CN106817057A - Motor driven systems - Google Patents

Abstract

The invention discloses a kind of Speedless sensor motor driven systems, including：DC/DC converter units, inverter, magneto, MCU, angle maker and sliding mode observer；The 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 voltage ia, ib of inverter are detected by current sensor, by sliding mode observer to the rotational speed omega of magneto_mIt is observed with rotor-position, special angle is generated in the electric motor starting stage by angle maker, to enable that motor smoothly starts；Drive system uses rotating speed outer shroud, the double circle structure of current inner loop.The present invention improves system control effect.

Description

Motor driven systems

Technical field

Generally the present invention relates to motor, more particularly to a kind of motor driven systems.

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.

A kind of motor driven systems, including：DC/DC converter units, inverter, magneto, MCU, angle maker and Sliding mode observer；The DC/DC converter units are connected with battery, the output end connection inverter of DC/DC converter units, inverter It is connected with magneto；Detect the input voltage vin and output voltage Vo of DC/DC converter units respectively by voltage sensor, Output voltage ia, ib of inverter are detected by current sensor, by sliding mode observer to the rotational speed omega of magneto_mWith turn Sub- position is observed, and special angle is generated in the electric motor starting stage by angle maker, to enable that motor smoothly starts；Drive Dynamic system uses rotating speed outer shroud, the double circle structure of current inner loop, and it includes Cark conversion modules, Park conversion modules, sliding formwork Observer, angle maker, Fractional Order PID adjuster, current regulator, Park inverse transform modules, Pulse width modulation module and Inverter；Sliding mode observer is connected by switching S2 with transition, and angle maker is also connected with transition, transition output rotor Position θ and actual speed ω m；Rotor position is sent to the rotor position data input of Park inverse transform modules；Rotational speed omega m Send to the reverse input end of first comparator, the positive input of first comparator is connected with rotational speed setup signal, and rotating speed is given Determining signal can be given by gas pedal；The output end of first comparator is connected with the input of Fractional Order PID adjuster；Fraction The output end of rank PID regulator connects the positive input of the second comparator, and reverse input end and the Park of the second comparator become The q shaft currents output end for changing the mold block is connected；Controlled using d shaft currents permanent zero, i.e. d shaft currents set-point perseverance is zero, this gives Value is connected with the positive input of the 3rd comparator, the reverse input end of the 3rd comparator and the d shaft currents of Park conversion modules Output end is connected；The output end of the second comparator and the 3rd comparator is connected with current regulator, the output end of current regulator It is connected with Pulse width modulation module by Park inverse transform modules, Pulse width modulation module exports modulated signal to inversion Device, inverter receives the output voltage Vo of DC/DC converter units；The wherein two-phase that inverter is exported is gathered by current sensor Ia, ib, ia, ib are converted by Clark and Park is converted, and obtain equivalent current id of the permagnetic synchronous motor under dq axis coordinate systems And iq；First comparator is by rotary speed setting valueIt is compared with actual speed ω m, 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-pointsSecond Comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the ratio of the second comparator and the 3rd comparator Relatively result sends into current regulator, and the q shaft voltage set-points under dq axis coordinate systems are obtained after current regulator is adjustedWith D shaft voltage set-pointsPark inverse transform modules pairWithAfter carrying out Park inverse transformations, it is sequentially output and is adjusted to pulse width Molding block and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drive permagnetic synchronous motor operation；It is described DC/DC converter units include DC/AC conversion modules, AC/DC conversion modules and high frequency transformer, DC/AC conversion modules and high frequency The primary side of transformer is connected, and AC/DC conversion modules are connected with the secondary of high frequency transformer；DC/AC conversion modules include that primary side is high Frequency electrical energy conversion circuit and primary side high-frequency circuit, battery is by primary side high-frequency electrical energy change-over circuit and primary side high-frequency resonant electricity Road is connected with the primary side of high frequency transformer；AC/DC conversion modules include secondary high-frequency electrical energy change-over circuit and secondary high-frequency resonant Circuit, the secondary of high frequency transformer is connected by secondary high-frequency circuit and secondary high-frequency electrical energy change-over circuit with inverter； The current regulator is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsSecond comparator compares with the 3rd The deviation signal of device output is respectively fed to d axles pi regulator and q axle pi regulators, and the output voltage of d axle pi regulators is U_d, q The output voltage of axle pi regulator is U_q, U_d、U_q、V_oFeeding voltage limit ring, obtainsWithBy the 4th comparator to U_q WithIt is compared, obtains deviation △ U_q, △ U_qThe integration module in q axle pi regulators is admitted to through ratio module 1/Kqp, it is right △U_qCarry out PI regulations so thatBy the 5th comparison module to U_dWithIt is compared, obtains deviation △ U_d, △ U_dThrough Ratio module 1/Kdp is admitted to the integration module in d axle pi regulators, to △ U_dCarry out PI regulations so that

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；Using the two-way DC/DC converters of resonant type soft-switch state, the quality of power supply is improved； Cause that system is provided with bigger adjustable range by using Fractional Order PID, obtain Control platform more more preferable than traditional PI D and Stronger robustness；Motor rotor position angle is observed using sliding mode observer, so as to instead of traditional mechanical location Sensor, reduces system cost, improves reliability；Amplitude limit and closed loop feedback link are added in electric current loop, it is ensured that electricity Machine even running, it is to avoid ovennodulation occurs in motor.

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 sliding mode observer；

Fig. 4 is saturation function curve map；

Fig. 5 is the structural representation of DC/DC converter units；

Fig. 6 is the structural representation of Fractional Order PID；

Fig. 7 adjusts flow chart for Fractional Order PID；

Fig. 8 is the structural representation of current regulation unit；

Fig. 9 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 electric vehicle drivetrain System, system includes：DC/DC converter units, inverter, magneto, MCU (main control unit), angle maker and sliding formwork are observed Device etc..DC/DC converter units are connected with battery, and the output end of DC/DC converter units connects inverter, inverter and magneto It is connected, drives vehicle to run by magneto.Detect the input voltage of DC/DC converter units respectively by voltage sensor Vin and output voltage Vo, output voltage ia, ib of inverter is detected by current sensor, by sliding mode observer to permanent magnetism The rotational speed omega of motor_mDetected with rotor-position, these detection signals are admitted to MCU, MCU distinguishes according to these detection signals To DC/DC converter units 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；Angle maker is used to generate special angle in the electric motor starting stage according to instruction, To enable that motor smoothly starts；Current detection circuit by the phase current of real-time detection motor coil, and with MCU processors in Electric machine theory model is compared, and realizes the closed-loop control of motor, and realizes 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, sliding mode observer, angle generation Device, Fractional Order PID adjuster, current regulator, Park inverse transform modules, Pulse width modulation module and inverter.

Wherein, sliding mode observer is connected by switching S2 with transition, and angle maker is also connected with transition, and transition is defeated Go out rotor position, actual speed ω m.Rotor position is sent to the rotor position data input of Park inverse transform modules；Turn Fast ω m are sent to the reverse input end of first comparator, and the positive input of first comparator is connected with rotational speed setup signal, are turned Fast Setting signal can be given by gas pedal.The output end of first comparator is connected with the input of Fractional Order PID adjuster. The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the reverse input end of the second comparator with The q shaft currents output end of Park conversion modules is connected.Controlled using d shaft currents permanent zero in the present invention, i.e., d shaft currents set-point is permanent It is zero, this set-point is connected with the positive input of the 3rd comparator, reverse input end and the Park of the 3rd comparator are converted The d shaft currents output end of module is connected.The output end of the second comparator and the 3rd comparator is connected with current regulator, and electric current is adjusted The output end for saving device is connected by Park inverse transform modules with Pulse width modulation module, Pulse width modulation module output modulation Signal to inverter, inverter receives the output voltage Vo of DC/DC converter units, opening/closing inverter is made according to modulated signal In IGBT, 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 valueIt is compared with actual speed ω m, deviation signal is by Fractional Order PID Adjuster is adjusted, 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, i_αAnd i_βIt is the equivalent current under two-phase rest frame (abbreviation α β coordinate systems), i_a、i_bAnd i_cIt is permanent magnetism The three-phase current of synchronous motor, i_dAnd i_qIt 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 sliding mode observer in the present invention, angle maker and transition below, refering to Fig. 3 and Tu 4.Magneto is initially located in inactive state, and the initial position message of rotor must be obtained to smoothly startup.Initial position Order of accuarcy is related to the stability of electric motor starting, if initial position just has error, and to likely result in motor out of control.Therefore, this Invention provides initial angle using angle maker, by the way of speed open-loop start-up, when motor speed reaches the higher of setting After rotating speed, closed-loop control is switched to by transition.Specifically, direct controlled output voltage, saves speed and electric current Controlling unit, angle is given by angle maker needed for Park inverse transformations, by manual control position angle maker, make motor by State of the setting acceleration Acceleration of starting to fixed rotating speed.Phase between the angle and rotor that position angle maker gives Potential difference is θ_mWhen had according to torque equation：

Te=1.5p_n[Ψ_fi_q+(L_d-L_q)i_di_q] (4)

Wherein,

i_q=i*_qsinθ_m i_d=i*_qcosθ_m

Therefore, formula 4 can be reduced to：

Te=1.5p_n i*_qsinθ_m[Ψ_fi_q+(L_d-L_q)i*_qcosθ_m] (5)

Wherein, Te is electromagnetic torque, T_LIt is load torque, J is rotary inertia, and ω is motor angular rate, and θ turns for motor The angle of A axles when son is with initial level state, Pn is magnetic pole logarithm.From above formula, to ensure motor in nominal load Smooth to start, the given electric current of q axles should be sufficiently large in the case where ensureing no more than Rated motor electric current.Therefore, the present invention is being opened When dynamic, the given electric current of q axles is keptIt is definite value, d axles give electric currentIt is 0, angle generator given angle θ_dOpened by -90 degree Begin.Initial time,Phase difference θ between motor permanent magnet_m=0, to reach the effect of constant acceleration startup, it is ensured that each θ in cycle_dIncrement be definite value.

During open-loop start-up, the position angle information of motor is given by angle maker, starts to open after high regime is accelerated to Sliding mode observer program is used, the position angle that observation is obtained does not participate in closed-loop control directly now, but first passing through transition will see The angle value for measuring mixes in proportion with angle maker set-point, to ensure from open loop to the steady of closed loop handoff procedure.Open loop During start-up course, switch S1 and switch S2 are off, and the angle value for participating in control is all given by angle maker, works as electricity When machine rotating speed reaches high regime, switch S 2 is closed.The angle of sliding mode observer estimation starts to mix with angle maker given angle value Close, its mixed result participates in final angle control.The mixed proportion of angle of initial time sliding mode observer estimation is 0%, and angle maker set-point proportion is 100%, the angle proportion of sliding mode observer estimation afterwards gradually increases, And angle maker set-point proportion is gradually reduced, when mixed proportion value reaches 100%, oneself departs from control to characterize angle maker State processed, control angle value now is all given by sliding mode observer.

Sliding mode observer is more commonly used in the observation of motor angle position, and general sliding mode observer observes single by electric current Unit, resistance identification unit, switch function, back-EMF observer unit and phaselocked loop are constituted, its have good stability and Extremely strong robustness.Yet with the presence of switch function so that observer has discontinuous switching characteristic in itself, and this can lead Cause system has buffeting during practical application.This buffeting not only makes the big discounting of control accuracy of system Button, except unnecessary excess loss can be caused.To use saturation function alternative switch function, sliding mode observer in this present invention Structure as shown in figure 3, wherein the curve of saturation function be Fig. 4 shown in.

Wherein, k is the gain set-point of sliding mode observer after improving；δ is error setting value.By reasonably regulation parameter The value of δ, can not only effectively reduce " buffeting " of system, and system operations process is simpler, it is easy to digitized realization.

Fig. 5 is the structural representation of DC/DC converter units in the present invention, and DC/DC converter units include DC/AC conversion modules 1st, AC/DC conversion modules 2 and high frequency transformer 3, DC/AC conversion modules 1 are connected with the primary side of high frequency transformer 3, AC/DC conversion Module 2 is connected with the secondary of high frequency transformer 3.DC/DC converter units use symmetrical circuit structure, realize the two-way biography of energy It is defeated so that whole electric power electric transformer can power for other system bidirectionals, with continuation.Wherein, DC/AC becomes mold changing Block 1 includes primary side high-frequency electrical energy change-over circuit 11 and primary side high-frequency circuit 12, and electrokinetic cell is turned by primary side high-frequency electrical energy Change circuit 11 and primary side high-frequency circuit 12 is connected with the primary side of high frequency transformer 3；AC/DC conversion modules 2 include that secondary is high Frequency electrical energy conversion circuit 22 and secondary high-frequency circuit 21, the secondary of high frequency transformer 3 pass through secondary high-frequency circuit 21 It is connected with inverter with secondary high-frequency electrical energy change-over circuit 22, electric capacity of voltage regulation and inverter parallel, electric capacity of voltage regulation is in inverter The direct current of upper output plays a part of voltage stabilizing.

Dc source obtains the ac square wave signal of constant frequency perseverance width, square-wave signal warp through primary side high-frequency electrical energy change-over circuit 11 Primary side high-frequency circuit 12 be converted to the AC signal with permanent envelope trait be input into paramount frequency power transformer 3 carry out electrically every From, and produce high-frequency induction electromotive force, high-frequency induction electromotive force to turn by secondary high-frequency electrical energy through secondary high-frequency circuit 21 Changing circuit 22 carries out AC-DC conversion, obtains stable DC voltage output.M is the mutual inductance of both sides winding in Fig. 5.Above-mentioned primary side High-frequency electrical energy change-over circuit 11 includes the first HF switch S1 and the second HF switch S2, and primary side high-frequency circuit 12 includes original Side resonant capacitance C1 and primary side resonant inductance L1, the positive pole of battery is connected with one end of the first HF switch S1, and the first high frequency is opened Close S1 the other end be connected with one end of the second HF switch S2 and one end of primary side resonant capacitance C1 respectively, the negative pole of battery and The other end connection of the second HF switch S2, the other end of primary side resonant capacitance C1 passes through primary side resonant inductance L1 and the second high frequency Switch the other end connection of S2；The leakage inductance of the primary side winding of high frequency transformer 3 can replace the primary side resonant inductance L1.What is be input into is straight Stream power supply obtains ac square wave signal by the conversion of primary side high-frequency electrical energy change-over circuit 11, then again by primary side high-frequency resonant electricity The primary side of ac square wave signal input high frequency transformer 3 is carried out electrical isolation by road 12.Primary side high-frequency circuit 12 causes DC/ AC converters always work in resonant type soft-switch state, so as to improve the quality of power supply.

Above-mentioned secondary high-frequency circuit 21 includes secondary resonant inductance L2 and secondary resonant capacitance C2, secondary high-frequency electrical Energy change-over circuit 22 includes the 3rd HF switch S3 and the 4th HF switch S4, one end and the secondary resonance of secondary resonant inductance L2 One end connection of electric capacity C2, the other end of secondary resonant capacitance C2 is opened with one end of the 4th HF switch S4 and the 3rd high frequency respectively One end connection of S3 is closed, the other end of secondary resonant inductance L2 is connected with the other end of the 4th HF switch S4, and the 3rd high frequency is opened The other end for closing S3 is connected by secondary resonant capacitance C2 with the other end of secondary resonant inductance L2；The secondary of high frequency transformer 3 around The leakage inductance of group can replace the secondary resonant inductance L2.Secondary high-frequency circuit 21 produces high frequency sense according to original edge voltage signal Electromotive force is answered, then is exported through overload by after the AC-DC conversion of secondary high-frequency circuit 21, being converted to DC voltage.Secondary High-frequency circuit 21 causes that DC/AC converters always work in resonant type soft-switch state, improves the quality of power supply.

DC/DC converter units have two kinds of mode of operations in the present invention：Energy injection pattern and free-run mode.In energy When the positive transmission of amount, input dc power and the positive circulation of the electric current of primary side high-frequency circuit 12, the first HF switch S1 conductings, the Two HF switch S2 are turned off, and input dc power injects primary side resonant network by HF switch, lift resonance current, this kind of work Pattern is energy injection pattern；When the positive transmission of energy and the electric current negative sense of primary side high-frequency circuit 12 are circulated, the second high frequency Switch S2 conductings, the first HF switch S1 shut-offs, the resonance current of primary side high-frequency circuit 12 is by the second HF switch S2 Flowing, this kind of mode of operation is free-run mode.When input DC power in DC/AC converter topologies module 1, pass through The control of mode of operation so that the first HF switch S1 and the second HF switch S2 alternating, complementaries are turned on, and realize zero current Switching, thus the primary side in high frequency transformer 3 just generates high frequency exciting current.Wherein, DC/AC converter topologies module 1 Energy injection time and free oscillation time are equal to the half of the harmonic period of primary side high-frequency circuit 12.Become in DC/AC In the mode of operation of parallel operation topography module 1, angle of flow when the first HF switch S1 and the second HF switch S2 is turned on It is 180 degree, turn-on cycle is the resonance current cycle of primary side high-frequency circuit 12.

The mode of operation of AC/DC converter topologies module 2 is controlled by secondary high-frequency electrical energy change-over circuit 22, specially can Amount two kinds of mode of operations of injection way and free-run mode.In the positive transmission of energy and the resonance of secondary high-frequency circuit 21 When electric current negative sense circulates, the 4th HF switch S4 conductings, the 3rd HF switch S3 shut-offs, the secondary high-frequency circuit 21 resonance current flows by the 4th HF switch S4, and this kind of mode of operation is free-run mode；In the positive transmission of energy During circulation positive with the resonance current of secondary high-frequency circuit 21, the 3rd HF switch S3 conductings, the 4th HF switch S4 is turned off, and the resonance current of the secondary high-frequency circuit 21 injects inverter, this kind of work by the 3rd HF switch S3 Pattern is energy injection pattern.Both patterns realize the 3rd HF switch S3 and the zero current of the 4th HF switch S4 is cut Change, complete the conversion and transmission of energy.

DC/DC converter units of the invention use symmetrical circuit structure, realize the transmitted in both directions of energy so that whole electricity Power electronic transformer can power for other systems stays, in terms of control method, be noted using free-run mode and energy Enter pattern, with more preferable control performance.The efficiency of transmission of DC/DC converters is further increased, control is simple, power device It is few, reduce the volume of whole electric power electric transformer；DC/AC converters and AC/DC in whole electric power electric transformer become Parallel operation always works in resonant type soft-switch state, improves the quality of electric energy.

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. 6.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. 7, 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 G_c(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 Identical with the frequency response at ω=ω x, 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 border system is consistent), haveThen basisHave k_p、k_dIn ω=ω_xPlace 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 figure 8, 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 U_d, the output voltage of q axle pi regulators is U_q, U_d、U_q、V_oFeeding voltage limit ring, ObtainWithMeanwhile, by the 4th comparator to U_qWithIt is compared, obtains deviation △ U_q, △ U_qThrough ratio module 1/ Kqp is admitted to the integration module in q axle pi regulators, so to △ U_qCarry out PI regulations so thatCompare by the 5th Module is to U_dWithIt is compared, obtains deviation △ U_d, △ U_dThe integration in d axle pi regulators is admitted to through ratio module 1/Kdp Module, so to △ U_dCarry 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 U_dqLess than busbar voltage.That is U_d、U_qFollowing 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 (14)：

Park inverse transform modules are used for willWithBe converted to α shaft voltage U α, β shaft voltages U_β, 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. 9 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, it is characterised in that including：DC/DC converter units, inverter, magneto, MCU, angle life Grow up to be a useful person and sliding mode observer；The DC/DC converter units are connected with battery, the output end connection inversion of DC/DC converter units Device, inverter is connected with 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 sliding mode observer Fast ω_mIt is observed with rotor-position, special angle is generated in the electric motor starting stage by angle maker, to enable that motor is suitable Profit starts；Drive system uses rotating speed outer shroud, the double circle structure of current inner loop, and it includes that Cark conversion modules, Park are converted Module, sliding mode observer, angle maker, Fractional Order PID adjuster, current regulator, Park inverse transform modules, pulse width are adjusted Molding block and inverter；Sliding mode observer is connected by switching S2 with transition, and angle maker is also connected with transition, transition Output rotor position θ and actual speed ω m；Rotor position is sent to the rotor position data input of Park inverse transform modules； Rotational speed omega m is sent to the reverse input end of first comparator, and the positive input of first comparator is connected with rotational speed setup signal, Rotational speed setup signal can be given by gas pedal；The output end of first comparator connects with the input of Fractional Order PID adjuster Connect；The output end of Fractional Order PID adjuster connects the positive input of the second comparator, the reverse input end of the second comparator with The q shaft currents output end of Park conversion modules is connected；Controlled using d shaft currents permanent zero, i.e. d shaft currents set-point perseverance is zero, this One set-point is connected with the positive input of the 3rd comparator, the reverse input end of the 3rd comparator and the d of Park conversion modules Shaft current output end is connected；The output end of the second comparator and the 3rd comparator is connected with current regulator, current regulator Output end is connected by Park inverse transform modules with Pulse width modulation module, and Pulse width modulation module output modulated signal is extremely Inverter, inverter receives the output voltage Vo of DC/DC converter units；Inverter is gathered by current sensor to export wherein Two-phase ia, ib, ia, ib are converted by Clark and Park is converted, and obtain equivalent electric of the permagnetic synchronous motor under dq axis coordinate systems Stream id and iq；First comparator is by rotary speed setting valueIt is compared with actual speed ω m, deviation signal is by Fractional Order PID Adjuster is adjusted, the output valve of Fractional Order PID adjuster as q axles given value of current valueD shaft current set-pointsSecond Comparator to iq withBe compared, the 3rd comparator to id withIt is compared, the comparing of the second comparator and the 3rd comparator Result sends into current regulator, and the q shaft voltage set-points under dq axis coordinate systems are obtained after current regulator is adjustedWith d axles Voltage set-pointPark inverse transform modules pairWithAfter carrying out Park inverse transformations, it is sequentially output and gives pulse width modulation mould Block and inverter, so as to obtain the three-phase input voltage of permagnetic synchronous motor, drive permagnetic synchronous motor operation；The DC/DC Converter unit includes DC/AC conversion modules, AC/DC conversion modules and high frequency transformer, DC/AC conversion modules and high frequency transformer Primary side be connected, AC/DC conversion modules are connected with the secondary of high frequency transformer；DC/AC conversion modules include primary side high-frequency electrical energy Change-over circuit and primary side high-frequency circuit, battery is by primary side high-frequency electrical energy change-over circuit and primary side high-frequency circuit and height The primary side of frequency power transformer is connected；AC/DC conversion modules include secondary high-frequency electrical energy change-over circuit and secondary high-frequency circuit, high The secondary of frequency power transformer is connected by secondary high-frequency circuit and secondary high-frequency electrical energy change-over circuit with inverter；The electric current Adjuster is used to calculate q shaft voltage set-pointsWith d shaft voltage set-pointsWhat the second comparator and the 3rd comparator were exported Deviation signal is respectively fed to d axles pi regulator and q axle pi regulators, and the output voltage of d axle pi regulators is U_d, q axles PI regulations The output voltage of device is U_q, U_d、U_q、V_oFeeding voltage limit ring, obtainsWithBy the 4th comparator to U_qWithCarry out Compare, obtain deviation △ U_q, △ U_qThe integration module in q axle pi regulators is admitted to through ratio module 1/Kqp, to △ U_qCarry out PI is adjusted so thatBy the 5th comparison module to U_dWithIt is compared, obtains deviation △ U_d, △ U_dThrough ratio module 1/Kdp is admitted to the integration module in d axle pi regulators, to △ U_dCarry out PI regulations so that

2. drive system according to claim 1, it is characterised in that the primary side high-frequency electrical energy change-over circuit includes first HF switch S1 and the second HF switch S2, primary side high-frequency circuit includes primary side resonant capacitance C1 and primary side resonant inductance L1, the positive pole of battery is connected with one end of the first HF switch S1, the other end of the first HF switch S1 respectively with the second high frequency Switch the other end company of one end connection of one end and primary side resonant capacitance C1 of S2, the negative pole of battery and the second HF switch S2 Connect, the other end of primary side resonant capacitance C1 is connected by primary side resonant inductance L1 with the other end of the second HF switch S2；It is described Secondary high-frequency circuit includes secondary resonant inductance L2 and secondary resonant capacitance C2, and secondary high-frequency electrical energy change-over circuit includes the One end of three HF switch S3 and the 4th HF switch S4, secondary resonant inductance L2 are connected with one end of secondary resonant capacitance C2, The other end of secondary resonant capacitance C2 is connected with one end of the 4th HF switch S4 and one end of the 3rd HF switch S3 respectively, secondary The other end of side resonant inductance L2 is connected with the other end of the 4th HF switch S4, and the other end of the 3rd HF switch S3 is by pair Side resonant capacitance C2 is connected with the other end of secondary resonant inductance L2.

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 G_c(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 Gp (s) of original system The cross-over frequency of phase margin | Gp (j ω x) |=1, first chooses λ=α, hasThen basisHavek_p、k_dIn ω=ω_xPlace and the letter of μ Number relations be：

Wherein,

$\begin{array}{c}p=\mathrm{Re}\[G_p\left({\mathrm{j\ω}}_x\right)\]\\ q=Im\[G_p\left({\mathrm{j\ω}}_x\right)\]\end{array},\left\{\begin{array}{c}t=\mathrm{\λ}+\mathrm{\μ}\\ a+jb=j^t=cos\left(\frac{\mathrm{\π}}{2}t\right)+jsin\left(\frac{\mathrm{\π}}{2}t\right)\\ c+jd=j^{\mathrm{\λ}}=cos\left(\frac{\mathrm{\π}}{2}\mathrm{\λ}\right)+jsin\left(\frac{\mathrm{\π}}{2}\mathrm{\λ}\right)\end{array}\right..---\left(15\right)$

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.