CN115189609A - Permanent magnet synchronous motor integral sliding mode prediction control method - Google Patents
Permanent magnet synchronous motor integral sliding mode prediction control method 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
- 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
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a permanent magnet synchronous motor integral sliding mode prediction control method, which comprises the following steps: firstly, acquiring a rotating speed sensor signal obtained by sampling an electrical platform, subtracting the rotating speed sensor signal from a speed command, transmitting the rotating speed sensor signal into an integral sliding mode predicted speed controller, and calculating to obtain a current control signal, wherein the integral sliding mode predicted speed controller is constructed by taking an integral sliding mode surface as a target structure and combining a predicted rotating speed model; then, the current control signal is subtracted from an actual signal obtained by sampling of an electrical platform, the obtained value is input into an integral sliding mode prediction current controller, output voltage enters a current loop, and a pulse signal is obtained through space vector modulation; and finally, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop. The method realizes cascade control based on sliding mode prediction speed control and sliding mode prediction current control, and improves the robustness and the response speed of system response.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous motor integral sliding mode prediction control method.
Background
The permanent magnet synchronous motor uses the permanent magnet to provide excitation, so that the structure of the motor is simpler, the processing and assembly cost is reduced, a collecting ring and an electric brush which are easy to cause problems are omitted, the running reliability of the motor is improved, and the efficiency and the power density of the motor are improved because excitation current is not needed and excitation loss does not exist. Based on these advantages, a Permanent Magnet Synchronous Motor (PMSM) is widely used for a drive device. The traditional controller of the rotating speed loop and the current loop is a PI controller, but the parameter setting of the PI controller can only be applied to a certain specific working range, the control effect of the PI controller is reduced when the click working state changes, and because the permanent magnet synchronous motor is a complex system with strong coupling, multivariable and nonlinearity, the risk of permanent magnet demagnetization exists, and the PI controller cannot provide better performance.
At present, some novel control algorithms such as fuzzy control, adaptive control, predictive control and the like are also proposed, but optimization is mainly performed on one control method and only one emphasis point in the system, and improvement on the overall control performance is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing an integral sliding mode prediction control method of a permanent magnet synchronous motor, which is based on the cascade control of sliding mode prediction speed control and sliding mode prediction current control and realizes the robustness and the rapidity of system response.
The invention is realized by the following steps: an integral sliding mode prediction control method for a permanent magnet synchronous motor comprises the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed commandSubtracting, transmitting into an integral sliding mode predicted speed controller, and calculating to obtain a current control signalAnd based on i d Method for controlling d axis to obtain current control signal of d axisThe integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, the current control signal is usedAndwith actual signals i sampled by respective electrical platforms d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
and 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop.
Further, the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia, T e For electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is a current of q-axis, P n The number of the pole pairs is the number of the pole pairs,is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value and the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T based on the predictive control, and expressing as follows:
step a4, determining models of the sliding mode surfaces in different orders:
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,a control command value for the rotation speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
further, the q-axis current control loop module is specifically implemented as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
wherein u is q Is the voltage of the q-axis, i d 、i q Current of d and q axes, respectively, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D, q-axis inductances,. Psi f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
wherein s is q Current loop integral slip form plane of q-axis, e q Error of given value from feedback value, c q Is the sliding mode surface coefficient;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
step b4, determining models of the sliding mode surface in different orders:
wherein s is q Is a q-axis current loop sliding mode surface,is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q Is the error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
step b6, simplifying an integral sliding mode prediction q-axis current controller:
further, the d-axis current control loop module is specifically implemented as follows:
step c1, establishing a current loop id shafting mathematical model:
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
step c3, the sliding mode surface of the predicted elapsed time T is expressed as:
step c4, determining models of the sliding mode surface in different orders:
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
the invention has the following advantages: an Integral Sliding Mode Prediction Controller (ISMPC) is designed by combining an integral sliding mode control structure and a model prediction control algorithm, and a sliding mode prediction speed and current control algorithm is designed based on a rotating speed model and a current model of a permanent magnet synchronous motor, so that the strong robustness tracking of a speed loop and a current loop is realized, and the overall response speed of the system is improved.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is an execution flow chart of an integral sliding mode prediction control method of a permanent magnet synchronous motor according to the present invention.
FIG. 2 is a schematic structural diagram of a sliding mode predictive control algorithm of the present invention.
FIG. 3 is a schematic diagram of the system of the present invention.
Detailed Description
As shown in fig. 1 to fig. 3, the integral sliding-mode prediction control method for a permanent magnet synchronous motor provided by the present invention includes the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed commandSubtracting, transmitting into an integral sliding mode predicted speed controller, and calculating to obtain a current control signalAnd based on i d The control method of =0 obtains a current control signal of d axis (i.e. d axis in d-q coordinate system)The integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, controlling the current signalAndactual signals i obtained by sampling with the electric platform respectively d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
And 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of the rotating speed loop and the current loop.
As shown in fig. 3, the entire system platform is a three-layer structure. The electrical platform at the lowest layer comprises a load inverter, a driving inverter and a butt-supporting motor; the middle layer is a digital signal processing layer and comprises an analog-to-digital conversion layer, an incremental encoder, a controller, a serial port communication layer and a pulse generation module; the top layer is an algorithm model which mainly comprises Clark and park transformation, a control system model and space vector transformation. Signals such as current, rotating speed and the like of an electric layer are sampled and transmitted to a digital signal processor of a middle layer to perform analog-to-digital conversion and rotating speed coding conversion, control model calculation is performed on an algorithm layer according to input signals and a motor model, the obtained optimal pulse is sent to a driver through PWM, and the optimal pulse is connected with an upper computer through serial port communication to be controlled, so that the control of the whole system is completed.
Preferably, the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia, T e For electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is the current of q axis, P n The number of the pole pairs is the number of the pole pairs,is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value from the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T (i.e., one control period) based on the predictive control, as follows:
step a4, determining models of the sliding mode surface in different orders:
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,a control command value for the rotation speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
preferably, the q-axis current control loop module is implemented as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
wherein u is q Is the voltage of the q-axis, i d 、i q Currents of d and q axes, ω e Is the electrical angular velocity of the motor rotor, R is the stator resistance, L d 、L q D and q axes of inductance,/, respectively f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
wherein s is q Current loop integral slip form plane of q axis, e q Error of given value from feedback value, c q Is the coefficient of the sliding mode surface;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
step b4, determining the models of the sliding mode surfaces in different orders:
wherein s is q Is a q-axis current loop sliding mode surface,is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q The error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
step b6, simplifying an integral sliding mode prediction q-axis current controller:
preferably, the d-axis current control loop module is implemented as follows:
step c1, establishing a current loop id shafting mathematical model:
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity of the rotor of the machine, R is the stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
step c3, predicting the sliding mode surface of the passing time T as follows:
step c4, determining models of the sliding mode surface in different orders:
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
the technical scheme provided in the embodiment of the application has at least the following technical effects or advantages: firstly, a sliding mode prediction speed control method is adopted to carry out rotating speed loop control on the motor, and the robustness of the sliding mode control and the response speed of the prediction control are comprehensively improved. And secondly, designing a d-axis and q-axis two sliding mode prediction current control method in a d-q current coordinate system, so as to realize high-speed robust response of a current loop and further improve the overall control precision.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (4)
1. An integral sliding mode prediction control method for a permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
step 1, obtaining a rotation speed sensor signal omega obtained by sampling of an electrical platform r The rotation speed sensor signal ω r And speed commandSubtracting, transmitting into an integral sliding mode predicted speed controller, and calculatingObtaining a current control signalAnd is based on i d Method for controlling =0 to obtain current control signal of d axisThe integral sliding mode prediction speed controller is obtained by combining an integral sliding mode surface as a target structure with a prediction rotating speed model;
step 2, the current control signal is usedAndwith actual signals i sampled by respective electrical platforms d And i q Making difference, inputting the obtained value into an integral sliding mode prediction current controller, and outputting voltage u q And u d Entering a current loop, and obtaining a pulse signal through space vector modulation; the integral sliding mode prediction current controller is a sliding mode prediction current controller of a current loop designed according to a d-q current coordinate system and comprises a d-axis current control loop module and a q-axis current control loop module;
and 3, outputting the obtained pulse signal to a control motor, driving the motor to operate, and realizing the control of a rotating speed loop and a current loop.
2. The method of claim 1, wherein: the specific implementation manner of the integral sliding mode predicted speed controller is as follows:
step a1, establishing a permanent magnet synchronous motor model of a rotating speed ring:
wherein, ω is m Is the mechanical angular velocity of the rotor, J is the moment of inertia,T e for electromagnetic torque, T l For load torque, B is the coefficient of friction, # f Is a permanent magnet flux linkage i q Is a current of q-axis, P n The number of the pole pairs is the number of the pole pairs,is the derivative of the rotational speed;
step a2, determining an integral sliding mode surface of sliding mode control:
wherein s is ω (t) is the slip form face, e ω (t) is the error of the set value from the feedback value, c ω Is the coefficient of the integral;
step a3, establishing a sliding mode surface of the elapsed time T based on the predictive control, and expressing as follows:
step a4, determining models of the sliding mode surface in different orders:
wherein, c ω Integral surface coefficient representing the speed ring, e ω For deviations of the given rotational speed from the actual rotational speed,the control command value is the rotating speed;
step a5, substituting the sliding mode surface into a sliding mode prediction model framework:
where T is the control period, k ω As a coefficient, sgn is a sign function, ε ω Is a sign function coefficient;
step a6, obtaining an integral sliding mode predicted speed controller:
3. the method of claim 1, wherein: the q-axis current control loop module is specifically realized as follows:
step b1, establishing a mathematical model of a current loop iq shafting:
wherein u is q Is the voltage of the q-axis, i d 、i q Currents of d and q axes, ω e Is the electrical angular velocity of the motor rotor, R is the stator resistance, L d 、L q D, q-axis inductances,. Psi f Is a permanent magnet flux linkage;
step b2, designing a current loop integral sliding mode surface:
wherein s is q Current loop integral slip form plane of q-axis, e q Error of given value from feedback value, c q Is the sliding mode surface coefficient;
step b3, the sliding mode surface of the predicted elapsed time T is expressed as:
step b4, determining models of the sliding mode surface in different orders:
wherein s is q Is a q-axis current loop sliding mode surface,is the derivative of the slip form surface of the q-axis current loop, c q As a surface parameter of the q-axis current loop slip form, e q Is the error between the given value and the feedback value;
step b5, substituting the sliding mode surface into a sliding mode prediction model framework:
step b6, simplifying an integral sliding mode prediction q-axis current controller:
4. the method of claim 1, wherein: the d-axis current control loop module is specifically realized as follows:
step c1, establishing a current loop id shafting mathematical model:
wherein u is d Is the voltage of the d-axis, i d 、i q Currents of d and q axes, ω e For the electrical angular velocity, R, of the rotor of the machineIs stator resistance, L d 、L q D-axis and q-axis inductors respectively;
step c2, designing a current loop integral sliding mode surface:
step c3, the sliding mode surface of the predicted elapsed time T is expressed as:
step c4, determining models of the sliding mode surface in different orders:
step c5, substituting the sliding mode surface into a sliding mode prediction model framework:
step c6, simplifying the d-axis current controller for predicting the integral sliding mode:
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