CN113315430A - Sliding mode control method of six-phase permanent magnet synchronous motor without position sensor - Google Patents
Sliding mode control method of six-phase permanent magnet synchronous motor without position sensor Download PDFInfo
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- CN113315430A CN113315430A CN202110613120.9A CN202110613120A CN113315430A CN 113315430 A CN113315430 A CN 113315430A CN 202110613120 A CN202110613120 A CN 202110613120A CN 113315430 A CN113315430 A CN 113315430A
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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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a sliding mode control method of a six-phase permanent magnet synchronous motor without a position sensor, and relates to the technical field of motor control. The invention comprises the following steps: according to a mathematical model of the motor under an alpha-beta two-phase static coordinate system, a sliding-mode observer is designed, a rotor position angle and a rotating speed are output, and the influence of the sensitivity reduction of a position sensor on the operation of the motor is reduced; according to a mathematical model of the motor under a d-q synchronous rotation coordinate system, a sliding mode speed controller is designed to replace a traditional PI speed controller, the response speed of the motor is accelerated, the influence of load disturbance and external disturbance on a motor speed regulation system is restrained, the dynamic performance and the load disturbance resistance of the motor are improved, and the operation reliability of the permanent magnet synchronous motor is improved.
Description
Technical Field
The invention relates to the field of motor control, in particular to a sliding mode control method of a six-phase permanent magnet synchronous motor without a position sensor.
Background
With the wide application of the permanent magnet synchronous motor in the fields of military, industry and the like, a stable and reliable motor driving system is particularly important in occasions with higher reliability requirements, such as electric automobiles, ship propulsion, aerospace and the like. In the running process of the motor, the motor is often subjected to load disturbance and external disturbance; due to factors such as vibration of the motor during operation, the sensitivity of the position sensor is also reduced, resulting in reduced operation reliability of the motor. Aiming at the problem, the invention provides a sliding mode control method of a six-phase permanent magnet synchronous motor without a position sensor.
Disclosure of Invention
The invention aims to provide a sliding mode control method of a position-sensor-free six-phase permanent magnet synchronous motor, which aims to solve the problems that the sensitivity of a position sensor is reduced and the motor is easily subjected to load disturbance and external disturbance during operation.
The invention provides a sliding mode control method of a six-phase permanent magnet synchronous motor without a position sensor, which specifically comprises the following steps:
step one, designing a sliding mode observer according to a mathematical model of the six-phase permanent magnet synchronous motor under an alpha-beta two-phase static coordinate system. The specific design method of the sliding-mode observer is as follows:
defining the sliding mode surface of the sliding mode observer as:
wherein, Iα、IβIs the current of the permanent magnet synchronous motor under an alpha-beta two-phase static coordinate system,
is IαIs detected by the measured values of (a) and (b),
is IβThe observed value of (a);
the sliding-mode observer has the following observation values of the back electromotive force of the motor:
wherein,
is the observed value of the back electromotive force of the motor in the alpha axis component,
is the observed value of the back electromotive force of the motor in the beta axis component, sgn () is a sign function, k is a sliding mode gain, and k is>0；
Motor rotor position angle theta and rotating speed omega output by sliding-mode observermComprises the following steps:
wherein psifIs a permanent magnet flux linkage.
And step two, designing a sliding mode speed controller according to a voltage equation and a motion equation of the six-phase permanent magnet synchronous motor. The sliding mode speed controller is specifically designed as follows:
defining the state variable of the permanent magnet synchronous motor as follows:
wherein, ω isrefFor a given speed of rotation, ω, of the motormThe actual rotating speed of the motor is obtained;
defining the sliding mode surface of the sliding mode speed controller as follows:
s＝cx1+x2
wherein c is a sliding mode surface parameter, and c is greater than 0;
output quadrature axis given current of sliding mode speed controller
Comprises the following steps:
wherein p is the number of pole pairs of the motor, psifFor a permanent magnet flux linkage, sgn () is a sign function, coefficient k1、k2Are all constant, and k1>0，k2>0。
The invention has the following beneficial effects:
1. a sliding mode observer is designed to replace a position sensor, so that the influence of the reduction of the sensitivity of the position sensor on the operation reliability of the motor in the operation process of the motor is reduced.
2. The sliding mode speed controller is adopted to replace a PI speed controller, so that the response speed of the motor can be improved, the influence of load disturbance and external disturbance on a motor speed regulation system is inhibited, the load disturbance resistance of the motor is improved, and the sliding mode speed controller has excellent dynamic performance; the torque pulsation is reduced, the stable operation of the motor is ensured, and the operation reliability of the system is improved.
Drawings
Fig. 1 is a control system block diagram for implementing a sliding mode control method of a six-phase permanent magnet synchronous motor without a position sensor.
FIG. 2 is a waveform diagram of the actual value and the estimated value of the rotor position angle of the six-phase permanent magnet synchronous motor at a given rotation speed of 500r/min during normal start-up operation. In the figure, the solid line represents the actual angle, and the broken line represents the estimated angle of the sliding-mode observer.
FIG. 3 shows the simulation result of the rotational speed response of the six-phase PMSM at a given rotational speed of 500 r/min.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
Fig. 1 is a control system block diagram for implementing a sliding mode control method of a permanent magnet synchronous motor without a position sensor. In fig. 1, a sliding mode observer module inputs six-phase voltage and six-phase current of a motor and outputs a rotor position angle θ and a mechanical angular velocity ωm(ii) a The Clarke conversion module inputs six-phase current I of the six-phase permanent magnet synchronous motora、Ib、Ic、Ix、 IyAnd IzOutputting the current I under the two-phase static coordinate systemα、Iβ；Iβ、IβPassing through Park with the motor rotor position angle thetaThe transformation module obtains the current I under the synchronous rotating coordinate systemd、Iq(ii) a The sliding mode speed controller module inputs the given angular speed omega of the motorrefAnd observing angular velocity omegamOutput q-axis given current
d-axis given current input by d-axis current PI controller
And the actual d-axis current IdOutput d-axis given voltage
q-axis current PI controller inputs q-axis given current
And the actual q-axis current IqOutput q-axis given voltage
And obtaining the given voltage under the two-phase static coordinate system through the motor rotor position angle theta through a Park inverse transformation module
Outputting a pulse signal to a six-phase inverter through an SVPWM (space vector pulse width modulation) module; the six-phase inverter outputs six-phase alternating-current voltage to drive the permanent magnet synchronous motor to operate.
In the invention, the sliding mode control method of the six-phase permanent magnet synchronous motor without the position sensor comprises the following steps:
step one, designing a sliding mode observer according to a mathematical model of the six-phase permanent magnet synchronous motor under an alpha-beta two-phase static coordinate system, and outputting a rotor position angle and a rotor rotating speed. The mathematical model of the six-phase permanent magnet synchronous motor under an alpha-beta two-phase static coordinate system is as follows:
wherein, Uα、UβIs the α - β axis voltage; i isα、IβIs the α - β axis current; l issIs the stator inductance; e.g. of the typeα、eβIs the component of the back electromotive force on the alpha-beta axis, and the expression is: -
Wherein, ω iseElectrical angular velocity of the motor rotor; psifIs the rotor permanent magnet flux linkage.
The voltage equation of equation (1) is rewritten as the state equation of current:
according to the formula (3), a sliding mode observer of the six-phase permanent magnet synchronous motor in an alpha-beta coordinate system is designed as follows:
wherein,
is an observed value of the alpha-beta axis current,
is an observed value of the α - β axis back electromotive force.
Defining slip form surface
Selecting a constant speed approach rate in a sliding mode control theory, wherein the expression is as follows:
the observed values of the back electromotive force of the motor can be obtained by the formulas (1), (3), (4) and (5):
wherein k is a sliding mode gain, and k is greater than 0;
obtaining the position angle and the rotating speed of the motor rotor by the formulas (2) and (6):
step two, designing a sliding mode speed controller according to a mathematical model of the permanent magnet synchronous motor in a d-q coordinate system, replacing a PI speed controller, neglecting influences of eddy current, hysteresis loss and the like of a motor core, and establishing the mathematical model of the six-phase permanent magnet synchronous motor in a synchronous rotating coordinate system, wherein a voltage equation is as follows:
the equation of motion is:
the electromagnetic torque equation is:
in the formulae (8), (9) and (10), Ud、UqIs the d-q axis voltage; i isd、IqIs the d-q axis current; l isd、LqIs a d-q axis inductance; t isLIs the load torque; t iseIs an electromagnetic torque; r is the stator resistance; p is the number of pole pairs of the motor; omegamIs the mechanical angular speed of the motor rotorDegree; omegaeIs the electrical angular velocity of the motor rotor; psifIs a rotor permanent magnet flux linkage; j is the motor moment of inertia; and B is the damping coefficient.
By the use of IdFor field-oriented vector control of 0, the voltage equation of equation (8) can be expressed as:
equation of motion (9) can be expressed as:
defining the state variable of the permanent magnet synchronous motor as follows:
wherein, ω isrefFor a given speed of rotation, ω, of the motormThe actual rotating speed of the motor is obtained;
defining the sliding mode surface of the sliding mode speed controller as follows:
s＝cx1+x2 (14)
wherein c is a sliding mode surface parameter, and c is greater than 0;
selecting an index approach rate in a sliding mode control theory, wherein the expression is as follows:
where sgn () is a sign function, coefficient k1、k2Are all constant, and k1>0，k2>0。
Combining formulas (11), (12), (13), (14) and (15) to obtain the output quadrature axis given current of the sliding mode speed controller
Comprises the following steps:
fig. 2 is a waveform diagram of an actual value and an estimated value of a rotor position angle of a six-phase permanent magnet synchronous motor at a given rotating speed of 500r/min during normal starting operation, wherein a solid line represents the actual angle, and a dotted line represents the estimated angle of a sliding-mode observer. The rated rotating speed of the motor is 500rad/min, the motor is started with load, and the load torque is 20 N.m; the load torque suddenly increased to 30N · m at 0.2 s; at 0.4s the load torque suddenly decreases to 10N · m. As can be seen from the figure, the sliding-mode observer can accurately track the rotor position signal at the rated rotating speed; when the load torque fluctuates, the position signal of the rotor can be accurately tracked, and the running reliability of the motor is improved.
Fig. 3 is a simulation result of the rotating speed response of the six-phase permanent magnet synchronous motor based on the sliding mode speed controller. The rated rotating speed of the motor is 500rad/min, the motor is started with load, and the load torque is 20 N.m; the load torque suddenly increased to 30N · m at 0.2 s; at 0.4s the load torque suddenly decreases to 10N · m. As can be seen from FIG. 2, the tracking effect of the motor rotating speed N is good, and the motor rotating speed N can reach the rated rotating speed quickly; after the rotating speed of the motor reaches the rated rotating speed, when the load torque fluctuates, the rotating speed waveform keeps stable, and the system has good dynamic performance and static performance.
It is to be understood that the above-described embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the scope of the invention. Various equivalent modifications of the invention, which fall within the scope of the appended claims of this application, will occur to persons skilled in the art upon reading this disclosure.
Claims (3)
1. A six-phase permanent magnet synchronous motor sliding mode control method without a position sensor is characterized in that a sliding mode observer is designed to replace the position sensor according to a mathematical model of the motor under an alpha-beta two-phase static coordinate system, a rotor position angle and a rotating speed are output, and the influence of the sensitivity reduction of the position sensor on the operation of the motor is reduced; according to a mathematical model of the motor under a d-q synchronous rotation coordinate system, a sliding mode speed controller is designed to replace a traditional PI speed controller, and the dynamic performance and the load disturbance resistance of the motor are improved.
2. The sliding-mode control method of the six-phase permanent magnet synchronous motor without the position sensor according to claim 1, wherein the specific method for designing the sliding-mode observer is as follows:
defining the sliding mode surface of the sliding mode observer as:
wherein, Iα、IβIs the current of the permanent magnet synchronous motor under an alpha-beta two-phase static coordinate system,
is IαIs detected by the measured values of (a) and (b),
is IβThe observed value of (a);
the sliding-mode observer has the following observation values of the back electromotive force of the motor:
wherein,
is an observed value of the back electromotive force of the motor in the alpha axis component,
is an observed value of the back electromotive force of the motor in a beta axis component, sgn () is a sign function, k is a sliding mode gain, and k is more than 0;
motor rotor position angle theta and rotating speed omega output by sliding-mode observermComprises the following steps:
wherein psifIs a permanent magnet flux linkage.
3. The sliding-mode control method of the six-phase permanent magnet synchronous motor without the position sensor according to claim 1, wherein the specific method for designing the sliding-mode speed controller is as follows:
defining the state variable of the permanent magnet synchronous motor as follows:
wherein, ω isrefFor a given speed of rotation, ω, of the motormThe actual rotating speed of the motor is obtained;
defining the sliding mode surface of the sliding mode speed controller as follows:
s＝cx1+x2
wherein c is a sliding mode surface parameter, and c is more than 0;
output quadrature axis given current of sliding mode speed controller
Comprises the following steps:
wherein p is the number of pole pairs of the motor, psifFor a permanent magnet flux linkage, sgn () is a sign function, coefficient k1、k2Are all constant, and k1＞0，k2＞0。
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| CN114024476A (en) * | 2021-11-29 | 2022-02-08 | 哈尔滨理工大学 | Novel sliding mode control method for six-phase permanent magnet synchronous motor |
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| CN114024476A (en) * | 2021-11-29 | 2022-02-08 | 哈尔滨理工大学 | Novel sliding mode control method for six-phase permanent magnet synchronous motor |
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