CN109150043A - Electric voltage feed forward compensation method in AC servo electric current loop - Google Patents
Electric voltage feed forward compensation method in AC servo electric current loop Download PDFInfo
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- CN109150043A CN109150043A CN201810901920.9A CN201810901920A CN109150043A CN 109150043 A CN109150043 A CN 109150043A CN 201810901920 A CN201810901920 A CN 201810901920A CN 109150043 A CN109150043 A CN 109150043A
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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
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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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Abstract
The present invention relates to the electric voltage feed forward compensation methodes in a kind of AC servo electric current loop, comprising the following steps: the electric current i of hidden pole type three-phase AC permanent magnet synchronous motor is obtained by the method for experimentqWith voltage uqMapping table；Speed ring is output to the instruction current of q axis in AC servoUsing linear interpolation method in the electric current iqWith voltage uqMapping table in search or computations electric currentElectric voltage feed forward compensation can be added to right voltage value, in the electric current loop of AC servo driver to promote the tracking response ability of electric current loop.
Description
Technical field
The present invention relates to the electric voltage feed forward compensation methodes in a kind of AC servo electric current loop, more particularly, to hidden pole type
Electric voltage feed forward compensation in the AC servo electric current loop of AC permanent magnet synchronous motor.
Background technique
AC servo is usually by AC servo motor, power inverter, speed, position sensor and position, speed
It is constituted with current controller, as shown in Figure 1.AC servo is three with current feedback, velocity feedback and position feedback
Closed loop configuration, wherein electric current loop is inner ring, and the target output that position and speed ring calculates will finally be realized by electric current loop.Electricity
Stream ring is made of current controller and inverter, and effect is to make the follow current instruction in real time of AC servo motor winding current
Signal.In order to fast, accurately control the electromagnetic torque of AC servo motor, in AC servo, need to friendship
D, q shaft current of flow servo motor are controlled.When AC servo motor is hidden pole type AC permanent magnet synchronous motor, q axis electricity
Stream instructs the output from speed ring, and the instruction of d shaft current is directly given as 0.By three phase feedback currents of AC servo motor
It is converted, obtains the feedback current of d, q axis, current controller is calculated by feedback current, actual current and other parameters
Given voltage out generates pwm signal further according to SVPWM algorithm, and power inverter carries out DC bus-bar voltage according to pwm signal
Copped wave processing, obtains required three-phase voltage, the three-phase voltage that last AC servo obtains copped wave is exported to exchange
Servo motor, driving AC servo motor are operated according to specified position, speed and torque.
In the electric current loop of current AC servo, implementation method is as follows:
There are two channels of d axis and q axis, the phase current that the actual current in two channels is acquired by current sensor in electric current loop
It is converted through CLARK and PARK, the mathematic(al) representation of transformation is as follows:
Wherein, iuAnd ivIt is the resulting U and V phase current of acquisition, θ respectivelyeFor the electrical angle of rotor magnetic pole, idIt is d axis
Actual current, iqIt is q axis actual current.
The feedback control of d and q axis is that proportional integration is adjusted, and mathematic(al) representation is as follows:
Wherein,WithFor d and q axis instruction current, when control object is hidden pole type AC permanent magnet synchronous motor,
EIdAnd EIqRespectively d and q shaft current tracking error, kIdpAnd kIqpRespectively d and q axis scale adjustment factor, kIdiAnd kIqiRespectively
For d and q axis integral adjustment coefficient,WithRespectively the feedback regulation of d and q axis exports.
There is the revolving electro-motive force interfered in d, q axis of sine wave three-phase permanent magnet synchronous motor, the electromotive force is to idAnd iq
Control have an adverse effect, need to eliminate by decoupling control, mathematic(al) representation is as follows:
Wherein, LdAnd LqRespectively equivalent inductance of the motor stator winding on dq axis, ψfIt is motor permanent magnet in dq coordinate
Equivalent magnetic linkage under system, ωeFor rotor magnetic pole rotation angular rate,WithThe respectively decoupling voltage of d and q axis.
By feedback regulation, back-emf compensation and decoupling computation, the command voltage of d, q axisFor
Because SVPWM (space vector pulse width modulation) be based on α β coordinate system, need byThrough inverse PARK transformation conversion to α β
The command voltage of coordinate systemTransfer equation is as follows:
The performance of AC servo electric current loop is higher to the degree of dependence of PI feedback regulation in the prior art, leads to electric current
The performance of ring depends on ratio (P) parameter and integral (I) parameter, increases the difficulty of debugging, i.e., owes in PI parameter setting
When good, the performance of electric current loop cannot adequately be embodied.
Summary of the invention
In order to solve the above technical problems, electric voltage feed forward compensation is added in the present invention in the calculating of electric current loop, it is anti-to reduce PI
The burden that feedback is adjusted facilitates debugging so that the performance comparison example parameter of electric current loop and the dependence of integral parameter substantially reduce,
Even if, because there is the presence of electric voltage feed forward, also the performance of electric current loop can be given full play of when PI parameter setting is bad.
Electric voltage feed forward compensation method in AC servo electric current loop of the present invention, includes the following steps:
Step 1, the electric current i of hidden pole type three-phase AC permanent magnet synchronous motor is obtained by the method for experimentqWith voltage uqPair
Relation table is answered, shares N group electric current i in the relation tableqWith voltage uqValue, iq(n) electric current i is indicatedqWith voltage uqIn tables of data
I in n-th group of dataqValue, uq(n) electric current i is indicatedqWith voltage uqU in tables of data in n-th group of dataqValue, wherein n is positive whole
Number, n=1,2,3 ..., N；
Step 2, speed ring is output to the instruction current of q axis in AC servoThe electric current i according to step 1qWith
Voltage uqMapping table, utilize linear interpolation method look-up command electric currentTo right voltage valueDescribedIt is preceding
Feedthrough voltage value, specific steps are as follows:
Step 2.1 resets location index n, enables location index n=0；
Step 2.2 location index n=n+1；
Step 2.3 carries out judging whether to cross the border to location index:
As n >=N, thenEqual to the u in N group dataq, enter step 2.4；
As n < N, andGreater than the i in n-th group of dataq, then return step 2.2；
As n < N, andLess than or equal to the i in n-th group of dataq, then Enter step 2.4
Step 2.4, feedforward control voltage is added on the q axis of hidden pole type three-phase AC permanent magnet synchronous motor
The utility model has the advantages that
In existing AC servo, PI controller feedback regulation is depended on, this causes the performance of electric current loop main
Dependent on scale parameter and integral parameter, the difficulty of debugging is increased, i.e., when PI parameter setting is not good enough, the performance of electric current loop is not
It can adequately be embodied.Electric voltage feed forward compensation is added in the calculating of electric current loop, the variation of load is made timely to be reacted to electricity
It flows in ring, the variation of electric current loop timely responsive load reduces the burden of PI feedback regulation, so that the performance pair of electric current loop
The dependence of scale parameter and integral parameter substantially reduces, even if when PI parameter setting is bad, because there is the presence of electric voltage feed forward,
Also the performance of electric current loop can be given full play of.
Detailed description of the invention
Fig. 1 is the composition figure of AC servo；
Fig. 2 is the flow chart of electric voltage feed forward compensation.
Specific embodiment
The invention discloses the electric voltage feed forward compensation methodes in a kind of AC servo electric current loop:
Step 1, the electric current i of hidden pole type three-phase AC permanent magnet synchronous motor is obtained by the method for experimentqWith voltage uqPair
Relation table is answered, shares N group electric current i in the relation tableqWith voltage uqValue, iq(n) electric current i is indicatedqWith voltage uqIn tables of data
I in n-th group of dataqValue, uq(n) electric current i is indicatedqWith voltage uqU in tables of data in n-th group of dataqValue, wherein n is positive whole
Number, n=1,2,3 ... N；It is as shown in table 1 the hidden pole type three-phase AC permanent magnet synchronous motor for passing through the method for experiment and obtaining
Electric current iqWith voltage uqMapping table, the u in mapping tableq(1) u is arrivedq(N) value is gradually incremented by, uq(N) value is used
Be " trial and error procedure ", i.e., gradually increase voltage uq(n) value, until electric current iqIt is 3 times of rated current of motor, writes down corresponding electricity
Pressure value is uq(N), theoretically, the data in correspondence table should be The more the better, but consider computer programming
Convenience, list data should not be made excessively, but data can also cause biggish calculating error very little, phase is used in this experiment
The amplification of voltage is 1V between adjacent every group of data, makes the electric current i of hidden pole type three-phase AC permanent magnet synchronous motorqWith voltage uqPair
It should be related to as shown in table 1.
The electric current i of 1 hidden pole type three-phase AC permanent magnet synchronous motor of tableqWith voltage uqCorresponding relationship
| N-th group | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 |
| iq(A) | 0.0 | 0.027 | 0.043 | 0.053 | 0.063 | 0.071 | 0.081 | 0.089 | 0.100 | 0.109 | 0.121 |
| uq(V) | 0.0 | 1.0 | 2.0 | 3.0 | 4.0 | 5.0 | 6.0 | 7.0 | 8.0 | 9.0 | 10.0 |
| N-th group | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 |
| iq(A) | 0.137 | 0.156 | 0.184 | 0.221 | 0.272 | 0.357 | 0.535 | 0.892 | 1.359 | 2.000 | 2.671 |
| uq(V) | 11.0 | 12.0 | 13.0 | 14.0 | 15.0 | 16.0 | 17.0 | 18.0 | 19.0 | 20.0 | 21.0 |
| N-th group | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | ||
| iq(A) | 3.430 | 4.137 | 4.905 | 5.646 | 6.411 | 7.160 | 7.842 | 8.549 | 9.197 | ||
| uq(V) | 22.0 | 23.0 | 24.0 | 25.0 | 26.0 | 27.0 | 28.0 | 29.0 | 30.0 |
Step 2, speed ring is output to the instruction current of q axis in AC servoUsing linear interpolation method from step 1
The electric current iqWith voltage uqMapping table in look-up command electric currentTo right voltage valueDescribedIt is preceding
Feedthrough voltage value, specific steps are as follows:
Step 2.1 resets location index n, enables location index n=0；
Step 2.2 location index n=n+1；
Step 2.3 carries out judging whether to cross the border to location index:
As n >=N, thenEqual to the u in N group dataq, it is then N=31 for table 1,Equal to the 31st group number
30V in, enters step 2.4；
As n < N, andGreater than the i in n-th group of dataq, then return step 2.2；
As n < N, andLess than or equal to the i in n-th group of dataq, then Enter step 2.4；
Wherein, iq(n) electric current i is indicatedqWith voltage uqI in tables of data in n-th group of dataqValue, iq(n-1) electric current i is indicatedq
With voltage uqI in tables of data in (n-1)th group of dataqValue, uq(n) electric current i is indicatedqWith voltage uqIn tables of data in n-th group of data
UqValue, uq(n-1) electric current i is indicatedqWith voltage uqU in tables of data in (n-1)th group of dataqValue；
Step 2.4, feedforward control voltage is added on the q axis of hidden pole type three-phase AC permanent magnet synchronous motor
Claims (2)
1. the electric voltage feed forward compensation method in AC servo electric current loop, which comprises the steps of:
Step 1, the electric current i of hidden pole type three-phase AC permanent magnet synchronous motor is obtained by the method for experimentqWith voltage uqCorresponding close
It is table, the iqRefer to servo motor q shaft current, the uqRefer to servo motor q shaft voltage；In the relation table altogether
There is N group electric current iqWith voltage uqValue, iq(n) electric current i is indicatedqWith voltage uqI in tables of data in n-th group of dataqValue, uq(n) table
Show electric current iqWith voltage uqU in tables of data in n-th group of dataqValue, wherein n be positive integer, n=1,2,3 ... N；
Step 2, speed ring is output to the instruction current of q axis in AC servoThe electric current i according to step 1qWith voltage uq
Mapping table, utilize linear interpolation method look-up command electric currentTo right voltage valueDescribedFor preceding feed
Pressure value, specific steps are as follows:
Step 2.1 resets location index n, even location index n=0；
Step 2.2 location index n=n+1；
Step 2.3 carries out judging whether to cross the border to location index:
As n >=N, thenEqual to the u in N group dataq, enter step 2.4；
As n < N, andGreater than the i in n-th group of dataq, then return step 2.2；
As n < N, andLess than or equal to the i in n-th group of dataq, then Enter step 2.4；
Step 2.4, feedforward control voltage is added on the q axis of hidden pole type three-phase AC permanent magnet synchronous motor
2. the electric voltage feed forward compensation method in AC servo electric current loop according to claim 1, which is characterized in that logical
The method for crossing experiment obtains the electric current i of hidden pole type three-phase AC permanent magnet synchronous motorqWith voltage uqMapping table in electric current
iqNo more than three times of the synchronous motor rated current.
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| CN201810901920.9A CN109150043B (en) | 2018-08-09 | 2018-08-09 | Voltage feedforward compensation method in current loop of alternating current servo system |
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Cited By (3)
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| CN109787526A (en) * | 2019-03-14 | 2019-05-21 | 哈尔滨理工大学 | A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model |
| CN110417315A (en) * | 2019-07-16 | 2019-11-05 | 深圳市海浦蒙特科技有限公司 | A kind of electric machine control system and method |
| CN110971165A (en) * | 2019-12-06 | 2020-04-07 | 长沙奥托自动化技术有限公司 | Current loop feedforward method and system of permanent magnet synchronous generator |
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