CN110492805A - Method for controlling permanent magnet synchronous motor, system and storage medium based on fuzzy control - Google Patents
Method for controlling permanent magnet synchronous motor, system and storage medium based on fuzzy control Download PDFInfo
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- CN110492805A CN110492805A CN201910655413.6A CN201910655413A CN110492805A CN 110492805 A CN110492805 A CN 110492805A CN 201910655413 A CN201910655413 A CN 201910655413A CN 110492805 A CN110492805 A CN 110492805A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- 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
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- 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
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Fuzzy Systems (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 method for controlling permanent magnet synchronous motor based on fuzzy control, system and storage medium, by on the basis of der Geschwindigkeitkreis PI controller, change rate with the difference and difference of rotating speed of target and estimation revolving speed is input, output is the changing value of the parameter Kp and Ki of der Geschwindigkeitkreis PI controller, optimize the der Geschwindigkeitkreis PI controller of permanent magnet synchronous motor by Fuzzy Controller, reach the control characteristic for improving motor, to which the fluctuation of speed caused by compressor changes due to load be effectively reduced, the effect for reducing vibration of compressor noise is further realized.
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of permanent magnet synchronous motor controls based on fuzzy control
Method, system and storage medium.
Background technique
Due to the advantages that permanent magnetic synchronous motor structure is simple, small in size, power density is high, high-efficient, runnability is excellent,
It has been widely used in recent years.Such as: field of traffic, field of household appliances, the drive area of car and boat, and pump class, compressor,
The rotating mechanism of lathe, high accuracy servo system etc..
Permanent magnet synchronous motor driving at present generally uses space vector pulse width modulation, needs to obtain at any time in the art
Rotor revolving speed and location information, due to being full of high temperature inside design feature inside compressor with rolling rotor, high pressure and strong
The refrigerant of corrosion, inside can not installation site sensor, at present generally use position Sensorless Control mode.For cost
And actual conditions consider to drive in many application fields using position-sensor-free mode.Such as: it is compressed in air-conditioning, refrigerator etc.
Inside machine can not installation site sensor, generally use the vector control scheme of position-sensor-free in these application fields.Nothing
The vector control scheme of position sensor mainly passes through back-emf observer and is observed to the back-emf of permanent magnet synchronous motor,
The revolving speed and angular position of rotor are estimated with this.
In the case of compressor with rolling rotor position-sensor-free, since compressor with rolling rotor is inhaled during operation
It gas side and calms the anger that there are pressure differences for side, causes compressor with rolling rotor often to rotate a circle in this way, periodic change can be presented in load
Change, and then causes compressor rotary speed cyclic fluctuation inevitably occur, and compressor is shaken during operation
The problems such as dynamic, noise.Fig. 1 is that compressor with rolling rotor loads the change procedure with mechanical corner in the process of running, due to rolling
The uneven variation of the sub- torque in compressor of turn necessarily leads to vibration and the noise of compressor.How by suitably to torque side into
Row control will improve compressor with rolling rotor runnability to reduce the fluctuation of speed.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the invention proposes a kind of permanent magnet synchronous electrics based on fuzzy control
Machine control method, system and storage medium.
To achieve the goals above, first aspect present invention proposes a kind of permanent magnet synchronous motor control based on fuzzy control
Method processed, which comprises
Build permanent magnet synchronous motor position-sensor-free driving platform；
Using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input value of Fuzzy Controller, exports and be
The changing value of the parameter Kp and Ki of der Geschwindigkeitkreis PI controller；
According to the control characteristic of system, input and the output domain of the Fuzzy Controller are determined；
Establish the subordinating degree function of the input and output domain；
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value；
To fuzzy value defuzzification processing, the changing value of parameter Kp and Ki is obtained；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, with realize to turn
The adjusting of fast ring PI controller.
In the present solution, using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input of Fuzzy Controller
Value, exports the changing value of the parameter Kp and Ki for der Geschwindigkeitkreis PI controller, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation
Value；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
Further, the method also includes:
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase by Clark static
Electric current i under coordinateαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two-phase rotation is obtained
Electric current i under coordinate systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerIt compares, by speed pi regulator, exports quadrature axis electricity
Flow given i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then pass through respectively
Overcurrent pi regulator exports cross, straight shaft voltage value uqAnd ud, using Park inverse transformation, obtain under two-phase stationary coordinate system system
Voltage value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, select
Zero vector appropriate simultaneously calculates in the sector two adjacent voltage vectors and zero vector respective shared time, is set according to calculated result
Determine corresponding registers value, the driving control signal of output inverter.
In the present solution, the rotating speed of target and estimation revolving speed difference and difference change rate fuzzy subset be NB,
NM, NS, ZO, PS, PM, PB }, respectively represent input and output linguistic variable fuzzy subset it is negative big, bear, bear it is small, zero, it is just small,
Center, honest.
In the present solution, determining fuzzy control rule table according to the subordinating degree function, and fuzzy value is exported, specifically also wrapped
It includes:
Based on the subordinating degree function and off-line calculation mode is used, determines the fuzzy control rule table of input, output,
Fuzzy value is exported by the way of tabling look-up, realizes the driving of permanent magnet synchronous motor, wherein the subordinating degree function uses triangle
Shape.
In the present solution, the permanent magnet synchronous motor is applied in compressor with rolling rotor, closed in compressor start and entrance
Before loop order section, the permanent magnet synchronous motor control mode based on fuzzy control is not enabled；After entering closed loop and stable operation, switching
To the self adaptive control mode for adjusting der Geschwindigkeitkreis PI controller by Fuzzy Controller.
Second aspect of the present invention also proposes a kind of control system for permanent-magnet synchronous motor based on fuzzy control, described to be based on mould
The control system for permanent-magnet synchronous motor of paste control includes: memory and processor, includes a kind of in the memory based on fuzzy
The method for controlling permanent magnet synchronous motor program of control, the method for controlling permanent magnet synchronous motor program based on fuzzy control is by institute
It states when processor executes and realizes following steps:
Build permanent magnet synchronous motor position-sensor-free driving platform；
Using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input value of Fuzzy Controller, exports and be
The changing value of the parameter Kp and Ki of der Geschwindigkeitkreis PI controller；
According to the control characteristic of system, input and the output domain of the Fuzzy Controller are determined；
Establish the subordinating degree function of the input and output domain；
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value；
To fuzzy value defuzzification processing, the changing value of parameter Kp and Ki is obtained；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, with realize to turn
The adjusting of fast ring PI controller.
In the present solution, using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input of Fuzzy Controller
Value, exports the changing value of the parameter Kp and Ki for der Geschwindigkeitkreis PI controller, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation
Value；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
In the present solution, when the method for controlling permanent magnet synchronous motor program based on fuzzy control is executed by the processor
Also realize following steps:
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase by Clark static
Electric current i under coordinateαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two-phase rotation is obtained
Electric current i under coordinate systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerIt compares, by speed pi regulator, exports quadrature axis electricity
Flow given i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then pass through respectively
Overcurrent pi regulator exports cross, straight shaft voltage value uqAnd ud, using Park inverse transformation, obtain under two-phase stationary coordinate system system
Voltage value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, select
Zero vector appropriate simultaneously calculates in the sector two adjacent voltage vectors and zero vector respective shared time, is set according to calculated result
Determine corresponding registers value, the driving control signal of output inverter.
Third aspect present invention also proposes a kind of computer readable storage medium, wraps in the computer readable storage medium
Include a kind of method for controlling permanent magnet synchronous motor program based on fuzzy control, the permanent magnet synchronous motor control based on fuzzy control
When method program processed is executed by processor, realize such as a kind of above-mentioned method for controlling permanent magnet synchronous motor based on fuzzy control
Step.
The present invention is by being defeated with the change rate of revolving speed deviation and revolving speed deviation on the basis of der Geschwindigkeitkreis PI controller
Enter, optimize the der Geschwindigkeitkreis PI controller of permanent magnet synchronous motor by Fuzzy Controller, reaching improves motor control characteristic, to have
Effect reduces the fluctuation of speed caused by compressor changes due to load, achievees the purpose that the vibration noise for reducing compressor.
Additional aspect and advantage of the invention will provide in following description section, will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 shows the relational graph of compressor with rolling rotor load torque and mechanical corner position in the prior art；
Fig. 2 shows a kind of flow charts of the method for controlling permanent magnet synchronous motor based on fuzzy control of the invention；
Fig. 3 shows a kind of structure chart of table dress formula permanent magnet synchronous motor of the present invention；
Fig. 4 shows permanent magnet synchronous motor position-sensor-free driving block diagram of the present invention；
Fig. 5 shows a kind of realization block diagram of Fuzzy Controller of the present invention；
Fig. 6 shows a kind of block diagram of the control system for permanent-magnet synchronous motor based on fuzzy control of the present invention.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
Fig. 2 shows a kind of flow charts of the method for controlling permanent magnet synchronous motor based on fuzzy control of the invention.
As shown in Fig. 2, first aspect present invention proposes a kind of method for controlling permanent magnet synchronous motor based on fuzzy control, institute
The method of stating includes:
S202 builds permanent magnet synchronous motor position-sensor-free driving platform；
S204, using rotating speed of target and estimation revolving speed difference and difference change rate as Fuzzy Controller input value,
Output is the changing value of the parameter Kp and Ki of der Geschwindigkeitkreis PI controller；
S206 determines input and the output domain of the Fuzzy Controller according to the control characteristic of system；
S208 establishes the subordinating degree function of the input and output domain；
S210 determines fuzzy control rule table according to the subordinating degree function, and exports fuzzy value；
S212 obtains the changing value of parameter Kp and Ki to fuzzy value defuzzification processing；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, with reality by S214
Now to the adjusting of der Geschwindigkeitkreis PI controller.
It should be noted that position-sensor-free generally uses the model equation of voltage, electric current and magneto, lead to
It crosses observer and estimates back-emf information, then release position and the rotary speed information of rotor by back-emf observation, as feedback
Amount constitutes closed-loop vector control system.By theory analysis and experiment detection at low speeds to back-emf observation, and estimate
Survey tachometer value be filtered can biggish raising system driveability.
It should be noted that Fuzzy Controller has preferable non-thread independent of the accurate mathematical model of control object
Property control performance.For compressor assembly, if it is possible to fuzzy control method is introduced, for improving compressor with rolling rotor
Control performance, reduce its vibration and noise have the effect of it is relatively good.
According to an embodiment of the invention, being adjusted using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as fuzzy
The input value for saving device, exports the changing value of the parameter Kp and Ki for der Geschwindigkeitkreis PI controller, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation
Value；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
Preferably, the back-emf observer can be sliding mode observer, but not limited to this.
According to an embodiment of the invention, the formula of the filtering algorithm are as follows: e0(k)=(1-a) × e0(k-1)+a×ei
(k), wherein a is filter factor, and 0 < a < 1, e0For filtered output, eiFor the back-emf observation of non-filtered processing
Or estimate the tachometer value of rotor.
It should be noted that the common RC low-pass filter of above-mentioned filtering algorithm formula simulation, by by the differential equation
It turns to difference equation and obtains above-mentioned Filtering Formula.When a level off to 1 when, output with input tends to be equal, at this time without filter effect；
When a level off to 0 when, filter effect is more apparent, by actual test, the value that general filter factor takes is smaller just has it is apparent
Effect.Preferably, in actual test a < 0.05, it will obtain relatively good control effect.
It should be noted that the stator structure of permanent magnet synchronous motor (PMSM) is three-phase symmetric winding structure, in order to more preferable
Analysis and control, need to establish permanent magnet synchronous motor mathematical model herein.
Fig. 3 is the structure chart that table fills formula permanent magnet synchronous motor.
From the figure 3, it may be seen that three armature winding spatial distributions of permanent magnet synchronous motor, 120 electrical angle of axis mutual deviation, with A phase
Winding axis is as stator stationary reference axis, and the magnetic direction that rotor permanent magnet pole generates is d-axis (d axis), then along direction of rotation
The position of advanced 90 electrical angle of d-axis is quadrature axis (q axis), and using rotor d-axis relative to stator A axis winding axis as rotor
Angular position theta.
Obtain PMSM stator voltage equation formula:
In above formula, [ua ub uc]TFor stator phase voltage vector；[ia ib ic]TFor stator phase currents vector；[Ψa Ψb
Ψc]TFor stator phase winding flux linkage vector；diag[Ra Rb Rc] it is stator phase winding resistance diagonal matrix；P=d/dt is differential calculation
Son.
Threephase stator electric current main function is the magnetic field for generating a rotation, therefore can be with binary system come equivalent, In
This introduces rotation two-phase dq coordinate, from stator three-phase to shown in the transformation matrix such as formula (3-2) of rotation two-phase.
Permanent magnet synchronous motor is obtained in the voltage equation of dq shafting:
In above formula, ud、uqRespectively direct-axis voltage, quadrature-axis voltage；R is stator resistance；Ψd、ΨqRespectively d-axis magnetic linkage,
Quadrature axis magnetic linkage；ωeFor angular rate.
Wherein stator magnetic linkage has:
In formula (3-4), Ld、LqRespectively stator d-axis inductance, stator axis inductor；ΨfFor permanent magnet flux linkage.
Formula (3-4) is substituted into formula (3-3), is obtained:
Due to ΨfFor constant, then formula (3-5) can simplify are as follows:
The torque equation of PMSM are as follows:
The equation of motion of PMSM are as follows:
In above formula, J is rotary inertia, TeFor electromagnetic torque, TLFor load torque, B is viscous friction coefficient, ωrFor machinery
Angular speed.
Formula permanent magnet synchronous motor (SPMSM) is filled for table, d-axis inductance and axis inductor are equal, i.e. Ld=Lq=Ls, then
Torque equation described in formula (3-7) can be further simplified are as follows: Wherein, PnFor motor number of pole-pairs, Ψf
For permanent magnet flux linkage, iqFor quadrature axis current.
Fig. 4 shows permanent magnet synchronous motor position-sensor-free driving block diagram of the present invention.
As shown in figure 4, permanent magnet synchronous motor position-sensor-free drives process following steps.
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase by Clark static
Electric current i under coordinateαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two-phase rotation is obtained
Electric current i under coordinate systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerIt compares, by speed pi regulator, exports quadrature axis electricity
Flow given i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then pass through respectively
Overcurrent pi regulator exports cross, straight shaft voltage value uqAnd ud, using Park inverse transformation, obtain under two-phase stationary coordinate system system
Voltage value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, select
Zero vector appropriate simultaneously calculates in the sector two adjacent voltage vectors and zero vector respective shared time, is set according to calculated result
Determine corresponding registers value, the driving control signal of output inverter.
It should be noted that the level of torque of motor depends on idAnd iqSize, i.e., control idAnd iqMotor can be controlled
Torque, since certain revolving speed and torque correspond to certain i* dAnd i* q, by the control to the two electric currents, make actual id
And iqTrace command value i* dAnd i* q, to just realize the control of motor torque and speed.
For three-phase permanent magnet synchronous motor, by the three-phase alternating current i for detecting armature windinga、ibAnd ic, then pass through
Coordinate transform obtains electric current i under rotation two-phase dq coordinatedAnd iq, in the process, need to use the location information of rotor,
The present invention estimates back-emf using observer by the input voltage and electric current of detection motor, obtains rotor position by calculating
Confidence breath.
Fig. 5 shows a kind of realization block diagram of Fuzzy Controller of the present invention.
As shown in figure 5, Fuzzy Controller uses revolving speed deviation, the i.e. change of the difference and difference of rotating speed of target and estimation revolving speed
Rate is exported as input as Kp the and Ki changing value of der Geschwindigkeitkreis PI controller.Domain suitably is output and input by determination,
Wherein the rotating speed of target and estimation revolving speed difference and difference change rate fuzzy subset be NB, NM, NS, ZO, PS, PM,
PB }, respectively represent the fuzzy subset { negative big, to bear, bear small, zero, just small, center is honest } of input and output linguistic variable.
According to an embodiment of the invention, determining fuzzy control rule table according to the subordinating degree function, and fuzzy value is exported,
Specifically further include:
Based on the subordinating degree function and off-line calculation mode is used, determines the fuzzy control rule table of input, output,
Fuzzy value is exported by the way of tabling look-up, realizes the driving of permanent magnet synchronous motor, wherein the subordinating degree function uses triangle
Shape.
It should be noted that fuzzy control rule table is the part of fuzzy control core the most, need to pass through motor field
Control experience and a large amount of analog simulation determine fuzzy control rule table, finally the fuzzy value ambiguity solution of output is obtained
The accurate changing value of Kp and Ki, and be added on former Kp and Ki and der Geschwindigkeitkreis PI controller is adjusted.By constantly optimizing tune
After examination obtains ideal control effect, it is contemplated that the arithmetic speed of control and the ability for controlling chip can use off-line calculation
Mode, determine input, output fuzzy control rule table, the driving of motor is realized by the way of tabling look-up.
According to an embodiment of the invention, the permanent magnet synchronous motor is applied in compressor with rolling rotor, opened in compressor
Before moving and entering closed loop phase, the permanent magnet synchronous motor control mode based on fuzzy control is not enabled；When entrance closed loop and stabilization
After operation, it is switched to the self adaptive control mode that der Geschwindigkeitkreis PI controller is adjusted by Fuzzy Controller.
Specifically, Fuzzy PI Controller is added in compressor with rolling rotor drive system, Fuzzy PI Controller is being rolled
Operation conditions in the case of dynamic rotor compressor is debugged.Tradition side is still used in compressor start and before entering closed loop phase
Formula is switched to the PI self adaptive control mode of Fuzzy Controller into closed loop and after stable operation.
Fig. 6 shows a kind of block diagram of the control system for permanent-magnet synchronous motor based on fuzzy control of the present invention.
As shown in fig. 6, second aspect of the present invention also proposes a kind of control system for permanent-magnet synchronous motor based on fuzzy control
6, the control system for permanent-magnet synchronous motor 6 based on fuzzy control includes: memory 61 and processor 62, the memory 61
In include a kind of method for controlling permanent magnet synchronous motor program based on fuzzy control, the permanent magnet synchronous electric based on fuzzy control
Machine control method program realizes following steps when being executed by the processor 62:
Build permanent magnet synchronous motor position-sensor-free driving platform；
Using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input value of Fuzzy Controller, exports and be
The changing value of the parameter Kp and Ki of der Geschwindigkeitkreis PI controller；
According to the control characteristic of system, input and the output domain of the Fuzzy Controller are determined；
Establish the subordinating degree function of the input and output domain；
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value；
To fuzzy value defuzzification processing, the changing value of parameter Kp and Ki is obtained；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, with realize to turn
The adjusting of fast ring PI controller.
It should be noted that position-sensor-free generally uses the model equation of voltage, electric current and magneto, lead to
It crosses observer and estimates back-emf information, then release position and the rotary speed information of rotor by back-emf observation, as feedback
Amount constitutes closed-loop vector control system.By theory analysis and experiment detection at low speeds to back-emf observation, and estimate
Survey tachometer value be filtered can biggish raising system driveability.
It should be noted that Fuzzy Controller has preferable non-thread independent of the accurate mathematical model of control object
Property control performance.For compressor assembly, if it is possible to fuzzy control method is introduced, for improving compressor with rolling rotor
Control performance, reduce its vibration and noise have the effect of it is relatively good.
It should be noted that system of the invention can be operated in the terminal devices such as PC, mobile phone, PAD.
It should be noted that the processor can be central processing unit (Central Processing Unit,
CPU), it can also be other general processors, Digital Signal Processing (Digital Signal Processor, DSP), dedicated collection
At circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
According to an embodiment of the invention, being adjusted using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as fuzzy
The input value for saving device, exports the changing value of the parameter Kp and Ki for der Geschwindigkeitkreis PI controller, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation
Value；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
Preferably, the back-emf observer can be sliding mode observer, but not limited to this.
According to an embodiment of the invention, the formula of the filtering algorithm are as follows: e0(k)=(1-a) × e0(k-1)+a×ei
(k), wherein a is filter factor, and 0 < a < 1, e0For filtered output, eiFor the back-emf observation of non-filtered processing
Or estimate the tachometer value of rotor.
It should be noted that the common RC low-pass filter of above-mentioned filtering algorithm formula simulation, by by the differential equation
It turns to difference equation and obtains above-mentioned Filtering Formula.When a level off to 1 when, output with input tends to be equal, at this time without filter effect；
When a level off to 0 when, filter effect is more apparent, by actual test, the value that general filter factor takes is smaller just has it is apparent
Effect.Preferably, in actual test a < 0.05, it will obtain relatively good control effect.
It should be noted that the stator structure of permanent magnet synchronous motor (PMSM) is three-phase symmetric winding structure, in order to more preferable
Analysis and control, need to establish permanent magnet synchronous motor mathematical model herein.
From the figure 3, it may be seen that three armature winding spatial distributions of permanent magnet synchronous motor, 120 electrical angle of axis mutual deviation, with A phase
Winding axis is as stator stationary reference axis, and the magnetic direction that rotor permanent magnet pole generates is d-axis (d axis), then along direction of rotation
The position of advanced 90 electrical angle of d-axis is quadrature axis (q axis), and using rotor d-axis relative to stator A axis winding axis as rotor
Angular position theta.
Obtain PMSM stator voltage equation formula:
In above formula, [ua ub uc]TFor stator phase voltage vector；[ia ib ic]TFor stator phase currents vector；[Ψa Ψb
Ψc]TFor stator phase winding flux linkage vector；diag[Ra Rb Rc] it is stator phase winding resistance diagonal matrix；P=d/dt is differential calculation
Son.
Threephase stator electric current main function is the magnetic field for generating a rotation, therefore can be with binary system come equivalent, In
This introduces rotation two-phase dq coordinate, from stator three-phase to shown in the transformation matrix such as formula (3-2) of rotation two-phase.
Permanent magnet synchronous motor is obtained in the voltage equation of dq shafting:
In above formula, ud、uqRespectively direct-axis voltage, quadrature-axis voltage；R is stator resistance；Ψd、ΨqRespectively d-axis magnetic linkage,
Quadrature axis magnetic linkage；ωeFor angular rate.
Wherein stator magnetic linkage has:
In formula (3-4), Ld、LqRespectively stator d-axis inductance, stator axis inductor；ΨfFor permanent magnet flux linkage.
Formula (3-4) is substituted into formula (3-3), is obtained:
Due to ΨfFor constant, then formula (3-5) can simplify are as follows:
The torque equation of PMSM are as follows:
The equation of motion of PMSM are as follows:
In above formula, J is rotary inertia, TeFor electromagnetic torque, TLFor load torque, B is viscous friction coefficient, ωrFor machinery
Angular speed.
Formula permanent magnet synchronous motor (SPMSM) is filled for table, d-axis inductance and axis inductor are equal, i.e. Ld=Lq=Ls, then
Torque equation described in formula (3-7) can be further simplified are as follows: Wherein, PnFor motor number of pole-pairs, Ψf
For permanent magnet flux linkage, iqFor quadrature axis current.
Permanent magnet synchronous motor position-sensor-free drives process following steps.
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase by Clark static
Electric current i under coordinateαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two-phase rotation is obtained
Electric current i under coordinate systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerIt compares, by speed pi regulator, exports quadrature axis electricity
Flow given i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then pass through respectively
Overcurrent pi regulator exports cross, straight shaft voltage value uqAnd ud, using Park inverse transformation, obtain under two-phase stationary coordinate system system
Voltage value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, select
Zero vector appropriate simultaneously calculates in the sector two adjacent voltage vectors and zero vector respective shared time, is set according to calculated result
Determine corresponding registers value, the driving control signal of output inverter.
It should be noted that the level of torque of motor depends on idAnd iqSize, i.e., control idAnd iqMotor can be controlled
Torque, since certain revolving speed and torque correspond to certain i* dAnd i* q, by the control to the two electric currents, make actual id
And iqTrace command value i* dAnd i* q, to just realize the control of motor torque and speed.
For three-phase permanent magnet synchronous motor, by the three-phase alternating current i for detecting armature windinga、ibAnd ic, then pass through
Coordinate transform obtains electric current i under rotation two-phase dq coordinatedAnd iq, in the process, need to use the location information of rotor,
The present invention estimates back-emf using observer by the input voltage and electric current of detection motor, obtains rotor position by calculating
Confidence breath.
According to an embodiment of the invention, Fuzzy Controller uses revolving speed deviation, the i.e. difference of rotating speed of target and estimation revolving speed
And the change rate of difference is exported as input as Kp the and Ki changing value of der Geschwindigkeitkreis PI controller.By determining suitable input
With output domain, wherein the rotating speed of target and estimation revolving speed difference and difference change rate fuzzy subset be NB, NM,
NS, ZO, PS, PM, PB }, respectively represent input and output linguistic variable fuzzy subset it is negative big, bear, bear it is small, zero, it is just small, just
In, it is honest }.
According to an embodiment of the invention, determining fuzzy control rule table according to the subordinating degree function, and fuzzy value is exported,
Specifically further include:
Based on the subordinating degree function and off-line calculation mode is used, determines the fuzzy control rule table of input, output,
Fuzzy value is exported by the way of tabling look-up, realizes the driving of permanent magnet synchronous motor, wherein the subordinating degree function uses triangle
Shape.
It should be noted that fuzzy control rule table is the part of fuzzy control core the most, need to pass through motor field
Control experience and a large amount of analog simulation determine fuzzy control rule table, finally the fuzzy value ambiguity solution of output is obtained
The accurate changing value of Kp and Ki, and be added on former Kp and Ki and der Geschwindigkeitkreis PI controller is adjusted.By constantly optimizing tune
After examination obtains ideal control effect, it is contemplated that the arithmetic speed of control and the ability for controlling chip can use off-line calculation
Mode, determine input, output fuzzy control rule table, the driving of motor is realized by the way of tabling look-up.
According to an embodiment of the invention, the permanent magnet synchronous motor is applied in compressor with rolling rotor, opened in compressor
Before moving and entering closed loop phase, the permanent magnet synchronous motor control mode based on fuzzy control is not enabled；When entrance closed loop and stabilization
After operation, it is switched to the self adaptive control mode that der Geschwindigkeitkreis PI controller is adjusted by Fuzzy Controller.
Specifically, Fuzzy PI Controller is added in compressor with rolling rotor drive system, Fuzzy PI Controller is being rolled
Operation conditions in the case of dynamic rotor compressor is debugged.Tradition side is still used in compressor start and before entering closed loop phase
Formula is switched to the PI self adaptive control mode of Fuzzy Controller into closed loop and after stable operation.
Third aspect present invention also proposes a kind of computer readable storage medium, wraps in the computer readable storage medium
Include a kind of method for controlling permanent magnet synchronous motor program based on fuzzy control, the permanent magnet synchronous motor control based on fuzzy control
When method program processed is executed by processor, realize such as a kind of above-mentioned method for controlling permanent magnet synchronous motor based on fuzzy control
Step.
The present invention is by being defeated with the change rate of revolving speed deviation and revolving speed deviation on the basis of der Geschwindigkeitkreis PI controller
Enter, optimize the der Geschwindigkeitkreis PI controller of permanent magnet synchronous motor by Fuzzy Controller, reaching improves motor control characteristic, to have
Effect reduces the fluctuation of speed caused by compressor changes due to load, achievees the purpose that the vibration noise for reducing compressor.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit；Both it can be located in one place, and may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: movable storage device, read-only deposits
Reservoir (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or
The various media that can store program code such as CD.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: that movable storage device, ROM, RAM, magnetic or disk etc. are various can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control, which is characterized in that the described method includes:
Build permanent magnet synchronous motor position-sensor-free driving platform；
Using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input value of Fuzzy Controller, export as revolving speed
The changing value of the parameter Kp and Ki of ring PI controller；
According to the control characteristic of system, input and the output domain of the Fuzzy Controller are determined；
Establish the subordinating degree function of the input and output domain；
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value；
To fuzzy value defuzzification processing, the changing value of parameter Kp and Ki is obtained；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, to realize to der Geschwindigkeitkreis
The adjusting of PI controller.
2. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control according to claim 1, which is characterized in that with
Input value of the change rate of the difference and difference of rotating speed of target and estimation revolving speed as Fuzzy Controller, exports as der Geschwindigkeitkreis PI control
The changing value of the parameter Kp and Ki of device processed, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
3. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control according to claim 1, which is characterized in that institute
State method further include:
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase static coordinate by Clark
Under electric current iαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two cordic phase rotators are obtained
Electric current i under systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerCompare, by speed pi regulator, export quadrature axis current to
Determine i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then respectively by electricity
Pi regulator is flowed, cross, straight shaft voltage value u is exportedqAnd ud, using Park inverse transformation, obtain the electricity under two-phase stationary coordinate system system
Pressure value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, selection is appropriate
Zero vector and calculate in the sector two adjacent voltage vectors and zero vector respective shared time, phase is set according to calculated result
Answer register value, the driving control signal of output inverter.
4. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control according to claim 1, which is characterized in that institute
Stating rotating speed of target and estimating the difference of revolving speed and the fuzzy subset of the change rate of difference is { NB, NM, NS, ZO, PS, PM, PB }, point
The fuzzy subset { negative big, to bear, bear small, zero, just small, center is honest } of input and output linguistic variable is not represented.
5. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control according to claim 1, which is characterized in that root
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value, specifically further include:
Based on the subordinating degree function and off-line calculation mode is used, the fuzzy control rule table of input, output is determined, uses
The mode tabled look-up exports fuzzy value, realizes the driving of permanent magnet synchronous motor, wherein the subordinating degree function uses triangle.
6. a kind of method for controlling permanent magnet synchronous motor based on fuzzy control according to claim 1, which is characterized in that institute
Permanent magnet synchronous motor is stated applied in compressor with rolling rotor, in compressor start and before entering closed loop phase, does not enable and is based on
The permanent magnet synchronous motor control mode of fuzzy control；After entering closed loop and stable operation, it is switched to and is adjusted by Fuzzy Controller
The self adaptive control mode of der Geschwindigkeitkreis PI controller.
7. a kind of control system for permanent-magnet synchronous motor based on fuzzy control, which is characterized in that it is described based on fuzzy control forever
Magnetic-synchro electric machine control system includes: memory and processor, includes a kind of permanent magnetism based on fuzzy control in the memory
Synchronous motor control method program, the method for controlling permanent magnet synchronous motor program based on fuzzy control are held by the processor
Following steps are realized when row:
Build permanent magnet synchronous motor position-sensor-free driving platform；
Using the change rate of the difference and difference of rotating speed of target and estimation revolving speed as the input value of Fuzzy Controller, export as revolving speed
The changing value of the parameter Kp and Ki of ring PI controller；
According to the control characteristic of system, input and the output domain of the Fuzzy Controller are determined；
Establish the subordinating degree function of the input and output domain；
Fuzzy control rule table is determined according to the subordinating degree function, and exports fuzzy value；
To fuzzy value defuzzification processing, the changing value of parameter Kp and Ki is obtained；
The changing value of the parameter Kp and Ki is added on the original parameter Kp and Ki of der Geschwindigkeitkreis PI controller, to realize to der Geschwindigkeitkreis
The adjusting of PI controller.
8. a kind of control system for permanent-magnet synchronous motor based on fuzzy control according to claim 7, which is characterized in that with
Input value of the change rate of the difference and difference of rotating speed of target and estimation revolving speed as Fuzzy Controller, exports as der Geschwindigkeitkreis PI control
The changing value of the parameter Kp and Ki of device processed, further includes:
Back-emf observer is constructed using permanent magnet synchronous motor back-emf equation；
It is observed obtaining back-emf observation according to back-emf observer；
Back-emf observation is filtered using preset filtering algorithm, to obtain filtered back-emf observation；
Based on filtered back-emf observation, the revolving speed of permanent magnet synchronous motor is estimated.
9. a kind of control system for permanent-magnet synchronous motor based on fuzzy control according to claim 7, which is characterized in that institute
It states when the method for controlling permanent magnet synchronous motor program based on fuzzy control is executed by the processor and also realizes following steps:
Motor stator biphase current i is measured by Hall current sensoraAnd ib, convert to obtain two-phase static coordinate by Clark
Under electric current iαAnd iβ；
Utilize iα、iβAnd uαAnd uβ, estimate to obtain rotor Angle Position and motor speed by observer；
It estimates to obtain motor rotor position angle using observer, so that iαAnd iβAfter Park is converted, two cordic phase rotators are obtained
Electric current i under systemdAnd iq；
By motor given rotating speed ω*Revolving speed is estimated with observerCompare, by speed pi regulator, export quadrature axis current to
Determine i* q；
If direct-axis current is given as i* d=0, cross, straight shaft current respectively with it is actually detected value compared with, then respectively by electricity
Pi regulator is flowed, cross, straight shaft voltage value u is exportedqAnd ud, using Park inverse transformation, obtain the electricity under two-phase stationary coordinate system system
Pressure value uαAnd uβ；
Determine uαAnd uβResultant vector be located at some sector in six sectors that space voltage vector is surrounded, selection is appropriate
Zero vector and calculate in the sector two adjacent voltage vectors and zero vector respective shared time, phase is set according to calculated result
Answer register value, the driving control signal of output inverter.
10. a kind of computer readable storage medium, which is characterized in that be based in the computer readable storage medium including one kind
The method for controlling permanent magnet synchronous motor program of fuzzy control, the method for controlling permanent magnet synchronous motor program based on fuzzy control
When being executed by processor, a kind of such as permanent magnet synchronous motor based on fuzzy control described in any one of claims 1 to 6 is realized
The step of control method.
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| CN112653363A (en) * | 2020-12-03 | 2021-04-13 | 珠海格力节能环保制冷技术研究中心有限公司 | Permanent magnet synchronous motor direct current bus voltage control method based on fuzzy control |
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| CN113162498A (en) * | 2021-04-27 | 2021-07-23 | 谷芯(广州)技术有限公司 | Permanent magnet synchronous motor vector control method and system based on fuzzy PI control |
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