CN108365788B - Matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control - Google Patents

Matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control Download PDF

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CN108365788B
CN108365788B CN201810344375.8A CN201810344375A CN108365788B CN 108365788 B CN108365788 B CN 108365788B CN 201810344375 A CN201810344375 A CN 201810344375A CN 108365788 B CN108365788 B CN 108365788B
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permanent magnet
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CN108365788A (en
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周美兰
初易新
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Harbin University of Science and Technology
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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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • H02M1/092—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices the control signals being transmitted optically
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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

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  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention belongs to the field of motor transmission, and particularly relates to a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control; the device comprises a permanent magnet synchronous motor PWSM which is respectively connected with a bidirectional matrix converter and an output current detection circuit, wherein the bidirectional matrix converter is sequentially connected with a passive low-pass filter and a three-phase alternating current power supply, an input voltage detection circuit is connected between the passive low-pass filter and the three-phase alternating current power supply, the output current detection circuit and the input voltage detection circuit are respectively connected with a control circuit through a signal conditioning circuit, the control circuit is connected with the bidirectional matrix converter through a switching tube driving circuit, and the power supply module is respectively used for supplying power to the output current detection circuit, the signal conditioning circuit, the control circuit, the switching tube driving circuit and the input voltage detection circuit; the invention has the advantages of high response speed, strong anti-interference capability and good robustness, and improves the performance of the speed regulating system.

Description

Matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control
Technical Field
The invention belongs to the field of motor transmission, and particularly relates to a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control.
Background
Energy consumption is one of the costs of social progress, and energy conservation, environmental protection and sustainable development are strategic. The most important source of energy consumption in the industrial field belongs to the motor, so the perfection of the motor control technology and the improvement of the motor efficiency have important meanings for sustainable development. At present, an alternating current speed regulation technology is widely applied to motor driving and is a key part for researching a motor speed regulation system. Such as energy-saving AC speed regulation system used in blower and water pump, high-performance AC speed regulation system in the fields of rolling mill, machine tool and electric locomotive, synchronous AC speed regulation system in the fields of petrochemical industry, textile industry and light industry. The ac frequency-variable speed regulation is the mainstream of the research and development of the speed regulation technology of the ac motor due to its advantages of higher control precision, good speed regulation smoothness, wider speed regulation range, etc.
The actuating motor of the alternating current electric transmission system is an alternating current motor, and is generally an asynchronous motor, a permanent magnet synchronous motor and a permanent magnet brushless direct current motor. The permanent magnet motor has the advantages of high efficiency, high power factor, high reliability, small size, high power density, large starting torque, low noise, low temperature rise and the like because the rotor is permanent magnet steel. In the speed regulation effect, the speed regulation range is wider and the precision is higher than that of a permanent magnet brushless motor and an asynchronous motor. Therefore, the permanent magnet synchronous motor is widely applied to a high-precision transmission system and a precision servo control system. In the control strategy, the current vector control and direct torque control are relatively mature and mainstream methods, and smooth speed regulation of the permanent magnet synchronous motor can be basically realized. However, because the permanent magnet synchronous motor is a strongly coupled, multivariable, high-order nonlinear system, the system is easily affected by external environments (such as motor body parameter change, frequent load change, power grid fluctuation and the like) in the operation process, and the motor operation environment is a relatively severe factory environment in most cases, and the stability and robustness of the permanent magnet motor speed regulation system are poor only through a vector control or direct torque control strategy.
Disclosure of Invention
In view of the above problems, the present invention provides a system and a method for regulating speed of a permanent magnet synchronous motor based on passive control.
The purpose of the invention is realized as follows:
a matrix converter-permanent magnet synchronous motor speed regulation system based on passive control comprises a permanent magnet synchronous motor PMSM, an output current detection circuit, a signal conditioning circuit, a control circuit, a switching tube driving circuit, a bidirectional matrix converter, a passive low-pass filter, a power supply module, an input voltage detection circuit and a three-phase alternating current power supply; the control circuit comprises a load side current polarity judging circuit; the PMSM connects two-way matrix converter and output current detection circuit respectively, two-way matrix converter connects gradually passive low pass filter and three-phase alternating current power supply, connect input voltage detection circuit between passive low pass filter and the three-phase alternating current power supply, output current detection circuit and input voltage detection circuit are respectively through signal conditioning circuit connection control circuit, and control circuit passes through switch tube drive circuit and connects two-way matrix converter, power module is output current detection circuit, signal conditioning circuit, control circuit, switch tube drive circuit and input voltage detection circuit power supply respectively.
The speed regulation method realized based on the matrix converter-permanent magnet synchronous motor speed regulation system based on the passive control comprises the following steps:
step one, an output current detection circuit collects three-phase currents i of a permanent magnet motor statorA、iB、iCObtaining a current signal i under an alpha-beta coordinate system through abc/alpha-beta transformationα、iβThen obtaining a current signal i under a d-q coordinate system through alpha beta/dq conversiond、 iqI is tod、iqSignal and output signal u of a robust passive controllerd、uqThe signals are transmitted to a self-adaptive sliding mode speed observer, and a permanent magnet synchronous motor rotating speed signal observed value and a rotor position angle signal observed value are obtained through calculation of the self-adaptive sliding mode speed observer;
step two, a given motor rotating speed signal omega is usedf *And the motor rotating speed signal observed value omega obtained by the self-adaptive sliding mode speed observerfTransmitting the current to a self-adaptive fuzzy sliding mode soft switching speed controller, and adjusting to obtain a motor q-axis current instruction value iq *In order to realize the vector control strategy of the permanent magnet synchronous motor, a d-axis current instruction value i of the motor is setd *＝0；
Step three, enabling a q-axis current instruction value i of the motor to be obtainedq *And motor given speed signal omegaf *Transmitting the current signal to a robust passive controller, and simultaneously transmitting a current signal i of a motor stator under a d-q coordinate systemdAnd iqAlso to the robust passive controller;
the robust passive controller calculates and adjusts the four signals to obtain a d-q coordinate systemGiven voltage signal udAnd uqTo u, to udAnd uqCarrying out dq/alpha beta conversion to obtain given voltage u of virtual inversion side of bidirectional matrix converterα1And uβ1。
Step four, sampling the three-phase voltage of the three-phase alternating current power supply end through the input voltage detection circuit to obtain the three-line voltage u of the power supply sideA、uBAnd uC(ii) a For u is pairedA、uBAnd uCPerforming abc/alpha beta conversion to obtain a given voltage signal u at the virtual rectification side of the bidirectional matrix converterα2And uβ2；
Step five, setting voltage u on virtual inversion side of the bidirectional matrix converterα1And uβ1And given voltage signal u of virtual rectification side of bidirectional matrix converterα2And uβ2Transmitting the voltage vector, the phase region and the duty ratio calculation module; for u is pairedα1And uβ1Performing virtual inversion side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation; for u is pairedα2And uβ2Performing virtual side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation; integrating the sector signals of the virtual inversion side and the virtual rectification side to obtain a joint sector signal nv(ii) a Synthesizing the two PWM duty ratio signals at the virtual rectification side and the two PWM duty ratio signals at the virtual inversion side to obtain a four-path combined PWM duty ratio signal T1、T2、T3、 T4；
Step six, adjusting the power factor of the power grid side by applying an RBF neural network prediction algorithm; through the statistical prediction function of the RBF neural network, the power factor of the power grid side can be predicted through effective statistics of a large amount of data by sampling the PWM duty ratio signal of the virtual rectification side at regular time, and a power factor correction signal P is generated according to the prediction resultr；
Step seven, combining four paths of combined PWM duty ratio signals T1, T2, T3 and T4 and a combined sector signal nvPower factor correction signal PrTransmitting the data to a double SVPWM modulation and driving module thereof; three signals jointly participate in double SVPWM modulation to obtain 18 paths of SVPWM vector modulation waveform; and transmitting the waveform to a driving circuit to drive a power switch tube to realize motor control.
Further, in the method for adjusting the speed of the matrix converter-permanent magnet synchronous motor based on the passive control, the bidirectional matrix converter in the third step is equivalent to a virtual rectifier and a virtual inverter which are connected, namely, an AC-DC-AC structure with a DC link is virtualized, the virtual rectifier and the virtual inverter are simultaneously controlled by SVPWM space vector algorithm, a RBF neural network algorithm is introduced to the virtual rectifier side to obtain a power factor correction coefficient and participate in double SVPWM modulation, and the Hamilton dissipation form of port control is obtained according to the passive control principle as follows:
Figure GDA0003144014060000031
in the formula: j (x) ═ j (x)TThe array is a negative symmetric matrix and reflects an internal interconnection structure; r (x) is an x-half positive definite symmetric matrix which is smoothly depended on, and reflects an additional resistive structure on a port; g (x) reflects port characteristics; h (x) defining the energy stored in the system, and if H (x) has a lower bound, the system is a passive system;
the mathematical model of a permanent magnet synchronous machine in a d-q rotating coordinate system can be written as:
Figure GDA0003144014060000032
defining state vector, input vector and output vector, and the external interference is respectively:
Figure GDA0003144014060000033
Figure GDA0003144014060000034
from this, the state space expression can be written as:
Figure GDA0003144014060000041
taking the Hamiltonian of the PMSM as the sum of electric energy and mechanical kinetic energy, namely:
Figure GDA0003144014060000042
this can be deduced:
Figure GDA0003144014060000043
substituting equations (6) and (7) into equation (5) can obtain a permanent magnet synchronous motor port-controlled Hamilton dissipation passive model as follows:
Figure GDA0003144014060000044
in the formula:
Figure GDA0003144014060000045
further, according to the matrix converter-permanent magnet synchronous motor speed regulation method based on passive control, a mathematical model of a PMSM (permanent magnet synchronous motor) is combined with a passive control strategy to set a current inner loop robust passive controller, a closed loop expected energy function added with feedback control is constructed, and the closed loop expected energy function takes a minimum value at x0 to seek feedback control
u＝β(x) (10)
The closed loop system is made as follows:
Figure GDA0003144014060000046
let the passively desired balance point be:
Figure GDA0003144014060000047
taking the expected Hamiltonian of the closed-loop system as:
Figure GDA0003144014060000051
the desired interconnection and damping matrix is taken as:
Figure GDA0003144014060000052
the interconnection and damping matrix is substituted into a formula (11) to obtain an inner ring robust passive controller, wherein the inner ring robust passive controller comprises the following components:
Figure GDA0003144014060000053
further, in the method for regulating speed of the matrix converter-permanent magnet synchronous motor based on the passive control, a mathematical model of the permanent magnet synchronous motor PMSM is combined with a passive control strategy to set a speed outer loop adaptive fuzzy sliding mode soft switching speed controller, and a mechanical motion equation of the permanent magnet synchronous motor PMSM under the conditions of motor parameter change and uncertainty is as follows:
Figure GDA0003144014060000054
in the formula
Figure GDA0003144014060000055
Δ a, Δ b and Δ d represent perturbation values of the motor parameters; defining velocity tracking error
Figure GDA0003144014060000056
Wherein
Figure GDA0003144014060000057
To estimate the rotationAt the speed of the operation of the device,
Figure GDA0003144014060000058
is a reference rotation speed; the dynamic equation thus obtained is:
Figure GDA0003144014060000059
in the formula:
Figure GDA00031440140600000510
selecting an integral sliding mode profile taking the speed tracking error e as an independent variable as follows: obtained according to equation (17):
s＝e+ke＝-ae(t)+w(t)+f(t)+ke(t) (18)
order to
Figure GDA00031440140600000511
(t) 0 is derived from an adaptive fuzzy sliding mode soft switching speed controller:
Figure GDA00031440140600000512
further, in the method for regulating speed of the matrix converter-permanent magnet synchronous motor based on passive control, the mathematical model of the permanent magnet motor is combined with the passive control strategy to set the adaptive sliding mode speed observer, and the mathematical model of the permanent magnet synchronous motor PMSM in a d-q rotating coordinate system can be described as follows:
Figure GDA00031440140600000513
y＝Dx (20)
in the formula: u-uT＝[ud uq]T，x＝iT＝[id iq]T
Figure GDA0003144014060000061
According to the state equation and the output equation, constructing a PMSM sliding mode self-adaptive full-state observer equation as follows:
Figure GDA0003144014060000062
the switching function is designed as:
Figure GDA0003144014060000063
wherein G is a gain matrix determined by the stable state of the observer; subtracting the observation equation by the state equation to obtain a dynamic equation of the deviation as follows:
Figure GDA0003144014060000064
according to the Lyapunov theory of stability, the following holds:
Figure GDA0003144014060000065
simplifying the above formula and combining with a PI controller to obtain the self-adaptive sliding mode speed observer:
Figure GDA0003144014060000066
further, the matrix converter-permanent magnet synchronous motor speed regulation method based on the passive control is characterized in that the virtual rectifier and the virtual inverter are simultaneously subjected to SVPWM space vector algorithm control, and the virtually inverted direct current voltage U isPN＝ UdcDefining the load line voltage space vector form as U from the viewpoint of vector compositiono：
Figure GDA0003144014060000067
Direct current i generated by virtual rectifierP＝IdcOnly six combinations generate non-zero input current vectors, three combinations generate zero vectors, and input phase voltage space vectors UiPhIs defined as:
Figure GDA0003144014060000068
integrating the duty ratios obtained by voltage and current space vector modulation in the two virtual processes, obtaining 5 corresponding comprehensive duty ratios capable of simultaneously controlling the voltage of an output line and the phase current of the input line, wherein the combined switching state of the two comprehensive duty ratios can correspond to each comprehensive duty ratio, and the combined switching state is respectively as follows:
Figure GDA0003144014060000071
and carrying out SVPWM vector control operation on the combined duty ratio according to the formula to obtain the action time of space vectors of each sector, obtaining a switch table of the direct matrix converter according to a switch table conversion function, and switching the switch according to the position information of the permanent magnet synchronous motor to realize the rotation and speed regulation of the motor.
Has the advantages that:
the invention provides a system and a method for regulating speed of a matrix converter-permanent magnet synchronous motor based on passive control.
The permanent magnet synchronous motor system formed by the bidirectional matrix converter has the following advantages that:
the power density is high, the structure is compact, and the environmental adaptability is strong;
secondly, the regenerated energy of the motor is fed into a power grid, and the motor has the capability of rapid braking and frequent forward and reverse rotation;
and the input current of the system is sinusoidal, the power factor is flexibly adjusted, and the compatibility with a power grid is good.
Drawings
Fig. 1 is a structural block diagram of a matrix converter-permanent magnet synchronous motor speed regulating system based on passive control.
Fig. 2 is a circuit diagram of the output current detection circuit.
Fig. 3 is an input voltage detection circuit diagram.
Fig. 4 is a circuit diagram for determining the polarity of the load-side current.
Fig. 5 is a circuit diagram of the switching tube driving circuit.
FIG. 6 is a flow chart of a method for regulating the speed of a PMSM (matrix converter-permanent magnet synchronous motor) based on passive control.
Fig. 7a is a block diagram of a matrix converter topology.
FIG. 7b is an equivalent AC-DC-AC structure diagram.
Fig. 8 is a DSP program logic block diagram.
Fig. 9 is a timer T4 interrupt flow diagram.
Fig. 10a is a flowchart of initial set value calculation.
Fig. 10b is a flow chart of the dual SVPWM algorithm.
FIG. 11 is a flow chart of an FPGA program.
Fig. 12 is a waveform diagram of phase voltage and phase current of the grid side a phase for steady operation.
Fig. 13 is an output rotation speed waveform diagram.
Fig. 14 is an output torque waveform diagram.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Detailed description of the invention
A speed regulating system of a permanent magnet synchronous motor based on a matrix converter of passive control is shown in figure 1 and comprises a permanent magnet synchronous motor PMSM, an output current detection circuit, a signal conditioning circuit, a control circuit, a switching tube driving circuit, a bidirectional matrix converter, a passive low-pass filter, a power supply module, an input voltage detection circuit and a three-phase alternating current power supply; the control circuit comprises a load side current polarity judging circuit; the PMSM connects two-way matrix converter and output current detection circuit respectively, two-way matrix converter connects gradually passive low pass filter and three-phase alternating current power supply, connect input voltage detection circuit between passive low pass filter and the three-phase alternating current power supply, output current detection circuit and input voltage detection circuit are respectively through signal conditioning circuit connection control circuit, and control circuit passes through switch tube drive circuit and connects two-way matrix converter, power module is output current detection circuit, signal conditioning circuit, control circuit, switch tube drive circuit and input voltage detection circuit power supply respectively.
The control circuit comprises a DSP and an FPGA, wherein the DSP is produced by TI company and has the model of TMS320F28335, and is used as a main controller to realize the functions of A/D conversion, PWM capture, motor rotating speed and position signal processing and matrix converter double SVPWM algorithm; the FPGA is EP4CE6E22C8N, and is used as an auxiliary controller to realize the functions of outputting PWM driving waveforms and processing faults of the IGBT; the DSP and the FPGA are jointly used for processing input voltage and output current signals, realizing a robust passive controller algorithm, realizing a self-adaptive fuzzy sliding mode soft switching speed controller algorithm, realizing a self-adaptive sliding mode speed observer algorithm, realizing an SVPWM algorithm and generating 18 paths of PWM signals of a matrix converter; the switching tube driving circuit is used for isolating strong current and weak current and amplifying PWM signal power to drive the switching tube; the signal conditioning circuit is responsible for carrying out level conversion, amplification filtering, clamping protection and the like on the sampling signal; the input voltage detection circuit and the output current detection circuit are used for detecting the voltage and the current of the power supply end and the load end; the power supply module is used for supplying power to the direct current circuit parts of the output current detection circuit, the signal conditioning circuit, the control circuit, the switching tube driving circuit and the input voltage detection circuit.
The working process is as follows: the three-phase alternating current power supply is connected with the input end of the input voltage detection circuit, and detects the voltage information of the input end, including voltage amplitude, phase angle, zero crossing point and polarity; an output current detection circuit is arranged at the output end, and the current information of the output end, including current amplitude, phase angle, zero crossing point and polarity, is detected; observing the rotating speed and the position information of the motor in real time through a self-adaptive sliding mode speed observer; the DSP and the FPGA are matched to be used as a controller of the speed regulating system; and transmitting the detected voltage signal of the input end, the detected current signal of the output end and the rotating speed and position information obtained by observation of the self-adaptive sliding mode speed observer to a DSP chip through a signal conditioning circuit, and modulating the signals by a passive control algorithm and a double SVPWM algorithm through software programming to obtain PWM duty ratio signals. And the DSP transmits the PWM duty ratio signal to the FPGA, the FPGA obtains a driving waveform of the matrix converter through operation, and finally a driving circuit drives a switching device IGBT of the matrix converter.
As shown in fig. 2, the output current detection circuit uses a closed-loop current hall sensor of type LA-50P to detect the load current. And configuring a proper sampling resistor RM1 according to the input-output signal transformation ratio of the Hall current sensor, so as to obtain a sampling voltage UM. The sampling voltage signal UM1 is input to the A/D port of the DSP after being isolated, biased, low-pass filtered and clamped. As shown in FIG. 3, the input voltage detection circuit adopts a closed-loop voltage Hall sensor with model CHV50-1000V to detect the voltage signal. Similar to current detection, a sampling resistor needs to be configured to obtain a sampling voltage signal, and the sampling voltage signal is transmitted to an A/D port of the DSP through processing similar to the current detection; a CHV50-1000V closed-loop voltage Hall sensor obtains a sampling voltage signal waveform, the voltage waveform is converted into a PWM duty cycle waveform through a voltage comparator LM393, the PWM duty cycle signal is transmitted to a capture unit of a DSP, and judgment of a voltage phase and a zero crossing point is completed.
The core of the frequency conversion speed regulation system is a power converter, and the current mainstream power converters are mainly divided into an AC-DC-AC indirect conversion, namely a double PWM converter, an uncontrolled rectification PWM converter, an AC-DC converter cycle wave converter and a matrix converter. In addition, the front-end diode rectifying link and the LC filter circuit of the uncontrolled rectifying PWM converter can distort input current, so that the input power factor is low. The AC-AC cycle converter generally adopts a thyristor as a control element, the topology of the main circuit of the converter is complex, the number of switching devices is large, the cost is increased, and the input current is distorted by adopting a thyristor phase control mode, so that the power factor is reduced. However, the ac-ac matrix converter has significant advantages over the three above converters. The bidirectional matrix converter adopted by the invention has the advantages of no need of an intermediate direct current side capacitor, bidirectional energy flow, sine input and output waveforms, small harmonic distortion, flexible input current phase adjustment and the like, and the structure is shown in fig. 7 a.
According to the invention, switching of the switching tubes is realized by adopting a matrix converter semi-softening four-step conversion method, so that the FPGA needs to judge the current polarity of the load of the permanent magnet motor when generating 18 paths of PWM driving waveforms, and therefore, a load current polarity detection circuit is designed as shown in FIG. 4, a load side current polarity judgment circuit obtains a load current sampling signal through an LA-50P closed loop current Hall sensor, obtains a sampling voltage signal by matching a proper sampling resistor, converts the sampling voltage signal into a PWM signal through an voltage comparator LM393 and transmits the PWM signal to a capture unit of the FPGA, and thus, the polarity of the load current is judged.
As shown in FIG. 5, the chip used in the switching tube driving circuit is an HCPL-316J photocoupler manufactured by Toshiba, Japan. The optocoupler driving chip has very powerful functions. The highest switching speed reaches 500ns, and the driving IGBT can completely meet the requirement; the wide working voltage range of 15 to 30V is provided, and convenience is provided for the design of a power supply circuit; the device has the functions of undervoltage protection and overvoltage protection; the overcurrent detection function of the switching tube is realized. The switch tube driving circuit comprises an HCPL-316J driving chip and a peripheral circuit. The chip has 16 pins in total. Pin 13 is a drive power supply pin that has over-voltage and under-voltage protection functions. The pins 9, 10 and 16 are driving end grounding pins and are connected with an IGBT emitter or an E pole. The pin 14 is an overcurrent detection pin and is connected to the collector or the C pole of the switching tube IGBT through a resistor R6 and two diodes D4 and D5, the resistor R6 is used for limiting the input current of the pin 14, and the diodes D4 and D5 are used for limiting the input voltage of the pin 14. And the pin 6 is a fault signal output pin, the output of the pin is low level when the chip works normally, and the pin is connected with 5V voltage through a resistor R7 to be pulled up and connected to the FPGA. Pin 5 is the reset input pin, active low, connected to the FPGA through resistor R2. The pin 11 is an optocoupler driving pin and is connected to the gate or the G pole of the IGBT through a driving resistor R6. When the input voltage of the pin 13 is higher than 19 v or lower than 12 v and the input voltage of the pin 14 is higher than 2.5 times of the IGBT tube drop, the pin 11 stops outputting the driving signal and keeps low. Meanwhile, the output of the pin 6 jumps from a high level to a low level, a low-level fault signal is transmitted to the FPGA, the FPGA takes protective measures and sends a low-level reset signal to the pin 5, and the chip finishes resetting after a period of time and can send a driving signal again. The bidirectional voltage stabilizing diode D6 is connected between the gate and the source of the IGBT and plays a role in limiting the IGBT driving voltage. Meanwhile, a discharge resistor R3 is connected between the gate and the source of the IGBT, so that parasitic capacitance between the gate and the source can be rapidly discharged, and the IGBT can be reliably and rapidly turned off. The IGBT driving circuit can drive the IGBT reliably and safely, reduce the burning rate of the IGBT and reduce loss.
Detailed description of the invention
The speed regulation method implemented based on the matrix converter-permanent magnet synchronous motor speed regulation system based on the passive control, as shown in fig. 6, comprises the following steps:
step one, an output current detection circuit collects three-phase currents i of a permanent magnet motor statorA、iB、iCObtaining a current signal i under an alpha-beta coordinate system through abc/alpha-beta transformation and a three-phase static coordinate system/a two-phase static coordinate systemα、iβThen the current signal i under the d-q coordinate system is obtained through alpha beta/dq transformation and a two-phase stationary coordinate system/a two-phase rotating coordinate systemd、iqI is tod、iqSignal and output signal u of a robust passive controllerd、uqAnd transmitting the signals to a self-adaptive sliding mode speed observer, and obtaining a permanent magnet synchronous motor rotating speed signal observed value and a rotor position angle signal observed value through the operation of the self-adaptive sliding mode speed observer.
Step two, giving a motor rotating speed signal
Figure GDA0003144014060000101
And the motor rotating speed signal observed value omega obtained by the self-adaptive sliding mode speed observerfTransmitting the current to a self-adaptive fuzzy sliding mode soft switching speed controller, and adjusting to obtain a q-axis current instruction value of the motor
Figure GDA0003144014060000102
In order to realize the vector control strategy of the permanent magnet synchronous motor, a d-axis current instruction value of the motor is set
Figure GDA0003144014060000103
Step three, enabling the q-axis current instruction value of the motor
Figure GDA0003144014060000104
And motor given speed signal
Figure GDA0003144014060000105
Transmitting the current signal to a robust passive controller, and simultaneously transmitting a current signal i of a motor stator under a d-q coordinate systemdAnd iqAlso to the robust passive controller;
the robust passive controller calculates and adjusts the four signals to obtain a given voltage signal u under a d-q coordinate systemdAnd uqTo u, to udAnd uqCarrying out dq/alpha beta conversion to obtain given voltage u of virtual inversion side of bidirectional matrix converterα1And uβ1。
Step four, sampling the three-phase voltage of the three-phase alternating current power supply end through the input voltage detection circuit to obtain the three-line voltage u of the power supply sideA、uBAnd uC. For u is pairedA、uBAnd uCPerforming abc/alpha beta conversion to obtain a given voltage signal u at the virtual rectification side of the bidirectional matrix converterα2And uβ2。
Step five, setting voltage u on the virtual inversion side of the matrix converterα1And uβ1And given voltage signal u of virtual rectification side of matrix converter thereofα2And uβ2Transmitting the voltage vector, the phase region and the duty ratio calculation module; for u is pairedα1And uβ1And performing virtual inversion side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation. For u is pairedα2And uβ2And performing virtual side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation. And integrating the sector signals of the virtual inversion side and the virtual rectification side to obtain a joint sector signal nv. Synthesizing the two PWM duty ratio signals at the virtual rectification side and the two PWM duty ratio signals at the virtual inversion side to obtain a four-path combined PWM duty ratio signal T1、T2、T3、T4。
Step six, adjusting the power factor of the power grid side by applying an RBF neural network prediction algorithm; through the statistical prediction function of the RBF neural network, the power factor of the power grid side can be predicted through effective statistics of a large amount of data by sampling the PWM duty ratio signal of the virtual rectification side at regular time, and a power factor correction signal P is generated according to the prediction resultr。
Step seven, combining four paths of combined PWM duty ratio signals T1, T2, T3 and T4 and a combined sector signal nvAnd the power factor correction signal Pr is transmitted to the double SVPWM modulation and driving module thereof. The three signals jointly participate in double SVPWM modulation to obtain 18 paths of SVPWM vector modulation waveforms. And transmitting the waveform to a driving circuit to drive a power switch tube to realize motor control.
The matrix converter is used for controlling the speed regulation of the permanent magnet synchronous motor, and compared with a traditional alternating current-direct current-alternating frequency system, the matrix converter-permanent magnet synchronous motor speed regulation method has the advantages of high power density, bidirectional energy flow, system input current sine, high power factor and the like. And a mode of combining passivity control and matrix converter double SVPWM vector control is used in a control strategy. Because the matrix converter-permanent magnet synchronous motor speed regulation system is a strong coupling, multivariable and high-order nonlinear system, the system is poor in anti-interference capability and system robustness, the passive control is combined with the matrix converter double SVPWM vector control, and the passive control is added on the basis of vector control high-precision speed regulation, so that the system stability, anti-interference capability and robustness are greatly enhanced, and the performance of the matrix converter-permanent magnet synchronous motor speed regulation system is more excellent. A port-controlled dissipative Hamilton PCHD model of the permanent magnet synchronous motor is calculated according to an passivity theory, and a robust passivity controller, a self-adaptive fuzzy sliding mode soft switching speed controller and a self-adaptive sliding mode speed observer are designed on the basis. According to a matrix converter double SVPWM control strategy, a direct matrix converter is equivalent to a virtual rectifier VSR and a virtual inverter VSI which are connected, namely an AC-DC-AC structure with a DC link is virtualized, SVPWM space vector algorithm control is carried out on the virtual rectifier and the virtual inverter at the same time, a RBF neural network algorithm is introduced to a virtual rectifier side to obtain a power factor correction coefficient and participate in double SVPWM modulation, and the power factor of the system is improved.
The dissipation Hamilton PCHD system with the controlled ports obtained according to the passive control principle has the form that:
Figure GDA0003144014060000121
in the formula: j (x) ═ j (x)TIs a negative symmetric matrix which reflects the interconnection structure inside the system; r (x) is a smooth dependent x-half positive definite symmetric matrix reflecting the additional resistive structure on the port; g (x) reflects the port characteristics of the system; h (x) defines the energy stored by the system, and if h (x) has a lower bound, the formula is a passive system.
The mathematical model of a permanent magnet synchronous machine in a d-q rotating coordinate system can be written as the following formula, ignoring the viscous friction coefficient:
Figure GDA0003144014060000122
defining the state vector of the system, the input vector and the output vector, and the external interference is respectively:
Figure GDA0003144014060000123
Figure GDA0003144014060000124
the state space expression of the system can be written as follows:
Figure GDA0003144014060000125
taking a Hamilton function of the PMSM system as the sum of electric energy and mechanical kinetic energy, namely:
Figure GDA0003144014060000126
this can be deduced:
Figure GDA0003144014060000127
substituting equations (6) and (7) into equation (5) can obtain a permanent magnet synchronous motor port-controlled dissipative hamilton PCHD passive system model as follows:
Figure GDA0003144014060000131
in the formula:
Figure GDA0003144014060000132
specifically, the current inner loop robust passive controller is designed according to a mathematical model of the permanent magnet motor and the characteristics of the passive control strategy. To asymptotically stabilize the PMSM system at a desired x0A balance point. Nearby, a closed loop expected energy function after feedback control is constructed, and the function is in x0Seeking feedback control by taking minimum value
u＝β(x) (10)
The closed loop system is made as follows:
Figure GDA0003144014060000133
let the desired balance point for the passive system be:
Figure GDA0003144014060000134
taking the expected Hamiltonian of the closed-loop system as:
Figure GDA0003144014060000135
the desired interconnection and damping matrix may be:
Figure GDA0003144014060000136
the interconnection and damping matrix is substituted into a formula (11) to obtain an inner ring robust passive controller, wherein the inner ring robust passive controller comprises the following components:
Figure GDA0003144014060000137
specifically, the speed outer-ring self-adaptive fuzzy sliding-mode soft switching speed controller is designed according to a permanent magnet motor mathematical model and an passivity control strategy.
The mechanical motion equation of the PMSM under the conditions of motor parameter change and uncertainty is as follows:
Figure GDA0003144014060000141
in the formula (I), the compound is shown in the specification,
Figure GDA0003144014060000142
Δ a, Δ b, and Δ d represent perturbation values of the motor parameter.
Defining velocity tracking error
Figure GDA0003144014060000143
Wherein
Figure GDA0003144014060000144
In order to estimate the speed of rotation,
Figure GDA0003144014060000145
is the reference rotational speed.
The dynamic equation thus obtained is:
Figure GDA0003144014060000146
in the formula:
Figure GDA0003144014060000147
selecting an integral sliding mode profile taking the speed tracking error e as an independent variable as follows:
obtained according to equation (17):
s＝e+ke＝-ae(t)+w(t)+f(t)+ke(t) (18)
order to
Figure GDA0003144014060000148
(t) 0, obtaining an adaptive fuzzy sliding mode soft switching speed controller:
Figure GDA0003144014060000149
specifically, the design of the self-adaptive sliding mode speed observer is carried out according to a permanent magnet motor mathematical model and an passivity control strategy. The mathematical model of PMSM in the d-q rotating coordinate system can be described as:
Figure GDA00031440140600001410
y＝Dx (20)
in the formula: u-uT＝[ud uq]T，x＝iT＝[id iq]T
Figure GDA00031440140600001411
According to the state equation and the output equation, constructing a PMSM sliding mode self-adaptive full-state observer equation as follows:
Figure GDA00031440140600001412
the switching function is designed as:
Figure GDA00031440140600001413
where G is a gain matrix determined by the observer steady state.
Subtracting the observation equation by the state equation of the system to obtain the dynamic equation of the deviation system as follows:
Figure GDA0003144014060000151
according to the Lyapunov theory of stability, the following holds:
Figure GDA0003144014060000152
simplifying the above formula and combining with a PI controller to obtain the self-adaptive sliding mode speed observer:
Figure GDA0003144014060000153
specifically, the matrix converter is a dual SVPWM vector control strategy. The matrix converter is equivalent to a virtual rectifier and a virtual inverter which are connected, namely, an AC-DC-AC structure with a DC link is virtualized, and the virtual rectifier and the virtual inverter are simultaneously subjected to SVPWM space vector algorithm control.
Virtual inversion side SVPWM as shown in FIG. 7a and FIG. 7b, the DC voltage U of virtual inversion is madePN＝UdcFrom the perspective of vector synthesis, the load line voltage space vector form is defined as Uo:
Figure GDA0003144014060000154
the virtual rectifier VSR SVPWM space vector modulation is similar to the virtual inverter VSI. Can make the VSR generate a direct current iP＝IdcOnly six combinations generate non-zero input current vectors, three combinations generate zero vectors, and input phase voltage space vectors UiPhIs defined as:
Figure GDA0003144014060000155
VSR space vector modulation and VSI space vector modulation in the matrix converter are modulated independently of each other in an equivalent ac-dc-ac structure, so they need to be integrated, i.e. within one PWM period, the duty ratios obtained by voltage-current space vector modulation in two virtual processes are integrated to obtain 5 comprehensive duty ratios which can simultaneously control the output line voltage and the input phase current, and the switching states of the combination of the two can correspond to each comprehensive duty ratio, respectively:
Figure GDA0003144014060000156
according to the combined duty ratio obtained by the formula, SVPWM vector control operation is carried out on the combined duty ratio to obtain the action time of space vectors of each sector, a switch table of the direct matrix converter can be obtained according to a switch table conversion function, and the rotation and speed regulation of the motor can be controlled by switching the switches according to the position information of the permanent magnet synchronous motor.
Detailed description of the invention
The control circuit comprises a DSP and an FPGA, as shown in FIG. 8, when a DSP program is started, a main program is executed, system initialization is sequentially completed in the main program, then initialization such as interrupt prohibition, I/O port, register, timer and interrupt is performed, the condition of entering an interrupt subprogram is waited to be met, when the condition is not met, the system initialization is returned to be executed, when the condition is met, the interrupt subprogram is jumped out from the main program to be executed, and after the interrupt subprogram is executed, the main program is returned to wait for next start interrupt.
The interruption subprogram is a timer T4 interruption subprogram, and the interruption subprogram has a flow shown in FIG. 9 and is used for converting load three-phase current into load three-phase line voltage and converting output rotating speed into output frequency; determining the phase of the load line voltage and the phase current of the network side; realizing a robust passive controller algorithm, a self-adaptive fuzzy sliding mode soft switching speed controller algorithm, a self-adaptive sliding mode speed observer algorithm and a double SVPWM algorithm; and calculating a power factor correction coefficient of the RBF neural network.
The initial setting value calculation flow in fig. 8 is as shown in fig. 10a, and adopts a T2 timer to interrupt and complete the initial design value calculation, which is used to complete the conversion of the output speed set value into the output frequency set value, the reading, processing and phase correction of the input voltage sample value and the output current sample value, and calculate the output line voltage value, the MC predicted power factor value and the predicted virtual dc voltage compensation coefficient value. The T4 interrupt is nested in the underflow interrupt of T2, a double SVPWM algorithm is realized, reading of the input current and the output voltage alpha beta value, calculation of the corresponding sector and vector duty ratio, calculation of the combined duty ratio and the vector action time are completed, and finally four paths of PWM waveforms are output, wherein the process is as shown in FIG. 10 b.
The FPGA is used for completing power tube protection, control signal decoding, semi-softening four-step current conversion, output overload and short circuit protection. And converting the four paths of PWM combined duty ratio signals transmitted by the DSP into the switching serial number of the 9 paths of bidirectional switches through signal decoding. And converting the switch serial number of the 9-path bidirectional switch into the on-off sequence of 18 power tubes according to the semi-softening four-step current conversion principle by virtue of the polarity of the load current, and further outputting 18 paths of driving signals. When the output is overloaded or short-circuited, the decoder receives the alarm signal and directly cuts off the drive signal of the bidirectional switch to implement protection. The flow is shown in FIG. 11.
In order to verify the feasibility and the effectiveness of the invention, system simulation is carried out.
Fig. 12 shows phase voltage and phase current waveforms of the grid-side phase a during steady operation of the system. It can be seen that the waveform of the phase current at the side of the power grid keeps a sine wave, the harmonic wave is very small, the phase current keeps consistent with the phase of the phase voltage, and the common factor reaches 1.
Fig. 13 is a waveform diagram of the motor rotation speed. It can be seen that the rotating speed reaches the given rotating speed of 750r/min after being adjusted for about 0.06 second, the rotating speed rises smoothly in the rotating speed adjusting process of 0.06 second, the rotating speed overshoot is small, the error is very small after the rotating speed is stable, and the very accurate rotating speed control is realized.
Fig. 14 is a torque waveform diagram of a permanent magnet motor. The load torque is set to 5N · m. It can be seen that the starting torque of the motor is very large and can reach about 40 N.m, which shows that the starting capability of the system is very strong, and the heavy-load starting can be met, so that the engineering practicability of the system is greatly improved. The system enters a stable stage in about 0.06 second, the motor torque is stabilized at a load torque of 5 N.m, the starting process is rapid and smooth, the motor torque is very stable during stable operation, and the control precision is high.

Claims (6)

1. A speed regulation method realized by a matrix converter-permanent magnet synchronous motor speed regulation system based on passive control is characterized in that the matrix converter-permanent magnet synchronous motor speed regulation system based on the passive control comprises a permanent magnet synchronous motor PMSM, an output current detection circuit, a signal conditioning circuit, a control circuit, a switching tube drive circuit, a bidirectional matrix converter, a passive low-pass filter, a power supply module, an input voltage detection circuit and a three-phase alternating current power supply; the control circuit comprises a load side current polarity judging circuit; the PMSM is respectively connected with a bidirectional matrix converter and an output current detection circuit, the bidirectional matrix converter is sequentially connected with a passive low-pass filter and a three-phase alternating-current power supply, an input voltage detection circuit is connected between the passive low-pass filter and the three-phase alternating-current power supply, the output current detection circuit and the input voltage detection circuit are respectively connected with a control circuit through a signal conditioning circuit, the control circuit is connected with the bidirectional matrix converter through a switching tube driving circuit, and the power supply module is used for respectively supplying power to the output current detection circuit, the signal conditioning circuit, the control circuit, the switching tube driving circuit and the input voltage detection circuit;
the speed regulating method realized by the matrix converter-permanent magnet synchronous motor speed regulating system based on the passive control comprises the following steps:
step one, an output current detection circuit collects three-phase currents i of a permanent magnet motor statorA、iB、iCObtaining a current signal i under an alpha-beta coordinate system through abc/alpha-beta transformationα、iβThen obtaining a current signal i under a d-q coordinate system through alpha beta/dq conversiond、iqI is tod、iqSignal and output signal u of a robust passive controllerd、uqThe signals are transmitted to a self-adaptive sliding mode speed observer, and a permanent magnet synchronous motor rotating speed signal observed value and a rotor position angle signal observed value are obtained through calculation of the self-adaptive sliding mode speed observer;
step two, giving a motor rotating speed signal
Figure FDA0003144014050000011
And the motor rotating speed signal observed value omega obtained by the self-adaptive sliding mode speed observerfTransmitting the current to a self-adaptive fuzzy sliding mode soft switching speed controller, and adjusting to obtain a q-axis current instruction value of the motor
Figure FDA0003144014050000012
In order to realize the vector control strategy of the permanent magnet synchronous motor, the d-axis current of the motor is setInstruction value
Figure FDA0003144014050000013
Step three, enabling the q-axis current instruction value of the motor
Figure FDA0003144014050000014
And motor given speed signal
Figure FDA0003144014050000015
Transmitting the current signal to a robust passive controller, and simultaneously transmitting a current signal i of a motor stator under a d-q coordinate systemdAnd iqAlso to the robust passive controller;
the robust passive controller calculates and adjusts the four signals to obtain a given voltage signal u under a d-q coordinate systemdAnd uqTo u, to udAnd uqCarrying out dq/alpha beta conversion to obtain given voltage u of virtual inversion side of bidirectional matrix converterα1And uβ1；
Step four, sampling the three-phase voltage of the three-phase alternating current power supply end through the input voltage detection circuit to obtain the three-line voltage u of the power supply sideA、uBAnd uC(ii) a For u is pairedA、uBAnd uCPerforming abc/alpha beta conversion to obtain a given voltage signal u at the virtual rectification side of the bidirectional matrix converterα2And uβ2；
Step five, setting voltage u on virtual inversion side of the bidirectional matrix converterα1And uβ1And given voltage signal u of virtual rectification side of bidirectional matrix converterα2And uβ2Transmitting the voltage vector, the phase region and the duty ratio calculation module; for u is pairedα1And uβ1Performing virtual inversion side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation; for u is pairedα2And uβ2Performing virtual side voltage space vector calculation, sector calculation and two-path PWM duty ratio calculation; integrating the sector signals of the virtual inversion side and the virtual rectification side to obtain a joint sector signal nv(ii) a Two paths of PWM duty ratios on the virtual rectification sideSynthesizing the signal and two paths of PWM duty ratio signals at the virtual inversion side to obtain four paths of combined PWM duty ratio signals T1、T2、T3、T4；
Step six, adjusting the power factor of the power grid side by applying an RBF neural network prediction algorithm; through the statistical prediction function of the RBF neural network, the power factor of the power grid side can be predicted through effective statistics of a large amount of data by sampling the PWM duty ratio signal of the virtual rectification side at regular time, and a power factor correction signal P is generated according to the prediction resultr；
Step seven, combining four paths of combined PWM duty ratio signals T1, T2, T3 and T4 and a combined sector signal nvPower factor correction signal PrTransmitting the data to a double SVPWM modulation and driving module thereof; the three signals jointly participate in double SVPWM modulation to obtain 18 paths of SVPWM vector modulation waveforms; and transmitting the waveform to a driving circuit to drive a power switch tube to realize motor control.
2. The method for realizing the speed regulation of the speed regulation system of the matrix converter-permanent magnet synchronous motor based on the passive control according to the claim 1 is characterized in that the bidirectional matrix converter in the third step is equivalent to a virtual rectifier and a virtual inverter which are connected, namely, an AC-DC-AC structure with a DC link is virtualized, the virtual rectifier and the virtual inverter are simultaneously controlled by SVPWM space vector algorithm, a RBF neural network algorithm is introduced at the virtual rectifier side to obtain a power factor correction coefficient and participate in double SVPWM modulation, and the Hamilton dissipation form of port control is obtained according to the passive control principle:
Figure FDA0003144014050000021
in the formula: j (x) ═ j (x)TThe array is a negative symmetric matrix and reflects an internal interconnection structure; r (x) is an x-half positive definite symmetric matrix which is smoothly depended on, and reflects an additional resistive structure on a port; g (x) reflects port characteristics; h (x) defining the energy stored in the system, and if H (x) has a lower bound, the system is a passive system;
the mathematical model of a permanent magnet synchronous machine in a d-q rotating coordinate system can be written as:
Figure FDA0003144014050000022
defining state vector, input vector and output vector, and the external interference is respectively:
Figure FDA0003144014050000037
u＝[ud uq]T y＝[id iq]T
Figure FDA0003144014050000031
from this, the state space expression can be written as:
Figure FDA0003144014050000032
taking the Hamiltonian of the PMSM as the sum of electric energy and mechanical kinetic energy, namely:
Figure FDA0003144014050000033
this can be deduced:
Figure FDA0003144014050000034
substituting equations (6) and (7) into equation (5) can obtain a permanent magnet synchronous motor port-controlled Hamilton dissipation passive model as follows:
Figure FDA0003144014050000035
in the formula:
Figure FDA0003144014050000036
3. the method as claimed in claim 2, wherein the mathematical model of the PMSM is combined with the passive control strategy to configure the robust passive controller for the current inner loop, and a closed-loop expected energy function after feedback control is constructed and applied at x0Seeking feedback control by taking minimum value
u＝β(x) (10)
The closed loop system is made as follows:
Figure FDA0003144014050000041
let the passively desired balance point be:
Figure FDA0003144014050000042
taking the expected Hamiltonian of the closed-loop system as:
Figure FDA0003144014050000043
the desired interconnection and damping matrix is taken as:
Figure FDA0003144014050000044
the interconnection and damping matrix is substituted into a formula (11) to obtain an inner ring robust passive controller, wherein the inner ring robust passive controller comprises the following components:
Figure FDA0003144014050000045
4. the method as claimed in claim 3, wherein the mathematical model of the PMSM combines with the passive control strategy to set the speed outer loop adaptive fuzzy sliding mode soft switching speed controller, and the PMSM has a mechanical equation of motion under the conditions of motor parameter variation and uncertainty:
Figure FDA0003144014050000046
in the formula
Figure FDA0003144014050000047
Δ a, Δ b and Δ d represent perturbation values of the motor parameters; defining velocity tracking error
Figure FDA0003144014050000048
Wherein
Figure FDA0003144014050000049
In order to estimate the speed of rotation,
Figure FDA00031440140500000410
is a reference rotation speed; the dynamic equation thus obtained is:
Figure FDA00031440140500000411
in the formula:
Figure FDA00031440140500000412
selecting an integral sliding mode profile taking the speed tracking error e as an independent variable as follows: obtained according to equation (17):
s＝e+ke＝-ae(t)+w(t)+f(t)+ke(t) (18)
order to
Figure FDA00031440140500000413
(t) 0 is derived from an adaptive fuzzy sliding mode soft switching speed controller:
Figure FDA0003144014050000051
5. the method for realizing the speed regulation by the matrix converter-permanent magnet synchronous motor speed regulation system based on the passive control as claimed in claim 4, wherein the mathematical model of the permanent magnet synchronous motor PMSM is combined with the passive control strategy to set the adaptive sliding mode speed observer, and the mathematical model of the permanent magnet synchronous motor PMSM in the d-q rotating coordinate system can be described as follows:
Figure FDA0003144014050000052
y＝Dx (20)
in the formula: u-uT＝[ud uq]T，x＝iT＝[id iq]T
Figure FDA0003144014050000053
According to the state equation and the output equation, constructing a PMSM sliding mode self-adaptive full-state observer equation as follows:
Figure FDA0003144014050000054
the switching function is designed as:
Figure FDA0003144014050000055
wherein G is a gain matrix determined by the stable state of the observer; subtracting the observation equation by the state equation to obtain a dynamic equation of the deviation as follows:
Figure FDA0003144014050000056
according to the Lyapunov theory of stability, the following holds:
Figure FDA0003144014050000057
simplifying the above formula and combining with a PI controller to obtain the self-adaptive sliding mode speed observer:
Figure FDA0003144014050000058
6. the method as claimed in claim 2, wherein the SVPWM space vector algorithm control is performed on the virtual rectifier and the virtual inverter simultaneously, and the virtual inverted DC voltage U is obtained by performing a virtual inversionPN＝UdcDefining the load line voltage space vector form as U from the viewpoint of vector compositiono：
Figure FDA0003144014050000059
Direct current i generated by virtual rectifierP＝IdcAnd only six combinationsGenerating non-zero input current vector, three combinations generating zero vector, input phase voltage space vector UiPhIs defined as:
Figure FDA0003144014050000061
integrating the duty ratios obtained by voltage and current space vector modulation in the two virtual processes, obtaining 5 corresponding comprehensive duty ratios capable of simultaneously controlling the voltage of an output line and the phase current of the input line, wherein the combined switching state of the two comprehensive duty ratios can correspond to each comprehensive duty ratio, and the combined switching state is respectively as follows:
Figure FDA0003144014050000062
and carrying out SVPWM vector control operation on the combined duty ratio according to the formula to obtain the action time of space vectors of each sector, obtaining a switch table of the direct matrix converter according to a switch table conversion function, and switching the switch according to the position information of the permanent magnet synchronous motor to realize the rotation and speed regulation of the motor.
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