CN110061676A - A kind of bearing-free permanent magnet synchronous motor controller based on flux observer - Google Patents
A kind of bearing-free permanent magnet synchronous motor controller based on flux observer Download PDFInfo
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- CN110061676A CN110061676A CN201910160397.3A CN201910160397A CN110061676A CN 110061676 A CN110061676 A CN 110061676A CN 201910160397 A CN201910160397 A CN 201910160397A CN 110061676 A CN110061676 A CN 110061676A
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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
- H02P21/0014—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using neural networks
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Control Of Ac Motors In General (AREA)
Abstract
The present invention discloses a kind of bearing-free permanent magnet synchronous motor controller based on flux observer, it controls for bearing-free permanent magnet synchronous motor Direct Torque and direct suspending power, bearing-free permanent magnet synchronous motor torque is directly controlled by torque winding flux observer, Direct Torque Controller, torque winding voltage source inventer；Bearing-free permanent magnet synchronous motor suspending power is directly controlled by levitation force winding flux observer, directly suspension force controller, suspending power appraising model, levitation force winding voltage source inverter, by in the input that the single order of part input signal is delayed as neural network, the novel flux observer of torque winding and levitation force winding is devised using improved BP neural network, more can accurately estimate torque winding magnetic linkage size and phase, torque, suspending windings magnetic linkage size and phase, improve the stability of control system.
Description
Technical field
The invention belongs to the technical field of electric drive control equipment, specifically a kind of control bearing-free permanent magnet synchronous motor
Controller, controlled for bearing-free permanent magnet synchronous motor Direct Torque and direct suspending power.
Background technique
Bearing-free permanent magnet synchronous motor is a kind of high revolving speed, high-precision and non-lubricating new special motor, in space flight
Aviation, chemical industry manufacture, semi-conductor industry and other need to have in the field of particular surroundings and be more and more widely used prospect.Nothing
Directly controlling for bearing permanent magnet synchronous motor has many advantages, such as that dynamic response is fast, robustness is good comprising Direct Torque Control and
Direct suspending power control, suffers from many fields and is widely applied.It directly controls and needs flux linkage calculation, and traditional flux linkage calculation
The precision of method is not high, will affect the effect directly controlled.Therefore the precision for improving flux linkage calculation is synchronous for bearing-free permanent magnet
Motor, which directly controls tool, to have very important significance.
Had many documents to propose the observation method of magnetic linkage at present: the direct method of measurement based on search coil is based on
Electronic voltage flux linkage model method, novel magnetic linkage integration method, least square method supporting vector machine, artificial neural network etc..Directly survey
Amount method is influenced very big by noise jamming and parameter of electric machine error；Voltage model method is realized with the mode of pure integral, can be generated tired
Meter error causes integral result to deviate；Novel magnetic linkage integration method is magnetic linkage on the basis of low-pass first order filter by output
It leads back to do and feed back, establish a kind of pure algorithm integrated between low-pass filtering link, control effect is significant, but low-pass filter
Introducing change the amplitude of magnetic linkage and phase all, when low speed, is even more serious；Least square method supporting vector machine has very
Strong non-linear expression's ability, generalization ability is stronger, but has the disadvantage that the complexity of structure and operand are big, in practical application
Digital processing chip proposes higher requirement, is more time-consuming；Artificial neural network approaches electricity with its outstanding capability of fitting
The flux observation system of machine has very strong learning ability, but common static neural network lacks necessary feedback and moves
State structure, affects dynamic performance.
Summary of the invention
The object of the present invention is to provide a kind of bearing-free permanent magnet synchronous motor controller based on flux observer, this is shaftless
Bearing permanent magnet synchronous electric motor controller observes the magnetic linkage information of torque winding and levitation force winding based on improved BP, leads to
Torque, suspending power needed for control is calculated are crossed, realize the Direct Torque Control of bearing-free permanent magnet synchronous motor and is directly hanged
Buoyancy control improves the working performance that bearing-free permanent magnet synchronous motor directly controls.
The technical scheme adopted by the invention is that: including Direct Torque Controller, directly suspension force controller, torque winding
Voltage source inverter and levitation force winding voltage source inverter, Direct Torque Controller output is switching signal S1a、S1b、S1c,
Direct suspension force controller output is switching signal S2a、S2b、S2c, the output of torque winding voltage source inventer be torque around
Group stator phase currents i1a、i1b、i1c, it is characterized in that: directly suspending power controller output end is separately connected levitation force winding voltage source
Inverter and levitation force winding flux observation, it is same that the output end of levitation force winding voltage source inverter is separately connected bearing-free permanent magnet
The input terminal of motor and levitation force winding flux observation is walked, the input of levitation force winding flux observer is levitation force winding stator
Phase current i2a、i2b、i2cAnd switching signal S2a、S2b、S2c, observe levitation force winding magnetic linkage amplitude ψs2With phase λ, suspending power
The output end of winding flux observation connects the input terminal of direct suspension force controller through suspending power appraising model；Direct Torque Control
The output end of device is separately connected the input terminal of torque winding voltage source inventer and torque winding magnetic observer, torque winding voltage
The output end of source inventer is separately connected the input terminal of bearing-free permanent magnet synchronous motor and torque winding magnetic observer, torque winding
The output end of magnetic observer is separately connected the input terminal of suspending power appraising model and Direct Torque Controller, and torque winding magnetic linkage is seen
That survey device input is torque wound stator phase current i1a、i1b、i1cAnd switching signal S1a、S1b、S1c, observe torque winding magnetic
Chain amplitude ψs1With phase theta, synthesis air gap flux linkage amplitude ψm1With phase μ and torque Te；Suspending power appraising model is according to synthesis gas
Gap magnetic linkage amplitude ψm1With phase μ and levitation force winding magnetic linkage amplitude ψs2Suspending power F is calculated with phase λαAnd Fβ。
Further, torque winding flux observer is by the first Clark conversion module, first voltage computing module, first
BP neural network module, torque winding magnetic linkage amplitude phase observation module and torque observation model, torque wound stator group electric current
i1a、i1b、i1cIt is input to the first Clark conversion module, the current component under two-phase stationary coordinate system is obtained after Clark is converted
i1α、i1β, torque direct current supply voltage U1DCWith switching signal S1a、S1b、S1cIt is input to voltage computing module, by calculating
Obtain the component of voltage u under two-phase stationary coordinate system1α、u1β；Current component i1αWith component of voltage u1αSingle order is carried out respectively to be delayed
To single order delaying currentWith single order delay voltageSingle order delaying currentWith single order delay voltageAnd current component
i1βWith component of voltage u1βCollectively as the input of the first BP neural network module, the output of the first BP neural network module is then
Magnetic linkage component ψ of the torque winding in two-phase stationary coordinate systems1α、ψs1β, the output end of BP neural network module, which is separately connected, to be turned
Square winding magnetic linkage amplitude phase observes module and torque observation model, and the observation module output of torque winding magnetic linkage amplitude phase is
Torque winding magnetic linkage amplitude ψs1, phase theta, torque winding synthesis air gap flux linkage amplitude ψm1With phase μ, torque observation model is defeated
Out be torque Te
Further, levitation force winding flux observer is by the 2nd Clark conversion module, second voltage computing module,
Two BP neural network modules and levitation force winding magnetic linkage amplitude phase observation module composition, the 2nd Clark conversion module and second
The output end of voltage computing module is all connected with the input terminal of the second BP neural network module, the output of the second BP neural network module
The input terminal of end connection levitation force winding magnetic linkage amplitude phase observation module, the input of the 2nd Clark conversion module is suspending power
Wound stator phase current i2a、i2b、i2c, levitation force winding stator phase currents i2a、i2b、i2cTwo-phase is obtained after Clark is converted
Current component i under rest frame2α、i2β, the input of second voltage computing module is levitation force winding direct current power source voltage
U2DCWith switching signal S2a、S2b、S2c, levitation force winding direct current power source voltage U2DCWith switching signal S2a、S2b、S2cBy calculating
Component of voltage u under to two-phase stationary coordinate system2α、u2β, by current component i2αWith component of voltage u2αCarry out what single order was delayed
Single order delaying currentWith single order delay voltageAs the input of the second BP neural network module, the second BP neural network mould
Block output is magnetic linkage component ψ of the levitation force winding magnetic linkage in two-phase stationary coordinate systems2α、ψs2β, the magnetic linkage point of levitation force winding
Measure ψs2α、ψs2βAs the input of levitation force winding magnetic linkage amplitude phase computing module, levitation force winding magnetic linkage amplitude phase is calculated
That module exports is the amplitude ψ of levitation force winding magnetic linkages2With phase λ.
The beneficial effects of the present invention are:
1, the present invention passes through torque winding flux observer, Direct Torque Controller, torque winding voltage source inventer pair
Bearing-free permanent magnet synchronous motor torque is directly controlled；By levitation force winding flux observer, directly suspension force controller,
Suspending power appraising model, levitation force winding voltage source inverter directly control bearing-free permanent magnet synchronous motor suspending power.
The nerve network system that the present invention uses, working principle is simple, and can effectively realize to dynamic, reciprocal motor magnetic linkage system
System approaches fitting, while the neural network can be programmed to obtain by digital control chip, easy to control.
2, nonlinear system under normal conditions, which is approached, using neural network mostly uses Multilayer Feedforward Neural Networks, but this net
Network is unable to the dynamic property of reaction system.The present invention has dynamic to enable neural network preferably to approach dynamical system
Characteristic provides a kind of improved method, by using in the input that the single order of part input signal is delayed as neural network
Improved BP neural network devises the novel flux observer of torque winding and levitation force winding, more can accurately estimate
The magnetic linkage size and phase of the magnetic linkage size and phase of torque winding, torque, suspending windings out, improves the stabilization of control system
Property.
3, flux observation module of the invention improves the robust of flux estimate algorithm instead of traditional flux linkage calculation method
Property, for directly controlling for bearing-free permanent magnet synchronous motor, improve the stability of control system.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the bearing-free permanent magnet synchronous motor controller based on flux observer of the present invention；
Fig. 2 is the structural block diagram of torque winding flux observer 1 in Fig. 1；
Fig. 3 is the structural block diagram of levitation force winding flux observer 2 in Fig. 1；
Fig. 4 is the structure chart of BP neural network module 12 in Fig. 2；
Fig. 5 is the structure chart of BP neural network module 22 in Fig. 3.
In figure: 1. torque winding magnetic observers；2. levitation force winding flux observation；3. Direct Torque Controller；4. directly
Suspension force controller；5. torque winding voltage source inventer；6. suspending power appraising model；7. levitation force winding voltage source inverter
Device；8. photoelectric coded disk；10. the first Clark conversion module；11. first voltage calculates；12. the first BP neural network module；
13. torque winding magnetic linkage amplitude phase observes module；14. torque observation model；20. the 2nd Clark conversion module；21. second
Voltage computing module；22. the second BP neural network module；23. levitation force winding magnetic linkage amplitude phase observes module；31. first
PI controller；32. the 2nd PI controller；33. Reference Stator Flux Linkage generation module；34. the first space vector pulse width modulation module；41.
First PID controller；42. the second PID controller；43. power/magnetic linkage conversion module；44. second space Vector Pulse Width Modulation mould
Block；Z-1Indicate single order delay.
Specific embodiment
Referring to Fig. 1, the present invention is based on the bearing-free permanent magnet synchronous motor controllers of flux observer to be seen by torque winding magnetic
Survey device 1, levitation force winding flux observation 2, Direct Torque Controller 3, direct suspension force controller 4, torque winding voltage source are inverse
Become device 5, suspending power appraising model 6, levitation force winding voltage source inverter 7 to form.
Direct 4 output of suspension force controller is switching signal S2a、S2b、S2c, the output end of direct suspension force controller 4
It is separately connected levitation force winding voltage source inverter 7 and levitation force winding flux observation 2.Levitation force winding voltage source inverter 7
Output is levitation force winding stator phase currents i2a、i2b、i2c, the output end of levitation force winding voltage source inverter 7 is separately connected
The input terminal of bearing-free permanent magnet synchronous motor and levitation force winding flux observation 2.Levitation force winding flux observer 2 input be
Levitation force winding stator phase currents i2a、i2b、i2cAnd switching signal S2a、S2b、S2c, observe levitation force winding magnetic linkage amplitude ψs2
With phase λ.The output end of levitation force winding flux observation 2 connects the defeated of direct suspension force controller 4 through suspending power appraising model 6
Enter end.
That Direct Torque Controller 3 exports is switching signal S1a、S1b、S1c, the output end difference of Direct Torque Controller 3
The input terminal of torque winding voltage source inventer 5 and torque winding magnetic observer 1 is connected, torque winding voltage source inventer 5 is defeated
Out be torque wound stator phase current i1a、i1b、i1c, the output end of torque winding voltage source inventer 5 is separately connected bearing-free
The output end of the input terminal of permanent magnet synchronous motor and torque winding magnetic observer 1, torque winding magnetic observer 1 is separately connected suspension
The input terminal of force evaluating model 6 and Direct Torque Controller 3.What torque winding flux observer 1 inputted is torque wound stator
Phase current i1a、i1b、i1cAnd switching signal S1a、S1b、S1c, observe torque winding magnetic linkage amplitude ψs1With phase theta, synthesis air gap
Magnetic linkage amplitude ψm1With phase μ and torque Te。
Suspending power appraising model 6 is according to synthesis air gap flux linkage amplitude ψm1With phase μ and levitation force winding magnetic linkage amplitude ψs2
Suspending power F is calculated online with phase λαAnd Fβ。
The switching signal driving inverter that Direct Torque Controller 3 generates directly controls torque winding magnetic linkage and torque
System.Direct Torque Controller 3 is by the first PI controller 31, the 2nd PI controller 32, Reference Stator Flux Linkage generation module 33, the first space
Vector Pulse Width Modulation module 34 is sequentially connected in series composition.The output of first space vector pulse width modulation module 34 is switching signal S1a、
S1b、S1c, the output end of the first space vector pulse width modulation module 34 is separately connected torque winding voltage source inventer 5 and torque
The input terminal of winding magnetic observer 1.Torque winding voltage source inventer 5 export be bearing-free permanent magnet synchronous motor torque around
Group stator phase currents i1a、i1b、i1c。
The real-time rotational speed omega that motor is detected by photoelectric coded disk 8, by real-time rotational speed omega and rotational speed command value ω*Make ratio
Compared with the difference compared generates torque instruction value T after the modulation of the first PI controller 31e *, by torque instruction value Te *With torque winding
The torque T that flux observer 1 observeseIt makes comparisons, the difference compared generates torque winding after the modulation of the 2nd PI controller 32
Magnetic linkage phase increases angle Δ δ, and torque winding magnetic linkage phase is increased angle Δ δ and torque winding magnetic linkage amplitude instruction valueAnd torque
The torque winding magnetic linkage amplitude ψ that winding flux observer 1 observess1Input with phase theta as Reference Stator Flux Linkage generation module 33,
Reference Stator Flux Linkage generation module 33 generates voltage instruction value uαAnd uβ, voltage instruction value uαAnd uβAs the first space vector pulse width tune
The input of molding block 34 generates 5 switching signal of voltage source inverter after the modulation of the first space vector pulse width modulation module 34, i.e.,
Three-phase duty ratio realizes bearing-free permanent magnet synchronous motor Direct Torque Control with driving voltage source inventer 5.
Direct suspension force controller 4 is by the first PID controller 41, the second PID controller 42, power/magnetic linkage conversion module 43
It is formed with second space Vector Pulse Width Modulation module 44, the output end connection of the first PID controller 41, the second PID controller 42
Power/magnetic linkage conversion module 43 input terminal, power/magnetic linkage conversion module 43 are concatenated with second space Vector Pulse Width Modulation module 44,
The output end of second space Vector Pulse Width Modulation module 44 is separately connected levitation force winding voltage source inverter 7 and levitation force winding
Flux observation 2, that second space Vector Pulse Width Modulation module 44 exports is switching signal S2a、S2b、S2c.Levitation force winding voltage
That source inventer 7 exports is the levitation force winding stator phase currents i of bearing-free permanent magnet synchronous motor2a、i2b、i2c。
Rotor radial the shift value x and y that bearing-free permanent magnet synchronous motor is obtained by radial displacement transducer, by rotor radial
Shift value x and y respectively with rotor-position instruction value x*And y*It makes comparisons, obtained difference is respectively through corresponding first PID controller
41 and second PID controller 42 modulate after generate suspending power instruction valueWithBy suspending power instruction valueWithRespectively with
The suspending power F that suspending power appraising model 6 exportsαAnd FβMake comparisons, the difference compared generates outstanding through power/magnetic linkage conversion module 43
Buoyancy winding magnetic linkage increment △ ψs2α、△ψs2β, levitation force winding magnetic linkage increment △ ψs2α、△ψs2βAgain through space vector pulse width modulation
Module 44 obtains switching signal S after modulating2a、S2b、S2c, driving voltage source inventer 7 realize bearing-free permanent magnet synchronous motor it is direct
Suspending power control.
Mathematical model of the bearing-free permanent magnet synchronous motor magnetic linkage under two-phase stationary coordinate system is:
In formula, ψs1α、ψs1βIt is magnetic linkage component of the torque winding in two-phase stationary coordinate system；ψs2α、ψs2βSuspending power around
Magnetic linkage component of the group in two-phase stationary coordinate system；u1α、u1βIt is component of voltage of the torque winding in two-phase stationary coordinate system；
i1α, i1βIt is current component of the torque winding in two-phase stationary coordinate system；u2α, u2βLevitation force winding is in two-phase stationary coordinate system
On component of voltage；i2α, i2βIt is current component of the levitation force winding in two-phase stationary coordinate system；Rs is motor stator resistance.
Referring to fig. 2, torque winding flux observer 1 by the first Clark conversion module 10, first voltage computing module 11,
First BP neural network module 12, torque winding magnetic linkage amplitude phase observation module 13, torque observation model 14 form.Torque around
The group input of flux observer 1 is torque wound stator group electric current i1a、i1b、i1c, torque direct current supply voltage U1DCAnd switch
Signal S1a、S1b、S1c, export as torque winding magnetic linkage amplitude ψs1, phase theta, torque winding synthesis air gap flux linkage amplitude ψm1, phase
Position μ, torque Te。
Torque wound stator group electric current i1a、i1b、i1cIt is input to the first Clark conversion module 10, after Clark is converted
Current component i under to two-phase stationary coordinate system1α、i1β.Torque direct current supply voltage U1DCWith switching signal S1a、S1b、S1c
It is input to first voltage computing module 11, by the component of voltage u being calculated under two-phase stationary coordinate system1α、u1β.It calculates public
Formula difference is as follows:
The output end of first Clark conversion module 10 and first voltage computing module 11 is all connected with the first BP neural network mould
The input terminal of block 12.The current component i that will be obtained1αWith component of voltage u1αSingle order delay Z is carried out respectively-1, respectively obtain single order and prolong
When electric currentWith single order delay voltageSingle order delaying currentWith single order delay voltageAnd current component i1βAnd voltage
Component u1βCollectively as the input of the first BP neural network module 12, the output of the first BP neural network module 12 be then torque around
Magnetic linkage component ψ of the group in two-phase stationary coordinate systems1α、ψs1β.The output end of first BP neural network module 12, which is separately connected, to be turned
Square winding magnetic linkage amplitude phase observes module 13 and torque observation model 14, and it is defeated that torque winding magnetic linkage amplitude phase observes module 13
Out be torque winding magnetic linkage amplitude ψs1, phase theta, torque winding synthesis air gap flux linkage amplitude ψm1With phase μ, torque observation
That model 14 exports is torque Te。
Torque winding magnetic linkage amplitude phase observes module 13 and obtains the amplitude ψ of torque winding magnetic linkage by following formulas1And phase
θ, the amplitude ψ for synthesizing magnetic linkagem1With phase μ:
In formula, i1α, i1βIt is current component of the torque winding in two-phase stationary coordinate system；ψs1, θ be torque winding magnetic linkage
Amplitude and phase；L1lIt is stator torque winding leakage inductance；ψs1α、ψs1βIt is magnetic linkage of the torque winding under two-phase stationary coordinate system point
Amount；ψm1α、ψm1βIt is torque around being combined into magnetic linkage component of the magnetic linkage under two-phase stationary coordinate system；ψm1, μ be torque around being combined into magnetic
The amplitude and phase of chain.
Torque observation model 14 obtains torque T by following formulae:
Te=1.5pn(ψs1αi1β-ψs1βi1α),
In formula, pnIt is the number of pole-pairs of torque winding；ψs1α、ψs1βIt is magnetic linkage of the torque winding under two-phase stationary coordinate system point
Amount；i1α, i1βIt is current component of the torque winding in two-phase stationary coordinate system.
Referring to Fig. 1 and 3, levitation force winding flux observer 2 calculates mould by the 2nd Clark conversion module 20, second voltage
Block 21, the second BP neural network module 22 and levitation force winding magnetic linkage amplitude phase observation module 23 form.2nd Clark transformation
The output end of module 20 and second voltage computing module 21 is all connected with the input terminal of the second BP neural network module 22, the 2nd BP mind
The input terminal of output end connection levitation force winding magnetic linkage amplitude phase observation module 23 through network module 22.
The output end of levitation force winding voltage source inverter 7 connects the 2nd Clark conversion module 20, the 2nd Clark transformation
The input of module 20 is levitation force winding stator phase currents i2a、i2b、i2c, levitation force winding stator phase currents i2a、i2b、i2cBy
The current component i under two-phase stationary coordinate system is obtained after Clark transformation2α、i2β.The input of second voltage computing module 21 is outstanding
Buoyancy direct current supply voltage U2DCWith switching signal S2a、S2b、S2c, levitation force winding direct current power source voltage U2DCBelieve with switch
Number S2a、S2b、S2cBy the component of voltage u being calculated under two-phase stationary coordinate system2α、u2β.Calculation formula difference is as follows:
The current component i that will be obtained2αWith component of voltage u2αCarry out single order delay Z-1, obtained single order delaying currentWith
Single order delay voltageMake the input of the second BP neural network module 22, the output of the second BP neural network module 22 is suspending power
Magnetic linkage component ψ of the winding magnetic linkage in two-phase stationary coordinate systems2α、ψs2β.The magnetic linkage component ψ of levitation force windings2α、ψs2βAs outstanding
The input of buoyancy winding magnetic linkage amplitude phase computing module 23, the output of levitation force winding magnetic linkage amplitude phase computing module 23 are
The amplitude ψ of levitation force winding magnetic linkages2With phase λ.Wherein levitation force winding magnetic linkage amplitude phase computing module 23 is obtained by following formula
It is exported:
In formula, ψs2, λ be levitation force winding magnetic linkage amplitude and phase, ψs2α、ψs2βIt is levitation force winding in the static seat of two-phase
Magnetic linkage component under mark system.
The training sample of the first BP neural network module 12 in the present invention is same by the bearing-free permanent magnet based on MATLAB
The Direct Torque and direct suspending power analogue system for walking motor obtain.In order to weaken the influence of stator resistance, stator resistance R is alloweds
It changes over time, simulates actual operating condition.The torque winding voltage u for the simulation model that stator resistance changes over time is worked as in acquisition1α,
u1βWith electric current i1α, i1βAnd electric current i1αWith voltage signal u1αSingle order be delayed to obtainWithAnd magnetic linkage sample is then by passing
Flux Observation Model of uniting obtains, and thus obtains the training sample of neural networkThen
Training sample is normalized, it will treated i1α, i1β, u1α, u1β,As the input of BP neural network,
ψs1α、ψs1βTarget as neural network exports, and carries out training under line to neural network parameter, is passing through hundred times or so rounds
After training, for BP neural network to the error of fitting of data less than 0.001, last first generates BP neural network module 12.This
The neural network used is invented as three layers of BP neural network of 6 input, 2 output, structure is as shown in Figure 4.It similarly, can be to suspending power
Neural network module in winding flux observation is trained, and generates the second BP neural network module 22, structure is as shown in Figure 5.
Claims (6)
1. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer, including Direct Torque Controller (3), directly
Suspension force controller (4), torque winding voltage source inventer (5) and levitation force winding voltage source inverter (7), Direct torque
Device (3) output processed is switching signal S1a、S1b、S1c, directly that suspension force controller (4) output is switching signal S2a、S2b、
S2c, torque winding voltage source inventer (5) output is torque wound stator phase current i1a、i1b、i1c, it is characterized in that: directly outstanding
Buoyancy control device (4) output end is separately connected levitation force winding voltage source inverter (7) and levitation force winding flux observation (2),
The output end of levitation force winding voltage source inverter (7) is separately connected bearing-free permanent magnet synchronous motor and levitation force winding magnetic linkage is seen
The input terminal of (2) is surveyed, levitation force winding flux observer (2) input is levitation force winding stator phase currents i2a、i2b、i2cWith
And switching signal S2a、S2b、S2c, observe levitation force winding magnetic linkage amplitude ψs2With phase λ, levitation force winding flux observation (2)
Output end connects the input terminal of direct suspension force controller (4) through suspending power appraising model (6)；Direct Torque Controller (3)
Output end is separately connected the input terminal of torque winding voltage source inventer (5) and torque winding magnetic observer (1), torque winding electricity
The output end of potential source inverter (5) is separately connected the input terminal of bearing-free permanent magnet synchronous motor and torque winding magnetic observer (1),
The output end of torque winding magnetic observer (1) is separately connected the input of suspending power appraising model (6) and Direct Torque Controller 3
End, torque winding flux observer (1) input is torque wound stator phase current i1a、i1b、i1cAnd switching signal S1a、
S1b、S1c, observe torque winding magnetic linkage amplitude ψs1With phase theta, synthesis air gap flux linkage amplitude ψm1With phase μ and torque Te；It is outstanding
Buoyancy appraising model (6) is according to synthesis air gap flux linkage amplitude ψm1With phase μ and levitation force winding magnetic linkage amplitude ψs2With phase λ
Calculate suspending power FαAnd Fβ。
2. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer according to claim 1, feature
Be: torque winding flux observer (1) is by the first Clark conversion module (10), first voltage computing module (11), the first BP mind
Through network module (12), torque winding magnetic linkage amplitude phase observation module (13) and torque observation model (14), torque winding is fixed
Subgroup electric current i1a、i1b、i1cIt is input to the first Clark conversion module (10), obtains two-phase stationary coordinate system after Clark is converted
Under current component i1α、i1β, torque direct current supply voltage U1DCWith switching signal S1a、S1b、S1cIt is input to voltage and calculates mould
Block (11), by the component of voltage u being calculated under two-phase stationary coordinate system1α、u1β；Current component i1αWith component of voltage u1αPoint
Not carry out single order be delayed to obtain single order delaying currentWith single order delay voltageSingle order delaying currentWith single order delay voltageAnd current component i1βWith component of voltage u1βCollectively as the input of the first BP neural network module (12), the first BP nerve
The output of network module (12) is then magnetic linkage component ψ of the torque winding in two-phase stationary coordinate systems1α、ψs1β, BP neural network mould
The output end of block (12) is separately connected torque winding magnetic linkage amplitude phase observation module (13) and torque observation model (14), torque
That winding magnetic linkage amplitude phase observes module (13) output is torque winding magnetic linkage amplitude ψs1, phase theta, torque winding synthesize air gap
The amplitude ψ of magnetic linkagem1With phase μ, torque observation model (14) output is torque Te。
3. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer according to claim 2, feature
It is:
Torque winding magnetic linkage amplitude phase observes module (13) and obtains the amplitude ψ of torque winding magnetic linkage by following formulas1With phase theta, synthesis
The amplitude ψ of magnetic linkagem1With phase μ:
L1lIt is stator torque winding leakage inductance；ψs1α、ψs1βIt is magnetic linkage component of the torque winding under two-phase stationary coordinate system；ψm1α、
ψm1βIt is torque around being combined into magnetic linkage component of the magnetic linkage under two-phase stationary coordinate system；
Torque observation model (14) passes through formula Te=1.5pn(ψs1αi1β-ψs1βi1α) obtain torque Te, pnIt is the extremely right of torque winding
Number.
4. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer according to claim 1, feature
Be: levitation force winding flux observer (2) is by the 2nd Clark conversion module (20), second voltage computing module (21), the 2nd BP
Neural network module (22) and levitation force winding magnetic linkage amplitude phase observation module (23) composition, the 2nd Clark conversion module
(20) and the output end of second voltage computing module (21) is all connected with the input terminal of the second BP neural network module 22, the 2nd BP mind
The input terminal of output end connection levitation force winding magnetic linkage amplitude phase observation module (23) through network module (22), second
The input of Clark conversion module (20) is levitation force winding stator phase currents i2a、i2b、i2c, levitation force winding stator phase currents
i2a、i2b、i2cThe current component i under two-phase stationary coordinate system is obtained after Clark is converted2α、i2β, second voltage computing module
(21) input is levitation force winding direct current power source voltage U2DCWith switching signal S2a、S2b、S2c, levitation force winding DC power supply electricity
Press U2DCWith switching signal S2a、S2b、S2cBy the component of voltage u being calculated under two-phase stationary coordinate system2α、u2β, by electric current point
Measure i2αWith component of voltage u2αCarry out the single order delaying current that single order is delayedWith single order delay voltageAs the 2nd BP mind
Input through network module (22), the output of the second BP neural network module (22) are levitation force winding magnetic linkage in two-phase static coordinate
The magnetic linkage component ψ fasteneds2α、ψs2β, the magnetic linkage component ψ of levitation force windings2α、ψs2βAs levitation force winding magnetic linkage amplitude phase meter
The input of module (23) is calculated, what levitation force winding magnetic linkage amplitude phase computing module (23) exported is the width of levitation force winding magnetic linkage
Value ψs2With phase λ.
5. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer according to claim 4, feature
It is: current component i2α、i2βWith component of voltage u2α、u2βBy formulaAnd formulaIt obtains；Levitation force winding magnetic linkage amplitude phase computing module (23) is by formulaObtain the amplitude ψ of levitation force winding magnetic linkages2With phase λ.
6. a kind of bearing-free permanent magnet synchronous motor controller based on flux observer according to claim 2 or 4, special
Sign is: neural network is three layers of BP neural network of 6 input, 2 output.
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Effective date of registration: 20221109 Address after: No. 10, Small and Medium Enterprises Park, Yinian West Road, Rucheng Street, Rugao City, Nantong City, Jiangsu Province 226500 Patentee after: Jiangsu Daye Environment Co.,Ltd. Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301 Patentee before: JIANGSU University |