CN109936319B - Method and device for setting parameters of rotating speed controller - Google Patents
Method and device for setting parameters of rotating speed controller Download PDFInfo
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Abstract
The invention discloses a method and a device for setting parameters of a rotating speed controller, and belongs to the technical field of motor rotating speed control. The method is applied to a motor rotating speed vector control system adopting a state observer, and comprises the following steps: constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable; according to a transfer function WASR(s), a transfer function M(s), a closed-loop transfer function G(s) and an equivalent estimation rotating speed ring to construct an actual rotating speed ring of the motor rotating speed vector control system; obtaining the stable condition of the actual rotating speed ring according to the system stability criterion; and acquiring parameters of the rotating speed controller according to the stable conditions. The method fully considers the influence of the state observer on the motor rotating speed vector control system, creatively provides the concept of an equivalent estimation rotating speed ring to eliminate the influence of the state observer on the motor rotating speed vector control system, and accordingly sets the parameters of the rotating speed controller, and stability margin of the motor rotating speed vector control system is improved.
Description
Technical Field
The invention relates to the technical field of motor rotating speed control, in particular to a method and a device for setting rotating speed controller parameters.
Background
In a vector control system of a permanent magnet synchronous motor, a mechanical speed measuring device such as an encoder is generally installed on the motor to obtain an accurate rotating speed, and the actual rotating speed of the permanent magnet synchronous motor is controlled according to the measured rotating speed.
Mechanical speed measuring devices are susceptible to harsh environments, such as: under severe environments such as high temperature and high humidity, the code disc type speed measuring device cannot work effectively. Based on the speed detection method, the detection technology of the rotor speed of the permanent magnet synchronous motor without the position sensor is gradually mature. According to the detection technology, the state observer is introduced into the control system to obtain the estimated rotating speed of the rotor of the permanent magnet synchronous motor, the state observer changes the original vector control system, and the controller parameters are still set according to the parameters of the original vector control system, so that the stability margin of the vector control system is small.
Disclosure of Invention
The embodiment of the invention provides a method and a device for setting parameters of a rotating speed controller. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
According to a first aspect of the embodiments of the present invention, there is provided a method for setting a parameter of a rotation speed controller, applied to a motor rotation speed vector control system using a state observer, including:
obtaining a transfer function W of a rotational speed controllerASR(s)；
Acquiring a transfer function M(s) of the motor;
obtaining a closed loop transfer function G(s) of a current loop;
constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
according to the transfer function WASR(s), the transfer function M(s) and the closed-loop transfer function G(s), and the equivalent estimated speed loop construct an actual speed loop of the motor speed vector control system;
acquiring a closed loop transfer function phi(s) of the actual rotating speed ring;
obtaining the stable condition of the closed loop transfer function phi(s) according to a system stability criterion;
and acquiring the parameters of the rotating speed controller according to the stable conditions.
The method for setting the parameters of the rotating speed controller provided by the embodiment sufficiently considers the influence of the state observer on the motor rotating speed vector control system, creatively provides a concept of an equivalent estimation rotating speed ring, eliminates the influence of the state observer on the motor rotating speed vector control system, and sets the parameters of the rotating speed controller according to the concept, thereby improving the stability margin of the motor rotating speed vector control system.
In an alternative embodiment, said transfer function is based on said transfer function WASR(s), the transfer function M(s), the closed-loop transfer function G(s) and the equivalent estimation rotating speed ring construct an actual rotating speed ring of the motor rotating speed vector control system, and specifically:
transferring the transfer function WASR(s), said transfer function m(s) and said closed loop transfer function g(s) as a transfer function of a forward path of said actual speed loop;
obtaining a transfer function N(s) of the equivalent estimation rotating speed ring according to the equivalent estimation rotating speed ring;
taking the transfer function N(s) as the transfer function of the main feedback of the actual rotating speed loop.
In an optional embodiment, the constructing an equivalent estimated rotation speed loop by using the actual rotation speed of the motor as an input variable and the estimated rotation speed of the state observer as an output variable specifically includes:
if the structure of the state observer is a known structure, obtaining the lag time of the state observer according to a typical link in the state observer, and constructing an equivalent estimated rotating speed ring according to the lag time;
and if the structure of the state observer is an unknown structure, controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
In an alternative embodiment, the equivalent estimated speed loop transfer function
Wherein T is a time constant.
In an alternative embodiment, the state observer is a full-order synovial observer based on extended back emf.
In an alternative embodiment, the time constants include an observation lag time, a calculation lag time, and a sampling lag time of the extended back emf-based full-order synovial observer.
In an optional embodiment, the obtaining of the closed-loop transfer function g(s) of the current loop specifically includes: and (4) carrying out approximate processing on the actual current loop according to the typical I system or the typical II system to obtain a transfer function G(s) of the current loop.
According to a second aspect of the embodiments of the present invention, there is provided a device for setting parameters of a rotation speed controller, applied to a motor rotation speed vector control system using a state observer, including:
an acquisition unit for acquiring a transfer function W of the rotation speed controllerASR(s) obtaining a transfer function M(s) of the motor, and obtaining a closed loop transfer function G(s) of the current loop;
the first construction function unit is used for constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
a second construction function unit for constructing a function according to the transfer function WASR(s), the transfer function M(s) and the closed-loop transfer function G(s), and the equivalent estimated speed loop construct an actual speed loop of the motor speed vector control system;
the stability judgment unit is used for acquiring the stability condition of the closed loop transfer function phi(s) of the actual rotating speed ring according to the system stability criterion;
and the control parameter acquisition unit is used for acquiring the rotating speed controller parameters according to the stable conditions.
In an optional embodiment, the second constructing function unit is configured to construct an actual rotation speed ring of the motor rotation speed vector control system, and specifically includes:
the second construction function unit is used for transforming the transfer function WASR(s), said transfer function m(s) and said closed loop transfer function g(s) as a transfer function of a forward path of said actual speed loop;
and obtaining a transfer function N(s) of the equivalent estimated rotating speed ring according to the equivalent estimated rotating speed ring, and taking the transfer function N(s) as a transfer function of main feedback of the actual rotating speed ring.
In an optional embodiment, the first constructing function unit is configured to construct an equivalent estimated rotation speed ring, and specifically includes:
if the structure of the state observer is a known structure, the first construction function unit is used for acquiring the lag time of the state observer according to a typical link in the state observer and constructing an equivalent estimated rotating speed loop according to the lag time;
if the structure of the state observer is an unknown structure, the first construction function unit is used for controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic flow diagram illustrating a process for tuning a parameter of a speed controller in accordance with an exemplary embodiment;
FIG. 2 is a schematic flow diagram illustrating a process for obtaining an actual speed ring according to an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating the dynamic configuration of an actual speed ring in accordance with an exemplary embodiment;
FIG. 4 is a schematic flow diagram illustrating a process for tuning a parameter of a speed controller in accordance with an exemplary embodiment;
fig. 5 is a diagram illustrating a dynamic structure of a motor speed vector control system using a sliding-mode observer based on extended back emf according to an exemplary embodiment.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of embodiments of the invention encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "invention" merely for convenience and without intending to voluntarily limit the scope of this application to any single invention or inventive concept if more than one is in fact disclosed. Herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the structures, products and the like disclosed by the embodiments, the description is relatively simple because the structures, the products and the like correspond to the parts disclosed by the embodiments, and the relevant parts can be just described by referring to the method part.
Referring to fig. 1 to 5, a first aspect of an embodiment of the present invention is described, in which a method for setting a parameter of a rotation speed controller is applied to a motor rotation speed vector control system using a state observer, as shown in fig. 1, and includes the following steps:
s101, obtaining a transfer function W of a rotating speed controllerASR(s)；
S102, obtaining a closed loop transfer function G (S) of a current loop;
s103, obtaining a transfer function M (S) of the motor;
s104, constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
s105, according to the transfer function WASR(s), a transfer function M(s), a closed-loop transfer function G(s) and an equivalent estimation rotating speed ring construct an actual rotating speed ring of the motor control system;
s106, obtaining a closed loop transfer function phi (S) of the actual rotating speed ring;
s107, obtaining the stable condition of a closed loop transfer function phi (S) according to a system stability criterion;
and S108, acquiring the parameters of the rotating speed controller according to the stable conditions.
The method for setting the parameters of the rotating speed controller provided by the embodiment sufficiently considers the influence of the state observer on the motor rotating speed vector control system, creatively provides a concept of an equivalent estimation rotating speed ring, eliminates the influence of the state observer on the motor rotating speed vector control system, and sets the parameters of the rotating speed controller according to the concept, thereby improving the stability margin of the motor rotating speed vector control system.
In this embodiment, the three steps of step S104, step S105, and step S106 are used to obtain a closed-loop transfer function Φ (S) of the actual rotation speed loop; the sequence of step S101, step S102 and step S103 is not limited, and this embodiment is only an exemplary sequence.
In an alternative embodiment, the transfer function W is based onASR(s), transfer function M(s), closed-loop transfer function G(s) and equivalent estimation rotating speed loop to construct motor control systemAs shown in fig. 2, the actual rotating speed ring comprises the following steps:
s201, transferring function WASR(s), a transfer function M(s) and a closed loop transfer function G(s) as a transfer function of a forward path of the actual speed loop;
in this step, the transfer function W in the forward path is not correctedASR(s), transfer function M(s) and closed loop transfer function G(s) are defined in sequence, and preferably, the transfer function W is set in sequence on the forward path of the actual rotating speed loopASR(s), closed loop transfer function g(s) and transfer function m(s);
s202, obtaining a transfer function N (S) of the equivalent estimation rotating speed ring according to the equivalent estimation rotating speed ring;
and S203, taking the transfer function N (S) as the transfer function of the main feedback of the actual rotating speed loop.
The main feedback in this step specifically refers to that the output quantity of the actual rotation speed loop is used as the input quantity of the main feedback, and the output quantity of the main feedback is compared with the input quantity of the actual rotation speed loop. Preferably, the main feedback in this step is negative feedback.
The dynamic structure of the actual speed loop is shown in fig. 3. The step of setting the parameters of the rotation speed controller at this time is shown in fig. 4:
s401, obtaining a transfer function W of a rotating speed controllerASR(s)；
S402, obtaining a closed loop transfer function G (S) of a current loop;
s403, obtaining a transfer function M (S) of the motor;
s404, constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
s405, transfer function WASR(s), a transfer function M(s) and a closed loop transfer function G(s) as a transfer function of a forward path of the actual speed loop;
s406, obtaining a transfer function N (S) of the equivalent estimated rotating speed ring according to the equivalent estimated rotating speed ring;
s407, taking the transfer function N (S) as a transfer function of main feedback of the actual rotating speed loop;
s408, acquiring a closed loop transfer function phi (S) of the actual rotating speed ring;
s409, obtaining the stable condition of a closed loop transfer function phi (S) according to a system stability criterion;
and S410, acquiring parameters of the rotating speed controller according to the stable conditions.
In an optional embodiment, an equivalent estimated rotation speed loop is constructed by taking the actual rotation speed of the motor as an input variable and taking the estimated rotation speed of the state observer as an output variable, specifically:
if the structure of the state observer is a known structure, obtaining the lag time of the state observer according to a typical link in the state observer, and constructing an equivalent estimated rotating speed ring according to the lag time;
and if the structure of the state observer is an unknown structure, controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
In this embodiment, an equivalent estimated rotation speed ring is constructed according to the lag time, and the specific implementation manner is as follows: and constructing an equivalent estimation rotating speed ring with a delay effect by taking the lag time as a time constant.
Typical links in the state observer include, but are not limited to: proportional, integral, differential, inertial, oscillation and pure hysteresis. The links that can generate hysteresis include: the method comprises an integration link, an inertia link, a vibration link and a pure lag link, wherein the lag time of the state observer is obtained according to the lag link, the lag time is used as a time constant, and the component has an equivalent estimation link with a delay effect.
In this embodiment, the actual rotation speed is controlled to be a typical value, specifically: controlling the actual rotating speed to output step change or controlling the actual rotating speed to output pulse change. When the actual rotating speed changes in a step mode, acquiring a response curve of the estimated rotating speed, and acquiring the lag time of the state observer according to the response curve; or when the actual rotating speed pulse changes, acquiring a response curve of the estimated rotating speed, and acquiring the lag time of the state observer according to the response. The component has an equivalent estimation link of delay effect by taking the lag time as a time constant.
In this embodiment, the influence of the state observer on the motor speed vector control system is analyzed, the influence is eliminated by using the equivalent estimation speed loop in a targeted manner, and the parameters of the speed controller are obtained according to the modified system parameters, so that the stability margin of the motor speed vector control system is improved.
On the basis of the lag time of the state observer, in an alternative embodiment, the transfer function of the speed loop is estimated equivalently
Wherein the parameter T is a time constant.
Substituting the lag time of the state observer as the time constant T into the transfer function
And obtaining an equivalent estimated rotating speed ring. The equivalent estimation rotating speed ring structure adopted in the embodiment is clear and has strong practicability.
In an alternative embodiment, the state observer is a full-order synovial observer based on extended back emf.
For better explaining the present embodiment, first, the extended back electromotive force is described by taking a permanent magnet synchronous motor as an example. The stator voltage equation of the permanent magnet synchronous motor based on a synchronous rotation d-q coordinate system is as follows:
in the formula ud、uq，id、iq，Ld、LqThe voltage, the current and the inductance of a d axis and a q axis of the motor are respectively;
respectively a d-axis magnetic flux linkage and a q-axis magnetic flux linkage of the motor;
is a permanent magnet flux linkage; omegaeIs the rotor rotational electrical angular velocity.
To facilitate extended back-emf analysis, transformation of equation (1) to the α - β stationary frame yields:
in the formula: thetaeIs the rotor electrical angle, p is the differential operator,
definition of
To extend the back emf.
Rewrite equation (1) to:
transforming the formula (4) to an alpha-beta stationary coordinate system to obtain:
as can be seen from equation (5), the rotor position information is only reflected in the extended back electromotive force.
Based on the extended back emf, a full-order synovial observer is described below.
The current state equation of the permanent magnet synchronous motor obtained by the formula (5) is as follows:
in the formula: e.g. of the typeα＝-Eextsinθe,eβ＝Eextcosθe。
Generally, the mechanical time constant of the motor is much larger than the electrical time constant, so that the electrical angular velocity of the motor can be considered to be constant within one PWM control period, that is, the electrical angular velocity of the motor is constant
On the basis, the extended back electromotive force under the alpha-beta static coordinate system is derived to obtain:
from equations (6) and (7), a full-order state equation of the permanent magnet synchronous motor with the stator current and the extended back electromotive force as state variables in the α - β stationary coordinate system can be obtained as follows:
constructing the following full-order sliding-mode observer based on a full-order state equation shown in formula (8):
wherein ^ represents the estimated value, and a and b are observer gains. The dynamic structure of the sliding mode observer based on extended back emf is shown in fig. 5. Wherein, the IPMSM is a permanent magnet synchronous motor.
Lyapunov stability analysis of sliding-mode observer based on extended back electromotive force, state equation of observation error of extended back electromotive force and characteristic equation thereof, and natural oscillation angular frequency omega of the state equationnAnd damping ratio ξ are respectively expressed as:
and adjusting the gain of the observer to enable xi epsilon (0.4,0.8) to enable the system to obtain better dynamic performance, and designing the gain of the observer by combining a condition gain parameter which is far greater than the rotating speed.
In the medium-high speed application of the permanent magnet synchronous motor, the method of the synovial membrane observer based on the extended back electromotive force becomes one of the mainstream algorithms used nowadays due to the characteristics of easy realization of the algorithm, strong robustness and the like.
By using a synovium observer as a state observer, the transfer function of the rotating speed ring is equivalently estimated
The time constant T in (1) is the total lag time of the synovial observer based on extended back emf.
In an alternative embodiment, the total lag time comprises: observing lag times, calculating lag times, and sampling lag times.
Among them, regarding the observation lag time, it is to be noted that:
the model of the extended back electromotive force based synovial observer comprises an estimated back electromotive force link obtained through actual extended back electromotive force. When the full-order slip film observer is in a stable state, the estimated rotating speed approaches to the actual rotating speed, the relation between the estimated expansion back electromotive force and the actual expansion back electromotive force is equivalent through a second-order filter, and the filter parameters are related to the observer gain parameters and the rotating speed. When the observer gain parameter is far larger than the rotating speed, the filter parameter is only related to the observer gain parameter, and the relation between the estimated extended back electromotive force and the actual extended back electromotive force is equivalent through a first-order low-pass filter. The lag generated by the process of estimating the extended back emf is the observed lag time, which is equal to the time constant of the first order low pass filter.
With regard to calculating the lag time, it should be noted that:
as shown in fig. 5, the rotating speed obtained by the slip form observer based on the extended back electromotive force is further passed through a first order Low Pass Filter (LPF) before being output to filter the high frequency noise in the rotating speed to obtain the estimated rotating speed, and a lag time equal to the time constant of the first order low pass filter in the slip form observer is also generated in the step of passing through the first order low pass filter. The lag time is the calculated lag time.
With respect to the sampling lag time, it should be noted that:
the calculation period of the observer is set to be the same as the current loop regulation period, the current sampling period is set to be the same as the current loop regulation period, and the speed regulation loop period is set to be integral multiple of the current loop regulation period. The speed regulation loop period is the regulation period of the speed controller. There are two cases of observer sampling lag time: (1) when the speed regulator calculates, the feedback rotating speed is the output result observed at the current moment; (2) when the speed regulator calculates, the feedback rotating speed is the output result of the observer in the last calculation period.
Based on the observed lag time, the calculated lag time, and the sampling lag time, in a preferred embodiment, the transfer function of the equivalent estimated speed loop is set to
Wherein T is the total lag time of the synovial observer, comprising: observing lag times, calculating lag times, and sampling lag times.
In an alternative embodiment, the rotation speed controller is a PI controller, and the transfer function of the PI controller is:
in an optional embodiment, the obtaining of the closed-loop transfer function g(s) of the current loop specifically includes: and (4) carrying out approximate processing on the actual current loop according to the typical I system or the typical II system to obtain a transfer function G(s) of the current loop.
The number of poles of an open-loop transfer function of a typical I system, which are positioned at the origin of coordinates, is 1; the typical II system shows that the number of poles of the open-loop transfer function of the system at the origin of coordinates is 2. The typical I system has small overshoot and good following performance, but poor interference rejection performance. The following performance of the typical II system is slightly poor, but the interference rejection performance is good.
In the case that the state observer is a sliding mode observer, the method of adopting reduced order approximation processing for a current loop designed according to a typical type I system can be equivalent to a first-order inertial link, and the closed loop transfer function of the first-order inertial link can be expressed as:
wherein T is∑The equivalent lag time of the current loop is generated by superposing the loading delay and the inverter output delay in an actual discrete system, sampling is carried out at a carrier underflow point, the loading delay is equal to the switching period of the inverter, the inverter output delay is equivalent to 0.5 PWM (Pulse Width Modulation) switching period, and the equivalent lag time of the current loop is 1.5 inverter switching periods.
Transfer function of permanent magnet synchronous motor
Wherein, KTIs the torque constant and J is the moment of inertia.
According to fig. 3, the closed loop transfer function of the actual speed loop of the motor speed vector control system can be obtained as follows:
wherein:
the characteristic equation of the closed loop transfer function of the actual rotating speed loop of the motor rotating speed vector control system is as follows:
JτnTT∑s4+Jτn(T+T∑)s3+Jτns2+9.55KTkpnτns+9.55KTkpn＝0
t > T because T includes the time constant of the low pass filter∑Thus T + T∑T, the above characteristic equation is approximated as:
JτnTT∑s4+JτnTs3+Jτns2+9.55KTkpnτns+9.55KTkpn＝0
in an alternative embodiment, the stability criterion is a Laus criterion, a root Trace method, a Neisseria criterion, or a Lyapunov stability.
Taking the Laus criterion as an example, the stable condition for obtaining the closed-loop transfer function is as follows:
according to a second aspect of the embodiments of the present invention, there is provided a device for setting parameters of a rotation speed controller, applied to a motor rotation speed vector control system using a state observer, including:
an acquisition unit for acquiring a transfer function W of the rotation speed controllerASR(s) obtaining a transfer function M(s) of the motor, and obtaining a closed loop transfer function G(s) of the current loop;
the first construction function unit is used for constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
a second construction function unit for constructing a function according to the transfer function WASR(s), a transfer function M(s), a closed-loop transfer function G(s) and an equivalent estimation rotating speed ring to construct an actual rotating speed ring of the motor rotating speed vector control system;
the stability judgment unit is used for acquiring the stability condition of the closed loop transfer function phi(s) of the actual rotating speed ring according to the system stability criterion;
and the control parameter acquisition unit is used for acquiring the parameters of the rotating speed controller according to the stable conditions.
In an optional embodiment, the second construction function unit is configured to construct an actual rotation speed ring of the motor rotation speed vector control system, and specifically includes:
a second building function unit for transforming the transfer function WASR(s), a transfer function M(s) and a closed loop transfer function G(s) as a transfer function of a forward path of the actual speed loop;
and obtaining a transfer function N(s) of the equivalent estimated rotating speed ring according to the equivalent estimated rotating speed ring, and taking the transfer function N(s) as a transfer function of main feedback of the actual rotating speed ring.
In an optional embodiment, the first constructing function unit is configured to construct an equivalent estimated rotation speed ring, specifically:
if the structure of the state observer is a known structure, the first construction function unit is used for acquiring the lag time of the state observer according to a typical link in the state observer and constructing an equivalent estimated rotating speed ring according to the lag time;
if the structure of the state observer is an unknown structure, the first construction function unit is used for controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
It is to be understood that the present invention is not limited to the procedures and structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A method for setting parameters of a rotating speed controller is applied to a motor rotating speed vector control system adopting a state observer and is characterized by comprising the following steps:
obtaining a transfer function W of a rotational speed controllerASR(s)；
Acquiring a transfer function M(s) of the motor;
obtaining a closed loop transfer function G(s) of a current loop;
constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
according to the aboveTransfer function WASR(s), the transfer function M(s) and the closed-loop transfer function G(s), and the equivalent estimated speed loop construct an actual speed loop of the motor speed vector control system;
acquiring a closed loop transfer function phi(s) of the actual rotating speed ring;
obtaining the stable condition of the closed loop transfer function phi(s) according to a system stability criterion;
and acquiring the parameters of the rotating speed controller according to the stable conditions.
2. The method of claim 1, wherein said applying is in accordance with said transfer function WASR(s), the transfer function M(s), the closed-loop transfer function G(s) and the equivalent estimation rotating speed ring construct an actual rotating speed ring of the motor rotating speed vector control system, and specifically:
transferring the transfer function WASR(s), said transfer function m(s) and said closed loop transfer function g(s) as a transfer function of a forward path of said actual speed loop;
obtaining a transfer function N(s) of the equivalent estimation rotating speed ring according to the equivalent estimation rotating speed ring;
taking the transfer function N(s) as the transfer function of the main feedback of the actual rotating speed loop.
3. The method according to claim 1, wherein the equivalent estimated rotation speed loop is constructed by taking the actual rotation speed of the motor as an input variable and the estimated rotation speed of the state observer as an output variable, specifically:
if the structure of the state observer is a known structure, obtaining the lag time of the state observer according to a typical link in the state observer, and constructing an equivalent estimated rotating speed ring according to the lag time;
and if the structure of the state observer is an unknown structure, controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
4. The method of claim 2, wherein the equivalent estimated speed loop transfer function
Wherein T is a time constant.
5. The method of claim 4, wherein the state observer is a full-order synovial observer based on extended back electromotive force.
6. The method of claim 5, wherein the time constants comprise an observation lag time, a calculation lag time, and a sampling lag time of the extended back EMF based full-order synovial observer.
7. The method according to claim 1, characterized by obtaining a closed loop transfer function g(s) of the current loop, in particular: and (4) carrying out approximate processing on the actual current loop according to the typical I system or the typical II system to obtain a transfer function G(s) of the current loop.
8. A device for setting parameters of a rotating speed controller is applied to a motor rotating speed vector control system adopting a state observer, and is characterized by comprising the following steps:
an acquisition unit for acquiring a transfer function W of the rotation speed controllerASR(s) obtaining a transfer function M(s) of the motor, and obtaining a closed loop transfer function G(s) of the current loop;
the first construction function unit is used for constructing an equivalent estimated rotating speed ring by taking the actual rotating speed of the motor as an input variable and the estimated rotating speed of the state observer as an output variable;
a second construction function unit for constructing a function according to the transfer function WASR(s), the transfer function M(s) and the closed-loop transfer function G(s), and the fact that the equivalent estimation rotating speed loop constructs the motor rotating speed vector control systemAn interstagon rotation speed loop;
the stability judgment unit is used for acquiring the stability condition of the closed loop transfer function phi(s) of the actual rotating speed ring according to the system stability criterion;
and the control parameter acquisition unit is used for acquiring the rotating speed controller parameters according to the stable conditions.
9. The apparatus according to claim 8, wherein the second constructing function unit is configured to construct an actual rotation speed loop of the motor rotation speed vector control system, specifically:
the second construction function unit is used for transforming the transfer function WASR(s), said transfer function m(s) and said closed loop transfer function g(s) as a transfer function of a forward path of said actual speed loop;
and obtaining a transfer function N(s) of the equivalent estimated rotating speed ring according to the equivalent estimated rotating speed ring, and taking the transfer function N(s) as a transfer function of main feedback of the actual rotating speed ring.
10. The apparatus according to claim 8, wherein the first construction function unit is configured to construct an equivalent estimated speed loop, in particular:
if the structure of the state observer is a known structure, the first construction function unit is used for acquiring the lag time of the state observer according to a typical link in the state observer and constructing an equivalent estimated rotating speed loop according to the lag time;
if the structure of the state observer is an unknown structure, the first construction function unit is used for controlling the actual rotating speed to be a typical value, acquiring a response curve of the estimated rotating speed, acquiring the lag time of the state observer according to the response curve, and constructing an equivalent estimated rotating speed ring according to the lag time.
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