CN109995288A - Permanent magnet synchronous motor dynamic surface control based on load torque feedback - Google Patents
Permanent magnet synchronous motor dynamic surface control based on load torque feedback Download PDFInfo
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- CN109995288A CN109995288A CN201910283747.5A CN201910283747A CN109995288A CN 109995288 A CN109995288 A CN 109995288A CN 201910283747 A CN201910283747 A CN 201910283747A CN 109995288 A CN109995288 A CN 109995288A
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- permanent magnet
- magnet synchronous
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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Abstract
The present invention relates to a kind of permanent magnet synchronous motor dynamic surface controls based on load torque feedback, belong to motor control technology field.Specific step is as follows: having initially set up the mathematical model of permanent magnet synchronous motor, has defined a kind of novel state variable equation, and devise a kind of novel dynamic surface sliding mode controller based on novel state variable equation.Then a kind of interference observer based on exponential convergence is devised to obtain load torque feedback quantity, realizes load torque High Accuracy Observation.The present invention can efficiently solve permanent magnet synchronous motor in the process of running because load changes, and make control system performance decline the problem of, the Ability of Resisting Disturbance of control system for permanent-magnet synchronous motor is improved, and designs and is simply easy to Project Realization, application value with higher.
Description
Technical field
The present invention relates to motor control technology field, specifically a kind of permanent magnet synchronous electric based on load torque feedback is motor-driven
The control of state face.
Background technique
Permasyn morot has simple structure, reliable for operation, small in size, light weight, loss small, high-efficient, and
The shape and size of motor can be with equal remarkable advantages versatile and flexible.In recent years, with the progress of permanent magnetic material performance and permanent magnetism
Electric machines control technology it is perfect, permanent magnet synchronous motor is in industrial circle extensive application.But permanent magnet synchronous motor is changeable
Amount, close coupling, non-linear and variable element complex object need to study some reliable to obtain excellent control performance
Control algolithm.It is adjusted currently, the speed control in three-phase permanent AC speed regulating vector control system generallys use traditional PI
Device, algorithm is simple, and high reliablity and parameter tuning are convenient.But when permanent magnet synchronous motor this complication system is by the external world
When disturbing influence or motor inner parameter change, traditional PI control method cannot meet the requirement of control system.In recent years,
The algorithm of various superior performances is introduced into the control system of permanent magnet synchronous motor to solve the above problems, as Predictive function control,
Fuzzy control, Kalman filter control, ANN Control etc..
The high performance control for the speed-regulating system that the proposition of Advanced Control Strategies effectively realizes, but these methods are realized mostly
It is extremely complex, lack versatility, there are many limitations in engineer application.On the other hand for permanent magnet synchronous motor in operational process
It is middle because load change, and make control system performance decline the problem of, have better robustness using torque closed-loop control, but
The direct feedback of load torque would become hard to reach ideal effect.
Summary of the invention
The object of the present invention is to provide one kind for permanent magnet synchronous motor in the process of running because load changes, and make to control
The solution for the problem of system performance declines proposes a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback
Method processed.This method efficiently solves the above problem, and designs simple.
To achieve the above object, present invention employs following technical measures:
Permanent magnet synchronous motor dynamic surface control method based on load torque feedback, comprising the following steps:
Step 1, the mathematical model for establishing permanent magnet synchronous motor define a kind of novel state variable equation.
Step 2 designs a kind of novel dynamic surface sliding mode controller based on novel state variable equation.
Step 3 carries out stability analysis to designed observer.
Step 4 is designed and a kind of is obtained load torque feedback quantity based on the interference observer of exponential convergence.
The utility model has the advantages that
Compared with prior art, the present invention its advantages are embodied in:
The state variable equation for the permanent magnet synchronous motor system that the present invention establishes has the ability of good reply mutation.Both
It solves and load torque is directly fed back into iqThe problem of control ring is to need complicated decoupling module；It is solved again because not drawing
Enter the problem that system robustness is bad caused by load torque is fed back.The control finally established based on novel state variable equation
System design parameters processed are few, and design is simpler, and realization is more easier.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the permanent magnet synchronous motor dynamic surface control analogous diagram based on load torque feedback of the application
Fig. 2 is the No Load Start in revolving speed n=1000r/min, under the conditions of whole undisturbed, linear active disturbance rejection control and
Permanent magnet synchronous motor rotating speed response curve simulation comparison figure under dynamic surface control.
Fig. 3 is in revolving speed n=1000r/min, and No Load Start, torque is upgraded under the conditions of 2Nm when t=0.3s, linearly
Permanent magnet synchronous motor rotating speed response curve simulation comparison figure under Active Disturbance Rejection Control and dynamic surface control.
Fig. 4 is in revolving speed n=1000r/min, and 2Nm torque starting, torque is reduced under the conditions of 0Nm when t=0.3s,
Permanent magnet synchronous motor rotating speed response curve simulation comparison figure under linear active disturbance rejection control and dynamic surface control.
Fig. 5 is the No Load Start in revolving speed n=1000r/min, and torque is upgraded to 10Nm when t=0.2s, and when t=0.3s turns
Square is reduced under the conditions of 0Nm, the permanent magnet synchronous motor rotating speed response curve emulation under linear active disturbance rejection control and dynamic surface control
Comparison diagram.
In figure: ADRC indicates linear active disturbance rejection control.DSC indicates the permanent magnet synchronous motor fed back based on load torque dynamic
Face control.
Specific embodiment
Specific embodiment 1: present embodiment is illustrated referring to Fig.1, based on load torque described in present embodiment
The permanent magnet synchronous motor dynamic surface control method of feedback, the described method comprises the following steps:
Step 1, the mathematical model for establishing permanent magnet synchronous motor define a kind of novel state variable equation.
Step 2 designs a kind of novel dynamic surface sliding mode controller based on novel state variable equation.
Step 3 carries out stability analysis to designed observer.
Step 4 is designed and a kind of is obtained load torque feedback quantity based on the interference observer of exponential convergence.
In present embodiment, the application proposes a kind of permanent magnet synchronous motor dynamic surface control side based on load torque feedback
Method effectively improves permanent magnet synchronous motor control by designing the state variable equation of novel permanent magnet synchronous motor system
System copes with the ability of load sudden change, and keeps system design simple.
Specific embodiment 2: present embodiment is to be fed back forever to described in specific embodiment one based on load torque
The control of magnetic-synchro motor dynamics face is described further, and in present embodiment, step 1 is specifically implemented according to the following steps:
Establish mathematical model of the durface mounted permanent magnet synchronous motor under d-q coordinate system:
In formula: ud、uqIt is the d-q axis component of stator voltage respectively；id、iqIt is the d-q axis component of stator current respectively；LsFor
Stator inductance；R is stator resistance；ψfFor permanent magnet flux linkage；ωmFor the mechanical angular speed of motor；pnFor number of pole-pairs；；TLFor load
Torque；J is rotary inertia；B is damped coefficient.
For durface mounted permanent magnet synchronous motor, using id=0 orientation on rotor flux method can be obtained compared with
Good control effect, this up-to-date style (21) can be changed to following mathematical model；
According to permanent magnet synchronous motor mathematical model shown in formula (22), the state variable of permanent magnet synchronous motor system is defined:
In formula, ωrefFor the reference rotation velocity of motor, ωmFor actual speed.By formula (23) and formula (22) it is found that
Specific embodiment 3: present embodiment is to be fed back forever to described in specific embodiment two based on load torque
The control of magnetic-synchro motor dynamics face is described further, and in present embodiment, step 2 is specifically implemented in accordance with the following methods:
Define location error:
z1=x1-x1d (25)
Wherein, x1dFor command signal, then
Define Lyapunov function
Then
Definition
z2=x2-α1 (28)
Then
It takesBut it is askingWhen will appear differential explosion, therefore sought using low-pass filter.Take α1ForLow-pass filterOutput, definitionAnd meet
It can be obtained by formula (30)Generated filtering error is
In view of position tracking, virtual controlling and filtering error, Lyapunov function is defined
To V derivation, and by z1、z2、y2It substitutes into, obtains after derivation
Designing controller is
Wherein, c2For the normal number greater than zero.
Specific embodiment 4: present embodiment is to be fed back forever to described in specific embodiment three based on load torque
The control of magnetic-synchro motor dynamics face is described further, and in present embodiment, step 3 is specifically implemented in accordance with the following methods:
It proves the stability of dynamic surface sliding mode controller, that is, proves: taking V (0)≤p, p > 0, then all letters of closed-loop system
Number bounded, convergence.
It proves as follows: as V=p,Then at this time
Bounded is denoted as M2, thenThen
Take c1>=1+r, r > 0,Then
Due to V=p at this time, then formula (35) can be written asIn order to guaranteeIt takes
I.e.Formula (35) illustrates to work asWhen, V is also within compacting, i.e., if V (0)≤p,To V (t)≤p.
Specific embodiment 5: present embodiment is to be fed back forever to described in specific embodiment one based on load torque
The control of magnetic-synchro motor dynamics face is described further, in present embodiment, step 4 specifically:
Consider the equation of motion of permanent magnet synchronous motor system:
By load torque TLItem designs interference observer as distracter, then takesWherein K > 0, definition
Auxiliary parameter vector are as follows:
Then
Due toThen
Then interference observer is designed as
Simulating, verifying:
For the impact of performance of control system designed by the verifying present invention, imitated under matlab/simulink environment
True research, the simulation model of control system are as shown in Figure 1.In simulation study, it will compare herein with linear active disturbance rejection method
Compared with.
The permanent magnet synchronous motor parameter of selection are as follows: PN=1.82kW, Rs=1.9 Ω, Ld=Lq=0.00334H, ψf=
0.171Wb, J=1.469 × 10-3kg·m2, np=4.Rated speed: 6000r/min.The parameter of interference observer: K=
10000；The parameter of DSC controller are as follows: τ=0.003, r=1.5, c1=1+r=2.5, c2=0.5+r=2, x1d=0.
1) when revolving speed n=1000r/min, No Load Start, whole undisturbed.Simulation result is as shown in Figure 2.
2) when revolving speed n=1000r/min, No Load Start, torque is upgraded to 2Nm when t=0.3s.Simulation result such as Fig. 3 institute
Show.
3) when revolving speed n=1000r/min, 2Nm torque starting, torque is reduced to 0Nm when t=0.3s.Simulation result is such as
Shown in Fig. 4.
4) revolving speed n=1000r/min, No Load Start, torque is upgraded to 10Nm when t=0.2s, and torque is reduced to when t=0.3s
0N·m.Simulation result is as shown in Figure 5.
As seen from Figure 2 compared with ADRC, DSC control strategy has faster response speed.It can be seen by Fig. 3 and Fig. 4
Increasing load either loaded starting recession either after starting under no load out to unload, DSC control strategy has better performance,
During variable load, DSC control permanent magnet synchronous motor revolving speed it is almost unchanged, and ADRC control permanent magnet synchronous motor have compared with
The big fluctuation of speed.For the performance of more accurate comparison DSC control strategy and ADRC control strategy, increased in experiment 4
Load torque amplitude of variation, as seen from Figure 5, DSC control are controlled compared to ADRC, and in variable load, the fluctuation of speed is by stablizing
The 9.6% of revolving speed falls to 2%, and the time that revolving speed is restored to stable state after disturbing falls to 0.002s by 0.015s.Thus may be used
See, DSC control strategy designed by this paper has more superior performance, has better robustness for load disturbance.
Claims (5)
1. a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback, it is characterised in that: specifically according to following step
It is rapid to implement:
Step 1, the mathematical model for establishing permanent magnet synchronous motor define a kind of novel state variable equation
Step 2 designs a kind of novel dynamic surface sliding mode controller based on novel state variable equation
Step 3 carries out stability analysis to designed observer
Step 4 is designed and a kind of is obtained load torque feedback quantity based on the interference observer of exponential convergence.
2. a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback according to claim 1, feature
Be: the step 1 is specifically implemented according to the following steps:
Step 1.1 establishes mathematical model of the durface mounted permanent magnet synchronous motor under d-q coordinate system:
In formula: ud、uqIt is the d-q axis component of stator voltage respectively；id、iqIt is the d-q axis component of stator current respectively；LsFor stator
Inductance；R is stator resistance；ψfFor permanent magnet flux linkage；ωmFor the mechanical angular speed of motor；pnFor number of pole-pairs；；TLBe negative idling
Square；J is rotary inertia；B is damped coefficient
For durface mounted permanent magnet synchronous motor, using id=0 orientation on rotor flux method can be obtained preferable control
Effect processed, this up-to-date style (1) can be changed to following mathematical model:
Step 1.2, the permanent magnet synchronous motor mathematical model according to shown in formula (2), the state for defining permanent magnet synchronous motor system become
Amount:
In formula, ωrefFor the reference rotation velocity of motor, ωmFor actual speed.By formula (3) and formula (2) it is found that
3. a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback according to claim 2, feature
Be: the step 2 is specifically implemented according to the following steps:
Step 2.1 defines location error:
z1=x1-x1d (5)
Wherein, x1dFor command signal, then
Step 2.2 defines Lyapunov function
Then
Step 2.3, definition
z2=x2-α1 (8)
Then
It takesBut it is askingWhen will appear differential explosion, therefore sought using low-pass filter；Take α1For's
Low-pass filterOutput, definitionAnd meet
It can be obtained by formula (10)Generated filtering error is
Step 2.4 considers position tracking, virtual controlling and filtering error, defines Lyapunov function
To V derivation, and by z1、z2、y2It substitutes into, obtains after derivation
Step 2.5, design controller are
Wherein, c2For the normal number greater than zero.
4. a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback according to claim 3, feature
Be: the step 3 is specific to be implemented in accordance with the following methods:
It proves the stability of dynamic surface sliding mode controller, that is, proves: taking V (0)≤p, p > 0, then all signals of closed-loop system have
Boundary, convergence；
It proves as follows: as V=p,Then at this timeBounded,
It is denoted as M2, thenThen
Take c1>=1+r, r > 0,Then
Due to V=p at this time, then formula (15) can be written asIn order to guaranteeIt takes I.e.Formula (15) illustrates to work asWhen, V is also within compacting, i.e., if V (0)≤p,To V (t)≤p.
5. a kind of permanent magnet synchronous motor dynamic surface control based on load torque feedback according to claim 1, feature
Be: the step 4 is specific to be implemented in accordance with the following methods:
Consider the equation of motion of permanent magnet synchronous motor system:
By load torque TLItem designs interference observer as distracter, then takesWherein K > 0, definition auxiliary
Parameter vector are as follows:
Then
Due toThen
Then interference observer is designed as
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Application publication date: 20190709 |