CN106712629A - Current control method for permanent magnet synchronous motor - Google Patents
Current control method for permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN106712629A CN106712629A CN201611162194.0A CN201611162194A CN106712629A CN 106712629 A CN106712629 A CN 106712629A CN 201611162194 A CN201611162194 A CN 201611162194A CN 106712629 A CN106712629 A CN 106712629A
- Authority
- CN
- China
- Prior art keywords
- value
- represent
- electric current
- current loop
- stator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a current control method for a permanent magnet synchronous motor, and belongs to the technical field of current control. The current control method is applicable to performing current control on a current loop in the permanent magnet synchronous motor, and comprises the steps of S1, building a current control model by taking an error parameter as a state variable; S2, observing the error parameter by adopting a first observer so as to acquire the error parameter; S3, processing according to the acquired error parameter and the current control model to acquire a voltage instruction value; S4, observing dead zone voltage of the permanent magnet synchronous motor by adopting a second observer so as to acquire a dead zone voltage value; and S5, performing comparison on the dead zone voltage value and the voltage instruction value, and modifying the voltage instruction value according to the comparison result so as to acquire a modified voltage instruction value. The beneficial effects are that model error compensation and dead zone voltage compensation are added in existing permanent magnet synchronous motor closed-loop current control, and the current control accuracy is effectively improved.
Description
Technical field
The present invention relates to Current Control Technology field, more particularly to a kind of current control method of permagnetic synchronous motor.
Background technology
Conventional current ring be proportion of utilization regulation and integral adjustment (proportional integral controller,
PI) controller produces the voltage control signal in next pulse width modulated (Pulse Width Modulation, PWM) cycle
Ud (stator d shaft voltages control signal) and Uq (stator q shaft voltages control signal), but belong to the control of retarded type due to PI controllers
Device processed, can only provide control signal according to deviation, it is impossible to improve the dynamic of system.For this defect, current one kind is more
Popular current control method is current predictive control method, and concrete thought is by obtaining next switch periods start time
Reference stator current command value, and current control period of sampling stator current value, based on permagnetic synchronous motor model equation
Corresponding voltage instruction value is calculated, command value is converted into corresponding switching tube dutycycle, make output current in next week
Phase is equal to given reference current.
Current predictive control method based on dead beat thought can reach satisfied electric current dynamic characteristic.But PREDICTIVE CONTROL
Needing accurate object model could export accurate controlling behavior, and motor pair likes a time-varying system, in actual motion
During, motor body temperature has a certain degree of rising, and the stator resistance very sensitive to temperature and rotor flux value
Will change therewith, and discrete motor equation is the Approximation Discrete linearisation of non-linear DC-motor equation, ignores corresponding high-order term
Can there is certain model error, will so be deviateed to a certain extent using the voltage instruction value that nominal equation is calculated
Actually required magnitude of voltage, so that cannot control electric current precision well.Therefore, how compensation model error turns into high accuracy in advance
Survey the key of current control.
In addition, in actual drive system, in addition to model error, the Dead Time of inverter, the on-state of switching tube
The voltage disturbance of pressure drop and DC terminal can also influence the performance of controller, and certain error and distortion is brought to stator current.
The compensation method for commonly using at present is based on fixed voltage technology, by Dead Time, PWM cycle and DC bus-bar voltage
Value substantially estimates lost fractional voltage Of, and the magnitude of voltage of this partial loss then is added into space voltage pulsewidth modulation
Each phase voltage command value in realize compensation.
This kind of method of dead-zone compensation method based on fixed voltage compensation is realized simple, but does not account for zero current clamping and asks
Topic, and the full remuneration to dead zone voltage cannot be realized using fixed voltage compensation, certain discount is beaten in performance.
The content of the invention
For the voltage that the perturbation of the parameter of electric machine present in existing current predictive control method and modeling error are brought
Command value deviation, and the problem that dead zone voltage compensation method precision is told somebody what one's real intentions are at present, can effectively press down the invention provides one kind
During predictive current control processed due to Parameter Perturbation, model inaccurate and the time of dying influence, operation is simple based on
The current control method of the permagnetic synchronous motor of current predictive control method.
The present invention is adopted the following technical scheme that：
A kind of current control method of permagnetic synchronous motor, it is adaptable to carried out to the electric current loop in the permagnetic synchronous motor
Current control；The current control method includes：
Step S1. sets up a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed using one first observer to the error parameter, to obtain the error parameter；
Step S3. obtains a voltage instruction value according to the error parameter and the current diffusion limited model treatment for obtaining；
Step S4. is observed using one second observer to the dead zone voltage of the permagnetic synchronous motor, to obtain one
Dead zone voltage value；
Be compared for the dead zone voltage value and the voltage instruction value by step S5., and according to comparative result to described
Voltage instruction value is modified, to obtain the revised voltage instruction value；
The revised voltage instruction value is imported into a space vector pulse width modulation device and is modulated, to obtain
One pulse signal for controlling the switching tube in the electric current loop to be acted.
Preferably, in the step S1, the current diffusion limited model is built in a predictive-current control device, with to described
Voltage instruction value is calculated.
Preferably, in the step S1, the current diffusion limited model is represented using following formula：
Wherein,
U=[ud uq]T；
Represent the estimator of the current value of stator in the electric current loop；
Represent the estimator of the d axle components of the current value of the stator in the electric current loop；
Represent the estimator of the q axle components of the current value of the stator in the electric current loop；
F represents the error parameter；
Represent the estimator of the error parameter；
fdRepresent the d axle components of the error parameter；
fqRepresent the q axle components of the error parameter；
U represents the magnitude of voltage of the stator in the electric current loop；
udRepresent the d axle components of the magnitude of voltage of the stator in the electric current loop；
uqRepresent the q axle components of the magnitude of voltage of the stator in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
Preferably, in the step S2, the error parameter is calculated using following formula：
Wherein,
U=[ud uq]T；
I represents the current value of stator in the electric current loop；
Represent the estimator of the current value of the stator in the electric current loop；
Represent the estimator of the d axle components of the current value of the stator in the electric current loop；
Represent the estimator of the q axle components of the current value of the stator in the electric current loop；
Represent the value that the current value of the stator in the electric current loop is obtained after depression of order is processed；
Represent the estimator of value of the current value described in the electric current loop by being obtained after depression of order treatment；
Represent the estimator of the error parameter；
Represent the estimator of value of the error parameter by being obtained after depression of order treatment；
U represents the magnitude of voltage of the stator in the electric current loop；
udRepresent the d axle components of the magnitude of voltage of the stator in the electric current loop；
uqRepresent the q axle components of the magnitude of voltage of the stator in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop；
G is a gain factor matrix, and g11, g12, g21 and g22 are the matrix element in the gain factor matrix.
Preferably, in the step S3, the voltage instruction value is calculated using following formula：
Wherein,
ik=[id(k) iq(k)]T；
fk=[fd(k) fq(k)]T；
ukRepresent the voltage instruction value；
ikRepresent the current sampling data of the stator of current sample time in the electric current loop；
i* k+1Represent the current instruction value of next sampling instant of the current sample time in the electric current loop；
idK () represents the d of the current sampling data of the stator of the current sample time in the electric current loop
Axle component；
iqK () represents the q of the current sampling data of the stator of the current sample time in the electric current loop
Axle component；
fkRepresent the error parameter of the current sample time in the electric current loop；
fdK () represents the d axle components of the error parameter of the current sample time in the electric current loop；
fqK () represents the q axle components of the error parameter of the current sample time in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
TsRepresent the pulse controlling cycle value processed wide in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
Preferably, in the step S3, before the voltage instruction value is calculated, using following formula to the error parameter
Enter line translation：
Wherein,
Represent the estimator of the error parameter；
ε represents the error parameter after conversion；
Gi is represented....
Preferably, in the step S4, the dead zone voltage value is calculated using following formula：
Wherein,
Represent the estimator of value of the dead zone voltage value by being obtained after depression of order treatment；
γ is adaptation coefficient, and the adaptation coefficient is more than zero；
eaRepresent a phase currents predicted value of stator in the electric current loop and the difference of a phase current actual values of the stator
Value；
iaRepresent a phase currents actual value of the stator in the electric current loop；
LsRepresent the inductance value of the stator winding in the electric current loop.
Preferably, it is calculated a phase currents actual value using following formula：
Wherein,
iaRepresent a phase currents actual value of the stator in the electric current loop；
Represent a phase currents actual value of the stator in the electric current loop by obtaining after depression of order treatment
Value；
θrRepresent the angle value of the rotor in the electric current loop；
udeadRepresent the dead zone voltage value；
ua *Represent a phase components of the voltage instruction value；
LsRepresent the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
Preferably, it is calculated a phase currents predicted value using following formula：
Wherein,
iaRepresent a phase currents actual value of the stator in the electric current loop；
Represent the value that a phases predicted current value of the stator in the electric current loop is obtained after depression of order is processed
Estimator；
θrRepresent the angle value of the rotor in the electric current loop；
Represent the estimator of value of the dead zone voltage value by being obtained after depression of order treatment；
ua *Represent a phase components of the voltage instruction value；
LsRepresent the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
The beneficial effects of the invention are as follows：Compensation for Model Errors is added in the control of existing permagnetic synchronous motor closed loop current
With dead zone voltage compensation, closed loop current control is carried out to permagnetic synchronous motor with the voltage instruction value after compensation, after compensation
Voltage instruction value one space vector pulse width modulation device of input carries out computing and draws control, current signal is accurately tracked electricity
Pressure command value, parameter of electric machine perturbation refers to the voltage that modeling error is brought in solving current predictive control method in the prior art
Make deviation, and the relatively low problem of dead-zone compensation method precision at present.
Brief description of the drawings
Fig. 1 be a preferred embodiment of the present invention in, the model schematic of the current control of permagnetic synchronous motor；
Fig. 2 be a preferred embodiment of the present invention in, the flow chart of the current control method of permagnetic synchronous motor；
Fig. 3 be it is uncompensated in the case of a phase current waveform figures；
Fig. 4 be it is uncompensated in the case of stator dq axle oscillograms；
Fig. 5 is a phase current waveform figures in the case of being fully compensated；
Fig. 6 is the stator dq axle oscillograms in the case of being fully compensated.
Specific embodiment
It should be noted that in the case where not conflicting, following technical proposals can be mutually combined between technical characteristic.
Specific embodiment of the invention is further described below in conjunction with the accompanying drawings：
As shown in Figure 1-2,
A kind of current control method of permagnetic synchronous motor, it is adaptable to carried out to the electric current loop in above-mentioned permagnetic synchronous motor
Current control；Characterized in that, above-mentioned current control method includes：
Step S1. sets up a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed using one first observer to above-mentioned error parameter, to obtain above-mentioned error parameter；
Step S3. obtains a voltage instruction value according to above-mentioned error parameter and above-mentioned the current diffusion limited model treatment for obtaining；
Step S4. is observed using one second observer to the dead zone voltage of above-mentioned permagnetic synchronous motor, to obtain one
Dead zone voltage value；
Be compared for above-mentioned dead zone voltage value and above-mentioned voltage instruction value by step S5., and according to comparative result to above-mentioned
Voltage instruction value is modified, to obtain revised above-mentioned voltage instruction value；
Revised above-mentioned voltage instruction value is imported into a space vector pulse width modulation device and is modulated, to obtain
One pulse signal for controlling the switching tube in above-mentioned electric current loop to be acted；
Above-mentioned current diffusion limited model is built in a predictive-current control device, is calculated with to above-mentioned voltage instruction value.
In the present embodiment, from the output of three-phase voltage source inverter (voltage source inverter, VSI)
Obtain three-phase current (a phase currents i of permagnetic synchronous motoraWith b phase currents ibWith the c phase currents i not shown in figurec), by sitting
Mark conversion obtains motor stator electric current (the current component i on stator d axles under two-phase rotating coordinate systemdOn stator q axles
Current component iq), wherein, above-mentioned coordinate transform including three-phase static coordinate system turn two-phase rest frame (3s/2s, i.e.,
CLARK is converted) and two-phase rest frame turn two-phase rotating coordinate system (2s/2r, i.e. PARK conversion), will be by after coordinate transform
The current component i on stator d axles for obtainingdWith the current component i on stator q axlesqIt is input to the first observer and predicted current control
In device processed, the first observer is by being calculated error parameter (the error parameter component f on stator d axlesdOn stator q axles
Error component fq) and error parameter is input in predicted current observer, meanwhile, current time in collection current loop control
Current instruction value (the current instruction value component i on stator d axlesdWith the current instruction value component i on stator q axlesq), above-mentioned is pre-
Current controller is surveyed by being calculated voltage instruction value (the component u of the voltage instruction value on stator d axles* dOn stator q axles
The component u of voltage instruction value* q)。
Further, due to three-phase symmetrical, if the dead zone voltage of a phase can be observed, therefore, the second observer
The a phase currents i of permagnetic synchronous motor is obtained from the output of three-phase voltage source inverteraA phases dead band electricity is first obtained by calculating
Pressure finally obtains dead zone voltage value (the dead zone voltage value u on stator d axlesd deadWith the dead zone voltage value u on stator q axlesq dead),
Voltage instruction value is modified using dead zone voltage value obtains revised voltage instruction value, revised dead zone voltage value warp
Cross the voltage instruction that Coordinate Conversion (two-phase rotating coordinate system turns two-phase rest frame 2r/2s) is obtained under two-phase rest frame
Value, then, will be input to space vector pulse width modulation device (Space Vector by the voltage instruction value of Coordinate Conversion
Pulse Width Modulation, SVPWM) and be modulated, to obtain for controlling the switching tube in above-mentioned electric current loop (i.e.
Switching tube in three-phase VSI) pulse signal that is acted.
Wherein, rotary transformer is used as angle position signal detection sensor, the angle position for detecting rotor
(θrThe angle value of the rotor in electric current loop is represented,Be the estimator of above-mentioned angle value) etc. information.
As seen in figures 3-6, by the current waveform figure before and after contrast above compensation, before compensation, current signal is not
Follow current can really instruct, there is certain deviation, simultaneously because the influence of Dead Time, dq shaft currents exist certain
Pulsation.After compensation policy proposed by the invention is applied, good control effect is achieved to stator current.
As seen in Figure 1, based on two parallel observers (the first observer and the second observer) to motor side
Indeterminate and dead zone voltage in journey are observed, and voltage instruction value is participated in indeterminate output to predictive-current control device
Computing is obtained, dead zone voltage is modified to the output order value of predictive-current control device, just can be to stator electricity by above-mentioned steps
The preferable control effect of miscarriage life.
Therefore, add Compensation for Model Errors in the control of existing permagnetic synchronous motor closed loop current and dead zone voltage is mended
Repay, closed loop current control is carried out to permagnetic synchronous motor with the voltage instruction value after compensation, the voltage instruction value after compensation is defeated
Enter a space vector pulse width modulation device and carry out computing to draw control, enable the accurate floating voltage command value of current signal, solution
The voltage instruction deviation that certainly parameter of electric machine perturbation and modeling error are brought in current predictive control method in the prior art, and
The relatively low problem of current dead-zone compensation method precision.
In the preferred embodiment of the invention, in above-mentioned steps S1, above-mentioned current diffusion limited model is represented using following formula：
Wherein,fc=[fd fq]T； u
=[ud uq]T； Represent the estimator of the current value of stator in above-mentioned electric current loop；Represent above-mentioned electric current
The estimator of the d axle components of the above-mentioned current value of the said stator in ring；Represent the upper of said stator in above-mentioned electric current loop
State the estimator of the q axle components of current value；F represents above-mentioned error parameter；Represent the estimator of above-mentioned error parameter；fdRepresent
The d axle components of above-mentioned error parameter；fqRepresent the q axle components of above-mentioned error parameter；U represents the said stator in above-mentioned electric current loop
Magnitude of voltage；udRepresent the d axle components of the above-mentioned magnitude of voltage of said stator in above-mentioned electric current loop；uqIn representing above-mentioned electric current loop
Said stator above-mentioned magnitude of voltage q axle components；LdRepresent that the d axles of the inductance value of the stator winding in above-mentioned electric current loop divide
Amount；LqRepresent the q axle components of the above-mentioned inductance value of said stator winding in above-mentioned electric current loop；RsIn representing above-mentioned electric current loop
The resistance value of said stator；Ψ r represent the magnetic linkage value of the rotor in above-mentioned electric current loop；ωrRepresent above-mentioned in above-mentioned electric current loop
The tachometer value of rotor.
In the present embodiment, the stator d axle fed-back current signals i at sampling current timedK (), stator q axles feedback current are believed
Number iqK (), recycles above formula to calculate stator current value (namely the predicted current of subsequent time of next sampling instant
Value)WithFrom unlike conventional motors current equation, equation adds error parameter fdAnd fq, due to
Error parameter is 0 in the starting stage, and the predicted current value obtained by actual current and the equation calculating of sampling is not quite identical, because
This, can be based on this error come calculation error parameter fdAnd fq。
In the preferred embodiment of the invention, in above-mentioned steps S2, above-mentioned error parameter is calculated using following formula：
Wherein,U=[ud uq]T；I represents the current value of stator in above-mentioned electric current loop；In representing above-mentioned electric current loop
The value that the above-mentioned current value of said stator is obtained after depression of order is processed；Above-mentioned current value is by drop in representing above-mentioned electric current loop
The estimator of the value obtained after rank treatment；Represent the estimator of above-mentioned error parameter；Represent above-mentioned error parameter by depression of order
The estimator of the value obtained after treatment；Represent the estimator of the above-mentioned current value of said stator in above-mentioned electric current loop；Represent
The estimator of the d axle components of the above-mentioned current value of the said stator in above-mentioned electric current loop；Represent above-mentioned in above-mentioned electric current loop
The estimator of the q axle components of the above-mentioned current value of stator；U represents the magnitude of voltage of the said stator in above-mentioned electric current loop；udRepresent
The d axle components of the above-mentioned magnitude of voltage of the said stator in above-mentioned electric current loop；uqRepresent the upper of said stator in above-mentioned electric current loop
State the q axle components of magnitude of voltage；LdRepresent the d axle components of the inductance value of stator winding in above-mentioned electric current loop；LqRepresent above-mentioned electric current
The q axle components of the above-mentioned inductance value of the said stator winding in ring；RsRepresent the resistance value of the said stator in above-mentioned electric current loop；
Ψ r represent the magnetic linkage value of the rotor in above-mentioned electric current loop；ωrRepresent the tachometer value of the above-mentioned rotor in above-mentioned electric current loop；G is one
Gain factor matrix, g11, g12, g21 and g22 are the matrix element in above-mentioned gain factor matrix.
In the present embodiment, depression of order is carried out to formula (1) and obtains following formula：
Formula (2) and formula (3) are converted by formula (1), and the selection of the matrix element in G matrix determines determination
Item fdAnd fqConvergent speed, but convergence rate can not be too fast, can otherwise cause observer not restrained.
In the preferred embodiment of the invention, in above-mentioned steps S3, above-mentioned voltage instruction value is calculated using following formula：
Wherein,ik=[id(k) iq(k)]T；
fk=[fd(k) fq(k)]TukRepresent above-mentioned voltage instruction value；ikRepresent the stator of current sample time in above-mentioned electric current loop
Current sampling data；i* k+1Represent the current-order of next sampling instant of above-mentioned current sample time in above-mentioned electric current loop
Value；idK () represents the d axles point of the above-mentioned current sampling data of the said stator of the above-mentioned current sample time in above-mentioned electric current loop
Amount；iqK () represents the q axles point of the above-mentioned current sampling data of the said stator of the above-mentioned current sample time in above-mentioned electric current loop
Amount；fkRepresent the above-mentioned error parameter of the above-mentioned current sample time in above-mentioned electric current loop；fdK () is represented in above-mentioned electric current loop
The d axle components of the above-mentioned error parameter of above-mentioned current sample time；fqWhen () represents the above-mentioned present sample in above-mentioned electric current loop k
The q axle components of the above-mentioned error parameter carved；LdRepresent the d axle components of the inductance value of stator winding in above-mentioned electric current loop；LqRepresent
The q axle components of the above-mentioned inductance value of the said stator winding in above-mentioned electric current loop；TsRepresent the pulse system wide in above-mentioned electric current loop
Controlling cycle value；RsRepresent the resistance value of the said stator in above-mentioned electric current loop；Ψ r represent the magnetic of the rotor in above-mentioned electric current loop
Chain value；ωrRepresent the tachometer value of the above-mentioned rotor in above-mentioned electric current loop.
In the present embodiment, after by formula (3) discretization and transposition, it is possible to obtain control voltage (voltage instruction value)
Computing formula (4), error parameter f is obtained in the first observerkAfterwards, by fkBy formula (4) in feeding predictive-current control device
Calculating can just obtain voltage instruction value.
In the preferred embodiment of the invention, in above-mentioned steps S3, before computationally stating voltage instruction value, using following formula
Line translation is entered to above-mentioned error parameter：
Wherein,Represent the estimator of above-mentioned error parameter；ε represents the above-mentioned error parameter after conversion；Gi is represented....
In the present embodiment, due to the presence of electric current high-frequency noises, electric current can be directly used in the first observer
Differential value can destroy the stability of observer, and above-mentioned equation does not possess construction value also, therefore, quantity of state therein is made into formula
(5) conversion.
In the preferred embodiment of the invention, in above-mentioned steps S4, above-mentioned dead zone voltage value is calculated using following formula：
Wherein,Represent the estimator of value of the above-mentioned dead zone voltage value by being obtained after depression of order treatment；γ is self adaptation
Coefficient, above-mentioned adaptation coefficient is more than zero；eaRepresent a phase currents predicted value and said stator of the stator in above-mentioned electric current loop
The difference of a phase current actual values；iaRepresent the above-mentioned a phase currents actual value of the said stator in above-mentioned electric current loop；LsRepresent above-mentioned
The inductance value of the stator winding in electric current loop.
In the present embodiment, after the observation to single-phase dead zone voltage is completed, can be by coordinate transform by three-phase
Dead zone voltage be transformed into dq two-phase rotating coordinate systems.Before the observer value that first observer and the second observer are drawn
It is fed in voltage command signal, it is possible to complete the compensation to indeterminate and Dead Time.
In the preferred embodiment of the invention, above-mentioned a phase currents actual value is calculated using following formula：
Wherein, iaRepresent the above-mentioned a phase currents actual value of the said stator in above-mentioned electric current loop；Represent above-mentioned electric current loop
In said stator above-mentioned a phase currents actual value by the value that obtains after depression of order treatment；θrRepresent turning in above-mentioned electric current loop
The angle value of son；udeadRepresent above-mentioned dead zone voltage value；ua *Represent a phase components of above-mentioned voltage instruction value；LsRepresent above-mentioned electricity
The inductance value of the said stator winding in stream ring；RsRepresent the resistance value of the said stator in above-mentioned electric current loop；Ψ r represent above-mentioned
The magnetic linkage value of the above-mentioned rotor in electric current loop；ωrRepresent the tachometer value of the above-mentioned rotor in above-mentioned electric current loop.
In the preferred embodiment of the invention, above-mentioned a phase currents predicted value is calculated using following formula：
Wherein, iaRepresent the above-mentioned a phase currents actual value of the said stator in above-mentioned electric current loop；Represent above-mentioned electric current loop
In said stator above-mentioned a phases predicted current value by the estimator of value that is obtained after depression of order treatment；θrRepresent above-mentioned electric current
The angle value of the rotor in ring；Represent the estimator of value of the above-mentioned dead zone voltage value by being obtained after depression of order treatment；ua *
Represent a phase components of above-mentioned voltage instruction value；LsRepresent the inductance value of the said stator winding in above-mentioned electric current loop；RsIn expression
State the resistance value of the said stator in electric current loop；Ψ r represent the magnetic linkage value of the above-mentioned rotor in above-mentioned electric current loop；ωrIn expression
State the tachometer value of the above-mentioned rotor in electric current loop.
In the present embodiment, in formula (7),It is that a phases that predictive-current control device is given after through overcompensation are input into electricity
Pressure (component of the voltage instruction value in a phases), usesWithBy being drawn after coordinate transform, udeadBe it is unknown, can be by a phases
Actual current equation (i.e. formula 7) resettles a forecast model (i.e. formula 8) as a reference model,It is dead band
The estimate of voltage, can see by comparing formula (7) above and formula (8), ifIt is not equal to actual dead band
Offset voltage, then predicted valueWith actual value iaBetween can there is error, it is possible to use the corresponding self application rate of this Deviation Design
To estimate dead zone voltage size.Therefore, definitionCorresponding second observer is designed (using formula 6 as sight
Survey the model of device).
In a specific embodiment, apply the invention on electric vehicle controller, implement step as follows：
Electric automobile permagnetic synchronous motor current equation is set up, in order to improve the precision of current control, it is necessary in electric current side
Indeterminate f is added in journeyk, voltage accounting equation can be obtained as follows：
A linear reduced order observer (the first observer) is designed to estimate fk, detailed process is as follows：
The stator dq current values of next sampling instant are estimated using discrete electrical electromechanics flow equation, to be added not in equation
It is determined that item f, then will estimate stator dq current values and sampled value is compared, self adaptation is designed using the difference between them
Rate, the first observer concrete form is as follows：
Discretization is carried out to above formula.
A dead zone voltage observer (the second observer) is designed to estimate dead zone voltage udead, detailed process is as follows：
Due to three-phase symmetrical, as long as the dead zone voltage of a phase can be observed.With the dead zone voltage of motor stator a phases
udeadIt is the observer of object designs second, sets up a phase current equations as follows：
Wherein, ua *It is a phase input voltages that predictive-current control device is given after through overcompensation, with the electricity on stator d axles
Press the component u of command value* dWith the component u of the voltage instruction value on stator q axles* qBy being drawn after coordinate transform, udeadIt is unknown
, a phase actual current equations an as reference model can be resettled a forecast model：
Be can see by comparing both the above equation, ifIt is not equal to actual dead area compensation voltage, then predicts
ValueWith actual value iaBetween can there is error, therefore, definitionDesign corresponding second observer as follows：
Above-mentioned equation carries out discretization.
Permagnetic synchronous motor electric current loop is set up, by the current instruction value of a sampling instant on dq axles and the electricity of this sampling instant
Stream sampled value is sent into the first observer, estimates indeterminate；By current instruction value, this sampling of the next sampling instant of dq axles
In current sampling data and indeterminate estimate the feeding predictive current control device at moment, voltage instruction value is calculated；Will be upper
In the voltage instruction value and a phase current values at this moment feeding dead zone voltage observer at one moment, single-phase dead zone voltage is calculated
udead, then carry out the dead zone voltage size drawn on dq axles after coordinate transform；This dead zone voltage is carried out with voltage instruction value
Computing is carried out in feeding SVPWM modules more afterwards, final control signal is drawn.
By explanation and accompanying drawing, the exemplary embodiments of the ad hoc structure of specific embodiment are given, based on essence of the invention
God, can also make other conversions.Although foregoing invention proposes existing preferred embodiment, however, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications undoubtedly will be evident that.
Therefore, appending claims should regard the whole variations and modifications for covering true intention of the invention and scope as.In power
Any and all scope and content of equal value, are all considered as still belonging to the intent and scope of the invention in the range of sharp claim.
Claims (9)
1. a kind of current control method of permagnetic synchronous motor, it is adaptable to which electricity is carried out to the electric current loop in the permagnetic synchronous motor
Flow control；Characterized in that, the current control method includes：
Step S1. sets up a current diffusion limited model by quantity of state of an error parameter；
Step S2. is observed using one first observer to the error parameter, to obtain the error parameter；
Step S3. obtains a voltage instruction value according to the error parameter and the current diffusion limited model treatment for obtaining；
Step S4. is observed using one second observer to the dead zone voltage of the permagnetic synchronous motor, to obtain a dead band
Magnitude of voltage；
Be compared for the dead zone voltage value and the voltage instruction value by step S5., and according to comparative result to the voltage
Command value is modified, to obtain the revised voltage instruction value；
The revised voltage instruction value is imported into a space vector pulse width modulation device and is modulated, to obtain a use
The pulse signal that switching tube in the electric current loop is controlled is acted.
2. current control method as claimed in claim 1, it is characterised in that in the step S1, in a predictive-current control
The current diffusion limited model is built in device, is calculated with to the voltage instruction value.
3. current control method as claimed in claim 1, it is characterised in that in the step S1, represented using following formula
The current diffusion limited model：
Wherein,
fc=[fd fq]T；
U=[ud uq]T；
Represent the estimator of the current value of stator in the electric current loop；
Represent the estimator of the d axle components of the current value of the stator in the electric current loop；
Represent the estimator of the q axle components of the current value of the stator in the electric current loop；
F represents the error parameter；
Represent the estimator of the error parameter；
fdRepresent the d axle components of the error parameter；
fqRepresent the q axle components of the error parameter；
U represents the magnitude of voltage of the stator in the electric current loop；
udRepresent the d axle components of the magnitude of voltage of the stator in the electric current loop；
uqRepresent the q axle components of the magnitude of voltage of the stator in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
4. current control method as claimed in claim 1, it is characterised in that in the step S2, is calculated using following formula
Obtain the error parameter：
Wherein,
U=[ud uq]T；
I represents the current value of stator in the electric current loop；
Represent the estimator of the current value of the stator in the electric current loop；
Represent the estimator of the d axle components of the current value of the stator in the electric current loop；
Represent the estimator of the q axle components of the current value of the stator in the electric current loop；
Represent the value that the current value of the stator in the electric current loop is obtained after depression of order is processed；
Represent the estimator of value of the current value described in the electric current loop by being obtained after depression of order treatment；
Represent the estimator of the error parameter；
Represent the estimator of value of the error parameter by being obtained after depression of order treatment；
U represents the magnitude of voltage of the stator in the electric current loop；
udRepresent the d axle components of the magnitude of voltage of the stator in the electric current loop；
uqRepresent the q axle components of the magnitude of voltage of the stator in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop；
Represent the error parameter by the value after conversion and depression of order；G is a gain factor matrix, g11, g12, g21 and g22
It is the matrix element in the gain factor matrix.
5. current control method as claimed in claim 4, it is characterised in that in the step S3, is calculated using following formula
Obtain the voltage instruction value：
Wherein,
ik=[id(k) iq(k)]T；
fk=[fd(k) fq(k)]T；
ukRepresent the voltage instruction value；
ikRepresent the current sampling data of the stator of current sample time in the electric current loop；
i* k+1Represent the current instruction value of next sampling instant of the current sample time in the electric current loop；
idK () represents the d axles point of the current sampling data of the stator of the current sample time in the electric current loop
Amount；
iqK () represents the q axles point of the current sampling data of the stator of the current sample time in the electric current loop
Amount；
fkRepresent the error parameter of the current sample time in the electric current loop；
fdK () represents the d axle components of the error parameter of the current sample time in the electric current loop；
fqK () represents the q axle components of the error parameter of the current sample time in the electric current loop；
LdRepresent the d axle components of the inductance value of stator winding in the electric current loop；
LqRepresent the q axle components of the inductance value of the stator winding in the electric current loop；
TsRepresent the pulse controlling cycle value processed wide in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
6. current control method as claimed in claim 5, it is characterised in that in the step S3, refers to the voltage is calculated
Before making value, line translation is entered to the error parameter using following formula：
Wherein,
Represent the estimator of the error parameter.
7. current control method as claimed in claim 1, it is characterised in that in the step S4, is calculated using following formula
Obtain the dead zone voltage value：
Wherein,
Represent the estimator of value of the dead zone voltage value by being obtained after depression of order treatment；
γ is adaptation coefficient, and the adaptation coefficient is more than zero；
eaRepresent a phase currents predicted value of stator in the electric current loop and the difference of a phase current actual values of the stator；
iaRepresent a phase currents actual value of the stator in the electric current loop；
LsRepresent the inductance value of the stator winding in the electric current loop.
8. current control method as claimed in claim 7, it is characterised in that be calculated a phases electricity using following formula
Stream actual value：
Wherein,
iaRepresent a phase currents actual value of the stator in the electric current loop；
Represent the value that a phase currents actual value of the stator in the electric current loop is obtained after depression of order is processed；
θrRepresent the angle value of the rotor in the electric current loop；
udeadRepresent the dead zone voltage value；
ua *Represent a phase components of the voltage instruction value；
LsRepresent the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
9. current control method as claimed in claim 7, it is characterised in that be calculated a phases electricity using following formula
Stream predicted value：
Wherein,
iaRepresent a phase currents actual value of the stator in the electric current loop；
Represent estimating for the value that a phases predicted current value of the stator in the electric current loop is obtained after depression of order is processed
Metering；
θrRepresent the angle value of the rotor in the electric current loop；
Represent the estimator of value of the dead zone voltage value by being obtained after depression of order treatment；
ua *Represent a phase components of the voltage instruction value；
LsRepresent the inductance value of the stator winding in the electric current loop；
RsRepresent the resistance value of the stator in the electric current loop；
Ψ r represent the magnetic linkage value of the rotor in the electric current loop；
ωrRepresent the tachometer value of the rotor in the electric current loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611162194.0A CN106712629B (en) | 2016-12-15 | 2016-12-15 | A kind of current control method of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611162194.0A CN106712629B (en) | 2016-12-15 | 2016-12-15 | A kind of current control method of permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106712629A true CN106712629A (en) | 2017-05-24 |
| CN106712629B CN106712629B (en) | 2019-06-11 |
Family
ID=58939050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611162194.0A Active CN106712629B (en) | 2016-12-15 | 2016-12-15 | A kind of current control method of permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106712629B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111293940A (en) * | 2020-03-09 | 2020-06-16 | 天津工业大学 | Permanent magnet synchronous motor control system and prediction control method thereof |
| CN111750903A (en) * | 2020-07-07 | 2020-10-09 | 哈尔滨理工大学 | Winding integrated magnetoelectric encoder and independent calibration method thereof |
| CN112737455A (en) * | 2020-12-16 | 2021-04-30 | 北京无线电测量研究所 | Current control device, system and method based on embedded FPGA |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101753091A (en) * | 2009-12-30 | 2010-06-23 | 重庆红宇精密工业有限责任公司 | Current loop control method of permanent magnet synchronous motor |
| JP2010252434A (en) * | 2009-04-10 | 2010-11-04 | Denso Corp | Device for control of rotary machine |
| CN102237843A (en) * | 2011-07-14 | 2011-11-09 | 中国矿业大学 | High-performance variable frequency speed regulation method of high-voltage winding asynchronous motor rotor |
| CN103684179A (en) * | 2013-12-17 | 2014-03-26 | 清华大学 | Compensation device and compensation method of current filtering and dead zone of permanent magnet synchronous motor |
| CN105897097A (en) * | 2016-04-18 | 2016-08-24 | 北方工业大学 | Current prediction control method and apparatus for permanent magnet synchronous motor (PMSM) |
-
2016
- 2016-12-15 CN CN201611162194.0A patent/CN106712629B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010252434A (en) * | 2009-04-10 | 2010-11-04 | Denso Corp | Device for control of rotary machine |
| CN101753091A (en) * | 2009-12-30 | 2010-06-23 | 重庆红宇精密工业有限责任公司 | Current loop control method of permanent magnet synchronous motor |
| CN102237843A (en) * | 2011-07-14 | 2011-11-09 | 中国矿业大学 | High-performance variable frequency speed regulation method of high-voltage winding asynchronous motor rotor |
| CN103684179A (en) * | 2013-12-17 | 2014-03-26 | 清华大学 | Compensation device and compensation method of current filtering and dead zone of permanent magnet synchronous motor |
| CN105897097A (en) * | 2016-04-18 | 2016-08-24 | 北方工业大学 | Current prediction control method and apparatus for permanent magnet synchronous motor (PMSM) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111293940A (en) * | 2020-03-09 | 2020-06-16 | 天津工业大学 | Permanent magnet synchronous motor control system and prediction control method thereof |
| CN111293940B (en) * | 2020-03-09 | 2021-10-08 | 天津工业大学 | Permanent magnet synchronous motor control system and prediction control method thereof |
| CN111750903A (en) * | 2020-07-07 | 2020-10-09 | 哈尔滨理工大学 | Winding integrated magnetoelectric encoder and independent calibration method thereof |
| CN111750903B (en) * | 2020-07-07 | 2022-02-01 | 哈尔滨理工大学 | Winding integrated magnetoelectric encoder and independent calibration method thereof |
| CN112737455A (en) * | 2020-12-16 | 2021-04-30 | 北京无线电测量研究所 | Current control device, system and method based on embedded FPGA |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106712629B (en) | 2019-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109428525B (en) | Parameter self-correction-based maximum torque current ratio control method for permanent magnet synchronous motor | |
| JP3467961B2 (en) | Control device for rotating electric machine | |
| CN111262486B (en) | Permanent magnet synchronous motor control method | |
| CN102751936B (en) | Electrical power conversion device and electric motor control system | |
| CN110429889B (en) | Amplitude-adjustable square wave injection maximum torque current ratio motor control method | |
| CN110190795B (en) | Permanent magnet synchronous motor cascade type robust prediction current control method | |
| CN112422004B (en) | Disturbance suppression method for permanent magnet synchronous motor in weak magnetic control mode | |
| JP2014515244A (en) | Method and system for controlling an electric motor with temperature compensation | |
| CN103997272A (en) | Load disturbance compensation device and method of permanent magnet synchronous motor | |
| CN108377117B (en) | Permanent magnet synchronous motor composite current control system and method based on predictive control | |
| CN107154763A (en) | Permagnetic synchronous motor dead beat direct Torque Control and control method | |
| CN108183651A (en) | A kind of control method of permanent magnet linear synchronous motor position-sensor-free | |
| CN113691186A (en) | Permanent magnet synchronous motor position angle compensation method for controlling rotor without position sensor | |
| CN106712629A (en) | Current control method for permanent magnet synchronous motor | |
| CN105811840A (en) | Dead-beat current control method for permanent magnet synchronous servo motor | |
| CN111769779A (en) | PMSM direct torque control method based on improved Luenberger observer | |
| CN110784144B (en) | Improved control method of built-in permanent magnet synchronous motor | |
| CN113364375B (en) | Sensorless control method for PMSM (permanent magnet synchronous motor) driving system of variable-structure current regulator | |
| CN110649851A (en) | Multi-parameter decoupling online identification method for asynchronous motor | |
| CN112713819A (en) | Method for improving positioning force compensation precision of permanent magnet synchronous linear motor | |
| CN109495045B (en) | Asynchronous motor speed observation and starting unified control method | |
| CN111181462B (en) | Surface-mounted permanent magnet synchronous motor parameter identification method based on variable step size neural network | |
| CN109302109B (en) | Flux weakening control method and control device for permanent magnet synchronous motor | |
| CN111245320B (en) | Control method and control device of synchronous reluctance motor based on power balance | |
| CN110061666B (en) | Permanent magnet synchronous motor speed regulation performance improvement method based on full-order terminal sliding mode control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210630 Address after: 201615 9th floor, block a, Hanqiao culture and Technology Park, 1471 Yaobei Road, Songjiang District, Shanghai Patentee after: Shanghai yangteng Automotive Electronics Co.,Ltd. Address before: 315000 no.759, Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Patentee before: NINGBO CENTEM AUTOMOTIVE ELECTRONICS Co.,Ltd. |
|
| TR01 | Transfer of patent right |