CN114785210A - Permanent magnet synchronous motor current controller parameter setting method, device and system - Google Patents

Permanent magnet synchronous motor current controller parameter setting method, device and system Download PDF

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CN114785210A
CN114785210A CN202210627418.XA CN202210627418A CN114785210A CN 114785210 A CN114785210 A CN 114785210A CN 202210627418 A CN202210627418 A CN 202210627418A CN 114785210 A CN114785210 A CN 114785210A
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current
motor
loop
filter
module
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CN114785210B (en
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吴翔
李超
李佳
何凤有
刘志恒
王储
谭国俊
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China University of Mining and Technology CUMT
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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
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—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
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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 method, a device and a system for setting parameters of a current controller of a permanent magnet synchronous motor. The parameter setting method comprises the following steps: generating a motor current closed-loop control command andLCresonance suppression of filter-motor systemsA control instruction; motor current closed-loop control command andLCthe resonance suppression control instructions of the filter-motor system are superposed to obtain an open-loop transfer function of a current loop of the control system; designing parameters of a current controller by controlling an open loop transfer function of a system current loop; obtaining a resonance suppression control instruction parameter for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain; and setting the parameter value of the resonance suppression control instruction to enable the current loop of the control system to obtain the maximum stability margin and realize parameter setting of the current controller. The invention realizes the high-performance operation of the permanent magnet synchronous motor, and the hardware cost of the system is reduced by designing the state observer to estimate the system control variable.

Description

Permanent magnet synchronous motor current controller parameter setting method, device and system
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a permanent magnet synchronous motor current controller parameter setting method, device and system with an LC filter.
Background
The power factor control device has the obvious advantages of simple mechanical structure, small volume, high power factor and the like, so that the power factor control device is widely applied to the industrial fields of various power grades. At present, most permanent magnet synchronous motor control devices adopt a vector control algorithm and a pulse width modulation strategy to generate driving pulses to act on a power device, so that the aim of speed regulation is fulfilled.
With the gradual increase of the switching speed of the power device, the continuously increased du/dt brings non-negligible negative effects to the insulation, bearing damage and operation life of the motor. Under extreme working environments such as mines, oil wells and the like, a long cable is usually used for connecting the inverter with the motor, when a pulse signal sent by the inverter is transmitted to the motor through the long cable, voltage reflection phenomenon can be generated due to leakage inductance and coupling capacitance of the long cable, the voltage of the motor end can reach twice of normal voltage or even higher, the negative effect can greatly increase the pressure of the motor during operation, damage is caused to the insulation of the motor, the normal service life of the motor is influenced, and even the motor is burnt.
In order to solve the above problem, the addition of an LC filter on the inverter side is a simple and effective solution, and a better voltage pulse limitation can be achieved at a lower cost. However, the structure of the driving system of the permanent magnet synchronous motor is changed due to the addition of the LC filter, a control object of the inverter is changed from a single permanent magnet synchronous motor to a high-order system consisting of the LC filter and the permanent magnet synchronous motor, and the design and setting method of the vector control current loop of the traditional permanent magnet synchronous motor cannot be directly applied to the control of the permanent magnet synchronous motor with the LC filter. If the current at the inverter side is selected as a current loop control object, the current of the permanent magnet synchronous motor is easy to enter an uncontrollable state, so that the running performance of the permanent magnet synchronous motor is deteriorated. If the current at the motor side is used as feedback, the current at the motor end is controlled, but only the motor can be controlled, and the control on the input current and the capacitor voltage of the LC filter cannot be realized, so that the dual closed-loop vector control system cannot normally operate.
Disclosure of Invention
The embodiment of the invention aims to provide a parameter setting method, device and system for a current controller of a permanent magnet synchronous motor, so as to solve the technical problem.
The invention is realized according to the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for setting parameters of a current controller of a permanent magnet synchronous motor, where the method is applicable to a control system of a permanent magnet synchronous motor with an LC filter, and the method includes:
generating a motor current closed-loop control instruction and a resonance suppression control instruction of an LC filter-motor system;
superposing a motor current closed-loop control instruction and a resonance suppression control instruction of an LC filter-motor system to obtain an open-loop transfer function of a current loop of a control system;
designing parameters of a current controller by controlling an open loop transfer function of a system current loop;
obtaining a resonance suppression control instruction parameter for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
and setting the parameter value of the resonance suppression control instruction to enable the current loop of the control system to obtain the maximum stability margin so as to realize parameter setting of the current controller.
In one embodiment, the motor current closed-loop control command is generated by interaction of a motor stator current given value, a motor stator current actual value and proportional-integral coefficients of a d-axis PI controller and a q-axis PI controller under a two-phase rotating coordinate system; and the resonance suppression control command of the LC filter-motor system is generated by interaction of the LC filter capacitance current and the resonance suppression control command parameter.
In one embodiment, the open loop transfer function of the control system current loop is:
Figure BDA0003678010410000021
Figure BDA0003678010410000022
wherein, TdWhich represents the delay time of the system and,
Figure BDA0003678010410000023
Figure BDA0003678010410000024
Lfrepresenting inductance value, C, of LC filterfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresents the q-axis inductance value of the permanent magnet synchronous motor, s represents the Laplace operator, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd the proportionality coefficient of the q-axis PI controller under a two-phase rotating coordinate system is shown.
In one embodiment, the parameters for designing the current controller are:
Figure BDA0003678010410000031
Figure BDA0003678010410000032
kpd＝0.25ωresd(Lf+Ld)
kpq＝0.25ωresq(Lf+Lq)
Figure BDA0003678010410000033
Figure BDA0003678010410000034
wherein, ω isresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting LC filter inductance value, CfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqAnd the q-axis inductance value of the permanent magnet synchronous motor is shown.
In one embodiment, before designing the parameters of the current controller by controlling the open loop transfer function of the system current loop, the method further includes: defining cut-off frequency and phase margin of a current loop open-loop transfer function of a control system according to an automatic control principle of the system; the cut-off frequency of the defined control system current loop open loop transfer function is as follows:
Figure BDA0003678010410000035
the phase margin of the defined control system current loop open loop transfer function is:
Figure BDA0003678010410000036
where j represents an imaginary unit, ωcd、ωcqThe d and q axis cut-off frequencies are shown.
In an embodiment, the obtaining a resonance suppression control instruction parameter for optimizing system performance according to a closed loop transfer function of a current loop of a control system and an equivalent open loop transfer function of the current loop in a discrete domain specifically includes:
Figure BDA0003678010410000041
Figure BDA0003678010410000042
wherein, TsDenotes the sampling period, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportional coefficient, omega, of the q-axis PI controller under a two-phase rotating coordinate systemresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting inductance value, C, of LC filterfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresenting the q-axis inductance value of the permanent magnet synchronous motor.
In a second aspect, an embodiment of the present application provides a current controller parameter setting device, which is applicable to a permanent magnet synchronous motor control system with an LC filter, and includes:
the command module I is used for generating a motor current closed-loop control command through a motor stator current given value, a motor stator current actual value and d-and q-axis PI controller proportional integral coefficients under a two-phase rotating coordinate system according to the motor current closed-loop control command;
the instruction module II is used for generating a resonance suppression control instruction of the LC filter-motor system according to the capacitance current of the LC filter and the resonance suppression control instruction parameter;
the function module is used for superposing a motor current closed-loop control instruction and a resonance suppression control instruction of the LC filter-motor system to obtain an open-loop transfer function of a current loop of the control system; the function module also comprises a definition module which is used for defining the cut-off frequency and the phase margin of the control system current loop open-loop transfer function;
the parameter design module is used for designing parameters of the current controller by controlling an open loop transfer function of a system current loop;
the optimization parameter module is used for obtaining a parameter value for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
and the setting module is used for setting the parameter value of the optimization parameter module, so that the current loop of the control system obtains the maximum stability margin, and the parameter setting of the current controller is realized.
In a third aspect, an embodiment of the present application provides a control system for a permanent magnet synchronous motor with an LC filter, where the control system includes a given motor stator current module, a current control module, a pulse generation module, a three-phase inverter module, an LC filter module, a signal acquisition module, a current conversion module, and an LC filter capacitance current calculation module,
the given motor stator current module is used for generating motor given stator current under a two-phase rotating coordinate system through the action of the given rotating speed of the motor and the actual rotating speed of the motor;
the current control module comprises the permanent magnet synchronous motor current controller parameter setting device; the permanent magnet synchronous motor current controller parameter setting device according to claim 7, wherein the inverter side voltage under a two-phase rotating coordinate system is calculated by inputting a given stator current of a motor, an actual value of the stator current of the motor and a capacitance current of an LC filter;
the pulse generation module is used for generating a pulse driving signal through the combined action of the inverter side voltage and the PWM (pulse width modulation) technology and outputting the pulse driving signal to the three-phase inverter module;
the LC filter module is arranged between the three-phase inverter module and the permanent magnet synchronous motor;
the signal acquisition module is used for converting the acquired phase current and phase voltage of the inverter side into three-phase current and three-phase voltage of the inverter side;
the current-voltage conversion module comprises inverter side current Clark conversion, inverter side current Park conversion, inverter side voltage Clark conversion and inverter side voltage Park conversion; the inverter side three-phase current and three-phase voltage and the electric position angle of the motor rotor are converted and output into inverter side current and voltage under a two-phase rotating coordinate system;
and the LC filter capacitance current calculation module is used for converting the inverter side current under the two-phase rotating coordinate system and the motor stator current given value under the two-phase rotating coordinate system into the LC filter capacitance current under the two-phase rotating coordinate system.
In one embodiment, the control system further includes a state observer module, where the state observer module is configured to convert and output the inverter-side current and the inverter-side voltage in the two-phase rotating coordinate system into a motor stator current set value, a motor rotor electrical position angle, and a motor rotor electrical angular velocity in the two-phase rotating coordinate system.
In one embodiment, the inverter-side voltage in the two-phase rotating coordinate system is:
Figure BDA0003678010410000051
Figure BDA0003678010410000052
kpdrepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the integral coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd (3) representing the integral coefficient of the q-axis PI controller under a two-phase rotating coordinate system, and s represents a complex variable.
The invention has the beneficial effects that:
the invention considers the design of a control system from the perspective of resonance suppression, and provides a parameter setting method of a current controller, which realizes the stable and high-performance control of a permanent magnet synchronous motor speed regulating system with an LC filter through instruction superposition and parameter design rules, and avoids the resonance problem caused by the LC filter; the state observer designed by the invention realizes the estimation of the system control variable, and does not need to add an additional current sensor to measure the voltage of the motor side, thereby greatly reducing the hardware cost of the system. The invention effectively solves the long-line effect influence caused by high frequency of power electronics through the LC filter, and effectively increases the reliability of a control system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments and that for a person skilled in the art, other drawings can also be derived from them without inventive effort.
Fig. 1 is a flowchart of a method for setting parameters of a current controller according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a current controller parameter setting apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a permanent magnet synchronous motor control system with an LC filter according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a permanent magnet synchronous motor control system with an LC filter according to yet another embodiment of the present invention;
fig. 5 is a simulation waveform diagram of the motor stator voltage and the stator current when the permanent magnet synchronous motor control system provided by the invention is not used.
Fig. 6 is a simulation result diagram of the motor stator voltage and the stator current when the permanent magnet synchronous motor control system provided by the invention is used.
Fig. 7 is a simulation result diagram of the motor stator voltage and the stator current when the setting of the current controller parameter setting device is suddenly incorrect.
Fig. 8 is a diagram showing experimental results of inverter-side voltage, motor stator voltage, and stator current when the current controller parameter setting device is set according to the current controller parameter setting method provided by the present invention.
FIG. 9 is a diagram showing the experimental results of the dynamic performance of the motor when the current controller parameter setting device is set according to the current controller parameter setting method provided by the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
Fig. 1 is a flowchart of a method for setting parameters of a current controller of a permanent magnet synchronous motor according to the present invention, which is provided in an embodiment, and the method for setting parameters of the current controller includes the following steps:
s100, generating a motor current closed-loop control instruction and a resonance suppression control instruction of an LC filter-motor system;
in the embodiment of the application, the motor current closed-loop control instruction is generated through interaction of a motor stator current given value, a motor stator current actual value and proportional-integral coefficients of a d-axis PI controller and a q-axis PI controller under a two-phase rotating coordinate system.
Specifically, the motor current closed-loop control instruction is as follows:
Figure BDA0003678010410000071
Figure BDA0003678010410000072
wherein k ispdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqRepresents the proportionality coefficient of a q-axis PI controller under a two-phase rotating coordinate system, isd *Represents a given value i of d-axis current of the permanent magnet synchronous motor under a two-phase rotating coordinate systemsq *Represents a given value i of the q-axis current of the permanent magnet synchronous motor under a two-phase rotating coordinate systemsdRepresenting the actual value i of the motor stator d-axis current under a two-phase rotating coordinate systemsqAnd the given value of the q-axis current of the motor stator under the two-phase rotating coordinate system is shown.
Resonance suppression control command of LC filter-motor system passes LC filter capacitance current and kd、kqParameter interaction generation.
Specifically, the resonance suppression control command of the LC filter-motor system is as follows:
kdicd
kqicq
wherein icdRepresenting the actual value of the d-axis current, i, of the LC filter capacitancecqRepresenting the actual value of the LC filter capacitance d-axis current. k is a radical of formulad、kqRepresenting a resonance suppression control command parameter.
S200, overlapping the motor current closed-loop control instruction with a resonance suppression control instruction of an LC filter-motor system to obtain an open-loop transfer function of a current loop of a control system;
in the embodiment of the present application, when the current controller in which the motor current closed-loop control command and the resonance suppression control command of the LC filter-motor system are superimposed is a current controller, the open-loop transfer functions of the current loop of the control system are respectively:
Figure BDA0003678010410000081
Figure BDA0003678010410000082
wherein, TdWhich represents the delay time of the system and,
Figure BDA0003678010410000083
Figure BDA0003678010410000084
Lfrepresenting inductance value, C, of LC filterfRepresenting the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqDenotes the q-axis inductance of the PMSM, s denotes the Laplace operator, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd the proportionality coefficient of the q-axis PI controller under a two-phase rotating coordinate system is shown.
It should be noted that the superposition here does not mean simple addition, and the superposition means that two instructions act together.
S300, designing parameters of a current controller by controlling an open loop transfer function of a system current loop;
in the embodiment of the present application, the parameters for designing the current controller are:
Figure BDA0003678010410000091
Figure BDA0003678010410000092
kpd＝0.25ωresd(Lf+Ld)
kpq＝0.25ωresq(Lf+Lq)
Figure BDA0003678010410000093
Figure BDA0003678010410000094
wherein, ω isresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting inductance value, C, of LC filterfRepresenting the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresenting the q-axis inductance value of the permanent magnet synchronous motor.
S400, obtaining a resonance suppression control instruction parameter for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
through the parameters of the current controller designed in the above way, it can be found that the high-performance motor control performance of the current controller adopting the current controller in which the motor current closed-loop control instruction is superposed with the resonance suppression control instruction of the LC filter-motor system is controlled by k in the current controllerpd，kpqAnd k isd，kqDetermined by common design at kpd，kpqK when the parameter has been setd，kqThe design of (2) needs to ensure that the current loop of the control system obtains the maximum stability margin. Therefore, k is designed by controlling the closed loop transfer function of the system current loop and the equivalent open loop transfer function in the discrete domaind，kq. Wherein the content of the first and second substances,
the closed loop transfer function is:
Figure BDA0003678010410000095
its equivalent open loop transfer function in the discrete domain is:
Figure BDA0003678010410000101
Figure BDA0003678010410000102
Figure BDA0003678010410000103
wherein T issIn order to be the sampling period of time,
Figure BDA0003678010410000104
Figure BDA0003678010410000105
wherein ω isresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting LC filter inductance value, CfDenotes the LC filter capacitance value and z denotes the z-transform operator.
In the embodiment of the application, k for optimizing the system performance is obtained according to the closed loop transfer function of the current loop of the control system and the equivalent open loop transfer function of the current loop in the discrete domaind、kqAnd (4) parameters. The calculation process is as follows:
Figure BDA0003678010410000106
Figure BDA0003678010410000107
wherein, TsDenotes the sampling period, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, omega, of the q-axis PI controller under a two-phase rotating coordinate systemresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting inductance value, C, of LC filterfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqAnd the q-axis inductance value of the permanent magnet synchronous motor is shown.
S500, setting a resonance suppression control instruction parameter value to enable a current loop of a control system to obtain the maximum stability margin, and realizing parameter setting of a current controller.
In an optional implementation manner, before designing parameters of a current controller by controlling a system current loop open-loop transfer function, a cut-off frequency and a phase margin of the control system current loop open-loop transfer function are defined according to a system automatic control principle; the cut-off frequency of the defined control system current loop open loop transfer function satisfies:
Figure BDA0003678010410000111
the phase margin of the defined control system current loop open loop transfer function is as follows:
Figure BDA0003678010410000112
where j represents an imaginary unit, ωcd、ωcqThe d and q axis cut-off frequencies are shown. And the system obtains better dynamic performance through the calculation of the phase margin.
When the cut-off frequency and the phase margin of the current loop open loop transfer function satisfy the following formula:
Figure BDA0003678010410000113
thereby enabling the system to obtain sufficient stability margin and ensuring excellent dynamic performance.
Referring to fig. 2, a schematic structural diagram of a permanent magnet synchronous motor current controller parameter setting device according to an exemplary embodiment of the present invention is shown. The current controller parameter setting device can be realized by software, hardware or a combination of the software and the hardware to be all or part of the terminal. The current controller parameter setting device comprises: the system comprises a first instruction module, a second instruction module, a function module, a parameter design module, an optimization parameter module and a setting module.
Specifically, the first instruction module is used for generating a motor current closed-loop control instruction according to the motor current closed-loop control instruction through a motor stator current given value, a motor stator current actual value and proportional integral coefficients of a d-axis PI controller and a q-axis PI controller under a two-phase rotating coordinate system;
the instruction module II is used for generating a resonance suppression control instruction of the LC filter-motor system according to the capacitance current of the LC filter and the resonance suppression control instruction parameter;
the function module is used for superposing a motor current closed-loop control instruction and a resonance suppression control instruction of the LC filter-motor system to obtain an open-loop transfer function of a current loop of the control system; the function module also comprises a definition module which is used for defining the cut-off frequency and the phase margin of the control system current loop open-loop transfer function;
the parameter design module is used for designing parameters of the current controller by controlling an open loop transfer function of a system current loop;
the optimization parameter module is used for obtaining a parameter value for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
and the setting module is used for setting the parameter value of the optimization parameter module, so that the current loop of the control system obtains the maximum stability margin, and the parameter setting of the current controller is realized.
It should be noted that, when the control method of the permanent magnet synchronous motor is executed, the parameter setting device of the permanent magnet synchronous motor current controller provided in the foregoing embodiment is only illustrated by dividing each function module, and in practical applications, the function distribution may be completed by different function modules according to needs, that is, the internal structure of the device is divided into different function modules, so as to complete all or part of the functions described above. In addition, the embodiment of the current controller parameter setting device for the permanent magnet synchronous motor and the embodiment of the current controller parameter setting method for the permanent magnet synchronous motor provided in the above embodiments belong to the same concept, and the details of the implementation process are shown in the embodiment of the current controller parameter setting method for the permanent magnet synchronous motor, and are not described here again.
In one embodiment, a permanent magnet synchronous motor control system with an LC filter is provided, and referring to fig. 3, a schematic structural diagram of a permanent magnet synchronous motor control system with an LC filter is shown. The control system includes: the device comprises a given motor stator current module, a current control module, a pulse generation module, a three-phase inverter module, an LC filter module, a signal acquisition module, a current conversion module and an LC filter capacitance current calculation module. Wherein, the first and the second end of the pipe are connected with each other,
the given motor stator current module is used for generating a given stator current of the motor under a two-phase rotating coordinate system through the action of the given rotating speed of the motor and the actual rotating speed of the motor;
specifically, the given motor stator current module generates a given motor stator current i of the permanent magnet synchronous motor under a two-phase rotating coordinate system through the action of the given rotating speed of the motor and the actual rotating speed of the motorsd *、isq *. The input of the stator current module of the given motor can be obtained by the output end of the signal acquisition module, and the output of the stator current module of the given motor is obtained by the current control module.
Further, the motor gives a stator current isd *、isq *Comprises the following steps:
isd *＝0
Figure BDA0003678010410000121
wherein N isrRepresenting a given speed, ω, of the motoreRepresenting the actual electrical angular frequency, k, of the motorpsRepresenting the proportional coefficient, k, of the rotary speed PI controllerisRepresenting integral coefficient of rotation speed PI controller, npAnd s represents a pole pair number of the permanent magnet synchronous motor and represents a complex variable.
The current control module comprises the permanent magnet synchronous motor current controller parameter setting device; the permanent magnet synchronous motor current controller parameter setting device is used for calculating the input stator current, the actual value of the motor stator current and the capacitance current of the LC filter of the motor into the inverter side voltage under a two-phase rotating coordinate system;
specifically, the parameter setting device for the current controller of the permanent magnet synchronous motor is the parameter setting device for the current controller of the permanent magnet synchronous motor provided in the foregoing embodiments, and embodiments of the parameter setting method for the current controller of the permanent magnet synchronous motor belong to the same concept.
The pulse generation module is used for generating a pulse driving signal through the combined action of the inverter side voltage and the PWM technology and outputting the pulse driving signal to the three-phase inverter module;
specifically, the pulse generation module generates a pulse driving signal through the combined action of the inverter side voltage and the PWM technology under the two-phase rotating coordinate system. The inverter side voltage input by the pulse generation module can be obtained by the output end of the current control module, and a pulse driving signal is generated to be used as a driving signal of the inverter power switching device to act on the three-phase inverter module.
The LC filter module is arranged between the three-phase inverter module and the permanent magnet synchronous motor, so that the permanent magnet synchronous motor realizes control operation;
the signal acquisition module is used for converting the acquired phase current and phase voltage of the inverter side into three-phase current and three-phase voltage of the inverter side;
specifically, the signal acquisition module acquires phase current i of the stator of the permanent magnet synchronous motor through the sensorsa，isbInverter side phase currentiia，iibMechanical position angle theta of motor rotormThe output quantity is the three-phase current i of the stator of the permanent magnet synchronous motorsabc(isa，isb，isc) Inverter side three-phase current iiabc(iia，iib，iic) Electrical position angle theta of motor rotoreAnd the motor rotor speed Nf. The calculation process is as follows:
isc＝-isa-isb
iic＝-iia-iib
θe＝npθm
Figure BDA0003678010410000141
wherein n ispThe number of pole pairs of the permanent magnet synchronous motor is shown.
The current-voltage conversion module comprises inverter side current Clark conversion, inverter side current Park conversion, inverter side voltage Clark conversion and inverter side voltage Park conversion; the inverter side three-phase current and three-phase voltage and the electric position angle of the motor rotor are converted and output into inverter side current and voltage under a two-phase rotating coordinate system;
specifically, the input quantity of the current-voltage conversion module is a three-phase current i of a stator of the permanent magnet synchronous motoriabcInverter side three-phase current isabcElectrical position angle theta of motor rotoreThe output quantity is the stator current i of the permanent magnet synchronous motor under a two-phase rotating coordinate systemsd、isqLC filter capacitance current icd、icq. The calculation process is as follows:
Figure BDA0003678010410000142
Figure BDA0003678010410000143
Figure BDA0003678010410000144
Figure BDA0003678010410000145
isd＝isαcosθe+isβsinθe
isq＝-isαsinθe+isβcosθe
iid＝iiαcosθe+iiβsinθe
iiq＝-iiαsinθe+iiβcosθe
icd＝iid-isd
icq＝iiq-isq
and the LC filter capacitance current calculation module is used for converting the inverter side current under the two-phase rotating coordinate system and the motor stator current given value under the two-phase rotating coordinate system into the LC filter capacitance current under the two-phase rotating coordinate system.
Specifically, the input quantity of the LC filter capacitance current calculation module is inverter side current i under a two-phase rotation coordinate systemid、iiqAnd stator current i of the permanent magnet synchronous motor under a two-phase rotating coordinate systemsd、isqThe output quantity is LC filter capacitance current i under a two-phase rotating coordinate systemcd、icqThe calculation process is as follows:
icd＝iid-isd
icq＝iiq-isq
in a possible implementation manner, the permanent magnet synchronous motor with the LC filter further includes a state observer module, as shown in fig. 4. And the state observer module is used for converting and outputting the inverter side current and voltage under the two-phase rotating coordinate system into a motor stator current given value, a motor rotor electrical position angle and a motor rotor electrical angular velocity under the two-phase rotating coordinate system.
Specifically, the input quantity of the state observer module is inverter side current i under a two-phase rotating coordinate systemid、iiqInverter side voltage u under two-phase rotating coordinate systemid、uiqThe output quantity is the stator current i of the permanent magnet synchronous motor under a two-phase rotating coordinate systemsd、isqElectrical position angle theta of motor rotoreElectrical angular velocity omega of motor rotore. The calculation process is as follows:
Figure BDA0003678010410000151
Figure BDA0003678010410000152
Figure BDA0003678010410000153
Figure BDA0003678010410000154
Figure BDA0003678010410000155
Figure BDA0003678010410000156
wherein, TcDenotes a sampling period, Q denotes a system covariance matrix, and R denotes the system covariance matrix.
Figure BDA0003678010410000161
Figure BDA0003678010410000162
Figure BDA0003678010410000163
Figure BDA0003678010410000164
Figure BDA0003678010410000165
Figure BDA0003678010410000171
Wherein the band ^ represents an estimated state quantity, the band ^ represents a predicted state quantity, and LfRepresenting LC filter inductance value, CfRepresenting the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresents the q-axis inductance value, R, of the PMSMsRepresenting stator resistance, omega, of a PMSMeRepresenting electrical angular velocity, psi, of the rotor of the machinefRepresenting the permanent magnet flux linkage of the machine isdRepresents the d-axis current i of the stator of the motor under a two-phase rotating coordinate systemsqRepresents the motor stator q-axis current i under a two-phase rotating coordinate systemidRepresents the d-axis current, i, of the inverter side in a two-phase rotating coordinate systemiqRepresents the inverter side q-axis current, u, in a two-phase rotating coordinate systemsdRepresents the d-axis voltage value u of the motor stator under a two-phase rotating coordinate systemsqRepresents the q-axis voltage value u of the motor stator under a two-phase rotating coordinate systemidRepresents the d-axis voltage value, u, of the inverter in a two-phase rotating coordinate systemsqThe q-axis voltage value of the inverter side in the two-phase rotating coordinate system is shown.
In an optional implementation manner, the control system may further include a state observer module, and the state observer module is configured to convert and output the inverter-side current and the inverter-side voltage in the two-phase rotating coordinate system into a motor stator current set value, a motor rotor electrical position angle, and a motor rotor electrical angular velocity in the two-phase rotating coordinate system.
Further, the inverter-side voltage in the two-phase rotation coordinate system is:
Figure BDA0003678010410000172
Figure BDA0003678010410000181
kpdrepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the integral coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd (3) representing the integral coefficient of the q-axis PI controller under a two-phase rotating coordinate system, and s represents a complex variable.
The invention provides a permanent magnet synchronous motor control system with an LC filter, which designs a current controller with active damping by introducing LC filter capacitor current feedback from the perspective of resonance inhibition of the control system and provides a parameter setting method of the current controller. In order to reduce the hardware cost of the system, the state observer is provided for estimating the state variable of the system, the using number of sensors is reduced, and the high-performance operation of the permanent magnet synchronous motor with the LC filter is realized.
In a specific simulation example, the rotation speed of a four-pair-pole permanent magnet synchronous motor with the power of 30kW is set to be 1500 r/min. Fig. 5 is a waveform diagram showing a simulation of a stator a-phase voltage and a-phase current when the permanent magnet synchronous motor control system provided by the present invention is not used. Fig. 6 shows a simulation waveform diagram of a phase voltage and a phase current of a stator when the permanent magnet synchronous motor control system provided by the invention is used. The comparison between fig. 5 and fig. 6 clearly shows that the present invention can realize high-performance control of the permanent magnet synchronous motor, and obtain satisfactory control effect. Fig. 7 shows a simulation result diagram of the stator voltage and the stator current of the motor when the setting of the current controller parameter setting device is suddenly incorrect, wherein the current controller parameter setting scheme of the present invention is adopted before 0.5s, the stator a-phase voltage and the a-phase current are both close to sine waves, and the current controller parameter setting scheme of the present invention is not adopted after 0.5s, the stator a-phase voltage and the a-phase current both generate large oscillation, and the resonance phenomenon occurs. The importance of the current controller parameter setting device of the present invention in achieving high performance control of a permanent magnet synchronous motor control system is further illustrated by a comparison of fig. 6 and fig. 7.
In order to verify the practical use effect of the invention, a permanent magnet synchronous motor test platform with an LC filter is built, and the pole pair number of the adopted 30kW permanent magnet synchronous motor is 4, and the d-axis inductance value (L)d) An inductance value (L) of 0.95mH and q-axisq) Is 2.05 mH; LC filter inductance (L) usedf) 0.5mH, a capacitance value (C)f) 75 μ F; the sampling frequency and the switching frequency of the system are both 10 KHz. According to the parameters and by adopting the current controller parameter setting method, the parameters of the current controller can be obtained as follows: k is a radical of formulapd＝2.3、kpq＝3.7、kid＝64.5、kiq＝92.4、kd＝2.125、kd2.24. Fig. 8 and 9 show the experimental effect of the invention. Fig. 8 is an experimental result diagram of inverter side voltage, motor stator voltage and stator current when the current controller parameter setting device is set according to the current controller parameter setting method provided by the invention, and the motor stator voltage is close to a sine wave, and du/dt is effectively inhibited, so that the problem of motor stator overvoltage caused by a long lead wire can be solved. Fig. 9 is a dynamic performance experimental result diagram of the permanent magnet synchronous motor under the condition of sudden change of load torque when the current controller parameter setting device is set according to the current controller parameter setting method provided by the invention, and the motor rotating speed is stable and the current response is rapid in the whole process. Fig. 8 and 9 further prove that the permanent magnet synchronous motor control system provided by the invention is not only effective in simulation, but also has satisfactory effect in practical use.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A permanent magnet synchronous motor current controller parameter setting method is suitable for a permanent magnet synchronous motor control system with an LC filter, and is characterized in that: the method comprises the following steps:
generating a motor current closed-loop control instruction and a resonance suppression control instruction of an LC filter-motor system;
superposing a motor current closed-loop control instruction and a resonance suppression control instruction of an LC filter-motor system to obtain an open-loop transfer function of a current loop of a control system;
designing parameters of a current controller by controlling a system current loop open-loop transfer function;
obtaining a resonance suppression control instruction parameter for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
and setting the parameter value of the resonance suppression control instruction to enable the current loop of the control system to obtain the maximum stability margin and realize parameter setting of the current controller.
2. The permanent magnet synchronous motor current controller parameter setting method according to claim 1, characterized in that:
the motor current closed-loop control instruction is generated by the interaction of a motor stator current given value, a motor stator current actual value and proportional-integral coefficients of a d-axis PI controller and a q-axis PI controller under a two-phase rotating coordinate system;
and the resonance suppression control instruction of the LC filter-motor system is generated by the mutual interaction of the capacitance current of the LC filter and the resonance suppression control instruction parameter.
3. The permanent magnet synchronous motor current controller parameter setting method according to claim 2, characterized in that: the open loop transfer function of the current loop of the control system is as follows:
Figure FDA0003678010400000011
Figure FDA0003678010400000012
wherein, TdWhich represents the delay time of the system and,
Figure FDA0003678010400000013
Figure FDA0003678010400000014
Lfrepresenting inductance value, C, of LC filterfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresents the q-axis inductance value of the permanent magnet synchronous motor, s represents the Laplace operator, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd the proportionality coefficient of the q-axis PI controller under a two-phase rotating coordinate system is shown.
4. The permanent magnet synchronous motor current controller parameter setting method according to claim 3, characterized in that: the parameters for designing the current controller are as follows:
Figure FDA0003678010400000021
Figure FDA0003678010400000022
kpd＝0.25ωresd(Lf+Ld)
kpq＝0.25ωresq(Lf+Lq)
Figure FDA0003678010400000023
Figure FDA0003678010400000024
wherein, ω isresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting inductance value, C, of LC filterfRepresents the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqAnd the q-axis inductance value of the permanent magnet synchronous motor is shown.
5. The permanent magnet synchronous motor current controller parameter setting method according to claim 4, characterized in that: before designing parameters of the current controller by controlling an open loop transfer function of a system current loop, the method further comprises: defining the cut-off frequency and the phase margin of the current loop open-loop transfer function of the control system according to the automatic control principle of the system; the cut-off frequency of the defined control system current loop open loop transfer function satisfies:
Figure FDA0003678010400000025
the phase margin of the defined control system current loop open loop transfer function is:
Figure FDA0003678010400000031
where j represents an imaginary unit, ωcd、ωcqThe d and q axis cut-off frequencies are shown.
6. The permanent magnet synchronous motor current controller parameter setting method according to claim 1, characterized in that: the method for obtaining the resonance suppression control instruction parameter for optimizing the system performance according to the closed loop transfer function of the current loop of the control system and the equivalent open loop transfer function of the current loop in the discrete domain specifically comprises the following steps:
Figure FDA0003678010400000032
Figure FDA0003678010400000033
wherein, TsDenotes the sampling period, kpdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, omega, of the q-axis PI controller under a two-phase rotating coordinate systemresd、ωresqDenotes d and q-axis resonance frequency, LfRepresenting inductance value, C, of LC filterfRepresenting the capacitance value, L, of the LC filterdRepresents d-axis inductance value, L, of the PMSMqRepresenting the q-axis inductance value of the permanent magnet synchronous motor.
7. A permanent magnet synchronous motor current controller parameter setting device is suitable for a permanent magnet synchronous motor control system with an LC filter, and is characterized in that: the device includes:
the instruction module I is used for generating a motor current closed-loop control instruction according to the motor current closed-loop control instruction through a motor stator current given value, a motor stator current actual value and d-axis and q-axis PI controller proportional integral coefficients under a two-phase rotating coordinate system;
the instruction module II is used for generating a resonance suppression control instruction of the LC filter-motor system according to the capacitance current of the LC filter and the resonance suppression control instruction parameter;
the function module is used for superposing a motor current closed-loop control instruction and a resonance suppression control instruction of the LC filter-motor system to obtain an open-loop transfer function of a current loop of the control system; the function module also comprises a definition module which is used for defining the cut-off frequency and the phase margin of the control system current loop open-loop transfer function;
the parameter design module is used for designing parameters of the current controller by controlling a system current loop open-loop transfer function;
the optimization parameter module is used for obtaining a parameter value for optimizing the system performance according to the closed-loop transfer function and the equivalent open-loop transfer function in the discrete domain;
and the setting module is used for setting the parameter value of the optimization parameter module, so that the current loop of the control system obtains the maximum stability margin, and the parameter setting of the current controller is realized.
8. The utility model provides a take PMSM control system of LC wave filter which characterized in that: the control system comprises a given motor stator current module, a current control module, a pulse generation module, a three-phase inverter module, an LC filter module, a signal acquisition module, a current conversion module and an LC filter capacitance current calculation module,
the given motor stator current module is used for generating motor given stator current under a two-phase rotating coordinate system through the action of the given rotating speed of the motor and the actual rotating speed of the motor;
the current control module comprises the permanent magnet synchronous motor current controller parameter setting device of claim 7; the permanent magnet synchronous motor current controller parameter setting device according to claim 7, wherein the inverter side voltage under a two-phase rotating coordinate system is calculated by inputting a given stator current of a motor, an actual value of the stator current of the motor and a capacitance current of an LC filter;
the pulse generation module is used for generating a pulse driving signal through the combined action of the inverter side voltage and the PWM technology and outputting the pulse driving signal to the three-phase inverter module;
the LC filter module is arranged between the three-phase inverter module and the permanent magnet synchronous motor;
the signal acquisition module is used for converting the acquired phase current and phase voltage of the inverter side into three-phase current and three-phase voltage of the inverter side;
the current-voltage conversion module comprises inverter side current Clark conversion, inverter side current Park conversion, inverter side voltage Clark conversion and inverter side voltage Park conversion; the inverter side three-phase current and three-phase voltage and the electric position angle of the motor rotor are converted and output into inverter side current and voltage under a two-phase rotating coordinate system;
and the LC filter capacitance current calculation module is used for converting the inverter side current under the two-phase rotating coordinate system and the motor stator current given value under the two-phase rotating coordinate system into the LC filter capacitance current under the two-phase rotating coordinate system.
9. The permanent magnet synchronous motor control system with the LC filter as claimed in claim 8, wherein: the control system also includes: and the state observer module is used for converting and outputting the inverter side current and voltage under the two-phase rotating coordinate system into a motor stator current given value, a motor rotor electrical position angle and a motor rotor electrical angular velocity under the two-phase rotating coordinate system.
10. The control system of a permanent magnet synchronous motor with an LC filter according to claim 8, wherein: the inverter side voltage under the two-phase rotating coordinate system is as follows:
Figure FDA0003678010400000051
Figure FDA0003678010400000052
wherein k ispdRepresents the proportional coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systempqRepresents the proportionality coefficient, k, of the q-axis PI controller under a two-phase rotating coordinate systemidRepresents the integral coefficient, k, of the d-axis PI controller under a two-phase rotating coordinate systemiqAnd the integral coefficient of the q-axis PI controller under a two-phase rotating coordinate system is shown, and s represents a Laplace operator.
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