CN115133832B - Real-time parameter correction method for surface-mounted permanent magnet synchronous motor - Google Patents
Real-time parameter correction method for surface-mounted permanent magnet synchronous motor Download PDFInfo
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- 230000004907 flux Effects 0.000 claims description 14
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- 230000003068 static effect Effects 0.000 claims description 7
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- 238000013178 mathematical model Methods 0.000 claims description 4
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P2207/055—Surface mounted magnet motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a real-time parameter correction method for a surface-mounted permanent magnet synchronous motor, which can dynamically correct system parameters in real time by utilizing current in the operation of the motor in real time, replaces complex compensation modes such as an extended state observer and the like in the prior art, and directly improves the parameters. The method does not need to operate all the time, only needs to execute corresponding parameter correction when parameter mismatch occurs, and can immediately stop calculation once the mismatch is eliminated and the current response is recovered to be normal. Therefore, the method obviously improves the anti-interference performance and the robustness of the system by a very simple and convenient technical means with small operation amount.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor current control, and particularly relates to a real-time parameter correction technology for a surface-mounted permanent magnet synchronous motor.
Background
The parameter mismatch phenomenon of the permanent magnet synchronous motor can cause the problems of static error, oscillation, overshoot and other response quality degradation of current, and can be further reflected to the motor operation, and the specific manifestation is mainly that larger torque pulsation occurs in the operation, and finally the steady state performance of the motor is extremely deteriorated, so how to solve the parameter mismatch is a very important technical problem in the current motor control. For this technical problem, most of the prior art adopts no parameter control, i.e. the real-time value collected by the motor is used to replace the motor parameter. For example, in the document Improved Model Predictive Current Control for SPMSM Drives with Parameter Mismatch, the collected current values at different moments are used for reconstructing a current equation, so that the non-parameterized predictive control is realized. However, the method has larger operation amount, and the reconstructed new parameters need to be continuously operated, so that the operation load of the system is larger. While a simpler inductance correction method is proposed in the document Transient Performance Improvement of Deadbeat Predictive Current Control of High-Speed Surface-Mounted PMSM Drives by Online Inductance Identification, the method can only perform one correction when the reference current is changed, and the reliability of the correction is still to be enhanced.
Disclosure of Invention
In view of the above, the present invention provides a method for correcting parameters of a surface-mounted permanent magnet synchronous motor in real time, which specifically includes the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current moment k in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
step two, establishing a dead beat control model of the permanent magnet synchronous motor, and predicting d and q axis currents at the moment k+1 by using data acquired in real time; in the case of parameter mismatch, the q-axis reference current i is based on the same time instant in a plurality of sampling periods q And the q-axis current actually generatedThe static error between the permanent magnet flux linkage parameters of the motor is corrected by the following steps:
in the method, in the process of the invention,indicating the permanent magnet flux linkage of the motor before correction, < + >>Representing the flux linkage of the motor permanent magnet after correction, wherein alpha is a correction coefficient and L s Is the inductance of the motor, R is the resistance value of the stator winding of the motor, omega e For the electrical angular velocity of the motor, T s Is the sampling period;
step three, according to the k+1 moment d and q axis current predicted in the step twoAnd->And a reference current, calculating d-axis voltage U required to be applied at time k+1 d (k+1) and performing the following corrections on the motor inductance parameters:
in the method, in the process of the invention,representing motor inductance before correction, < >>The corrected motor inductance is represented, and beta is a correction coefficient;
wherein,
wherein i is d (k+1)、i q (k+1) is the d and q axis reference currents at time k+1, i d Time (k+2) is k+2The d-axis reference current is used for generating a reference current,the d-axis current actually generated at the time k+2;
and fourthly, replacing corresponding parameters in the dead beat control model of the permanent magnet synchronous motor with the real-time corrected motor permanent magnet flux linkage and inductance parameters, continuously predicting d-axis current and q-axis current at the next moment, and calculating d-axis voltage and q-axis voltage to be applied based on SVPWM modulation.
Further, the dead beat control model established in the second step is specifically based on the following mathematical model of the permanent magnet synchronous motor:
wherein t is a time variable.
Further, in the case of parameter mismatch, the specific prediction process of q-axis current is:
calculating to obtain the q-axis reference current i at the moment k+2 q (k+2) and the actually generated q-axis currentAnd on the basis of this, determining the static error:
further, in the third step, the d-axis voltage U required to be applied at the moment k+1 is calculated d (k+1) is based firstly on the followingAssuming that the value of (1) is neglected to be 0, then the applied U is required d (k+1) is calculated as:
combining the current actually generated by the d-axis at the time k+2:
two kinds of combined materials are obtained:
the motor inductance parameter can thus be corrected.
The parameter real-time correction method of the surface-mounted permanent magnet synchronous motor provided by the invention can utilize the current in the operation of the motor to be collected in real time to dynamically correct the system parameters in real time, replaces the complex compensation mode such as an extended state observer in the prior art, and directly improves the parameters. The method does not need to operate all the time, only needs to execute corresponding parameter correction when parameter mismatch occurs, and can immediately stop calculation once the mismatch is eliminated and the current response is recovered to be normal. Therefore, the method obviously improves the anti-interference performance and the robustness of the system by a very simple and convenient technical means with small operation amount.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a schematic block diagram of a method according to the present invention;
FIG. 3 is a graph of d, q-axis current without mismatch of motor parameters using the method provided by the present invention;
fig. 4 is a d-axis and q-axis current diagram of a motor with no mismatch of motor parameters using the method provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a real-time parameter correction method of a surface-mounted permanent magnet synchronous motor, which is shown in fig. 1 and specifically comprises the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current moment k in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
step two, establishing a dead beat control model of the permanent magnet synchronous motor, and predicting d and q axis currents at the moment k+1 by using data acquired in real time; in the case of parameter mismatch, the q-axis reference current i is based on the same time instant in a plurality of sampling periods q And the q-axis current actually generatedThe static error between the permanent magnet flux linkage parameters of the motor is corrected by the following steps:
in the method, in the process of the invention,indicating the permanent magnet flux linkage of the motor before correction, < + >>Representing the flux linkage of the motor permanent magnet after correction, wherein alpha is a correction coefficient and L s Is the inductance of the motor, R is the resistance value of the stator winding of the motor, omega e For the electrical angular velocity of the motor, T s Is the sampling period;
step three, according to the k+1 moment d and q axis current predicted in the step twoAnd->And a reference current, calculating d-axis voltage U required to be applied at time k+1 d (k+1) and performing the following corrections on the motor inductance parameters:
in the method, in the process of the invention,representing motor inductance before correction, < >>The corrected motor inductance is represented, and beta is a correction coefficient;
wherein,
wherein i is d (k+1)、i q (k+1) is the d and q axis reference currents at time k+1, i d (k+2) is the d-axis reference current at time k+2,the d-axis current actually generated at the time k+2;
and fourthly, replacing corresponding parameters in the dead beat control model of the permanent magnet synchronous motor with the real-time corrected motor permanent magnet flux linkage and inductance parameters, continuously predicting d-axis current and q-axis current at the next moment, and calculating d-axis voltage and q-axis voltage to be applied based on SVPWM modulation. The principle framework of the above process is shown in fig. 2.
In a preferred embodiment of the present invention, the dead beat control model established in step two is specifically based on the following mathematical model of the permanent magnet synchronous motor:
wherein t is a time variable.
When no parameter mismatch occurs, the following predictions can be performed on the d, q axis currents at time k+1 using the mathematical model described above:
the d, q axis voltages to be applied at time k+1 can be calculated as:
and when the motor parameters are not matched, the calculated voltage vector is not the optimal voltage vector, so that the parameter correction is carried out by a design algorithm. Based on this consideration, in the case of parameter mismatch, the specific prediction process of q-axis current is:
calculating to obtain the q-axis reference current i at the moment k+2 q (k+2) and the actually generated q-axis currentAnd on the basis of this, determining the static error:
the voltage to be applied at time k+1 and the current actually generated at time k+2 are calculated as:
based on the followingAssuming that the value of (1) is neglected to be 0, then the applied U is required d (k+1) is:
combining the current actually generated by the d-axis at the time k+2:
two kinds of combined materials are obtained:
thus, the correction of the inductance parameter of the motor is realized.
Fig. 3 and 4 show the specific effects exhibited by d-axis and q-axis currents after the method of the present invention and the method of real-time correction of unused parameters. By comparing the current image of the inductance without the method when 2 times of the inductance is mismatched with the current image of the inductance after the method is used (shown in figure 3), the method can obviously show that the current oscillation caused by parameter mismatch is successfully restrained, and by comparing the current image of the inductance without the method when 2 times of the flux linkage is mismatched with the current image of the inductance after the method is used (shown in figure 4), the method can also find that the problem of current overshoot caused by flux linkage mismatch is successfully solved. This is of great importance for safe and stable operation of the motor and for improvement of efficiency.
It should be understood that, the sequence number of each step in the embodiment of the present invention does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present invention.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A real-time parameter correction method for a surface-mounted permanent magnet synchronous motor is characterized by comprising the following steps of: the method specifically comprises the following steps:
step one, acquiring three-phase current, rotating speed and rotor position angle data of a permanent magnet synchronous motor at the current moment k in real time, and carrying out coordinate transformation to obtain d-axis current and q-axis current;
step two, establishing a dead beat control model of the permanent magnet synchronous motor, and predicting d and q axis currents at the moment k+1 by using data acquired in real time; in the case of parameter mismatch, the q-axis reference current i is based on the same time instant in a plurality of sampling periods q And the q-axis current actually generatedThe static error between the permanent magnet flux linkage parameters of the motor is corrected by the following steps:
in the method, in the process of the invention,indicating the permanent magnet flux linkage of the motor before correction, < + >>Representing the flux linkage of the motor permanent magnet after correction, wherein alpha is a correction coefficient and L s Is the inductance of the motor, R is the winding of the motor statorResistance value of group omega e For the electrical angular velocity of the motor, T s Is the sampling period;
step three, according to the k+1 moment d and q axis current predicted in the step twoAnd->And a reference current, calculating d-axis voltage U required to be applied at time k+1 d (k+1) and performing the following corrections on the motor inductance parameters:
in the method, in the process of the invention,representing motor inductance before correction, < >>The corrected motor inductance is represented, and beta is a correction coefficient;
wherein,
wherein i is d (k+1)、i q (k+1) is the d and q axis reference currents at time k+1, i d (k+2) is the d-axis reference current at time k+2,the d-axis current actually generated at the time k+2;
and fourthly, replacing corresponding parameters in the dead beat control model of the permanent magnet synchronous motor with the real-time corrected motor permanent magnet flux linkage and inductance parameters, continuously predicting d-axis current and q-axis current at the next moment, and calculating d-axis voltage and q-axis voltage to be applied based on SVPWM modulation.
2. The method of claim 1, wherein: the dead beat control model established in the second step is specifically based on the following mathematical model of the permanent magnet synchronous motor:
wherein t is a time variable.
3. The method of claim 2, wherein: under the condition of parameter mismatch, the specific prediction process of the q-axis current is as follows:
calculating to obtain the q-axis reference current i at the moment k+2 q (k+2) and the actually generated q-axis currentAnd on the basis of this, determining the static error:
4. a method as claimed in claim 3, wherein: in the third step, d-axis voltage U required to be applied at time k+1 is calculated d (k+1) is based firstly on the followingAssuming that the value of (1) is neglected to be 0, then the applied U is required d (k+1) is calculated as:
combining the current actually generated by the d-axis at the time k+2:
two kinds of combined materials are obtained:
thereby correcting the motor inductance parameter.
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| JP2011223718A (en) * | 2010-04-08 | 2011-11-04 | Toyo Electric Mfg Co Ltd | Controller for permanent magnet synchronous motor |
| CN110492817A (en) * | 2019-08-05 | 2019-11-22 | 北方工业大学 | A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor |
| CN111478632A (en) * | 2020-05-12 | 2020-07-31 | 北京理工大学 | Observer-free control method for improving parameter robustness of permanent magnet synchronous motor |
| CN112422002A (en) * | 2020-10-09 | 2021-02-26 | 北京理工大学 | Robust permanent magnet synchronous motor single current sensor prediction control method |
| CN114531082A (en) * | 2022-03-15 | 2022-05-24 | 北京理工大学 | Permanent magnet synchronous motor dead-beat current prediction fuzzy control method based on AESO |
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| CN103490398B (en) * | 2013-10-17 | 2015-02-18 | 南车株洲电力机车研究所有限公司 | Direct axis current protection method and device for PMSM (permanent magnet synchronous motor) transmission system |
| GB202108143D0 (en) * | 2021-06-08 | 2021-07-21 | Rolls Royce Plc | Permanent magnet electric machine control |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011223718A (en) * | 2010-04-08 | 2011-11-04 | Toyo Electric Mfg Co Ltd | Controller for permanent magnet synchronous motor |
| CN110492817A (en) * | 2019-08-05 | 2019-11-22 | 北方工业大学 | A kind of direct prediction of speed control method and equipment of permanent magnet synchronous motor |
| CN111478632A (en) * | 2020-05-12 | 2020-07-31 | 北京理工大学 | Observer-free control method for improving parameter robustness of permanent magnet synchronous motor |
| CN112422002A (en) * | 2020-10-09 | 2021-02-26 | 北京理工大学 | Robust permanent magnet synchronous motor single current sensor prediction control method |
| CN114531082A (en) * | 2022-03-15 | 2022-05-24 | 北京理工大学 | Permanent magnet synchronous motor dead-beat current prediction fuzzy control method based on AESO |
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