CN109787526A - A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model - Google Patents
A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model Download PDFInfo
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Abstract
The present embodiments relate to a kind of voltage feedforward control method and devices based on permanent magnet synchronous motor model, for improving AC servo drive control system electric current loop response speed.This kind of current feed-forward structure may be implemented the independent of current feed-forward instruction and calculate, it is not influenced by external disturbance, control system permanent magnet synchronous motor model is fully considered, improve the precision of control system current feed-forward instruction, this kind of New type of current feedforward system has better current-order tracking ability compared to traditional current feed-forward system based on low-pass filtering, low-pass filtering feedforward is eliminated to distortion caused by current-order filtering, this method effectively increases the current-responsive tracking ability of control system.
Description
Technical field
The present invention is a kind of electricity based on permanent magnet synchronous motor model primarily directed to the control process of permanent magnet synchronous motor
Feed forward control method and device are pressed, this method and device can effectively eliminate conventional low-pass filtering to caused by current feed-forward instruction
Problem of dtmf distortion DTMF improves control system electric current loop response speed.
Background technique
Traditional current feed-forward instruction system is the smooth steady for guaranteeing current feed-forward instruction input, is instructed to current feed-forward
Low-pass filtering calculating is carried out, host computer input current instructs iref, electric current loop acceleration instruction a is obtained by calculation processingref, warp
Low-pass filtering link is crossed, feed forward of acceleration instruction a is obtainedf, further according to permanent magnet synchronous motor rotary inertia JmAnd motor torque system
Number KATObtain feedforward current value if, feed-forward voltage value U is finally calculatedf, conventional feed forward structure chart is illustrated in fig. 1 shown below.
We can see that the calculating process of conventional feed forward from Fig. 1, the wherein low-pass filtering COEFFICIENT K of low-pass filtering module
As shown in formula (1):
In formula: τ is that the low-pass filtering time is normal.
Thus feed forward of acceleration instruction a is obtainedfAs shown in formula (2):
af=Karef。 (2)
Discretization is carried out to formula (2) and obtains formula (3):
In formula: τ is time constant filter；TsCycle time constant is controlled for control system；K is low-pass filtering coefficient.
Thus the feed forward of acceleration for obtaining discretization is instructed as shown in formula (4):
If k is current control period, k-1 was a upper control period, the current control week after discretization can be obtained by formula (4)
Phase feed forward of acceleration instructs af(k)As shown in formula (5):
And then low-pass filtering feedforward current i is calculatedf(k)As shown in formula (6):
And then acquire low-pass filtering electric voltage feed forward Uf(k)As shown in formula (7):
Uf(k)=(if(k)-if(k-1))L (7)
Conventional low-pass filtering voltage feedforward instruction U is obtained by the above methodf(k), wherein low-pass filtering time coefficient τ is past
It is past to need engineering experience to determine numerical value, and low-pass filtering will cause the amplitude distortion of signal instruction, as shown in Fig. 2, by
There is deviation in the feed-forward signal amplitude and phase of low-pass filter signal processing.
Summary of the invention
In view of the above-mentioned problems, the present invention proposes a kind of voltage feedforward control method and dress based on permanent magnet synchronous motor model
It sets, it is intended to improve the precision of feedforward instruction, improve control system electric current loop responding ability.
To achieve the above object, the present invention comprises the steps of:
(1) permanent magnet synchronous motor mathematical model is established, d-q voltage instruction output equation is obtained；
(2) three phase feedback currents of permanent magnet synchronous motor are subjected to space vector coordinate transform, obtain d-q axis feedback current；
(3) electric current loop feedback control loop is established；
(4) according to permanent magnet synchronous motor mathematical model, electric current loop feedforward control structure is constructed；
(5) the electric voltage feed forward instruction of output is injected into electric current loop feedback control loop, completes electric current loop closed loop and calculates；
(6) d-q axis command voltage is subjected to space vector coordinate transform, obtains the instruction of permanent magnet synchronous motor three-phase phase voltage
Output valve；
(7) by three-phase phase voltage instruction input to power amplification modulation unit, three-phase is exported by power amplification modulation unit
Amplitude is that the pulse width modulated wave of busbar voltage drives the rotation of permanent magnet synchronous motor unit.
Preferably, the step (1), is realized by the following method:
Shown in permanent magnet synchronous motor mathematical model such as formula (1):
In formula: Ud、UqIt is instructed for d axis and q axis stator voltage；Ld、LqFor d axis and q axis equivalent inductance；RsFor stator resistance；
ωeFor angular rate；For rotor flux；id、iqFor d axis and q axis stator feedback current.
Shown in motor torque model such as formula (2):
In formula: TeFor electromagnetic torque；P is motor number of pole-pairs.
Shown in mechanical motion equation such as formula (3):
In formula: T1For load torque；ωmFor mechanical angular speed；F is motor friction factor；J is motor rotary inertia.
In order to realize maximum moment control, d shaft current is enabled to instruct id=0, motor torque output equation such as formula (4) institute at this time
Show:
Preferably, the step (2), is realized by the following method:
Three-phase phase current is acquired from permanent magnet synchronous motor three-phase, obtains three-phase feedback phase current iu、iv、iw, sweared by space
Amount changes in coordinates obtains d-q axis feedback current id、iqAs shown in formula (5):
Preferably, the step (3), is realized by the following method:
According to step (1) permanent magnet synchronous motor mathematical model, permanent magnet synchronous motor mathematical model is subjected to discretization, is used
PI controller realizes the calculating of d-q shaft voltage instruction, and k represents current calculation cycle, and k-1 represents a calculating cycle, foundation
Current calculation cycle current instruction value idref、iqrefWith practical d-q shaft current value of feedback id、iqObtain current feedback deviation id_err、
iq_errAs shown in formula (6):
According to current calculation cycle current feedback error id_err(k)、iq_err(k)And integral coefficient KiTo current error integrated value
id_org(k)、iq_org(k)It is solved as shown in formula (7):
The current error integrated value i obtained according to current calculation cycled_org(k)、iq_org(k), feedback current id(k)、iq(k)With
And Proportional coefficient KvD-q axis control voltage instruction is solved as shown in formula (8):
In formula: Rs is permanent magnet synchronous motor equivalent resistance, Ld、LqFor permanent magnet synchronous motor d-q axis equivalent inductance value, ωeFor
Permanent magnet synchronous motor electrical angle tachometer value,For the equivalent linkage coefficient of permanent magnet synchronous motor.
Preferably, the step (4), is realized by the following method:
Using PI controller, the calculating of d-q axis feed-forward voltage instruction is realized, k represents current calculation cycle, in k-1 representative
One calculating cycle, by taking the feedforward instruction of q shaft current as an example, according to current calculation cycle current instruction value iqrefIt feedovers with electric current loop
The q shaft current value of feedback i of structureFFFBObtain feedforward current feedback deviation iqff_errAs shown in formula (9):
iqff_err(k)=iqref(k)-iFFFB(k) (9)
According to current calculation cycle current feedback error iqff_er(r)kAnd current feed-forward integral coefficient KCiFFFeedforward current is missed
Difference-product score value iqff_org(k)It is solved as shown in formula (10):
iqff_org(k)=iqff_org(k-1)+iqff_err(k)*KCiFF (10)
The feedforward current error value product score value i obtained according to current calculation cycleqff_org(k), the feedback current for the closed loop that feedovers
iFFFB(k)And feedforward Proportional coefficient KCvFFTo q axis feedforward control voltage Uqff(k)It is solved as shown in formula (11):
Uqff(k)=(iqff_org(k)-iFFFB(k))KCvFFLFF-RFFiFFFB(k) (11)
In formula: RFFFor permanent magnet synchronous motor feed forward architecture equivalent resistance, LFFFor permanent magnet synchronous motor feedforward equivalent inductance
Value.
To q axis feedforward output voltage values Uqff(k)Amplitude limitation is carried out, it is enabled to be no more than busbar voltage Vdc, obtain final
Feed-forward voltage instructs Uqffout(k)As shown in formula (12):
Feed-forward voltage instruction is integrated as shown in formula (13):
The feedback current i of feedforward current ring is obtained by the above processFFFB, it is achieved in the closed loop control of feedforward current ring
System.
Preferably, the step (5), is realized by the following method:
Feed-forward voltage in q axis feedforward current closed loop is instructed into UqffoutIt is introduced into electric current loop feedback loop, at this point, by
The electric current loop q shaft voltage of electric voltage feed forward injection instructs UqoutAs shown in formula (14):
Uqout=Uqffout+Uq (14)
U is instructed using the available d shaft voltage of same proceduredout；
Preferably, the step (6), is realized by the following method:
The d-q axis feedback current i as obtained in step (2)d、iqIt is brought into the d-q shaft voltage governing equation of discretization
In, U is instructed to the d-q shaft voltage that step (5) obtainsdout、UqoutSpace vector coordinate transform is carried out, three-phase voltage command is obtained
Uu、Uv、UwAs shown in formula (15):
Preferably, the step (7), is realized by the following method:
U will be instructed by the three-phase phase voltage that step (6) obtainu,v,wIt is output to algorithm for power modulation unit, carries out power amplification, into
And export the three-phase pulse width modulated drive waveform motor rotation Jing Guo power amplification.
Preferably, the device of the voltage feedforward control method based on permanent magnet synchronous motor model, comprising:
Permanent magnet synchronous motor unit, the stator of permanent magnet synchronous motor unit receive the pulsewidth tune of algorithm for power modulation unit output
Waveform processed, driving rotor rotation；
Cell encoder is measured for the corner current location to permanent magnet synchronous motor unit rotor, exports permanent magnetism
Synchronous motor unit rotor mechanical corner θm；
Electrical angle converting unit, the mechanical corner θ for will be obtained by cell encodermIt is converted to for permanent magnet synchronous electric
The electrical angle θ of machine space vector coordinate transform calculatinge；
Current sensor unit, for the three-phase current exported by permanent magnet synchronous motor unit to be converted to analog signal；
AD conversion unit, the analog signal for exporting current sensor unit are converted to digital signal iu、iv、iw,
Convenient for subsequent calculations processing；
Three-phase current space vector converter unit, the current digital signal i for will be obtained by AD conversion unitu、iv、
iwAnd the electrical angle θ that electrical angle converting unit obtainseThree-phase current space vector changes in coordinates is carried out, d-q axis feedback electricity is obtained
Flow id、iq；
Speed computing unit, for calculating permanent magnet synchronous motor unit rotor feedback speed omegam, and by rotor feedback speed
ωmBe converted to electrical angle ωe；
Current-order unit, for receiving the current instruction value i of host computer transmissiondref、iqref；
Electric voltage feed forward computing unit instructs U for calculating control system feed-forward voltageqffout、Udffout；
Electric current loop solving unit instructs i according to d-q shaft currentdref、iqrefCalculating current ring feedback element d-q shaft voltage refers to
Enable Ud、Uq, the feed-forward voltage that electric voltage feed forward computing unit is obtained instructs Uqff、UdffU is instructed with d-q shaft voltaged、UqIn conjunction with obtaining
U is instructed to final d-q shaft voltageqout、Udout, further, according to Uqout、UdoutSpace vector coordinate transform is carried out, is obtained
Three-phase phase voltage output order Uu、Uv、Uw；
Algorithm for power modulation unit is used for three-phase phase voltage output signal Uu,v,wPower amplification is carried out, output amplitude is bus
Voltage VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation.
The beneficial effects of the present invention are:
(1) the voltage feedforward control method proposed by the present invention based on permanent magnet synchronous motor model can effectively improve control
System power ring response characteristic；
(2) accurate electric voltage feed forward can be exported according to the current feed-forward structure of permanent magnet synchronous motor model foundation to refer to
It enables, solves feedforward instruction deviation caused by conventional lowpass wave feed forward method；
(3) feedforward instruction proposed by the present invention, which calculates, is calculated in independent feedforward closed-loop system, Bu Huishou
To the influence of feedback element and external disturbance, the robustness and Ability of Resisting Disturbance of control system are improved.
Detailed description of the invention
Fig. 1 electric current low-pass filtering feed forward principle figure；
Fig. 2 low-pass filter signal handles waveform diagram；
Voltage feedforward control method structural schematic diagram of the Fig. 3 based on permanent magnet synchronous motor model；
Fig. 4 electric current loop feed forward architecture figure；
Fig. 5 electric current loop solving unit control block diagram；
Fig. 6 feed-forward voltage Injection Current feedback closed loop control block diagram；
Fig. 7 conventional lowpass wave mode feedforward figure compared with feed forward method current tracking effect of the present invention；
Specific embodiment
Hereinafter, with reference to attached drawing, detailed description of the present invention embodiment.
Voltage feedforward control method structural schematic diagram based on permanent magnet synchronous motor model, as shown in Figure 3, comprising:
The threephase stator coil of permanent magnet synchronous motor unit 1, permanent magnet synchronous motor unit 1 receives algorithm for power modulation unit 10
The pulse-width modulation waveform of output, driving rotor rotation；
Cell encoder 2, the current location for the angle of rotor to permanent magnet synchronous motor unit 1 measure, output
Permanent magnet synchronous motor unit rotor mechanical corner θm；
Electrical angle converting unit 3, the mechanical corner θ for will be obtained by cell encoder 2mIt is converted to for permanent-magnet synchronous
The electrical angle θ of motor space vector coordinate transform calculatingeAs shown in formula (1):
θe=θm*P (1)
In formula: P is permanent-magnetic synchronous motor rotor number of pole-pairs；
AD conversion unit 4, the analog signal for exporting current sensor unit 8 are converted to digital signal iu、iv、
iw, handled convenient for subsequent calculations；
Three-phase current space vector converter unit 5, the current digital signal i for will be obtained by AD conversion unit 4u、
iv、iwAnd the electrical angle θ that electrical angle converting unit 3 obtainseThree-phase current space vector changes in coordinates is carried out, it is anti-to obtain d-q axis
Supply current id、iqAs shown in formula (2):
Speed computing unit 6, for calculating the rotor feedback speed omega of permanent magnet synchronous motor unit 1m, and by rotor feedback
Speed omegamBe converted to electrical angle ωeAs shown in formula (3):
ωe=ωm*P (3)
Electric voltage feed forward computing unit 7 instructs U for calculating control system feed-forward voltageqffout、Udffout, wherein electric current loop
Feed forward architecture figure is as shown in figure 4, specific implementation process is as follows:
Using PI controller, the calculating of d-q axis feed-forward voltage instruction is realized, k represents current calculation cycle, in k-1 representative
One calculating cycle.By taking the feedforward instruction of q shaft current as an example, according to current calculation cycle current instruction value iqrefIt feedovers with electric current loop
The q shaft current value of feedback i of structureFFFBObtain feedforward current feedback deviation iqff_errAs shown in formula (4):
iqff_err(k)=iqref(k)-iFFFB(k) (4)
According to current calculation cycle current feedback error iqff_er(r)kAnd current feed-forward integral coefficient KCiFFFeedforward current is missed
Difference-product score value iqff_org(k)It is solved as shown in formula (5):
iqff_org(k)=iqff_org(k-1)+iqff_err(k)KCiFF (5)
The feedforward current error value product score value i obtained according to current calculation cycleqff_org(k), the feedback current for the closed loop that feedovers
iFFFB(k)And feedforward Proportional coefficient KCvFFTo q axis feedforward control voltage Uqff(k)It is solved as shown in formula (6):
Uqff(k)=(iqff_org(k)-iFFFB(k))KCvFFLFF-RFFiFFFB(k) (6)
In formula: RFFFor permanent magnet synchronous motor feed forward architecture equivalent resistance, LFFFor permanent magnet synchronous motor feedforward equivalent inductance
Value；
To q axis feedforward output voltage values Uqff(k)Amplitude limitation is carried out, it is enabled to be no more than busbar voltage Vdc, obtain final
Feed-forward voltage instructs Uqffout(k)As shown in formula (7):
Feed-forward voltage instruction is integrated as shown in formula (8):
The feedback current i of feedforward current ring is obtained by the above processFFFB, it is achieved in the closed loop control of feedforward current ring
System.
Current sensor unit 8, for the three-phase current exported by permanent magnet synchronous motor unit 1 to be converted to simulation letter
Number；
Electric current loop solving unit 9 instructs i according to d-q shaft currentdref、iqrefCalculating current ring feedback element d-q shaft voltage
Instruct Ud、Uq, according to permanent magnet synchronous motor mathematical model, permanent magnet synchronous motor mathematical model is subjected to discretization, and control using PI
Device processed realizes the calculating of d-q shaft voltage instruction, and k represents current calculation cycle, and k-1 represents a calculating cycle, electric current loop solution
Unit control block diagram is calculated as shown in figure 5, specific implementation process is as follows:
According to current calculation cycle current instruction value idref、iqrefWith practical d-q shaft current value of feedback id、iqObtain electric current
Feedback deviation id_err、iq_errAs shown in formula (9):
According to current calculation cycle current feedback error id_err(k)、iq_err(k)And integral coefficient KiTo current error integrated value
id_org(k)、iq_org(k)It is solved as shown in formula (10):
The current error integrated value i obtained according to current calculation cycled_org(k)、iq_org(k), feedback current id(k)、iq(k)With
And Proportional coefficient KvD-q axis control voltage instruction is solved as shown in formula (11):
In formula: Rs is permanent magnet synchronous motor equivalent resistance, Ld、LqFor permanent magnet synchronous motor d-q axis equivalent inductance value, ωeFor
Permanent magnet synchronous motor electrical angle tachometer value,For the equivalent linkage coefficient of permanent magnet synchronous motor.
The feed-forward voltage that electric voltage feed forward computing unit 7 is obtained instructs Uqffout、UdffoutU is instructed with d-q shaft voltaged、UqKnot
It closes, obtains final d-q shaft voltage instruction Udout,Uqout, the feed-forward voltage in feedforward current closed loop is instructed into Udffout-qffoutDraw
Enter in electric current loop feedback loop, by taking q axis control voltage calculates as an example, feed-forward voltage Injection Current feedback closed loop control block diagram is as schemed
Shown in 6, at this point, the electric current loop feed circuit q shaft voltage by electric voltage feed forward injection instructs UqoutAs shown in formula (12):
Uqout=Uqffout+Uq (12)
U is instructed using the available d shaft voltage of same proceduredout。
According to Uqout、UdoutSpace vector coordinate transform is carried out, three-phase phase voltage output order U is obtainedu、Uv、UwSuch as formula
(13) shown in:
Algorithm for power modulation unit 10 is used for three-phase phase voltage output signal Uu,v,wPower amplification is carried out, output amplitude is mother
Line voltage VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation；
Current-order unit 11, for receiving the current instruction value i of host computer transmissiondref、iqref。
Fig. 7, which is shown, to be instructed using feed-forward voltage proposed by the present invention in electric current loop KCvFF=1400, KCiFF=1000, feelings
The waveform comparison of instruction current ring τ=0.0002s is presented under condition with conventional lowpass wavefront.From the figure we can see that low pass
Filtering feed forward method electric current actual tracking value of feedback does not reach the maximum value of instruction, tracks unstable.But using the present invention
The current response rate of the electric voltage feed forward method based on permanent magnet synchronous motor model proposed is fast, and instruction trace is whole steady
It is fixed.
It is expected that feasibility and prospect that invention promotes and applies:
Current loop control is the most crucial part of servo-control system, and electric current loop response performance decides servo-control system
Responding ability, the present invention can effectively improve control system electric current loop response speed, can be widely applied to high-grade processing machine
Bed, robot, aerospace etc. require the field of high response, high-precision servo technology.
It should be noted that each embodiment above by reference to described in attached drawing is only to illustrate the present invention rather than limits this
The range of invention, those skilled in the art should understand that, it is right under the premise without departing from the spirit and scope of the present invention
The modification or equivalent replacement that the present invention carries out, should all cover within the scope of the present invention.In addition, signified unless the context
Outside, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any embodiment
All or part of in combination with any other embodiment all or part of come using.
Claims (9)
1. a kind of voltage feedforward control method based on permanent magnet synchronous motor model, it is characterised in that: this method includes following step
It is rapid:
(1) permanent magnet synchronous motor mathematical model is established, d-q voltage instruction output equation is obtained；
(2) three phase feedback currents of permanent magnet synchronous motor are subjected to space vector coordinate transform, obtain d-q axis feedback current；
(3) electric current loop feedback control loop is established；
(4) according to permanent magnet synchronous motor mathematical model, electric current loop feedforward control structure is constructed；
(5) the electric voltage feed forward instruction of output is injected into electric current loop feedback control loop, completes electric current loop closed loop and calculates；
(6) d-q axis command voltage is subjected to space vector coordinate transform, obtains the instruction output of permanent magnet synchronous motor three-phase phase voltage
Value；
(7) by three-phase phase voltage instruction input to power amplification modulation unit, three-phase amplitude is exported by power amplification modulation unit
The rotation of permanent magnet synchronous motor unit is driven for the pulse width modulated wave of busbar voltage.
2. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (1), is realized by the following method:
Shown in permanent magnet synchronous motor mathematical model such as formula (1):
In formula: Ud、UqIt is instructed for d axis and q axis stator voltage；Ld、LqFor d axis and q axis equivalent inductance；RsFor stator resistance；ωeFor
Angular rate；For rotor flux；id、iqFor d axis and q axis stator feedback current；
Shown in motor torque model such as formula (2):
In formula: TeFor electromagnetic torque；P is motor number of pole-pairs；
Shown in mechanical motion equation such as formula (3):
In formula: T1For load torque；ωmFor mechanical angular speed；F is motor friction factor；J is motor rotary inertia；
In order to realize maximum moment control, d shaft current is enabled to instruct id=0, at this time shown in motor torque output equation such as formula (4):
3. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (2), is realized by the following method:
Three-phase phase current is acquired from permanent magnet synchronous motor three-phase, obtains three-phase feedback phase current iu、iv、iw, sat by space vector
Mark variation obtains d-q axis feedback current id、iqAs shown in formula (5):
4. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (3), is realized by the following method:
According to step (1) permanent magnet synchronous motor mathematical model, permanent magnet synchronous motor mathematical model is subjected to discretization, is controlled using PI
Device processed realizes the calculating of d-q shaft voltage instruction, and k represents current calculation cycle, and k-1 represents a calculating cycle, according to current
Calculating cycle current instruction value idref、iqrefWith practical d-q shaft current value of feedback id、iqObtain current feedback deviation id_err、iq_err
As shown in formula (6):
According to current calculation cycle current feedback error id_err(k)、iq_err(k)And integral coefficient KiTo current error integrated value
id_org(k)、iq_org(k)It is solved as shown in formula (7):
The current error integrated value i obtained according to current calculation cycled_org(k)、iq_org(k), feedback current id(k)、iq(k)And ratio
Example COEFFICIENT KvD-q axis control voltage instruction is solved as shown in formula (8):
In formula: Rs is permanent magnet synchronous motor equivalent resistance, Ld、LqFor permanent magnet synchronous motor d-q axis equivalent inductance value, ωeFor permanent magnetism
Synchronous motor electrical angle tachometer value,For the equivalent linkage coefficient of permanent magnet synchronous motor.
5. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (4), is realized by the following method:
Using PI controller, the calculating of d-q axis feed-forward voltage instruction is realized, k represents current calculation cycle, and k-1 represents one
Calculating cycle, by taking the feedforward instruction of q shaft current as an example, according to current calculation cycle current instruction value iqrefWith electric current loop feed forward architecture
Q shaft current value of feedback iFFFBObtain feedforward current feedback deviation iqff_errAs shown in formula (9):
iqff_err(k)=iqref(k)-iFFFB(k) (9)
According to current calculation cycle current feedback error iqff_er(r)kAnd current feed-forward integral coefficient KCiFFTo feedforward current error value product
Score value iqff_org(k)It is solved as shown in formula (10):
iqff_org(k)=iqff_org(k-1)+iqff_err(k)*KCiFF (10)
The feedforward current error value product score value i obtained according to current calculation cycleqff_org(k), the feedback current i for the closed loop that feedoversFFFB(k)
And feedforward Proportional coefficient KCvFFTo q axis feedforward control voltage Uqff(k)It is solved as shown in formula (11):
Uqff(k)=(iqff_org(k)-iFFFB(k))KCvFFLFF-RFFiFFFB(k) (11)
In formula: RFFFor permanent magnet synchronous motor feed forward architecture equivalent resistance, LFFFor permanent magnet synchronous motor feedforward equivalent inductance value；
To q axis feedforward output voltage values Uqff(k)Amplitude limitation is carried out, it is enabled to be no more than busbar voltage Vdc, obtain final feedforward
Voltage instruction Uqffout(k)As shown in formula (12):
Feed-forward voltage instruction is integrated as shown in formula (13):
The feedback current i of feedforward current ring is obtained by the above processFFFB, it is achieved in the closed-loop control of feedforward current ring.
6. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (5), is realized by the following method:
Feed-forward voltage in q axis feedforward current closed loop is instructed into UqffoutIt is introduced into electric current loop feedback loop, at this point, through overvoltage
The electric current loop q shaft voltage of feedforward injection instructs UqoutAs shown in formula (14):
Uqout=Uqffout+Uq (14)
U is instructed using the available d shaft voltage of same proceduredout。
7. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (6), is realized by the following method:
The d-q axis feedback current i as obtained in step (2)d、iqIt is brought into the d-q shaft voltage governing equation of discretization, it is right
The d-q shaft voltage that step (5) obtains instructs Udout、UqoutSpace vector coordinate transform is carried out, three-phase voltage command U is obtainedu、Uv、
UwAs shown in formula (15):
8. the voltage feedforward control method according to claim 1 based on permanent magnet synchronous motor model, it is characterised in that: institute
The step of stating (7), is realized by the following method:
U will be instructed by the three-phase phase voltage that step (6) obtainu,v,wIt is output to algorithm for power modulation unit, carries out power amplification, and then defeated
Three-phase pulse width modulated drive waveform motor rotation Jing Guo power amplification out.
9. a kind of device based on the voltage feedforward control method described in claim 1 based on permanent magnet synchronous motor model,
It is characterized in that, comprising:
Permanent magnet synchronous motor unit, the stator of permanent magnet synchronous motor unit receive the pulse width modulated wave of algorithm for power modulation unit output
Shape, driving rotor rotation；
Cell encoder is measured for the corner current location to permanent magnet synchronous motor unit rotor, exports permanent-magnet synchronous
Electric motor units rotor mechanical corner θm；
Electrical angle converting unit, the mechanical corner θ for will be obtained by cell encodermIt is converted to empty for permanent magnet synchronous motor
Between vector coordinate transform calculating electrical angle θe；
Current sensor unit, for the three-phase current exported by permanent magnet synchronous motor unit to be converted to analog signal；
AD conversion unit, the analog signal for exporting current sensor unit are converted to digital signal iu、iv、iw, it is convenient for
Subsequent calculations processing；
Three-phase current space vector converter unit, the current digital signal i for will be obtained by AD conversion unitu、iv、iwWith
And the electrical angle θ that electrical angle converting unit obtainseThree-phase current space vector changes in coordinates is carried out, d-q axis feedback current is obtained
id、iq；
Speed computing unit, for calculating permanent magnet synchronous motor unit rotor feedback speed omegam, and by rotor feedback speed omegamTurn
It is changed to electrical angle ωe；
Current-order unit, for receiving the current instruction value i of host computer transmissiondref、iqref；
Electric voltage feed forward computing unit instructs U for calculating control system feed-forward voltageqffout、Udffout；
Electric current loop solving unit instructs i according to d-q shaft currentdref、iqrefThe instruction of calculating current ring feedback element d-q shaft voltage
Ud、Uq, the feed-forward voltage that electric voltage feed forward computing unit is obtained instructs Uqff、UdffU is instructed with d-q shaft voltaged、UqIn conjunction with obtaining
Final d-q shaft voltage instructs Uqout、Udout, further, according to Uqout、UdoutSpace vector coordinate transform is carried out, obtains three
Phase phase voltage output order Uu、Uv、Uw；
Algorithm for power modulation unit is used for three-phase phase voltage output signal Uu,v,wPower amplification is carried out, output amplitude is busbar voltage
VdcPulse-width modulation waveform, driving permanent magnet synchronous motor unit rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910191623.4A CN109787526A (en) | 2019-03-14 | 2019-03-14 | A kind of voltage feedforward control method and device based on permanent magnet synchronous motor model |
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| CN110868120A (en) * | 2019-10-29 | 2020-03-06 | 中车永济电机有限公司 | Control method for built-in permanent magnet synchronous motor |
| CN110971165A (en) * | 2019-12-06 | 2020-04-07 | 长沙奥托自动化技术有限公司 | Current loop feedforward method and system of permanent magnet synchronous generator |
| CN111555688A (en) * | 2020-05-12 | 2020-08-18 | 中国电子科技集团公司第四十三研究所 | High-bandwidth current loop digital control method and system |
| CN116449884A (en) * | 2023-04-14 | 2023-07-18 | 江苏吉泰科电气有限责任公司 | Positioning method and device for motor spindle and computer readable storage medium |
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