminal；
The current output terminal of the input terminal connection permanent magnet synchronous motor of the Clark conversion module, the Clark convert mould
The input terminal of the output end connection Park conversion module of block；
The feedback input end of the permanent magnet synchronous motor d shaft current output end connection first comparator of Park conversion module, the
For the input terminal of one comparator for inputting permanent magnet synchronous motor d axis reference current, the output end of first comparator is same by permanent magnetism
Walk the permanent magnet synchronous motor d shaft voltage input terminal of motor d shaft current ring pi controller connection Park inverse transform module；
The permanent magnet synchronous motor q shaft current output end of Park conversion module connects the feedback input end of the second comparator, the
The output end of two comparators connects Park inverse transform module forever by permanent magnet synchronous motor q shaft current ring pi controller
Magnetic-synchro motor q shaft voltage input terminal；
The input terminal of the output end connection Pulse width modulation module of Park inverse transform module, Pulse width modulation module
Output end connects the input terminal of inverter, the three-phase voltage input terminal of the output end connection permanent magnet synchronous motor of inverter.
A kind of method for controlling permanent magnet synchronous motor using above system, which is characterized in that it includes the following steps：
Step 1：Acquire rotor position, the rotor machinery angular velocity omega of permanent magnet synchronous motormWith three-phase current ia、ibWith
ic, to the three-phase current i of permanent magnet synchronous motora、ibAnd icClark transformation and Park transformation are successively carried out, permanent magnet synchronous electric is obtained
Equivalent current i of the machine under dq axis coordinate systemdAnd iq, (as shown in Figure 1, defined along permanent magnet flux linkage vector and its vertical direction one
Plant the coordinate system with motor synchronous rotary)；
Step 2：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor of acquisitionmIt is given with preset permanent magnet synchronous motor
Revolving speedIt brings second order supercoil sliding mode controller into and obtains controller output valve and be：
Wherein, ωmFor actual rotor machinery angular speed,To give rotor mechanical angle speed,For ωmSingle order
Derivative,ForFirst derivative,ForDerivative, c be sliding formwork control design parameter, B be permanent magnet synchronous motor friction
Damped coefficient, J are the rotary inertia of permanent magnet synchronous motor, kpFor permanent magnet synchronous motor q shaft current ring proportional integration
(Proportional-Integral, PI) controller proportionality coefficient, kiFor permanent magnet synchronous motor q shaft current ring proportional integration control
Device integral coefficient processed, λ1,λ2For to system dynamic response capability and the relevant supercoil sliding formwork parameter of interference size, turn according to σ
The sliding variable of fast error and its derivative design, sgn () are sign function, and u is the controller of second order supercoil sliding mode controller
Output valve, τ are time of integration variable；
Step 3：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor of acquisitionmThe second order supercoil obtained with step 2
The controller output valve u of sliding mode controller is input to High-Order Sliding Mode observer and obtains disturbance-observer value：
Wherein,For motor speed ωmFirst derivative,For motor speed ωmObservation, ωmIt is actual turn
Handset tool angular speed,ForFirst derivative,ForDerivative,For disturbance-observer valueDerivative, k1,
k2,k3The constant being positive, wherein k1Determine observer convergence rate, k2Size determined by electric system maximum interference, k3By
The decision of system interference maximum rate of change,For speed error, B is permanent magnet synchronous motor frictional damping coefficient, kpFor
Permanent magnet synchronous motor q shaft current ring pi controller proportionality coefficient, J are the rotary inertia of permanent magnet synchronous motor, kiFor forever
Magnetic-synchro motor q shaft current ring pi controller integral coefficient, observer available each physical quantity when stablizing are accurate
Observation；
Step 4：The observation interference value that will be observed in step (3)Bring the second order supercoil sliding formwork control of step (2) into
The controller output valve formula of device processed obtains the controller final output value U of second order supercoil sliding mode controller：
Step 5：The controller final output value U combination permanent magnet synchronous motor of second order supercoil sliding mode controller is based on revolving speed
Second-order model, obtain the q axis reference current of permanent magnet synchronous motorFor：
Wherein, U is the controller final output value of second order supercoil sliding mode controller, kpFor permanent magnet synchronous motor q axis electricity
Ring pi controller proportionality coefficient is flowed, J is the rotary inertia of permanent magnet synchronous motor (13), kf=1.5npψf/ J is intermediate becomes
Amount, kiFor permanent magnet synchronous motor q shaft current ring pi controller integral coefficient, s is Laplace operator, npIndicate that permanent magnetism is same
Walk the number of pole-pairs of motor, ψfIndicate the rotor flux of permanent magnet synchronous motor；
Step 6：By the d axis reference current of permanent magnet synchronous motorWith the q axis reference current of permanent magnet synchronous motorRespectively with
Equivalent current i under permanent magnet synchronous motor dq axis coordinate systemdAnd iqAfter making difference, carries out proportional plus integral control and obtain permanent magnet synchronous electric
Input voltage u of the machine under dq axis coordinate systemdAnd uq；
Step 7：To input voltage u of the permanent magnet synchronous motor under dq axis coordinate systemdAnd uqPark inverse transformation is carried out, is obtained
Input voltage u of the permanent magnet synchronous motor under α β axis coordinate systemαAnd uβ, by uαAnd uβIt is wide by sinusoidal impulse as carrier signal
Degree modulation (Sinusoidal Pulse Width Modulation, SPWM) obtains the switch controlled signal of inverter, will be inverse
The switch controlled signal for becoming device is input to inverter control circuit, controls leading for the insulated gate bipolar transistor in inverter
Logical and shutdown, and then the three-phase input voltage of permanent magnet synchronous motor is exported, driving permanent magnet synchronous motor, which is pressed, gives rotor mechanical angle
SpeedOperation.
The above technical scheme conceived by the present invention compared with prior art, has the advantages that：
(1) derivation of permanent magnet synchronous motor second-order model and the use of second order supercoil sliding formwork control, greatly enhance
Control system for permanent-magnet synchronous motor anti-interference ability, while significantly reducing buffeting.Using second order or higher order sliding formwork control
When method processed, the discontinuous section of control amount is present among the higher differentiation of sliding variable, and the control law of design can to slide
Moding amount and its each differential (higher differentiation) amount all converge to zero in stable state.The output quantity of second order or high_order sliding mode control device
For discontinuous higher differentiation amount integral or repeatedly integrate as a result, being therefore continuous.Also due to being deposited in control process
It is integrating, is quickly generating very big control input quantity when then can be interfered in system and generate control error, in this way
The anti-interference ability of system greatly enhances.
(2) compensation of High-Order Sliding Mode disturbance-observer is in conjunction with second order supercoil sliding formwork control, in permanent magnet synchronous motor vector control
The speed ring of system processed introduces Second Order Sliding Mode Control method, and observes interference based on High-Order Sliding Mode observation method, while dry
It disturbs observation feedforward compensation and gives Second Order Sliding Mode Control device, obtained relatively stable q axis reference current；It is managed according to vector controlled
By permanent magnet synchronous motor output torque and q axis reference current are in direct ratio, and then the output quantities such as revolving speed for making permanent magnet synchronous motor
Setting value, and the sound of other such as torques, three-phase output electric current output quantity can be followed or are maintained under complicated operating condition
Speed and stability is answered to be obviously improved, robustness is significantly improved.
(3) High-Order Sliding Mode observer of the invention has adaptive low-pass filters characteristic, can be with electric system
Variation automatic adjustment low-pass filter bandwidth, effectively filters out high frequency buffeting, keeps each intermediate physical amount more smooth, effectively solve
Sliding formwork control buffets problem, improves permanent magnet synchronous motor system reliability of operation.
(4) present invention not only includes a kind of this Second Order Sliding Mode Control method of supercoil sliding formwork, other Second Order Sliding Mode Controls
Method such as Twisting algorithm, Sub-optimal algorithm, Prescribed Convergence algorithm and Quasi-
Continuous Control algorithm etc. can be brought directly to control design case and formula of the invention and be realized.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Fig. 2 is coordinate transform schematic diagram；
Fig. 3 is the speed waveform figure of permanent magnet synchronous motor；
Fig. 4 is the output torque figure of permanent magnet synchronous motor；
Fig. 5 is that permanent magnet synchronous motor revolving speed ring controller output q shaft current reference value is intended to.
Wherein, 1-Clark conversion module, 2-Park conversion modules, 3-rotary transformers, the observation of 4-High-Order Sliding Modes
Device, 5-second order supercoil sliding mode controllers, 6-first comparators, the 7-the second comparator, 8-permanent magnet synchronous motor d shaft currents
Ring pi controller, 9-permanent magnet synchronous motor q shaft current ring pi controllers, 10-Park inverse transform modules,
11-Pulse width modulation modules, 12-inverters, 13-permanent magnet synchronous motors.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
A kind of control system for permanent-magnet synchronous motor based on High-Order Sliding Mode method of the invention, it includes Clark transformation mould
Block 1, Park conversion module 2, rotary transformer 3, High-Order Sliding Mode observer 4, second order supercoil sliding mode controller 5, first compare
Device 6, the second comparator 7, permanent magnet synchronous motor d shaft current ring pi controller 8, permanent magnet synchronous motor q shaft current ring ratio
Example integral controller 9, Park inverse transform module 10, Pulse width modulation module 11 and inverter 12；
Wherein, the rotor parameter output end of the input terminal connection permanent magnet synchronous motor 13 of rotary transformer 3, rotary transformer
The rotor position data input terminal of 3 rotor-position output end connection Park conversion module 2；The rotor angle speed of rotary transformer 3
The rotor velocity data input pin of data output end connection High-Order Sliding Mode observer 4 is spent, the observation of High-Order Sliding Mode observer 4 is dry
Disturb the observation interference value input terminal of value output end connection second order supercoil sliding mode controller 5；The rotor velocity of rotary transformer 3
Data output end is also connected with the rotor velocity input terminal of second order supercoil sliding mode controller 5；Second order supercoil sliding mode controller 5
Reference data input terminal for receiving preset permanent magnet synchronous motor given rotating speed；Second order supercoil sliding mode controller 5 it is defeated
Outlet connects the reference data input terminal of the second comparator 7, and it is sliding that the output end of second order supercoil sliding mode controller 5 is also connected with high-order
The observation data input pin of mould observer 4；
The current output terminal of the input terminal connection permanent magnet synchronous motor 13 of the Clark conversion module 1, the Clark become
Change the mold the input terminal of the output end connection Park conversion module 2 of block 1；
The feedback input end of the permanent magnet synchronous motor d shaft current output end connection first comparator 6 of Park conversion module 2,
The input terminal of first comparator 6 is for inputting permanent magnet synchronous motor d axis reference current, and the output end of first comparator 6 is by forever
The permanent magnet synchronous motor d shaft voltage that magnetic-synchro motor d shaft current ring pi controller 8 connects Park inverse transform module 10 is defeated
Enter end；
The permanent magnet synchronous motor q shaft current output end of Park conversion module 2 connects the feedback input end of the second comparator 7,
The output end of second comparator 7 connects Park inverse transform module by permanent magnet synchronous motor q shaft current ring pi controller 9
10 permanent magnet synchronous motor q shaft voltage input terminal；
The input terminal of the output end connection Pulse width modulation module 11 of Park inverse transform module 10, pulse width modulate mould
The input terminal of the output end connection inverter 12 of block 11, the three-phase voltage of the output end connection permanent magnet synchronous motor 13 of inverter 12
Input terminal.
The course of work of the above-mentioned control system for permanent-magnet synchronous motor based on High-Order Sliding Mode method is：Acquire permanent magnet synchronous electric
The rotor position of machine, rotor velocity ωmWith three-phase current ia、ibAnd ic(rotary transformer 3 collects permanent magnet synchronous motor
Rotor position, rotor velocity ωm, the acquisition of Clark conversion module 1 three-phase current ia、ibAnd ic), 1 He of Clark conversion module
Three-phase current i of the Park conversion module 2 to permanent magnet synchronous motor 13a、ibAnd icClark transformation and Park transformation are carried out, is obtained forever
Equivalent current i of the magnetic-synchro motor 13 under dq axis coordinate systemdAnd iq；Second order supercoil sliding mode controller 5 utilizes the permanent magnetism acquired
The rotor machinery angular velocity omega of synchronous motor 13mWith given reference velocityShow that q axis gives reference currentHigh-Order Sliding Mode
Observer 4 utilizes the rotor machinery angular velocity omega of the permanent magnet synchronous motor 13 of acquisitionmIt is defeated with second order supercoil sliding mode controller 5
Out, the interference d (t) of control system for permanent-magnet synchronous motor is obtained；Using the interference observed to second order supercoil sliding mode controller 5
It compensates, and then obtains the q axis reference current of permanent magnet synchronous motor using second-order modelFirst comparator 6 and the second ratio
Compared with device 7 by the d axis reference current of preset permanent magnet synchronous motorWith the q axis reference current of permanent magnet synchronous motorRespectively and forever
Equivalent current i of the magnetic-synchro motor under dq axis coordinate systemdAnd iqIt is poor to make, and difference passes through permanent magnet synchronous motor d shaft current ring ratio
Integral controller 8, permanent magnet synchronous motor q shaft current ring pi controller 9 carry out proportional integration (PI) control and obtain permanent magnetism
Input voltage u of the synchronous motor 13 under dq axis coordinate systemdAnd uq；Park inverse transform module 10 is to udAnd uqCarry out Park inversion
The three-phase input voltage that permanent magnet synchronous motor 13 is obtained to Pulse width modulation module 11 and inverter 12 is sequentially output after changing,
Permanent magnet synchronous motor 13 is driven to run.
The present invention is based on MATLAB softwares to build simulation model, by the control method of above-mentioned permanent magnet synchronous motor and based on biography
The control method of system TSM control (Terminal Sliding Mode Control, TSMC) is compared.It should manage
Solution, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
The parameter of the permanent magnet synchronous motor of use is as follows：Number of pole-pairs np=3, rated power P=3kW, rated current IN=
6.8A, stator resistance Rs=0.8 Ω, axis inductor LqWith d-axis inductance LdFor：Lq=Ld=0.016H, damped coefficient B=7.403
×10-5Nms/rad, torque inertia J=3.78 × 10-4kg·m2, rotor flux ψf=0.35wb.Fig. 3 is permanent-magnet synchronous
The speed waveform figure of motor, Fig. 4 are the output torque schematic diagram of permanent magnet synchronous motor, and Fig. 5 is the control of permanent magnet synchronous motor der Geschwindigkeitkreis
Device processed exports q shaft current reference value schematic diagram.Wherein, black solid line indicates the emulation knot using the control method observed based on sliding formwork
Fruit, grey dashed line indicate to use the simulation result of TSMC method.
As can be seen that High-Order Sliding Mode observation combines the simulation result of the method for Second Order Sliding Mode Control imitative with respect to TSMC method
True result is obviously smooth, and speed and torque responsing speed are fast, and overshoot is small, can comparatively fast tend towards stability.It is prominent in 0.15s and 0.3s
When being so added and shed load torque, High-Order Sliding Mode observation is enable to respond quickly in conjunction with Second Order Sliding Mode Control, exports turning for needs
Square, revolving speed follows reference rotation velocity quickly, and the fluctuation of traditional sliding formwork control is larger.Therefore, control method of the invention can make
The operation characteristic of permanent magnet synchronous motor is obviously improved.
A kind of method for controlling permanent magnet synchronous motor using above system, it includes the following steps：
Step 1：Acquire rotor position, the rotor machinery angular velocity omega of permanent magnet synchronous motor 13mWith three-phase current ia、ibWith
ic, to the three-phase current i of permanent magnet synchronous motor 13a、ibAnd icUsing Clark conversion module 1 and Park conversion module 2 successively into
Row Clark transformation and Park transformation, obtain equivalent current i of the permanent magnet synchronous motor 13 under dq coordinate systemdAnd iq；
According to vector control theory, each physical quantity of permanent magnet synchronous motor is required by coordinate transform, finally in dq
It is controlled under coordinate system, coordinate transform is as shown in Figure 2.
Clark transformation：
Park transformation：
Park inverse transformation：
Wherein, iαAnd iβIt is the equivalent current under two-phase stationary coordinate system (abbreviation α β coordinate system), ia、ibAnd icFor permanent magnetism
The three-phase current of synchronous motor 13, idAnd iqFor equivalent current of the permanent magnet synchronous motor 13 under dq axis coordinate system, θ is that permanent magnetism is same
Walk the rotor-position of motor 13；
Set the reference rotor machinery angular speed of permanent magnet synchronous motor 13With d axis reference currentWherein,
Given rotor velocityIt can be constant, can also change over time；
Step 2：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor 13 of acquisitionmIt is given with preset permanent magnet synchronous motor
Determine revolving speedIt brings second order supercoil sliding mode controller 5 into and obtains controller output valve and be：
Wherein, ωmFor actual rotor machinery angular speed,To give rotor mechanical angle speed,For ωmSingle order
Derivative,ForFirst derivative,ForDerivative, c be sliding formwork control design parameter, B be permanent magnet synchronous motor friction
Damped coefficient, J are the rotary inertia of permanent magnet synchronous motor, kpFor permanent magnet synchronous motor q shaft current ring proportional integration
(Proportional-Integral, PI) controller proportionality coefficient, kiFor permanent magnet synchronous motor q shaft current ring proportional integration control
Device integral coefficient processed, λ1,λ2For to system dynamic response capability and the relevant supercoil sliding formwork parameter of interference size, turn according to σ
The sliding variable of fast error and its derivative design, sgn () are sign function, and u is the controller of second order supercoil sliding mode controller
Output valve, τ are time of integration variable；
Step 3：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor 13 of acquisitionmThe super spiral shell of second order obtained with step 2
The controller output valve u of rotation sliding mode controller 5 is input to High-Order Sliding Mode observer 4 and obtains disturbance-observer value：
Wherein,For motor speed ωmFirst derivative,For motor speed ωmObservation, ωmIt is actual turn
Handset tool angular speed,ForFirst derivative,ForDerivative,For disturbance-observer valueDerivative, k1,
k2,k3The constant being positive, wherein k1Determine observer convergence rate, k2Size determined by electric system maximum interference, k3By
The decision of system interference maximum rate of change,For speed error, B is permanent magnet synchronous motor frictional damping coefficient, kpFor
Permanent magnet synchronous motor q shaft current ring pi controller proportionality coefficient, J are the rotary inertia of permanent magnet synchronous motor, kiFor forever
Magnetic-synchro motor q shaft current ring pi controller integral coefficient, observer available each physical quantity when stablizing are accurate
Observation；
Step 4：The observation interference value that will be observed in step 3Bring the second order supercoil sliding mode controller of step 2 into
5 controller output valve formula obtains the controller final output value U of second order supercoil sliding mode controller 5：
Step 5：The controller final output value U combination permanent magnet synchronous motor of second order supercoil sliding mode controller 5 is based on turning
The second-order model of speed, obtains the q axis reference current of permanent magnet synchronous motorFor：
Wherein, U is the controller final output value of second order supercoil sliding mode controller 5, kpFor permanent magnet synchronous motor q axis electricity
Ring pi controller proportionality coefficient is flowed, J is the rotary inertia of permanent magnet synchronous motor 13, kf=1.5npψf/ J is intermediate becomes
Amount, kiFor permanent magnet synchronous motor q shaft current ring pi controller integral coefficient, s is Laplace operator, npFor permanent-magnet synchronous
The number of pole-pairs of motor, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor；
Step 6：By the d axis reference current of permanent magnet synchronous motorWith the q axis reference current of permanent magnet synchronous motor respectively with
Equivalent current i under permanent magnet synchronous motor dq axis coordinate systemdAnd iqAfter making difference, carries out proportional plus integral control and obtain permanent magnet synchronous electric
Input voltage u of the machine 13 under dq axis coordinate systemdAnd uq；
Step 7：To input voltage u of the permanent magnet synchronous motor 13 under dq axis coordinate systemdAnd uqPark inverse transformation is carried out, is obtained
To input voltage u of the permanent magnet synchronous motor 13 under α β axis coordinate systemαAnd uβ, by uαAnd uβAs carrier signal, pass through positive taut pulse
It rushes width modulated (Sinusoidal Pulse Width Modulation, SPWM) and obtains the switch controlled letter of inverter 12
Number, the switch controlled signal of inverter 12 is input to 12 control circuit of inverter, controls the switching device in inverter 12
Turn-on and turn-off, and then export the three-phase input voltage of permanent magnet synchronous motor 13, driving permanent magnet synchronous motor 13 is turned as given
Handset tool angular speedOperation.
Since permanent magnet synchronous motor system sampling frequency is very high by (104The order of magnitude), in order to meet wanting for dynamic performance
It asks, takes into account interference and its change rate, in the above-mentioned technical solutions, the λ1The value order of magnitude is 103~106Between, λ2Value
The order of magnitude is 10-2~101Between；The kp、kiThe value order of magnitude be 10-4~10-1Between.
In above-mentioned technical proposal, second order supercoil sliding mode controller specific derivation process is as follows：
State equation under permanent magnet synchronous motor dq shafting
Wherein, RsFor the stator resistance of permanent magnet synchronous motor 13, LdFor the d-axis inductance of permanent magnet synchronous motor 13, LqFor forever
The axis inductor of magnetic-synchro motor 13, udAnd uqFor the d axis and q axis stator voltage of permanent magnet synchronous motor 13, TLFor permanent magnet synchronous electric
The load torque of machine 13, B are the intrinsic frictional damping coefficient of permanent magnet synchronous motor 13,WithRespectively idAnd iqSingle order lead
Number, npIndicate the number of pole-pairs of permanent magnet synchronous motor, ψfIndicate that the rotor flux of permanent magnet synchronous motor, J are solid for permanent magnet synchronous motor 13
Some rotary inertias；
Laplace transformation is carried out to third equation in the state equation under permanent magnet synchronous motor dq shafting：
Wherein, iq(s) byWith uq(s) indicating and bring formula (3) into must：
Wherein, s is Laplace operator；
Above formula both sides simultaneously multiplied byI.e.：
Inverse Laplace transform is carried out to above formula：
It enables?：
Final second-order system：
It enables
It can obtainPermanent magnet synchronous motor is derived as second-order system in this way, and f (t) is system function portion
Point, d (t) is distracter, defines permanent magnet synchronous motor second order speed-regulating system state variable x1,x2For：
As permanent magnet synchronous motor Second Order state equation.Designing sliding variable is：
Carrying out derivation to sliding variable can obtain：
Second order supercoil sliding mode control algorithm form is：
Super-twisting algorithm combination sliding mode design method, then Second Order Sliding Mode Control, which is restrained, is：
In conjunction with permanent magnet synchronous motor Second Order state equation, can obtain：
The Second Order Sliding Mode Control device based on super-twisting algorithm is designed as in this way：
D (t) is interference, it will is observed, and carried out to sliding mode controller anti-with High-Order Sliding Mode observer in next step
Feedback compensation.
In above-mentioned technical proposal, High-Order Sliding Mode observer derivation process is as follows：
It is assumed that the most common band interferes second order double integral system：
Y=x1 (17)
Wherein x1,x2For above-mentioned hypothesis system state variables, y is output, ρ1For interference.In order to observe each shape of this system
State amount, High-Order Sliding Mode observer can be written as：
Wherein z1,z2,z3For correction term.Define error varianceCorrection term mathematical expression
Formula is：
z3=k3sign(e1) (19)
Wherein k1、k2、k3The constant that symbol is positive.Systematic observation error side can be obtained in conjunction with formula (17), (18) and (19)
Journey：
New variable is redefined nowSystem interference ρ is assumed simultaneously1Meet Lipschitz condition,
AndΔ1The constant being positive.Observer can further genralrlization be：
Defined variableIt observes respectivelyIn conjunction with permanent magnet synchronous motor second-order system, permanent magnetism can be obtained
Synchronous motor High-Order Sliding Mode observer：
Bring each physical quantity into, the High-Order Sliding Mode observer of final permanent magnet synchronous motor is：
According to above,For speed observation valueFirst derivative,ForDerivative,For observation interferenceDerivative, they are respectively corresponded
The present invention can overcome the various interference that permanent magnet synchronous motor 13 faces under complex working condition, its control dynamic is caused to be rung
Should slow, control effect difference defect, provide a kind of rapid dynamic response speed, strong antijamming capability, control permanent magnetism with high accuracy
Synchronous motor control method.This method can not only realize the accurate control of permanent magnet synchronous motor, and can be in speed change, variable load
The quick response of Shi Shixian permanent magnet synchronous motor.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (3)
1. a kind of method for controlling permanent magnet synchronous motor using the control system for permanent-magnet synchronous motor based on High-Order Sliding Mode method, base
Include Clark conversion module (1), Park conversion module (2), rotate in the control system for permanent-magnet synchronous motor of High-Order Sliding Mode method
Transformer (3), High-Order Sliding Mode observer (4), second order supercoil sliding mode controller (5), first comparator (6), the second comparator
(7), permanent magnet synchronous motor d shaft current ring pi controller (8), permanent magnet synchronous motor q shaft current ring proportional plus integral control
Device (9), Park inverse transform module (10), Pulse width modulation module (11) and inverter (12)；
Wherein, the rotor parameter output end of input terminal connection permanent magnet synchronous motor (13) of rotary transformer (3), rotary transformer
(3) the rotor position data input terminal of rotor-position output end connection Park conversion module (2)；Rotary transformer (3) turns
The rotor velocity data input pin of sub- angular velocity data output end connection High-Order Sliding Mode observer (4), High-Order Sliding Mode observer
(4) the observation interference value input terminal of observation interference value output end connection second order supercoil sliding mode controller (5)；Rotary transformer
(3) rotor velocity data output end is also connected with the rotor velocity input terminal of second order supercoil sliding mode controller (5)；Second order
The reference data input terminal of supercoil sliding mode controller (5) is for receiving preset permanent magnet synchronous motor given rotating speed；Second order is super
The reference data input terminal of the output end connection the second comparator (7) of spiral sliding mode controller (5), second order supercoil sliding formwork control
The output end of device (5) is also connected with the observation data input pin of High-Order Sliding Mode observer (4)；
The current output terminal of input terminal connection permanent magnet synchronous motor (13) of the Clark conversion module (1), the Clark become
Change the mold the input terminal of output end connection Park conversion module (2) of block (1)；
The feedback input end of permanent magnet synchronous motor d shaft current output end connection first comparator (6) of Park conversion module (2),
For the input terminal of first comparator (6) for inputting permanent magnet synchronous motor d axis reference current, the output end of first comparator (6) is logical
Cross the permanent magnet synchronous motor d of permanent magnet synchronous motor d shaft current ring pi controller (8) connection Park inverse transform module (10)
Shaft voltage input terminal；
The feedback input end of the permanent magnet synchronous motor q shaft current output end connection the second comparator (7) of Park conversion module (2),
The output end of second comparator (7) connects Park inverse transformation by permanent magnet synchronous motor q shaft current ring pi controller (9)
The permanent magnet synchronous motor q shaft voltage input terminal of module (10)；
The input terminal of output end connection Pulse width modulation module (11) of Park inverse transform module (10), pulse width modulate mould
The input terminal of output end connection inverter (12) of block (11), output end connection permanent magnet synchronous motor (13) of inverter (12)
Three-phase voltage input terminal；
It is characterized in that：Method for controlling permanent magnet synchronous motor includes the following steps：
Step 1：Acquire rotor position, the rotor machinery angular velocity omega of permanent magnet synchronous motor (13)mWith three-phase current ia、ibAnd ic,
To the three-phase current i of permanent magnet synchronous motor (13)a、ibAnd icClark transformation and Park transformation are successively carried out, permanent-magnet synchronous is obtained
Equivalent current i of the motor (13) under dq axis coordinate systemdAnd iq；
Step 2：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor (13) of acquisitionmIt is given with preset permanent magnet synchronous motor
Revolving speedIt brings second order supercoil sliding mode controller (5) into and obtains controller output valve and be：
Wherein, ωmFor actual rotor machinery angular speed,To give rotor mechanical angle speed,For ωmFirst derivative,ForFirst derivative,ForDerivative, c be sliding formwork control design parameter, B be permanent magnet synchronous motor frictional damping
Coefficient, J are the rotary inertia of permanent magnet synchronous motor, kpFor permanent magnet synchronous motor q shaft current ring pi controller ratio system
Number, kiFor permanent magnet synchronous motor q shaft current ring pi controller integral coefficient, λ1,λ2For with system dynamic response capability and
The relevant supercoil sliding formwork parameter of size is interfered, σ is the sliding variable designed according to speed error and its derivative, and sgn () is symbol
Number function, u are the controller output valve of second order supercoil sliding mode controller, and τ is time of integration variable；
Step 3：By the rotor machinery angular velocity omega of the permanent magnet synchronous motor (13) of acquisitionmThe second order supercoil obtained with step (2)
The controller output valve u of sliding mode controller (5) is input to High-Order Sliding Mode observer (4) and obtains disturbance-observer value：
Wherein,For motor speed ωmFirst derivative,For motor speed ωmObservation, ωmFor actual rotor machine
Tool angular speed,ForFirst derivative,ForDerivative,For disturbance-observer valueDerivative, k1,k2,k3
The constant being positive, wherein k1Determine observer convergence rate, k2Size determined by electric system maximum interference, k3By system
Maximum rate of change is interfered to determine,For speed error, B is permanent magnet synchronous motor frictional damping coefficient, kpFor permanent magnetism
Synchronous motor q shaft current ring pi controller proportionality coefficient, J are the rotary inertia of permanent magnet synchronous motor, kiIt is same for permanent magnetism
Motor q shaft current ring pi controller integral coefficient is walked, observer available each physical quantity when stablizing accurately is seen
Measured value；
Step 4：The observation interference value that will be observed in step (3)Bring the second order supercoil sliding mode controller of step (2) into
(5) controller output valve formula obtains the controller final output value U of second order supercoil sliding mode controller (5)：
Step 5：The controller final output value U combination permanent magnet synchronous motor of second order supercoil sliding mode controller (5) is based on revolving speed
Second-order model, obtain the q axis reference current of permanent magnet synchronous motorFor：
Wherein, U is the controller final output value of second order supercoil sliding mode controller (5), kpFor permanent magnet synchronous motor q shaft current
Ring pi controller proportionality coefficient, J are the rotary inertia of permanent magnet synchronous motor (13), kf=1.5npψf/ J is intermediate becomes
Amount, kiFor permanent magnet synchronous motor q shaft current ring pi controller integral coefficient, s is Laplace operator, npFor permanent-magnet synchronous
The number of pole-pairs of motor, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor；
Step 6：By the d axis reference current of permanent magnet synchronous motorWith the q axis reference current of permanent magnet synchronous motorRespectively with permanent magnetism
Equivalent current i under synchronous motor (13) dq axis coordinate systemdAnd iqAfter making difference, carries out proportional plus integral control and obtain permanent magnet synchronous electric
Input voltage u of the machine (13) under dq axis coordinate systemdAnd uq；
Step 7：To input voltage u of the permanent magnet synchronous motor (13) under dq axis coordinate systemdAnd uqPark inverse transformation is carried out, is obtained
Input voltage u of the permanent magnet synchronous motor (13) under α β axis coordinate systemαAnd uβ, by uαAnd uβAs carrier signal, pass through positive taut pulse
It rushes width modulated and obtains the switch controlled signal of inverter (12), the switch controlled signal of inverter (12) is input to inverse
Become device (12) control circuit, the turn-on and turn-off of the insulated gate bipolar transistor in control inverter (12), and then exports forever
The three-phase input voltage of magnetic-synchro motor (13), driving permanent magnet synchronous motor (13) press and give rotor mechanical angle speedOperation.
2. method for controlling permanent magnet synchronous motor according to claim 1, it is characterised in that：The λ1The value order of magnitude is
103~106Between, λ2The value order of magnitude is 10-2~101Between.
3. method for controlling permanent magnet synchronous motor according to claim 1, it is characterised in that：The kp、kiThe value order of magnitude
It is 10-4~10-1Between.
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| CN108631674B (en) * | 2018-05-11 | 2021-09-10 | 浙江理工大学 | Linear permanent magnet motor position servo system based on high-order sliding mode algorithm |
| CN109217746B (en) * | 2018-09-11 | 2021-11-16 | 重庆邮电大学 | Control method of permanent magnet brushless direct current motor speed regulation system based on time-varying interference suppression |
| CN109495048A (en) * | 2018-11-26 | 2019-03-19 | 天津大学 | Permanent magnet synchronous motor Speed Sensorless Control Method based on MRAC observer |
| CN109560736B (en) * | 2018-12-18 | 2020-03-31 | 东南大学 | Permanent magnet synchronous motor control method based on second-order terminal sliding mode |
| CN109617482B (en) * | 2018-12-31 | 2022-07-08 | 重庆虬龙科技有限公司 | L2 sliding mode control method of permanent magnet synchronous motor |
| CN110620528B (en) * | 2019-09-20 | 2021-07-13 | 电子科技大学 | Multichannel direct current motor system control method based on second-order supercoiled sliding mode |
| CN110557070A (en) * | 2019-09-30 | 2019-12-10 | 山东深川变频科技股份有限公司 | permanent magnet synchronous motor parameter identification method based on second-order sliding-mode observer |
| CN113489400A (en) * | 2021-05-25 | 2021-10-08 | 中国民航大学 | System and method for controlling electric load of permanent magnet synchronous motor in airplane steering engine |
| CN116345942B (en) * | 2023-06-01 | 2023-08-25 | 华中科技大学 | Grid-connected inverter control method and application thereof |
| CN117039977B (en) * | 2023-06-21 | 2024-06-11 | 淮阴工学院 | Fuzzy supercoiled sliding mode observer inductance identification method based on predictive control condition |
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| CN103997272B (en) * | 2014-06-09 | 2016-09-14 | 浙江理工大学 | The load disturbance compensation device of permagnetic synchronous motor and method |
| CN105262395A (en) * | 2015-10-29 | 2016-01-20 | 华中科技大学 | Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory |
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