CN113489400A - System and method for controlling electric load of permanent magnet synchronous motor in airplane steering engine - Google Patents
System and method for controlling electric load of permanent magnet synchronous motor in airplane steering engine 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
- H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—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
- H02P21/13—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
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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
-
- 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
- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- 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 provides a system for controlling an electric load of a permanent magnet synchronous motor in an airplane steering engine, which relates to the technical field of steering engine simulation and comprises the following components: the system comprises a fuzzy integral synovial controller, a first proportional integral controller, an SVPWM controller, an inverter, a permanent magnet synchronous motor, a position detector, a disturbance observer and a second proportional integral controller; the position detector is used for acquiring rotor position information of the permanent magnet synchronous motor so as to acquire angle information theta of the rotor and rotor angular speed omega; the fuzzy integral sliding mode controller is used for obtaining an angle parameter, and the rotor angular speed omega of the permanent magnet synchronous motor is fed back to the fuzzy integral sliding mode controller; the first proportional integral controller and the first proportional integral controller are connected with the SVPWM controller through reverse Clark conversion, and the SVPWM controller is connected with the input side of the inverter; the output side of the inverter and the permanent magnet synchronous motor output rotor three-phase current and the rotor three-phase current is subjected to Clark conversion and Park conversion. The invention can simulate the loading condition of the airplane in various flight states.
Description
Technical Field
The invention relates to the technical field of steering engine control, in particular to a system and a method for controlling an electric load of a permanent magnet synchronous motor in an airplane steering engine.
Background
The electric load simulator of the steering engine serves as flight control ground simulation equipment and can simulate the loading condition of the steering engine in various flight states. Compare in traditional self-destruction formula material object experiment, this equipment has greatly improved the test mode of aircraft steering wheel, has good controllability, no destructiveness, advantages such as easy operation convenience. The servo motor is a core element of the load simulator and is connected with the steering engine through a buffer spring of the rigid connecting device. In the existing loading system, the PMSM is widely applied by virtue of the advantages of simple structure, small moment of inertia, high dynamic response speed, strong torque tracking capability and the like. Although the PMSM improves the testing mode of the steering engine while ensuring the loading continuity, the PMSM is a nonlinear system which is easily affected by complex factors such as parameter time variation and the like, so that a control method with good control characteristics needs to be selected, and the method has important significance in deeply researching an accurate, rapid and anti-interference improved permanent magnet synchronous motor algorithm so as to meet various technical index requirements of a load simulator.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for controlling an electric load of a permanent magnet synchronous motor in an aircraft steering engine, so as to deeply study an algorithm and an anti-interference characteristic of the permanent magnet synchronous motor and simulate a loading condition of an aircraft in various flight states.
In a first aspect, an embodiment of the present invention provides a system for controlling an electric load of a magnetic synchronous motor in an aircraft steering engine, including:
the system comprises a fuzzy integral synovial controller, a first proportional integral controller, an SVPWM controller, an inverter, a permanent magnet synchronous motor, a position detector, a disturbance observer and a second proportional integral controller;
the position detector is used for acquiring the rotor position information of the permanent magnet synchronous motor so as to acquire the angle information theta of the rotor and the rotor angular speed omega
The fuzzy integral sliding mode controller is used for obtaining an angle parameter, and the rotor angular speed omega of the permanent magnet synchronous motor is fed back to the fuzzy integral sliding mode controller;
the first proportional integral controller and the first proportional integral controller are connected with the SVPWM controller through inverse Clark conversion, and the SVPWM controller is connected with the input side of the inverter;
and the output side of the inverter and the permanent magnet synchronous motor output rotor three-phase current and the rotor three-phase current is subjected to Clark conversion and Park conversion.
On the other hand, the invention provides a method for controlling the electric load of the airplane steering engine by adopting the permanent magnet synchronous motor in the electric load control system of the airplane steering engine according to claim 1,
the input side of the fuzzy integral slip film controller obtains the rotor angular velocity parameter of the permanent magnet synchronous motor and the rotor angular velocity omega of the permanent magnet synchronous motor, so that the output side of the fuzzy integral slip film controller obtains the rotor current parameter
The rotor three-phase current i is negatively fed back to the rotor current parameter of the permanent magnet synchronous motor
Obtaining a vertical axis voltage u using the first proportional integral controllerq；
Obtaining the rotor current i after the three-phase current of the output rotor of the permanent magnet synchronous motor is subjected to Park conversiondAnd the second proportional-integral controller is connected with the acquisition transverse-axis voltage udAnd with said longitudinal axis voltage uqSo that the SVPWM controls the output voltage of the inverter.
3. Method according to claim 2, characterized in that the shaft voltage udAnd the longitudinal axis voltage uqRespectively as follows:
ωm、ωemechanical angular velocity and electrical angular velocity, respectively;
Ke-back emf coefficient;
ud、uq、id、iq、Ld、Lqrespectively representing d and q axis voltages, currents and inductances;
ψf-a permanent magnet flux linkage;
and R is the stator resistance.
4. The method of claim 2,
epsilon and y are more than 0;
δ is a real number greater than 0;
TL-permanent magnet synchronous motor load torque;
J. b, the rotational inertia and the damping coefficient of the permanent magnet synchronous motor;
pn-number of pole pairs of a permanent magnet synchronous machine;
s-integral slip plane, and s ═ cx2+x1；
The embodiment of the invention has the following beneficial effects: the invention provides a system for controlling an electric load of a permanent magnet synchronous motor in an airplane steering engine, which relates to the technical field of steering engine simulation and comprises the following components: the system comprises a fuzzy integral synovial controller, a first proportional integral controller, an SVPWM controller, an inverter, a permanent magnet synchronous motor, a position detector, a disturbance observer and a second proportional integral controller; the position detector is used for acquiring rotor position information of the permanent magnet synchronous motor so as to acquire angle information theta of the rotor and rotor angular speed omega; the fuzzy integral sliding mode controller is used for obtaining an angle parameter, and the rotor angular speed omega of the permanent magnet synchronous motor is fed back to the fuzzy integral sliding mode controller; the first proportional integral controller and the first proportional integral controller are connected with the SVPWM controller through reverse Clark conversion, and the SVPWM controller is connected with the input side of the inverter; the output side of the inverter and the permanent magnet synchronous motor output rotor three-phase current and the rotor three-phase current is subjected to Clark conversion and Park conversion. The method can deeply research the algorithm and the anti-interference characteristic of the permanent magnet synchronous motor and simulate the loading condition of the airplane in various flight states.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a control block diagram of a PMSM speed controller according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of fuzzy integral sliding mode control provided by an embodiment of the present invention;
FIG. 3 is a block diagram of a disturbance observer according to an embodiment of the present invention;
FIG. 4 is an equivalent diagram of a disturbance observer according to an embodiment of the present invention;
FIG. 5 is a comparison of the change in PMSM rotation speed provided by embodiments of the present invention;
FIG. 6 illustrates a speed controller according to an embodiment of the present invention controlling PMSM electromagnetic torque;
FIG. 7 illustrates PMSM electromagnetic torque under conventional PI control provided by an embodiment of the present invention;
FIG. 8 illustrates a control moment tracking simulation provided by embodiments of the present invention;
FIG. 9 illustrates a table redundancy torque simulation provided by an embodiment of the present invention;
FIG. 10 is a diagram of a simulation of the moment tracking system provided by the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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.
At present, the PMSM is widely applied by virtue of the advantages of simple structure, small rotational inertia, high dynamic response speed, strong torque tracking capability and the like. Although the PMSM improves the testing mode of the steering engine while ensuring the loading continuity, the PMSM is a nonlinear system which is easily affected by complex factors such as parameter time variation and the like, and based on the system and the method for controlling the electric load of the permanent magnet synchronous motor in the aircraft steering engine, provided by the embodiment of the invention, the algorithm and the anti-interference characteristic of the permanent magnet synchronous motor can be deeply researched to simulate the loading condition of an aircraft in various flight states.
In order to facilitate understanding of the embodiment, first, a system and a method for controlling an electric load of an aircraft steering engine by using a permanent magnet synchronous motor disclosed in the embodiment of the invention are described in detail,
the first embodiment is as follows:
the embodiment of the invention provides a system for controlling an electric load of a permanent magnet synchronous motor in an aircraft steering engine, which comprises:
the system comprises a fuzzy integral synovial controller, a first proportional integral controller, an SVPWM controller, an inverter, a permanent magnet synchronous motor, a position detector, a disturbance observer and a second proportional integral controller;
the position detector is used for acquiring the rotor position information of the permanent magnet synchronous motor so as to acquire the angle information theta of the rotor and the rotor angular speed omega
The fuzzy integral sliding mode controller is used for obtaining an angle parameter, and the rotor angular speed omega of the permanent magnet synchronous motor is fed back to the fuzzy integral sliding mode controller;
the first proportional integral controller and the first proportional integral controller are connected with the SVPWM controller through inverse Clark conversion, and the SVPWM controller is connected with the input side of the inverter;
and the output side of the inverter and the permanent magnet synchronous motor output rotor three-phase current and the rotor three-phase current is subjected to Clark conversion and Park conversion.
Example two:
the second embodiment of the invention provides a method for controlling the electric load of a permanent magnet synchronous motor in an airplane steering engine,
the input side of the fuzzy integral slip film controller obtains the rotor angular velocity parameter of the permanent magnet synchronous motor and the rotor angular velocity omega of the permanent magnet synchronous motor, so that the output side of the fuzzy integral slip film controller obtains the rotor current parameter
The rotor three-phase current i is negatively fed back to the rotor current parameter of the permanent magnet synchronous motor
Obtaining a vertical axis voltage u using the first proportional integral controllerq；
Obtaining the rotor current i after the three-phase current of the output rotor of the permanent magnet synchronous motor is subjected to Park conversiondAnd the second proportional-integral controller is connected with the acquisition transverse-axis voltage udAnd with said longitudinal axis voltage uqSo that the SVPWM is opposite to the inversionThe output voltage of the device is controlled.
It should be noted that, in the embodiments provided by the present invention, i is adopteddVector control method of 0
Preferably, the shaft voltage udAnd the longitudinal axis voltage uqRespectively as follows:
ωm、ωemechanical angular velocity and electrical angular velocity, respectively;
Ke-back emf coefficient;
ud、uq、id、iq、Ld、Lqrespectively representing d and q axis voltages, currents and inductances;
ψf-a permanent magnet flux linkage;
and R is the stator resistance.
The expressions of Clark transformation and Park transformation are shown as follows:
preferably, the current parameter is obtained using the following formula:
epsilon and y are more than 0;
δ is a real number greater than 0;
TL-permanent magnet synchronous motor load torque;
J. b, the rotational inertia and the damping coefficient of the permanent magnet synchronous motor;
pn-number of pole pairs of a permanent magnet synchronous machine;
s-integral slip plane, and s ═ cx2+x1；
The motion equation and the torque equation of the permanent magnet synchronous motor are shown in the formulas (4) and (5).
In the formula: p is a radical ofnThe number of pole pairs of the motor is shown; t ise、TLThe motor electromagnetic torque and the load torque; J. b is the rotational inertia and the damping coefficient of the motor;
the permanent magnet synchronous motor adopts a surface-mounted rotor structure and has an L shaped＝Lq＝Ls. At this time, the torque equation and the state equation may be rewritten as
The vector control comprises a current loop and a speed loop for controlling the permanent magnet synchronous motor, wherein the fuzzy integral sliding mode control improves the speed loop of the motor, and the state variable of the PMSM is set as
In the formula, ωref、ωmRespectively setting the given rotating speed and the actual rotating speed of the motor;
by deriving from formula (3), then
Selecting integral sliding mode surface
s＝cx2+x1 (5)
Make a derivative of it
Given an initial value of integration of
In the formula
Selective exponential approximation law
Wherein ε and y are larger than 0. The sign function sgn(s) has discontinuity, and the moving speed of the system has certain inertia when approaching the sliding mode surface and passes through the sliding mode surface at a certain speed, so that the system buffets. Herein, sat(s) is used instead of sgn(s) to reduce the degree of buffeting, expressed as
In the formula, δ is a real number greater than 0.
The q-axis reference current of the motor can be obtained as
In order to improve the robustness of the integral sliding mode controller, fuzzy control is carried out to complete parameter optimization of the integral sliding mode controller. Selecting rotation speed error and its change rate, inputting the error and its change rate, its discourse domain is [ -3, 3], its output is the parameters epsilon and y of the approximation function, its discourse domain range is [0.8, 1], dividing the input and output discourse domains into 7 sets,
the rule tables are shown in tables 1 and 2. A schematic diagram of a fuzzy sliding mode controller is shown in fig. 3;
the existence of the undetectable disturbance can reduce the speed stationarity of the PMSM, and further influence the tracking precision of the PMSM. Therefore, the disturbance controller is adopted to observe and effectively compensate the disturbance torque. The disturbance torque is caused by the difference between the system model estimated by the disturbance observer and the actual model. The structure block diagram is shown in fig. 4. Wherein, G(s) is a model of a controlled system, namely a permanent magnet synchronous motor. Gn(s) is a nominal model of the model,
is GnThe inverse of(s), q(s), is a filter, which can improve the robustness and stability of the system.
Where d is the equivalent disturbance experienced by the system,
to estimate the disturbance, ζ is high frequency noise.
TABLE 1
TABLE 2
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The utility model provides a PMSM is at aircraft steering wheel electric load control system which characterized in that includes:
the system comprises a fuzzy integral synovial controller, a first proportional integral controller, an SVPWM controller, an inverter, a permanent magnet synchronous motor, a position detector, a disturbance observer and a second proportional integral controller;
the position detector is used for acquiring the rotor position information of the permanent magnet synchronous motor so as to acquire the angle information theta of the rotor and the rotor angular speed omega
The fuzzy integral sliding mode controller is used for obtaining an angle parameter, and the rotor angular speed omega of the permanent magnet synchronous motor is fed back to the fuzzy integral sliding mode controller;
the first proportional integral controller and the first proportional integral controller are connected with the SVPWM controller through inverse Clark conversion, and the SVPWM controller is connected with the input side of the inverter;
and the output side of the inverter and the permanent magnet synchronous motor output rotor three-phase current and the rotor three-phase current is subjected to Clark conversion and Park conversion.
2. A method for controlling the electric load of an airplane steering engine by using the permanent magnet synchronous motor in the electric load control system of the airplane steering engine according to claim 1,
the input side of the fuzzy integral slip film controller obtains the rotor angular velocity parameter of the permanent magnet synchronous motor and the rotor angular velocity omega of the permanent magnet synchronous motor, so that the output side of the fuzzy integral slip film controller obtains the rotor current parameter
The rotor three-phase current i is negatively fed back to the rotor current parameter of the permanent magnet synchronous motor
Obtaining a vertical axis voltage u using the first proportional integral controllerq；
Obtaining the rotor current i after the three-phase current of the output rotor of the permanent magnet synchronous motor is subjected to Park conversiondAnd the second proportional-integral controller is connected with the acquisition transverse-axis voltage udAnd with said longitudinal axis voltage uqSo that the SVPWM controls the output voltage of the inverter.
3. Method according to claim 2, characterized in that the shaft voltage udAnd the longitudinal axis voltage uqRespectively as follows:
ωm、ωemechanical angular velocity and electrical angular velocity, respectively;
Ke-back emf coefficient;
ud、uq、id、iq、Ld、Lqrespectively representing d and q axis voltages, currents and inductances;
ψf-a permanent magnet flux linkage;
and R is the stator resistance.
4. The method of claim 2,
epsilon and y are more than 0;
δ is a real number greater than 0;
TL-permanent magnet synchronous motor load torque;
J. b, the rotational inertia and the damping coefficient of the permanent magnet synchronous motor;
pn-number of pole pairs of a permanent magnet synchronous machine;
s-integral slip plane, and s ═ cx2+x1；
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|---|---|---|---|---|
| CN102158168A (en) * | 2011-05-27 | 2011-08-17 | 北京理工大学 | Permanent magnet synchronous motor drive control system |
| US20140375234A1 (en) * | 2013-06-24 | 2014-12-25 | Samsung Electronics Co., Ltd. | Methods and apparatuses for compensating for friction torques of permanent magnet synchronous motors |
| CN106655938A (en) * | 2017-01-11 | 2017-05-10 | 华中科技大学 | Permanent magnet synchronous machine control system and permanent magnet synchronous machine control method based on high-order sliding mode method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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