CN107453663B - Mechanical elastic energy storage PMSM parameter self-adaptive speed regulation method - Google Patents

Mechanical elastic energy storage PMSM parameter self-adaptive speed regulation method Download PDF

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CN107453663B
CN107453663B CN201710671457.9A CN201710671457A CN107453663B CN 107453663 B CN107453663 B CN 107453663B CN 201710671457 A CN201710671457 A CN 201710671457A CN 107453663 B CN107453663 B CN 107453663B
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energy storage
stator
pmsm
mechanical elastic
elastic energy
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CN107453663A (en
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郑晓明
米增强
余洋
马云凤
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North China Electric Power University
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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
    • 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 invention relates to a self-adaptive speed regulation control method for PMSM (mechanical elastic energy storage) parameters, which is characterized in that a mathematical model of a mechanical elastic energy storage system formed by sequentially connecting a mechanical elastic energy storage box, a PMSM (permanent magnet synchronous motor) and an inverter is established, the rotating speed and the stator current are taken as virtual control variables, and a reverse thrust i is combineddA voltage controller is designed according to a vector control law and a self-adaptive control law of torque and rotational inertia, a stator voltage equation under a d coordinate system and a q coordinate system is obtained, an inverter is controlled to drive a PMSM to operate, and the control scheme can ensure that an energy storage system has good static and dynamic performances and has strong anti-jamming capability.

Description

Mechanical elastic energy storage PMSM parameter self-adaptive speed regulation method
Technical Field
The invention relates to a self-adaptive speed regulation method for driving PMSM (permanent magnet synchronous motor) parameters in an energy storage process of a mechanical elastic energy storage system, belonging to the technical field of motors.
Background
An energy storage element of the mechanical elastic energy storage system is a mechanical elastic energy storage box, torque and rotational inertia disturbance exist in the energy storage process, so that the rotating speed of a Permanent Magnet Synchronous Motor (PMSM) of a driving device has certain fluctuation, and the efficiency and the service life of the system are reduced. The existing control technology generally obtains real-time parameters of the load of the energy storage box through an identification algorithm, and then carries out the next control. This not only increases the control system computation, but also introduces recognition errors. The influence of the identification error on the control performance needs to be inhibited through a self-adaptive algorithm, the calculated amount is further increased, and a control system is very complex.
Disclosure of Invention
The invention aims to provide a PMSM parameter self-adaptive speed regulation method aiming at the characteristics of a mechanical elastic energy storage system and the defects of the existing speed regulation control technology to ensure the stability and high efficiency of the energy storage process of the system.
The problem of the invention is realized by the following technical scheme:
a PMSM parameter self-adaptive speed regulation method based on mechanical elastic energy storage. Firstly, establishing a mathematical model of a mechanical elastic energy storage system formed by sequentially connecting a mechanical elastic energy storage box, a PMSM (permanent magnet synchronous motor) and an inverter; and then combining a self-adaptive control law and a reverse control algorithm to obtain a voltage control equation of the PMSM drive inverter, wherein the design of the whole control algorithm complies with the Lyapunov stability criterion, and the system is globally converged.
The PMSM parameter self-adaptive speed regulation method comprises the following steps:
a. establishing a mathematical model of the mechanical elastic energy storage system according to the characteristics of each component of the mechanical elastic energy storage system:
TL＝T0+kTωt
Figure BDA0001373209030000021
Figure BDA0001373209030000022
Figure BDA0001373209030000023
ψd＝ψf+Lid
ψq＝Liq
Te＝1.5npψfiq
Figure BDA0001373209030000024
Figure BDA0001373209030000025
wherein u isd，uqThe voltages of d and q axes of the stator are respectively; i.e. id，iqD-axis current and q-axis current of the stator respectively; r is a stator resistor; l is stator electricityFeeling; n ispIs the number of pole pairs; omega is the rotation angular velocity of the motor; psifIs a rotor flux linkage; psid，ψqThe components of the stator flux linkage on d and q axes are respectively; j. the design is a squareeMoment of inertia when the volute spring is fully released, nsThe total number of energy storage turns of the volute spring. T isLIs the energy storage box torque; t is0Initial torque of the energy storage box; t iseIs an electromagnetic torque; k is a radical ofTThe slope of the torque of the energy storage box along with the change of the rotation angle; j is moment of inertia; b is a viscous friction coefficient; definition psisIs psidAnd psiqThe sum of squares of.
b. The self-adaptive speed regulation algorithm comprises the following steps:
Figure BDA0001373209030000026
Figure BDA0001373209030000027
udref＝Rid+Lnpωiq-k3Led
Figure BDA0001373209030000031
Figure BDA0001373209030000032
wherein, ω isref、idref、iqrefReference values of the rotating speed, the d-axis current and the q-axis current respectively; e.g. of the typeω、ed、eqTracking errors of the rotating speed, the d current and the q current respectively; u. ofdref、uqrefThe reference values of the d-axis voltage and the q-axis voltage of the inverter input are respectively; J. t isLIs a value that is a nominal value of,
Figure BDA0001373209030000033
is an actual value, Δ J, Δ TLIs a deviation value, k1、k2、k3、r1、r2The control gain is positive.
c will control the voltage udAnd uqAnd inputting the reference value into a PMSM mathematical model to realize the self-adaptive speed regulation control of the energy storage process.
The invention has the advantages and beneficial effects that:
1. the invention uses the traditional PMSM reverse thrust speed regulation control as a reference, introduces the self-adaptive control law of torque and rotational inertia, has a simple and high-efficiency control system, and can excellently complete the speed regulation control of the energy storage system.
2. The speed regulation method can effectively inhibit the influence of load parameter disturbance on the system rotating speed, is simple and efficient, and ensures that the energy storage process is stably carried out at low speed.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a block diagram of a parametric adaptive cruise control system;
FIG. 2 is a PMSM speed;
FIG. 3 is a PMSM stator q-axis current;
FIG. 4 is a PMSM stator d-axis current;
the symbols in the text are: u. ofd，uqStator d and q axis voltages respectively; i.e. id，iqD-axis current and q-axis current of the stator respectively; r is a stator resistor; l is a stator inductance; n ispIs the number of pole pairs; omega is the rotation angular velocity of the motor; psifIs a rotor flux linkage; psid，ψqThe components of the stator flux linkage on d and q axes are respectively; j. the design is a squareeMoment of inertia when the volute spring is fully released, nsThe total number of energy storage turns of the volute spring. T isLIs the energy storage box torque; t is0Initial torque of the energy storage box; t iseIs an electromagnetic torque; k is a radical ofTThe slope of the torque of the energy storage box along with the change of the rotation angle; j is moment of inertia; b is a viscous friction coefficient; definition psisIs psidAnd psiqThe sum of squares of; omegaref、idref、iqrefReference values of the rotating speed, the d-axis current and the q-axis current respectively; e.g. of the typeω、ed、eqTracking errors of the rotating speed, the d current and the q current respectively; u. ofdref、uqrefAre respectively inverse toInputting d and q axis voltage reference values; J. t isLIs a value that is a nominal value of,
Figure BDA0001373209030000041
is an actual value, Δ J, Δ TLIs a deviation value, k1、k2、k3、r1、r2The control gain is positive.
Detailed Description
The invention is realized by the following technical scheme:
1. mathematical model of mechanical elastic energy storage system
The control block diagram of the mechanical elastic energy storage system is shown in figure 1, and the inverter drives the PMSM to realize stable and efficient energy storage under the speed regulation control method of the invention.
The mathematical model of PMSM in d, q axis coordinate system can be written as:
equation of stator current
Figure BDA0001373209030000042
Stator flux linkage equation
Figure BDA0001373209030000043
Equation of motion of rotor
Figure BDA0001373209030000044
Electromagnetic torque equation
Te＝1.5npψfiq(4)
In the formula: u. ofd，uqThe voltages of d and q axes of the stator are respectively; i.e. id，iqD-axis current and q-axis current of the stator respectively; r is a stator resistor; l is a stator inductance; n ispIs the number of pole pairs; omega is the rotation angular velocity of the motor; psifIs a rotor flux linkage; psid，ψqThe components of the stator flux linkage on d and q axes are respectively; t isLIs the energy storage box torque; t iseIs an electromagnetic torque; j is moment of inertia; b is a viscous friction coefficient; definition psisIs psidAnd psiqThe sum of squares of;
the mechanical elastic box is used as an energy storage unit, and a mathematical model of the mechanical elastic box can pass through torque TLAnd moment of inertia J, wherein torque TLAs shown in formula (5):
TL＝T0+kTωt (5)
Figure BDA0001373209030000051
Figure BDA0001373209030000052
wherein, T0Is the initial torque of the energy storage box, omega is the speed of the PMSM drive shaft, kTThe torque coefficient of the energy storage box is a constant and is determined by the inherent characteristics of the energy storage box (such as the elastic modulus, width, thickness, length and the like of a reed fixed in the energy storage box), t is time, J iseIs the moment of inertia when the energy storage tank is fully released, nsIs the total number of energy storage turns of the energy storage box,
Figure BDA0001373209030000053
is an actual value, Δ J, Δ TLIs a deviation value.
2. Design of speed regulation control system
In order to ensure the global gradual convergence of the system rotating speed, the rotating speed of the energy storage box is selected as a first control object, and firstly, a control error is defined as:
Figure BDA0001373209030000054
selection of eωFor virtual control variables, the subsystems are constructed, assuming ωrefAs a constant, the derivation of which can be found:
Figure BDA0001373209030000061
in order to accurately track the command value by the rotating speed, i is setqFor the virtual control function, the following Lyapunov function is constructed for the subsystem (9)
Figure BDA0001373209030000062
Taking the derivative of this, we can obtain:
Figure BDA0001373209030000063
to make equation (11) negative, the following virtual control function is selected
Figure BDA0001373209030000064
Wherein k is1And > 0, controlling the gain. According to the setting: i.e. iq＝iqref-eq，
Figure BDA0001373209030000065
The bond (12) brings (11) into:
Figure BDA0001373209030000066
to achieve q-axis current tracking, the following subsystems are defined:
Figure BDA0001373209030000067
the following Lyapunov function is constructed for the subsystem (14)
Figure BDA0001373209030000068
Derivation of formula (15) and substitution into
Figure BDA0001373209030000069
Can obtain the product
Figure BDA0001373209030000071
The actual control variable u is included in the equation (16)qIn order to make equation (16) negative, a q-axis voltage reference value is defined as
Figure BDA0001373209030000072
Wherein k is2And > 0, controlling the gain. By bringing formula (17) into formula (16):
Figure BDA0001373209030000073
to achieve d-axis current tracking, the following subsystems are defined:
Figure BDA0001373209030000074
suppose idref0, the following Lyapunov function is formed for the subsystem (19)
Figure BDA0001373209030000075
Derivation of the formula (20)
Figure BDA0001373209030000076
The actual control variable u is included in the equation (21)dIn order to make equation (21) negative, the d-axis voltage reference is defined as
udref＝Rid+Lnpωiq-k3Led(22)
Wherein k is3And > 0, controlling the gain. The formula (22) is introduced into the formula (21) to obtain:
Figure BDA0001373209030000081
in order to make equation (23) constant negative, an adaptive control law is designed and a Lyapunov function is defined
Figure BDA0001373209030000082
Derived therefrom to obtain
Figure BDA0001373209030000083
The adaptive control law is finally set to
Figure BDA0001373209030000084
Wherein r is1、r2Is a self-adaptive control coefficient and is a positive value. By bringing formula (26) into formula (25):
Figure BDA0001373209030000085
since V is bounded, according to the barbalt theorem, one can obtain:
Figure BDA0001373209030000086
thus, the closed loop system is asymptotically stable.
Examples of the embodiments
And carrying out simulation analysis on control software on the proposed control method. The parameters of the PMSM are: stator phase resistance Rs2.875 Ω; stator inductance L ═ 0.033H; permanent magnet flux psif0.38 Wb; number n of pole pairs of rotor p3; viscous damping coefficient Bm0N/rad/s. The controller parameters were chosen as follows: k is a radical of1＝100，k2＝1000，k3＝5，r1＝0.005,r2The simulation step size is set to 0.0001min for 0.002, and the run time is 10 min.
The PMSM speed reference value is that 0-4 s is 2r/min, 4-7 s is 2.6r/min, 7-10 s is 1.9r/min, according to the parameters of the system and the controller, the following can be obtained:
udref＝2.875id+0.099ωiq-1.65ed
Figure BDA0001373209030000091
Figure BDA0001373209030000092
the simulation experiment results are shown in FIGS. 2-4. Fig. 2 is a system rotation speed curve, and it can be seen that the system rotation speed can quickly follow the reference rotation speed, the rising time is fast, and overshoot is not generated. Fig. 3 shows the q-axis current of the stator, the stator current increases linearly as the energy storage process progresses, and the stator current has a sudden change at 4s and 7s of the sudden change of the rotating speed, but the stator current returns to the given value very much. Fig. 4 shows that the stator d-axis current is stably controlled at a value of 0, and a sudden change exists in 4s and 7s of the sudden change of the rotating speed, and the steady-state value is quickly recovered.

Claims (2)

1. A mechanical elastic energy storage PMSM parameter self-adaptive speed regulation method is characterized in that a mathematical model of a mechanical elastic energy storage system formed by sequentially connecting a mechanical elastic energy storage box, a PMSM and an inverter is established, and the mathematical model is characterized in that: the rotating speed and the stator current are taken as virtual control variables, and the reverse thrust i is combineddDesigning a voltage controller according to a vector control law and a self-adaptive control law of torque and moment of inertia, obtaining a stator voltage equation under d and q coordinate systems, and controlling an inverter to drive a PMSM to operate, wherein the stator voltage equation under the d and q coordinate systems is as follows:
udref＝Rid+Lnpωiq-k3Led
Figure FDA0002146391280000011
Figure FDA0002146391280000012
Figure FDA0002146391280000013
Figure FDA0002146391280000014
wherein: i.e. id，iqD-axis current and q-axis current of the stator respectively; r is a stator resistor; l is a stator inductance; n ispIs the number of pole pairs; omega is the rotation angular velocity of the motor; psifIs a rotor flux linkage; t isLIs the energy storage box torque; j is moment of inertia; omegaref、idref、iqrefReference values of the rotating speed, the d-axis current and the q-axis current respectively; e.g. of the typeω、ed、eqTracking errors of the rotating speed, the d current and the q current respectively; u. ofdref、uqrefThe reference values of the d-axis voltage and the q-axis voltage of the inverter input are respectively; J. t isLIs a value that is a nominal value of,
Figure FDA0002146391280000015
is an actual value, Δ J, Δ TLIs a deviation value, k1、k2、k3、r1、r2The control gain is positive.
2. The PMSM parameter adaptive speed regulation method according to claim 1, wherein the PMSM parameter adaptive speed regulation method comprises the following steps: mathematical model of mechanical elastic energy storage system:
TL＝T0+kTωt
Figure FDA0002146391280000021
Figure FDA0002146391280000022
Figure FDA0002146391280000023
ψd＝ψf+Lid
ψq＝Liq
Te＝1.5npψfiq
Figure FDA0002146391280000024
Figure FDA0002146391280000025
wherein u isd，uqThe voltages of d and q axes of the stator are respectively; psid，ψqThe components of the stator flux linkage on d and q axes are respectively; j. the design is a squareeMoment of inertia when the volute spring is fully released, nsFor the total number of stored energy turns, T, of the volute spring0Initial torque of the energy storage box; t iseIs an electromagnetic torque; k is a radical ofTThe slope of the torque of the energy storage box along with the change of the rotation angle; b is a viscous friction coefficient; definition psisIs psidAnd psiqThe sum of squares of.
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Citations (4)

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Publication number Priority date Publication date Assignee Title
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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
CN103036496A (en) * 2012-12-12 2013-04-10 西安理工大学 Self-adaption reverse-pushing controlling permanent magnet synchronous motor direct torque control (DTC) system and control method thereof
KR20150045223A (en) * 2013-10-18 2015-04-28 한국전기연구원 Method and Apparatus for Controlling Doubly-fed Induction Generator using Adaptive Backstepping Control Scheme
CN105932922A (en) * 2016-06-20 2016-09-07 华北电力大学（保定） Control method for permanent magnet synchronous generator for mechanical elastic energy storage
CN106817054A (en) * 2016-07-12 2017-06-09 华北电力大学（保定） A kind of PMSG control methods of the mechanical elastic energy storage based on parameter identification

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