CN108574440A - A kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive - Google Patents
A kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive Download PDFInfo
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- CN108574440A CN108574440A CN201810383799.5A CN201810383799A CN108574440A CN 108574440 A CN108574440 A CN 108574440A CN 201810383799 A CN201810383799 A CN 201810383799A CN 108574440 A CN108574440 A CN 108574440A
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- permanent magnet
- sliding formwork
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of permanent magnet synchronous motor (PMSM) method for estimating state based on sliding formwork reference adaptive, according to the stator voltage and stator current detected in real time, symbolization function, a kind of model based on sliding formwork current observer is constructed to estimate permanent magnet synchronous motor state, construct the error function based on sliding formwork current observer, it regard rotor-position as parameter to be estimated by the dynamic tracing exported to sliding formwork current observer, the difference of reference model and adjustable model magnetic linkage is as error function, around the rotor-position small range optimizing in a upper sampling period, quickly seek the optimal rotor-position for making error function minimum.By constantly adjusting the parameter of adjustable model, the final purpose realized the output of adjustable model model reference following and realization and effectively reduce tracking error.So that motor is realized fast and accurately turn count in the wider range of speeds simultaneously, improves the accuracy of PMSM velocity estimations.
Description
Technical field
The invention belongs to permanent magnet synchronous motor position-sensor-free state estimation fields, more particularly to a kind of sliding formwork that is based on to join
Examine adaptive permanent magnet synchronous motor method for estimating state.
Background technology
Permanent magnet synchronous motor (PMSM), with small, rotary inertia is small, efficient, torque ratio of inertias is big, overload capacity
By force, many advantages, such as speed-regulating range width.This makes PMSM governing systems have become a research heat in Prospect of AC Adjustable Speed Drive field
Point.The main thought of model reference adaptive (MRAS) algorithm is to establish two models simultaneously, and one is adjustable model, it includes
Equation containing precompensation parameter, the other is reference model, it without containing the parametric equation estimated mainly by forming.The two moulds
Type exists simultaneously and at the same time work, and the output of model is made comparisons the basis that can obtain output error in this, as adaptive law
Model is adjusted the tenacious tracking for enabling it reach to control object.It is super that Liapunov may be used in adaptive law therein
Stability criterion theoretical either hyperstability theory ensures the stability of system and ensures that its speed is asymptotic convergence.
Common MRAS methods generally carry out flux linkage estimation using voltage model, but the pure integral element of voltage mode
DC component annoyings always control performance of the MRAS methods in low speed, for this purpose, many scholars propose various improved methods,
Direct current is filtered including use high-pass filter, pure integral ring is replaced using the low-pass filter of variable cut-off frequencies
Section, using the methods of being filtered under coordinate transform to synchronously rotating reference frame, although preferably solving the problems, such as amplitude compensation, and also
It is that can not thoroughly eliminate DC component error.And though traditional model reference adaptive method has preferable accuracy, to model
The dependence of parameter is very big, the robustness and accuracy of meeting extreme influence system when external disturbance is larger.
Sliding mode variable structure control is a kind of nonlinear Control, it is using control switching rule, by different control actions
Between switching, generate a kind of unrelated with original system, according to the movement for the state trajectory for making a reservation for " sliding mode ", make system mode
Reach desired point, to realize system control.Since desired trajectory and control object inner parameter and external disturbance are unrelated,
Sliding mode variable structure control is of less demanding to model accuracy, has strong robustness to Parameter Perturbation, external disturbance.In recent years increasingly
Sliding mode variable structure control is applied in AC servo by more scholars.
Invention content
The present invention is insufficient according to prior art and defect, it is proposed that a kind of permanent-magnet synchronous based on sliding formwork reference adaptive
Motor status method of estimation, it is therefore intended that the adaptivity, robustness and state estimation for improving control system are more acurrate.
Technical scheme of the present invention includes the following steps：
Step 1, the three-phase windings electric current i of permanent magnet synchronous motor is detecteda、ib、ic, following index is obtained by coordinate transform,
ud、uqRespectively stator d, q shaft voltages, id、iqRespectively stator d, q shaft currents, R are stator resistance, Ld、LqRespectively stator d,
Q axle inductances,For permanent magnet flux linkage, permanent magnet synchronous motor mathematical model is constructed；According to stator current d, q axis component id、
iqWith stator voltage α, β axis component uα、uβConstruct sliding formwork current observer；
Step 2, the sliding formwork current observer instrument error function based on step 1, the angle that sliding formwork current observer is exported
Degree estimated value obtains spinner velocity with reference model output magnetic linkage value error originated from input function, and rotor position is obtained using integral element
It sets, by the dynamic tracing exported to sliding formwork current observer, using rotor-position as parameter to be estimated, reference model and adjustable die
The difference of type magnetic linkage seeks the optimal rotor-position for making error function minimum as error function；
Further, the method for construction permanent magnet synchronous motor mathematical model is：
Wherein, ω is rotor speed, and t is time constant,For permanent magnet flux linkage.
Further, the detailed process that sliding formwork current observer is constructed in the step 1 is as follows：
In rotation dqUnder coordinate system, the stator current mathematical model of PMSM can be written as：
In formula, P is the derivation factor, ψrFor linkage coefficient：
It enables：
Then have：
Constructing adjustable model is：
Wherein,
Definition status errorI.e.
Wherein,Respectively stator current estimated value d, the q axis component of adjustable model,Estimate for rotor velocity
Value；
Then the difference of the ontology reference model of adjustable model and real electrical machinery in parallel can obtain
According to the basic thought of Sliding mode variable structure control, when system, which enters sliding mode, enters sliding-mode surface, thenIt can show that velocity equivalent expression formula is：
Velocity estimation expression formula is：
Flux linkage equations under permanent magnet synchronous motor two-phase rotating coordinate system are：
Wherein, P1It is the number of pole-pairs of motor, θmIt is motor output angle, τ is time constant, ud、uqRespectively stator d, q
Shaft voltage, l are the time cycle；
By magnetic linkage change get in return the flux linkage equations under two-phase rotating coordinate system into：
Wherein, Δ θ is angle variable quantity.
It is as follows based on sliding formwork current observer instrument error function：
εω=ψdψq1-ψqψd1
Error function is exported and is estimated by rotor as follows, then can obtain spinner velocity estimated value：
Wherein, kpFor proportionality coefficient, kiFor integral coefficient, p is the derivation factor.
Integrate that can to obtain rotor position estimate value as follows to spinner velocity estimated value：
Beneficial effects of the present invention：Using sliding formwork reference adaptive algorithm, not only has and calculate easy, convergence rate
The advantages that fast, and the adaptivity of system, robustness and accuracy are also greatly improved.
This method has better followability to motor under low-speed run state, to low speed estimation have better real-time and
Accuracy.The algorithm can be transplanted in control software and be monitored in real time in practical applications the change of the rotary inertia of motor
Change, to take counter-measure according to actual conditions so that entire control system state estimation is more acurrate.
Description of the drawings
Fig. 1 is the location identification figure of model prediction MRAS in the present invention；
Fig. 2 is sliding formwork reference adaptive system block diagram in the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, not
For limiting the present invention.
A kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive of the present invention, detailed process are as follows：
The first step establishes permanent magnet synchronous motor vector control system, including permanent magnet synchronous motor, electric current loop PID tune
Device, speed ring PID regulator, coordinate transformation module, SVPWM modules are saved, wherein SVPWM modules are space vector pulse width modulation mould
Block.
Under rotating coordinate system, the stator current mathematical model of PMSM can be written as：
Second step is amended as follows conventional model reference adaptive：
It is as follows that step (1) establishes permanent magnet synchronous motor mathematical model：
Wherein：ud、uqRespectively stator d, q shaft voltages, id、iqRespectively stator d, q shaft currents, R are stator resistance, Ld、
LqRespectively stator d, q axle inductances,For permanent magnet flux linkage, ω is rotor speed.
Step (2) is according to stator voltage equation in motor mathematical model, in phase week before last (k-2) TsWith a upper period (k-
1) permanent magnet synchronous motor discrete voltage equation is established in T respectively：
Wherein：TsPeriod in order to control, uq(k-2)、iq(k-2) it is respectively upper controlling cycle q shaft voltages, electric current, uq(k-
1)、iq(k-1) it is respectively upper controlling cycle q shaft voltages, electric current, iq(k) it is current control period q shaft currents.
Step (3) is same by two permanent magnetism in step (2) under conditions of ignoring the variation with the relevant voltage term of rotating speed
Step motor discrete voltage equation subtracts each other, and ignores the influence of R, obtains the incremental form mathematical model of permanent magnet synchronous motor：
Third walks, and constructs the design of sliding formwork current observer
Can be measured directly due to only having the stator voltage of motor and electric current to be in motor, so usually by stator abc
The stator and rotor voltage vector equation that coordinate system indicates constitutes MRAS.In the case where rotating dq coordinate systems,
The stator current mathematical model of PMSM can be written as：
In formula, P is the derivation factor.
It enables：
Then have：
Constructing adjustable model is：
Wherein：
In formula,Respectively stator current estimated value d, the q axis component of adjustable model；Estimate for rotor velocity
Value.Definition status errorI.e.
Then the difference of the ontology reference model of adjustable model and real electrical machinery in parallel can obtain：
Sliding-mode surface s=s (e) is chosen, the s (e)=0 when system reaches sliding-mode surface.Select the principle of diverter surface：System occurs
S (e)=0 when sliding, sliding motion are asymptotically stable, and have preferable dynamic property.Construct sliding formwork MRAS observers
Switching function equation be：
Consideration formula (2), can obtain：
According to the basic thought of Sliding mode variable structure control, when system, which enters sliding mode, enters sliding-mode surface, thenIt can show that velocity equivalent expression formula is：
As can be seen from the above equation, when estimating that electric current converges on reference current, velocity equivalent converges on practical true velocity,
Work asWhen, ωeq=ω.
According to the switching function and velocity equivalent of acquisition, design speed observer uses constant value switching control method, speed herein
Spending estimated expression is：
4th step, the angle estimation value that sliding formwork current observer is exported and reference model export magnetic linkage value error originated from input letter
Number obtains spinner velocity, and rotor-position is obtained using integral element.
Flux linkage equations under permanent magnet synchronous motor two-phase rotating coordinate system are：
Wherein, P1It is the number of pole-pairs of motor, θmIt is motor output angle.
By magnetic linkage change get in return the flux linkage equations under two-phase rotating coordinate system into：
Δ θ is angle variable quantity.
It is as follows based on sliding formwork current observer instrument error function：
εω=ψdψq1-ψqψd1 (19)
Error function is exported and is estimated by rotor as follows, then can obtain spinner velocity estimated value：
Integrate that can to obtain rotor position estimate value as follows to spinner velocity estimated value：
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
According to equivalent variations or modification made by disclosed principle, mentality of designing, within protection scope of the present invention.
Claims (8)
1. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive, which is characterized in that including following step
Suddenly：
Step 1, the three-phase windings electric current i of permanent magnet synchronous motor is detecteda、ib、ic, following index is obtained by coordinate transform：ud、uq
Respectively stator d, q shaft voltages, id、iqRespectively stator d, q shaft currents, R are stator resistance, Ld、LqRespectively stator d, q axis
Inductance,For permanent magnet flux linkage, permanent magnet synchronous motor mathematical model is constructed；
Step 2, according to stator current d, q axis component id、iqWith stator voltage α, β axis component uα、uβConstruct sliding formwork electricity
Flow observer；
Step 3, according to sliding formwork current observer instrument error function, optimal rotor-position is obtained.
2. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 1,
It is characterized in that, the method that permanent magnet synchronous motor mathematical model is constructed in the step 1 is：
Wherein, ω is rotor speed, and t is time constant,For permanent magnet flux linkage.
3. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 1,
It is characterized in that, the detailed process that sliding formwork current observer is constructed in the step 2 is：
3.1, under rotating coordinate system, the stator current mathematical model of PMSM is：
It enables：
Then：
Wherein：
P is the derivation factor, ψrFor linkage coefficient.
3.2, constructing adjustable model is：
Definition status errorI.e.：
Wherein,Respectively stator current estimated value d, the q axis component of adjustable model；For rotor velocity estimated value；
3.3, the difference of the ontology reference model of adjustable model and real electrical machinery in parallel obtains：
When system enters sliding-mode surface,Show that velocity equivalent expression formula is：
Velocity estimation expression formula is：
4. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 1,
It is characterized in that, the angle estimation value for exporting sliding formwork current observer in the step 3 and reference model output magnetic linkage value input
Error function obtains spinner velocity, and rotor-position is obtained using integral element.
5. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 4,
It is characterized in that, the flux linkage equations under permanent magnet synchronous motor two-phase rotating coordinate system are：
Wherein, P1It is the number of pole-pairs of motor, θmIt is motor output angle, τ is time constant, ud、uqRespectively stator d, q axis electricity
Pressure, l is the time cycle；
By magnetic linkage change get in return the flux linkage equations under two-phase rotating coordinate system into：
Wherein, Δ θ is angle variable quantity.
6. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 1 or 4,
It is characterized in that, the instrument error functional based method is：
εω=ψdψq1-ψqψd1。
7. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 6,
It is characterized in that, spinner velocity estimated value is obtained by error function：
Wherein, kpFor proportionality coefficient, kiFor integral coefficient, p is the derivation factor.
8. a kind of permanent magnet synchronous motor method for estimating state based on sliding formwork reference adaptive according to claim 4,
It is characterized in that, integrates that can to obtain rotor position estimate value as follows to spinner velocity estimated value：
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109782591A (en) * | 2018-12-26 | 2019-05-21 | 贵州电网有限责任公司 | A kind of SVC individual-phase control method based on fuzzy self-adaption sliding Mode Algorithm |
| CN112234888A (en) * | 2020-09-29 | 2021-01-15 | 潍柴动力股份有限公司 | Current identification method for motor, motor controller and vehicle |
| CN112379597A (en) * | 2020-11-18 | 2021-02-19 | 东方红卫星移动通信有限公司 | Two-dimensional turntable angle and speed integrated control method based on sliding mode variable structure |
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| US20100264861A1 (en) * | 2009-04-21 | 2010-10-21 | Schneider Toshiba Inverter Europe Sas | Method for determining the position of the flux vector of a motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109782591A (en) * | 2018-12-26 | 2019-05-21 | 贵州电网有限责任公司 | A kind of SVC individual-phase control method based on fuzzy self-adaption sliding Mode Algorithm |
| CN112234888A (en) * | 2020-09-29 | 2021-01-15 | 潍柴动力股份有限公司 | Current identification method for motor, motor controller and vehicle |
| CN112234888B (en) * | 2020-09-29 | 2022-06-24 | 潍柴动力股份有限公司 | Current identification method for motor, motor controller and vehicle |
| CN112379597A (en) * | 2020-11-18 | 2021-02-19 | 东方红卫星移动通信有限公司 | Two-dimensional turntable angle and speed integrated control method based on sliding mode variable structure |
| CN112379597B (en) * | 2020-11-18 | 2022-06-10 | 东方红卫星移动通信有限公司 | Two-dimensional turntable angle and speed integrated control method based on sliding mode variable structure |
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