CN107453663A - A kind of mechanical elastic energy storage PMSM parameter adaptive speed regulating methods - Google Patents
A kind of mechanical elastic energy storage PMSM parameter adaptive speed regulating methods Download PDFInfo
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- CN107453663A CN107453663A CN201710671457.9A CN201710671457A CN107453663A CN 107453663 A CN107453663 A CN 107453663A CN 201710671457 A CN201710671457 A CN 201710671457A CN 107453663 A CN107453663 A CN 107453663A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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Abstract
The present invention relates to a kind of mechanical elastic energy storage PMSM parameter adaptive method for controlling speed regulation, establish the mathematical modeling for the mechanical elastic energy storage system being connected in sequence by mechanical elastic energy storage case, PMSM, inverter, using rotating speed, stator current as virtual controlling variable, i is pushed away with reference to counterd=0 vector controlled and torque, rotary inertia adaptive control laws, voltage controller is devised, obtains stator voltage equation under d, q coordinate system, the PMSM operations of control Driven by inverter, this control program can ensure that energy-storage system has preferably static and dynamic property, and have stronger antijamming capability.
Description
Technical field
The present invention relates to PMSM parameter adaptive speed regulating methods, category are driven during a kind of mechanical elastic energy storage system stored energy
In technical field of motors.
Background technology
Mechanical elastic energy storage system stored energy element is mechanical elastic energy storage case, torque and rotary inertia be present in thermal energy storage process
Disturbance, causes drive device permagnetic synchronous motor PMSM's (Permanent Magnet Synchronous Motor, PMSM)
There is certain fluctuation in rotating speed, can cause the efficiency and service life reduction of system.Existing control technology generally passes through identification algorithm
Energy-storage box load real-time parameter is obtained, then carries out the control of next step.This way not only results in the increasing of control system amount of calculation
Greatly, Identification Errors can also be introduced.Influence of the Identification Errors to control performance need to be suppressed by adaptive algorithm, amount of calculation will be entered
One step increases, and control system is extremely complex.
The content of the invention
The purpose of the present invention is the characteristics of being directed to mechanical elastic energy storage system and the deficiency of existing speed regulating control technology, there is provided
A kind of PMSM parameter adaptives speed regulating method, to ensure that system stored energy process is steadily efficient.
Problem of the present invention is achieved through the following technical solutions：
A kind of mechanical elastic energy storage PMSM parameter adaptive speed regulating methods.Methods described is initially set up by mechanical elastic energy storage
The mathematical modeling for the mechanical elastic energy storage system that case, PMSM, inverter are connected in sequence；Then in conjunction with adaptive control laws and
It is counter to push away control algolithm, the voltage governing equation of PMSM driving inverters is obtained, Li Yapunuo is observed in the design of whole control algolithm
Husband's stability criterion, system global convergence.
Above-mentioned PMSM parameter adaptives speed regulating method, the described method comprises the following steps：
A. according to each part characteristic of mechanical elastic energy storage system, mechanical elastic energy storage systematic mathematical mould is established
Type：
TL=T0+kTωt
ψd=ψf+Lid
ψq=Liq
Te=1.5npψfiq
Wherein, ud, uq, respectively stator d, q shaft voltages；id, iqRespectively stator d, q shaft current；R is stator resistance；L
For stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, q
The component of axle；JeRotary inertia when being discharged completely for whirlpool spring, nsFor the total energy storage number of turns of whirlpool spring.TLFor energy-storage box torque；T0For
Energy-storage box initial moment；TeFor electromagnetic torque；kTThe slope changed for energy-storage box torque with corner；J is rotary inertia；B is viscosity
Coefficient of friction；Define ψsFor ψdAnd ψqQuadratic sum.
B. adaptive speed regulation algorithm：
udref=Rid+Lnpωiq-k3Led
Wherein, ωref、idref、iqrefIt is rotating speed, the reference value of d, q shaft current respectively；eω、ed、eqIt is rotating speed, d, q respectively
The tracking error of electric current；udref、uqrefIt is inverter input d, q shaft voltage reference value respectively；J、TLFor nominal value,For
Actual value, Δ J, Δ TLFor deviation, k1、k2、k3、r1、r2For positive control gain.
C is by control voltage udAnd uqReference value is input to PMSM mathematical modelings, realizes the adaptive speed regulation control to thermal energy storage process
System.
The advantages of the present invention：
1st, the present invention has used for reference that traditional PMSM is counter to push away speed regulating control, introduces torque and the Self Adaptive Control of rotary inertia
Rule, control system is succinctly efficient, can make a good job of the speed regulating control of energy-storage system.
2nd, speed regulating method of the present invention can effectively suppress influence of the load parameter disturbance to system rotating speed, while succinct high
Effect, ensure that thermal energy storage process is steadily carried out under the low speed.
Brief description of the drawings
The invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is parameter adaptive governor system control block diagram；
Fig. 2 is PMSM rotating speeds；
Fig. 3 is PMSM stator q shaft currents；
Fig. 4 is PMSM stator d shaft currents；
Each symbol is in text：ud, uqRespectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is stator
Resistance；L is stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnet
Chain is in d, the component of q axles；JeRotary inertia when being discharged completely for whirlpool spring, nsFor the total energy storage number of turns of whirlpool spring.TLTurn for energy-storage box
Square；T0For energy-storage box initial moment；TeFor electromagnetic torque；kTThe slope changed for energy-storage box torque with corner；J is rotary inertia；
B is viscosity friction coefficient；Define ψsFor ψdAnd ψqQuadratic sum；ωref、idref、iqrefIt is the reference of rotating speed, d, q shaft current respectively
Value；eω、ed、eqIt is rotating speed, the tracking error of d, q electric current respectively；udref、uqrefIt is inverter input d, q shaft voltage reference respectively
Value；J、TLFor nominal value,For actual value, Δ J, Δ TLFor deviation, k1、k2、k3、r1、r2For positive control gain.
Embodiment
The present invention is realized by following technical scheme：
1. mechanical elastic energy storage system mathematic model
Mechanical elastic energy storage system control block figure is as shown in figure 1, inverter under the method for controlling speed regulation of the present invention, drives
The steady high-efficiency energy-storage that PMSM is realized.
Mathematical modelings of the PMSM under d, q axis coordinate system can be written as：
Stator current equation
Stator magnetic linkage equation
Equation of rotor motion
Electromagnetic torque equation
Te=1.5npψfiq (4)
In formula：ud, uq, respectively stator d, q shaft voltages；id, iqRespectively stator d, q shaft current；R is stator resistance；L
For stator inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, q
The component of axle；TLFor energy-storage box torque；TeFor electromagnetic torque；J is rotary inertia；B is viscosity friction coefficient；Define ψsFor ψdAnd ψq
Quadratic sum；
Mechanical elasticity case can pass through torque T as energy-storage units, its mathematical modelingLIt is described by with rotary inertia J, its
In, torque TLAs shown in formula (5)：
TL=T0+kTωt (5)
Wherein, T0For energy-storage box initial moment, ω is PMSM drive shaft speeds, kTIt it is one normal for energy-storage box moment coefficient
Amount, is determined, t by the inherent characteristic (fixed elasticity of spring leaf modulus, width, thickness and length such as in energy-storage box) of energy-storage box
For time, JeRotary inertia when being discharged completely for energy-storage box, nsFor the total energy storage number of turns of energy-storage box,For actual value,
ΔJ、ΔTLFor deviation.
2. speed-adjusting and control system designs
To ensure the global asymptotic convergence of system rotating speed, it is first control object to select energy-storage box rotating speed, definition control first
Error processed is：
Choose eωFor virtual controlling variable, subsystem is formed, it is assumed that ωrefFor constant, its derivation can be obtained：
In order to rotating speed can accurate trace command value, if iqFor virtual master function, following Lee is constructed for subsystem (9)
Ya Punuofu functions
To its derivation, can obtain：
In order that formula (11) is negative, following virtual master function is selected
Wherein, k1＞ 0, to control gain.According to setting above：iq=iqref-eq,Brought into reference to (12)
Formula (11) can obtain：
To realize that q shaft currents track, subsystem is defined as follows：
Following liapunov function is constructed for subsystem (14)
To formula (15) derivation, and bring intoIt can obtain
Actual control variable u is contained in formula (16)q, in order that formula (16) is negative, defining q shaft voltage reference values is
Wherein, k2＞ 0, to control gain.Bringing formula (17) into formula (16) can obtain：
To realize that d shaft currents track, subsystem is defined as follows：
Assuming that idref=0, construct following liapunov function for subsystem (19)
To formula (20) derivation
Actual control variable u is contained in formula (21)d, in order that formula (21) is negative, defining d shaft voltage reference values is
udref=Rid+Lnpωiq-k3Led (22)
Wherein, k3＞ 0, to control gain.Bringing formula (22) into formula (21) can obtain：
In order that formula (23) perseverance is negative, designs adaptive control laws and define liapunov function
Its derivation can be obtained
Adaptive control laws are ultimately set to
Wherein r1、r2For Self Adaptive Control coefficient, be on the occasion of.Bringing formula (26) into formula (25) can obtain:
Due to V boundeds, according to Barbalat theorems, can obtain：
Therefore, closed-loop system is asymptotically stability.
Examples of implementation
Software emulation analysis is controlled to the control method of proposition.PMSM parameter is：Stator phase resistance Rs=2.875
Ω；Stator inductance L=0.033H；Permanent magnet magnetic flux ψf=0.38Wb；Rotor number of pole-pairs np=3；Viscous damping coefficient Bm=0N/
rad/s.Controller parameter is chosen as follows：k1=100, k2=1000, k3=5, r1=0.005, r2=0.002 simulation step length is set
For 0.0001min, run time 10min.
PMSM speed references are:0~4s is 2r/min, and 4~7s is 2.6r/min, and 7~10s is 1.9r/min according to being
System and controller parameter, can be obtained：
udref=2.875id+0.099ωiq-1.65ed
The simulation experiment result is as shown in figs. 2 to 4.Fig. 2 is system speed curves, it can be seen that system rotating speed can be quick
Reference rotation velocity is followed, the rise time is fast, non-overshoot.Fig. 3 is stator q shaft currents, with the progress of thermal energy storage process, stator current line
Property increase, rotating speed mutation 4s and 7s, stator current has a mutation therewith, but can return to set-point.Fig. 4 is stator d
Shaft current, stable control can also be then restored to steady-state value soon in 0 value, the 4s and 7s being mutated in rotating speed there is also a mutation.
Claims (2)
1. a kind of mechanical elastic energy storage PMSM parameter adaptive speed regulating methods, are established by mechanical elastic energy storage case, PMSM, inverter
The mathematical modeling for the mechanical elastic energy storage system being connected in sequence, it is characterised in that：Using rotating speed, stator current as virtual controlling
Variable, i is pushed away with reference to counterd=0 vector controlled and torque, rotary inertia adaptive control laws, devise voltage controller, obtain d,
Stator voltage equation under q coordinate systems, control Driven by inverter PMSM are run, and stator voltage equation is under described d, q coordinate system：
udref=Rid+Lnpωiq-k3Led
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Wherein：ud, uqRespectively stator d, q shaft voltage；id, iqRespectively stator d, q shaft current；R is stator resistance；L is stator
Inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, point of q axles
Amount；JeRotary inertia when being discharged completely for whirlpool spring, nsFor the total energy storage number of turns of whirlpool spring.TLFor energy-storage box torque；T0For energy-storage box
Initial moment；TeFor electromagnetic torque；kTThe slope changed for energy-storage box torque with corner；J is rotary inertia；B is viscous friction system
Number；Define ψsFor ψdAnd ψqQuadratic sum；ωref、idref、iqrefIt is rotating speed, the reference value of d, q shaft current respectively；eω、ed、eqPoint
It is not rotating speed, the tracking error of d, q electric current；udref、uqrefIt is inverter input d, q shaft voltage reference value respectively；J、TLTo be nominal
Value,For actual value, Δ J, Δ TLFor deviation, k1、k2、k3、r1、r2For positive control gain.
2. mechanical elastic energy storage PMSM parameter adaptive speed regulating methods according to claim 1, it is characterised in that：Mechanical elastic
Property energy-storage system mathematical modeling：
TL=T0+kTωt
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Wherein, ud, uq, respectively stator d, q shaft voltages；id, iqRespectively stator d, q shaft current；R is stator resistance；L is stator
Inductance；npFor number of pole-pairs；ω is motor angular velocity of rotation；ψfFor rotor flux；ψd, ψqRespectively stator magnetic linkage is in d, point of q axles
Amount；JeRotary inertia when being discharged completely for whirlpool spring, nsFor the total energy storage number of turns of whirlpool spring, TLFor energy-storage box torque；T0For energy-storage box
Initial moment；TeFor electromagnetic torque；kTThe slope changed for energy-storage box torque with corner；J is rotary inertia；B is viscous friction system
Number；Define ψsFor ψdAnd ψqQuadratic sum.
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