CN110557072A - method and device for controlling rotating speed and current loop of permanent magnet synchronous motor - Google Patents
method and device for controlling rotating speed and current loop of permanent magnet synchronous motor Download PDFInfo
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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
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the 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
- H02P21/14—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
- H02P21/22—Current control, e.g. using a current control loop
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Abstract
A control method for the rotating speed and the current loop of a permanent magnet synchronous motor is characterized in that the control problem of the rotating speed outer loop is converted into a quadratic programming problem with constraint solving, and on one hand, the target rotating speed can be tracked on the basis that the q-axis current does not exceed the rated value of the q-axis current; on the other hand, the change rate of the q-axis current can be limited, and a smoother reference input is input for the current inner loop control to ensure the tracking effect; the current inner ring adopts an active disturbance rejection control structure, on one hand, an extended state observer is used for observing internal and external disturbances of a system and compensating the internal and external disturbances to a control input end, and on the other hand, a transition process module of the active disturbance rejection control structure is abandoned, so that the dynamic response speed of the current inner ring is improved. According to the control characteristics of the rotating speed outer ring and the current inner ring, the model prediction algorithm is used for outer ring control by adopting a modern control algorithm, and the active disturbance resistance is used as an inner ring control algorithm, so that the disturbance resistance of the PMSM vector control system and the strong robustness to uncertain factors are improved.
Description
Technical Field
The application relates to the technical field of motor controllers, in particular to a method and a device for controlling the rotating speed and the current loop of a permanent magnet synchronous motor.
background
the PMSM is taken as a typical nonlinear multivariable strong-coupling complex system, the control system of the PMSM is influenced by load disturbance, parameter perturbation and the like, and a special control strategy is required to improve the performance of a speed regulating system.
At present, a permanent magnet synchronous motor speed regulating system mostly adopts a double-closed-loop PI controller to control the rotating speed and the current, however, the double-closed-loop PI controller has the problems of weak robustness and disturbance rejection capability, and has weak adaptability to system parameter changes.
In view of this, it is desirable to provide a scheme for controlling the rotation speed and current loop of a PMSM to improve the anti-interference performance of the PMSM vector control system and the robustness to uncertain factors.
disclosure of Invention
the application provides a method and a device for controlling the rotating speed and the current loop of a permanent magnet synchronous motor, which are used for improving the anti-interference performance of a PMSM vector control system and the strong robustness of uncertain factors.
in order to achieve the purpose, the application provides the following technical scheme:
A control method for the rotating speed and the current loop of a permanent magnet synchronous motor comprises the following steps:
The rotating speed outer loop controller calculates q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by using a quadratic programming solver;
A first controller of the current inner loop controls q-axis current to follow the q-axis target current, and a second controller of the current inner loop controls d-axis current to follow the d-axis target current so as to control the rotating speed of the permanent magnet synchronous motor at the next moment; wherein the d-axis target current is 0;
the first controller carries out disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain q-axis voltage, and the q-axis current at the next moment is output according to the q-axis voltage;
And the second controller of the current inner loop performs disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain d-axis voltage so as to output the d-axis current at the next moment according to the d-axis voltage.
Preferably, the calculating, by the rotation speed outer loop controller, the q-axis target current according to the actual rotation speed and the target rotation speed at the current time by using a quadratic programming solver includes:
The quadratic programming solver integrates the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by using a performance function and a constraint condition;
solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal control sequence;
and adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain the q-axis target current.
preferably, the performance function is:
Wherein M (ω Δ i)q) Is shown with respect to ω and Δ iqThe performance function of these two variables, ω actual speed, Δ iqfor the q-axis current input rate of change, P is the prediction domain in the prediction model control algorithm, yout(k + i | k) is the output at time k + i obtained from the output at time k according to a prediction model, ω*Is the target rotational speed, [.]TRepresenting transposes of matrices, Γωas the rotational speed omega to omega*The tracking weight coefficient of (a) is,Is Δ iq(k) The weight coefficient of (a);
the constraint conditions are as follows: i.e. iq≤iqmaxwherein i isqIs a q-axis current, iqmaxa nominal value for the q-axis target current;
The quadratic programming problem is as follows:
Subjedct to，iq≤iqmax。
Preferably, the first controller includes a first nonlinear state error feedback module and a first extended state observer, and the first controller performs disturbance compensation according to the q-axis target current and the q-axis current at the current time to obtain a q-axis voltage, including:
The first extended state observer receives the q-axis current at the current moment and outputs the observed q-axis current and a first total disturbance estimation value;
Calculating to obtain a q-axis current deviation by using the observed q-axis current and the q-axis target current, so that the first nonlinear state error feedback module obtains an initial q-axis voltage through the q-axis current deviation;
And performing disturbance compensation on the initial q-axis voltage by using the first total disturbance estimation value to obtain the q-axis voltage.
Preferably, the second controller includes: the second controller of the current inner loop performs disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain a d-axis voltage, and the method comprises the following steps:
the second state expansion observer receives the d-axis current at the current moment and outputs the observed d-axis current and a second total disturbance estimation value;
Calculating to obtain d-axis current deviation by using the observed d-axis current and the d-axis target current, so that the second nonlinear state error feedback module obtains initial d-axis voltage through the d-axis current deviation;
And performing disturbance compensation on the initial d-axis voltage by using the second total disturbance estimation value to obtain the d-axis voltage.
a permanent magnet synchronous motor speed and current loop control device, the control device comprising: a rotational speed outer loop controller, a first controller and a second controller, wherein,
The rotating speed outer loop controller is used for calculating a q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by utilizing a quadratic programming solver;
The first controller is used for controlling q-axis current to follow the q-axis target current, and the second controller is used for controlling d-axis current to follow the d-axis target current so as to control the rotating speed of the permanent magnet synchronous motor at the next moment; wherein the d-axis target current is 0;
The first controller is further used for performing disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain a q-axis voltage, and outputting the q-axis current at the next moment according to the q-axis voltage;
And the second controller is used for performing disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain d-axis voltage so as to output the d-axis current at the next moment according to the d-axis voltage.
Preferably, the rotating speed outer loop controller comprises a quadratic programming solver,
the quadratic programming solver is used for integrating the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by using a performance function and a constraint condition; solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal control sequence; and adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain the q-axis target current.
preferably, the performance function is:
Wherein M (ω, Δ i)q) Are expressed with respect to ω and Δ iqThe performance function of these two variables, ω actual speed, Δ iqFor the q-axis current input rate of change, P is the prediction domain in the model predictive control algorithm, yout(k + i | k) is the output at time k + i predicted from the output at time k according to the modelGo out, omega*Is the target rotational speed, [.]TRepresenting transposes of matrices, ΓωAs the rotational speed omega to omega*The tracking weight coefficient of (a) is,is Δ iq(k) The weight coefficient of (a);
The constraint conditions are as follows: i.e. iq≤iqmaxwherein i isqis a q-axis current, iqmaxA nominal value for the q-axis target current;
The quadratic programming problem is as follows:
Subjedct to，iq≤iqmax。
Preferably, the first controller includes: a first extended state observer and a first nonlinear state error feedback module, wherein,
The first extended state observer is used for receiving the q-axis current at the current moment and outputting the observed q-axis current and a first total disturbance estimation value;
The first nonlinear state error feedback module is used for obtaining an initial q-axis voltage by using a q-axis current deviation calculated according to the observed q-axis current and the q-axis target current, so that the first total disturbance estimation value carries out disturbance compensation on the initial q-axis voltage to obtain the q-axis voltage.
Preferably, the second controller includes: a second extended state observer and a second nonlinear state error feedback module, wherein,
the second state expansion observer is used for receiving the d-axis current at the current moment and outputting the observed d-axis current and a second total disturbance estimation value;
The second nonlinear state error feedback module is used for obtaining an initial d-axis voltage by using a d-axis current deviation calculated according to the observed d-axis current and the d-axis target current, so that the second total disturbance estimation value performs disturbance compensation on the initial d-axis voltage to obtain the d-axis voltage.
according to the technical scheme, the method and the device for controlling the rotating speed and the current loop of the permanent magnet synchronous motor are provided, in the control method provided by the application, the rotating speed outer loop converts the control problem of the rotating speed outer loop into a quadratic programming problem with constraint solving by using a quadratic programming solver, and on one hand, the target rotating speed can be tracked on the basis that the q-axis current does not exceed the rated value of the q-axis current; on the other hand, the change rate of the q-axis current can be limited, and a smoother reference input is input for the current inner loop control to ensure the tracking effect. In addition, considering factors such as external load disturbance of the permanent magnet synchronous motor, coupling influence of a dq axis and the like, the current inner ring adopts an active disturbance rejection control structure, on one hand, an extended state observer is used for observing internal and external disturbance of a system and compensating the internal and external disturbance to a control input end, and on the other hand, a rotating speed ring controls delta iqAnd limiting to make the reference input of the current inner ring as smooth as possible, so that a transition process module of an active disturbance rejection control structure is abandoned, and the dynamic response speed of the current inner ring is improved. According to the control characteristics of the rotating speed outer ring and the current inner ring, the model prediction algorithm is used for outer ring control by adopting a modern control algorithm, and the active disturbance resistance is used as an inner ring control algorithm, so that the disturbance resistance of the PMSM vector control system and the strong robustness to uncertain factors are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a vector control block diagram of a PMSM speed regulation system provided by the present application;
fig. 2 is a flowchart of a method for controlling a rotating speed and a current loop of a permanent magnet synchronous motor according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for calculating a q-axis target current according to an embodiment of the present disclosure;
Fig. 4 is a block diagram of a vector control structure of a novel PMSM speed regulation system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a rotational speed and current loop control device of a permanent magnet synchronous motor according to a second embodiment of the present disclosure.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the anti-interference performance of a PMSM vector control system and the strong robustness to uncertain factors, the application provides a method and a system for controlling the rotating speed and the current loop of a permanent magnet synchronous motor.
As shown in fig. 1, a vector control block diagram of a PMSM speed control system provided by the present application is shown:
clar transformation: refers to the static three-phase current I of the stator of the permanent magnet synchronous motorU、IVAnd IWconverted into a stationary two-phase current IαAnd Iβ。
Park transformation: refers to the static two-phase current IαAnd IβConverted into a two-phase current I rotating synchronously with the rotor of the motorqand IdIn which IqAlways perpendicular to the rotor field direction, IdAlways parallel to the rotor field direction.
Performing Park inverse transformation: refers to the dq axis voltage u calculated by the controllerdAnd uqConverted into a stationary two-phase voltage uαAnd uβ。
SVPWM (space vector pulse width modulation) and three-phase voltage type inverter are taken as a whole to convert stationary two-phase voltage uαAnd uβConversion to stationary three-phase target voltage u of PMSMU、uVAnd uW。
It should be noted that, for convenience of description, the rotation speed described in the embodiments of the present application is all expressed by an electrical angular velocity ω of the rotor, and as known to those skilled in the art, ω is 2 pi n, and n is a true rotation speed, and those skilled in the art can obtain the true rotation speed according to the angular velocity ω, and details are not described in the present application.
example one
As shown in fig. 2, fig. 2 is a flowchart of a method for controlling a rotating speed and a current loop of a permanent magnet synchronous motor according to an embodiment of the present application, where the method includes:
S101: the rotating speed outer loop controller calculates q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by using a quadratic programming solver;
Specifically, as shown in fig. 3, fig. 3 is a flowchart of a method for calculating a q-axis target current according to an embodiment of the present application, that is, a rotation speed outer loop controller calculates the q-axis target current according to an actual rotation speed and a target rotation speed at a current time by using a quadratic programming solver: the method comprises the following steps:
S1011: integrating the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by using a performance function and a constraint condition through a quadratic programming solver;
S1012: solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal control sequence;
S1013: and adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain a q-axis target current.
in the application, the control problem of the outer ring of the rotating speed is converted into a quadratic programming problem with constraint solving, and the change rate delta i of the control input is realizedqand limiting to obtain a smoother reference input for the current inner loop as much as possible to ensure the tracking effect.
s102: a first controller of the current inner loop controls q-axis current to follow q-axis target current, and a second controller of the current inner loop controls d-axis current to follow d-axis target current so as to control the rotating speed of the permanent magnet synchronous motor at the next moment;
Wherein the d-axis target current is 0;
S103: the first controller carries out disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain q-axis voltage, and the q-axis current at the next moment is output according to the q-axis voltage;
S104: and the second controller of the current inner loop carries out disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain d-axis voltage so as to output the d-axis current at the next moment according to the d-axis voltage.
In addition, step S101 and step S102 are for controlling the rotation speed, and step S103 and step S104 are for controlling the current output of the d-axis and q-axis by controlling the voltage of the d-axis and q-axis. In the present application, step S103 and step S104 are executed simultaneously.
Specifically, referring to fig. 1, the outer ring control of the rotation speed is realized by the controller 1 according to the actual rotation speed ω and the target rotation speed ω*calculating a q-axis current inner loop control target value iq *. The current inner loop comprises two controllers, controller 2 and controller 3, wherein controller 2 implements q-axis current iqtarget value i calculated by counter rotating speed outer loop controllerq *Is followed, the controller 3 realizes the d-axis current idFollowing the target current 0.
The algorithm design flow is as follows:
In the rotating speed outer ring:
the relation between the rotating speed and the q-axis current is
where ω is the electrical angular velocity of the rotor, B is the coefficient of friction, ψλFor coupling the rotor to the stator, iqQ-axis current, J moment of inertia, pnIs the number of pole pairs, TLis the load torque.
Discrete model is
In this equation, the electrical angular velocity ω of the rotor is the system state variable, the q-axis current iqis a control input of a rotating speed ring and a controlled output youtω. To eliminate the interference term, the equation (2) is converted into the incremental equation as follows:
The vector control of the PMSM speed regulation system has the function of realizing the speed control of the motor, and the target rotating speed value w of the PMSM speed regulation system*the vehicle controller is given in real time according to the vehicle condition in the driving process, and the application only discusses the control process of the rotating speed of the PMSM motor, so that the part is not specifically explained.
For the control of the outer loop of the speed, we expect the speed ω of the actual output of the PMSM to track a given desired value ω*While the q-axis target current i calculated by the controllerq *Should not exceed its rated value iqmaxOn this basis, we have the rate of change of the control input Δ iqAnd limiting to obtain a smoother reference input for the current inner loop to ensure the tracking effect.
In summary, the performance function takes the form:
wherein M (ω, Δ i)q) Are expressed with respect to ω and Δ iqThe performance function of these two variables, ω actual speed, Δ iqIs the q-axis current input rate of change;
The P value is a prediction domain in the prediction model control algorithm, the larger the value is, the better the obtained control rate is, but the larger the corresponding calculation amount is, which depends on the complexity of the system, so that the P value needs to be finally determined by comparing the experimental results. (generally, the value is within 2-10);
yout(k + i | k) is the k + i time obtained from the output at the k time by the prediction model (3)Outputting;
ω*The reference input of the outer ring of the rotating speed is the target rotating speed;
ΓωAs the rotational speed omega to omega*The larger the value is, the stronger the tracking ability is;
is Δ iq(k) Weight coefficient, the larger the value, Δ iq(k) The stronger the tracking capability for 0, iqthe smaller the rate of change, the further the reference input of the resulting current loop, i.e. the target value iq *the smoother is.
And (3) comprehensive constraint conditions: i.e. iq≤iqmaxTherefore, the control problem of the outer ring of the rotating speed is converted into a quadratic programming problem with constraint, which is as follows:
Subjedct to，iq≤iqmax (5)
Solving the quadratic programming problem by using an active set algorithm at each moment to obtain an optimal control sequence, and calculating a first value delta i of the optimal control sequenceq(k +1) and the current time q-axis current iq(k) adding to obtain the target current i of the current loop at the next momentq(k +1), i.e. i shown in FIG. 4q *This value is output to the current inner loop as a reference input.
fig. 4 is a block diagram of a vector control structure of a PMSM speed regulation system according to an embodiment of the present disclosure, and with reference to fig. 4, in the present disclosure, a first controller includes a first nonlinear state error feedback module and a first extended state observer, and the first controller is configured to control a target current i according to a q-axisqAnd q-axis current i at present timeqPerforming disturbance compensation to obtain q-axis voltage uqThe method comprises the following steps:
The first extended state observer receives q-axis current i at the current momentqand outputs the observed q-axis current z1and a first total disturbance estimate z2；
wherein the input of the first extended state observer is the actual value i of the q-axis currentqThe output of the module is the observed q-axis current z1And a first total disturbance estimate z2。
using the observed q-axis current z1 and the q-axis target current i output by the first extended state observerqCalculating to obtain q-axis current deviation e1so that the first nonlinear state error feedback module passes the q-axis current deviation e1Obtain an initial q-axis voltage uq0；
Wherein the input to the first nonlinear state error feedback module is the q-axis current offset; q-axis current deviation-q-axis target current value iqQ-axis current value z observed by extended state observer1(ii) a The output of the module is the initial value u of the target voltage of the q axisq0。
Using the first total disturbance estimate z2For initial q-axis voltage uq0carrying out disturbance compensation to obtain q-axis voltage uq。
Similarly, in the present application, the second controller of the current inner loop is based on the d-axis target current id *And d-axis current i at the present timedD-axis voltage u is obtained by carrying out disturbance compensationdThe method comprises the following steps:
the second state extended observer receives the d-axis current i at the current momentdAnd outputs the observed d-axis current z3and a second total disturbance estimate z4；
wherein the input of the second extended state observer is the d-axis current actual value idThe output of the module is the observed d-axis current z3And a second total disturbance estimate z4。
Using the observed d-axis current z3 and the d-axis target current id *d-axis current deviation e is obtained through calculation2So that the second nonlinear state error feedback module passes the d-axis current deviation e2Obtain an initial d-axis voltage ud0；
Wherein the input of the second nonlinear state error feedback moduleIs the d-axis current deviation; d-axis current deviation-d-axis target current value idD-axis current value z observed by extended state observer3(ii) a The output of the module is the initial value u of the d-axis target voltaged0。
Using the second total disturbance estimate z4For the initial d-axis voltage ud0Carrying out disturbance compensation to obtain d-axis voltage ud。
Specifically, the method is used for controlling i in PMSM vector in a current inner loopdAnd (5) performing control design on the basis of 0.
The q-axis current and the q-axis voltage have the following relation:
Wherein L isqQ-axis inductance, and R stator resistance. For the control of a current loop, the current of a d axis and a q axis is required to respond to a target value quickly, and the coupling influence of the d axis and the q axis is overcome to realize the tracking of an instruction. In the formula (6), theThe total disturbance a (t) regarded as current loop control, using the state variable x2(t) denotes the control system output y (t) iq(t), then equation (6) is expressed using the state space equation as:
Further, a second order state observer is used as follows:
Wherein z is1for observed motor q-axis current, e is q-axis current deviation, z2Is a pair ofAn estimate of the disturbance; u. ofqIs the q-axis voltage applied to the Park inverse transform module after perturbation compensation. Beta is a1and beta2Is a gain factor.
Because the current loop is a first-order control system, the nonlinear state error feedback module adopts a proportional control link uq0＝kpethe requirement can be met, and the q-axis voltage is output after disturbance compensationthe d-axis current control process is the same as the q-axis control process, and details are not repeated here, and refer to fig. 4 specifically.
according to the technical scheme, the control method provided by the first embodiment of the application has the advantages that the algorithm design is carried out on the outer ring of the rotating speed under the model prediction framework, so that on one hand, the target rotating speed can be tracked on the basis that the q-axis current does not exceed the rated value; on the other hand can be to igThe change rate of the current is limited, and a smoother reference input is input for the current inner loop control to ensure the tracking effect of the current inner loop control. In addition, considering factors such as external load disturbance of the permanent magnet synchronous motor, coupling influence of a dq axis and the like, the current inner ring adopts an active disturbance rejection control structure, on one hand, an extended state observer is used for observing internal and external disturbance of a system and compensating the internal and external disturbance to a control input end, and on the other hand, a rotating speed ring controls delta iqand limiting to make the reference input of the current inner ring as smooth as possible, so that a transition process module of an active disturbance rejection control structure is abandoned, and the dynamic response speed of the current inner ring is improved. According to the control characteristics of the rotating speed outer ring and the current inner ring, the model prediction algorithm is used for outer ring control by adopting a modern control algorithm, and the active disturbance resistance is used as an inner ring control algorithm, so that the disturbance resistance of the PMSM vector control system and the strong robustness to uncertain factors are improved.
Example two
On the basis of the first embodiment, the second embodiment of the present application provides a control device for a rotational speed and a current loop of a permanent magnet synchronous motor, as shown in fig. 5, fig. 5 is a schematic structural diagram of the control device for the rotational speed and the current loop of the permanent magnet synchronous motor provided in the second embodiment of the present application, and the control device includes: the control system comprises a rotating speed outer ring controller 201, a first controller 202 and a second controller 203, wherein the whole control process further comprises a Park inverter device, an SVPWM device, a three-phase voltage type inverter, a permanent magnet synchronous motor, a Clark inverter device, a Park inverter device, a speed position device and the like, and the details are shown in fig. 4.
a rotation speed outer loop controller 201, configured to utilize a quadratic programming solver to determine an actual rotation speed ω and a target rotation speed ω at a current time*Calculating a q-axis target current iq*；
A first controller 202 for controlling the q-axis current iqFollowing q-axis target current iqA second controller for controlling the d-axis current idFollowing d-axis target current idFurther controlling the rotating speed of the permanent magnet synchronous motor at the next moment; wherein, d-axis target current id0;
the first controller 202 is further configured to target the current i according to the q-axisqAnd q-axis current i at present timeqperforming disturbance compensation to obtain q-axis voltage uqaccording to the q-axis voltage uqOutputting q-axis current at the next moment;
A second controller 203 for controlling the d-axis target current id *and d-axis current i at the present timedd-axis voltage u is obtained by carrying out disturbance compensationdaccording to d-axis voltage udand outputting the d-axis current at the next moment.
the rotating speed outer ring controller comprises a quadratic programming solver, wherein the quadratic programming solver is used for integrating the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by utilizing a performance function and a constraint condition; and solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal controlA sequence; adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain a q-axis target current iq*。
Specifically, the introduced performance function is:
wherein M (ω, Δ i)q) Are expressed with respect to ω and Δ iqthe performance function of these two variables, ω actual speed, Δ iqfor the q-axis current input rate of change, P is the prediction domain in the prediction model control algorithm, yout(k + i | k) is the output at time k + i obtained from the output at time k according to a prediction model, ω*is the target rotational speed, [.]TRepresenting transposes of matrices, Γωas the rotational speed omega to omega*The tracking weight coefficient of (a) is,Is Δ iq(k) The weight coefficient of (a);
the constraint conditions are as follows: i.e. iq≤iqmaxWherein i isqIs a q-axis current, iqmaxA nominal value for the q-axis target current;
the secondary planning problem is as follows:
Subjedct to，iq≤iqmax。
In the application, the control problem of the outer ring of the rotating speed is converted into a quadratic programming problem with constraint solving, and the change rate delta i of the control input is realizedqAnd limiting to obtain a smoother reference input for the current inner loop as much as possible to ensure the tracking effect.
further, in the present application, the first controller includes: a first extended state observer and a first nonlinear state error feedback module, wherein,
The first extended state observer is used for receiving the q-axis current at the current moment and outputting the observed q-axis current and a first total disturbance estimation value;
The first nonlinear state error feedback module is used for obtaining initial q-axis voltage by using q-axis current deviation obtained by calculation according to observed q-axis current and q-axis target current, so that the first total disturbance estimation value carries out disturbance compensation on the initial q-axis voltage to obtain q-axis voltage.
The second controller includes: a second extended state observer and a second nonlinear state error feedback module, wherein,
The second state expansion observer is used for receiving the d-axis current at the current moment and outputting the observed d-axis current and a second total disturbance estimation value;
the second nonlinear state error feedback module is used for obtaining initial d-axis voltage by using d-axis current deviation obtained by calculation according to the observed d-axis current and d-axis target current so as to enable a second total disturbance estimation value to carry out disturbance compensation on the initial d-axis voltage to obtain d-axis voltage ud。
Specifically, in this embodiment, the same or similar parts as in the first embodiment may be referred to each other, and are not described in detail in this application.
According to the scheme, the rotating speed and current loop control device of the permanent magnet synchronous motor provided by the second embodiment of the application adopts a modern control algorithm to apply a model prediction algorithm to outer loop control according to the control characteristics of a rotating speed outer loop and a current inner loop by improving the algorithms in the rotating speed outer loop controller and the current inner loop controller, and active disturbance is used as an inner loop control algorithm to further improve the disturbance resistance of a PMSM vector control system and the robustness to uncertain factors.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. a control method for the rotating speed and the current loop of a permanent magnet synchronous motor is characterized by comprising the following steps:
The rotating speed outer loop controller calculates q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by using a quadratic programming solver;
a first controller of the current inner loop controls q-axis current to follow the q-axis target current, and a second controller of the current inner loop controls d-axis current to follow the d-axis target current so as to control the rotating speed of the permanent magnet synchronous motor at the next moment; wherein the d-axis target current is 0;
The first controller carries out disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain q-axis voltage, and the q-axis current at the next moment is output according to the q-axis voltage;
And the second controller of the current inner loop performs disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain d-axis voltage so as to output the d-axis current at the next moment according to the d-axis voltage.
2. The control method of claim 1, wherein the rotating speed outer loop controller calculates the q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by using a quadratic programming solver, and comprises:
the quadratic programming solver integrates the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by using a performance function and a constraint condition;
solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal control sequence;
and adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain the q-axis target current.
3. The control method of claim 2, wherein the performance function is:
Wherein M (ω, Δ i)q) Are expressed with respect to ω and Δ iqThe performance function of these two variables, ω actual speed, Δ iqfor the q-axis current input rate of change, P is the prediction domain in the prediction model control algorithm, yout(k + i | k) is the output at time k + i obtained from the output at time k according to a prediction model, ω*Is the target rotational speed, [.]Trepresenting transposes of matrices, Γωas the rotational speed omega to omega*The tracking weight coefficient of (a) is,is Δ iq(k) the weight coefficient of (a);
The constraint conditions are as follows: i.e. iq≤iqmaxWherein i isqIs the q-axis current, and is,iqmaxA nominal value for the q-axis target current;
The quadratic programming problem is as follows:
Subjedct to,iq≤iqmax。
4. The control method according to any one of claims 1 to 3, wherein the first controller comprises a first nonlinear state error feedback module and a first extended state observer, and the first controller performs disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain a q-axis voltage, and comprises:
The first extended state observer receives the q-axis current at the current moment and outputs the observed q-axis current and a first total disturbance estimation value;
calculating to obtain a q-axis current deviation by using the observed q-axis current and the q-axis target current, so that the first nonlinear state error feedback module obtains an initial q-axis voltage through the q-axis current deviation;
and performing disturbance compensation on the initial q-axis voltage by using the first total disturbance estimation value to obtain the q-axis voltage.
5. The control method according to any one of claims 1 to 3, wherein the second controller includes: the second controller of the current inner loop performs disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain a d-axis voltage, and the method comprises the following steps:
The second state expansion observer receives the d-axis current at the current moment and outputs the observed d-axis current and a second total disturbance estimation value;
Calculating to obtain d-axis current deviation by using the observed d-axis current and the d-axis target current, so that the second nonlinear state error feedback module obtains initial d-axis voltage through the d-axis current deviation;
And performing disturbance compensation on the initial d-axis voltage by using the second total disturbance estimation value to obtain the d-axis voltage.
6. A permanent magnet synchronous motor speed and current loop control device, characterized in that, the control device includes: a rotational speed outer loop controller, a first controller and a second controller, wherein,
the rotating speed outer loop controller is used for calculating a q-axis target current according to the actual rotating speed and the target rotating speed at the current moment by utilizing a quadratic programming solver;
the first controller is used for controlling q-axis current to follow the q-axis target current, and the second controller is used for controlling d-axis current to follow the d-axis target current so as to control the rotating speed of the permanent magnet synchronous motor at the next moment; wherein the d-axis target current is 0;
the first controller is further used for performing disturbance compensation according to the q-axis target current and the q-axis current at the current moment to obtain a q-axis voltage, and outputting the q-axis current at the next moment according to the q-axis voltage;
and the second controller is used for performing disturbance compensation according to the d-axis target current and the d-axis current at the current moment to obtain d-axis voltage so as to output the d-axis current at the next moment according to the d-axis voltage.
7. the control apparatus of claim 6, wherein the rotational speed outer loop controller comprises a quadratic programming solver,
The quadratic programming solver is used for integrating the actual rotating speed and the target rotating speed at the current moment into a quadratic programming problem by using a performance function and a constraint condition; solving the quadratic programming problem by adopting an active set algorithm at each moment to obtain an optimal control sequence; and adding the first value of the optimal control sequence and the q-axis current at the current moment to obtain the q-axis target current.
8. The control apparatus of claim 7, wherein the performance function is:
Wherein M (ω, Δ i)q) Are expressed with respect to ω and Δ iqThe performance function of these two variables, ω actual speed, Δ iqfor the q-axis current input rate of change, P is the prediction domain in the prediction model control algorithm, yout(k + i | k) is the output at time k + i obtained from the output at time k according to a prediction model, ω*Is the target rotational speed, [.]TRepresenting transposes of matrices, ΓωAs the rotational speed omega to omega*The tracking weight coefficient of (a) is,Is Δ iq(k) The weight coefficient of (a);
The constraint conditions are as follows: i.e. iq≤iqmaxwherein i isqIs a q-axis current, iqmaxA nominal value for the q-axis target current;
The quadratic programming problem is as follows:
Subjedct to,iq≤iqmax。
9. The control device according to any one of claims 6 to 7, wherein the first controller includes: a first extended state observer and a first nonlinear state error feedback module, wherein,
The first extended state observer is used for receiving the q-axis current at the current moment and outputting the observed q-axis current and a first total disturbance estimation value;
The first nonlinear state error feedback module is used for obtaining an initial q-axis voltage by using a q-axis current deviation calculated according to the observed q-axis current and the q-axis target current, so that the first total disturbance estimation value carries out disturbance compensation on the initial q-axis voltage to obtain the q-axis voltage.
10. The control device according to any one of claims 6 to 7, wherein the second controller includes: a second extended state observer and a second nonlinear state error feedback module, wherein,
The second state expansion observer is used for receiving the d-axis current at the current moment and outputting the observed d-axis current and a second total disturbance estimation value;
The second nonlinear state error feedback module is used for obtaining an initial d-axis voltage by using a d-axis current deviation calculated according to the observed d-axis current and the d-axis target current, so that the second total disturbance estimation value performs disturbance compensation on the initial d-axis voltage to obtain the d-axis voltage.
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