CN110649849A - Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer - Google Patents

Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer Download PDF

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CN110649849A
CN110649849A CN201911063202.XA CN201911063202A CN110649849A CN 110649849 A CN110649849 A CN 110649849A CN 201911063202 A CN201911063202 A CN 201911063202A CN 110649849 A CN110649849 A CN 110649849A
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motor
speed
mode observer
permanent magnet
magnet linear
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曹瑞武
蒋宁
王凯
王支业
王业彬
王秋岭
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XUZHOU DAYUAN ELECTROMOTOR Co Ltd
Nanjing University of Aeronautics and Astronautics
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XUZHOU DAYUAN ELECTROMOTOR Co Ltd
Nanjing University of Aeronautics and Astronautics
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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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • 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
    • 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
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

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  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a position-sensor-free control method of a magnetic flux switching type permanent magnet linear motor based on a novel sliding-mode observer. And estimating the position and speed information of a motor rotor by using the improved sliding-mode observer, and realizing the position-sensorless speed closed-loop vector control of the motor. The Sigmoid function is used for replacing a switching function in the traditional sliding mode observer, the system buffeting is greatly reduced, the working speed range of the sliding mode observer is expanded by introducing self-adaptive feedback gain, and the speed and the position of the motor are estimated from the observed back electromotive force through the phase-locked loop. The magnetic flux switching permanent magnet linear motor position-free control method based on the novel sliding-mode observer avoids installation of a position sensor, reduces system cost and improves reliability.

Description

Magnetic flux switching type permanent magnet linear motor position-free control method based on novel sliding-mode observer
Technical Field
The invention relates to a position-free control method of a magnetic flux switching type permanent magnet linear motor based on a novel sliding-mode observer, which is suitable for the field of long-stroke driving systems of rail transit with high position sensor cost.
Background
The permanent magnet and armature winding of the magnetic flux switching permanent magnet linear motor (LFSPM) are both arranged on the primary short rotor, and the secondary long stator is only made of magnetic conductive materials. Compared with a linear induction motor and a permanent magnet synchronous linear motor, the LFSPM motor has the advantages of low cost, high efficiency and high thrust density, and has wide application prospect in the field of rail transit driving systems. High performance LFSPM motor control requires accurate position and velocity information, but expensive position sensors such as a grating scale increase the cost of the entire drive system and reduce reliability. Therefore, the position-free control of the LFSPM motor can effectively reduce the cost of the system and simultaneously improve the reliability of the operation of the system.
At present, few researches on the control strategy of the LFSPM motor without the position sensor are carried out at home and abroad, so that the research on the position-free control of the LFSPM motor has important significance. The current position sensorless control methods of permanent magnet synchronous motors can be divided into two categories according to applicable speed ranges. The first type is motor low speed position detection based on motor saliency, but the injected high frequency signal causes large torque ripple. The other type is high-speed position detection in the motor based on the motor counter electromotive force, and position and speed information of the motor is extracted from the motor counter electromotive force. However, at low speed, the back electromotive force of the motor is too small to accurately extract the position information of the motor, and therefore, the method is suitable for the medium-high speed operation range of the motor. The sliding mode observer method has the advantages of simple algorithm, strong robustness, easiness in engineering realization and the like, and is suitable for application occasions with more interference signals such as rail transit and the like.
The traditional sliding mode observer mainly adopts a switch function as a control function, and the system can quickly and stably enter a sliding mode motion state by adjusting the size of a sliding mode gain, so that the estimated current converges to the actual current to obtain an estimated back electromotive force signal. The estimated back emf is then operated on by an arctan function to obtain estimated position and velocity signals. But the system generates large buffeting due to discontinuous switching function; while the use of an arctan function reduces the accuracy of the estimated position. By adopting a Sigmoid function and a phase-locked loop, the precision of the estimated position is improved; in addition, the minimum working speed of the sliding mode observer is greatly reduced by adopting feedback control. And position control is adopted in the starting stage, and when the motor runs to the minimum working speed, a novel sliding-mode observer is switched to control, so that position-free control is realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to overcome the defects brought by a mechanical position sensor and provide a position sensorless control method of an LFSPM motor based on a sliding mode observer method. The method improves the buffeting phenomenon of the traditional sliding mode observer and expands the working speed range of the observer.
The magnetic flux switching type permanent magnet linear motor position sensorless control method based on the sliding mode observer method comprises the following steps:
step 1: three-phase current i for detecting magnetic flux switching type permanent magnet linear motora、ib、icAnd obtaining the current i under a two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd iβDetecting the power supply voltage and the duty ratio Sa、Sb、ScThen obtaining the voltage u under the two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd uβ；
Step 2: according to the result obtained in step 1Estimating the counter electromotive force e under a static coordinate system through a sliding mode observer according to current and voltage signalsαAnd eβFurther, the speed and the position of the motor are obtained through phase-locked loop estimation;
and step 3: the motor is controlled to run at a reduced speed without a position sensor, the vector control obtains i through the difference between a reference speed and an estimated speed and a PI controllerqReference value i ofq *And i isdReference value i ofd *Set to zero, i.e. adopt idControl strategy is 0. The reference value and the feedback value of the current under the two-phase rotating coordinate system are subjected to difference, and a given voltage u is obtained through a PI (proportional integral) controllerdAnd uqObtaining the given voltage u under the static coordinate system through coordinate changeαAnd uβAnd then the duty ratio control inverter is obtained through the SVPWM module, so that the LFSPM motor is controlled.
Further, in the step 1, the current i in the two-phase static coordinate systemαAnd iβAnd voltage uαAnd uβ：
Figure BSA0000193832040000021
Wherein Sa、Sb、ScIs the duty cycle, UdcThe value of the direct current bus voltage is obtained.
Further, in the step 2, a variable Z is introduced into the novel sliding-mode observereqAnd 1, rebuilding the mathematical model of LFSPM motor, wherein ZeqIs to estimate the equivalent control quantity after the counter potential filters the high-frequency noise, 1 is the equivalent control quantity ZeqThe feedback gain of (a) is specifically reconstructed as a mathematical model of the following motor:
Figure BSA0000193832040000022
Figure BSA0000193832040000023
formula (III) R, LDCAre respectively asDC component of stator resistance and inductance, omegacThe cut-off frequency of the low-pass filter.
Further, still include: the novel sliding mode observer replaces a switching function by a Sigmoid function to reduce system buffeting, and can be expressed as follows:
Figure BSA0000193832040000024
Figure BSA0000193832040000025
in the formula, kωFor sliding mode gain, a is the adjustable parameter in Sigmoid.
Further, according to the lyapunov stability theorem, the conditions of convergence and stability of the system sliding mode motion are as follows:
S·S≤0
Figure BSA0000193832040000031
by combining the above formula, one can obtain:
kω·(1+l)＞max(|eα|，|eβ|)
wherein e isαAnd eβIs a back-emf signal.
Further, in the novel sliding mode observer, the feedback gain is adopted to expand the speed range of the sliding mode of the motor without position control, and if the feedback gain is a constant value, the estimation precision of the motor during high-speed operation can be reduced, so that the feedback gain value can be designed as follows:
l＝v-1
where v is the motor speed and in actual operation is the estimated speed magnitude.
The sliding mode gain and equivalent control quantity can be expressed as:
Figure BSA0000193832040000032
Figure BSA0000193832040000033
in the formula tausIs the stator pole pitch, psi, of the machinemIs the flux linkage value, omega, of the motoreAnd thetaeRespectively the angular velocity and the position angle of the motor.
Furthermore, a phase-locked loop is adopted in the novel sliding-mode observer to replace a traditional arctan function to estimate the position and the speed of the motor. Equivalent control quantity Z obtained by observereqAnd then obtaining the estimated speed and position angle through a phase-locked loop.
The invention has the following beneficial effects:
1) the novel sliding-mode observer module is not used for the traditional sliding-mode observer. The traditional sliding-mode observer adopts a switch function as a control function, and estimates the speed and the position by an arc tangent function; the novel sliding mode observer adopts a Sigmoid function to replace a switch function, so that the buffeting of a system is effectively reduced, and meanwhile, the position is estimated by adopting a phase-locked loop, so that the position estimation precision is improved. In addition, the lowest working speed of the sliding mode observer is greatly reduced by introducing self-adaptive feedback gain, and a better control effect is achieved at different working speeds.
2) The position and speed signals estimated by the position-free module based on the novel sliding-mode observer have higher precision, the problem of high installation cost of the position sensor such as a grating ruler is solved, and the reliability of a driving system is improved.
3) The invention is also suitable for the position-free control of other rotating synchronous motors.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a control block diagram of a magnetic flux switching type permanent magnet linear motor position sensorless based on a sliding-mode observer;
FIG. 2 is a functional block diagram of a novel sliding-mode observer method;
FIG. 3 is a back emf waveform estimated during steady operation of the motor;
fig. 4 is a waveform diagram of the speed abrupt change of the motor under the no-load condition, which sequentially comprises from top to bottom: estimating a speed waveform, an actual speed waveform, an estimated speed error and a phase current waveform;
fig. 5 is a waveform diagram of the speed abrupt change of the motor under the no-load condition, which sequentially comprises from top to bottom: estimating a position waveform, an actual position waveform and a position error waveform;
fig. 6 is a waveform diagram under the condition that the motor is loaded suddenly, which sequentially comprises the following steps from top to bottom: estimating a speed waveform, a speed error waveform, a tension waveform and a motor phase current waveform;
fig. 7 is a waveform diagram under the condition that the motor is loaded suddenly, which sequentially comprises the following steps from top to bottom: an estimated position waveform, an actual position waveform, and a position error waveform.
Detailed Description
The invention provides an LFSPM motor position-sensorless control method based on a sliding-mode observer method, which aims to make the purposes, technical schemes and effects of the LFSPM motor clearer and makes the LFSPM motor position-sensorless control method further detailed in the invention with reference to the attached drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Step 1: three-phase current i of magnetic flux switching type permanent magnet linear motor obtained through A/D samplinga、ib、icAnd obtaining the current i under a two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd iβ(ii) a Combining the bus voltage and the duty ratio signal, and obtaining the voltage u under the two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd uβ；
Figure BSA0000193832040000041
Figure BSA0000193832040000042
Wherein Sa、Sb、ScIs the duty cycle of the controller output, UdcThe value of the direct current bus voltage is obtained.
Step 2: knowing the current and voltage of the machine in a two-phase stationary frame, it is possible to obtain by an observer:
the reconstructed state equation of the magnetic flux switching type permanent magnet linear motor in the static coordinate system is as follows:
Figure BSA0000193832040000043
Figure BSA0000193832040000051
formula (III) R, LDCDc components, ω, of stator resistance and inductance, respectivelycIs the cut-off frequency, Z, of the low-pass filtereqIs to estimate the equivalent control quantity after the counter potential filters the high-frequency noise, 1 is the equivalent control quantity ZeqThe feedback gain of (1).
The novel sliding mode observer replaces a switching function by a Sigmoid function to reduce system buffeting, and can be expressed as follows:
Figure BSA0000193832040000053
in the formula, kωFor sliding mode gain, a is the adjustable parameter in Sigmoid.
From the lyapunov theorem of stability, the system stability conditions are known as follows:
S·S≤0
Figure BSA0000193832040000054
by combining the above formula, one can obtain:
kω·(1+l)＞max(|eα|，|eβ|)
wherein eαAnd eβIs a back-emf signal.
The novel sliding mode observer introduces feedback gain to reduce the lowest working speed of the observer, and the feedback gain is changed in real time according to the running speed of the motor and can be designed as follows:
l＝v-1
where v is the speed of the motor and in actual operation is the speed estimated by the observer.
According to the adaptive feedback gain described above, the sliding mode gain and the equivalent control amount can be expressed as:
Figure BSA0000193832040000056
in the formula tausIs the stator pole pitch, psi, of the machinemIs the flux linkage value, omega, of the motoreAnd thetaeRespectively the angular velocity and the position angle of the motor. The structural block diagram of the sliding-mode observer no-position estimation module is shown in fig. 3.
The novel sliding-mode observer adopts a phase-locked loop to estimate the position and the speed of the motor, and obtains an equivalent control quantity Z through the sliding-mode observereqAnd then obtaining the estimated speed and position angle through a phase-locked loop.
When the motor is started, the back electromotive force of the motor is very small, and the sliding mode observer cannot accurately estimate the position of the motor, so that the motor is controlled by adopting the position when the motor approaches zero speed. In the starting stage, the sliding mode observer only plays a role in observation, and when the motor runs to the lowest working speed of the novel sliding mode observer, no position control is switched in. The voltage of a direct current bus is given to 40V, the speed of the motor is given to 0.5m/s, the motor is started in a no-load mode, and the given speed is suddenly changed to 1m/s after the motor runs for 0.3 s. Fig. 4 is a comparison graph of the estimated motor speed and the actual speed, and it can be seen that the speed estimated by the observer maintains a high degree of matching with the actual speed both in the dynamic state and in the steady state, and the estimated speed in the steady state is maintained within 0.01 m/s. In fig. 5, which is a comparison of the estimated motor position and the actual position, the estimated position tracks the actual position of the motor well and the angular error remains within 0.15 rad. Experimental results prove that the novel sliding mode observer has high estimation precision on the speed and the position of the motor.
Fig. 6 is a graph comparing the estimated speed and the actual speed of the motor with the sudden 50N load after a period of stable operation, and it can be seen that the motor speed can be quickly restored to a stable state. FIG. 7 is a comparison graph of the estimated motor position and the actual position, the estimated position error quickly reaches a smaller value again after sudden loading, and the estimated position fluctuates in a small range near the actual position, so that the sliding mode observer is proved to have good robustness.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (5)

1. A flux switching type permanent magnet linear motor position sensorless control based on a novel sliding mode observer method is characterized by comprising the following specific steps:
step 1: three-phase current i for detecting magnetic flux switching type permanent magnet linear motora、ib、icAnd obtaining the current i under a two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd iβDetecting the power supply voltage and the duty ratio Sa、Sb、ScThen obtaining the voltage u under the two-phase static coordinate system through 3s/2s (Clarke) conversionαAnd uβ；
Step 2: estimating the counter electromotive force e under the static coordinate system by a sliding mode observer according to the current and voltage signals obtained in the step 1αAnd eβFurther, the speed and the position of the motor are obtained through phase-locked loop estimation;
and step 3: the motor is controlled to run at a reduced speed without a position sensor, the vector control obtains i through the difference between a reference speed and an estimated speed and a PI controllerqReference value i ofq *And i isdReference value i ofd *Set to zero, i.e. adopt idControl strategy is 0. The reference value and the feedback value of the current under the two-phase rotating coordinate system are subjected to difference, and a given voltage u is obtained through a PI (proportional integral) controllerdAnd uqObtaining the given voltage u under the static coordinate system through coordinate changeαAnd uβAnd then the duty ratio control inverter is obtained through the SVPWM module, so that the LFSPM motor is controlled.
2. The magnetic flux switching type permanent magnet linear motor position sensorless control based on the novel sliding-mode observer method according to claim 1 is characterized in that: in the step 2, a variable Z is introduced into the novel sliding-mode observereqAnd l, re-modeling the LFSPM motor, wherein ZeqIs to estimate the equivalent control quantity after the counter potential filters the high-frequency noise, i is the equivalent control quantity ZeqThe feedback gain of (a) is specifically reconstructed as a mathematical model of the following motor:
Figure FSA0000193832030000012
formula (III) R, LDCDc components, ω, of stator resistance and inductance, respectivelycThe cut-off frequency of the low-pass filter.
3. The novel sliding-mode observer method-based flux switching type permanent magnet linear motor position sensorless control method according to claim 2, characterized in that: further comprising: the novel sliding mode observer replaces a switching function by a Sigmoid function to reduce system buffeting, and can be expressed as follows:
Figure FSA0000193832030000013
Figure FSA0000193832030000014
wherein k isωFor sliding mode gain, a is the adjustable parameter in Sigmoid.
4. The novel sliding-mode observer method-based flux switching type permanent magnet linear motor position sensorless control method according to claim 3, characterized in that: the feedback gain is adopted to expand the speed range of the sliding mode of the motor without position control, and if the feedback gain is a constant value, the estimation precision of the motor during high-speed operation is reduced, so that the feedback gain value can be designed as follows:
l＝v-1
where v represents the motor speed and in actual operation is the estimated speed magnitude.
The sliding mode gain and equivalent control quantity can be expressed as:
Figure FSA0000193832030000021
Figure FSA0000193832030000022
in the formula tausIs the stator pole pitch, psi, of the machinemIs the flux linkage value, omega, of the motoreAnd thetaeRespectively the angular velocity and the position angle of the motor.
5. The novel sliding-mode observer method-based flux switching type permanent magnet linear motor position sensorless control method according to claim 3, characterized in that: further comprising: the novel sliding mode observer adopts a phase-locked loop to replace a traditional arctan function to estimate the position and the speed of the motor; equivalent control quantity Z obtained by observereqAnd then obtaining the estimated speed and position angle through a phase-locked loop.
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CN111262494A (en) * 2020-03-12 2020-06-09 北京环卫集团环卫装备有限公司 Control method and device of permanent magnet synchronous motor, storage medium and processor
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CN112003526A (en) * 2020-08-20 2020-11-27 苏州崧崧智能控制技术有限公司 High-speed permanent magnet synchronous motor non-inductive control system and method based on low-buffeting sliding-mode observer
CN112003526B (en) * 2020-08-20 2022-06-07 苏州崧崧智能控制技术有限公司 High-speed permanent magnet synchronous motor non-inductive control system and method based on low-buffeting sliding-mode observer
CN115514278A (en) * 2022-11-03 2022-12-23 西安电子科技大学 Semi-tangent integral type motor position and speed estimation method and device
CN116938057A (en) * 2023-08-04 2023-10-24 淮阴工学院 Magnetic flux adjustable motor self-adaptive sliding mode control system based on magnetic adjustment pulse and control method thereof

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