CN114024471B - Permanent magnet synchronous motor current hysteresis control method based on polar coordinate system - Google Patents
Permanent magnet synchronous motor current hysteresis control method based on polar coordinate system 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H02P6/16—Circuit arrangements for detecting position
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Abstract
The invention relates to a permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system. The actual stator current is limited in a hysteresis zone by arranging a sector hysteresis zone of polar coordinates on a spatial plane and selecting the most appropriate space voltage vector from two non-0 vectors and 0 vectors adjacent to the phase angle of the given current vector according to the stator current of the motor, the feedback value of the rotor position of the motor and the error of the feedback value with the given current vector. Since the alternative has only three vectors, the 0 vector can be more widely adopted, and the current waveform is smoother. The characteristic that the permanent magnet synchronous motor is insensitive to phase angle parameters under special conditions is utilized, and the current amplitude is directly adopted to replace torque, so that the complicated rotation coordinate transformation is avoided.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and relates to a permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system.
Background
The current loop control technology of the permanent magnet synchronous motor mainly comprises PI control, model prediction control and current hysteresis control. However, the current mainstream PMSM current loop control schemes all have 2/2 coordinate transformation links and are complex. Because the main control chip for controlling the motor has limited calculation capability, if the calculation of 2/2 coordinate transformation is required, the control performance of the motor is inevitably reduced.
Therefore, the current can be controlled under a polar coordinate system, and then the current is directly controlled on a space vector plane, and 2/2 decoupling transformation is not performed any more.
However, since the PI controller is a single-input single-output system, it is not possible to control a vector including two parameters, i.e., a phase angle and an amplitude, using the PI controller. Although two documents for Control in Vector form of Current and voltage were found, their Vector synthesis method was still Based on the real axis and imaginary axis of the rectangular coordinate system, rather than the phase angle and amplitude method proposed in this patent, see documents [1] y.zhang, h.junction and h.yang, "Model Predictive Control of PMSM drive Based on General Space Vector Modulation," in IEEE Transactions on Energy Conversion, no. 36, no.2, pp.1300-1307, june 2021, doi 10.1109/tec.2020.3036082, [2] f.wang, k.zuo, p.tao and j.rodr i rule, "High Performance Model for Control in Vector Control, p.cross point, p.13612. Cross point, c.12. 13612. Cross point: 10.1109/TPEL.2020.2994948. Moreover, the model prediction control system has the defects of complex calculation, poor robustness and sensitivity to motor parameters. Due to the limitation of the computing power of the main control chip, the current control method is rare in practical production. Moreover, because the dq axis inductances of the salient pole motor are not equal, the inductances can be changed along with the phase angle after the stator inductances of the motor are integrated on a space vector plane. Model predictive control happens to be sensitive to a few tens of motor parameters, so the application range of model predictive control in a polar coordinate system is limited.
The current hysteresis control technology is widely applied because the control method has the clear advantages of fast dynamic response, small calculated amount, strong robustness and the like. However, the current hysteresis control methods that are currently mainstream are performed on the dq rotation coordinate system and the α β coordinate system, and both of these methods performed on the rectangular coordinate system require 2/2 coordinate conversion. And for the alpha-beta coordinate system, the action effect of the 0 vector on the alpha-beta axis changes along with the change of the position of the rotor, but the action effect is not clear like that under the dq coordinate system, even if the q-axis current is reduced. Therefore, hysteresis control is performed in the α β coordinate system, and the 0 vector cannot be used in a larger scale, and the current waveform is made smoother.
Therefore, a current hysteresis control method can be adopted, and a hysteresis area is defined on a complex plane in the form of a polar coordinate system so as to select a vector according to a switching table and control the permanent magnet synchronous motor.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system, and solves the problem that 2/2 conversion is needed in current loop control of the conventional PMSM. The invention designs a fan-shaped hysteresis zone based on a polar coordinate system. And a novel motor hysteresis control method without rotation coordinate transformation is designed by utilizing the principle of generating electromagnetic torque and the property of a fan-shaped hysteresis area under a polar coordinate system. On the basis, a vector selection strategy of the permanent magnet synchronous motor under a polar coordinate system is summarized, and a large number of 0 vectors with smaller amplitude values are used, so that the current change is more stable.
Technical scheme
A permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system is characterized by comprising the following steps:
step 1: adding 90 degrees in the direction of rotor flux linkage to obtain a given current vector
I.e. q axis in dq rotation coordinate system as a given angle; derived from the rotation speed loop PI
The amplitude of (d); thus, a current vector is obtained with the origin of coordinates as the starting point
And in vectors
Forming a hysteresis centered on an end point of a coordinate point on a space vector planeA tolerance region of the ring;
step 2: according to the collected two-phase current i a 、i b And the rotor position information carries out coordinate transformation on the stator current and converts the stator current into a vector form
And 3, step 3: according to stator current vector
And a given current
Determining the space voltage vector of the output of the amplitude hysteresis comparator A and the phase angle hysteresis comparator B according to the current angle, the amplitude and the hysteresis width:
wherein, the first and the second end of the pipe are connected with each other,
θ * respectively representing the amplitude and the angle of the given current;
θ s respectively representing the amplitude and the angle of the actual current;
and 4, step 4: and selecting the switching state of the three-phase inverter according to the following table according to the sector where the q axis is located and the output value of the hysteresis comparator:
three digits in the table respectively represent the switching states of the A, B, C three-phase upper bridge arm, wherein 1 represents open, and 0 represents closed; and then, negating the numerical value corresponding to the upper bridge arm to obtain the switching state of the lower bridge arm.
The range of the tolerance region is determined by two parameters of a hysteresis width delta theta of a current phase angle and a hysteresis width delta | i | of a current amplitude value, and the specific hysteresis tolerance range is described as follows:
to be provided with
Is a radius of
To
The range of the central angle is defined, and a small fan shape is formed by taking the origin of coordinates as a vertex; then, in order
Is a radius of
To
The range of a central angle is defined, a coordinate origin is taken as a vertex to make a large fan shape, and a non-coincident part between the two fan shapes is a hysteresis range; wherein the content of the first and second substances,
θ * respectively representing a given current
Amplitude, angle.
Advantageous effects
The invention provides a permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system, which comprises the steps of setting a polar coordinate fan-shaped hysteresis region on a space plane, selecting the most appropriate space voltage vector from two non-0 vectors and 0 vectors adjacent to a phase angle of a given current vector according to the motor stator current, the feedback value of the motor rotor position and the error between the feedback value and the given current vector, and limiting the actual stator current in the hysteresis region. Since the alternative has only three vectors, the 0 vector can be more widely adopted, and the current waveform is smoother. The characteristic that the permanent magnet synchronous motor is insensitive to phase angle parameters under special conditions is utilized, and the current amplitude value is directly adopted to replace torque, so that the complicated rotation coordinate transformation is avoided.
The invention uses the output of the speed loop PI controller as the amplitude parameter of the given current vector, and the angle of the rotor flux linkage direction plus 90 degrees as the phase angle to directly synthesize the given stator current vector of the permanent magnet synchronous motor. The specific selection strategy completely comprises the following four points:
1. the alternative space voltage vectors contain only two non-0 vectors adjacent to the phase angle of the given current vector phase and 0 vectors instead of all eight space voltage vectors.
2. Amplitude hysteresis is preferentially considered in the switch table, namely once the amplitude of the stator current exceeds the upper limit of the hysteresis range, a 0 vector is adopted no matter what state the phase angle hysteresis is.
3. When the actual stator current vector is in the hysteresis range, a 0 vector is adopted.
4. And when the actual stator current is not in the states (2) and (3), selecting the most appropriate space voltage vector according to the influence of the three alternative space voltage vectors on the stator current.
Compared with the prior art, the invention has the following beneficial effects:
1. because the fan-shaped hysteresis region under the polar coordinate system has extremely high symmetry, compared with the traditional alpha-beta axis hysteresis control technology, the hysteresis region mapped on the rotating coordinate system cannot be changed due to the rotation of the rotating coordinate system. And in a polar coordinate system, the expression effect of the 0 vector is mainly to reduce the amplitude of the current, so that the negative vector can be replaced by the 0 vector to make the current waveform smoother (see fig. 5 and 7 for specific differences).
2. The characteristic that electromagnetic torque of the motor is insensitive to phase angle parameters under specific conditions can be utilized to directly obtain a given current vector, so that 2/2 coordinate transformation is avoided. Compared with the prior hysteresis control scheme based on the dq coordinate system and the control scheme based on the alpha beta coordinate system, the control flow is simplified (the specific differences are shown in figures 2, 8 and 9)
3. Compared with the scheme of performing model prediction control by using vectors in a complex plane polar coordinate system adopted in the document [1,2], it is obvious that the method of directly selecting corresponding vectors according to the output value of the hysteresis comparator is simpler and clearer, and the method does not need to substitute all vectors and the expected next beat current value into the cost function for traversal, so that software and hardware resources of a control system are greatly saved. Meanwhile, because the hysteresis controller is unconditionally stable, the situation that the hysteresis controller is not suitable for the salient pole permanent magnet synchronous motor can not occur.
Drawings
FIG. 1 is a view showing a hysteresis loop
FIG. 2 is a control flow chart
FIG. 3 is a phase diagram of space voltage current
FIG. 4 is a current regulation diagram
FIG. 5 is a graph of current trajectory simulation results based on hysteresis control in a polar coordinate system
FIG. 6 is a control flow block diagram
FIG. 7 is a graph of current trajectory simulation results based on hysteresis control in an α β coordinate system
FIG. 8 is a control flow chart of hysteresis control based on an α β coordinate system
FIG. 9 is a control flowchart of hysteresis control based on dq coordinate system
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the torque equation of the non-salient pole type permanent magnet synchronous motor is as follows:
in the formula i sq Q-axis current and p is the pole pair number;
is the rotor flux linkage vector; phi f And | is the amplitude thereof, basically keeps unchanged and can be regarded as a constant. I s And | is the amplitude of the stator current vector, and δ is the included angle between the stator current vector and the stator current vector.
When a d-axis current of 0 (i) is used sd = 0), δ is about 90 degrees. From the characteristics of the sine function, even though δ has a large change, sin δ still approaches 1. In this case, the torque and the stator current can be approximated
Is linear in magnitude.
The torque equation of the salient pole type permanent magnet synchronous motor is as follows:
it can be seen that when i sd =0, the torque equation substantially corresponds to equation 4. However, because the d-axis stator current of the salient pole permanent magnet synchronous motor also generates torque, the linearity of the torque and the current amplitude is slightly lower than that of a non-salient pole type when the salient pole permanent magnet synchronous motor is controlled by the method and the device, the phase angle hysteresis loop is set to be as small as possible so as to avoid the influence caused by the d-axis stator current.
Therefore, the given value of the q-axis current output by the rotating speed loop PI in the conventional scheme can be directly converted into the given value of the amplitude of the current. And the given angle value is according to i sd Control strategy of =0, will
Plus 90 degrees.
Thus, hysteresis control can be performed with reference to a predetermined current. After the polar coordinate system is obtained, the hysteresis region is shown by the solid line in fig. 1.
The specific control flow is shown in fig. 2. Comparing fig. 8 and fig. 9, it can be seen that the scheme omits the 2/2 conversion link, and the final control flow is more concise and clearer.
The specific control flow is as follows:
the method comprises the following steps: the given current vector is obtained by adding 90 degrees to the rotor flux linkage direction
Is derived from the rotation speed loop PI
The amplitude of (c). At a given current vector
For reference, a hysteresis range in a polar coordinate system is determined. The hysteresis range in the invention is determined by two parameters of a phase angle hysteresis width delta theta and a current amplitude hysteresis width delta i.
Step two: according to the collected two-phase current i a 、i b And the rotor position information carries out coordinate transformation on the stator current and converts the stator current into a vector form
The specific calculation is shown in formula (1).
Step three: according to stator current vector
And a given current
Current angle and widthThe value and hysteresis width determine the space voltage vector of the output of the amplitude hysteresis comparator a and the phase angle hysteresis comparator B. The specific calculation formula is shown in formulas (2) and (3).
Wherein the content of the first and second substances,
θ * respectively representing the amplitude and the angle of the given current;
θ s respectively representing the amplitude, angle of the actual current.
Step four: and obtaining the q-axis angle and the located sector according to the position of the motor rotor. And selecting the switching state of the three-phase inverter according to the sector where the q axis is located and the output value of the hysteresis comparator. The selection principle is shown in table one. The three digits in the table represent the switching states of the A, B, C three-phase upper arm, respectively. 1 represents open, 0 represents closed, and the specific sector is divided as shown in fig. three.
TABLE 1 switching watch under polar coordinate system
The selection strategy and principles are explained in detail below.
The mathematical model of the permanent magnet synchronous motor can be represented by equation 5:
wherein the content of the first and second substances,
is a vector of the stator current and is,
the vector is a no-load counter potential vector, and L, R is equivalent inductance and resistance respectively.
Neglecting the resistance term, rewriting equation 5, there are:
As can be seen from equation (7), the stator current will be affected differently by selecting different space voltage vectors. Eight space voltage vectors and back-emf vectors determined by the state of the switching inverter
As shown in fig. two. Choose to use
Then, the direction of the current variation is also as shown in the figure
And
as shown. As can be seen from the figure, limiting the selection range of the vectors to the three vectors can already satisfy the requirement of hysteresis control. Therefore, in the present invention, the vector is only selected to be on the phase angle and
adjacent non-0 vectors andvector 0.
Since the motor torque is insensitive to the phase angle parameter in the present invention, when the current magnitude is large (i.e., a = 0), the 0 vector is selected regardless of the state of the phase angle parameter. And when the current amplitude is smaller or within the tolerance range, selecting a corresponding non-0 vector according to the state of the phase angle, so that the current amplitude is increased and the phase angle is adjusted.
The final summary of the switch table is shown in table 1.
An example of the specific current adjustment is shown in fig. four:
as shown, the back emf vector at this time
At the position of
And
and belongs to sector 1. It can be seen that the actual current vector at this time
The phase angle is advanced and the amplitude is large. The output of the hysteresis comparator A, B is 0, and the selected 0 vector is obtained by looking up the table
(111). The current variation trace is shown by the chain line in the figure. The adjusted current becomes phase angle advanced and amplitude is within tolerance, i.e., a =1, b =0. At this time, the selection vector
(100). The current variation trace is shown by the dotted line in the figure. Then select again
(111) After several cycles of regulation, the current returns to within tolerance.
And simulating by using simulink according to the control strategy, wherein the current trajectory of the motor on the complex plane is finally shown in fig. 5 after the rotating speed reaches a steady state. The current trajectory of the classical α β axis control scheme is shown in fig. 7, and it is obvious that the current trajectory of the scheme is more regular.
Claims (2)
1. A permanent magnet synchronous motor current hysteresis control method based on a polar coordinate system is characterized by comprising the following steps:
step 1: adding 90 degrees in the rotor flux linkage direction to obtain a given current vector
The q-axis in the dq rotation coordinate system is taken as a given angle; derived from the rotation speed loop PI
The amplitude of (d); thus, a current vector is obtained with the origin of coordinates as the starting point
And in vectors
Forming a tolerance region of a hysteresis loop by taking a coordinate point terminal point on a space vector plane as a center;
and 2, step: according to the collected two-phase current i a 、i b And the rotor position information carries out coordinate transformation on the stator current and converts the stator current into a vector form
And 3, step 3: according to stator current vector
And a given current
Determining the space voltage vector of the output of the amplitude hysteresis comparator A and the phase angle hysteresis comparator B according to the current angle, the amplitude and the hysteresis width:
wherein the content of the first and second substances,
θ * respectively representing the amplitude and the angle of the given current;
θ s respectively representing the amplitude and the angle of the actual current;
and 4, step 4: and selecting the switching state of the three-phase inverter according to the following table by using the sector where the q axis is located and the output value of the hysteresis comparator:
three digits in the table respectively represent the switching states of the A, B, C three-phase upper bridge arm, wherein 1 represents opening, and 0 represents closing; and then, negating the numerical value corresponding to the upper bridge arm to obtain the switching state of the lower bridge arm.
2. The method for controlling the current hysteresis of the permanent magnet synchronous motor based on the polar coordinate system according to claim 1, wherein: the range of the tolerance region is determined by two parameters of current phase angle hysteresis width delta theta and current amplitude hysteresis width delta | i |, and the specific hysteresis tolerance range is described as follows:
to be provided with
Is a radius of
To
The range of the central angle is defined, and a small sector is formed by taking the origin of coordinates as a vertex; then, in order
Is a radius of
To
The range of a central angle is defined, a coordinate origin is taken as a vertex to make a large fan shape, and a non-coincident part between the two fan shapes is a hysteresis range; wherein the content of the first and second substances,
θ * respectively representing a given current
Amplitude, angle.
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