CN114844404A - Sliding mode control method for permanent magnet synchronous motor - Google Patents
Sliding mode control method for permanent magnet synchronous motor 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
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- 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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- 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
- H02P21/20—Estimation of torque
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- 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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- 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
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a sliding mode control method of a permanent magnet synchronous motor, wherein the speed of the permanent magnet synchronous motor is controlled by adopting a sliding mode speed controller, a load torque observer observes load torque, and the output of the load torque observer is used for performing load torque compensation on the output of the sliding mode speed controller; the load torque observation adopts an algorithm that the feedback gain is automatically adjusted according to the variation of the load torque set value and the variation of the load torque observation value, when the system parameter is changed or the load is disturbed, so that the load torque set value is changed or/and the load torque observation value is changed, the observation error of the load torque is quickly reduced, and the load torque observation value is feedforward compensated into the current regulator, thereby effectively weakening the buffeting of the system, having high dynamic response speed and high robustness, and improving the control precision of the permanent magnet synchronous motor.
Description
The invention discloses a control method of a permanent magnet synchronous motor for an industrial robot, which is a divisional application with an original application number of 202010918597.3 and an application date of 09-04 in 2020.
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a sliding mode control method of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, large torque, good rotating speed performance and the like, and is widely applied to the fields of manufacturing, electric automobiles, industrial production and the like. The industrial robot has the advantages of complex and changeable working environment of application occasions, large change of load moment of inertia, wide speed regulation range and short time from obtaining an instruction signal to finishing the working state required by the instruction. The vector control method based on the PI controller cannot meet the requirement of rapidity of motor driving for the industrial robot, the sliding mode control method improves the rapidity of system response, and the motor speed can generate obvious buffeting when load disturbance or internal parameter perturbation occurs.
Disclosure of Invention
The invention aims to provide a permanent magnet synchronous motor control method for feedforward compensating observed load torque into a current regulator, improving load torque observation response speed and reducing torque observation fluctuation aiming at the conditions of large load torque change and wide speed regulation range, comprising the following steps:
a permanent magnet synchronous motor sliding mode control method, the permanent magnet synchronous motor speed is controlled by the sliding mode speed controller, characterized by that, the sliding mode speed controller adopts the control mode of integral sliding mode; the load torque observer adjusts the feedback gain according to the change of the load torque given value output by the sliding mode speed controller, and the feedback gain is adjusted according to the rotor angular speed omega and the current i q Observing the load torque to obtain a load torque observed value
Load torque observation value output by load torque observer
Is sent to a sliding mode speed controller.
Defining a state variable of the sliding mode speed controller as
Where ω is the rotor angular velocity, ω * Is a given rotor angular velocity;
the sliding mode surface of the sliding mode speed controller is s y ＝c y y 1 +y 2 ，c y Is a slip form surface parameter, and c y Is greater than 0; given value of load torque output by sliding mode speed controller
And q-axis torque current setpoint
Is composed of
Wherein J is the moment of inertia, p is the number of pole pairs of the motor, psi f Is a permanent magnet flux linkage, B is the coefficient of friction; coefficient mu 1 Coefficient of sum μ 2 For speed slideExponential approximation rate coefficient of mode control, and mu 1 ＞0，μ 2 ＞0。
The load torque observer is
Wherein the content of the first and second substances,
is an estimated value of the angular velocity of the rotor, g is a feedback gain of the load torque observer and g is less than 0;
k g is the sliding mode gain of the load torque observer.
The method for adjusting the feedback gain by the load torque observer according to the change of the load torque given value output by the sliding mode speed controller comprises the following steps:
step (1), calculating
Step (2), judgment
Whether it is greater than a torque variation comparison threshold epsilon; when in use
When the torque variation is larger than the comparison threshold value of the torque variation, the feedback gain g is equal to g min (ii) a When in use
When the torque change comparison threshold value epsilon is less than or equal to the torque change comparison threshold value epsilon, taking the feedback gain g to be equal to g max ；
Step (3), the load torque observer observes the load torque to obtain a load torque observed value; sliding formThe speed controller performs control operation to obtain
Wherein epsilon is more than 0; g max For high value of feedback gain, g min Is a low value of feedback gain, and g min ＜g max Is less than 0. Selecting g min 、g max 、ε 1 、ε 2 The method of the value is:
step 1), a load torque observer and a sliding mode speed controller are both in a stable state, and the angular speed of a given rotor and the load torque are kept unchanged;
step 2), the feedback gain g is gradually reduced from a larger value, and when the steady-state error observed by the load torque reaches the load torque observation steady-state error limit value, the feedback gain g at the moment is determined to be g max ；
Step 3), keeping the angular speed of the given rotor and the load torque unchanged, and enabling the feedback gain g to be equal to g max Continuously carrying out n times
Measuring the value and dividing n times
Maximum m in the measurement
The average value of the measured values is used as a torque variation comparison threshold epsilon; n is more than or equal to 20, m is more than or equal to 5 and less than or equal to 0.5 n;
step 4), finely adjusting and changing the feedback gain g, keeping the angular speed of the given rotor unchanged and enabling the load torque to be suddenly changed when the load torque observer and the sliding mode speed controller are both in a stable state, and measuring the tracking and adjusting time of the load torque observer on the premise of ensuring that the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit;
step 5), repeating the step 4), and selecting the feedback gain g value with the shortest tracking and adjusting time as g min The value is obtained.
Sliding mode gain k g According to the following
Selecting; wherein the content of the first and second substances,
the load torque observation error is shown, and alpha is more than or equal to 1; further, alpha is more than or equal to 1 and less than or equal to 5.
The sliding mode control method for the permanent magnet synchronous motor detects the rotor position theta and the three-phase current i of the permanent magnet synchronous motor a 、i b And i c (ii) a According to three-phase current i a 、i b And i c Clark transformation is carried out on the permanent magnet synchronous motor to obtain current i under an alpha-beta axis coordinate system α 、i β According to the current i α 、i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d 、i q 。
The speed control of the permanent magnet synchronous motor is realized by a permanent magnet synchronous motor speed control system comprising a sliding mode speed controller, a load torque observer, a q-axis current controller, a d-axis current controller, a Clarke conversion module, a position and speed detection module, a Park conversion module, a Park inverse conversion module, an SVPWM module and a three-phase inverter.
The sliding mode speed controller has the advantages that the output item of the sliding mode speed controller comprises the compensation subentry load torque observed value, namely the load torque observed value is fed forward to the given value of the current regulator, under the condition that the given current part output by the sliding mode speed controller does not need to be adjusted greatly, the load disturbance or the related influence caused by the change of system parameters can be counteracted, and the buffeting of the system is effectively weakened. The algorithm for automatically adjusting the feedback gain according to the variable quantity of the given value of the load torque avoids the problems that the torque observation fluctuation is large due to the fact that a load torque observer selects a fixed small feedback gain, and the convergence time is long due to the fact that a fixed large feedback gain is selected. The feedback gain is automatically adjusted when the load torque given value changes, the load torque observed value can not change greatly, but the load torque observed value is caused to have large fluctuation because the given value of the rotor angular speed or/and the actual value of the rotor angular speed changes to change the given subentry part in the given value of the load torque or because the system model parameters change to change the given subentry part in the given value of the load torque, the feedback gain is adjusted in advance, when the load torque observed value really generates an observation error, the response speed of an observer is accelerated, the observation error of the load torque observed value is quickly reduced, and the rapidity and the accuracy of the motor speed control are further improved.
Drawings
FIG. 1 is a block diagram of an embodiment 1 of a permanent magnet synchronous motor speed control system;
FIG. 2 is a flowchart of an embodiment 1 of a method for automatically adjusting feedback gain;
FIG. 3 is a flowchart of an embodiment 2 of a method for automatically adjusting feedback gain;
FIG. 4 is a block diagram of an embodiment 2 of a permanent magnet synchronous motor speed control system;
fig. 5 is a flowchart of an embodiment 3 of a method for automatically adjusting feedback gain.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings and examples.
The sliding mode control method of the permanent magnet synchronous motor is realized by a speed control system of the permanent magnet synchronous motor, and fig. 1 is a block diagram of an embodiment 1 of the speed control system of the permanent magnet synchronous motor. In fig. 1, a Clarke conversion module inputs three-phase current i of a permanent magnet synchronous motor (i.e., PMSM) a 、i b And i c And outputs the current i under the two-phase static a-beta axis coordinate system α Current i β (ii) a Position and speed detection moduleThe position sensor in the system detects the rotor position theta of the permanent magnet synchronous motor and converts the rotor position theta into rotor angular velocity omega for output; park conversion module input current i α Current i β And rotor position theta, and outputs current i under a rotating d-q axis coordinate system d Current i q (ii) a Input rotor given angular speed omega of sliding mode speed controller SMC * And rotor angular velocity omega, output load torque set value T L * And torque current given component i' q (ii) a Input load torque set value T of load torque observer L * Rotor angular velocity ω and current i q The output torque current compensation component i ″) q (ii) a Torque current given component i' q And a torque current compensation component i ″) q After addition, as a given value i of q-axis torque current * q (ii) a q-axis current PI controller inputs q-axis torque current given value i * q And current i d And outputting a control voltage U under a q-axis coordinate system q (ii) a A q-axis torque current given value i is input by a d-axis current PI controller * d And current i d And outputting control voltage U under d-axis coordinate system d D-axis torque current setpoint i * d Equal to 0; the Park inverse transformation module inputs a control voltage U under a d-q axis coordinate system d 、U q And outputs the control voltage U under the alpha-beta axis coordinate system α 、U β (ii) a The SVPWM module (space vector pulse width modulation module) inputs a control voltage U α 、U β Outputting pulse signals to a three-phase inverter, which converts the DC voltage U dc Converting into three-phase AC power supply U a 、U b 、U c Thereby driving the permanent magnet synchronous motor to operate.
Neglecting the influence of core eddy current and hysteresis loss, etc., adopting i d The PMSM rotor magnetic field orientation control of 0, establishes a mathematical model of PMSM under a d-q axis rotating coordinate system, and the voltage equation is as follows:
to adopti d The salient pole type PMSM vector control system adopts a control mode of 0, and an electromagnetic torque equation is as follows:
T e ＝1.5pψ f i q (2)
the PMSM equation of motion is:
in the formulae (1), (2) and (3), u d 、u q Voltages of d-q axes, respectively; i.e. i d 、i q Currents of d-q axes, respectively; l is d 、L q Inductances of the d-q axes, respectively; t is e Is an electromagnetic torque; t is L Is the load torque; r is the resistance of the stator; p is the number of pole pairs of the motor; omega e Is the rotor electrical angular velocity, i.e. angular frequency; ω is the rotor angular velocity, i.e. the mechanical angular velocity of the rotor of the electrical machine; psi f Is a permanent magnet flux linkage; j is the moment of inertia; b is the coefficient of friction; t is time.
Let the angular speed error e of the rotor of the motor be omega * -ω，ω * Is the given rotor angular velocity of the motor. The state variables defining the permanent magnet synchronous motor speed control system embodiment 1 are:
obtained by the formulae (2), (3) and (4):
equation (5) is simplified to 1.5p ψ f /J，
The system state space equation of the permanent magnet synchronous motor speed control system in the embodiment 1 is as follows:
selecting a sliding mode surface function as follows:
s＝cx 1 +x 2 (7)
in the formula (7), s is a sliding mode surface, c is a parameter of the sliding mode surface, and c is more than 0. In equation (7), c is a coefficient of the rotor angular velocity error term, and its influence on the control action is mainly similar to a proportional coefficient in PID control, and the value of c also balances the rotor angular velocity error and the rate of change of the rotor angular velocity error, and is usually selected within a range of greater than 0 and less than 1000, for example, c is 60. The derivation of equation (7) can be:
the expression of the conventional exponential approximation law is:
in the formula (9), sgn () is a sign function, -k 1 sgn(s) is the constant velocity approach term, -k 2 s is an exponential approximation term, k 1 、k 2 Two coefficients respectively determine the buffeting of the slip form surface and the motion quality of the approaching process, and k 1 、k 2 Are both greater than 0. In order to improve the response speed of the system, the improvement is carried out on the basis of the traditional exponential approach rate, the constant-speed approach term is changed into a variable-speed approach term, and the improved approach law is as follows:
wherein k is 1 ＞0，k 2 ＞0，0＜k 3 ＜1，k 4 Is greater than 0. When the value of | s | is large,
the approach speed of the variable speed approach item is higher, and the approach motion of the slip form can be acceleratedSpeed; when the value of | s | is small,
the approach speed of the variable speed approach term is smaller, and the buffeting can be weakened. k is a radical of 4 The value can be selected near the inverse value of the rotor angular speed change rate by referring to the rotor angular speed change rate when the permanent magnet synchronous motor is started under the rated load, and further selected within the range of 50% to 120% of the inverse value; for example, if the time taken for a permanent magnet synchronous motor to start up from a rated load to a rated rotation speed of 1500r/min is 0.2s, the average change rate of the angular speed of the rotor is 785rad/s 2 It is recommended that k be at this time 4 The value is within the range of 0.00064-0.016. k is a radical of formula 3 Typically around 0.5, and further, k 3 Typically in the range of 0.4 to 0.6. Generally, when the control of the permanent magnet synchronous motor with low power is carried out, the coefficient k 1 And coefficient k 2 The values of (A) are all less than 2000; coefficient k 2 The larger the system state can approach the sliding mode at a greater speed; coefficient k 1 Determining the speed, k, of arrival at the switching plane 1 The smaller the distance across the switching plane and the smaller the jitter. k is a radical of 1 And k 2 Respectively, a variable speed approaching term coefficient and an exponential approaching term coefficient, because
The value of (b) varies around 1, and therefore the coefficient k of the shift approach term in the equation (10) 1 And exponential approximation term coefficient k 2 The setting can be performed according to a method for adjusting the medium-speed approaching term coefficient and the exponential approaching term coefficient in the traditional exponential approaching rate. k is a radical of 3 Is the migration coefficient, the magnitude of which changes the shift critical point; k is a radical of 4 The magnitude of the variable speed coefficient changes the variable speed. E in the formula (10) is a natural exponent, i.e., a base of a natural logarithm.
Combining formulas (8) and (10), and taking the calculated q-axis given current as the torque current given component i' q Obtaining the given value T of the load torque output by the sliding mode speed controller L * And torque current given component i' q Comprises the following steps:
the output of a sliding mode speed controller of the permanent magnet synchronous motor speed control system in the embodiment 1 comprises an integral term, and the control quantity is filtered, so that the buffeting of a system can be weakened, and the steady-state error of the system can be reduced. Defining the Lyapunov function as:
from formulas (10) and (12):
in formula (13), k 1 ＞0，k 2 ＞0，s·sgn(s)≥0，
Therefore, it is
The system tracking error can be converged to zero in a limited time, and the system can stably run.
Setting parameters c, k in designing sliding mode speed controller 1 、k 2 、k 3 、k 4 By first determining k 3 、k 4 A value of (d); given value i of q-axis torque current * q Comprising only a given component i 'of the input torque current' q (i.e. not carrying out load torque compensation control), and then adjusting the sliding mode surface parameter c and the variable speed approaching term coefficient k from small to large in the sliding mode of the system 1 Until the system generates obvious buffeting, the buffeting suppression and the system state convergence speed are considered on the basis, and the sliding mode surface parameter c and the variable speed approaching term coefficient k are properly reduced 1 A value of (d); finally, the consideration of suppressing slip mode buffeting is primarily based on the rapidity of the system reach segment (e.g., the motor start phase of the step response)Adjusting exponential approximation term coefficient k 2 And to make appropriate fine adjustments to other parameter values of the sliding mode speed controller.
According to the PMSM electromagnetic torque and the motion equation, the constant value can be regarded as a constant value in a change period for constant step load, namely
The angular speed and the load torque of the motor rotor are used as state variables to form a PMSM state equation as follows:
based on equation (14), a load torque observer embodiment 1 is established with load torque and motor rotor angular velocity as objects to be observed:
in the formula (15), the reaction mixture is,
is an observed value of the load torque,
is an estimate of the angular velocity of the rotor, g is the feedback gain of the load torque observer,
k g is the sliding mode gain of the load torque observer embodiment 1, and the load torque observer embodiment 1 is a sliding mode observer. Motor friction is smaller in specific weight than load torque, and if B is 0 and the influence of friction is ignored, load torque observer embodiment 1 of equation (15) becomes:
from (14) and equation (16) when B is 0, the error equation of load torque observer embodiment 1 is obtained as:
in the formula (17), the compound represented by the formula (I),
for the estimation error of the angular velocity of the rotor,
for the observation error of the load torque, and defining the sliding mode surface of the observer as
According to the accessibility condition of the sliding mode, the system stability condition of the observer with the formula (16) is k g ≤-|e 2 And g is less than 0.
Based on equation (14), with the load torque and the motor rotor angular velocity as the observation targets, a load torque observer embodiment 2 can be established as follows:
motor friction is smaller in specific weight than load torque, and if B is 0 and the influence of friction is ignored, load torque observer embodiment 2 of equation (18) becomes:
in the formulae (18) and (19),
is an observed value of the load torque,
is the angular speed of the rotorThe degree estimate, g, is the feedback gain of the load torque observer,
k W is the proportional gain of load torque observer embodiment 2, load torque observer embodiment 2 being a state observer. According to the formula (14) and the formula (19) when B is 0, the error equation of the load torque observer embodiment 2 is obtained as follows:
in the formula (20), the reaction mixture is,
for the estimation error of the angular velocity of the rotor,
is the load torque observation error. The state observer of equation (19) is an autonomous linear system, at k W < 0, and g < 0, the observer is asymptotically stable. Formula (15) of load torque observer embodiment 1 and formula (18) of load torque observer embodiment 2 both take into account friction factors of the motor, and the addition of small friction damping adversely affects the rapidity of the system response, but can increase the stability on the basis of formula (16) and formula (19), respectively.
In observer embodiment 1 in which expressions (15) and (16) are selected, sliding mode gain k g Is set according to
Selection is performed. In the formula (21), alpha is more than or equal to 1; typically, the value of α is selected in the range of 1 to 5, for example, α is selected to be equal to 1.5. Load torque observer embodiment 1 in observing load torque, k g Is selected to be too small when | e 2 The observer cannot enter a sliding mode state when l is larger; k is a radical of g The absolute value of (c) is chosen to be sufficiently large,the observer can be ensured to enter a sliding mode state, but the steady-state observation fluctuation of the load torque is increased; k is a radical of g The value of (c) is changed along with the change of the load torque observation error, and the observer stability can be improved and the steady state observation fluctuation of the load torque can be reduced simultaneously.
When observer example 2 of expressions (18) and (19) is selected, proportional gain k W Is set according to
Selection is performed. In the formula (22), T N Is the rated torque of the motor, beta is more than 0; the value of β is generally selected within the range of 1 to 20, and β is, for example, 10. When the selection of beta is increased, the steady state fluctuation observed by the load torque is increased, but the tracking overshoot of the torque observation is reduced; when the beta selection is decreased, the steady state fluctuation of the load torque observation becomes small, but the torque observation overshoot amount becomes large.
In the observers represented by equations (15) and (16) or equations (18) and (19), the magnitude of the feedback gain g greatly affects the load torque observation result. The larger the feedback gain g is, the smaller the observed torque fluctuation is, but the slower the observed torque identification speed is; the smaller the feedback gain g, the faster the observed torque speed, but the greater the observed torque ripple. In consideration of this problem, in the conventional load torque observer, the observation speed and the fluctuation of the load torque are considered together, and the feedback gain g is taken as a median, but this abandons the advantages of small fluctuation when the feedback gain is large and fast observation speed when the feedback gain is small.
The motor sliding mode speed control mainly inhibits the influence of parameter change and external load disturbance on a system by increasing the amplitude of discontinuous terms in a controller, but the increase of the amplitude can cause the inherent buffeting of the sliding mode. In order to solve the contradiction between the buffeting and the disturbance resistance of the sliding mode control system, the observer is used for observing the load disturbance change in real time, and the load torque observed value is subjected to feedforward compensation to the current regulator, so that the amplitude of a discontinuous item in the sliding mode control is reduced, the given torque change caused by the parameter change is weakened, or the system buffeting is caused by the load disturbance. In order to fully utilize the advantages of the feedback gain g in high and low values, according to the load torque observation values at two adjacent moments and the magnitude of the load torque set value variation, when the load torque set value variation is small and the load torque observation value variation is small, a larger value is given to the feedback gain g, so that the observation result has small fluctuation and stronger stability; when the change of the set value of the load torque is large or the change of the observed value of the load torque is large, a smaller value of the feedback gain g is given to accelerate the observation speed, and finally, the comprehensive result of high observation speed, small fluctuation and stronger stability is obtained by adjusting the feedback gain g.
When the embodiment 1 of the load torque observer or the embodiment 2 of the load torque observer is used in the embodiment 1 of the speed control system of the permanent magnet synchronous motor in the figure 1, the load torque observer sets a given value according to the load torque
And load torque observed value
Is adjusted in dependence on the rotor angular velocity omega and the current i q Observing the load torque to obtain a new load torque observed value
Fig. 2 is a flowchart of an embodiment 1 of a feedback gain automatic adjustment method, and when an embodiment 1 of a load torque observer or an embodiment 2 of the load torque observer is used in an embodiment 1 of a speed control system of a permanent magnet synchronous motor in fig. 1, the feedback gain automatic adjustment is performed. In FIG. 2,. epsilon 1 Comparing thresholds, e, for a given torque variation 2 Comparing threshold values, Δ T, for observing torque changes L * For the difference between the last 2 load torque setpoints,
the difference between the last 2 load torque observations. During the periodic control of the primary motor speed,the adjustment of the feedback gain g shown in fig. 2 (a) precedes the load torque observation and the output calculation of the sliding mode speed controller, and includes:
step 1, calculating
Step 2, judgment
Whether or not it is larger than a given torque variation comparison threshold epsilon 1 (ii) a When in use
Greater than a given torque variation comparison threshold epsilon 1 Then, taking feedback gain g equal to gmin and entering step 4; when in use
Less than or equal to a given torque variation comparison threshold epsilon 1 Then, entering step 3;
step 3, judgment
Whether or not it is larger than comparison threshold epsilon for observing torque variation 2 (ii) a When in use
Greater than the comparison threshold epsilon for observed torque variation 2 Taking feedback gain g equal to g min And entering step 4; when in use
Less than or equal to the comparison threshold epsilon of the observed torque variation 2 Taking feedback gain g equal to g max And entering step 4;
In the periodic control process of the primary motor speed, the adjustment of the feedback gain g shown in (b) of fig. 2 is later than the load torque observation and the output calculation of the sliding mode speed controller, the feedback gain g adjustment method changes the step 4 into the step 1, the steps 1 to 3 into the steps 2 to 4, the step 4 in each step is changed into exit, and
when | Δ T L * | is greater than epsilon 1 Indicating a given value of load torque T L * Due to changes in system model parametersThe rotor angular speed set value changes, the rotor angular speed actual value changes and is in a large change state, the load torque observed value fluctuates greatly or will fluctuate greatly, and the feedback gain g is equal to g min Carrying out rapid identification and observation on the load torque; when | Δ T L * | is less than or equal to epsilon 1 And is and
greater than epsilon 2 The feedback gain g is selected to be equal to g min Carrying out rapid identification and observation on the load torque; when | Δ T L * | is less than or equal to epsilon 1 And is and
is less than or equal to epsilon 2 When the feedback gain g is equal to g, the change of the given value of the load torque is small, the fluctuation of the observed value of the state load torque is small, and the feedback gain g is selected to be equal to g max And carrying out torque identification and observation. In fig. 2, the given torque change comparison threshold value epsilon 1 Greater than 0, observed torque variation comparison threshold epsilon 2 ＞0，ε 1 、ε 2 The specific value of (a) is related to the sampling control period (cycle time) of the sliding mode speed controller, the permanent magnet synchronous motor and the load condition thereof, and epsilon 1 、ε 2 Are all taken within the range of more than 0 and generally less than 5% of the rated torque, epsilon 1 、ε 2 May be of the same value or of different values, e.g. rated torque 22 Nm, may be ε 1 ＝ε 2 0.2 N.m, or ε 1 ＝0.2N·m，ε 2 0.25N · m. The value of the feedback gain g satisfies g min ＜g max < 0, in general, g min ≥-5000。g min When the value is suddenly changed, the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit value; g max The value should be the variation of the load torque observed value of the last 2 times when the load torque is not changed, and the load torque observer and the sliding mode speed controller are both in a stable state
Less than epsilon 2 (ii) a For example, the feedback gain g is selected max ＝-0.5，g min -10. Selecting g min 、g max 、ε 1 、ε 2 The specific method of the value is:
firstly, a load torque observer and a sliding mode speed controller are both in a stable state, and the angular speed of a given rotor and the load torque are kept unchanged; the sliding mode speed controller is in a stable state, namely the sliding mode speed controller is stably in a sliding mode; the load torque observer is in a steady state, which means that the observer is in a working state after a torque observation transition process;
step two, the feedback gain g is gradually reduced from a larger value, for example, the feedback gain g is gradually reduced from-0.01, when the steady-state error observed by the load torque reaches the steady-state error limit value observed by the load torque, the feedback gain g value at the moment is determined to be g max ；
Step three, keeping the angular speed and the load torque of the given rotor unchanged and making the feedback gain g equal to g max Continuously carrying out n times
Measuring the value and dividing n times
Maximum m in the measurement
The average value of the measured values is used as an observed torque variation comparison threshold epsilon 2 (ii) a Given torque change comparison threshold ε 1 Comparison of threshold value epsilon in observed torque variation 2 The value is within 0.5-1.5 times;
step four, finely adjusting and changing the feedback gain g, keeping the angular speed of the given rotor unchanged and enabling the load torque to be suddenly changed when the load torque observer and the sliding mode speed controller are both in a stable state, and measuring the tracking and adjusting time of the load torque observer on the premise of ensuring that the torque observation tracking overshoot is within the torque observation tracking overshoot limit;
fifthly, repeating the step IV, and selecting the feedback gain g with the shortest tracking and adjusting time as g min The value is obtained. In general, when the torque observation tracking overshoot approaches the torque observation tracking overshoot limit, the tracking adjustment time of the load torque observer is short.
Fig. 3 is a flowchart of an embodiment 2 of a feedback gain automatic adjustment method, and when the embodiment 1 of the load torque observer or the embodiment 2 of the load torque observer is used in the embodiment 1 of the speed control system of the permanent magnet synchronous motor in fig. 1, the feedback gain automatic adjustment is performed. In FIG. 3,. epsilon.is a torque change comparison threshold value,. DELTA.T L * For the difference between the last 2 load torque setpoints,
the difference between the last 2 load torque observations. In the periodic control process where the motor speed is stored once, the adjustment of the feedback gain g shown in fig. 3 (a) precedes the load torque observation and the output calculation of the sliding mode speed controller, and includes:
step I, calculating
Step II, judgment
Whether it is greater than a torque variation comparison threshold epsilon; when in use
When the torque variation is larger than the comparison threshold epsilon, the feedback gain g is equal to g min (ii) a When in use
When the torque change comparison threshold value epsilon is less than or equal to the torque change comparison threshold value epsilon, taking the feedback gain g to be equal to g max (ii) a Wherein ε > 0, g max For high value of feedback gain, g min Is a feedback gain low value;
step III, load transferMoment observer to load torque T L Observing to obtain the observed value of the load torque
The sliding mode speed controller carries out control operation to obtain
At this time
Is composed of
Is composed of
Until the next adjustment of the feedback gain g, that time
Become into
Become into
The feedback gain g shown in (b) of fig. 3 is adjusted later than the load torque observation and the output calculation of the sliding mode speed controller during the periodic control of the primary motor speed, and the feedback gain g adjustment method thereof changes the above step III to step I, steps I-II to steps II-III, and
the variation of the given value of the load torque and the load torque in the last 2 timesSum of change amounts of observed values
When the feedback gain g is larger than epsilon, the fluctuation of the observed value of the load torque is large, or the change of the set value of the load torque is large and the observed value of the load torque has large fluctuation due to the change of system model parameters, the change of the set value of the angular speed of the rotor and the change of the actual value of the angular speed of the rotor, and the selection of the feedback gain g is equal to g min Carrying out rapid identification and observation on the load torque; when in use
When the feedback gain g is less than or equal to epsilon, the change of the given value of the load torque is small, the fluctuation of the observed value of the state load torque is small, and the feedback gain g is selected to be equal to g max And identifying and observing the load torque. In fig. 3, a specific value of ∈ is related to a sampling control period (cycle time) of the sliding mode speed controller, the permanent magnet synchronous motor, and a load condition thereof, and the value of ∈ is within a range that is greater than 0 and generally less than 5% of a rated torque, for example, the rated torque is 22N · m, and ∈ may be 0.2N · m or 0.3N · m. The value of the feedback gain g satisfies g min ＜g max < 0, in general, g min ≥-5000。g min When the value is suddenly changed, the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit value; g max The value should be taken when the load torque is unchanged, and the load torque observer and the sliding mode speed controller are both in a stable state, and the sum of the variation of the load torque set value and the variation of the load torque observed value for the last 2 times
Less than epsilon; for example, the feedback gain g is selected m ax＝-0.5，g min -10. Selecting g min 、g max The specific method of the epsilon value is as follows:
step (1), a load torque observer and a sliding mode speed controller are both in a stable state, and the angular speed of a given rotor and the load torque are kept unchanged;
step (ii) of(2) The feedback gain g is gradually decreased from a larger value, for example, the feedback gain g is gradually decreased from-0.01, when the steady state error of the load torque observation reaches the load torque observation steady state error limit value, the feedback gain g is determined to be g max ；
Step (3), keeping the given rotor angular speed and the load torque unchanged, and making the feedback gain g equal to g max Continuously carrying out n times
Value sum
Measuring the value, and measuring the maximum m of n measurements
The average value of the sums is used as a torque variation comparison threshold epsilon;
step (4), fine adjustment is carried out to change the feedback gain g, when the load torque observer and the sliding mode speed controller are both in a stable state, the angular speed of the given rotor is kept unchanged, the load torque is enabled to be suddenly changed, and the tracking and adjusting time of the load torque observer is measured on the premise that the torque observation tracking overshoot of the load torque observer is within the torque observation tracking overshoot limit;
and (5) repeating the step (4), and selecting the feedback gain g with the shortest tracking and adjusting time as g min The value is obtained. In general, when the torque observation tracking overshoot approaches the torque observation tracking overshoot limit, the tracking adjustment time of the load torque observer is short.
Observing to obtain a load torque observed value
Then, the observed value of the load torque is measured
Converted into a torque current compensation component i ″) q Feed-forward compensation to the input of the q-axis current PI controller, and output to the sliding mode speed controllerTorque current given component i' q Compensation is performed. q-axis torque current given value i of q-axis current PI controller * q Comprises the following steps:
in the formula (23), k q ＝1/(1.5pψ f ) The compensation factor is observed for torque. Comparing the equation (11) with the equation (23), when the load is disturbed or the system parameter is changed, the load torque compensation is not added in the equation (11), and a larger k needs to be selected 1 、k 2 The value is used for providing enough large given current variation to counteract the disturbance of the load or the related influence of the variation of the system parameters so as to ensure that the rotating speed of the motor can be quickly constant; equation (23) feed-forward compensates the load torque observations into the current regulator without requiring a large k 1 、k 2 Under the condition of the value, when the load is disturbed or the system parameter is changed, a given current variable quantity which is large enough is provided to offset the relevant influence of the disturbance of the load or the change of the system parameter, the output pressure of the sliding mode speed controller and the amplitude of a discontinuous term are reduced, and the buffeting of the system is effectively weakened.
When the feedback gain value is fixed, the smaller the feedback gain g is, the larger the oscillation amplitude observed by the load torque is, and the stronger the fluctuation is; the larger the feedback gain g is, the smaller the oscillation amplitude observed by the load torque is, and the higher the observation accuracy is. The automatic gain adjustment algorithm solves the problems that small feedback gains in a load torque observer cause large torque observation fluctuation and large feedback gains are long in convergence time, convergence time and fluctuation amplitude indexes are superior to those of a compromise gain algorithm, a load torque change value can be tracked quickly, observation errors caused by given changes or parameter changes can be reduced quickly, the oscillation amplitude is small, observation precision is high, and a good observation effect is achieved.
When the given rotation speed is changed at the rated load torque, although the actual load torque is not changed, the load torque observer constructed by the equations (15), (16) or (18), (19) can see thatWhen the rotor angular velocity ω changes, even if the load torque does not change, the observed torque value changes, causing an observation error. When the given rotating speed is changed under the rated load torque, the control and regulation process of the sliding mode control system of the permanent magnet synchronous motor is that firstly, the sliding mode speed controller changes according to the given speed to ensure that the output load torque given value T is changed L * Is changed so that the torque current is set to a value i * a Is changed, so that the electromagnetic torque T of the permanent magnet synchronous motor is further changed e The change drives the motor to change the angular speed omega of the rotor; if the feedback gain g is only based on the variation of the observed value of the load torque
The automatic adjustment is carried out, and only when the angular speed omega of the rotor changes, the observed value of the load torque is enabled to be
After the change, the feedback gain g is adjusted; feedback gain g is simultaneously based on the variation delta T of the given value of the load torque L * And amount of change in observed value of load torque
Automatically adjusting to a given value T of load torque when the given speed is changed L * Change, load torque observed value
If no change has occurred, the feedback gain g is adjusted in advance, and when the load torque observed value is
When the observation error is really generated, the response speed of the observer can be accelerated, and the observed value of the load torque can be eliminated (reduced) as soon as possible
Thereby improving the rapidity of the motor speed controlAnd accuracy. Similarly, when the system model parameter changes, the given value T of the load torque is caused to change L * Anticipating load torque observations
When the feedback gain g changes, the feedback gain g changes according to the variable quantity delta T of the given value of the load torque L * And amount of change in observed value of load torque
The feedback gain g can be adjusted in advance by automatic adjustment, the response speed of the observer is accelerated, and the observed value of the load torque is eliminated (reduced) as soon as possible
The speed control method and the device can further improve the rapidity and the accuracy of the speed control of the motor. Of course, the observed value is caused if the load is disturbed
When the change is made, the user can select the desired mode,
when a large change occurs, as can be seen from fig. 2 and 3, the feedback gain g can also be automatically adjusted to eliminate (reduce) the load torque observed value as soon as possible
To make the load torque observed value
Follow up on load torque T as soon as possible L A change in (c).
In the periodic control process of the permanent magnet synchronous motor speed control system embodiment 1, the load torque given value T calculated at the moment k (or the k-th step) is used L * Is marked as T L * (k) Observed value of load torque
Is marked as
The moment k-1 is the previous periodic control process moment of the moment k, and the given value T of the load torque L * Is marked as T L * (k-1), load torque observed value
Is marked as
The moment k-2 is the previous periodic control process moment of the moment k-1, and the given value T of the load torque L * Is marked as T L * (k-2), load torque observed value
Is marked as
In both (b) of fig. 2 and (b) of fig. 3, load torque observation and speed control are firstly carried out, and then feedback gain automatic adjustment is carried out, and the periodic control process of the motor speed comprises the following steps:
step one, detecting the rotor position theta, the rotor angular speed omega and the three-phase current i of the permanent magnet synchronous motor a 、i d And i c ；
Step two, according to three-phase current i a 、i b And i c Clark conversion is carried out on the permanent magnet synchronous motor to obtain current i under an alpha-beta axis coordinate system α 、i β According to the current i α 、i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d 、i q ；
Thirdly, the load torque observer calculates the rotor angular speed omega and the current i q Observing the load torque to obtain a load torque observed value
And a torque current compensation component i ″) q ；
Step four, the sliding mode speed controller gives the angular speed omega according to the input rotor * And the rotor angular speed omega is subjected to control calculation to obtain a load torque set value
And torque current given component i' q ；
Step five, feedback gain g of the load torque observer is set according to the load torque L * And load torque observed value
Is adjusted;
step six, giving component i 'according to torque current' q And a torque current compensation component i ″) q Calculating to obtain a given value i of q-axis torque current q * (ii) a d-axis current controller setting value i according to d-axis torque current d * And the current i under the d-axis coordinate system d The difference value between the two is subjected to PI control operation to obtain a control voltage U under a d-axis coordinate system d (ii) a The q-axis current controller sets a value i according to the q-axis torque current q * And the current i under a q-axis coordinate system q The difference value between the two is subjected to PI control operation to obtain a control voltage U under a q-axis coordinate system q (ii) a According to the control voltage U under a d-q axis coordinate system d 、U q Carrying out Park inverse transformation to obtain a control voltage U under an alpha-beta axis coordinate system α 、U β (ii) a d-axis torque current set value i d * Equal to 0;
step seven, controlling the voltage U under the alpha-beta axis coordinate system α 、U β As input of the SVPWM module, the SVPWM module controls a three-phase inverter to generate a three-phase alternating current power supply U a 、U b 、U c Thereby driving the permanent magnet synchronous motor to operate.
In the steps, the sequence of the step five and the sequence of the step three and the step four should be interchanged, that is, the step five is performed first, and the step three and the step four are performed later.
Fig. 4 is a block diagram of embodiment 2 of the speed control system of the permanent magnet synchronous motor. The difference between the embodiment 2 in fig. 4 and the embodiment 1 in fig. 1 is that the sliding mode speed controller adopts an integral sliding mode control mode, and the load torque observed value of a load torque observer
Is sent to a sliding mode speed controller, and a load torque observed value is already included in a given q-axis current (a given torque current component) output by the sliding mode speed controller
Therefore, the q-axis given current (the torque current given component) output by the sliding mode speed controller in embodiment 2 can also play a role in load torque compensation as the q-axis torque current given value is directly used as the q-axis torque current given value; given value T of load torque output by sliding mode speed controller L Δ Also already including load torque observations
The load torque observer directly outputs a given value T of the load torque according to the sliding mode speed controller L Δ The function of the feedback gain automatic adjustment is the same as that of the feedback gain automatic adjustment method in embodiment 2, which is based on the sum of the variation of the load torque set value and the variation of the load torque observed value in the last 2 times
The same automatic adjustment of the feedback gain is performed.
The state variables defining the permanent magnet synchronous motor speed control system embodiment 2 are:
selecting a sliding mode surface function as follows:
s y ＝c y y 1 +y 2 (25)
in the formula (25), s y As a slip form surface, c y Is a slip form face parameter, and c y Is greater than 0. In the formula (25) c y The coefficient of the rotor angular velocity error integral term, the influence of the size of the coefficient on the control action is mainly similar to the proportional coefficient in PID control, c y The value of (c) is also taken into account for balancing the rotor angular velocity error integral term and the rotor angular velocity error term, under the normal condition y Selected within a range of greater than 0 and less than 100. The derivation of equation (25) can be:
on the basis of the traditional exponential approximation law, a new approximation law is adopted as follows:
μ 1 ＞0，μ 2 greater than 0, with lim t→∞ |y 2 0, |; adding the absolute value y of the rotor angular speed error into the constant-speed approaching term of the approaching law 2 Absolute value y of the error between the speed of the system control quantity in the process of approaching the sliding mode surface and the angular speed of the system rotor 2 And | associating, wherein the constant speed approaching term becomes the variable speed approaching term. When y 2 When | is larger (larger than 1), the approaching speed of the variable speed approaching term is larger, and the approaching movement speed of the sliding mode can be accelerated; when y 2 When | is smaller (smaller than 1), the approach speed of the speed change approach term is smaller, and buffeting can be weakened. Generally, when the control of the low-power permanent magnet synchronous motor is carried out, the exponential approach rate coefficient mu of the speed sliding mode control 1 And mu 2 Are all less than 5000. Mu.s 1 And mu 2 Respectively, a variable speed approach term coefficient and an exponential approach term coefficient, due to | y 2 The value of | varies in the upper and lower regions of 1 and 1, and therefore the coefficient μ of the shift approximation term in the formula (27) 1 Hehe fingerCoefficient of number approximation term mu 2 The setting can be performed according to a method for adjusting the medium-speed approaching term coefficient and the exponential approaching term coefficient in the traditional exponential approaching rate.
Combining formulas (2), (3) and (26) to obtain:
combining formulas (27) and (28), the calculated q-axis given current is directly used as a q-axis torque current given value i Δ q The given value i of the q-axis torque current output by the controller can be obtained Δ q And a given value T of load torque L Δ Comprises the following steps:
in equation (29), the load torque value T L Using the output value of a load torque observer
Instead of this. Defining the Lyapunov function as:
from formulas (25) and (27):
in the formula (31), mu 1 ＞0，μ 2 ＞0，s y ·sgn(s y ) Not less than 0, so
The tracking error of the observer can be converged to zero within a limited time, and the system can stably run.
Setting parameters in designing sliding mode speed controllerc y 、μ 1 、μ 2 By making the output value of the load torque observer in equation (29)
(i.e. without load torque compensation control), the sliding mode surface parameter c is adjusted from small to large in the sliding mode of the system y And a coefficient mu of a shift approximation term 1 Until the system generates obvious buffeting, the buffeting suppression and the system state convergence speed are considered on the basis, and the sliding mode surface parameter c is properly reduced y And a coefficient mu of a shift approximation term 1 A value of (d); finally, the exponential approximation term coefficient μ is adjusted primarily based on the rapidity of the system reach segment (e.g., the motor start-up phase of the step response) while simultaneously suppressing slip mode buffeting 2 And to make appropriate fine adjustments to other parameter values of the sliding mode speed controller.
The load torque observer in the permanent magnet synchronous motor speed control system embodiment 2 in fig. 4 still adopts the aforementioned load torque observer embodiment 1, or adopts the aforementioned load torque observer embodiment 2; at the moment, the load torque observer is used for setting the load torque according to the load torque output by the sliding mode speed controller
Is adjusted according to the rotor angular velocity omega and the current i q For load torque T L Observing to obtain the observed value of the load torque
Fig. 5 is a flowchart of an embodiment 3 of a feedback gain automatic adjustment method, and when the embodiment 1 of the load torque observer or the embodiment 2 of the load torque observer is used in the embodiment 2 of the speed control system of the permanent magnet synchronous motor in fig. 4, the feedback gain automatic adjustment is performed. In FIG. 5,. epsilon.is a torque change comparison threshold value,. DELTA.T L Δ The difference between the load torque set points for the last 2 times. In the periodic control of the primary motor speed shown in (a) of fig. 5, the feedback gain gThe adjustment is prior to the load torque observation and the output calculation of the sliding mode speed controller, and the specific method is as follows:
step (one), calculating
Step (2), judgment
Whether it is greater than a torque variation comparison threshold epsilon; when in use
When the torque variation is larger than the comparison threshold epsilon, the feedback gain g is equal to g min (ii) a When in use
When the torque change comparison threshold value epsilon is less than or equal to the torque change comparison threshold value epsilon, taking the feedback gain g to be equal to g max 。
Step (3) of the load torque observer to the load torque T L Observing to obtain the observed value of the load torque
The sliding mode speed controller carries out control operation to obtain
At this time
Is composed of
During the next periodic control of the motor speed becomes
In the periodic control process of the primary motor speed, shown in fig. 5 (b), the adjustment of the feedback gain g is later than the load torque observation and the output calculation of the sliding mode speed controller, and the specific method is as follows:
step A, a load torque observer carries out load torque T according to the existing feedback gain g value L Observing to obtain the observed value of the load torque
The sliding mode speed controller carries out control operation to obtain
At this time
Is composed of
Becomes during the next periodic control of motor speed
Step B, calculating
Step C, judgment
Whether it is greater than a torque variation comparison threshold epsilon; when in use
When the torque variation is larger than the comparison threshold epsilon, the feedback gain g is equal to g min (ii) a When in use
When the torque change comparison threshold value epsilon is less than or equal to the torque change comparison threshold value epsilon, taking the feedback gain g to be equal to g max 。
In FIG. 5, ε > 0; g max For high value of feedback gain, g min Is a low value of feedback gain, and g min ＜g max ＜0。
Because of T L Δ Is transported byThe term includes given component J (c) in variable state due to system model parameter, rotor angular speed given value and rotor angular speed actual value change y y 2 +μ 1 |y 2 |sgn(s y )+μ 2 s y ) + B ω, also including compensating for the fractional load torque observations
When the load torque set value changes by | Delta T2 times recently L Δ When | is greater than epsilon, it shows that the observed value of load torque has large fluctuation, or T is caused by the change of system model parameters, the change of set value of rotor angular speed and the change of actual value of rotor angular speed L Δ Will cause large fluctuations in the load torque observations, the feedback gain g is chosen to be equal to g min Carrying out torque identification and observation; when | Δ T L Δ When | is less than or equal to epsilon, the factor (namely T) indicating that the fluctuation of the observed value of the load torque is small and causing larger fluctuation of the observed value of the load torque is shown L Δ Given partial term in) is small, the feedback gain g is chosen to be equal to g max And carrying out torque identification and observation. In fig. 5, a specific value of ∈ is related to a sampling control period (cycle time) of the sliding mode speed controller, the permanent magnet synchronous motor, and a load condition thereof, and the value of ∈ is in a range that is greater than 0 and generally less than 5% of a rated torque, for example, the rated torque is 22N · m, and ∈ may be 0.2N · m or 0.3N · m. In general, g is min ≥--5000。g min When the value is suddenly changed, the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit value; g max The value should be taken when the load torque is unchanged, the load torque observer and the sliding mode speed controller are both in a steady state, and the difference value | delta T between the load torque set values for the last 2 times L Δ I is less than epsilon; for example, the feedback gain g is selected max ＝--0.5，g min -10. Selecting g min And g max The specific method of the value is:
step 1), a load torque observer and a sliding mode speed controller are both in a stable state, and the angular speed of a given rotor and the load torque are kept unchanged;
step 2), the feedback gain g is gradually reduced from a larger value, for example, the feedback gain g is gradually reduced from-0.01, when the steady-state error observed by the load torque reaches the steady-state error limit value observed by the load torque, the feedback gain g at the moment is determined to be g max ；
Step 3) keeping the given rotor angular speed and the load torque constant and making the feedback gain g equal to g max Continuously carrying out n times
Measuring the value and dividing n times
Maximum m in the amount
The average value of the magnitudes is taken as a torque variation comparison threshold epsilon;
step 4), finely adjusting and changing the feedback gain g, keeping the angular speed of the given rotor unchanged and enabling the load torque to be suddenly changed when the load torque observer and the sliding mode speed controller are both in a stable state, and measuring the tracking and adjusting time of the load torque observer on the premise of ensuring that the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit;
step 5), repeating the step 4), and selecting the feedback gain g value with the shortest tracking and adjusting time as g min The value is obtained. In general, when the torque observation tracking overshoot approaches the torque observation tracking overshoot limit, the tracking adjustment time of the load torque observer is short.
In each case g is selected from min 、g max In the specific method for comparing the value and the threshold value, the parameters in the sliding mode speed controller are set and are realized under the condition of carrying out load torque compensation control; it is recommended that n is an integer of 20 or more and m is an integer of 5 or more and 0.5n or less.
Sliding mode speed of formula (29)Including in the output of the controller a compensation subentry load torque observation
Equivalent to the method that the observed value of the load torque is fed forward to the given value of the current regulator in the formula (23), under the condition that the given current part output by the sliding mode speed controller is not required to be adjusted greatly, the related influence caused by the disturbance of the load or the change of system parameters can be counteracted, and the buffeting of the system is effectively weakened. Variation delta T of feedback gain g according to given value of load torque L Δ The algorithm for automatic adjustment avoids the problems of large torque observation fluctuation caused by selecting a fixed small feedback gain and long convergence time caused by selecting a fixed large feedback gain of a load torque observer, can quickly reduce the observation error of the load torque when the given subentry part in the load torque set value is changed or/and the load torque observed value part is changed due to the change of control parameters, model parameters and the like of a system or the disturbance of the load, and improves the observation effect and the rapidity and the accuracy of the motor speed control. The feedback gain g is automatically adjusted when the load torque given value changes, the load torque observed value can not change greatly, but the load torque observed value is caused to have large fluctuation due to the change of the rotor angular speed given value or/and the change of the rotor angular speed actual value to change the given subentry part in the load torque given value or the change of the given subentry part in the load torque given value due to the change of system model parameters, the feedback gain g is adjusted in advance, when the load torque observed value really generates an observation error, the response speed of an observer is accelerated, the observation error of the load torque observed value is quickly reduced, and the rapidity and the accuracy of the motor speed control are further improved.
Embodiment 2 of a system for controlling the speed of a permanent magnet synchronous motor with a sliding mode speed controller in an integral sliding mode control mode, wherein the feedback gain of the system is set according to the load torque L Δ The algorithm for automatically adjusting the variation of (2) is applied to the embodiment 1 of the system for controlling the speed of the PMSM, and the feedback gain is determined according to the latest 2Sum of variation of given value of sub-load torque and variation of observed value of load torque
The algorithms for automatic adjustment are the same, the problems that the torque observation fluctuation is large due to the fact that a load torque observer selects a fixed small feedback gain, and the convergence time is long due to the fact that a fixed large feedback gain is selected are solved, and the load torque given value T can be caused by the fact that the control parameters, the model parameters and the like of a system are changed or the load is disturbed L Δ When the change (including the change of the given component or/and the change of the compensation component) occurs, the observation error of the load torque is quickly reduced, and the observation effect and the rapidity and the accuracy of the motor speed control are improved. The feedback gain g varies in accordance with the load torque set value T L Δ Automatically adjust to load torque observed value
The feedback gain g is adjusted in advance when the load torque observed value has large fluctuation due to the change of the set value of the rotor angular speed or/and the change of the actual value of the rotor angular speed which causes the change of the given subentry of the set value of the load torque or the change of the system model parameter which causes the change of the given subentry of the set value of the load torque, and when the load torque observed value has large fluctuation
When the observation error is really generated, the response speed of the observer is accelerated, and the observed value of the load torque is quickly reduced
The speed control method and the device can further improve the rapidity and the accuracy of the speed control of the motor.
In the periodic control process of the permanent magnet synchronous motor speed control system embodiment 2, the load torque set value calculated at the current k time (or the k step) is set
Hexyl is as
Observed value of load torque
Is marked as
The moment k-1 is the previous periodic control process moment of the moment k, the given value of the load torque
Is marked as
Observed value of load torque
Is marked as
The moment k-2 is the previous periodic control process moment of the moment k-1, and the given value of the load torque
Is marked as
Observed value of load torque
Is marked as
When the feedback gain g is adjusted according to (a) in fig. 5, the periodic control process of the motor speed includes the following steps:
step one, detecting rotor position 0, rotor angular velocity omega and three-phase current i of permanent magnet synchronous motor a 、i b And i c ；
Step two, according to three-phase current i a 、i d And i c Clark conversion is carried out on the permanent magnet synchronous motor to obtain current i under an alpha-beta axis coordinate system α 、i β According to the current i α 、i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d 、i q ；
Thirdly, setting the feedback gain g of the load torque observer according to the load torque
Is adjusted;
step four, the load torque observer is used for observing the rotor angular speed omega and the current i q Observing the load torque to obtain a load torque observed value
Step five, the sliding mode speed controller gives the angular speed omega according to the input rotor * Rotor angular velocity ω and load torque observed values
Control calculation is carried out to obtain a given value of load torque
Given value of torque current of sum q axis
Step six, the d-axis current controller sets a value i according to the d-axis torque current d * And the current i under the d-axis coordinate system d The difference value between the two is subjected to PI control operation to obtain a control voltage U under a d-axis coordinate system d (ii) a The q-axis current controller sets the value according to the q-axis torque current
And the current i under a q-axis coordinate system q Difference between themPerforming PI control operation to obtain control voltage U under q-axis coordinate system q (ii) a According to the control voltage U under a d-q axis coordinate system d 、U q Carrying out Park inverse transformation to obtain a control voltage U under an alpha-beta axis coordinate system α 、U β ；
Step seven, controlling the voltage U under the alpha-beta axis coordinate system α 、U β As input of the SVPWM module, the SVPWM module controls a three-phase inverter to generate a three-phase alternating current power supply U a 、U b 、U c Thereby driving the permanent magnet synchronous motor to operate.
When the feedback gain g is adjusted according to (b) in fig. 5, in the step of the control process, the contents of the step four and the step five are performed first, and the content of the step three is performed later.
In each of the above embodiments, the torque observation tracking overshoot limit is typically 1% to 10% of the rated torque of the motor, specifically, the torque observation tracking overshoot limit is 2% of the rated torque, or 5% of the rated torque, or 10% of the rated torque, and so on. The load torque is suddenly changed from one fixed value to another fixed value, the moment when the sudden change starts to the moment when the load torque observer outputs the observation value and stably enters the range of the load torque observation steady-state error limit value is a torque observation transition process, and the tracking adjustment time refers to the time of the transition process; the load torque observation steady-state error refers to an error between an observation torque instantaneous value and a load torque when the load torque is unchanged and the load torque observer is in a steady state, and the error comprises an observation error caused by buffeting of the sliding mode observer and an observation error caused by interference reasons other than load fluctuation, or an observation error caused by the observation error caused by buffeting of the rotor angular speed and the observation error caused by interference reasons other than the load fluctuation of the state observer; the load torque observation steady-state error limit value is the maximum absolute value of the load torque observation steady-state error allowed by the load torque observer; the observed load torque steady state error limit is typically 1% to 5% of the rated torque of the motor, specifically, the observed load torque steady state error limit is 1% of the rated torque, or 2% of the rated torque, or 5% of the rated torque, and so on. The torque observation tracking overshoot refers to that the load torque is suddenly changed from one constant value to another constant value, and the observed value output by the load torque observer exceeds the maximum deviation value of the load torque after sudden change. When the observed steady state error of the load torque is within a range proximate to the observed steady state error limit of the load torque, for example, within a range of 95% to 105%, or within a range of 98% to 102%, the observed steady state error of the load torque is considered to increase to the observed steady state error limit of the load torque. The sliding mode speed controller is in a stable state, namely the sliding mode speed controller is stably in a sliding mode; the rotor angular speed steady-state error refers to a difference value between an instantaneous value and a steady-state value of the motor rotor angular speed in a steady state, and the rotor angular speed steady-state error limit value is a maximum absolute value of the rotor angular speed steady-state error allowed by a system. In the load torque observer, the sliding mode observer of the embodiment 1 being in a stable state means that the sliding mode observer is stably in a sliding mode; the state observer of embodiment 2 being in a steady state means that the state observer is in an operating state after the torque observation transient. The rotor angular speed steady-state error refers to a difference value between an instantaneous value and a steady-state value of the motor rotor angular speed in a steady state, and the rotor angular speed steady-state error limit value is a maximum absolute value of the rotor angular speed steady-state error allowed by a system.
The permanent magnet synchronous motor speed control system and the permanent magnet synchronous motor speed control method comprising the permanent magnet synchronous motor sliding mode control method can be used for industrial robots and other permanent magnet synchronous motor application occasions.
In addition to the technical features described in the specification, other technical features related to the invention are the conventional technical skill which is mastered by a person skilled in the art. For example, the q-axis current controller and the d-axis current controller adopt PI controllers for control and selection of controller parameters, the sliding mode speed controller for selection of control parameters, the position and speed detection module uses a rotary transformer or a photoelectric encoder for detection of the rotation angle and the rotation speed of the rotor of the permanent magnet synchronous motor, and the Clarke transformation module, the Park inverse transformation module, the SVPWM module, and the transformation method and the application method of the three-phase inverter, etc., all of which are conventional techniques grasped by those skilled in the art.
Claims (5)
1. A permanent magnet synchronous motor sliding mode control method, the permanent magnet synchronous motor speed is controlled by the sliding mode speed controller, characterized by that, the sliding mode speed controller adopts the control mode of integral sliding mode; the load torque observer adjusts the feedback gain according to the change of the load torque given value output by the sliding mode speed controller, and the feedback gain is adjusted according to the rotor angular speed omega and the current i q Observing the load torque to obtain a load torque observed value
Load torque observation value output by load torque observer
Is sent to a sliding mode speed controller;
defining a state variable of the sliding mode speed controller as
Where ω is the rotor angular velocity, ω * Is a given rotor angular velocity; the sliding mode surface of the sliding mode speed controller is s y ＝c y y 1 +y 2 ，c y Is a slip form face parameter, and c y Is greater than 0; given value of load torque output by sliding mode speed controller
And q-axis torque current setpoint
Is composed of
Wherein J is the moment of inertia and p is the motor poleLogarithm, # f Is a permanent magnet flux linkage, B is the coefficient of friction; coefficient mu 1 Coefficient of sum μ 2 Exponential rate of approach coefficient for speed sliding mode control, and mu 1 ＞0，μ 2 ＞0；
The load torque observer is
Wherein the content of the first and second substances,
is an estimated value of the angular velocity of the rotor, g is a feedback gain of the load torque observer and g is less than 0;
Selecting, wherein alpha is more than or equal to 1,
is the load torque observation error.
2. The sliding-mode control method of the permanent magnet synchronous motor according to claim 1, wherein the method for adjusting the feedback gain by the load torque observer according to the change of the load torque given value output by the sliding-mode speed controller comprises the following steps:
step (1), calculating
Step (2), judgment
Whether it is greater than a torque variation comparison threshold epsilon; when in use
When the torque variation is larger than the comparison threshold epsilon, the feedback gain g is equal to g min (ii) a When in use
When the torque change comparison threshold value epsilon is less than or equal to the torque change comparison threshold value epsilon, taking the feedback gain g to be equal to g max ；
Step (3), the load torque observer observes the load torque to obtain a load torque observed value; the sliding mode speed controller carries out control operation to obtain
Wherein epsilon is more than 0; g max For high value of feedback gain, g min Is a feedback gain low value, and g min ＜g max ＜0。
3. The sliding-mode control method for the permanent magnet synchronous motor according to claim 2, wherein g is selected min 、g max 、ε 1 、ε 2 The method of the value is:
step 1), a load torque observer and a sliding mode speed controller are both in a stable state, and the angular speed of a given rotor and the load torque are kept unchanged;
step 2), the feedback gain g is gradually reduced from a larger value, and when the steady-state error observed by the load torque reaches the load torque observation steady-state error limit value, the feedback gain g at the moment is determined to be g max ；
Step 3) keeping the given rotor angular speed and the load torque constant and making the feedback gain g equal to g max Continuously carrying out n times
The measurement of the value of the (co) signal,and will be n times
Maximum m in the measurement
The average value of the measured values is used as a torque variation comparison threshold epsilon; n is more than or equal to 20, m is more than or equal to 5 and less than or equal to 0.5 n;
step 4), finely adjusting and changing the feedback gain g, keeping the angular speed of the given rotor unchanged and enabling the load torque to be suddenly changed when the load torque observer and the sliding mode speed controller are both in a stable state, and measuring the tracking and adjusting time of the load torque observer on the premise of ensuring that the torque observation tracking overshoot of the load torque observer output observation value is within the torque observation tracking overshoot limit;
step 5), repeating the step 4), and selecting the feedback gain g value with the shortest tracking and adjusting time as g min The value is obtained.
4. The sliding-mode control method for the permanent magnet synchronous motor according to claim 1, wherein α is more than or equal to 1 and less than or equal to 5.
5. The sliding-mode control method for the permanent magnet synchronous motor according to claim 1, characterized by detecting a rotor position θ and three-phase currents i of the permanent magnet synchronous motor a 、i b And i c (ii) a According to three-phase current i a 、i b And i c Clark conversion is carried out on the permanent magnet synchronous motor to obtain current i under an alpha-beta axis coordinate system α 、i β According to the current i α 、i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d 、i q 。
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