CN112701985B - Control method, device and system of linear permanent magnet synchronous motor - Google Patents
Control method, device and system of linear permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a control method, a device and a system of a linear permanent magnet synchronous motor, belonging to the field of motor control, wherein the method comprises the following steps: acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module; inputting the voltage-compensated signal and the three-phase sampling current into a symmetrical component extraction module, and extracting to obtain positive and negative sequence voltage and positive and negative sequence current; determining positive and negative sequence counter electromotive force of the motor according to the positive and negative sequence voltage, the positive and negative sequence current and the position information output by the linear grating by using a counter electromotive force observation module; calculating positive and negative sequence current reference values under a dq coordinate system by using a positive and negative sequence current reference value calculating module; transforming the positive and negative sequence current reference values in the dq coordinate system to a two-phase static alpha beta coordinate system by using a Park inverse transformation module; the output current is controlled using a current VPI controller in a two-phase stationary α β coordinate system. The electromagnetic thrust fluctuation that this application can reduce linear permanent magnet synchronous motor output, and then improve control accuracy.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a control method, a device and a system of a linear permanent magnet synchronous motor.
Background
With the rapid development of a series of advanced machining and manufacturing technologies such as ultra-high-speed cutting, ultra-precision machining, multi-axis linkage and the like, the performance requirements of machining on a machine tool are higher and higher. Compared with the traditional transmission mode of 'a rotating motor and a ball screw', the linear motor cancels a mechanical mechanism of a motor and a workbench, thereby realizing high-speed response of direct drive, reducing mechanical friction and improving the precision of a machine tool. The trend has been for high performance machine tools to be driven by linear motors.
In order to ensure the control precision requirement and the performance requirement, a double-ring control system is commonly adopted in a control system of the linear motor, and comprises a current inner ring and a speed outer ring, so that the decoupling of excitation and thrust can be realized, the vector control is carried out, the fluctuation of current can be inhibited, and the rapid tracking of speed can be realized.
The linear permanent magnet synchronous motor has the characteristic of high thrust density, but because of the existence of a special structure that two ends of the linear motor are disconnected, the end effect and three phases of the motor are asymmetric, the electromagnetic thrust of the motor can fluctuate by adopting a traditional three-phase current symmetric control method, and the control accuracy of a control system of the linear permanent magnet synchronous motor is low.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the present invention provides a method, an apparatus and a system for controlling a linear permanent magnet synchronous motor, which aims to weaken electromechanical thrust fluctuation in the linear permanent magnet synchronous motor, thereby solving the technical problem of low control accuracy of a control system of the linear permanent magnet synchronous motor.
To achieve the above object, according to an aspect of the present invention, there is provided a control method of a linear permanent magnet synchronous motor, including:
s1: acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module;
s2: inputting the voltage compensated signal and the three-phase sampling current into a symmetrical component extraction module, and extracting to obtain positive and negative sequence voltage and positive and negative sequence current;
s3: inputting the positive and negative sequence voltage and the positive and negative sequence current into a counter electromotive force observation module so that the counter electromotive force observation module determines to obtain the positive and negative sequence counter electromotive force of the motor according to the positive and negative sequence voltage, the positive and negative sequence current and the position information output by the linear grating;
s4: calculating positive and negative sequence current reference values under a dq coordinate system corresponding to the observed positive and negative sequence back electromotive force by using a positive and negative sequence current reference value calculation module;
s5: transforming the positive and negative sequence current reference values under the dq coordinate system to a two-phase static alpha beta coordinate system by using a Park inverse transformation module; and controlling the output current by adopting the current VPI controller under a two-phase static alpha beta coordinate system so as to reduce the electromagnetic thrust fluctuation output by the linear permanent magnet synchronous motor.
In one embodiment, the step S1 includes:
a first phase voltage output by the current VPI controller
First phase voltage
And the three-phase sampling current collected by the current sensor is input into the dead zone compensation module, so that the dead zone compensation module outputs
And
each corresponding to the voltage compensated signal.
In one embodiment, the step S2 includes:
inputting the voltage-compensated signal and the three-phase sampling current into the symmetrical component extraction module; so that the symmetric component extraction module outputs the positive-negative sequence voltage and the positive-negative sequence current;
wherein the positive and negative sequence voltages include: first phase positive sequence voltage
Second phase positive sequence voltage
First phase negative sequence voltage
And a second phase negative sequence voltage
The positive and negative sequence currents include: first phase positive sequence current
Second phase positive sequence current
First phase negative sequence current
And a second phase negative-sequence current
In one embodiment, the step S3 includes:
the positive and negative sequence voltages
And the positive and negative sequence currents
Inputting the back electromotive force observation module to make the back electromotive force observation module according to
Calculating the position information output by the linear grating to obtain the positive and negative sequence counter electromotive force of the motor
The above-mentioned
For adjusting parameters of majority positive and negative sequence current reference value calculation modules。
In one embodiment, the step S4 includes:
the positive and negative sequence back-emf to be observed
And output from PI speed controller
Inputting the positive and negative sequence current reference value calculation module to obtain the positive and negative sequence current reference values under the dq coordinate system
According to another aspect of the present invention, there is provided a control apparatus of a linear permanent magnet synchronous motor, including:
the acquisition module is used for acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module;
the extraction module is used for inputting the voltage compensated signal and the three-phase sampling current into the symmetrical component extraction module to extract positive and negative sequence voltage and positive and negative sequence current;
the determining module is used for inputting the positive and negative sequence voltages and the positive and negative sequence currents into the counter electromotive force observing module so that the counter electromotive force observing module determines and obtains the positive and negative sequence counter electromotive forces of the motor according to the positive and negative sequence voltages, the positive and negative sequence currents and the position information output by the linear grating;
the calculation module is used for calculating positive and negative sequence current reference values under a dq coordinate system corresponding to the observed positive and negative sequence back electromotive force by using the positive and negative sequence current reference value calculation module;
the transformation module is used for transforming the positive and negative sequence current reference values under the dq coordinate system to a two-phase static alpha beta coordinate system by utilizing a Park inverse transformation module; and controlling the output current by adopting the current VPI controller under a two-phase static alpha beta coordinate system so as to reduce the electromagnetic thrust fluctuation output by the linear permanent magnet synchronous motor.
According to another aspect of the present invention, there is provided a control system of a linear permanent magnet synchronous motor, including:
the device comprises a dead zone compensation module, a symmetrical component extraction module, a counter electromotive force observation module, a positive and negative sequence current reference value calculation module, a Park inverse transformation module, a memory and a processor, wherein the memory stores a computer program, and the processor is characterized in that the steps of the method are realized when the processor executes the computer program.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the invention designs a three-phase current asymmetric control method based on positive and negative sequence current injection of a back-emf observer from the advantages and disadvantages of the traditional three-phase current symmetric control and current reference calculation module parameter offline given method, and reduces the fluctuation of the output electromagnetic thrust of the linear motor. Compared with the traditional three-phase current symmetrical control method, the method has the advantages that the positive sequence current and the negative sequence current are injected into the three-phase winding of the linear motor with the end effect, so that the fluctuation of the electromagnetic thrust output by the motor is reduced, and the control precision of the thrust output of the linear permanent magnet synchronous motor is improved;
2. the parameters of the positive sequence current reference calculation module and the negative sequence current reference calculation module are obtained by observation of the back electromotive force observation module, no-load back electromotive force of the motor needs to be measured in advance, the back electromotive force observation module can observe the back electromotive force in real time and adjust the parameters of the positive sequence current reference calculation module and the negative sequence current reference calculation module at the same time, and the problem of control algorithm failure caused by motor parameter change under different working conditions is avoided.
Drawings
Fig. 1 is a block diagram of a linear permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a linear permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 3 is a block diagram of a control system of a linear permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a symmetric component extraction module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an SOGI in the symmetric component extraction module according to an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
a linear permanent magnet synchronous motor 30; a dead zone compensation module 31; a symmetric component extraction module 132; a symmetric component extraction module 233; a back-emf observer module 34; a main circuit power circuit 10; a control unit 20; a DC power supply 11; an inverter 12; a direct current filter capacitor 13; a position detection unit 22; a current detection unit 24; a drive unit 28; a main controller 26; inverse Park transform 150; inverse Park transform 255; a current VPI controller 62; an SVPWM module 52; a PI speed controller 60; a current positive and negative sequence component reference value calculation module 61.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Fig. 1 is a block diagram of a driving system of a linear permanent magnet synchronous motor 30 according to an embodiment of the present invention, and as shown in fig. 1, a control system of the linear permanent magnet synchronous motor 30 mainly includes a main circuit power circuit 10, a control circuit 20, and the linear permanent magnet synchronous motor 30. The main circuit power circuit 10 includes a dc power supply 11 for supplying power to the linear permanent magnet synchronous motor 30, an inverter 12, and a dc filter capacitor 13. The control circuit 20 includes a position detection unit 22, a current detection unit 24, a drive circuit 28, and a main controller 26, the main controller 26 controlling the operation of a linear permanent magnet synchronous motor 30. The position detection unit 22 includes a linear grating. The current detection unit 24 includes a current sensor. The signals output by the current detection unit 24 and the position detection unit 22 are output to the main controller 26. The main controller 26 outputs a driving signal for driving the linear permanent magnet synchronous motor 30 according to the received current signal, the motor mover position signal and the preset speed, and the driving signal is output to the inverter 12 through the driving unit 28 to control the switching device in the inverter 12 to drive the linear permanent magnet synchronous motor 30 to operate. The design process of each controller is explained in detail below.
Fig. 2 is a flowchart of a control method of a linear permanent magnet synchronous motor according to an embodiment of the present invention; as shown in fig. 2, the method for controlling a linear permanent magnet synchronous motor according to the present invention includes: step S1 to step S5. Wherein, S1: acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module; s2: inputting the voltage compensated signal and the three-phase sampling current into a symmetrical component extraction module, and extracting to obtain positive and negative sequence voltage and positive and negative sequence current; s3: inputting the positive and negative sequence voltage and the positive and negative sequence current into a counter electromotive force observation module so that the counter electromotive force observation module determines to obtain the positive and negative sequence counter electromotive force of the motor according to the positive and negative sequence voltage, the positive and negative sequence current and the position information output by the linear grating; s4: calculating positive and negative sequence current reference values under a dq coordinate system corresponding to the observed positive and negative sequence back electromotive force by using a positive and negative sequence current reference value calculation module; s5: transforming the positive and negative sequence current reference values under the dq coordinate system to a two-phase static alpha beta coordinate system by using a Park inverse transformation module; and controlling the output current by adopting the current VPI controller under a two-phase static alpha beta coordinate system so as to reduce the electromagnetic thrust fluctuation output by the linear permanent magnet synchronous motor.
Fig. 3 is a block diagram of a control system of the motor of the present invention, and as shown in fig. 3, the control system of the linear permanent magnet synchronous motor includes a dead zone compensation module 31, a symmetrical component extraction 1 module 32, a symmetrical component extraction 2 module 33, a back emf observer module 34, a current VPI controller 62, a Park inverse converter (1)50, a Park converter (2)55, an SVPWM module 52, an inverter 12, a PI speed controller 60, a positive and negative sequence current reference value calculation module 61, a position detection unit 22, and the like. The motor control block diagram comprises a rotating speed ring and a current ring, wherein the rotating speed ring is an outer ring, and the current ring is an inner ring, so that the functions of frequency conversion, speed regulation and the like are realized. The given rotating speed is calculated by the speed controller to obtain the given rotating speedq-axis current iq *The positive and negative sequence current reference value i under the dq coordinate system is obtained by calculation through the positive and negative sequence current reference value calculation module 61q +1、id +1、iq -1、id -1。iq +1、id +1、iq -1、id -1Converted to i under a two-phase stationary alpha beta coordinate system by a Park inverse converter (1)50 and a Park converter (2)55α +1、iβ +1、iα -1、iβ -1。iα +1、iβ +1、iα -1、iβ -1The current VPI controller 62 calculates the alpha beta reference voltage u under the two-phase stationary alpha beta coordinate systemα *、uβ *. Reference voltage uα *、uβ *The driving signal is obtained by the SVPWM module 52. The driving signal controls the action of the switching tube of the inverter 12 through the driving unit 28 to control the linear permanent magnet synchronous motor 30, and the dead zone compensation module controls the reference voltage Uα *、Uβ *Compensating, outputting the compensated uα、uβ，uα、uβPositive and negative sequence components u of the output voltage of the module 32 are extracted by the symmetrical component extraction 1α +1、uβ +1、uα -1、uβ -1The symmetrical component extraction 2 module 33 inputs the three-phase current value of the motor output by the current detection unit 24, and the positive sequence component and the negative sequence component i of the output currentα +1、iβ +1、iα -1、iβ -1The back-emf observer module 34 inputs the motor position signal, the positive and negative sequence components u of the voltage, output by the position detection unit 22α +1、uβ +1、uα -1、uβ -1And iα +1、iβ +1、iα -1、iβ -1Output is inversePositive and negative sequence components e of the potentialα +1、eβ +1、eα -1、eβ -1Observed eα +1、eβ +1、eα -1、eβ -1Parameter adjustment for the positive and negative sequence current reference value calculation module 61. Those skilled in the art will appreciate that the Clark transformation portion of the current detection unit 24, the position detection unit 22, the current VPI controller 62, the Park inverse transformer (1)50, the Park transformer (2)55, the SVPWM module 52, the PI speed controller 60, the current positive and negative sequence component reference value calculation module 61, the dead zone compensation module 31, the symmetric component extraction 1 module 32, the symmetric component extraction 2 module 33, the back emf observer module 34, etc. may be a series of computer program segments capable of being executed by the main controller 26 and capable of performing a fixed function.
As shown in fig. 4 and 5, the symmetrical component extraction 1, 2 modules 32, 33 input three-phase voltage or current signals, and calculate and output positive and negative sequence components of the voltage or current.
Wherein the mathematical model of the dead zone compensation module 31
Let Vrd＝Vd·sgn(ir)； (1)
Then there are:
the three-phase voltage error is calculated as:
the mathematical model of the back-emf observer module 34 is as follows:
wherein the content of the first and second substances,
is a matrix of positive and negative sequence currents of the alpha and beta axes,
positive and negative sequence back-emf matrix for alpha and beta axes
Positive and negative sequence voltage matrixes of alpha and beta axes are obtained;
the inductance matrixes of the alpha and beta axes of the motor are provided;
to relate to the motor speed matrix, ωeIs the electrical angular velocity of the motor, A11＝RsA12，B11＝-A12。
The mathematical model of the observer is designed as follows:
wherein the content of the first and second substances,
d1、d2、d3、d4、q1、q2、q3、q4are the observer parameters to be determined.
The observation error equation can be obtained by subtracting the observer model from the mathematical model of the motor:
observer parameter d1、d2、d3、d4The design is selected by the Lyapunov stability criterion
Observer parameter q1、q2、q3、q4The design is determined by (11):
q1、q2、q3、q4the observer parameter is used for determining the convergence speed of the observer for observing the back electromotive force, and the convergence speed is faster when the value is larger.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A control method of a linear permanent magnet synchronous motor is characterized by comprising the following steps:
s1: acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module;
s2: inputting the voltage compensated signal and the three-phase sampling current into a symmetrical component extraction module, and extracting to obtain positive and negative sequence voltage and positive and negative sequence current;
s3: inputting the positive and negative sequence voltage and the positive and negative sequence current into a counter electromotive force observation module so that the counter electromotive force observation module determines to obtain the positive and negative sequence counter electromotive force of the motor according to the positive and negative sequence voltage, the positive and negative sequence current and the position information output by the linear grating;
s4: calculating positive and negative sequence current reference values under a dq coordinate system corresponding to the observed positive and negative sequence back electromotive force by using a positive and negative sequence current reference value calculation module;
s5: transforming the positive and negative sequence current reference values under the dq coordinate system to a two-phase static alpha beta coordinate system by using a Park inverse transformation module; and controlling the output current by adopting the current VPI controller under a two-phase static alpha beta coordinate system so as to reduce the electromagnetic thrust fluctuation output by the linear permanent magnet synchronous motor.
2. The method of controlling a linear permanent magnet synchronous motor according to claim 1, wherein the step S1 includes:
a first phase voltage output by the current VPI controller
Second phase voltage
And the three-phase sampling current collected by the current sensor is input into the dead zone compensation module, so that the dead zone compensation module outputs
And
each corresponding to the voltage compensated signal.
3. The method of controlling a linear permanent magnet synchronous motor according to claim 1 or 2, wherein the step S2 includes:
inputting the voltage-compensated signal and the three-phase sampling current into the symmetrical component extraction module; so that the symmetric component extraction module outputs the positive-negative sequence voltage and the positive-negative sequence current;
wherein the positive and negative sequence voltages include: first phase positive sequence voltage
Second phase positive sequence voltage
First phase negative sequence voltage
And a second phase negative sequence voltage
The positive and negative sequence currents include: first phase positive sequence current
Second phase positive sequence current
First phase negative sequence current
And a second phase negative-sequence current
4. The method of controlling a linear permanent magnet synchronous motor according to claim 3, wherein the step S3 includes:
the positive and negative sequence voltages
And the positive and negative sequence currents
Inputting the back electromotive force observation module to make the back electromotive force observation module according to
Calculating the position information output by the linear grating to obtain the positive and negative sequence counter electromotive force of the motor
The above-mentioned
And the positive and negative sequence current reference value calculation module is used for carrying out parameter adjustment.
5. The method of controlling a linear permanent magnet synchronous motor according to claim 4, wherein the step S4 includes:
the positive and negative sequence back-emf to be observed
Output from PI speed controllers
All input into the positive and negative sequence current reference value calculation module to obtain positive and negative sequence current reference values under dq coordinate system
6. A control device of a linear permanent magnet synchronous motor is characterized by comprising:
the acquisition module is used for acquiring a voltage compensated signal by utilizing the output voltage of the current VPI controller and the three-phase sampling current based on the dead zone compensation module;
the extraction module is used for inputting the voltage compensated signal and the three-phase sampling current into the symmetrical component extraction module to extract positive and negative sequence voltage and positive and negative sequence current;
the determining module is used for inputting the positive and negative sequence voltages and the positive and negative sequence currents into the counter electromotive force observing module so that the counter electromotive force observing module determines and obtains the positive and negative sequence counter electromotive forces of the motor according to the positive and negative sequence voltages, the positive and negative sequence currents and the position information output by the linear grating;
the calculation module is used for calculating positive and negative sequence current reference values under a dq coordinate system corresponding to the observed positive and negative sequence back electromotive force by using the positive and negative sequence current reference value calculation module;
the transformation module is used for transforming the positive and negative sequence current reference values under the dq coordinate system to a two-phase static alpha beta coordinate system by utilizing a Park inverse transformation module; and controlling the output current by adopting the current VPI controller under a two-phase static alpha beta coordinate system so as to reduce the electromagnetic thrust fluctuation output by the linear permanent magnet synchronous motor.
7. A control system of a linear permanent magnet synchronous motor, comprising: a dead zone compensation module, a symmetry component extraction module, a back emf observation module, a positive and negative sequence current reference value calculation module, a Park inverse transform module, a memory, and a processor, the memory storing a computer program which when executed by the processor implements the steps of the method of any of claims 1 to 5.
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