CN106817056A - Motor driven systems based on harmonic wave observer - Google Patents
Motor driven systems based on harmonic wave observer Download PDFInfo
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- CN106817056A CN106817056A CN201710241273.9A CN201710241273A CN106817056A CN 106817056 A CN106817056 A CN 106817056A CN 201710241273 A CN201710241273 A CN 201710241273A CN 106817056 A CN106817056 A CN 106817056A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with digital control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
-
- 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
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Inverter Devices (AREA)
Abstract
The invention discloses a kind of motor driven systems based on harmonic wave observer, including：DC/DC converter units, inverter, magneto, MCU, harmonic generation device and harmonic wave observer；DC/DC converter units are connected with battery, and the output end connection inverter of DC/DC converter units, inverter is connected with magneto；Detect the input voltage vin and output voltage Vo of DC/DC converter units respectively by voltage sensor, output current ia, ib of inverter is detected by current sensor, by harmonic wave observer to the rotational speed omega of magnetomIt is observed with rotor-position；Harmonic generation device is used for according to instruction generation high order multifrequency sinusoid signal, and in the harmonic signal injection q shaft voltages that will be generated.The present invention improves system control effect.
Description
Technical field
Generally the present invention relates to motor, more particularly to a kind of motor driven systems based on harmonic wave observer.
Background technology
Electric vehicle, such as electric automobile, are increasingly favored by people.The driving of current electric automobile is typically used
The pattern of battery+magneto, control system is using open/close control.For opened loop control, vehicle (speed) is no
Can accurately follow given, be phased out.In closed-loop control, current general using velocity close-loop control mode, it is used
Traditional PID regulator is adjusted to given speed with the deviation of actual speed, according to the defeated of adjustment output control inverter
Go out.This control mode, system response time is slow, easily occurs overshoot during adjustment, actual speed around setting value for a long time
Vibration, so results in the driver during vehicle speed-raising and feels speed wobble.Permagnetic synchronous motor generally uses vector
Control, accurate rotor-position is essential.Mechanical position sensor can realize the high precision test of rotor-position, but generally valency
Lattice are high, easily limited by environmental condition, and there is increase rotor rotary inertia, increase system bulk and system reliability
The shortcomings of reduction.In addition, output of the current electric vehicle to battery typically by the way of copped wave boosting (boost) is electric
Pressure is boosted, and this mode switch pipe loss is big, and power factor is low.
The content of the invention
For the defect of prior art, the invention provides a kind of motor driven systems based on harmonic wave observer.
A kind of motor driven systems based on harmonic wave observer, including：DC/DC converter units, inverter, magneto,
MCU, harmonic generation device and harmonic wave observer；DC/DC converter units are connected with battery, and the output end of DC/DC converter units connects
Inverter is connect, inverter is connected with magneto；Detect the input voltage of DC/DC converter units respectively by voltage sensor
Vin and output voltage Vo, output current ia, ib of inverter is detected by current sensor, by harmonic wave observer to permanent magnetism
The rotational speed omega of motormIt is observed with rotor-position；Harmonic generation device is used for according to instruction generation high order multifrequency sinusoid signal, and
In the harmonic signal injection q shaft voltages that will be generated；Drive system uses rotating speed outer shroud, the double circle structure of current inner loop, and it is wrapped
Include Cark conversion modules, Park conversion modules, harmonic generation device, Fractional Order PID adjuster, current regulator, Park inverse transformations
Module, Pulse width modulation module and inverter, harmonic wave observer include HPF (high-pass filter), polarity judge module and position
Put observation module；HPF is connected with the output of Park conversion modules, and polarity judge module and position detection module are connected with HPF,
Polarity judge module is used to judge rotor polarity that position detection module to observe rotor-position using the harmonic signal of injection
θ and actual speed ω m；Rotor position is sent to the rotor position data input of Park inverse transform modules and Park conversion modules
End；Rotational speed omega m is sent to the reverse input end of first comparator, positive input and the rotational speed setup signal phase of first comparator
Even, the output end of first comparator is connected with the input of Fractional Order PID adjuster, and the output end of Fractional Order PID adjuster connects
Connect the positive input of the second comparator, the reverse input end of the second comparator and the q shaft current output ends of Park conversion modules
It is connected, is controlled using d shaft currents permanent zero, be i.e. d shaft currents set-point perseverance is zero, and this set-point is positive defeated with the 3rd comparator
Enter end be connected, the reverse input end of the 3rd comparator is connected with the d shaft current output ends of Park conversion modules, the second comparator with
The output end of the 3rd comparator is connected with current regulator, and the output end of current regulator passes through Park inverse transform modules and pulse
Width modulation module is connected, and Pulse width modulation module exports modulated signal to inverter, and inverter receives DC/DC converter units
Output voltage Vo；Second comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the second comparator
Comparative result with the 3rd comparator sends into current regulator, and the q under dq axis coordinate systems is obtained after current regulator is adjusted
Shaft voltage set-pointWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, successively
Export to Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drive permanent magnetism same
Step motor operation；Transistor Q1 and Q2 that the DC/DC converter units include inductance L, are connected in series, transistor Q1 and Q2 difference
Inverse parallel has diode D1 and D2；Inductance L one end is connected to the positive pole of battery via switch SR1, and the other end is connected to transistor
Intermediate point between Q1 and transistor Q2；One end of electric capacity C1 is connected between switch SR1 and inductance L, and another termination battery is born
Pole, capacitor C1 is smoothed to cell voltage；Transistor Q1 is in parallel with electric capacity C2 after being connected with Q2, and electric capacity C2 is used as DC/DC
The output capacitance of converter unit, inverter is connected to the two ends of electric capacity C2；Voltage sensor V1 detects the voltage Vin of battery, and
To detect that the voltage Vin for obtaining is supplied to MCU；MCU controlling switches SR1's is opening/closing；MCU is in the way of PWM respectively to transistor
Q1 and Q2 provides trigger signal G11, G12；Voltage sensor V2 detects the output voltage Vo of DC/DC converter units, and will detection
The voltage Vo for obtaining is supplied to MCU；DC/DC converter units boost to the voltage for carrying out sufficient power from capacitor C1, and by after boosting
Voltage is supplied to capacitor C2；Capacitor C2 is smoothed to output voltage, and will it is smooth after voltage be supplied to inverter；
MCU compares voltage Vo with setting value Vdc, and the difference according to the two adjusts the dutycycle of G11, G12, so that Vo=
Vdc。
The beneficial effects of the invention are as follows：Using rotating speed outer shroud, the double-closed-loop control structure of current inner loop, rotating speed can be quick
Follow given, improve system response time；DC/DC converter unit simple structures, low cost；Make by using Fractional Order PID
The system of obtaining is provided with bigger adjustable range, obtains Control platform more more preferable than traditional PI D and stronger robustness；Using humorous
Ripple injection method is observed to motor rotor position angle, so as to instead of traditional mechanical position sensor, reduce system into
This, improves reliability；Amplitude limit and closed loop feedback link are added in electric current loop, it is ensured that motor even running, it is to avoid motor
There is ovennodulation.
Brief description of the drawings
Fig. 1 is present system overall structure diagram；
Fig. 2 is the structural representation of drive system of the present invention；
Fig. 3 is the structural representation of DC/DC converter units；
Fig. 4 is the structural representation of Fractional Order PID；
Fig. 5 adjusts flow chart for Fractional Order PID；
Fig. 6 is the structural representation of current regulation unit；
Fig. 7 compares figure for control result of the present invention.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail, above and other purpose of the invention, feature and advantage will be become apparent from.Complete
Identical reference indicates identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair
Bright purport.
System architecture of the invention is explained with reference to accompanying drawing 1 first.The invention provides a kind of motor driven systems, it is
System includes：DC/DC converter units, inverter, magneto, MCU (main control unit), angle maker and harmonic wave observer etc..
DC/DC converter units are connected with battery, and the output end connection inverter of DC/DC converter units, inverter is connected with magneto,
Vehicle is driven to run by magneto.Detect the input voltage vin of DC/DC converter units and defeated respectively by voltage sensor
Go out voltage Vo, output voltage ia, ib of inverter are detected by current sensor, magneto is turned by harmonic wave observer
Fast ωmDetected with rotor-position, these detection signals are admitted to MCU, and MCU is according to these detection signals respectively to DC/DC
Converter unit and inverter output drive signal G1, G2, so as to adjust the output of DC/DC converter units and inverter.
By one piece of MCU processors control operation, various pieces coordinated operation, human-computer exchange part can use whole system
LCD and button realize (not shown).The turn-on frequency of IGBT in MCU control inverters, so as to realize permagnetic synchronous motor
Coil magnetic field order change motor operating；Harmonic generation device is used for according to instruction generation high order multifrequency sinusoid signal；Electric current
The phase current that detection circuit passes through real-time detection motor coil, and be compared with electric machine theory model in MCU processors, realize
The closed-loop control of motor, and realize the overvoltage of motor, overcurrent protection.
The control structure to drive system in the present invention is described in detail below, refers to Fig. 2.Drive system uses rotating speed
The double circle structure of outer shroud, current inner loop, it includes Cark conversion modules, Park conversion modules, harmonic wave observer, angle generation
Device, Fractional Order PID adjuster, current regulator, Park inverse transform modules, Pulse width modulation module and inverter；Harmonic wave is seen
Surveying device includes HPF (high-pass filter), polarity judge module and position detection module.
Wherein, HPF is connected with the output of Park conversion modules, polarity judge module and position detection module with HPF phases
Even, polarity judge module is used to judge rotor polarity that position detection module to observe rotor using the harmonic signal of injection
Position θ and actual speed ω m.Rotor position is sent to the rotor position data of Park inverse transform modules and Park conversion modules
Input；Rotational speed omega m is sent to the reverse input end of first comparator, and positive input and the rotational speed setup of first comparator are believed
Number be connected, rotational speed setup signal can be given by gas pedal.The output end of first comparator is defeated with Fractional Order PID adjuster
Enter end connection.The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the second comparator it is reverse defeated
Enter end to be connected with the q shaft current output ends of Park conversion modules.Controlled using d shaft currents permanent zero in the present invention, i.e. d shaft currents are given
Definite value perseverance is zero, and this set-point is connected with the positive input of the 3rd comparator, the reverse input end of the 3rd comparator with
The d shaft currents output end of Park conversion modules is connected.The output end of the second comparator and the 3rd comparator and current regulator phase
Even, the output end of current regulator is connected by Park inverse transform modules with Pulse width modulation module, pulse width modulation mould
Block exports modulated signal to inverter, and inverter receives the output voltage Vo of DC/DC converter units, opened according to modulated signal/
The IGBT closed in inverter, so as to export the voltage signal of variable frequency to magneto.
The rotor position of permagnetic synchronous motor, rotational speed omega m, inverter is exported wherein two are gathered by current sensor
Phase ia, ib, ia, ib are converted by Clark and Park is converted, and obtain equivalent current of the permagnetic synchronous motor under dq axis coordinate systems
Id and iq.First comparator is by rotary speed setting valueWith actual speed ωmIt is compared, deviation signal is adjusted by Fractional Order PID
Section device regulation, the output valve of Fractional Order PID adjuster as q axles given value of current valueD shaft current set-points
Second comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the second comparator and
The comparative result feeding current regulator of three comparators, obtains the q axles electricity under dq axis coordinate systems after current regulator is adjusted
Pressure set-pointWith d shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, it is sequentially output
To Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, permanent magnet synchronous electric is driven
Machine runs.
Wherein, Clark conversion, Park conversion, Park inverse transformations is realized by following formula (1), (2), (3) respectively.
In formula, iαAnd iβIt is the equivalent current under two-phase rest frame (abbreviation α β coordinate systems), ia、ibAnd icIt is permanent magnetism
The three-phase current of synchronous motor, idAnd iqIt is equivalent current of the permagnetic synchronous motor under dq axis coordinate systems, θ is permanent magnet synchronous electric
The rotor-position of machine.
Emphasis is described in detail to the harmonic wave observer in the present invention below.The present invention is noted by harmonic generation device to d axles
Enter higher hamonic wave uh, high fdrequency component superposition fundamental component obtain modulation voltage u by coordinate transform againαAnd uβ, pulse width modulation
Module produces the switching signal of inverter IGBT, using current sensor sampling stator A phases, B phase currents, transforms to α β coordinate systems
In obtain iαAnd iβ.By iαAnd iβTransform to and obtain d axis current signals and q axles comprising higher hamonic wave in two-phase rotating coordinate system
Current signal, d axis current signals and q axis current signals comprising higher hamonic wave pass through LPF (low pass filter) bases therein afterwards
Frequency component idAnd iqThe feedback quantity of current regulator is extracted as, by high fdrequency component i therein after HPFdh、iqhIt is extracted use
In estimating rotor position and rotational speed omegam。
Specifically, harmonic generation device produces higher hamonic wave uh, and be injected into d axles, uh=Ksin (ω t+ π).Wherein, K
It is high frequency voltage amplitude, ω is high frequency voltage angular frequency, and t represents signal injection length.According to the higher hamonic wave u of injectionh, calculate
The dimension N of signal modulation array Am, generates signal modulation array Am,By after HPF wherein
High fdrequency component idh、iqh.By iqhIt is multiplied with signal modulation array Am and obtains desired value P1, P1=iqh*Am；According to desired value P1
Obtain position of magnetic pole estimated values thetapAnd speed estimate value ωr；By idhIt is multiplied with signal modulation array Am and obtains desired value P2, P2=
idh*Am；Pole polarity is judged according to desired value P2, to θpOutput rotor position estimation value θ after compensation.The present invention is using estimation
D shaft currents component carries out polarity judgement, high frequency electric response is taken full advantage of, without injecting extra；Reduce observer
Complexity, it is easy to Digital Implementation.
Fig. 3 is the structural representation of DC/DC converter units in the present invention, and DC/DC converter units include that inductance L, series connection connect
The transistor Q1 and Q2 for connecing, inverse parallel has diode D1 and D2 to transistor Q1 respectively with Q2.Inductance L one end connects via switch SR1
The positive pole of battery is connected to, the other end is connected to the intermediate point between transistor Q1 and transistor Q2.One end of electric capacity C1 is connected to
Between switch SR1 and inductance L, another termination GND, capacitor C1 is smoothed to cell voltage.Transistor Q1 and Q2 goes here and there
It is in parallel with electric capacity C2 after connection, electric capacity C2 as DC/DC converter units output capacitance, inverter is connected to the two ends of electric capacity C2.
Voltage sensor V1 detects the voltage Vin of battery, and will detect that the voltage Vin for obtaining is supplied to MCU.MCU controlling switches SR1's
It is opening/closing.MCU provides trigger signal G11, G12 to transistor Q1 and Q2 respectively in the way of PWM.Voltage sensor V2 detects DC/
The output voltage Vo of DC converter units, and will detect that the voltage Vo for obtaining is supplied to MCU.DC/DC converter units carry out sufficient power from capacitor
The voltage of C1 is boosted, and the voltage after boosting is supplied into capacitor C2.Capacitor C2 is smoothed to output voltage, and
Voltage after will be smooth is supplied to inverter.MCU compares voltage Vo with setting value Vdc, the difference regulation according to the two
The dutycycle of G11, G12, so that Vo=Vdc.
Different from conventional regulator, in the present invention, the speed regulation for outer shroud uses Fractional Order PID, and its structure is such as
Shown in Fig. 4.Similar to integer rank PID controller, the differential equation of Fractional Order PID Controller is:
Wherein,For Caputo is defined；λ ＞ 0, μ ＞ 0 are any real number, are the orders of fractional order control device.
Fractional calculus to Caputo definition ask Laplace transform, can obtain:
The transmission function of thus obtained Fractional Order PID Controller：
Fractional Order PID Controller includes that an integration order λ and differential order μ, wherein λ and μ can be any real numbers.It is whole
Number rank PID controller is special circumstances of the Fractional Order PID Controller at λ=1 and μ=1, and PI controls are when λ=1, μ=0
Device processed, is PD control device when λ=0, μ=1.Fractional Order PID Controller many two adjustable parameters λ and μ, by reasonably selecting
Parameter can just improve the control effect of system.
Refering to Fig. 5, if the preferable closed loop reference model of system is：λ, μ, kp, ki, kd lead to
Cross following manner determination：
S110：The cut-off frequency ω c and order α of ideal close-loop reference model are chosen in control performance requirement according to system；
The control performance requirement of system is time domain index, and time domain index can be overshoot, regulating time or time to peak；The ideal is closed
Ring reference model H (s) is such that system has the desired characteristic insensitive to change in gain, is to cause cut-off when change in gain
The change of frequencies omega c, system has strong robustness to change in gain, and the overshoot size of system is only relevant with α, and with gain without
Close.
S120：By H (s) and Gc(S) control object model, is calculated
Wherein λ, μ take decimal.If λ=α, have
S130：Obtain the frequency domain response data of unknown actual controlled device Gp (s), it is assumed thatWith Gp (s) in ω=0 and
Frequency response at ω=ω x is identical, then ω x can be chosen for the cross-over frequency of Gp (s) phase margins of original system | Gp (j ω
X) |=1, λ=α is first chosen, it is meaningful at ω=0 that (now, object can keep good steady-state response, with general reality
The situation of system is consistent), haveThen basisHave kp、kdIn ω=ωxPlace is with the functional relation of μ：
Wherein,
S140：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cutoff frequency
To greatest extent close to the frequency domain response index of practical object Gp (s) in the range of rate；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Final
To the parameter of fractional order control device.
The present invention primarily determines that the value of ω c, α, λ according to the time domain response index of system, by approaching practical object model
With the frequency response characteristic of ideal object model, optimizing obtains the differential term order of Fractional Order PID, is calculated kd, ki,
The value of kp, can obtain approaching the Fractional Order PID Controller of desired reference model.
Current regulator is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsThe structure of current regulator
As shown in fig. 6, the second comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles pi regulator being adjusted with q axles PI
Device, the output voltage of d axle pi regulators is Ud, the output voltage of q axle pi regulators is Uq, Ud、Uq、VoFeeding voltage limit ring,
ObtainWithMeanwhile, by the 4th comparator to UqWithIt is compared, obtains deviation △ Uq, △ UqThrough ratio module 1/
Kqp is admitted to the integration module in q axle pi regulators, so to △ UqCarry out PI regulations so thatCompare by the 5th
Module is to UdWithIt is compared, obtains deviation △ Ud, △ UdThe integration in d axle pi regulators is admitted to through ratio module 1/Kdp
Module, so to △ UdCarry out PI regulations so that
In order to ensure motor even running, it is to avoid motor ovennodulation pattern occurs, it is necessary to voltage limit ring limiting motor is electric
Pressure UdqLess than busbar voltage.That is Ud、UqFollowing formula condition need to be met.
If the condition is invalid, dq shaft voltages ud, uq need to carry out equal proportion amplitude limit, such as according to busbar voltage amplitude Vo
Shown in formula (11)：
Park inverse transform modules are used for willWithBe converted to α shaft voltage U α, β shaft voltages Uβ, and send to pulsewidth modulation
Module；Pulse width modulation module is space vector pulse width modulation, for being calculated voltage arteries and veins according to α β shaft voltages, busbar voltage
Punching, and send to inverter.
Inverter output power so is controlled by controlling d shaft currents and q shaft currents, is determined according to motor is actually required
Electron current amplitude, phasor difference is done by with q shaft currents, obtains actually required q shaft currents, simplifies the control knot of q shaft currents
Structure, on the premise of net side High Power Factor is realized, the robustness of strengthening system；According to busbar voltage amplitude, limiting motor reality
Border stator voltage size, it is to avoid motor runs into ovennodulation, enhances the reliability of system；Adjusted by voltage error, will
The current error value for obtaining feeds back to electric current loop integral element, effectively increases the rapidity of electric current loop regulation.
The control system of two close cycles+Fractional Order PID+current limit ring of the invention is adjusted with traditional digital ratio ring speed
System is contrasted, and Fig. 7 is the comparison diagram of control result, and curve a is given step signal in figure, and curve b drives for the present invention
The velocity-response curve of dynamic system, curve C is the response curve of traditional list closed-loop system.By contrast as can be seen that the present invention
Drive system rotating speed response it is smooth, quick, there is no overshoot, the phenomenon of vibration, substantially improve system drive effect.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.For the side of the application
For method embodiment, because it is substantially similar to device embodiment, so description is fairly simple, related part is referring to device reality
Apply the part explanation of example.
Elaborate many details in order to fully understand the present invention in the above description.But above description is only
Presently preferred embodiments of the present invention, the present invention can be implemented with being much different from other manner described here, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all make many possible to technical solution of the present invention using the methods and techniques content of the disclosure above
Change and modify, or the Equivalent embodiments for being revised as equivalent variations.Every content without departing from technical solution of the present invention, according to this
The technical spirit of invention still falls within skill of the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments
In the range of the protection of art scheme.
Claims (3)
1. a kind of motor driven systems based on harmonic wave observer, it is characterised in that including：DC/DC converter units, inverter,
Magneto, MCU, harmonic generation device and harmonic wave observer；DC/DC converter units are connected with battery, DC/DC converter units
Output end connects inverter, and inverter is connected with magneto；Detect the defeated of DC/DC converter units respectively by voltage sensor
Enter voltage Vin and output voltage Vo, output current ia, ib of inverter is detected by current sensor, by harmonic wave observer
To the rotational speed omega of magnetomIt is observed with rotor-position；Harmonic generation device is used for according to instruction generation high order multifrequency sinusoid
In signal, and the harmonic signal injection q shaft voltages that will be generated；Drive system uses rotating speed outer shroud, the two close cycles knot of current inner loop
Structure, it includes Cark conversion modules, Park conversion modules, harmonic generation device, Fractional Order PID adjuster, current regulator, Park
Inverse transform module, Pulse width modulation module and inverter, harmonic wave observer include that HPF (high-pass filter), polarity judge mould
Block and position detection module；HPF is connected with the output of Park conversion modules, polarity judge module and position detection module with
HPF is connected, and polarity judge module is used to judge rotor polarity, and position detection module is observed using the harmonic signal of injection
Rotor position and actual speed ω m；Rotor position is sent to the rotor-position of Park inverse transform modules and Park conversion modules
Data input pin；Rotational speed omega m is sent to the reverse input end of first comparator, and positive input and the rotating speed of first comparator are given
Determine signal to be connected, the output end of first comparator is connected with the input of Fractional Order PID adjuster, Fractional Order PID adjuster
Output end connects the positive input of the second comparator, the reverse input end of the second comparator and the q axles electricity of Park conversion modules
Stream output end is connected, and is controlled using d shaft currents permanent zero, i.e. d shaft currents set-point perseverance is zero, this set-point and the 3rd comparator
Positive input be connected, the reverse input end of the 3rd comparator is connected with the d shaft current output ends of Park conversion modules, second
The output end of comparator and the 3rd comparator is connected with current regulator, and the output end of current regulator is changed the mold by Park inversions
Block is connected with Pulse width modulation module, and Pulse width modulation module exports modulated signal to inverter, and inverter receives DC/DC
The output voltage Vo of converter unit；Second comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the
The comparative result feeding current regulator of two comparators and the 3rd comparator, dq axial coordinates are obtained after current regulator is adjusted
Q shaft voltage set-points under systemWith d shaft voltage set-pointsPark inverse transform modules pairWithCarry out Park inverse transformations
Afterwards, it is sequentially output to Pulse width modulation module and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drives
Permagnetic synchronous motor runs；The transistor Q1 and Q2 that the DC/DC converter units include inductance L, are connected in series, transistor Q1 with
Inverse parallel has diode D1 and D2 to Q2 respectively；Inductance L one end is connected to the positive pole of battery via switch SR1, and the other end is connected to
Intermediate point between transistor Q1 and transistor Q2；One end of electric capacity C1 is connected between switch SR1 and inductance L, another termination
GND, capacitor C1 is smoothed to cell voltage；Transistor Q1 is in parallel with electric capacity C2 after being connected with Q2, electric capacity C2 conducts
The output capacitance of DC/DC converter units, inverter is connected to the two ends of electric capacity C2；Voltage sensor V1 detects the voltage of battery
Vin, and will detect that the voltage Vin for obtaining is supplied to MCU；MCU controlling switches SR1's is opening/closing；MCU in the way of PWM respectively to
Transistor Q1 and Q2 provides trigger signal G11, G12；Voltage sensor V2 detects the output voltage Vo of DC/DC converter units, and
To detect that the voltage Vo for obtaining is supplied to MCU；DC/DC converter units boost to the voltage for carrying out sufficient power from capacitor C1, and will rise
Voltage after pressure is supplied to capacitor C2；Capacitor C2 is smoothed to output voltage, and will it is smooth after voltage be supplied to it is inverse
Become device；MCU compares voltage Vo with setting value Vdc, and the difference according to the two adjusts the dutycycle of G11, G12, so that
Vo=Vdc.
2. drive system according to claim 1, it is characterised in that the current regulator is used to calculating q shaft voltages and gives
ValueWith d shaft voltage set-pointsSecond comparator and the deviation signal of the 3rd comparator output are respectively fed to d axles PI regulations
Device and q axle pi regulators, the output voltage of d axle pi regulators is Ud, the output voltage of q axle pi regulators is Uq, Ud、Uq、VoSend
Enter voltage limit ring, obtainWithBy the 4th comparator to UqWithIt is compared, obtains deviation △ Uq, △ UqThrough than
Example module 1/Kqp is admitted to the integration module in q axle pi regulators, to △ UqCarry out PI regulations so thatBy the 5th
Comparison module is to UdWithIt is compared, obtains deviation △ Ud, △ UdIt is admitted in d axle pi regulators through ratio module 1/Kdp
Integration module, to △ UdCarry out PI regulations so that
3. drive system according to claim 1, it is characterised in that the transmission function of the Fractional Order PID Controller is：Wherein parameter lambda, μ, kp, ki, kd are determined as follows：
S110：The cut-off frequency ω c and order α of ideal close-loop reference model H (S) are chosen in control performance requirement according to system；
S120：By H (s) and Gc(S) control object model, is calculatedS130：The frequency domain for obtaining actual controlled device Gp (s) rings
Data are answered, ifIdentical with frequency responses of the Gp (s) at ω=0 and ω=ω x, then ω x are chosen for the G of original systemp(s)
The cross-over frequency of phase margin | Gp (j ω x) |=1, first chooses λ=α, hasThen basisHavekp、kdIn ω=ωxPlace is with μ's
Functional relation is：
Wherein,
S140：The ideal form of unknown object is picked out by optimizingIn parameter, makeIn cut-off frequency model
To greatest extent close to the frequency domain response index of practical object Gp (s) in enclosing；Set up frequency domain response error criterionAnd error criterion is optimized in the range of 0 ＜ μ ＜ 2Final
To the parameter of fractional order control device.
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| CN201710241273.9A CN106817056A (en) | 2017-04-13 | 2017-04-13 | Motor driven systems based on harmonic wave observer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549211A (en) * | 2018-04-26 | 2018-09-18 | 华侨大学 | A kind of Fractional Order PID Controller design method of time lag system |
| CN110112980A (en) * | 2019-05-13 | 2019-08-09 | 杭州电子科技大学 | The control method and system of iterative study based on Fractional Calculus |
| CN110412363A (en) * | 2019-07-17 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of software polarity based on velocity close-loop control judges DC electric field measurement system |
| CN111092414A (en) * | 2019-12-25 | 2020-05-01 | 深圳市英威腾电动汽车驱动技术有限公司 | New energy automobile and overvoltage protection circuit and overvoltage protection method thereof |
-
2017
- 2017-04-13 CN CN201710241273.9A patent/CN106817056A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549211A (en) * | 2018-04-26 | 2018-09-18 | 华侨大学 | A kind of Fractional Order PID Controller design method of time lag system |
| CN110112980A (en) * | 2019-05-13 | 2019-08-09 | 杭州电子科技大学 | The control method and system of iterative study based on Fractional Calculus |
| CN110412363A (en) * | 2019-07-17 | 2019-11-05 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of software polarity based on velocity close-loop control judges DC electric field measurement system |
| CN111092414A (en) * | 2019-12-25 | 2020-05-01 | 深圳市英威腾电动汽车驱动技术有限公司 | New energy automobile and overvoltage protection circuit and overvoltage protection method thereof |
| CN111092414B (en) * | 2019-12-25 | 2022-03-29 | 深圳市英威腾电动汽车驱动技术有限公司 | New energy automobile and overvoltage protection circuit and overvoltage protection method thereof |
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