CN109379003A - The method, apparatus and computer storage medium of high-speed permanent magnetic synchronous motor control - Google Patents
The method, apparatus and computer storage medium of high-speed permanent magnetic synchronous motor control Download PDFInfo
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P23/0022—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- 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
- H02P23/0086—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for high speeds, e.g. above nominal speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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Abstract
The invention discloses the method, apparatus and computer storage medium of high-speed permanent magnetic synchronous motor control, belong to motor control technology field.This method comprises: obtaining two-phase stator voltage and two-phase stator current of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system；By stator voltage and stator current, it inputs in the established motor speed estimation simulation model based on model reference adaptive method, obtain motor speed, wherein, the mathematical model of stator current is the adjustable model in the model reference adaptive method in the motor speed estimation simulation model, and the actual output current mathematical model of high-speed permanent magnetic synchronous motor is the reference model in the model reference adaptive method；According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.This way it is not necessary to which position and the speed probe of motor, save cost, the stability of high-speed permanent magnetic synchronous motor under severe work condition environment is also improved.
Description
Technical field
The present invention relates to motor control technology field, in particular to the method, apparatus of high-speed permanent magnetic synchronous motor control and
Computer storage medium.
Background technique
With the demand of electrical machine energy-saving environmental protection, high-speed direct-drive equipment is directly driven using high-speed motor without gearbox negative
It carries, system stage efficiency can be greatly improved.High-speed permanent magnetic synchronous motor (High-speed Permanent Magnet
Synchronous Motor, HS-PMSM) have many advantages, such as small size, high torque (HT) ratio of inertias and high power density, it can be applied to
The straight drive apparatus of the high speeds such as high-speed electric main shaft, high speed flywheel, air blower, compressor.High performance HS-PMSM frequency conversion speed-adjusting system,
It needs to carry out high-precision revolving speed and rotor-position observation, and is used for closed-loop control.
In general, the sensors such as Hall element, photoelectric code disk, rotary transformer can be used for revolving speed and rotor-position observation, but
It is that the permanent magnet synchronous motor of high-speed high-performance has the characteristics that high-speed high frequency, high frequency position or speed probe cost compare
It is high.Also, under the severe work condition environment of some comparisons, these electronic devices also affect high-speed permanent magnetic synchronous motor control system
The stability of system.
Summary of the invention
The embodiment of the invention provides a kind of method, apparatus of high-speed permanent magnetic synchronous motor control and computer storage to be situated between
Matter.In order to which some aspects of the embodiment to disclosure have a basic understanding, simple summary is shown below.The summary portion
Dividing is not extensive overview, nor to determine key/critical component or describe the protection scope of these embodiments.It is unique
Purpose is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
According to a first aspect of the embodiments of the present invention, a kind of method of high-speed permanent magnetic synchronous motor control is provided, it is described
Method includes:
Obtain two-phase stator voltage and two-phase stator electricity of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Stream；
By the stator voltage and the stator current, the established motor based on model reference adaptive method is inputted
In speed estimate simulation model, motor speed is obtained, wherein the mathematics of stator current in the motor speed estimation simulation model
Model is the adjustable model in the model reference adaptive method, the actual output current mathematical model of high-speed permanent magnetic synchronous motor
For the reference model in the model reference adaptive method；
According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.
In one embodiment of the invention, the establishment process of the motor speed estimation simulation model includes:
By stator current equation of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system, according to parameter to be estimated
Motor speed carries out sliding-model control, obtains the mathematical model of the stator current in state matrix, and is determined as the model ginseng
Examine the adjustable model including parameter motor speed to be estimated in adaptive method；
The mathematical model that the current estimation value of the high-speed permanent magnetic synchronous motor is inputted to the stator current, obtains and institute
State the reference model in the corresponding model reference adaptive method of high-speed permanent magnetic synchronous motor；
By the difference between the adjustable model and the output quantity of the reference model, it is determined as the type reference adaptive
The adaptive rate of method, and obtain the adaptive law of the model reference adaptive method；
According to the adjustable model, the reference model, the adaptive rate and the adaptive law are established
Motor speed under MATLAB environment estimates simulation model.
In one embodiment of the invention, the adaptive law for obtaining the model reference adaptive method includes:
When the nonlinear time-varying in motor speed estimation simulation model including the parameter motor speed to be estimated is anti-
Feedback link meets Popov's inequality, and is made of in motor speed estimation simulation model forward path transmission function
Transitive Matrices be stringent positive definite matrix when, to the Popov's inequality carry out it is Converse solved, obtain the adaptive rule
Rule.
In one embodiment of the invention, the motor speed that obtains includes:
According to the stator voltage, by the adjustable model, the two-phase for obtaining carrying parameter motor speed to be estimated can
Set up electron current；
According to the stator current and the adjustable stator electric current and the adaptive law, the motor is obtained
Revolving speed.
According to a second aspect of the embodiments of the present invention, a kind of device of high-speed permanent magnetic synchronous motor control, the dress are provided
It sets and includes:
Acquiring unit, for obtaining two-phase stator voltage of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system, with
And two-phase stator current；
Simulation data unit, for inputting the stator voltage and the stator current established based on model
In the motor speed estimation simulation model of reference adaptive method, motor speed is obtained, wherein the motor speed estimation emulation mould
The mathematical model of stator current is the adjustable model in the model reference adaptive method, the reality of high-speed permanent magnetic synchronous motor in type
It is the reference model in the model reference adaptive method that border, which exports electric current mathematical model,；
Control unit, for obtaining rotor position information according to the motor speed, and it is synchronous to control the high-speed permanent magnetic
Motor is operated.
In one embodiment of the invention, described device further include:
Model foundation unit, for the stator current side by the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Journey carries out sliding-model control according to parameter motor speed to be estimated, obtains the mathematical model of the stator current in state matrix, and
The adjustable model including parameter motor speed to be estimated being determined as in the model reference adaptive method；High speed is stated forever for described
The current estimation value of magnetic-synchro motor inputs the mathematical model of the stator current, obtains and the high-speed permanent magnetic synchronous motor pair
The reference model in the model reference adaptive method answered；It will be between the adjustable model and the output quantity of the reference model
Difference, be determined as the adaptive rate of the type reference adaptive method, and obtain the adaptive of the model reference adaptive method
Rule；And according to the adjustable model, the reference model, the adaptive rate and the adaptive law are established
Motor speed under MATLAB environment estimates simulation model.
In one embodiment of the invention, described device further include:
The model foundation unit is specifically used for when electric including the parameter to be estimated in the model reference adaptive method
The nonlinear time-varying feedback element of machine revolving speed meets Popov's inequality, and in motor speed estimation simulation model by
When the Transitive Matrices that forward path transmission function is constituted are stringent positive definite matrix, the Popov's inequality is inversely asked
Solution, obtains the adaptive law.
In one embodiment of the invention, the simulation data unit is specifically used for according to the stator voltage, by it is described can
Mode transfer type obtains the two-phase adjustable stator electric current for carrying parameter motor speed to be estimated；According to the stator current and described
Adjustable stator electric current and the adaptive law, obtain the motor speed.
According to a third aspect of the embodiments of the present invention, a kind of device of high-speed permanent magnetic synchronous motor control is provided, is applied to
Terminal, described device include:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Obtain two-phase stator voltage and two-phase stator electricity of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Stream；
By the stator voltage and the stator current, the established motor based on model reference adaptive method is inputted
In speed estimate simulation model, motor speed is obtained, wherein the mathematics of stator current in the motor speed estimation simulation model
Model is the adjustable model in the model reference adaptive method, the actual output current mathematical model of high-speed permanent magnetic synchronous motor
For the reference model in the model reference adaptive method；
According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.
According to a fourth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine instruction, when which is executed by processor the step of the realization above method.
Technical solution provided in an embodiment of the present invention can include the following benefits:
In the embodiment of the present invention, two-phase stator electricity of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system need to be only obtained
Pressure and two-phase stator current can pass through the established motor speed estimation emulation mould based on model reference adaptive method
Type obtains motor speed, is operated to control high-speed permanent magnetic synchronous motor, this way it is not necessary to the position of motor and turn
Fast sensor saves cost, also, also improves under severe work condition environment, the stability of high-speed permanent magnetic synchronous motor.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is a kind of flow chart of high-speed permanent magnetic synchronous motor control method shown according to an exemplary embodiment；
Fig. 2 is a kind of block diagram of motor speed estimation simulation model shown according to an exemplary embodiment；
Fig. 3 is a kind of process of motor speed estimation simulation model generation method shown according to an exemplary embodiment
Figure；
Fig. 4 is a kind of flow chart of high-speed permanent magnetic synchronous motor control method shown according to an exemplary embodiment；
Fig. 5 is a kind of block diagram of high-speed permanent magnetic synchronous motor control device shown according to an exemplary embodiment；
Fig. 6 is the block diagram that a kind of TV shown according to an exemplary embodiment issues single generating device.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Embodiment only represents possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and
And the sequence of operation can change.The part of some embodiments and feature can be included in or replace other embodiments
Part and feature.The range of embodiment of the present invention includes the entire scope of claims and the institute of claims
There is obtainable equivalent.Herein, each embodiment can individually or generally be indicated that this is only with term " invention "
It is merely for convenience, and if in fact disclosing the invention more than one, it is not meant to automatically limit the range of the application
For any single invention or inventive concept.Herein, relational terms such as first and second and the like are used only for one
Entity, which is perhaps operated, to be distinguished and exists without requiring or implying between these entities or operation with another entity or operation
Any actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-exclusive
Property include so that include a series of elements process, method or equipment not only include those elements, but also including
Other elements that are not explicitly listed.Each embodiment herein is described in a progressive manner, and each embodiment stresses
Be the difference from other embodiments, the same or similar parts in each embodiment may refer to each other.For implementing
For structure, product etc. disclosed in example, since it is corresponding with part disclosed in embodiment, so being described relatively simple, phase
Place is closed referring to method part illustration.
High-speed permanent magnetic synchronous motor (High-speed Permanent Magnet Synchronous Motor, HS-
PMSM) have many advantages, such as small size, high torque (HT) ratio of inertias and high power density, can be applied to high-speed electric main shaft, high speed flywheel,
The straight drive apparatus of the high speeds such as air blower, compressor.In the embodiment of the present invention, no matter under which kind of working condition, high speed need to be only obtained forever
Two-phase stator voltage and two-phase stator current of the magnetic-synchro motor under two-phase rotating coordinate system, can be by established
Motor speed based on model reference adaptive method estimates simulation model, obtains motor speed, so that it is synchronous to control high-speed permanent magnetic
Motor is operated, this way it is not necessary to which the position of motor and speed probe, save cost, also, is also improved severe
Work condition environment under, the stability of high-speed permanent magnetic synchronous motor.
Fig. 1 is a kind of flow chart of high-speed permanent magnetic synchronous motor control method shown according to an exemplary embodiment.Such as
Shown in Fig. 1, the process of high-speed permanent magnetic synchronous motor control includes:
Step 101: obtaining two-phase stator voltage and two-phase of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Stator current.
High-speed permanent magnetic synchronous motor is started to work, and motor d-q shaft two-phase stator voltage u can be obtaineddAnd uqAnd two-phase is fixed
Electron current idAnd iq.Motor threephase stator phase voltage Ua, Ub, Uc is rotated by three-phase static coordinate system by coordinate transform to two-phase
Coordinate system obtains two-phase stator voltage udAnd uq.Similarly, motor threephase stator phase voltage Ia, Ib, Ic is passed through by three-phase static coordinate system
Changes in coordinates obtains two-phase stator current i to two cordic phase rotatorsdAnd iq.Two-phase stator voltage udAnd uqIt can also be by two-phase stator
Electric current idAnd iqIt is obtained after control law operation.
Step 102: by stator voltage and stator current, inputting the established motor based on model reference adaptive and turn
In speed estimation simulation model, motor speed is obtained.
During the present invention implements, the motor speed estimation simulation model based on model reference adaptive method can be pre-established,
In this way, inputting in established motor speed estimation simulation model, motor can be obtained and turn stator voltage and stator current
Speed.Here, be based on model reference adaptive method (MRAS) when motor speed estimation simulation model, MRAS core be model reference from
Identification is adapted to, main thought is will to contain the equation of parameter to be estimated as adjustable model, and the equation without unknown parameter is made
For reference model, and two models have the output quantity of same physical meaning.Two models work at the same time, using output quantity it
Between difference constitute suitable adaptive rate, the parameter of adjustable model is adjusted, to reach control object output tracking reference model
Purpose.
Therefore, in the present embodiment, the mathematical model of stator current can be determined as adjustable in model reference adaptive method
The mathematical model of high-speed permanent magnetic synchronous motor is determined as the reference model in model reference adaptive method by model.I.e. motor turns
The mathematical model of stator current is the adjustable model in model reference adaptive method in speed estimation simulation model, and high-speed permanent magnetic is synchronous
The mathematical model of motor is the reference model in model reference adaptive method.
The establishment process of motor speed estimation simulation model can include: by high-speed permanent magnetic synchronous motor in two cordic phase rotators
Stator current equation under system carries out sliding-model control according to parameter motor speed to be estimated, obtains the stator in state matrix
The mathematical model of electric current, and it is determined as the adjustable model including parameter motor speed to be estimated in model reference adaptive method；
By the mathematical model of the current estimation value input stator current of high-speed permanent magnetic synchronous motor, obtain and high-speed permanent magnetic synchronous motor pair
The reference model in model reference adaptive method answered；By the difference between adjustable model and the output quantity of reference model, determine
For the adaptive rate of type reference adaptive method, and obtain the adaptive law of model reference adaptive method；And according to adjustable die
Type, reference model, adaptive rate and adaptive law establish the motor speed estimation simulation model under MATLAB environment.
Preferably, stator current equation of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system are as follows:
Wherein, dt is --- time variation amount, didFor --- d shaft current variable quantity, diqFor --- q shaft current variable quantity, R are
--- equivalent stator resistance, L are --- equivalent stator inductance, ωrFor ----rotor rotates angular rate, ωfFor ----rotor permanent magnet
Body magnetic linkage,
Rotational speed omega of the mathematical model of stator current with motor it can be seen from formula (1), (2)rIt is related, so optional
Current model is selected as adjustable model, high-speed permanent magnetic synchronous motor itself is used as reference model, while using parallel connection type structure into
Row Speed Identification.Wherein, parameter to be estimated should make rotational speed omega for motor speed to analyze convenient for the stability to systemr
It is present in the state matrix of system, i.e., sliding-model control is carried out according to parameter motor speed to be estimated, to controlling in above two formula
Amount processed and quantity of state are changed:
It enables
It is available:
Contain spinner velocity information, i.e., parameter motor speed information to be estimated in state matrix in formula (5), therefore can incite somebody to action
This formula is as the adjustable model including parameter motor speed to be estimated in model reference adaptive method, ωrAs to be estimated
Adjustable parameter.
Select the actual output current of PMSM itself as reference model.The estimated value of formula (5) biphase current, Yi Ji electricity
The estimated value of machine revolving speed indicates, then has:
Definition status error are as follows:
To which formula (6) are the reference model in model reference adaptive method.Then formula (5) and formula (6) are subtracted each other:
It arranges:
In formula (8)
To which the adaptive rate of model reference adaptive method can be obtained.
Fig. 2 is a kind of block diagram of motor speed estimation simulation model shown according to an exemplary embodiment.Such as Fig. 2 institute
Show, input u indicates that electric moter voltage, the output x of reference model indicate motor actual current value, the output of adjustable modelIndicate warp
The calculated estimation current value of formula (6) is crossed, the difference v of the two is actual current and the error amount for estimating electric current.Motor speed is estimated
Counting simulation model includes adjustable model and reference model, the respectively mathematical model and high-speed permanent magnetic synchronous motor of stator current
Actual output current mathematical model, and adaptive rate feedback among adjustable model.
Based on model reference adaptive method when motor speed estimation simulation model, wherein feedback system must be stable
, and there are many stability certification theories, comprising: Popov hyperstable theory, Li Yapu love stable theory etc..The present invention
In embodiment, preferably, Popov hyperstable theory can be based on, to determine the adaptive law of model reference adaptive method.
Wherein, to guarantee the stability for constructing system using model reference adaptive method, with Popov hyperstable theory
It is proved.Popov hyperstable theory with precondition be that the through path Linear Time Invariant of constructed system, feedback are logical
Road nonlinear constant or time-varying, and meet following two condition: (1) nonlinear constant or time-varying feedback network meet Popov product
Divide inequality, that is, can guarantee the stabilization of system；(2) transfer function matrix of Linear Time Invariant through path meets stringent positive definite.
Specifically, (1) nonlinear time-varying feedback element meets Popov's inequality:
For any finite positive real number.(vT, w is respectively the transposition and shape of the state error vector e in formula (8)
Input w) in state expression formula
(2) Transitive Matrices H (s)=D (sI-A)-1For stringent positive definite matrix.
Here, Transitive Matrices are to constitute the forward path transmission function of model reference adaptive system, can be converted by formula (8)
It arrives.
At this point, then havingThat is MRAS is asymptotically stability.
It is Converse solved to Popov's inequality progress, it can be obtained shown in adaptive law such as formula (9).
As it can be seen that contain parameter to be estimated in Popov's inequality, thus, motor speed meets inequality in construction
During adaptive law can be drawn.To which the adaptive law for obtaining motor speed estimation simulation model includes:
When nonlinear time-varying feedback element meets Popov's inequality, and motor speed estimation in motor speed estimation simulation model
It is Converse solved to Popov's inequality progress when the Transitive Matrices of simulation model are stringent positive definite matrix, adaptively advised
Rule.
The language of founding mathematical models can there are many, wherein MATLAB is a kind of currently used mathematical software, is used for
The advanced techniques computational language and interactive environment that algorithm development, data visualization, data analysis and numerical value calculate, it is main to wrap
Include MATLAB and Simulink two large divisions.Therefore, can under MATLAB environment, according to adjustable model, reference model, and from
Adaptation rate and adaptive law establish motor speed estimation simulation model, and obtain motor speed estimation simulation model
Adaptive law.
Since the established motor speed based on model reference adaptive method estimates simulation model, in this way, by stator electricity
After pressure and stator current input motor speed estimation simulation model, it can be carried according to stator voltage by adjustable model
The two-phase adjustable stator electric current of parameter motor speed to be estimated；According to stator current and adjustable stator electric current, and it is adaptive
Rule obtains motor speed.Such as: respectively by motor stator voltage ud、uqWith stator current id、iq, in input model, wherein
ud、uqIt is exportable by shown in adjustable model such as formula (5)Then id、iqWith Motor is calculated according to formula (9) to turn
Speed.
Step 103: according to motor speed, obtaining rotor position information, and control high-speed permanent magnetic synchronous motor and operated.
According to motor speed, rotor position information can be obtained, generally, rotor-position can be obtained by integral in revolving speed,
Then, high-speed permanent magnetic synchronous motor can be controlled according to motor speed, rotor position information.
As it can be seen that in the present embodiment, no matter under which kind of working condition, the two-phase stator of high-speed permanent magnetic synchronous motor need to be only obtained
Voltage and two-phase stator current can estimate emulation by the established motor speed based on model reference adaptive method
Model obtains motor speed, is operated to control high-speed permanent magnetic synchronous motor, this way it is not necessary to the position of motor and
Speed probe saves cost, also, also improves under severe work condition environment, the stability of high-speed permanent magnetic synchronous motor.
Below by the operating process set of scheme into specific embodiment, the side that the embodiment of the present disclosure provides is illustrated
Method.
Fig. 3 is a kind of process of motor speed estimation simulation model generation method shown according to an exemplary embodiment
Figure, as shown in figure 3, the process that motor speed estimation simulation model generates includes:
Step 301: by stator current equation of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system, according to be estimated
Parameter motor speed carries out sliding-model control, obtains the mathematical model of the stator current in state matrix, and is determined as model ginseng
Examine the adjustable model including parameter motor speed to be estimated in adaptive method.
In the present embodiment, spinner velocity information is contained in the state matrix in formula (5), i.e., parameter motor speed letter to be estimated
Breath, therefore can be using this formula as the adjustable model including parameter motor speed to be estimated in model reference adaptive method, ωrMake
For adjustable parameter to be estimated.
Step 302: by the mathematical model of the current estimation value input stator current of high-speed permanent magnetic synchronous motor, obtaining model
Reference model in reference adaptive method.
The parameter of each high-speed permanent magnetic synchronous motor, performance be all it is different, therefore, can be by high-speed permanent magnetic synchronous motor
The output electric current of itself is as reference model.In this way, in formula (5) adjustable parameter with the matched electric current of high-speed permanent magnetic synchronous motor
Estimated value indicates, arrive formula (6), to obtain reference model.
Step 303: by the difference between adjustable model and the output quantity of reference model, being determined as model reference adaptive method
Adaptive rate.
In MRAS, two models are worked at the same time, and constitute suitable adaptive rate using the difference between output quantity, adjusting can
The parameter of mode transfer type, to achieve the purpose that control object output tracking reference model.It therefore, can be according between formula (5) and formula (6)
Difference, obtain corresponding adaptive rate.
Step 304: according to Popov hyperstable theory, determining the adaptive law of model reference adaptive method.
Here, based on model reference adaptive method motor speed estimation simulation model frame can as shown in Fig. 2, from
And corresponding adaptive law can be obtained according to Popov hyperstable theory, it can be as shown in formula (9).
Step 305: according to adjustable model, reference model, adaptive rate and adaptive law establish MATLAB environment
Under motor speed estimate simulation model.
I.e. under MATLAB environment, according to adjustable model, reference model, adaptive rate and adaptive law establish electricity
Machine speed estimate simulation model.
As it can be seen that in the embodiment of the present invention, it can be based on the feature of high-speed permanent magnetic synchronous motor itself, determination is same with high-speed permanent magnetic
The corresponding model reference adaptive method of motor, and reference adaptive method and Popov hyperstable theory based on this model are walked, is built
Vertical motor speed estimates simulation model, improves the accuracy and stability of motor speed estimation simulation model.
Simulation model can be estimated based on above-mentioned motor speed to control high-speed permanent magnetic synchronous motor.
Fig. 4 is a kind of flow chart of high-speed permanent magnetic synchronous motor control method shown according to an exemplary embodiment.Such as
Shown in Fig. 4, the process of high-speed permanent magnetic synchronous motor control includes:
Step 401: obtaining two-phase stator voltage u of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate systemd、uq, and
Two-phase stator current id、iq。
Step 402: by stator voltage ud, uq and stator current id、iqInput established motor speed estimation emulation
In model.
Here, motor speed estimation simulation model process as shown in Figure 3 completes foundation.
Step 403: stator voltage ud、uq, the adjustable model in simulation model is estimated by motor speed, obtain carrying to
Estimate the two-phase adjustable stator electric current of parameter motor speed.
Here, stator voltage ud、uq, by formula (5), two-phase adjustable stator electric current can be obtained
Step 404: according to stator current and adjustable stator electric current and adaptive law, obtaining motor speed.
Stator current id、iq, adjustable stator electric currentIt is calculated by formula (9), you can get it motor speed.
Step 405: according to motor speed, obtaining rotor position information, and control high-speed permanent magnetic synchronous motor and operated.
As it can be seen that in the present embodiment, no matter under which kind of working condition, it need to only obtain high-speed permanent magnetic synchronous motor and be rotated in two-phase
Two-phase stator voltage and two-phase stator current under coordinate system can be based on model reference adaptive method by established
Motor speed estimate simulation model, obtain motor speed, operated to control high-speed permanent magnetic synchronous motor, in this way, not
Position and the speed probe for needing motor, save cost, also, also improve under severe work condition environment, and high speed is forever
The stability of magnetic-synchro motor.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
According to the process that above-mentioned high-speed permanent magnetic synchronous motor controls, a kind of dress of high-speed permanent magnetic synchronous motor control can be constructed
It sets.
Fig. 5 is a kind of block diagram of high-speed permanent magnetic synchronous motor control device shown according to an exemplary embodiment.Such as Fig. 5
Shown, which includes: acquiring unit 100, simulation data unit 200 and control unit 300, wherein
Acquiring unit 100, for obtaining two-phase stator voltage of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system,
And two-phase stator current.
Simulation data unit 200, for by stator voltage and stator current, input is established to be based on model reference certainly
In the motor speed estimation simulation model of adjustment procedure, motor speed is obtained, wherein motor speed estimates stator electricity in simulation model
The mathematical model of stream is the adjustable model in model reference adaptive method, the actual output current mathematics of high-speed permanent magnetic synchronous motor
Model is the reference model in model reference adaptive method.
Control unit 300, for obtaining rotor position information, and control high-speed permanent magnetic synchronous motor according to motor speed
It is operated.
In one embodiment of the invention, device further include:
Model foundation unit, for the stator current equation by high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system,
Sliding-model control is carried out according to parameter motor speed to be estimated, obtains the mathematical model of the stator current in state matrix, and really
The adjustable model including parameter motor speed to be estimated being set in model reference adaptive method；By high-speed permanent magnetic synchronous motor
Current estimation value inputs the mathematical model of stator current, obtains model reference adaptive method corresponding with high-speed permanent magnetic synchronous motor
In reference model；By the difference between adjustable model and the output quantity of reference model, it is determined as type reference adaptive method oneself
Adaptation rate, and obtain the adaptive law of model reference adaptive method；And according to adjustable model, reference model, adaptively
Rate and adaptive law establish the motor speed estimation simulation model under MATLAB environment.
In one embodiment of the invention, device further include:
Model foundation unit, specifically for when non-thread including parameter motor speed to be estimated in model reference adaptive method
Property time-varying feedback element meet Popov's inequality, and by forward path transmission function in motor speed estimation simulation model
It is Converse solved to Popov's inequality progress when the Transitive Matrices of composition are stringent positive definite matrix, obtain adaptive law.
In one embodiment of the invention, simulation data unit 200 is specifically used for being obtained according to stator voltage by adjustable model
To the two-phase adjustable stator electric current for carrying parameter motor speed to be estimated；According to stator current and adjustable stator electric current, and
Adaptive law obtains motor speed.
Device is integrated in specific embodiment below, illustrates the device that the embodiment of the present disclosure provides.
Fig. 6 is the block diagram that a kind of TV shown according to an exemplary embodiment issues single generating device.As shown in fig. 6,
The device includes: acquiring unit 100, simulation data unit 200 and control unit 300, further includes: model foundation unit 400.
Wherein, model foundation unit 400 can be by stator current of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Equation carries out sliding-model control according to parameter motor speed to be estimated, obtains the mathematical model of the stator current in state matrix,
And it is determined as the adjustable model including parameter motor speed to be estimated in model reference adaptive method, then, by high-speed permanent magnetic
The mathematical model of the current estimation value input stator current of synchronous motor, obtains the reference model in model reference adaptive method,
By the difference between adjustable model and the output quantity of reference model, it is determined as the adaptive rate of model reference adaptive method, and can
According to Popov hyperstable theory, the adaptive law of model reference adaptive method is determined；Finally, according to adjustable model, reference
Model, adaptive rate and adaptive law establish the motor speed estimation simulation model under MATLAB environment.Such as: model
Establishing the determining adjustable model of unit 400 can be as shown in formula (5), and determining reference model can be as shown in (6), and adaptive rate can
As shown in formula (8), corresponding adaptive law is obtained, it can be as shown in formula (9).
In this way, acquiring unit 100 can obtain two-phase stator electricity of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Press ud、uqAnd two-phase stator current id、iq.And simulation data unit 200 will be by stator voltage ud、uqAnd stator current
id、iqInput model is established in the established motor speed of unit 400 estimation simulation model, in this way, can stator voltage ud、uq, lead to
The adjustable model in motor speed estimation simulation model is crossed, the two-phase adjustable stator electricity for carrying parameter motor speed to be estimated is obtained
StreamAnd stator current id、iq, adjustable stator electric currentIt is calculated by formula (9), you can get it motor speed.
To which control unit 300 can obtain rotor position information according to motor speed, and control high-speed permanent magnetic and synchronize electricity
Machine is operated.
As it can be seen that in the present embodiment, no matter under which kind of working condition, it need to only obtain high-speed permanent magnetic synchronous motor and be rotated in two-phase
Two-phase stator voltage and two-phase stator current under coordinate system can be based on model reference adaptive method by established
Motor speed estimate simulation model, obtain motor speed, operated to control high-speed permanent magnetic synchronous motor, in this way, not
Position and the speed probe for needing motor, save cost, also, also improve under severe work condition environment, and high speed is forever
The stability of magnetic-synchro motor.
In one embodiment of the invention, a kind of device of high-speed permanent magnetic synchronous motor control is provided, terminal, device packet are applied to
It includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Obtain two-phase stator voltage and two-phase stator electricity of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Stream；
By the stator voltage and the stator current, the established motor based on model reference adaptive method is inputted
In speed estimate simulation model, motor speed is obtained, wherein the mathematics of stator current in the motor speed estimation simulation model
Model is the adjustable model in the model reference adaptive method, the actual output current mathematical model of high-speed permanent magnetic synchronous motor
For the reference model in the model reference adaptive method；
According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.
In one embodiment of the invention, a kind of computer readable storage medium is provided, computer instruction is stored thereon with, this refers to
The step of above method is realized when order is executed by processor.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be understood that the invention is not limited to the process and structure that are described above and are shown in the accompanying drawings,
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by the attached claims
System.
Claims (10)
1. a kind of method of high-speed permanent magnetic synchronous motor control, which is characterized in that the described method includes:
Obtain two-phase stator voltage and two-phase stator current of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system；
By the stator voltage and the stator current, the established motor speed based on model reference adaptive method is inputted
Estimate to obtain motor speed in simulation model, wherein the mathematical model of stator current in the motor speed estimation simulation model
For the adjustable model in the model reference adaptive method, the actual output current mathematical model of high-speed permanent magnetic synchronous motor is institute
State the reference model in model reference adaptive method；
According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.
2. the method as described in claim 1, which is characterized in that the establishment process packet of the motor speed estimation simulation model
It includes:
By stator current equation of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system, according to parameter motor to be estimated
Revolving speed carries out sliding-model control, obtains the mathematical model of the stator current in state matrix, and is determined as the model reference certainly
The adjustable model including parameter motor speed to be estimated in adjustment procedure；
The mathematical model that the current estimation value of the high-speed permanent magnetic synchronous motor is inputted to the stator current obtains and the height
Reference model in the corresponding model reference adaptive method of fast permanent magnet synchronous motor；
By the difference between the adjustable model and the output quantity of the reference model, it is determined as the model reference adaptive method
Adaptive rate, and obtain the adaptive law of the model reference adaptive method；
According to the adjustable model, the reference model, the adaptive rate and the adaptive law establish MATLAB
Motor speed under environment estimates simulation model.
3. method according to claim 2, which is characterized in that the adaptive rule for obtaining the model reference adaptive method
Rule includes:
When the nonlinear time-varying feedback element in the model reference adaptive method including the parameter motor speed to be estimated is full
Sufficient Popov's inequality, and the Transitive Matrices being made of in motor speed estimation simulation model forward path transmission function
When for stringent positive definite matrix, the Popov's inequality is carried out Converse solved, obtains the adaptive law.
4. method as claimed in claim 3, which is characterized in that the motor speed that obtains includes:
According to the stator voltage, by the adjustable model, the two-phase for obtaining carrying parameter motor speed to be estimated can be set up
Electron current；
According to the stator current and the adjustable stator electric current and the adaptive law, obtains the motor and turn
Speed.
5. a kind of device of high-speed permanent magnetic synchronous motor control, which is characterized in that described device includes:
Acquiring unit, for obtaining two-phase stator voltage and two of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system
Phase stator current；
Simulation data unit, for inputting the stator voltage and the stator current established based on model reference
In the motor speed estimation simulation model of adaptive method, motor speed is obtained, wherein in the motor speed estimation simulation model
The mathematical model of stator current is the adjustable model in the model reference adaptive method, and the reality of high-speed permanent magnetic synchronous motor is defeated
Electric current mathematical model is the reference model in the model reference adaptive method out；
Control unit, for obtaining rotor position information, and control the high-speed permanent magnetic synchronous motor according to the motor speed
It is operated.
6. device as claimed in claim 5, which is characterized in that described device further include:
Model foundation unit, for the stator current equation by the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system,
Sliding-model control is carried out according to parameter motor speed to be estimated, obtains the mathematical model of the stator current in state matrix, and really
The adjustable model including parameter motor speed to be estimated being set in the model reference adaptive method；The high-speed permanent magnetic is same
The current estimation value of step motor inputs the mathematical model of the stator current, obtains corresponding with the high-speed permanent magnetic synchronous motor
Reference model in the model reference adaptive method；By the difference between the adjustable model and the output quantity of the reference model
Value, is determined as the adaptive rate of the type reference adaptive method, and obtain the adaptive law of the model reference adaptive method；
And according to the adjustable model, the reference model, the adaptive rate and the adaptive law establish MATLAB
Motor speed under environment estimates simulation model.
7. device as claimed in claim 6, which is characterized in that
The model foundation unit, being specifically used for working as in the model reference adaptive method includes that the parameter motor to be estimated turns
The nonlinear time-varying feedback element of speed meets Popov's inequality, and by forward direction in motor speed estimation simulation model
It is Converse solved to the Popov's inequality progress when Transitive Matrices that channel transfer function is constituted are stringent positive definite matrix,
Obtain the adaptive law.
8. device as claimed in claim 7, which is characterized in that
The simulation data unit is specifically used for, by the adjustable model, obtaining carrying to be estimated according to the stator voltage
The two-phase adjustable stator electric current of parameter motor speed；According to the stator current and the adjustable stator electric current and described
Adaptive law obtains the motor speed.
9. a kind of device of high-speed permanent magnetic synchronous motor control, is applied to terminal, which is characterized in that described device includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Obtain two-phase stator voltage and two-phase stator current of the high-speed permanent magnetic synchronous motor under two-phase rotating coordinate system；
By the stator voltage and the stator current, the established motor speed based on model reference adaptive method is inputted
Estimate to obtain motor speed in simulation model, wherein the mathematical model of stator current in the motor speed estimation simulation model
For the adjustable model in the model reference adaptive method, the actual output current mathematical model of high-speed permanent magnetic synchronous motor is institute
State the reference model in model reference adaptive method；
According to the motor speed, rotor position information is obtained, and controls the high-speed permanent magnetic synchronous motor and is operated.
10. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is by processor
The step of claim 1-4 the method is realized when execution.
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