CN108649850A - Improve the internal permanent magnet synchronous motor current control method of UDE - Google Patents
Improve the internal permanent magnet synchronous motor current control method of UDE Download PDFInfo
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
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Abstract
A kind of internal permanent magnet synchronous motor current control method improving UDE：In current control period, to motor actual speed, rotor position angle, motor three-phase current, DC bus-bar voltage sampled, and d, q axis actual current are solved to two-phase stationary coordinate system transformation using three-phase rotating coordinate system；According to the difference of motor given rotating speed and motor actual speed, q axis reference currents are obtained, calculate d axis reference currents id *；Using the difference of d, q axis reference current and actual current, the current controller of UDE is improved, respectively obtains the reference value of d, q shaft voltage；The voltage reference value of obtained d, q axis is transformed into the voltage reference value under two-phase rotating coordinate system, the pwm pulse of corresponding inverter is obtained, is exported to obtain three-phase voltage by inverter, for driving internal permanent magnet synchronous motor；Repetitive cycling.While the present invention inhibits the random perturbation in Parameter uncertainties and system, reduces temporary steady state torque fluctuation, improve the performance of internal permanent magnet synchronous motor control system.
Description
Technical field
The present invention relates to a kind of method for controlling permanent magnet synchronous motor.More particularly to a kind of built-in type permanent-magnet improving UDE
Synchronous motor current control method.
Background technology
In recent years, develop with the violent speed of electric vehicle, internal permanent magnet synchronous motor (Interior permanent
Magnet synchronous machine, IPMSM) due to having the advantages that high power density, high torque density and efficient
It is paid close attention to by numerous scientific research personnel and engineering staff.It is simple in structure, is conducive to control；It can be improved using its magnetoresistance
The efficiency and load capacity of motor.However.System of the electric vehicle as a complex working condition, entire electric system were being run
It is vulnerable to the influence of Parameters variation caused by temperature, system random perturbation and load behavior in journey, therefore same to built-in type permanent-magnet
More stringent requirements are proposed for the performance of step motor.
In order to improve the operational efficiency of motor, internal permanent magnet synchronous motor generally use torque capacity electric current ratio
(Maximum torque per ampere, MTPA) control obtains d shaft currents and gives, to make full use of reluctance torque；Tradition
The vector control method of the electric current loop use ratio integral (PI) of system in control algolithm obtains d, q axis electricity by voltage decoupling
Press given value.Although however, controlling simple using the electric current ring structure of PI controllers in traditional control algorithm and being successfully applied to
In Industry Control, but one group of PI parameter is only applicable to one section of operating mode, and desired control effect can not be obtained in entire control range
Fruit.The current loop control performance of traditional PI structure is difficult to obtain under the load behavior of Parameters variation, system random perturbation and complexity
Desired effect is obtained, to introduce the current control method of Parameter uncertainties and random perturbation observation.
Parameters variation and system random perturbation etc. are considered as the unknown by Parameter uncertainties and random perturbation observation procedure, are used
One stable reference model tracks given performance to meet desired by closed-loop system, Parameter uncertainties and system disturbance are led to
A suitable filter is crossed to can be used in actual controller.But the adjusting method of reference model selection and parameter
The control performance of influence system.
Invention content
The technical problem to be solved by the invention is to provide a kind of improvement UDE for the electric current loop improving conventional PI control device
Internal permanent magnet synchronous motor current control method.
The technical solution adopted in the present invention is：A kind of internal permanent magnet synchronous motor current control method improving UDE,
Include the following steps：
1) in current control period, by control system to motor actual speed n, rotor position angle θ, motor three-phase current
iA、iBAnd iCAnd DC bus-bar voltage udcIt is sampled, and is converted using three-phase rotating coordinate system to two-phase stationary coordinate system
Solve d, q axis actual current id、iq；
2) according to motor given rotating speed n*With the difference of motor actual speed n, q axis ginseng is obtained by pi controller
Examine electric current iq *, d axis reference currents i is calculated using the equation in maximum torque per ampere control methodd *；
3) d, q axis reference current i are utilizedd *、iq *With actual current id、iqDifference, pass through improve UDE current control
Device respectively obtains the reference value u of d, q shaft voltaged、uq；
4) by the voltage reference value u of obtained d, q axisd、uqTransform to the voltage reference value u under two-phase rotating coordinate systemα、
uβ, using voltage space vector modulation method, the pwm pulse of corresponding inverter is obtained, is exported to obtain three-phase voltage by inverter,
For driving internal permanent magnet synchronous motor；
5) return to step 1) repetitive cycling.
The current controller that UDE is improved described in step 3) includes following linear reference model：
In formula, xm(t)=[idmiqm]TFor current phasor matrix in d, q axis reference model, c (t)=[id *iq *]TFor d, q axis
Reference current gives vector matrix, Am、BmFor corresponding xm(t), the coefficient matrix of c (t)；
For the stability of Guarantee control system, by the coefficient matrices A of linear reference modelm、BmIt indicates as follows：
In formula, α, β are positive real number, and there are two negative characteristic values for Guarantee control system, meet Lyapunov stability reason
By；
For the Parameter uncertainties and system random perturbation occurred in control system, low-pass first order filter g is usedf(t)
Disturbance in compensation system, the low-pass first order filter gf(t) frequency domain form Gf(s) indicate as follows：
In formula, γ=1/T, γ are the bandwidth of selected low-pass first order filter；
Pass through low-pass first order filter gf(t) Parameter uncertainties and system random disturbance quantity can be observedI.e.：
In formula, " * " is convolution operator, and A, B are the coefficient matrix of x (t), u (t), x (t)=[idiq]TFor the practical electricity of d, q axis
Flow matrix, u (t)=[uduq]TFor d, q axis reference voltage matrix, while system inputs in order to control, f (t)=[fdfq]TFor d, q axis
Parameter uncertainties matrix, D (t)=[DdDq]TFor d, q axis random perturbation matrix, Ld、LqFor d, q axle inductance, ψfFor rotor flux,
RsFor stator resistance,For d, q axis known disturbance matrix,
The control system for obtaining improving the current controller of UDE by linear reference model and low-pass first order filter inputs u
(t) it is：
U (t)=B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
In formula, B-1For the inverse matrix of coefficient matrix B；
Therefore control system input u (t) is expressed as in frequency domain：
In formula, U (s)=[UdUq]TIn the frequency domain form of d, q axis, E (s) is current following error for system input in order to control
Frequency domain form, I are unit matrix, parameter KPAnd KIIt is expressed as：
Parameter K in the control system input u (t)IAdjusting method be：
By parameter KIIn former intrinsic parameter γd0、γq0Upper increase variable element γd1、γq1It obtainsIt is shown below：
Intrinsic parameter γd0、γq0It is determined by α, β and γ；D axis variable elements γd1It is by d axis actual current and reference current
Difference obtained by proportional controller, q axis variable elements γq1Be by the difference of q axis reference current and actual current pass through than
Csr controller obtains, and is shown below：
The internal permanent magnet synchronous motor current control method of the improvement UDE of the present invention, is to built-in permanent magnet synchronous electric
Electromechanical method of flow control is improved.It proposes Parameter uncertainties are synchronous applied to built-in type permanent-magnet with random perturbation observation procedure
In electric machine control system, improve the electric current loop of conventional PI control device.By selecting suitable reference model, while proposing new ginseng
Number adjusting method obtains the output valve for it is expected voltage.The method of the present invention is to use improved Parameter uncertainties and random perturbation
The internal permanent magnet synchronous motor current control method of observation, the reference model of selection ensure the stability of system, single order low pass
Filter compensates system random perturbation, realizes that the asymptotic of electric current follows.Parameter uncertainties and system can obviously be inhibited
In random perturbation while, reduce the torque ripple of temporary stable state, and then greatly improve internal permanent magnet synchronous motor
The performance of control system.
Description of the drawings
Fig. 1 is the main circuit structure figure for the internal permanent magnet synchronous motor current control method that the present invention improves UDE；
Fig. 2 is the control structure figure for the internal permanent magnet synchronous motor current control method that the present invention improves UDE；
Fig. 3 a are schematic diagram of the internal permanent magnet synchronous motor current control method in d axis that the present invention improves UDE；
Fig. 3 b are schematic diagram of the internal permanent magnet synchronous motor current control method in q axis that the present invention improves UDE；
Fig. 4 a are parameter K in the present inventionIAdjusting method d axis schematic diagram；
Fig. 4 b are parameter K in the present inventionIAdjusting method q axis schematic diagram；
Fig. 5 is the flow chart for the internal permanent magnet synchronous motor current control method that the present invention improves UDE.
Specific implementation mode
With reference to the internal permanent magnet synchronous motor current control method of embodiment and attached drawing improvement of the present invention UDE
It is described in detail.
Control system block diagram such as Fig. 1 institutes of the internal permanent magnet synchronous motor current control method of the improvement UDE of the present invention
Show, PI indicates that pi controller, motor actual speed n and location information θ are obtained by incremental encoder, id、iqIt is to pass through
Current sensor detects that actual value changes to obtain the practical electricity of d, q axis again through three-phase rotating coordinate system to two-phase stationary coordinate system
Stream.It is as shown in Figure 4 that its schematic diagram can be obtained according to the current controller for the improvement UDE for proposing to be added parameter regulation.
Mathematical model of the internal permanent magnet synchronous motor under d-q axis synchronous rotating frames is represented by：
In formula, Ld, LqFor d, q axle inductance, ψfFor rotor flux, P is the number of pole-pairs of motor, RsFor stator resistance, id, iqFor
D, the actual current of q axis, ωeFor rotor angular rate, TeFor electromagnetic torque.
Motor given rotating speed n*With the difference of actual speed n, q axis reference currents are obtained by proportional integration (PI) controller
iq *, d axis reference current values using torque capacity electric current ratio (MTPA) control, can be obtained by following formula：
In formula, iq *For q axis reference current given values；
The mathematical model that the current controller of improvement UDE uses is expressed as：
Wherein：Ld、LqFor d, q axle inductance, ψfFor rotor flux, RsFor stator resistance, Dd, DqThe respectively system of d, q axis
Random disturbance quantity；fd, fqThe respectively resistance of d, q spindle motor, inductance and magnetic linkage variable quantity indicate as follows：
In order to realize that motor actual current is followed with the asymptotic of given reference current, improving makes in the current controller of UDE
With a stable reference model, to meet the trace performance of electric current.Now select following linear reference model：
In formula, xm(t)=[idmiqm]TFor current phasor matrix in d, q axis reference model, c (t)=[id *iq *]TFor d, q axis
Reference current gives vector matrix, Am、BmFor corresponding xm(t), the coefficient matrix of c (t)；
In order to ensure the stability of system, the coefficient matrices A of reference modelm、BmAs follows：
In formula, α, β are positive real number, ensure that system there are two negative characteristic value, meets Lyapunov's stability theorem.
By Parameter uncertainties and random perturbation by a suitable filter of bandwidth, in addition system；So as to fast
Fast estimation and compensating parameter is not known and random perturbation part, improves the robustness of system.Used in present system
Filter is low-pass first order filter gf(t), the disturbance in compensation system, the low-pass first order filter gf(t) frequency domain form
Gf(s) as follows：
In formula, γ=1/T, γ are the bandwidth of selected low-pass first order filter.
Pass through above-mentioned low-pass first order filter gf(t) Parameter uncertainties and system random disturbance quantity can be observed
I.e.：
In formula, " * " is convolution operator, and A, B are the coefficient matrix of x (t), u (t), x (t)=[idiq]TFor the practical electricity of d, q axis
Flow matrix, u (t)=[uduq]TFor d, q axis reference voltage matrix, while system inputs in order to control, f (t)=[fdfq]T, D (t)=
[DdDq]T,For d, q axis known disturbance matrix,
The control system for obtaining improving the current controller of UDE by linear reference model and low-pass first order filter inputs u
(t) it is：
U (t)=B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)] (8)
In formula, B-1For the inverse matrix of coefficient matrix B.
Therefore control system input u (t) is expressed as in frequency domain：
In formula, U (s)=[UdUq]TIn the frequency domain form of d, q axis, E (s) is current following error for system input in order to control
Frequency domain form, I are unit matrix, parameter KPAnd KIIt is expressed as：
But improve parameter in the current controller of UDE is influenced and corresponding different value by different disturbances, for reality
Existing parameter adaptive, the control system input the parameter K in u (t)IAdjusting method be：
By parameter KIIn former intrinsic parameter γd0、γq0Upper increase variable element γd1、γq1It obtainsIt is shown below：
Intrinsic parameter γd0、γq0It is determined by α, β and γ；D axis variable elements γd1It is by d axis actual current and reference current
Difference obtained by proportional controller, q axis variable elements γq1Be by the difference of q axis reference current and actual current pass through than
Csr controller obtains, and is shown below：
As shown in figure 5, the present invention improvement UDE internal permanent magnet synchronous motor current control method, specifically include as
Lower step：
1) in current control period, by control system to motor actual speed n, rotor position angle θ, motor three-phase current
iA、iBAnd iCAnd DC bus-bar voltage udcIt is sampled, and is converted using three-phase rotating coordinate system to two-phase stationary coordinate system
Solve d, q axis actual current id、iq；
2) according to motor given rotating speed n*With the difference of motor actual speed n, q is obtained by proportional integration (PI) controller
Axis reference current iq *, d axis reference currents i is calculated using the equation in torque capacity electric current ratio (MTPA) control methodd *；
3) d, q axis reference current i are utilizedd *、iq *With actual current id、iqDifference, pass through improved UDE current controls
Device respectively obtains the reference value u of d, q shaft voltaged、uq；Wherein,
The current controller for improving UDE includes following linear reference model：
In formula, xm(t)=[idmiqm]TFor current phasor matrix in d, q axis reference model, c (t)=[id *iq *]TFor d, q axis
Reference current gives vector matrix, Am、BmFor corresponding xm(t), the coefficient matrix of c (t)；
For the stability of Guarantee control system, by the coefficient matrices A of linear reference modelm、BmIt indicates as follows：
In formula, α, β are positive real number, and there are two negative characteristic values for Guarantee control system, meet Lyapunov stability reason
By；
For the Parameter uncertainties and system random perturbation occurred in control system, low-pass first order filter g is usedf(t)
Disturbance in compensation system, the low-pass first order filter gf(t) frequency domain form Gf(s) indicate as follows：
In formula, γ=1/T, γ are the bandwidth of selected low-pass first order filter.
Pass through low-pass first order filter gf(t) Parameter uncertainties and system random disturbance quantity can be observedI.e.：
In formula, " * " is convolution operator, and A, B are the coefficient matrix of x (t), u (t), x (t)=[idiq]TFor the practical electricity of d, q axis
Flow matrix, u (t)=[uduq]TFor d, q axis reference voltage matrix, while system inputs in order to control, f (t)=[fdfq]TFor d, q axis
Parameter uncertainties matrix, D (t)=[DdDq]TFor d, q axis random perturbation matrix, Ld、LqFor d, q axle inductance, ψfFor rotor flux,
RsFor stator resistance,For d, q axis known disturbance matrix,
The control system for obtaining improving the current controller of UDE by linear reference model and low-pass first order filter inputs u
(t) it is：
U (t)=B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
In formula, B-1For the inverse matrix of coefficient matrix B；
Therefore control system input u (t) is expressed as in frequency domain：
In formula, U (s)=[UdUq]TIn the frequency domain form of d, q axis, E (s) is current following error for system input in order to control
Frequency domain form, I are unit matrix, parameter KPAnd KIIt is expressed as：
Parameter K in the control system input u (t)IAdjusting method be：
By parameter KIIn former intrinsic parameter γd0、γq0Upper increase variable element γd1、γq1It obtainsIt is shown below：
Intrinsic parameter γd0、γq0It is determined by α, β and γ；D axis variable elements γd1It is by d axis actual current and reference current
Difference obtained by proportional controller, q axis variable elements γq1Be by the difference of q axis reference current and actual current pass through than
Csr controller obtains, and is shown below：
4) by the voltage reference value u of obtained d, q axisd、uqTransform to the voltage reference value u under two-phase rotating coordinate systemα、
uβ, using voltage space vector modulation (SVPWM) method, the pwm pulse of corresponding inverter is obtained, is exported to obtain three by inverter
Phase voltage, for driving internal permanent magnet synchronous motor；
5) return to step 1) repetitive cycling.
Claims (3)
1. a kind of internal permanent magnet synchronous motor current control method improving UDE, which is characterized in that include the following steps：
1) in current control period, by control system to motor actual speed n, rotor position angle θ, motor three-phase current iA、iBWith
iCAnd DC bus-bar voltage udcIt is sampled, and is solved to two-phase stationary coordinate system transformation using three-phase rotating coordinate system
D, q axis actual current id、iq；
2) according to motor given rotating speed n*With the difference of motor actual speed n, q axis is obtained with reference to electricity by pi controller
Flow iq *, d axis reference currents i is calculated using the equation in maximum torque per ampere control methodd *；
3) d, q axis reference current i are utilizedd *、iq *With actual current id、iqDifference, by improve UDE current controller, point
The reference value u of d, q shaft voltage is not obtainedd、uq；
4) by the voltage reference value u of obtained d, q axisd、uqTransform to the voltage reference value u under two-phase rotating coordinate systemα、uβ, adopt
With voltage space vector modulation method, the pwm pulse of corresponding inverter is obtained, is exported to obtain three-phase voltage by inverter, is used for
Drive internal permanent magnet synchronous motor；
5) return to step 1) repetitive cycling.
2. the internal permanent magnet synchronous motor current control method according to claim 1 for improving UDE, which is characterized in that
The current controller that UDE is improved described in step 3) includes following linear reference model：
In formula, xm(t)=[idmiqm]TFor current phasor matrix in d, q axis reference model, c (t)=[id *iq *]TIt is referred to for d, q axis
Given value of current vector matrix, Am、BmFor corresponding xm(t), the coefficient matrix of c (t)；
For the stability of Guarantee control system, by the coefficient matrices A of linear reference modelm、BmIt indicates as follows：
In formula, α, β are positive real number, and Guarantee control system meets Lyapunov's stability theorem there are two negative characteristic value；
For the Parameter uncertainties and system random perturbation occurred in control system, low-pass first order filter g is usedf(t) compensation system
Disturbance in system, the low-pass first order filter gf(t) frequency domain form Gf(s) indicate as follows：
In formula, γ=1/T, γ are the bandwidth of selected low-pass first order filter；
Pass through low-pass first order filter gf(t) Parameter uncertainties and system random disturbance quantity can be observedI.e.：
In formula, " * " is convolution operator, and A, B are the coefficient matrix of x (t), u (t), x (t)=[idiq]TFor d, q axis actual current square
Battle array, u (t)=[uduq]TFor d, q axis reference voltage matrix, while system inputs in order to control, f (t)=[fdfq]TFor d, q axis parameter
Uncertain matrix, D (t)=[DdDq]TFor d, q axis random perturbation matrix, Ld、LqFor d, q axle inductance, ψfFor rotor flux, RsFor
Stator resistance,For d, q axis known disturbance matrix,
Obtain improving the control system input u (t) of the current controller of UDE by linear reference model and low-pass first order filter
For：
U (t)=B-1[Amxm(t)+Bmc(t)-Ax(t)-d0(t)-f(t)-D(t)]
In formula, B-1For the inverse matrix of coefficient matrix B；
Therefore control system input u (t) is expressed as in frequency domain：
In formula, U (s)=[UdUq]TIn the frequency domain form of d, q axis, E (s) is the frequency domain of current following error for system input in order to control
Form, I are unit matrix, parameter KPAnd KIIt is expressed as：
3. the internal permanent magnet synchronous motor current control method according to claim 2 for improving UDE, which is characterized in that
Parameter K in the control system input u (t)IAdjusting method be：
By parameter KIIn former intrinsic parameter γd0、γq0Upper increase variable element γd1、γq1It obtainsIt is shown below：
Intrinsic parameter γd0、γq0It is determined by α, β and γ；D axis variable elements γd1It is the difference by d axis actual current and reference current
Value is obtained by proportional controller, q axis variable elements γq1It is that the difference of q axis reference current and actual current is passed through into ratio control
Device processed obtains, and is shown below：
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| CN113517829A (en) * | 2021-07-22 | 2021-10-19 | 燕山大学 | Brushless direct current motor maximum torque current ratio control method and system |
| WO2024098507A1 (en) * | 2022-11-10 | 2024-05-16 | 中车永济电机有限公司 | Control method, apparatus and system, and storage medium |
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