CN109194233A - A kind of the torque closed-loop control system and method for permanent magnet synchronous motor - Google Patents
A kind of the torque closed-loop control system and method for permanent magnet synchronous motor Download PDFInfo
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- CN109194233A CN109194233A CN201811160478.5A CN201811160478A CN109194233A CN 109194233 A CN109194233 A CN 109194233A CN 201811160478 A CN201811160478 A CN 201811160478A CN 109194233 A CN109194233 A CN 109194233A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- 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
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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
- 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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of torque closed-loop control systems of permanent magnet synchronous motor, comprising: electric current obtains module, for determining the current feedback signal under two-phase stationary coordinate system；Current control flux observation module for determining estimation stator magnetic linkage signal, and combines received given value of current signal, determines the voltage control quantity at current time；Torque estimating module, for determining electromagnetic torque value of feedback；Torque controller, for determining given current amplitude signal；Given value of current generator, for generating given value of current signal；Pulse width modulation module, for generating corresponding pulse-width signal according to voltage control quantity to carry out motor control.Using the solution of the present invention, the complexity that the complexity and operation for reducing design work calculate eliminates the dependence of Control System Design process and control performance to permanent magnet synchronous motor direct-axis synchronous inductance parameters.The invention also discloses a kind of torque closed loop control methods of permanent magnet synchronous motor, have corresponding effect.
Description
Technical field
The present invention relates to motor control technology fields, more particularly to a kind of torque closed-loop control system of permanent magnet synchronous motor
System and method.
Background technique
Since vector controlled can make alternating current generator have the torque control performance for the direct current generator that can match in excellence or beauty, have become
The mainstream control method of permanent magnet synchronous motor torque and current control.
In the prior art, carrying out current control to permanent magnet synchronous motor is realized under two-phase rotating coordinate system, i.e.,
Closed-loop current control need by by three-phase current by Clark convert with Park change under two-phase synchronous rotating frame into
Then dq axis control voltage under two-phase rotating coordinate system is carried out anti-Park transformation, obtains the static seat of two-phase by row feedback control
α β shaft voltage control amount under mark system, carries out SVPWM modulation, and the calculation amount of the above process is larger, the calculated performance requirement to CPU
It is higher.
Also, under two-phase rotating coordinate system carry out magneto control when, need to ac-dc axis current controller into
Row Decoupling design.Specifically, the voltage equation of permanent magnet synchronous motor can be shown below under two-phase rotating coordinate system:
Wherein, wherein ud, uqFor electricity respectively
Press the d-axis and quadrature axis component of vector；id, iqThe respectively d-axis and quadrature axis component of current phasor；RsFor stator resistance, Ld, LqPoint
Not Wei d-axis and quadrature axis synchronous inductance, ω be motor angular rate, ψfFor permanent magnet flux linkage amplitude, D is differential operator.
Since voltage equation is there are the cross-linked influence of ac-dc axis, needs to carry out ac-dc axis current controller decoupling and set
Meter further increases the complexity that design and operation calculate.Also, decoupling control effect is easy by the accurate of the parameter of electric machine
The influence of degree.
In addition, permanent magnet synchronous motor, which carries out torque closed-loop control, needs accurate electromagnetic torque feedback quantity.Consider installation and
Maintenance cost, permanent-magnet synchronous traction drive not will be installed torductor usually, it is therefore desirable to carry out electromagnetic torque estimation.
When carrying out the estimation of electromagnetic torque, segmentation scheme is same according to ac-dc axis under known permanent magnet flux linkage, two-phase rotating coordinate system
Inductance parameters and electric current real-time sampling value are walked, is directly calculated using formula, but this needs to do a large amount of parameter calibration experiment,
The storage of supplemental characteristic is carried out, or needs additional on-line parameter identification algorithm.
It is first to observe stator magnetic linkage there are also segmentation scheme, then by stator magnetic linkage calculating torque.Open loop stator flux observer side
Influenced by integral accumulated error based on the method for voltage model big in method, and the method based on current model then depends on forever
Magnetic magnetic linkage parameter and ac-dc axis inductance parameters.In closed loop stator flux observer method, the prior art in two cordic phase rotators
The method of the lower construction flux observer of system is influenced by state equation there are cross-linked, and the design difficulty of observer is larger, and
And flux observation precision is simultaneously by Ld, LqThe influence of parameter accuracy.There is scholar to introduce the concept of effective magnetic linkage, has derived two
The voltage equation of permanent magnet synchronous motor is shown below under phase rest frame, and has studied the side for constructing effective flux observer
Method, can be independent of d-axis inductance parameters Ld。
Wherein, the α axis of effective magnetic linkage and the expression formula of beta -axis component are
But the effective flux observer constructed in the prior art does not make full use of voltage equation α axis and β axis phase
Mutually the characteristics of decoupling, designed observer still has cross-couplings item.
Also, it needs specially to design flux observer independently of current controller in current implementation, also allow for
When designing flux observer, the design comprising multiple feedback parameters is needed, the complexity of design is increased, also increases chip
Computation burden.
In conclusion being effectively reduced design and operation how when carrying out the torque closed-loop control of permanent magnet synchronous motor
The complexity of calculating reduces the influence of the parameter of electric machine, is current those skilled in the art technical problem urgently to be solved.
Summary of the invention
The object of the present invention is to provide the torque closed-loop control systems and method of a kind of permanent magnet synchronous motor, to carry out forever
When the control of magnetic-synchro motor, it is effectively reduced the complexity that design and operation calculate, reduces the parameter of electric machine to control system
Performance influences.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of torque closed-loop control system of permanent magnet synchronous motor, comprising:
Electric current obtains module, for acquiring the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and it is true based on Clark transformation
Make the current feedback signal i under two-phase stationary coordinate systemα_fdbAnd iβ_fdb；
Current control flux observation module, for according to the current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage
Signal Udc, tach signal ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage
Signal ψs_αAnd ψs_β, and combine received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity at current time
uα_cAnd uβ_c；
Torque estimating module, for the estimation stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, the current feedback
Signal iα_fdbAnd iβ_fdb, determine electromagnetic torque value of feedback Te_fdb；
Torque controller, for according to the electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_ref, really
Make given current amplitude signal iAMP；
Given value of current generator, for according to the given current amplitude signal iAMP, the position signal θ of motor, according to pre-
If control strategy generate the given value of current signal iα_refAnd iβ_ref；
Pulse width modulation module, the electricity at the current time for being determined according to the current control flux observation module
Press control amount uα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
Preferably, the current control flux observation module, comprising:
Extended mode observes submodule, is used for the current feedback signal iα_fdbAnd iβ_fdbIt is established as state variable
System state equation, using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, and according to
The DC bus-bar voltage signal UdcAnd the voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1With
zβ_1, expansion state estimator zα_2And zβ_2；
Voltage compensation quantity computational submodule, for according to the state estimator zα_1And zβ_1, the expansion state estimation
Measure zα_2And zβ_2Determine control compensation rate uα_compAnd uβ_comp；
Stator magnetic linkage computational submodule, for according to the expansion state estimator zα_2And zβ_2, the tach signal ωr
And the current feedback signal iα_fdbAnd iβ_fdb, determine the estimation stator magnetic linkage signal ψs_αAnd ψs_β；
Voltage control quantity computational submodule, for according to the state estimator zα_1And zβ_1, the control compensation rate
uα_compAnd uβ_compAnd received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_c
And uβ_c。
Preferably, the system state equation are as follows:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance, the k is default contravarianter voltage gain,
The ψextαWith the ψextβThe α axis and beta -axis component of respectively effective magnetic linkage；
The iα_fdbAnd iβ_fdbAs the state variable,WithFor as the expansion shape
State variable.
Preferably, the state estimator z determinedα_1And zβ_1, the expansion state estimator zα_2And zβ_2Meet:
Wherein, the f1And f2Be feedback function, the feedback function be state estimation error amount and its each rank differential or
The linear combination of integral or the form of nonlinear combination.
Preferably, which is characterized in that the control compensation rate u determinedα_compAnd uβ_compAre as follows:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance.
Preferably, the voltage control quantity computational submodule, is specifically used for:
According to the state estimator zα_1And zβ_1, received given value of current signal iα_refAnd iβ_ref, calculate virtual control
Signal u' processedαAnd u'β；
Wherein, the dummy pilot signal u'αAnd u'βMeet:The gcFor feedback control
Rate function, the feedback rate control function are control error (iα_ref-zα_1) and (iβ_ref-zβ_1) and its each rank differential or integral
Linear combination or nonlinear combination form；
According to the dummy pilot signal u'αAnd u'β, the control compensation rate uα_compAnd uβ_comp, determine the voltage
Control amount uα_cAnd uβ_c；
Wherein, the calculated voltage control quantity uα_cAnd uβ_cMeet:The k is
Default contravarianter voltage gain.
Preferably, the stator magnetic linkage computational submodule, is specifically used for:
According to the expansion state estimator zα_2And zβ_2, determine the extension magnetic linkage differential estimated value D ψextαAnd D
ψextβ；
Wherein, the extension magnetic linkage differential estimated value D ψextαWith D ψextβMeet:The LqFor
Quadrature axis synchronous inductance；
According to the extension magnetic linkage differential estimated value D ψextαWith D ψextβ, the tach signal ωr, determine extension magnetic linkage
Value ψextαAnd ψextβ；
Wherein, the extension magnetic linkage value ψextαAnd ψextβMeet:
According to the extension magnetic linkage value ψextαAnd ψextβ, the current feedback signal iα_fdbAnd iβ_fdb, determine described to estimate
Count stator magnetic linkage signal ψs_αAnd ψs_β；
Wherein, the estimation stator magnetic linkage signal ψs_αAnd ψs_βMeet:
A kind of torque closed loop control method of permanent magnet synchronous motor, comprising:
Acquire the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and two-phase static coordinate is determined based on Clark transformation
Current feedback signal i under systemα_fdbAnd iβ_fdb；
According to the current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal Udc, tach signal ωrOn and
The voltage control quantity u at one momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β；
The estimation stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, the current feedback signal iα_fdbAnd iβ_fdb, really
Make electromagnetic torque value of feedback Te_fdb；
According to the electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_ref, determine to give constant current width
Value signal iAMP；
According to the given current amplitude signal iAMP, the position signal θ of motor, according to preset control strategy generation electricity
Flow Setting signal iα_refAnd iβ_ref；
In conjunction with the received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cWith
uβ_c；
According to the voltage control quantity uα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
Preferably, described according to the current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal Udc, revolving speed letter
Number ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β, packet
It includes:
By the current feedback signal iα_fdbAnd iβ_fdbSystem state equation is established as state variable；
Using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, and according to described straight
Flow bus voltage signal UdcAnd the voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1And zβ_1, expand
Open state estimator zα_2And zβ_2；
According to the expansion state estimator zα_2And zβ_2, the tach signal ωrAnd the current feedback signal
iα_fdbAnd iβ_fdb, determine the estimation stator magnetic linkage signal ψs_αAnd ψs_β；
The received given value of current signal i of combinationα_refAnd iβ_ref, determine the voltage control quantity at current time
uα_cAnd uβ_c, comprising:
According to the state estimator zα_1And zβ_1, the expansion state estimator zα_2And zβ_2Determine control compensation rate
uα_compAnd uβ_comp；
In conjunction with the state estimator zα_1And zβ_1, the control compensation rate uα_compAnd uβ_compAnd received electric current
Setting signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c。
Preferably, by the current feedback signal iα_fdbAnd iβ_fdbSystem state equation is established as state variable, is wrapped
It includes:
By the current feedback signal iα_fdbAnd iβ_fdbSystem state equation, the system shape are established as state variable
State equation specifically:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance, the k is default contravarianter voltage gain,
The ψextαWith the ψextβThe α axis and beta -axis component of respectively effective magnetic linkage；
Using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, comprising:
It willWithFor as expansion state variable.
Using technical solution provided by the embodiment of the present invention, comprising: electric current obtains module, for acquiring permanent magnet synchronous electric
The three-phase current i of machineu, ivAnd iw, and the current feedback signal i under two-phase stationary coordinate system is determined based on Clark transformationα_fdb
And iβ_fdb；Current control flux observation module, for according to current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal
Udc, tach signal ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal
ψs_αAnd ψs_β, and combine received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cWith
uβ_c；Torque estimating module, for estimating stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, current feedback signal iα_fdbWith
iβ_fdb, determine electromagnetic torque value of feedback Te_fdb；Torque controller, for according to electromagnetic torque value of feedback Te_fdbAnd it is default
Torque reference value Te_ref, determine given current amplitude signal iAMP；Given value of current generator, for according to constant current width
Value signal iAMP, the position signal θ of motor, according to preset control strategy generation given value of current signal iα_refAnd iβ_ref；Pulsewidth
Modulation module, the voltage control quantity u at the current time for being determined according to current control flux observation moduleα_cAnd uβ_cIt generates
Corresponding pulse-width signal is to carry out motor control.
In the scheme of the application, the control of permanent magnet synchronous motor is carried out under two-phase stationary coordinate system, is avoided in two-phase
The computationally intensive problem that motor control is carried out under rotating coordinate system does not need to carry out Decoupling design yet.Also, the side of the application
In case, current control flux observation module can determine estimation stator magnetic linkage signal ψs_αAnd ψs_β, can also determine current
The voltage control quantity u at momentα_cAnd uβ_c, that is to say, that by the design of current control flux observation module, realize electric current control
The integration of device and flux observer processed.Therefore, the scheme of the application is when carrying out the control of permanent magnet synchronous motor, effectively
Reduce the complexity that design and operation calculate.In addition this programme is joined independent of the direct-axis synchronous inductance of permanent magnet synchronous motor
Number, reduces dependence of the control system performance to direct-axis synchronous inductance parameters.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of the torque closed-loop control system of permanent magnet synchronous motor in the present invention；
Fig. 2 is the structural schematic diagram of current control flux observation module in a kind of specific embodiment of the present invention；
Fig. 3 is a kind of implementation flow chart of the torque closed loop control method of permanent magnet synchronous motor in the present invention.
Specific embodiment
Core of the invention is to provide a kind of torque closed-loop control system of permanent magnet synchronous motor, is carrying out permanent magnet synchronous electric
When the torque closed-loop control of machine, the complexity of calculating is significantly reduced, reduces dependence of the control system performance to the parameter of electric machine
Degree.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of structural representation of the torque closed-loop control system of permanent magnet synchronous motor in the present invention
Figure, the system comprise the following modules:
Electric current obtains module 10, for acquiring the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and converted based on Clark
Determine the current feedback signal i under two-phase stationary coordinate systemα_fdbAnd iβ_fdb。
Electric current obtains module 10 for the three-phase current i of collected permanent magnet synchronous motoru, ivAnd iwClark transformation is carried out,
It can determine two-phase stationary coordinate system, i.e. current feedback signal i under alpha-beta coordinate systemα_fdbAnd iβ_fdb。iα_fdbAs electric current
Component of the feedback signal in α axis, iβ_fdbFor current feedback signal β axis component.Electric current obtains module 10 can be integrated for one
Module can also be made of multiple submodule, such as in the embodiment of Fig. 1, and it includes for acquiring forever that electric current, which obtains module 10,
The three-phase current i of magnetic-synchro motoru, ivAnd iwCurrent acquisition submodule 11 and coordinate transform for carrying out Clark transformation
Submodule 12.
Current feedback signal i in the case where determining two-phase stationary coordinate system based on Clark transformationα_fdbAnd iβ_fdbWhen, it can be with
It is the principle constant according to amplitude before and after common transformation, is also possible to the principle constant according to transformation front and back power, it can basis
Actual needs is chosen, and implementation of the invention is had no effect on.Such as in a kind of specific embodiment, based on the original that amplitude is constant
The current feedback signal i then determinedα_fdbAnd iβ_fdbAre as follows:
Current control flux observation module 20, for according to current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage letter
Number Udc, tach signal ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage letter
Number ψs_αAnd ψs_β, and given value of current signal i based on the receivedα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_c
And uβ_c。
The current control flux observation module 20 of the application can determine estimation stator magnetic linkage signal ψs_αAnd ψs_β, may be used also
To determine the voltage control quantity u at current timeα_cAnd uβ_c, that is to say, that pass through setting for current control flux observation module 20
Meter, realizes the integration of current controller and flux observer.
It is connect specifically, current control flux observation module 20 can obtain module 10 with electric current, reception is obtained by electric current
The current feedback signal i that module 10 exportsα_fdbAnd iβ_fdb, meanwhile, current control flux observation module 20 also receives DC bus
Voltage signal UdcAnd tach signal ωr.DC bus-bar voltage signal UdcIt can be acquired by voltage sensor, and revolving speed
Signal ωrDifferential acquisition can be usually carried out by the output quantity of position sensor, position sensor is arranged in permanent magnet synchronous motor
On.
In addition, current control flux observation module 20 also needs to obtain the voltage control quantity u of last momentα_c_lastWith
uβ_c_last, to carry out estimation stator magnetic linkage signal ψs_αAnd ψs_βCalculating.It should be pointed out that carrying out estimation stator for the first time
Magnetic linkage signal ψs_αAnd ψs_βCalculating when, current control flux observation module 20 obtain voltage control quantity uα_c_lastWith
uβ_c_lastFor pre-set initial value, such as it is preset as 0, and then just calculates estimation stator magnetic linkage signal ψ for the first times_αWith
ψs_β, hereafter with received given value of current signal iα_refAnd iβ_ref, the voltage control quantity at current time is just determined for the first time
uα_cAnd uβ_c, this is namely used as carries out estimation stator magnetic linkage signal ψ for the second times_αAnd ψs_βCalculating when the required electricity utilized
Press control amount.
And it should be noted that in the specific implementation, for all variables in the control system of the application, not slapping
0 can be set by initial value in advance in the case where holding system information, such as above set the initial value of voltage control quantity
It is set to 0.And the variable of known relevant information, such as stator resistance Rs, quadrature axis synchronous inductance LqDeng can be carried out according to measured value
Setting.
Torque estimating module 30, for estimating stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, current feedback signal
iα_fdbAnd iβ_fdb, determine electromagnetic torque value of feedback Te_fdb。
Torque estimating module 30 is connect with current control flux observation module 20, can receive current control flux observation mould
The estimation stator magnetic linkage signal ψ that block 20 exportss_αAnd ψs_β, and then determine electromagnetic torque value of feedback Te_fdb.Specifically, when determining
Current feedback signal i outα_fdbAnd iβ_fdbIt is when being determined based on the constant principle of amplitude, then in this kind of embodiment, torque is estimated
Electromagnetic torque value of feedback T can be determined by following formula by calculating module 30e_fdb:
Torque controller 40, for according to electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_ref, determine
Current amplitude signal i is given outAMP。
Torque controller 40 is connect with torque estimating module 30, can receive the electromagnetic torque of the output of torque estimating module 30
Value of feedback Te_fdb, and then according to electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_refIt determines to constant current
Amplitude signal iAMP.Since PID controller is widely used, PID controller can be chosen as torque controller 40 with convenient
The implementation of scheme, it is of course also possible to which choosing other kinds of feedback controller according to actual needs carries out current amplitude signal iAMP
Determination.
Given value of current generator 50, for according to given current amplitude signal iAMP, the position signal θ of motor, according to default
Control strategy generate given value of current signal iα_refAnd iβ_ref。
Given value of current generator 50 can receive current amplitude signal iAMP, the position signal θ of motor.Current amplitude signal
IAMP is exported by torque controller 40, and the position signal θ of motor usually can be by being arranged on permanent magnet synchronous motor
Position sensor obtains.Obtain given current amplitude signal iAMPAnd after the position signal θ of motor, given value of current is generated
Device 50 can generate given value of current signal i according to preset control strategyα_refAnd iβ_ref。
In preset control strategy typically electric current Optimal Control Strategy, such as a kind of specific embodiment, choose
It, can first basis when control strategy based on MTPA (Maximum Torque Per Ampere, linear torque capacity electric current ratio)
Explicit formula calculating method or searching algorithm etc. determine the space phase angle for meeting the stator current vector of torque capacity electric current ratio
γ generates given value of current signal i in conjunction with the position signal of motor laterα_refAnd iβ_ref, namely generate given value of current signal
α axis component iα_refAnd beta -axis component iβ_ref, the formula that uses can be with specifically:
The given value of current signal i that given value of current generator 50 generatesα_refAnd iβ_refIt can export to current control flux observation
Module 20, so that current control flux observation module 20 carries out voltage control quantity uα_cAnd uβ_cCalculating.
Pulse width modulation module 60, the voltage control at the current time for being determined according to current control flux observation module 20
Amount u processedα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
Pulse width modulation module 60 is connect with current control flux observation module 20, can receive current control flux observation mould
The voltage control quantity u at the current time that block 20 is determinedα_cAnd uβ_c, and then corresponding pulse-width signal is generated to carry out motor
Control.Pulse width modulation module 60 can usually be chosen for SVPWM (Space Vector Pulse Width Modulation, sky
Between Vector Pulse Width Modulation) module.
Using the torque closed-loop control system of permanent magnet synchronous motor provided by the embodiment of the present invention, comprising: electric current obtains
Module, for acquiring the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and two-phase static coordinate is determined based on Clark transformation
Current feedback signal i under systemα_fdbAnd iβ_fdb；Current control flux observation module, for according to current feedback signal iα_fdbWith
iβ_fdb, DC bus-bar voltage signal Udc, tach signal ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, really
Make estimation stator magnetic linkage signal ψs_αAnd ψs_β, and combine received given value of current signal iα_refAnd iβ_ref, when determining current
The voltage control quantity u at quarterα_cAnd uβ_c；Torque estimating module, for estimating stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, electricity
Flow feedback signal iα_fdbAnd iβ_fdb, determine electromagnetic torque value of feedback Te_fdb；Torque controller, for anti-according to electromagnetic torque
Feedback value Te_fdbAnd preset torque reference value Te_ref, determine given current amplitude signal iAMP；Given value of current generator is used
According to given current amplitude signal iAMP, the position signal θ of motor, according to preset control strategy generation given value of current signal
iα_refAnd iβ_ref；Pulse width modulation module, the voltage control at the current time for being determined according to current control flux observation module
Amount u processedα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
In the scheme of the application, the control of permanent magnet synchronous motor is carried out under two-phase stationary coordinate system, is avoided in two-phase
The computationally intensive problem that motor control is carried out under rotating coordinate system does not need to carry out Decoupling design yet.Also, the side of the application
In case, current control flux observation module can determine estimation stator magnetic linkage signal ψs_αAnd ψs_β, can also determine current
The voltage control quantity u at momentα_cAnd uβ_c, that is to say, that by the design of current control flux observation module, realize electric current control
The integration of device and flux observer processed.Therefore, the scheme of the application is when carrying out the control of permanent magnet synchronous motor, effectively
Reduce the complexity that design and operation calculate.In addition this programme is joined independent of the direct-axis synchronous inductance of permanent magnet synchronous motor
Number, reduces dependence of the control system performance to direct-axis synchronous inductance parameters.
In a kind of specific embodiment of the invention, Fig. 2 is seen, current control flux observation module 20 specifically includes
Following submodule:
Extended mode observes submodule 21, is used for current feedback signal iα_fdbAnd iβ_fdbIt is established as state variable and is
System state equation, using the correlated components of effective magnetic linkage in system state equation as extended mode variable, and according to direct current mother
Line voltage signal UdcAnd voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1And zβ_1, expansion state estimates
Measure zα_2And zβ_2。
Voltage compensation quantity computational submodule 22, for according to state estimator zα_1And zβ_1, expansion state estimator zα_2With
zβ_2Determine control compensation rate uα_compAnd uβ_comp。
Stator magnetic linkage computational submodule 23, for according to expansion state estimator zα_2And zβ_2, tach signal ωrAnd electricity
Flow feedback signal iα_fdbAnd iβ_fdb, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β。
Voltage control quantity computational submodule 24, for according to state estimator zα_1And zβ_1, control compensation rate uα_compWith
uβ_compAnd received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c。
A kind of specific structure of current control flux observation module 20 is shown in the embodiment of Fig. 2, due to expanding shape
The result that state observation submodule 21 is determined is determining estimation stator magnetic linkage signal ψs_αAnd ψs_βWhen and determine voltage control
Amount u processedα_cAnd uβ_cWhen be required to using namely realizing the multiplexing for calculating data, therefore create a further reduction answering for calculating
Miscellaneous degree, and then also just reduce the computation burden of chip.
Specifically, extended mode observation submodule 21 can be by current feedback signal iα_fdbAnd iβ_fdbAs state variable
System state equation is established, and in the specific implementation, it is contemplated that the voltage equation of following formula can be independent of d-axis inductance parametersLD, and α axis and β axis mutually decouple, therefore the determination of system state equation can be carried out based on the voltage equation.Voltage side
Journey can indicate are as follows:
The α axis and beta -axis component of effective magnetic linkage therein can indicate are as follows:
When it is implemented, can think in linear modulator zone is linear relationship between control amount and winding terminal voltage, into
And the system state equation determined can be with are as follows:
Wherein, RsFor stator resistance, LqFor quadrature axis synchronous inductance, ψextαAnd ψextβThe α axis and β axis of respectively effective magnetic linkage
Component.K is default contravarianter voltage gain, such as can beIt certainly, in other embodiments, can also be according to non-thread
Sexual intercourse carries out the determination of system state equation, has no effect on implementation of the invention.
Extended mode observes submodule 21 by current feedback signal iα_fdbAnd iβ_fdbSystem shape is established as state variable
It, can be using the correlated components of effective magnetic linkage in system state equation as extended mode variable, to be based on after state equation
Expansion state equation carries out the calculating of effective magnetic linkage.
It, can be by i such as the state equation in aforementioned embodimentsα_fdbAnd iβ_fdbAs state variable, and willWithTo be set as expansion state variable, and by default contravarianter voltage gain kThen
Extended mode observation submodule 21 can be based on DC bus-bar voltage signal UdcAnd voltage control quantity uα_c_lastAnd uβ_c_last
Determine state estimator zα_1And zβ_1, expansion state estimator zα_2And zβ_2。
In the specific implementation, the state estimator z determinedα_1And zβ_1, expansion state estimator zα_2And zβ_2It can expire
Foot:
Wherein, f1And f2It is feedback function, feedback function can be the linear of state estimation error amount and its each rank differential
Combination or nonlinear combination are also possible to the linear combination or nonlinear combination of state estimation error amount and its each rank integral.
In addition, it is contemplated that is calculated is convenient, linear extended state observer can be used when specific, the state determined
Estimator zα_1And zβ_1And expansion state estimator zα_2And zβ_2It can satisfy following expansion state equation:
Wherein, b1And b2Be feedback factor, for example, can according to the concept of zero-pole assignment theory and observer bandwidth,
By b1And b2It is designed specifically to:ω in formulaoFor according to the adjustable parameter of observer Bandwidth adjustment.
The expansion state estimator z that extended mode observation submodule 21 can will be determinedα_2And zβ_2It is sent to stator magnet
Chain computational submodule 23, stator magnetic linkage computational submodule 23 can be according to expansion state estimator zα_2And zβ_2, tach signal ωr
And current feedback signal iα_fdbAnd iβ_fdb, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β。
In a specific embodiment, stator magnetic linkage computational submodule 23 can be specifically used for:
According to expansion state estimator zα_2And zβ_2, determine extension magnetic linkage differential estimated value D ψextαWith D ψextβ；
Wherein, magnetic linkage differential estimated value D ψ is extendedextαWith D ψextβMeet:LqIt is synchronous for quadrature axis
Inductance；
Determine extension magnetic linkage differential estimated value D ψextαWith D ψextβIt later, can be according to extension magnetic linkage differential estimated value D
ψextαWith D ψextβ, tach signal ωr, determine extension magnetic linkage value ψextαAnd ψextβ；
Wherein it is determined that the extension magnetic linkage value ψ gone outextαAnd ψextβMeet:
Later according to extension magnetic linkage value ψextαAnd ψextβ, current feedback signal iα_fdbAnd iβ_fdb, determine estimation stator magnet
Chain signal ψs_αAnd ψs_β；
Wherein, estimate stator magnetic linkage signal ψs_αAnd ψs_βMeet:
Voltage compensation quantity computational submodule 22 can be according to state estimator zα_1And zβ_1, expansion state estimator zα_2With
zβ_2Determine control compensation rate uα_compAnd uβ_comp, so that voltage control quantity computational submodule 24 can receive by voltage compensation
The control compensation rate u that meter operator module 22 exportsα_compAnd uβ_comp.Such as in a kind of specific embodiment, voltage compensation quantity
The control compensation rate u that computational submodule 22 is determinedα_compAnd uβ_compIt indicates are as follows:
R thereinsFor stator resistance, LqFor quadrature axis synchronous inductance.
Voltage control quantity computational submodule 24 can receive the control compensation exported by voltage compensation quantity computational submodule 22
Measure uα_compAnd uβ_compAnd state estimator zα_1And zβ_1, and receive given value of current signal iα_refAnd iβ_ref, and then determine
The voltage control quantity u at current time outα_cAnd uβ_c。
Specifically, in view of the embodiment of linearisation is more common embodiment, then voltage control quantity computational submodule
24 determine the voltage control quantity u at current timeα_cAnd uβ_cProcess can be with specifically:
According to state estimator zα_1And zβ_1, given value of current signal iα_refAnd iβ_ref, calculate dummy pilot signal u'αWith
u'β；
Wherein, dummy pilot signal u'αAnd u'βMeet:kpFor adjustable feedback coefficient, namely
Control law equation in the embodiment of Fig. 2.
Certainly, in other embodiments, non-linear embodiment, calculated dummy pilot signal u' can also be usedα
And u'βIt can satisfy:gcFor feedback rate control function, which is that control misses
Difference (iα_ref-zα_1) and (iβ_ref-zβ_1) and its each rank differential linear combination or nonlinear combination form, or control
Error (i processedα_ref-zα_1) and (iβ_ref-zβ_1) and its each rank integral linear combination or nonlinear combination form.
Going out dummy pilot signal u' by control law equation calculationαAnd u'βLater, and then can be believed according to virtual controlling
Number u'αAnd u'β, control compensation rate uα_compAnd uβ_comp, determine voltage control quantity uα_cAnd uβ_c；Wherein, calculated voltage control
Amount u processedα_cAnd uβ_cMeet:K is default contravarianter voltage gain, such as aforementioned embodiments
In be preset asThe voltage control quantity u at calculated current timeα_cAnd uβ_c, that is, the conduct in next calculating cycle
Voltage control quantity uα_c_lastAnd uβ_c_last, carry out estimation stator magnetic linkage signal ψs_αAnd ψs_βCalculating.
As can be seen from the above-described embodiment, the solution of the present invention can reduce the complexity of design work and run calculating
Complexity reduces the number of parameters for needing to debug in control algolithm, eliminates Control System Design process and control performance to forever
The dependence of magnetic-synchro motor direct-axis synchronous inductance parameters.
Corresponding to the system above embodiment, the embodiment of the invention also provides a kind of torque closed loops of permanent magnet synchronous motor
Control method, the torque closed loop control method of permanent magnet synchronous motor described below and turning for above-described permanent magnet synchronous motor
Square closed-loop control system can correspond to each other reference.
It is shown in Figure 3, it is a kind of implementation flow chart of the torque closed loop control method of permanent magnet synchronous motor in the present invention,
The following steps are included:
Step S301: the three-phase current i of permanent magnet synchronous motor is acquiredu, ivAnd iw, and two-phase is determined based on Clark transformation
Current feedback signal i under rest frameα_fdbAnd iβ_fdb。
Step S302: according to current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal Udc, tach signal ωrWith
And the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β。
Step S303: stator magnetic linkage signal ψ is estimated based on the receiveds_αAnd ψs_β, current feedback signal iα_fdbAnd iβ_fdb,
Determine electromagnetic torque value of feedback Te_fdb。
Step S304: according to Te_fdbAnd preset torque reference value Te_ref, determine given current amplitude signal iAMP。
Step S305: according to given current amplitude signal iAMP, the position signal θ of motor, according to the life of preset control strategy
At given value of current signal iα_refAnd iβ_ref。
Step S306: in conjunction with received given value of current signal iα_refWithiβ_ref, determine the voltage control quantity at current time
uα_cAnd uβ_c。
Step S307: according to voltage control quantity uα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
In a kind of specific embodiment of the invention, step S302 be may comprise steps of:
Step 1: by current feedback signal iα_fdbAnd iβ_fdbSystem state equation is established as state variable；
Step 2: using the correlated components of effective magnetic linkage in system state equation as extended mode variable, and according to straight
Flow bus voltage signal UdcAnd voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1And zβ_1, expand shape
State estimator zα_2And zβ_2；
Step 3: according to expansion state estimator zα_2And zβ_2, tach signal ωrAnd current feedback signal iα_fdbWith
iβ_fdb, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β；
Correspondingly, step S306 includes following two step:
First step: according to state estimator zα_1And zβ_1, expansion state estimator zα_2And zβ_2Determine that control is mended
The amount of repaying uα_compAnd uβ_comp；
Second step: bonding state estimator zα_1And zβ_1, control compensation rate uα_compAnd uβ_compAnd received electricity
Flow Setting signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c。
In a kind of specific embodiment of the invention, above-mentioned steps one can be specifically included:
According to current feedback signal iα_fdbAnd iβ_fdbDetermine system state equation, system state equation specifically:
Wherein, RsFor stator resistance, LqFor quadrature axis synchronous inductance, k is default contravarianter voltage gain, ψextαAnd ψextβPoint
Not Wei effective magnetic linkage α axis and beta -axis component；
Correspondingly, becoming in step 2 using the correlated components of effective magnetic linkage in system state equation as extended mode
It measures, may include:
It willWithFor as expansion state variable.
In a kind of specific embodiment of the invention, the state estimator z that is determined in above-mentioned steps twoα_1And zβ_1,
Expansion state estimator zα_2And zβ_2Meet:
Wherein, f1And f2It is feedback function, feedback function is the line of state estimation error amount and its each rank differential or integral
Property combination or nonlinear combination form.
In a kind of specific embodiment of the invention, the control compensation rate u that is determined in above-mentioned first stepα_comp
And uβ_compAre as follows:
Wherein, RsFor stator resistance, LqFor quadrature axis synchronous inductance.
In a kind of specific embodiment of the invention, step S306 can be specifically included:
According to state estimator zα_1And zβ_1, received given value of current signal iα_refAnd iβ_ref, calculate virtual controlling letter
Number u'αAnd u'β；
Wherein, dummy pilot signal u'αAnd u'βMeet:gcFor feedback rate control function, instead
Presenting control rate function is control error (iα_ref-zα_1) and (iβ_ref-zβ_1) and its each rank differential or integral linear combination or non-
The form of linear combination；
According to dummy pilot signal u'αAnd u'β, control compensation rate uα_compAnd uβ_comp, determine voltage control quantity uα_cWith
uβ_c；
Wherein, calculated voltage control quantity uα_cAnd uβ_cMeet:K is default inversion
Device voltage gain.
In a kind of specific embodiment of the invention, above-mentioned steps three can be specifically included:
According to expansion state estimator zα_2And zβ_2, determine extension magnetic linkage differential estimated value D ψextαWith D ψextβ；
Wherein, magnetic linkage differential estimated value D ψ is extendedextαWith D ψextβMeet:LqIt is synchronous for quadrature axis
Inductance；
According to extension magnetic linkage differential estimated value D ψextαWith D ψextβ, tach signal ωr, determine extension magnetic linkage value ψextαWith
ψextβ；
Wherein, magnetic linkage value ψ is extendedextαAnd ψextβMeet:
According to extension magnetic linkage value ψextαAnd ψextβ, current feedback signal iα_fdbAnd iβ_fdb, determine estimation stator magnetic linkage letter
Number ψs_αAnd ψs_β；
Wherein, estimate stator magnetic linkage signal ψs_αAnd ψs_βMeet:
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For side disclosed in embodiment
For method, since it is corresponding with system disclosed in embodiment, so being described relatively simple, related place is referring to components of system as directed
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand technical solution of the present invention and its core concept.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification also fall into the protection scope of the claims in the present invention.
Claims (10)
1. a kind of torque closed-loop control system of permanent magnet synchronous motor characterized by comprising
Electric current obtains module, for acquiring the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and determined based on Clark transformation
Current feedback signal i under two-phase stationary coordinate systemα_fdbAnd iβ_fdb；
Current control flux observation module, for according to the current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal
Udc, tach signal ωrAnd the voltage control quantity u of last momentα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal
ψs_αAnd ψs_β, and combine received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cWith
uβ_c；
Torque estimating module, for the estimation stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, the current feedback signal
iα_fdbAnd iβ_fdb, determine electromagnetic torque value of feedback Te_fdb；
Torque controller, for according to the electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_ref, determine
Given current amplitude signal iAMP；
Given value of current generator, for according to the given current amplitude signal iAMP, the position signal θ of motor, according to preset
Control strategy generates the given value of current signal iα_refAnd iβ_ref；
Pulse width modulation module, the voltage control at the current time for being determined according to the current control flux observation module
Amount u processedα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
2. the torque closed-loop control system of permanent magnet synchronous motor according to claim 1, which is characterized in that the electric current control
Flux observation module processed, comprising:
Extended mode observes submodule, is used for the current feedback signal iα_fdbAnd iβ_fdbSystem shape is established as state variable
State equation, using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, and according to described straight
Flow bus voltage signal UdcAnd the voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1And zβ_1, expand
Open state estimator zα_2And zβ_2；
Voltage compensation quantity computational submodule, for according to the state estimator zα_1And zβ_1, the expansion state estimator zα_2
And zβ_2Determine control compensation rate uα_compAnd uβ_comp；
Stator magnetic linkage computational submodule, for according to the expansion state estimator zα_2And zβ_2, the tach signal ωrAnd
The current feedback signal iα_fdbAnd iβ_fdb, determine the estimation stator magnetic linkage signal ψs_αAnd ψs_β；
Voltage control quantity computational submodule, for according to the state estimator zα_1And zβ_1, the control compensation rate uα_compWith
uβ_compAnd received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c。
3. the torque closed-loop control system of permanent magnet synchronous motor according to claim 2, which is characterized in that the system shape
State equation are as follows:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance, the k is default contravarianter voltage gain, described
ψextαWith the ψextβThe α axis and beta -axis component of respectively effective magnetic linkage；
The iα_fdbAnd iβ_fdbAs the state variable,WithTo become as the expansion state
Amount.
4. the torque closed-loop control system of permanent magnet synchronous motor according to claim 3, which is characterized in that the institute determined
State state estimator zα_1And zβ_1, the expansion state estimator zα_2And zβ_2Meet:
Wherein, the f1And f2It is feedback function, the feedback function is state estimation error amount and its each rank differential or integral
Linear combination or nonlinear combination form.
5. according to the torque closed-loop control system of the described in any item permanent magnet synchronous motors of claim 2 to 4, which is characterized in that
The control compensation rate u determinedα_compAnd uβ_compAre as follows:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance.
6. the torque closed-loop control system of permanent magnet synchronous motor according to claim 5, which is characterized in that the voltage control
Meter operator module processed, is specifically used for:
According to the state estimator zα_1And zβ_1, received given value of current signal iα_refAnd iβ_ref, calculate virtual controlling letter
Number u'αAnd u'β；
Wherein, the dummy pilot signal u'αAnd u'βMeet:The gcFor feedback rate control letter
Number, the feedback rate control function are control error (iα_ref-zα_1) and (iβ_ref-zβ_1) and its each rank differential or integral line
Property combination or nonlinear combination form；
According to the dummy pilot signal u'αAnd u'β, the control compensation rate uα_compAnd uβ_comp, determine the voltage control
Measure uα_cAnd uβ_c；
Wherein, the calculated voltage control quantity uα_cAnd uβ_cMeet:The k is default
Contravarianter voltage gain.
7. the torque closed-loop control system of permanent magnet synchronous motor according to claim 2, which is characterized in that the stator magnet
Chain computational submodule, is specifically used for:
According to the expansion state estimator zα_2And zβ_2, determine the extension magnetic linkage differential estimated value D ψextαWith D ψextβ；
Wherein, the extension magnetic linkage differential estimated value D ψextαWith D ψextβMeet:The LqFor quadrature axis
Synchronous inductance；
According to the extension magnetic linkage differential estimated value D ψextαWith D ψextβ, the tach signal ωr, determine extension magnetic linkage value ψextα
And ψextβ；
Wherein, the extension magnetic linkage value ψextαAnd ψextβMeet:
According to the extension magnetic linkage value ψextαAnd ψextβ, the current feedback signal iα_fdbAnd iβ_fdb, determine that the estimation is fixed
Sub- magnetic linkage signal ψs_αAnd ψs_β；
Wherein, the estimation stator magnetic linkage signal ψs_αAnd ψs_βMeet:
8. a kind of torque closed loop control method of permanent magnet synchronous motor characterized by comprising
Acquire the three-phase current i of permanent magnet synchronous motoru, ivAnd iw, and determined under two-phase stationary coordinate system based on Clark transformation
Current feedback signal iα_fdbAnd iβ_fdb；
According to the current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal Udc, tach signal ωrAnd last moment
Voltage control quantity uα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β；
The estimation stator magnetic linkage signal ψ based on the receiveds_αAnd ψs_β, the current feedback signal iα_fdbAnd iβ_fdb, determine
Electromagnetic torque value of feedback Te_fdb；
According to the electromagnetic torque value of feedback Te_fdbAnd preset torque reference value Te_ref, determine given current amplitude signal
iAMP；
According to the given current amplitude signal iAMP, the position signal θ of motor, according to preset control strategy generate electric current give
Determine signal iα_refAnd iβ_ref；
In conjunction with the received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c；
According to the voltage control quantity uα_cAnd uβ_cCorresponding pulse-width signal is generated to carry out motor control.
9. the torque closed loop control method of permanent magnet synchronous motor according to claim 8, which is characterized in that described according to institute
State current feedback signal iα_fdbAnd iβ_fdb, DC bus-bar voltage signal Udc, tach signal ωrAnd the voltage control of last moment
Amount u processedα_c_lastAnd uβ_c_last, determine estimation stator magnetic linkage signal ψs_αAnd ψs_β, comprising:
By the current feedback signal iα_fdbAnd iβ_fdbSystem state equation is established as state variable；
Using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, and it is female according to the direct current
Line voltage signal UdcAnd the voltage control quantity uα_c_lastAnd uβ_c_last, determine state estimator zα_1And zβ_1, expand shape
State estimator zα_2And zβ_2；
According to the expansion state estimator zα_2And zβ_2, the tach signal ωrAnd the current feedback signal iα_fdbWith
iβ_fdb, determine the estimation stator magnetic linkage signal ψs_αAnd ψs_β；
In conjunction with the received given value of current signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c,
Include:
According to the state estimator zα_1And zβ_1, the expansion state estimator zα_2And zβ_2Determine control compensation rate
uα_compAnd uβ_comp；
In conjunction with the state estimator zα_1And zβ_1, the control compensation rate uα_compAnd uβ_compAnd received given value of current
Signal iα_refAnd iβ_ref, determine the voltage control quantity u at current timeα_cAnd uβ_c。
10. the torque closed loop control method of permanent magnet synchronous motor according to claim 9, which is characterized in that described by institute
State current feedback signal iα_fdbAnd iβ_fdbSystem state equation is established as state variable, comprising:
By the current feedback signal iα_fdbAnd iβ_fdbSystem state equation, the system state equation are established as state variable
Specifically:
Wherein, the RsFor stator resistance, the LqFor quadrature axis synchronous inductance, the k is default contravarianter voltage gain, described
ψextαWith the ψextβThe α axis and beta -axis component of respectively effective magnetic linkage；
Using the correlated components of effective magnetic linkage in the system state equation as extended mode variable, comprising:
It willWithFor as expansion state variable.
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