CN110212834A - A kind of permanent magnet synchronous motor vector control method, apparatus and system - Google Patents
A kind of permanent magnet synchronous motor vector control method, apparatus and system Download PDFInfo
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- CN110212834A CN110212834A CN201910522186.XA CN201910522186A CN110212834A CN 110212834 A CN110212834 A CN 110212834A CN 201910522186 A CN201910522186 A CN 201910522186A CN 110212834 A CN110212834 A CN 110212834A
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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
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a kind of permanent magnet synchronous motor vector control methods, apparatus and system, method includes: the current internal resistance according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnet synchronous motor, by integral switching function sliding mode observer, the current counter electromotive force of permanent magnet synchronous motor is determined；By the current counter electromotive force of permanent magnet synchronous motor, the current location information of rotor in permanent magnet synchronous motor is determined；Based on the current location information of rotor in permanent magnet synchronous motor, vector controlled is carried out to permanent magnet synchronous motor.Permanent magnet synchronous motor vector control method provided by the invention is realized simply, and does not need to avoid the problems such as reducing using the increase of system cost brought by sensor, motor volume increase, system reliability using position sensor.
Description
Technical field
The present invention relates to power electronics control field technical field more particularly to a kind of permanent magnet synchronous motor vector controlled sides
Method, apparatus and system.
Background technique
Permanent magnet synchronous motor (Permanent magnetic synchronous machine, PMSM) is encouraged by permanent magnet
The synchronous motor in magnetic generation synchronous rotary magnetic field.Permanent magnet synchronous motor because of its high efficiency, that torque ripple is small, dynamic response is fast etc. is all
More advantages are all widely used from civilian control field to national defence control field.Due to the structure of permanent magnet synchronous motor
The method of vector controlled is widely used in feature in its control.
Currently, permanent magnet synchronous motor vector control method is mostly sensor-based vector control method, that is, same in permanent magnetism
In the control for walking motor, obtained using position sensor (for example, photoelectric encoder, rotary transformer, RVDT, potentiometer etc.)
The location information of rotor is in permanent magnet synchronous motor to carry out vector controlled.However, sensor-based vector control method is because of position
The addition for setting sensor will increase the cost of vector control system, increase the volume of motor, reduce the environment of vector control system
Adaptability and reliability.
Summary of the invention
In view of this, the present invention provides a kind of permanent magnet synchronous motor vector control methods, apparatus and system, to solve
Sensor-based vector control method causes the cost of vector control system to increase because of the addition of position sensor in the prior art
Add, the volume of motor increases, and the problem of the environmental suitability of vector control system and reliability reduction, technical solution is such as
Under:
A kind of permanent magnet synchronous motor vector control method, comprising:
According to the current of the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnet synchronous motor
Internal resistance determines the current counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer；
By the current counter electromotive force of the permanent magnet synchronous motor, the present bit confidence of rotor in permanent magnet synchronous motor is determined
Breath；
Based on the current location information of rotor in the permanent magnet synchronous motor, vector control is carried out to the permanent magnet synchronous motor
System.
Preferably, the current internal resistance of the permanent magnet synchronous motor is based on the determination of upper a cycle, permanent magnet synchronous motor
Counter electromotive force determines；
The method also includes:
According to the current phase current of stator in the permanent magnet synchronous motor and current phase voltage and the permanent magnet synchronous electric
The current counter electromotive force of machine determines the current internal resistance of permanent magnet synchronous motor, as next week by auto-adaptive fir filter
Phase determines the foundation of the counter electromotive force of permanent magnet synchronous motor.
Preferably, the permanent magnet synchronous motor vector control method further include:
According to the current location information of rotor in the permanent magnet synchronous motor, the current of rotor in permanent magnet synchronous motor is determined
Tachometer value；
According to the current rotating speed value of rotor in the permanent magnet synchronous motor, the current reference amount of permanent magnet synchronous motor is determined；
Pulse is generated according to the currently practical electric current of the current reference amount of the permanent magnet synchronous motor and permanent magnet synchronous motor
Bandwidth modulation signals, wherein the pulse width modulating signal is used to generate the driving signal of the permanent magnet synchronous motor.
Preferably, the current location information according to rotor in the permanent magnet synchronous motor, determines permanent magnet synchronous motor
The current rotating speed value of middle rotor, comprising:
It is determined according to the current location information of rotor in the permanent magnet synchronous motor using second order synovial membrane super-twisting algorithm
The current rotating speed value of rotor in the permanent magnet synchronous motor.
Preferably, the current rotating speed value according to rotor in the permanent magnet synchronous motor, determines permanent magnet synchronous motor
Current reference amount, comprising:
By the current rotating speed value and setting speed value of rotor in the permanent magnet synchronous motor, permanent magnet synchronous motor is determined
Quadrature axis current reference value；
It is described to be generated according to the current reference amount of the permanent magnet synchronous motor and the currently practical electric current of permanent magnet synchronous motor
Pulse width modulating signal, comprising:
By the quadrature axis current reference value and quadrature axis actual current value of the permanent magnet synchronous motor, permanent magnet synchronous motor is determined
Quadrature axis control amount；
By the d-axis setting electric current value and d-axis actual current value of the permanent magnet synchronous motor, permanent magnet synchronous motor is determined
D-axis control amount；
It is determined forever by the quadrature axis control amount of the permanent magnet synchronous motor and the d-axis control amount of the permanent magnet synchronous motor
The final control amount of magnetic-synchro motor；
According to the final control amount of the permanent magnet synchronous motor, the pulse width modulating signal is generated.
A kind of permanent magnet synchronous motor vector control apparatus, comprising: integral switching function sliding mode observer, rotor-position determine
Module and vector control module；
The integral switching function sliding mode observer, for according to the current phase current of stator in permanent magnet synchronous motor and working as
The current internal resistance of preceding phase voltage and permanent magnet synchronous motor determines the current counter electromotive force of permanent magnet synchronous motor；
The rotor-position determining module, for permanent magnet synchronous motor determined by the sliding mode observer, described
Current counter electromotive force, determine the current location information of rotor in permanent magnet synchronous motor；
The vector control module, for permanent magnet synchronous electric determined based on the rotor-position determining module, described
The current location information of rotor in machine carries out vector controlled to the permanent magnet synchronous motor.
Preferably, the permanent magnet synchronous motor vector control apparatus further include: auto-adaptive fir filter；
The current internal resistance of the permanent magnet synchronous motor is based on upper a cycle described in by the auto-adaptive fir filter
Counter electromotive force that integral switching function sliding mode observer determines, permanent magnet synchronous motor determines；
The auto-adaptive fir filter, for the current phase current by stator in the permanent magnet synchronous motor and currently
The current counter electromotive force for the permanent magnet synchronous motor that phase voltage and the integral switching function sliding mode observer determine, really
The current internal resistance for determining permanent magnet synchronous motor determines counter electromotive force as the integral switching function sliding mode observer next cycle
Foundation.
Preferably, the permanent magnet synchronous motor vector control apparatus further include: differentiator, speed control, current control
Device, motor control amount determining module and space vector pulse width controller；
The differentiator utilizes second order synovial membrane for the current location information according to rotor in the permanent magnet synchronous motor
Super-twisting algorithm determines the current rotating speed value of rotor in permanent magnet synchronous motor；
The speed control, for the current rotating speed value and setting speed by rotor in the permanent magnet synchronous motor
Value, determines the quadrature axis current reference value of permanent magnet synchronous motor；
The current controller, for the quadrature axis current reference value and quadrature axis actual current by the permanent magnet synchronous motor
Value, determines the quadrature axis control amount of the permanent magnet synchronous motor, real by the d-axis setting electric current value and d-axis of permanent magnet synchronous motor
Border current value determines the d-axis control amount of permanent magnet synchronous motor；
The motor control amount determining module, for by the permanent magnet synchronous motor quadrature axis control amount and the permanent magnetism
The d-axis control amount of synchronous motor determines the final control amount of permanent magnet synchronous motor；
The space vector pulse width controller generates pulse for the final control amount according to the permanent magnet synchronous motor
Bandwidth modulation signals, wherein the pulse width modulating signal is used to generate the driving signal of the permanent magnet synchronous motor.
A kind of permanent magnet synchronous motor vector control system, comprising: current sensor, voltage sensor and controller；
The current sensor, for acquiring the current phase current of stator in the permanent magnet synchronous motor；
The voltage sensor, for acquiring the current phase voltage of stator in the permanent magnet synchronous motor；
The controller, for according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnetism
The current internal resistance of synchronous motor determines the current counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer,
By the current counter electromotive force of the permanent magnet synchronous motor, determines the current location information of rotor in permanent magnet synchronous motor, be based on
The current location information of rotor in the permanent magnet synchronous motor carries out vector controlled to the permanent magnet synchronous motor.
Preferably, the current internal resistance of the permanent magnet synchronous motor is based on the determination of upper a cycle, permanent magnet synchronous motor
Counter electromotive force determines；
The controller is also used to current phase current and current phase voltage according to stator in the permanent magnet synchronous motor,
And the current counter electromotive force of the permanent magnet synchronous motor determines the current of permanent magnet synchronous motor by auto-adaptive fir filter
Internal resistance determines the foundation of the counter electromotive force of permanent magnet synchronous motor as next cycle.
It, can root via above scheme it is found that permanent magnet synchronous motor vector control method provided by the invention, apparatus and system
According to the current internal resistance of the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnet synchronous motor, pass through product
Divide switching function sliding mode observer, determine the current counter electromotive force of permanent magnet synchronous motor, then working as by permanent magnet synchronous motor
Preceding counter electromotive force determines the current location information of rotor in permanent magnet synchronous motor, and then is worked as based on rotor in permanent magnet synchronous motor
Front position information carries out vector controlled to permanent magnet synchronous motor, it can be seen that, permanent magnet synchronous motor vector control provided by the invention
Method processed, which does not need position sensor, can be realized the vector controlled process of permanent magnet synchronous motor, that is, avoid vector controlled process
Vector control system increased costs caused by the middle use because of position sensor, motor volume increase, the ring of vector control system
The problem of border adaptability and reliability reduce, also, permanent magnet synchronous motor vector control method provided in an embodiment of the present invention is real
It is now simple.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a flow diagram of permanent magnet synchronous motor vector control method provided in an embodiment of the present invention；
Fig. 2 is the process signal of a specific example of permanent magnet synchronous motor vector control method provided in an embodiment of the present invention
Figure；
Fig. 3 is a structural schematic diagram of permanent magnet synchronous motor vector control apparatus provided in an embodiment of the present invention；
Fig. 4 is the structural representation of a specific example of permanent magnet synchronous motor vector control apparatus provided in an embodiment of the present invention
Figure；
Fig. 5 is the structural schematic diagram of permanent magnet synchronous motor vector control system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Inventor has found during realizing this case: permanent magnet synchronous motor vector control method in the prior art exists
The problem of be all as caused by position sensor, if it is possible to position sensor is removed, that is, provide one kind based on no sensor
The permanent magnet synchronous motor vector control method of technology, then position sensor will be readily solved the problem of causing.
In view of this, inventor is studied, find in the course of the research:
The permanent magnet synchronous motor vector control method based on sensorless technology, existing vector control exists in the prior art
There are mainly two types of methods processed: first, the vector control method based on high frequency electrocardiography, this method is used is imitated based on motor salient pole
The position of rotor in the high frequency electrocardiography technology detection permanent magnet synchronous motor answered, to carry out vector controlled；Second, being based on fundamental wave
The vector control method of excitation, dynamic mathematical models of this method based on permanent magnet synchronous motor, is obtained using single order sliding mode observer
The counter electromotive force of permanent magnet synchronous motor is taken, and then rotor in permanent magnet synchronous motor is determined by the counter electromotive force of permanent magnet synchronous motor
Location information, to carry out vector controlled.
Inventor carries out analysis to the above two vector controlled based on sensorless technology and finds:
Vector control method based on high frequency electrocardiography needs to introduce high-frequency signal, and the high-frequency signal introduced is easy
The stability of vector control system is impacted, also, this method is unrelated with the revolving speed of rotor, the detection accuracy of signal is wanted
It asks higher, and needs multiple traffic filters, realize that process is more complicated；Vector control method based on basic waves exciting needs
Single order sliding mode observer is used, and there is buffeting in single order sliding mode observer, this causes to distinguish by single order sliding mode observer
It is very big to know the back emf curve fluctuation come out, can not directly apply, it is necessary to it could be used by low-pass filter, and low pass
The addition of filter can bring the problem of phase lag signal, although can reduce lag after phase compensation, can make identification system
System becomes complicated, also, this method does not account for motor internal resistance and changes influence to identification system because of factors such as temperature rises, can make
It is unstable at Identification Errors and system.In addition, the vector control method based on high frequency electrocardiography is suitable for the low speed of motor
Stage, the vector control method based on basic waves exciting are suitable for the high speed stage of motor, and the two usually requires to be used in combination, altogether
With the full speed control for realizing permanent magnet synchronous motor.
In view of existing vector control method there are the above problem, inventor is had made intensive studies, final to propose
A kind of preferable permanent magnet synchronous motor vector control method of effect, this method are applied to swear permanent magnet synchronous motor
The application scenarios of control are measured, this method is not necessarily to position sensor, realizes simple.The present invention is mentioned followed by following embodiments
The permanent magnet synchronous motor vector control method of confession is introduced.
Referring to Fig. 1, showing the process signal of permanent magnet synchronous motor vector control method provided in an embodiment of the present invention
Figure, this method may include:
Step S101: according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnet synchronous electric
The current internal resistance of machine determines the current counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer.
In the present embodiment, in the startup stage of permanent magnet synchronous motor, open loop control mode can be used, control permanent magnetism is same
Motor quick start is walked, when the revolving speed of permanent magnet synchronous motor reaches preset rotation speed, using close-loop control mode, basis is obtained at this time
The current phase current of stator and the current internal resistance of current phase voltage and permanent magnet synchronous motor in the permanent magnet synchronous motor obtained, pass through
Integral switching function sliding mode observer determines the current counter electromotive force of permanent magnet synchronous motor.
Wherein, the current phase current of stator can be obtained by current sensor in permanent magnet synchronous motor, permanent magnet synchronous motor
The current phase voltage of middle stator can be obtained by voltage sensor, and the current internal resistance of permanent magnet synchronous motor is based on integral switching function
A cycle determination, permanent magnet synchronous motor counter electromotive force determines on sliding mode observer.
In view of the internal resistance of permanent magnet synchronous motor is because of the shadow by certain factors (for example the temperature of permanent magnet synchronous motor increases)
Sound can change, in order to avoid the influence that the internal resistance variation of permanent magnet synchronous motor determines counter electromotive force, the embodiment of the present invention
Permanent magnet synchronous motor is determined based on the current internal resistance (i.e. permanent magnet synchronous motor currently accurate internal resistance value) of permanent magnet synchronous motor
Current counter electromotive force.
Step S102: by the current counter electromotive force of permanent magnet synchronous motor, the current of rotor in permanent magnet synchronous motor is determined
Location information.
In the present embodiment, the current counter electromotive force of permanent magnet synchronous motor include α axis counter electromotive force and β axis it is anti-electronic
The counter electromotive force of gesture, counter electromotive force and β axis based on α axis can calculate the current location information of rotor in permanent magnet synchronous motor.
Preferably, after determining the current counter electromotive force of permanent magnet synchronous motor, according to stator in permanent magnet synchronous motor
The current counter electromotive force of current phase current and current phase voltage and permanent magnet synchronous motor, by auto-adaptive fir filter, really
The current internal resistance for determining permanent magnet synchronous motor, the foundation of counter electromotive force is determined as next cycle.It should be noted that permanent magnetism is same
The counter electromotive force for walking motor determines that the internal resistance of permanent magnet synchronous motor is based on permanent magnet synchronous motor based on the internal resistance of permanent magnet synchronous motor
Counter electromotive force determine that two-way interaction influences each other, belong to the relationship of cascade feed back.
Step S103: the current location information based on rotor in permanent magnet synchronous motor carries out vector to permanent magnet synchronous motor
Control.
Specifically, being converted using the current location information of rotor in permanent magnet synchronous motor as Clarke, Park is converted and anti-
The reference value of Park transformation, to realize the vector controlled of permanent magnet synchronous motor.
Permanent magnet synchronous motor vector control method provided in an embodiment of the present invention, can be according to stator in permanent magnet synchronous motor
The current internal resistance of current phase current and current phase voltage and permanent magnet synchronous motor determines the current anti-electronic of permanent magnet synchronous motor
Then gesture passes through the current counter electromotive force of permanent magnet synchronous motor, determines the current location information of rotor in permanent magnet synchronous motor, into
And the current location information based on rotor in permanent magnet synchronous motor, vector controlled is carried out to permanent magnet synchronous motor.It can be seen that this
The permanent magnet synchronous motor vector control method that inventive embodiments provide does not need position sensor and permanent magnet synchronous motor can be realized
Vector controlled process, that is, avoid during vector controlled because the use of position sensor causes vector control system cost to increase
Add, the problem of motor volume increases, and the environmental suitability and reliability of vector control system reduce, also, the embodiment of the present invention
The permanent magnet synchronous motor vector control method of offer is realized simple.
In addition, permanent magnet synchronous motor vector control method provided in an embodiment of the present invention, passes through integral switching function sliding formwork
Observer recognizes the counter electromotive force of permanent magnet synchronous motor, avoids the buffeting problem of conventional first order sliding mode observer, without introducing
Low-pass filter is avoided simultaneously because of the problems such as low-pass filter bring delayed phase is added, and filtered by automatic adaptation FIR
The current practical internal resistance of the permanent magnet synchronous motor that wave device picks out recognizes permanent magnetism based on the current practical internal resistance of permanent magnet synchronous motor
The current counter electromotive force of synchronous motor, the internal resistance for avoiding permanent magnet synchronous motor change the influence recognized to counter electromotive force.
Referring to Fig. 2, show permanent magnet synchronous motor vector control method provided in an embodiment of the present invention one is specific real
The flow diagram of example, this method may include:
Step S201: according to the current rotating speed value and setting speed value of rotor in permanent magnet synchronous motor, permanent-magnet synchronous is determined
Quadrature axis (i.e. q axis) current reference value of motor.
Specifically, the current rotating speed value of rotor and the difference of setting speed value in permanent magnet synchronous motor are calculated, according to calculating
Obtained difference generates the quadrature axis current reference value of permanent magnet synchronous motor by speed control.Optionally, speed control
It can be PI speed control.
Step S202a: by the quadrature axis current reference value and quadrature axis actual current value of permanent magnet synchronous motor, determine that permanent magnetism is same
Walk the quadrature axis control amount of motor.
Specifically, the quadrature axis current reference value of permanent magnet synchronous motor and the difference of quadrature axis actual current value are calculated, according to meter
Obtained difference generates the quadrature axis control amount of permanent magnet synchronous motor by current controller.Optionally, current controller can
Think PI current controller.
Step S202b: by d-axis (i.e. d axis) the setting electric current value and d-axis actual current value of permanent magnet synchronous motor, really
Determine the d-axis control amount of permanent magnet synchronous motor.
Specifically, the d-axis setting electric current value of permanent magnet synchronous motor and the difference of d-axis actual current value are calculated, according to meter
Obtained difference generates the d-axis control amount of permanent magnet synchronous motor by current controller.Optionally, permanent magnet synchronous motor
D-axis setting electric current value can be 0.
Step S203: determine permanent magnet synchronous motor most by the quadrature axis control amount and d-axis control amount of permanent magnet synchronous motor
Whole control amount.
Specifically, the quadrature axis control amount of permanent magnet synchronous motor is added with d-axis control amount, permanent magnet synchronous motor is obtained
Final control amount.
Step S204: according to the final control amount of permanent magnet synchronous motor, pulse width modulating signal is generated.
Specifically, by space vector pulse width controller, generating 6 road arteries and veins according to the final control amount of permanent magnet synchronous motor
Rush width modulated (Pulse Width Modulation, PWM) signal.6 road pwm signals are supplied to driving amplifier, and driving is put
Big device generates the driving signal of permanent magnet synchronous motor according to 6 road pwm signals.
Step S205a: the quadrature axis that the current phase current of stator in permanent magnet synchronous motor is converted to permanent magnet synchronous motor is real
Border current value and d-axis actual current value.
Specifically, to two-phase static coordinate converter that the current phase of stator in permanent magnet synchronous motor is electric by three phase static
Circulation is changed to α shaft current value and β shaft current value；By two-phase it is static to two-phase rotating coordinate transformation device by α shaft current value and β axis
Current value is converted to the quadrature axis actual current value and d-axis actual current value of permanent magnet synchronous motor.
It should be noted that the quadrature axis actual current value and d-axis actual current value of permanent magnet synchronous motor are used for permanent-magnet synchronous
The quadrature axis actual current value and d-axis actual current value that the closed-loop current control of motor, i.e. step S205a obtain are as next
Quadrature axis actual current value and d-axis actual current value in period Time step rapid S202a and step S202b.
Step S205b: according to the current phase current of permanent magnet synchronous motor and current phase voltage and and permanent magnet synchronous motor
Current internal resistance the current counter electromotive force of permanent magnet synchronous motor is determined by integral switching function sliding mode observer.
Wherein, the current counter electromotive force of permanent magnet synchronous motor includes the counter electromotive force of α axis and the counter electromotive force of β axis.
In the present embodiment, the current phase current of stator can be obtained by current sensor in permanent magnet synchronous motor, permanent magnetism
The current phase voltage of stator can be obtained by voltage sensor in synchronous motor, and the current internal resistance of permanent magnet synchronous motor is based on upper one
Counter electromotive force that a period determines, permanent magnet synchronous motor determines.
Step S206a: according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent-magnet synchronous
The current counter electromotive force of motor determines the current internal resistance of permanent magnet synchronous motor, is then transferred to step by auto-adaptive fir filter
Rapid S205b.
Step S206b: by the current counter electromotive force of permanent magnet synchronous motor, the position of rotor in permanent magnet synchronous motor is determined
Information.
Step S207: the current location information based on rotor in permanent magnet synchronous motor carries out vector to permanent magnet synchronous motor
Control.
Specifically, being converted using the current location information of rotor in permanent magnet synchronous motor as Clarke, Park is converted and anti-
The reference value of Park transformation, to realize the vector controlled of permanent magnet synchronous motor.
Step S208: the current location information based on rotor in permanent magnet synchronous motor determines rotor in permanent magnet synchronous motor
Current rotating speed value, be transferred to step S201, then to complete the entire closed loop control process of permanent magnet synchronous motor.
Preferably, can according to the current location information of rotor in permanent magnet synchronous motor, using second order synovial membrane super-twisting algorithm,
The current rotating speed value of rotor in permanent magnet synchronous motor is determined, specifically, can be by constructing based on second order synovial membrane super-twisting algorithm
Differentiator determines the current rotating speed value of rotor in permanent magnet synchronous motor.
Permanent magnet synchronous motor vector control method provided in an embodiment of the present invention, not needing position sensor can be realized forever
The vector controlled process of magnetic-synchro motor avoids during vector controlled because of vector control caused by the use of position sensor
The problem of system cost processed increases, motor volume increases, and the environmental suitability and reliability of vector control system reduce, also,
Permanent magnet synchronous motor vector control method provided in an embodiment of the present invention is realized simple.In addition, it is provided in an embodiment of the present invention forever
Magnetic-synchro motor vector control method recognizes the counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer,
Conventional first order sliding mode observer is avoided to buffet and because of the problems such as low-pass filter bring delayed phase is added, and by adaptive
The current practical internal resistance of the permanent magnet synchronous motor for answering FIR filter to pick out, based on the current practical internal resistance of permanent magnet synchronous motor
The current counter electromotive force for recognizing permanent magnet synchronous motor, the internal resistance for avoiding permanent magnet synchronous motor change the shadow recognized to counter electromotive force
It rings.
The embodiment of the invention also provides a kind of permanent magnet synchronous motor vector control apparatus, mention below to the embodiment of the present invention
The permanent magnet synchronous motor vector control apparatus of confession is described, permanent magnet synchronous motor vector control apparatus described below and above
The permanent magnet synchronous motor vector control method of description can correspond to each other reference.
Referring to Fig. 3, showing a kind of structure of permanent magnet synchronous motor vector control apparatus provided in an embodiment of the present invention
Schematic diagram, the permanent magnet synchronous motor vector control apparatus include: integral switching function sliding mode observer 301, rotor-position determination
Module 302 and vector control module 303.
Integral switching function sliding mode observer 301, for according to state in permanent magnet synchronous motor the current phase current of stator and
The current internal resistance of current phase voltage and permanent magnet synchronous motor determines the current counter electromotive force of permanent magnet synchronous motor.
Rotor-position determining module 302, for current anti-electricity determined by sliding mode observer, permanent magnet synchronous motor
Kinetic potential determines the current location information of rotor in permanent magnet synchronous motor.
Vector control module 303, for determined based on rotor-position determining module, rotor in permanent magnet synchronous motor
Current location information carries out vector controlled to permanent magnet synchronous motor.
Permanent magnet synchronous motor vector control apparatus provided in an embodiment of the present invention can also include auto-adaptive fir filter
304。
Auto-adaptive fir filter 304, for the current phase current and current mutually electricity by stator in permanent magnet synchronous motor
The current counter electromotive force for the permanent magnet synchronous motor that pressure and integral switching function sliding mode observer determine, determines permanent magnet synchronous electric
The current internal resistance of machine, as integral switching function sliding mode observer 301, next cycle determines the foundation of counter electromotive force.
It should be noted that integral switching function sliding mode observer 301 and auto-adaptive fir filter 304 are cascade feed back
The opposing electromotance feedback of relationship, i.e. integral switching function sliding mode observer 301 output is to auto-adaptive fir filter 304, adaptively
The internal resistance that FIR filter 304 exports feeds back to integral switching function sliding mode observer 301, integral switching function sliding mode observer
301 internal resistance and counter electromotive force with 304 real time correction permanent magnet synchronous motor of auto-adaptive fir filter.Integral switching function sliding formwork
Observer 407 is combined with auto-adaptive fir filter 408 so that the robustness of vector control apparatus is stronger, while extending integral
The application range of switching function sliding mode observer 407, that is, be not only applicable to high-speed region, applies also for compared with low-speed region.
Permanent magnet synchronous motor vector control apparatus provided in this embodiment is illustrated below by a specific example:
It, can be with referring to Fig. 4, show the structural schematic diagram of one specific example of permanent magnet synchronous motor vector control apparatus
Include: speed control 401, current controller 402, motor control amount determining module 403, space vector pulse width controller 404,
Three phase static is static to two-phase rotating coordinate transformation device 406, integral switching function to two-phase static coordinate converter 405, two-phase
Sliding mode observer 407, auto-adaptive fir filter 408, rotor-position determining module 409, vector control module 410 and differentiator
411。
Speed control 401 is determined for the current rotating speed value and setting speed value according to rotor in permanent magnet synchronous motor
The quadrature axis current reference value of permanent magnet synchronous motor.
Specifically, speed control 401 calculates the current rotating speed value and setting speed value of rotor in permanent magnet synchronous motor
Difference generates the quadrature axis current reference value of permanent magnet synchronous motor according to the difference being calculated.Optionally, speed control 401
For PI speed control.
Current controller 402, for passing through the quadrature axis current reference value and quadrature axis actual current value of permanent magnet synchronous motor, really
Determine the quadrature axis control amount of permanent magnet synchronous motor.
Specifically, current controller 402 calculates the quadrature axis current reference value and quadrature axis actual current value of permanent magnet synchronous motor
Difference the quadrature axis control amount of permanent magnet synchronous motor is generated according to the difference being calculated.Optionally, current controller 402 is
PI current controller.
Current controller 402 is also used to d-axis setting electric current value and d-axis actual current value by permanent magnet synchronous motor,
Determine the d-axis control amount of permanent magnet synchronous motor.
Specifically, current controller 402 calculates the d-axis setting electric current value and d-axis actual current value of permanent magnet synchronous motor
Difference the d-axis control amount of permanent magnet synchronous motor is generated according to the difference being calculated.Optionally, permanent magnet synchronous motor
D-axis setting electric current value is 0.
Motor control amount determining module 403, the quadrature axis control amount and d-axis control amount for passing through permanent magnet synchronous motor are true
Determine the final control amount of permanent magnet synchronous motor.
Space vector pulse width controller 404 generates pulse width tune for the final control amount according to permanent magnet synchronous motor
Signal processed.
Specifically, space vector pulse width controller 404 is according to the quadrature axis of permanent magnet synchronous motor and the control amount of d-axis and life
At 6 road pwm signals.6 road pwm signals are supplied to driving amplifier, and driving amplifier generates permanent-magnet synchronous according to 6 road pwm signals
The driving signal of motor.
Three phase static is to two-phase static coordinate converter 405, for by the current phase current of stator in permanent magnet synchronous motor
Be converted to the α shaft current value and β shaft current value of permanent magnet synchronous motor.
Two-phase is static to two-phase rotating coordinate transformation device 406, for the α shaft current value of permanent magnet synchronous motor and β axis is electric
Flow valuve is converted to the d-axis actual current value and quadrature axis actual current value of permanent magnet synchronous motor.
It should be noted that the quadrature axis actual current value and d-axis actual current value of permanent magnet synchronous motor are used for permanent-magnet synchronous
The closed-loop current control of motor.
Integral switching function sliding mode observer 407, for according to the current phase current of stator in permanent magnet synchronous motor and working as
Preceding phase voltage and permanent-magnet synchronous is determined by integral switching function sliding mode observer with the current internal resistance of permanent magnet synchronous motor
The current counter electromotive force of motor.
Wherein, the current counter electromotive force of permanent magnet synchronous motor includes the counter electromotive force of α axis and the counter electromotive force of β axis.Permanent magnetism
The current phase current of stator can be obtained by current sensor in synchronous motor, the current phase voltage of stator in permanent magnet synchronous motor
It can be obtained by voltage sensor, the current internal resistance of permanent magnet synchronous motor is determined based on upper a cycle, permanent magnet synchronous motor
Counter electromotive force determine.
Auto-adaptive fir filter 408, for according to stator in permanent magnet synchronous motor current phase current and current phase voltage
And the current counter electromotive force of permanent magnet synchronous motor, determine the current internal resistance of permanent magnet synchronous motor.
Current counter electromotive force input adaptive that integral switching function sliding mode observer 407 exports, permanent magnet synchronous motor
FIR filter 408, current internal resistance input integral that auto-adaptive fir filter 408 is determined, permanent magnet synchronous motor switch letter
Number sliding mode observer 407, integral switching function sliding mode observer 407 and auto-adaptive fir filter 408 are cascade feed back relationship,
The internal resistance of the two real time correction permanent magnet synchronous motor and counter electromotive force.
Rotor-position determining module 409 determines permanent magnet synchronous electric for passing through the current counter electromotive force of permanent magnet synchronous motor
The location information of rotor in machine.
Vector control module 410, for the current location information based on rotor in permanent magnet synchronous motor, to permanent magnet synchronous electric
Machine carries out vector controlled.
Differentiator 411 determines in permanent magnet synchronous motor for the current location information according to rotor in permanent magnet synchronous motor
The current rotating speed value of rotor.Wherein, differentiator can be constructed based on second order synovial membrane super-twisting algorithm.
The current rotating speed value of rotor is input to speed control 401 in permanent magnet synchronous motor, such achievable permanent-magnet synchronous
The entire closed loop control process of motor.
Permanent magnet synchronous motor vector control apparatus provided in an embodiment of the present invention, not needing position sensor can be realized forever
The vector controlled process of magnetic-synchro motor avoids vector controlled in the process because the use of position sensor leads to vector controlled
The problem of system cost increases, motor volume increases, and the environmental suitability and reliability of vector control system reduce, also, this
The permanent magnet synchronous motor vector control apparatus that inventive embodiments provide is realized simple.In addition, permanent magnetism provided in an embodiment of the present invention
Synchronous motor vector control apparatus is recognized the counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer, kept away
Exempt from conventional first order sliding mode observer to buffet and because of the problems such as low-pass filter bring delayed phase is added, and by adaptive
The current practical internal resistance of the permanent magnet synchronous motor that FIR filter picks out, is distinguished based on the current practical internal resistance of permanent magnet synchronous motor
The current counter electromotive force for knowing permanent magnet synchronous motor, the internal resistance for avoiding permanent magnet synchronous motor change the shadow recognized to counter electromotive force
It rings.
The embodiment of the invention also provides a kind of permanent magnet synchronous motor vector control systems, referring to Fig. 5, showing this and being
The structural schematic diagram of system may include: current sensor 501, voltage sensor 502, controller 503.
Current sensor 501, for acquiring the current phase current of stator in permanent magnet synchronous motor.
Voltage sensor 502, for acquiring the current phase voltage of stator in permanent magnet synchronous motor.
Controller 503, for according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnetism
The current internal resistance of synchronous motor determines the current counter electromotive force of permanent magnet synchronous motor by integral switching function sliding mode observer,
By the current counter electromotive force of permanent magnet synchronous motor, the location information of rotor in permanent magnet synchronous motor is determined, be based on permanent-magnet synchronous
The current location information of rotor in motor carries out vector controlled to permanent magnet synchronous motor.
Optionally, controller 503 can be TMS320F28335DSP chip.
It is that the current internal resistance of above-mentioned permanent magnet synchronous motor is determined based on upper a cycle, permanent magnet synchronous motor anti-electronic
Gesture determines.
Controller 503 is also used to current phase current and current phase voltage according to stator in permanent magnet synchronous motor, Yi Jiyong
The current counter electromotive force of magnetic-synchro motor determines the current internal resistance of permanent magnet synchronous motor by auto-adaptive fir filter, as
Next cycle determines the foundation of the counter electromotive force of permanent magnet synchronous motor.
Controller 503 is also used to determine permanent magnet synchronous motor according to the current location information of rotor in permanent magnet synchronous motor
The current rotating speed value of middle rotor；According to the current rotating speed value of rotor in permanent magnet synchronous motor, the electric current of permanent magnet synchronous motor is determined
Reference quantity；It is wide that pulse is generated according to the currently practical electric current of the current reference amount of the permanent magnet synchronous motor and permanent magnet synchronous motor
Spend modulated signal, wherein pulse width modulating signal is used to generate the driving signal of permanent magnet synchronous motor.
In one possible implementation, controller 503 is in the present bit confidence according to rotor in permanent magnet synchronous motor
Breath, when determining the current rotating speed value of rotor in permanent magnet synchronous motor, specifically for according in permanent magnet synchronous motor rotor it is current
Location information determines the current rotating speed value of rotor in permanent magnet synchronous motor using second order synovial membrane super-twisting algorithm.
In one possible implementation, controller 503 is working as forward according to rotor in the permanent magnet synchronous motor
Speed value, when determining the current reference amount of permanent magnet synchronous motor, specifically for by the permanent magnet synchronous motor rotor it is current
Tachometer value and setting speed value determine the quadrature axis current reference value of permanent magnet synchronous motor；
Controller 503 is according to the current reference amount of the permanent magnet synchronous motor and the currently practical electricity of permanent magnet synchronous motor
When stream generates pulse width modulating signal, specifically for the quadrature axis current reference value and the practical electricity of quadrature axis by permanent magnet synchronous motor
Flow valuve determines the quadrature axis control amount of permanent magnet synchronous motor；It is practical by the d-axis setting electric current value and d-axis of permanent magnet synchronous motor
Current value determines the d-axis control amount of permanent magnet synchronous motor；Pass through the quadrature axis control amount and permanent magnet synchronous electric of permanent magnet synchronous motor
The d-axis control amount of machine determines the final control amount of permanent magnet synchronous motor；According to the final control amount of permanent magnet synchronous motor, generate
Pulse width modulating signal.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of permanent magnet synchronous motor vector control method characterized by comprising
According to the current internal resistance of the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent magnet synchronous motor,
By integral switching function sliding mode observer, the current counter electromotive force of permanent magnet synchronous motor is determined；
By the current counter electromotive force of the permanent magnet synchronous motor, the current location information of rotor in permanent magnet synchronous motor is determined；
Based on the current location information of rotor in the permanent magnet synchronous motor, vector controlled is carried out to the permanent magnet synchronous motor.
2. permanent magnet synchronous motor vector control method according to claim 1, which is characterized in that the permanent magnet synchronous motor
Current internal resistance determined based on upper a cycle, the counter electromotive force of permanent magnet synchronous motor determines；
The method also includes:
According to the current phase current of stator in the permanent magnet synchronous motor and current phase voltage and the permanent magnet synchronous motor
Current counter electromotive force determines the current internal resistance of permanent magnet synchronous motor by auto-adaptive fir filter, true as next cycle
Determine the foundation of the counter electromotive force of permanent magnet synchronous motor.
3. permanent magnet synchronous motor vector control method according to claim 1 or 2, which is characterized in that further include:
According to the current location information of rotor in the permanent magnet synchronous motor, the current rotating speed of rotor in permanent magnet synchronous motor is determined
Value；
According to the current rotating speed value of rotor in the permanent magnet synchronous motor, the current reference amount of permanent magnet synchronous motor is determined；
Pulse width is generated according to the currently practical electric current of the current reference amount of the permanent magnet synchronous motor and permanent magnet synchronous motor
Modulated signal, wherein the pulse width modulating signal is used to generate the driving signal of the permanent magnet synchronous motor.
4. permanent magnet synchronous motor vector control method according to claim 3, which is characterized in that described according to the permanent magnetism
The current location information of rotor in synchronous motor determines the current rotating speed value of rotor in permanent magnet synchronous motor, comprising:
According to the current location information of rotor in the permanent magnet synchronous motor, using second order synovial membrane super-twisting algorithm, determine described in
The current rotating speed value of rotor in permanent magnet synchronous motor.
5. permanent magnet synchronous motor vector control method according to claim 3, which is characterized in that described according to the permanent magnetism
The current rotating speed value of rotor in synchronous motor, determines the current reference amount of permanent magnet synchronous motor, comprising:
By the current rotating speed value and setting speed value of rotor in the permanent magnet synchronous motor, the quadrature axis of permanent magnet synchronous motor is determined
Current reference value；
It is described that pulse is generated according to the current reference amount of the permanent magnet synchronous motor and the currently practical electric current of permanent magnet synchronous motor
Bandwidth modulation signals, comprising:
By the quadrature axis current reference value and quadrature axis actual current value of the permanent magnet synchronous motor, the friendship of permanent magnet synchronous motor is determined
Axis control amount；
By the d-axis setting electric current value and d-axis actual current value of the permanent magnet synchronous motor, the straight of permanent magnet synchronous motor is determined
Axis control amount；
Determine that permanent magnetism is same by the quadrature axis control amount of the permanent magnet synchronous motor and the d-axis control amount of the permanent magnet synchronous motor
Walk the final control amount of motor；
According to the final control amount of the permanent magnet synchronous motor, the pulse width modulating signal is generated.
6. a kind of permanent magnet synchronous motor vector control apparatus characterized by comprising integral switching function sliding mode observer turns
Sub- position determination module and vector control module；
The integral switching function sliding mode observer, according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage
And the current internal resistance of permanent magnet synchronous motor, determine the current counter electromotive force of permanent magnet synchronous motor；
The rotor-position determining module, for working as permanent magnet synchronous motor determined by the sliding mode observer, described
Preceding counter electromotive force determines the current location information of rotor in permanent magnet synchronous motor；
The vector control module, in permanent magnet synchronous motor determined based on the rotor-position determining module, described
The current location information of rotor carries out vector controlled to the permanent magnet synchronous motor.
7. permanent magnet synchronous motor vector control apparatus according to claim 6, which is characterized in that further include: automatic adaptation FIR
Filter；
The current internal resistance of the permanent magnet synchronous motor is based on upper a cycle by the auto-adaptive fir filter and passes through the integral
Counter electromotive force that switching function sliding mode observer determines, permanent magnet synchronous motor determines；
The auto-adaptive fir filter, for the current phase current and current mutually electricity by stator in the permanent magnet synchronous motor
The current counter electromotive force for the permanent magnet synchronous motor that pressure and the integral switching function sliding mode observer determine, determines forever
The current internal resistance of magnetic-synchro motor, as the integral switching function sliding mode observer next cycle determine counter electromotive force according to
According to.
8. permanent magnet synchronous motor vector control apparatus according to claim 7, which is characterized in that further include: differentiator, speed
Spend controller, current controller, motor control amount determining module and space vector pulse width controller；
The differentiator utilizes the super spiral shell of second order synovial membrane for the current location information according to rotor in the permanent magnet synchronous motor
Algorithm is revolved, determines the current rotating speed value of rotor in permanent magnet synchronous motor；
The speed control, for the current rotating speed value and setting speed value by rotor in the permanent magnet synchronous motor, really
Determine the quadrature axis current reference value of permanent magnet synchronous motor；
The current controller, for the quadrature axis current reference value and quadrature axis actual current value by the permanent magnet synchronous motor,
The quadrature axis control amount for determining the permanent magnet synchronous motor passes through the practical electricity of the d-axis setting electric current value and d-axis of permanent magnet synchronous motor
Flow valuve determines the d-axis control amount of permanent magnet synchronous motor；
The motor control amount determining module, for the quadrature axis control amount and the permanent-magnet synchronous by the permanent magnet synchronous motor
The d-axis control amount of motor determines the final control amount of permanent magnet synchronous motor；
The space vector pulse width controller generates pulse width for the final control amount according to the permanent magnet synchronous motor
Modulated signal, wherein the pulse width modulating signal is used to generate the driving signal of the permanent magnet synchronous motor.
9. a kind of permanent magnet synchronous motor vector control system characterized by comprising current sensor, voltage sensor and
Controller；
The current sensor, for acquiring the current phase current of stator in the permanent magnet synchronous motor；
The voltage sensor, for acquiring the current phase voltage of stator in the permanent magnet synchronous motor；
The controller, for according to the current phase current of stator in permanent magnet synchronous motor and current phase voltage and permanent-magnet synchronous
The current internal resistance of motor is determined the current counter electromotive force of permanent magnet synchronous motor, is passed through by integral switching function sliding mode observer
The current counter electromotive force of the permanent magnet synchronous motor, determines the current location information of rotor in permanent magnet synchronous motor, based on described
The current location information of rotor in permanent magnet synchronous motor carries out vector controlled to the permanent magnet synchronous motor.
10. permanent magnet synchronous motor vector control system according to claim 9, which is characterized in that the permanent magnet synchronous electric
Counter electromotive force that the current internal resistance of machine is determined based on upper a cycle, permanent magnet synchronous motor determines；
The controller is also used to current phase current and current phase voltage according to stator in the permanent magnet synchronous motor, and
The current counter electromotive force of the permanent magnet synchronous motor determines the current interior of permanent magnet synchronous motor by auto-adaptive fir filter
Resistance, the foundation of the counter electromotive force of permanent magnet synchronous motor is determined as next cycle.
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