CN115441782A - Fan electric variable pitch motor drive control method based on sliding mode observation - Google Patents
Fan electric variable pitch motor drive control method based on sliding mode observation Download PDFInfo
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Abstract
The invention discloses a fan electric variable pitch motor driving control method based on sliding mode observation. The load torque observer adjusts the feedback gain according to the change of the load torque given value and the change of the load torque observed value, can quickly reduce the observation error of the load torque and feed forward and compensate the load torque observed value to the given value of the current regulator when the system speed changes or the load is disturbed due to the change of the load torque given value or/and the change of the load torque observed value, effectively weakens the buffeting of the system, has high dynamic response speed and high robustness, and improves the control precision of the motor speed.
Description
The invention discloses a fan electric variable pitch motor drive control system, which is a divisional application with an original application number of 202010918643.X and an application date of 09 and 04 in 2020 and is named as a fan electric variable pitch motor drive control system.
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a fan electric variable pitch motor driving control method based on sliding mode observation.
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. Due to the influence of randomness of wind speed and a pneumatic effect, a motor driving control system for changing the pitch of the fan is a multivariable strong nonlinear uncertain system, the load inertia is large, the torque change is quick, and the speed regulation performance of the pitch angle required under different wind speeds and wind directions is different; the traditional wind generator pitch angle PI controller has fixed parameters and is not as robust as a sliding mode control method, but the sliding mode control method can cause the speed of a motor to generate obvious buffeting when load disturbance or internal parameter perturbation occurs.
Disclosure of Invention
The invention aims to provide a sliding mode observation-based fan electric variable pitch motor driving control method which can feed forward and compensate observed load torque into a current regulator, improve load torque observation response speed and reduce torque observation volatility aiming at the characteristics that a fan variable pitch system is a multivariable strong nonlinear uncertain system, has large load inertia and rapid torque change and has different pitch angle speed regulation performances required under different wind speeds and wind directions. The speed of the permanent magnet synchronous motor is controlled by 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 observer adjusts the feedback gain according to the change of the load torque given value and the change of the load torque observation value, 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 new load torque observation value; the q-axis torque current setpoint is the sum of a torque current setpoint component and a torque current compensation component.
The state variable of the sliding mode speed controller is
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 = cx 1 +x 2 C is a sliding mode surface parameter, and c is more than 0; slip-form speed controller output load torque set value
And torque current given component i' q 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; coefficient k 1 、k 2 、k 3 、k 4 For sliding form of speedExponential approach rate coefficient of control, and k 1 ＞0，k 2 ＞0，1＜k 3 ＜2，k 4 ＞0。
The load torque observer is
Wherein, the first and the second end of the pipe are connected with each other,
is an observed value of the load torque,
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 and k g ≤-|e 2 /J|，
For load torque observation errors, T L Is the load torque.
The method for adjusting the feedback gain by the load torque observer according to the change of the load torque given value and the change of the load torque observation value is as follows:
step 1, 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 a load torque set value
Step 2, calculating
Step 3, judgment
Whether or not greater than epsilon 1 (ii) a When in use
Greater than epsilon 1 Taking feedback gain g equal to g min And withdrawing; when in use
Is less than or equal to epsilon 1 If yes, entering step 4;
Wherein epsilon 1 Comparing thresholds for given torque changes, and e 1 ＞0；ε 2 Comparing threshold values for observed torque variations, and e 2 ＞0；g max For high value of feedback gain, g min Is a low value of feedback gain, and g min ＜g max ＜0。
Torque current compensation component i ″) q Is composed of
q-axis torque current setpoint
Is composed of
The parameters of the load torque observer are optimized and set by adopting a particle swarm optimization, and the method comprises the following steps:
step 201, initializing a particle swarm; the initial position of the particles is
Wherein M is the number of particles; the parameter vector to be optimized is θ 1 ＝[G max ，G min ，ε 1 ，ε 2 ，α]；
202, initializing the optimal solution of particle speed and particle swarm; taking the initial position of each particle as the initial optimal value of each particle, calculating the fitness value of each particle and storing the fitness value as the optimal particle fitness value of each particle; comparing the fitness values of the particles to obtain an initial particle swarm optimal solution and a particle swarm optimal fitness value, and storing the initial particle swarm optimal solution and the particle swarm optimal fitness value;
step 203, according to the formula
p n+1 ＝p n +u n+1
Updating the speed and position of each particle; n is the current number of iterations, u n And p n Is the velocity vector and position of the particle; c. C 0 The inertia weight is the value range between 0 and 1.4; c. C 1 、c 2 The value is taken as a learning factor between 1 and 2;
is a random number with the value range of 0-1;
for the optimal solution found so far for the particles themselves,
representing the particle swarm optimal solution of the whole population up to now;
step 204, calculating the fitness value of each particle;
step 205, for
And the corresponding optimal particle fitness value is updated to
Updating the optimal fitness value of the corresponding particle swarm;
step 206, judging whether a cycle termination condition is met, if so, ending the particle swarm algorithm, and finally obtaining the optimal solution of the particle swarm as the optimal parameters of the sliding mode speed controller; otherwise, return to step 203.
The objective function of calculating the fitness value of each particle in steps 202 and 204 is
Q 2 Is the fitness value of the particle;
for load torque observation error, e 2 (t) is an instantaneous value of the observed error of the load torque, t p Tracking and adjusting time of the motor load torque observation step response, wherein t =0 is the load sudden change time of the load torque observation step response; q 21 The second term γ in (1) p1 (1-sgn(e 2 (t)+T δ ) Track an overshoot penalty function for torque observations, T δ Tracking overshoot limits, gamma, for torque observation p1 Taking a positive number large enough; max (| e) 2 (t) |) is the absolute value of steady-state jitter observed for the maximum torque, gamma p2 Taking a constant larger than 0 for the fitness balance weight coefficient; q 22 Middle second term gamma p1 (1-sgn(e 2 (t)+T Δ ) For torque observationSteady state jitter penalty function, T Δ Observing a steady state jitter limit for the load torque; gamma ray p3 ≥2。
In step 201, g max And G max In a relationship of
g min And G min In a relationship of
k g In relation to alpha is
Wherein alpha is more than or equal to 1; further, the value of α is selected within the range of 1 to 5.
The parameters of the sliding mode speed controller are optimized and set by adopting a particle swarm algorithm, and the method comprises the following steps:
step 101, initializing a particle swarm; the initial position of the particles is
Wherein M is the number of particles; the parameter vector to be optimized is θ = [ c, k = 1 ，k 2 ，k 3 ，k 4 ](ii) a Taking the initial position of each particle as the initial optimal value of each particle, calculating the fitness value of each particle and storing the fitness value as the optimal particle fitness value of each particle; comparing the fitness values of the particles to obtain an initial particle swarm optimal solution and a particle swarm optimal fitness value, and storing the initial particle swarm optimal solution and the particle swarm optimal fitness value;
step 102, according to the formula
m n+1 ＝m n +v n+1
Updating the speed and position of each particle; n is the current number of iterations, v n And m n Is the velocity vector and position of the particle；c 0 The inertia weight is the value range between 0 and 1.4; c. C 1 、c 2 The value is 1-2 for learning factor;
is a random number with the value range of 0-1;
for the optimal solution found so far for the particles themselves,
representing the optimal solution of the particle swarm of the whole swarm up to now;
step 103, calculating the fitness value of each particle;
step 104, for
And corresponding optimal particle fitness value are updated, to
Updating the optimal fitness value of the corresponding particle swarm;
step 105, judging whether a cycle termination condition is met, if so, ending the particle swarm algorithm, and finally obtaining the optimal solution of the particle swarm as the optimal parameters of the sliding mode speed controller; otherwise, return to step 102.
The objective function for calculating the fitness value of each particle in steps 101 and 103 is
Wherein Q is 1 Is the fitness value of the particle; e (t) is instantaneous value of rotor angular speed error, t m The method comprises the steps that the transition process time of the angular speed step response of a motor rotor is represented, and t =0 is the starting time of the step response of the motor; q 11 The second term γ in (1) m1 (1-sgn (e (t) ω δ is an angular velocity overshoot penalty function, where γm1 is a positive number which is large enough, and omega delta is the limit value of the rotor angular speed overshoot; q 12 For the steady state jitter penalty function, ω Δ Is a steady-state jitter tolerance limit value of the angular speed of the rotor; gamma ray m2 ≥2。
The permanent magnet synchronous motor control method based on sliding mode observation 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 conversion is carried out on the permanent magnet synchronous motor to obtain current i under an alpha-beta axis coordinate system α Current i β According to the current i α Current i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d Current i q 。
The control method of the permanent magnet synchronous motor based on sliding mode observation is realized by a motor drive 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 method has the advantages that the load torque observed value is subjected to feedforward compensation to the given value of the current regulator, under the condition that the given current part output by the sliding mode speed controller is not required 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 load torque observation adopts an algorithm that feedback gain is automatically adjusted according to the variation of a given value of the load torque, and the feedback gain g is simultaneously adjusted according to 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
Have not yet beenIf there is a change, the feedback gain g is adjusted in advance, and the observed value of the load torque is adjusted
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
The observation error of the motor speed control is further improved, and the rapidity and the accuracy of the motor speed control are further improved. Similarly, when the system model parameter changes, the given value T of the load torque is caused to change L * Prior to load torque observation
When the change occurs, the feedback gain g is simultaneously changed 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. If the load is disturbed to cause the observed value
When the change is made, the user can select the desired mode,
the feedback gain g can also be automatically adjusted when large changes occur to eliminate (reduce) the load torque observation as soon as possible
To make the load torque observed value
Follow the load torque T as soon as possible L A change in (c).
Drawings
FIG. 1 is a block diagram of an embodiment 1 of a fan electric variable pitch motor drive 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 fan electric variable pitch motor drive control system;
FIG. 5 is a flowchart of an embodiment 3 of a method for automatically adjusting feedback gain;
FIG. 6 is a sine wave signal and a load torque signal for a given rotor angular velocity;
FIG. 7 is a schematic representation of a rotor angular velocity signal and rotor angular velocity response for 1 cycle of a sine wave;
fig. 8 is a schematic diagram of a negative ride through for a given rotor angular velocity signal and rotor angular velocity response signal.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and examples.
Fig. 1 is a block diagram of an embodiment 1 of a fan electric pitch motor drive control system. 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 alpha-beta axis coordinate system α 、i β (ii) a A position sensor in the position and speed detection module detects the position theta of the rotor of the permanent magnet synchronous motor and converts the position theta into the angular speed omega of the rotor for output; park conversion module input current i α 、i β And rotor position theta, and outputs current i under a rotating d-q axis coordinate system d 、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 * Angular velocity of rotorDegree omega 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 signal to three-phase inverter, and converting DC voltage U by the three-phase inverter 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 directional control of =0, establish the mathematical model of PMSM under d-q axis rotation coordinate system, the voltage equation is:
for adopting i d The salient pole type PMSM vector control system with the control mode of =0 has the electromagnetic torque equation as follows:
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 a unit of e Is an electromagnetic torque; t is a unit of 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 rotor angular speed error e = ω of the motor * -ω，ω * Is a given rotor angular speed of the motor. The state variables defining the fan electric pitch motor drive control system embodiment 1 are:
obtained by the formulae (2), (3) and (4):
equation (5) is simplified, with D =1.5p ψ f /J，
The system state space equation of the embodiment 1 can be obtained 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 the equation (7), c is a coefficient of the rotor angular velocity error term, the influence of the magnitude of the c 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 change rate of the rotor angular velocity error, and is usually selected within a range of more than 0 and less than 1000, for example, c =60. Derivation of equation (7) can be found:
the expression of the conventional exponential approximation law is:
in the formula (9), sgn () is a sign function, -k 1 sgn(s) is a 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 all 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 ＞0，1＜k 3 ＜2，k 4 Is greater than 0. When the rotor angular speed error | x of the motor 1 When the l is large, the ratio,
the approach speed of the variable speed approach item is higher, and the approach movement speed of the slip form can be accelerated; when | x 1 When the ratio of the absolute value is smaller,
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 obtained by referring to the rotor angular speed steady state jitter limit value when the permanent magnet synchronous motor stably runs, and the value is recommended to be obtained within the range of 80% -400% of the allowable steady state jitter limit value; e.g. allowedThe steady-state jitter limit value of the rotor angular speed of the permanent magnet synchronous motor is 5rad/s (radian/second), and k is 4 Values in the range of 4 to 20 are possible. k is a radical of 3 The larger the shift, the larger k 3 Generally, the value is in the range of 1.05-1.3. In general, 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 and jitter across the switching plane. 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 a medium-speed approaching term coefficient and an exponential approaching term coefficient in a traditional exponential approaching rate. k is a radical of 3 The speed change coefficient is the speed change coefficient, and the speed change speed is changed according to the size of the speed change coefficient; k is a radical of 4 Is the mobility coefficient, the magnitude of which changes the shift critical point.
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 sliding mode speed controller in embodiment 1 of the fan electric variable pitch motor driving control system comprises an integral term in output, 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.
Design of sliding mode speed controller of embodiment 1 of fan electric variable pitch motor drive control system 1 、k 2 、k 3 、k 4 Is that k is first determined 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 index approach term coefficient k is adjusted mainly according to the rapidity of the system arrival section (for example, the motor starting stage of the step response) under the condition of considering the suppression of the sliding mode buffeting 2 And to make appropriate fine adjustments to other parameter values of the sliding mode speed controller.
When a sliding mode speed controller in embodiment 1 of a fan electric variable pitch motor drive control system is designed, parameters of the controller can be set by adopting optimization algorithms such as a particle swarm algorithm, a wolf pack algorithm and a genetic algorithm. Using particle swarm algorithm to pair parameters c and k 1 、k 2 、k 3 、k 4 The specific method for setting is as follows:
the objective function for comprehensively evaluating various performance indexes of the sliding mode speed controller in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan is established
In formula (14), Q 11 The integral term in (1) is the IAE criterion (error integral criterion) of the angular speed step response of the motor rotor, e (t) is the instantaneous value of the rotor angular speed error, t m The method comprises the steps that the transition process time of the angular speed step response of a motor rotor is represented, and t =0 is the starting time of the step response of the motor; q 11 The second term γ in (1) m1 (1-sgn(e(t)+ω δ ) Is an angular velocity overshoot penalty function, where γ m1 Taken one large enough (
5 times and above the rational value), omega) of a positive number δ The value is the rotor angular speed overshoot limit (namely the maximum value of the rotor angular speed overshoot allowed by the system); when the overshoot of the angular speed step response of the motor rotor does not exceed the rotor angular speed overshoot limit value omega δ The term overshoot penalty function is equal to 0 when, and is equal to γ otherwise m1 ；Q 12 For the steady state jitter penalty function, ω Δ Is a steady-state jitter tolerance limit value of the angular speed of the rotor; when the steady-state jitter of the angular speed step response of the motor rotor does not exceed the steady-state jitter limit value omega of the angular speed of the rotor Δ The steady state jitter penalty function term is equal to 0 when, and is equal to γ otherwise m1 ；Q 1 The value is a target function value, namely a fitness value for parameter optimization of the sliding mode speed controller by the particle swarm algorithm; the smaller the fitness value of the particle, the better the corresponding position. Gamma ray m1 When taking value, firstly, the value is estimated
Reasonable value of (upper limit); for example, if the rated rotational speed of the motor is 1500r/min (corresponding to the rated rotor angular speed of 157 rad/s) and the starting time is about 0.2s, the motor is started
Is a reasonable valueOver 40, gamma m1 By 5 times or more of 40, for example, by γ m1 ＝200。γ m2 Typically greater than or equal to 2, the magnitude of which determines how long the steady-state jitter of the rotor angular velocity is measured, e.g. gamma m2 When the value is equal to 6, the time t of the transition process is 5 times m The steady-state jitter of the rotor angular velocity is measured. Speed controller parameter optimization other objective functions than the vertical (14) may be established if needed to take into account other index factors, such as whether the transient time is short enough, whether the steady state error is small enough, and so on.
The parameter vector to be optimized of the sliding mode speed controller is theta = [ c, k = 1 ，k 2 ，k 3 ，k 4 ]And the search space dimension N of the particle swarm optimization is 5, and the constructed optimal position value in the particles is the optimal parameter of the sliding mode speed controller. The particle swarm algorithm comprises the following specific steps:
step 101, initializing a particle swarm. Setting the initial position of the particles as
Wherein M is the number of particles, generally selected between 20 and 150, and the initial position is required to be subjected to random distribution; the position of the ith particle is shown as
Corresponding to the parameter vector to be optimized is θ = [ c, k = 1 ，k 2 ，k 3 ，k 4 ](ii) a The position value interval is [ m ] imin m imax ]The range interval can be given according to the prior knowledge or experience, for example, the value interval [ m ] of the parameter c 1min m 1max ]Is [0 1000 ]]Parameter k 1 Value range of [ m ] 2min m 2max ]Is [0 2000 ]]Parameter k 2 Value range of [ m ] 3min m 3max ]Is [0 2000 ]]Parameter k 3 Value range of [ m ] 4min m 4max ]Is [1.03 1.3 ]]Parameter k 4 Value range of [ m ] 5min m 5max ]Is [4 20 ]]. Initial position m of each particle (0) As the initial optimum value m of each particle b (0) Calculating the fitness value of each particle according to the formula (14) and storing the fitness value as the optimal particle fitness value of each particle; comparing the fitness values of the particles to obtain an initial particle swarm optimal solution m g (0) And storing the optimal fitness value of the particle swarm. Let the initial velocity of the particles be
Also following a random distribution, the initial velocity of the ith particle is then expressed as
Extreme value of speed variation of parameter v imin v imax ]Generally setting the range of the parameter value interval to be 5-20 percent; for example, the parameter k 3 Value range of [ m ] 4min m 4max ]Is [1.03 1.3 ]]Interval range is 0.27, the 4 th dimension variable (parameter k) of each particle 3 ) Speed change extreme value of [ v ] 4min v 4max ]The value of [ -0.013 ] according to 5%]The value of [ -0.054.054 ] is 20%]。
Step 102, according to the formula
Updating the speed and position of each particle; the speed change of each dimension variable cannot exceed the corresponding speed change extreme value of each dimension variable, and the updating position of each dimension variable cannot exceed the corresponding value interval of each dimension variable. In the formula (15), n is the current iteration number, v n And m n Is the velocity vector and position of the particle; c. C 0 The value range is 0-1.4 for inertial weight, the search range and the search speed can be changed by adjusting the value of the inertial weight, and further, the adaptive reduction c is realized along with the increase of the iteration times 0 The value is favorable for achieving balance between searching capability and convergence speed; c. C 1 、c 2 Values are taken between 1 and 2 as learning factors, and the suggestions are all equal to 2;
is a random number with the value range of 0-1;
for the optimal solution (optimal position) found so far for the particle itself,
indicates the optimal solution (optimal position) of the particle group for the whole population up to now.
Step 103, the fitness value of each particle is calculated according to equation (14).
Step 104, for
And corresponding optimal particle fitness value are updated, to
And updating the corresponding particle swarm optimal fitness value.
Step 105, judging whether a cycle termination condition is met, if so, ending the particle swarm algorithm, and finally obtaining the optimal solution of the particle swarm as the optimal parameters of the sliding mode speed controller; otherwise, return to step 102.
The loop termination condition is typically to reach a maximum iteration step limit or an optimal particle adaptation value less than a certain threshold. Using particle swarm algorithm to carry out parameter c and k 1 、k 2 、k 3 、k 4 And (4) performing setting, wherein a maximum iteration step number limiting mode is adopted as a loop termination condition, and the maximum iteration step number is usually selected from 100-2000. Meanwhile, when the threshold condition of the particle swarm optimal fitness value is set, the rated rotating speed of the motor is set to be 1500r/min (corresponding to the rated rotor angular speed of 157 rad/s), and the starting time is required to be within 0.2s, then the threshold of the particle swarm optimal fitness value can be set to be 15.
Calculating the particle adaptability value of each particle according to the formula (14), and controlling the motor to start (or start in a simulation system) by taking each particle as a corresponding controller parameter in sequence to obtainTo e (t) of the required step response of the angular speed of the motor rotor in the formula (14), the transient process time t is determined according to e (t) m Calculating to obtain a particle fitness value Q 1 。
According to the PMSM electromagnetic torque and the motion equation, the constant step load can be regarded as a constant value in a change period, namely
The rotor angular speed and the load torque are used as state variables to form a PMSM state equation as follows:
based on equation (16), a load torque observer embodiment 1 is established with load torque and rotor angular velocity as objects to be observed:
in the formula (17), the reaction mixture is,
is an observed value of the load torque,
is an estimate of the rotor angular velocity, 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. When the motor friction is smaller in specific weight than the load torque, B =0, and the influence of the friction is ignored, load torque observer embodiment 1 of equation (17) becomes:
from (16) and equation (18) at B =0, the error equation of load torque observer embodiment 1 is obtained as:
in the formula (19), 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 (18) is k g ≤-|e 2 And g is less than 0.
Based on equation (16), 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 =0, ignoring the influence of friction, load torque observer embodiment 2 of equation (20) becomes:
in the formulae (20) and (21),
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 W is the proportional gain of load torque observer embodiment 2, load torque observer embodiment 2 being a state observer. From equations (16) and (21) when B =0, the error equation of the load torque observer embodiment 2 is obtained as:
in the formula (22), the reaction mixture is,
for the estimation error of the angular velocity of the rotor,
the error is observed for the load torque. The state observer of equation (21) is an autonomous linear system, at k W < 0, and g < 0, the observer is asymptotically stable. Both the formula (17) of the load torque observer embodiment 1 and the formula (20) of the load torque observer embodiment 2 take into consideration the friction factor of the motor, and the addition of small friction damping adversely affects the rapidity of the system response, but the stability can be increased on the basis of the formula (18) and the formula (21), respectively.
In observer embodiment 1 where expressions (17) and (18) are selected, sliding mode gain k g Is set according to
Selection is performed. In the formula (23), 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 can not enter the sliding form when | is largerA state; k is a radical of g The absolute value of the observer is selected to be large enough to ensure that the observer enters 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 (2) is changed along with the change of the load torque observation error, and the stability of the observer can be improved and the steady state observation fluctuation of the load torque can be reduced at the same time.
When observer example 2 of expressions (20) and (21) is selected, proportional gain k W Is set according to
A selection is made. In formula (24), T N Is the rated torque of the motor, beta is more than 0; in general, the β value is selected in the range of 1 to 20, for example, β =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 (17) and (18) or equations (20) and (21), 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 rejection of the sliding mode control system, an observer is used for observing the load disturbance change in real time, and the load torque observed value is subjected to feedforward compensation into the current regulator, so that the amplitude of a discontinuous term 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 driving control system of the electric variable pitch motor of the fan 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 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 drive control system of the electric pitch motor of the wind turbine 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 load torque set points for the last 2 times,
for the last 2 load torque observationsThe difference between the values. In the periodic control process of the primary motor drive control system, the adjustment of the feedback gain g shown in fig. 2 (b) is later than the load torque observation and the output calculation of the sliding mode speed controller, and there are:
step 1, a load torque observer carries out load torque T according to the existing feedback gain g value L Observing to obtain load torque observed value
The sliding mode speed controller carries out control operation to obtain a load torque set value
At this time
Is composed of
Is composed of
The next time the feedback gain g is adjusted by the periodic control process, that time
Become into
Become into
Step 2, calculating
Step 3, judgment
Whether or not it is greater than a given torque variation comparison threshold epsilon 1 (ii) a When the temperature is higher than the set temperature
Greater than a given torque variation comparison threshold epsilon 1 Taking feedback gain g equal to g min And withdrawing; when in use
Less than or equal to a given torque variation comparison threshold epsilon 1 If so, entering the step 4;
In the periodic control process of the primary motor speed, the adjustment of the feedback gain g shown in (a) in fig. 2 precedes the observation of the load torque and the calculation of the output of the sliding mode speed controller, the method for adjusting the feedback gain g changes the step 1 into the step 4, the steps 2-4 into the steps 1-3, the exit in each step is changed into the step 4, and
ΔTL*＝TL*k-1-TL*k-2。
when | Δ T L * | is greater than ε 1 Indicating a given value of load torque T L * The load torque observed value is in a large change state due to the change of system model parameters, the change of a rotor angular speed set value and the change of a rotor angular speed actual value, the fluctuation of the load torque observed value is large or large fluctuation exists, 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 made of
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,. Epsilon 1 ＞0，ε 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 percent of rated torque, epsilon 1 、ε 2 May be of the same value or of different values, e.g. rated torque 22N m, may be ε 1 ＝ε 2 =0.2N · 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 And g max The specific method of the value is that firstly, when the load torque is unchanged and the load torque observer and the sliding mode speed controller are both in a steady state, the feedback gain g is enabled to start from a larger value, for example, the feedback gain g is enabled to gradually decrease from-0.01, the steady state jitter observed by the load torque can gradually increase, and when the steady state jitter observed by the load torque reaches the steady state jitter observed by the load torque, the feedback gain g value at the moment is determined to be g max Keeping the load torque constant and making the feedback gain g equal to g max While continuously carrying out F 1 Next time
Measurement of the value, and 1 then
Maximum F in measurement 2 An
The average value of the measured values is used as the comparison threshold epsilon of the observed torque variation 2 Given a threshold value ε for torque change comparison 1 Comparison of threshold values epsilon at observed torque variations 2 The value is within 0.5-1.5 times; then, when the load torque observer and the sliding mode speed controller are both in a steady state, the load torque is suddenly changed, and g is adjusted and determined by shortening the tracking and adjusting time of the output observed value of the load torque observer as much as possible on the premise of ensuring that the torque observation tracking overshoot of the output observed value of the load torque observer is within the torque observation tracking overshoot limit value min The value is obtained.
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 drive control system of the electric pitch motor of the wind turbine 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 load torque set points for the last 2 times,
the difference between the last 2 load torque observations. In the periodic control process of the motor in the primary drive control system, the adjustment of the feedback gain g shown in (b) of fig. 3 is later than the load torque observation and the output calculation of the sliding mode speed controller, there are:
step I, the 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
Is composed of
Until the next adjustment of the feedback gain g, that time
Become into
Become into
Step II, calculating
Step III, judgment
Whether greater than epsilon; when the temperature is higher than the set temperature
When the feedback gain g is larger than epsilon, the feedback gain g is equal to g min (ii) a When in use
When the feedback gain g is less than or equal to epsilon, the feedback gain g is equal to g max ；
During the periodic control of the primary motor speed, the adjustment of the feedback gain g shown in fig. 3 (b) precedes the load torque observation and the output calculation of the sliding mode speed controller, and the feedback gain g adjustment method thereof changes the above step I to step III, steps II to III to steps I to II, and
when the sum of the variation of the given value of the load torque and the variation of the observed value of the load torque is obtained for the last 2 times
When the feedback gain g is larger than epsilon, the observed value of the load torque is shown to have large fluctuation, or the set value of the load torque is greatly changed 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 rotor angular speed and the change of the actual value of the rotor angular speed, and the feedback gain g is selected to be 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, epsilon is greater than 0, and the specific value of epsilon is synchronous with the sampling control period (cycle time) and permanent magnet of the sliding mode speed controllerThe motor and its load condition are related, e is in the range of larger than 0 and typically smaller than 5% of the rated torque, e.g. 22N · m for rated torque, e =0.2N · m, or e =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 max ＝0.5，g min And (4) = -10. Selecting g min And g max The specific method of the value is that firstly, when the load torque is unchanged and the load torque observer and the sliding mode speed controller are both in a steady state, the feedback gain g is enabled to start from a larger value, for example, the feedback gain g is enabled to gradually decrease from-0.01, the steady state jitter observed by the load torque can gradually increase, and when the steady state jitter observed by the load torque reaches the steady state jitter observed by the load torque, the feedback gain g value at the moment is determined to be g max Keeping the load torque constant and making the feedback gain g equal to g max While continuously carrying out F 1 Sub |. DELTA.T L * Value sum
Measurement of the value, and 1 maximum F in the secondary measurement 2 An
The average value of the sum is used as a torque variation comparison threshold epsilon; then, when the load torque observer and the sliding mode speed controller are both in a steady state, the load torque is suddenly changed, and the torque observation tracking overshoot for ensuring the output observation value of the load torque observer is within the torque observation tracking overshoot limit valueOn the premise of the load torque observer, g is adjusted and determined by the fact that the tracking adjustment time of the output observed value of the load torque observer is as short as possible min The value is obtained. In FIGS. 2 and 3, g max For high value of feedback gain, g min Is a low value of the feedback gain.
The observer parameters can also be adjusted by adopting optimization algorithms such as a particle swarm algorithm, a wolf swarm algorithm, a genetic algorithm and the like. The concrete method for setting the parameters in the embodiment 1 of the load torque observer or the embodiment 2 of the load torque observer used in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan by adopting the particle swarm optimization is as follows:
the objective function for comprehensively evaluating various performance indexes of the load torque observer in embodiment 1 of the drive control system of the electric variable pitch motor of the fan is established as
In formula (25), Q 21 The integral term in (1) is an IAE criterion of the motor load torque observation step response,
for load torque observation error, e 2 (t) is an instantaneous value of the observed error of the load torque, t p Tracking and adjusting time of the step response observed for the motor load torque, wherein t =0 is the load mutation moment of the step response observed for the load torque; q 21 The second term γ in (1) p1 (1-sgn(e 2 (t)+T δ ) Track an overshoot penalty function for torque observations, where γ p1 Taken one large enough (
5 times and more than a reasonable value), T) of positive number δ Tracking overshoot limit for torque observation, tracking overshoot limit when torque observation tracking overshoot does not exceed torque observation tracking overshoot limit T δ The torque observation tracking overshoot penalty function term is equal to 0 when, and is equal to gamma otherwise p1 。Q 22 Max (| e) in the first term 2 (t) |) Observation of Steady State for maximum TorqueAbsolute value of jitter, gamma p2 Taking a constant larger than 0 for the fitness balance weight coefficient; q 22 Middle second term gamma p1 (1-sgn(e 2 (t)+T Δ ) Is a penalty function for the steady state jitter of the torque observations, T Δ Observing a steady state jitter limit for the load torque; when the observed steady state jitter of the torque does not exceed the observed steady state jitter limit T of the load torque Δ The torque observed steady state jitter penalty function term is equal to 0 when, and is equal to γ otherwise p1 。Q 2 The function value is a target function value, namely a fitness value for setting the parameters of the load torque observer by adopting a particle swarm algorithm; the smaller the fitness value of the particle, the better the corresponding position. Gamma ray p1 When taking value, firstly, the value is estimated
Reasonable value (upper limit); for example, assuming that the rated torque of the motor is 22N m, the maximum predicted torque is observed to track the regulation time t p About 0.1s, the value of the integral term of the IAE criterion in the formula (25) is not more than 2; fitness balance side weight coefficient gamma p2 Has 2 functions, namely balancing IAE criterion integral term and maximum torque observation steady state jitter absolute value term, for example, setting load torque observation steady state jitter limit T Δ Is 1 N.m, then gamma p2 When 2 is taken, the IAE criterion integral term and the maximum torque observation steady-state shake difference absolute value term are relatively balanced, or the IAE criterion integral term and the maximum torque observation steady-state shake difference absolute value term are in the objective function value Q 2 Has the same effect as the above-mentioned medicine, in this case
Has a reasonable value of not more than 4, gamma p1 A constant equal to or greater than 20 may be used. Reduction of gamma p2 Value, then objective function value Q 2 The weight of the integral term of the middle IAE criterion is increased, and the rapidity of torque observation is more biased; increase gamma p2 Value, then objective function value Q 2 The weight of the steady-state shaking difference absolute value item observed by the medium and maximum torque is increased, and the steady-state performance observed by the torque is more biased. Gamma ray p3 Typically greater than or equal to 2, the magnitude of which determines how long the measurement of the steady-state jitter observed for the load torque is performed, e.g. gamma p3 When the value is equal to 6, tracking and adjusting time (namely transition process time) t is 5 times p The interval of (2) is measured for load torque observation steady state jitter.
The method comprises the following specific steps of optimizing parameters of a load torque observer in the embodiment 1 of the fan electric variable pitch motor drive control system by using a particle swarm algorithm:
step 201, initializing a particle swarm. Setting the initial position of the particles as
Where M is the number of particles, generally selected between 20 and 150, and the initial position is required to be subject to random distribution. For different optimized objects, there are:
(1) Aiming at the embodiment 1 of the load torque observer in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan, when the feedback gain automatic adjustment method embodiment 1 is adopted to carry out the feedback gain automatic adjustment, the parameter vector to be optimized is theta 1 ＝[G max ，G min ，ε 1 ，ε 2 ，α]At this time, the search space dimension N of the particle swarm algorithm is equal to 5.
(2) Aiming at the embodiment 1 of the load torque observer in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan, when the feedback gain is automatically adjusted by adopting the feedback gain automatic adjustment method embodiment 2, the parameter vector to be optimized is theta 2 ＝[G max ，G min ，ε，α]At this time, the search space dimension N of the particle swarm algorithm is equal to 4.
(3) Aiming at the embodiment 2 of the load torque observer in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan, when the feedback gain automatic adjustment method embodiment 1 is adopted to carry out the feedback gain automatic adjustment, the parameter vector to be optimized is theta 3 ＝[G max ，G min ，ε 1 ，ε 2 ，β]At this time, the search space dimension N of the particle swarm algorithm is equal to 5.
(4) Aiming at the embodiment 2 of the load torque observer in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan, the feedback gain automatic adjustment method embodiment 2 is adopted to carry out feedback gain automatic adjustmentWhen adjusting, the parameter vector to be optimized is theta 4 ＝[G max ，G min ，ε，β]At this point, the search space dimension N of the particle swarm algorithm is equal to 4.
In various embodiments of step 201, after constructing the optimal position in the particle, g max According to
g min According to
Calculating to obtain; sliding mode gain k g Calculated according to equation (23) based on parameter α, proportional gain k W Calculated according to equation (24) based on the parameter β.
In each embodiment of step 201, the position value interval of each parameter vector is [ p ] imin p imax ]The range interval can be given according to the prior knowledge or experience; for example, the parameter G max Value range of [ p ] 1min p 1max ]Is [ -4](ii) a Parameter G min Value range of [ p ] 2min p 2max ]Is [ -4](ii) a Parameter epsilon 1 Value range of [ p ] 3min p 3max ]And parameter ε 2 Value range of [ p ] 4min p 4max ]Are all [ 0.05T N ]，T N Rated torque of the motor; value range [ p ] of parameter epsilon 3min p 3max ]Is [ 0.05T N ](ii) a Value range [ p ] of parameter alpha 5min p 5max ](or [ p ] 4min p 4max ]) Is [ 15 ]](ii) a Value interval [ p ] of parameter beta 5min p 5max ](or [ p ] 4min p 4max ]) Is [1 20 ]]。
In each embodiment of step 201, since the initial positions of the particles are required to obey random distribution, and the spatial search algorithm of the particle swarm is linear, the feedback gain is directly set to a high value g max And a low value g of feedback gain min In the interval [ -5000 0]The low value interval of the absolute value of the feedback gain, which greatly affects the observer operating state when search optimization is performed, is, for example, the interval of [ -100 ]]In between, the probability of particle entry is small, and is smallerDifficult optimization to obtain high value g of feedback gain max And a low value of feedback gain g min The optimal position of (a). The feedback gain is not directly adjusted to a high value g in the optimization process max And a low value g of feedback gain min Search optimization is performed, but optimization is performed in a gain-like manner, with the parameter interval [ -100 ]]The search interval is expanded, and a high value g of the feedback gain is easily obtained max And a low value of feedback gain g min The optimal position of (a); at this time, the feedback gain is high value g max And a low value g of feedback gain min The parameter intervals of (A) are [ -10000-0.0001 [ -10000 [ -0.0001 [ ]](ii) a High value g of feedback gain max Under normal conditions, it will not be in the range [ -0.0001 0]Selecting within the range, otherwise, causing the observer to respond too slowly; in addition, the upper limit of the interval is-0.0001, and the high value g of the feedback gain can be avoided max The observer cannot work normally due to the value 0.
And 202, initializing the particle speed and the particle swarm optimal solution. Initial position p of each particle (0) As an initial optimum value p for each particle b (0) Calculating a fitness function value (i.e., a fitness value of the particle) of each particle according to equation (25) and storing the fitness function value as an optimal particle fitness value of each particle; comparing the fitness values of the particles to obtain an initial particle swarm optimal solution p g (0) And storing the particle swarm optimal fitness value. Let the initial velocity of the particles be
Also following a random distribution, the initial velocity of the ith particle is expressed as
Extreme value of speed variation of parameter u imin u imax ]Generally setting the range of the parameter value interval to be 5-20 percent; for example, the parameter G max Value range of [ p ] 1min p 1max ]Is [ -4]And the interval range is 8, the 1 st dimension variable (parameter G) of each particle max ) Speed change limit value u 1min u 1max ]The value of 5% is [ -0.4.0.4%]The value is [ -1.6.1.6 ] according to 20%]。
Step 203, according to the formula
Updating the speed and position of each particle; the speed change of each dimension variable cannot exceed the corresponding speed change extreme value of each dimension variable, and the updating position of each dimension variable cannot exceed the corresponding value interval of each dimension variable. In the formula (26), n is the current iteration number, u n And p n Is the velocity vector and position of the particle; c. C 0 The value range is 0-1.4 for inertial weight, the search range and the search speed can be changed by adjusting the value of the inertial weight, and further, the adaptive reduction c is realized along with the increase of the iteration times 0 The value is favorable for obtaining the balance between the searching capability and the convergence speed; c. C 1 、c 2 Values are taken between 1 and 2 as learning factors, and the suggestions are all equal to 2;
is a random number with the value range of 0-1;
for the optimal solution (optimal position) found so far for the particle itself,
indicates the optimal solution (optimal position) of the particle group for the whole population up to now.
In step 204, a particle fitness value for each particle is calculated according to equation (25).
Step 205, for
And the corresponding optimal particle fitness value is updated to
And updating the corresponding particle swarm optimal fitness value.
Step 206, judging whether a cycle termination condition is met, if so, ending the particle swarm algorithm, and finally obtaining the optimal solution of the particle swarm as the optimal parameters of the load torque observer; otherwise, return to step 203.
Loop termination conditions are typically either reaching a maximum iteration step limit or an optimal particle adaptation value less than a certain threshold. And (3) setting parameters of the load torque observer by adopting a particle swarm algorithm, and adopting a maximum iteration step number limiting mode as a cycle termination condition, wherein the maximum iteration step number is usually selected from 100-2000. When the threshold condition of the particle swarm optimal fitness value is set at the same time, the motor rated torque and the expected torque are required to be simultaneously referred to, observed, tracked and adjusted for time t p Torque observation tracking overshoot limit T δ Load torque observation steady state jitter tolerance value T Δ And the adaptability balance side weight coefficient gamma p2 Etc. to determine the threshold size; let the rated torque of the motor be 22 N.m, T δ Is 2 N.m, T Δ Is 1 N.m.gamma p2 Equal to 1.5, desired torque observation tracking adjustment time t p And the threshold value of the optimal fitness value of the particle swarm is set to be 1.8 s or less.
When the particle fitness value of each particle is calculated according to the formula (25), the parameters of the sliding mode speed controller of the fan electric variable pitch motor driving control system embodiment 1 are already set, and the control is performed under the condition of realizing the load torque compensation control. And (2) converting the position of each particle into corresponding load torque observer parameters in turn, and when the given angular speed of the motor is constant and the sliding mode speed controller is in a steady state, enabling the load torque to be suddenly changed, controlling the motor to operate (or operate in a motor simulation system) to obtain the required motor load torque observation step response e in the formula (25) 2 (t) according to e 2 (t) determining a transient time t p Calculating to obtain a particle fitness value Q 2 。
In the parameters of the load torque observer to be optimized, g max 、g min With a constraint g in between min ＜g max Corresponding to the constraint G min ＞G max . When initializing the particle position or updating the particle position according to equation (26), first, the particle position is initialized or updated
According to the value interval [ p 1min p 1max ]Performing position initialization or position update, then, the particles
According to value interval
Performing position initialization or position updating to make each particle of each iteration satisfy constraint condition G min ＞G max I.e. satisfies the constraint g min ＜g max 。
In the periodic control process of the speed of the permanent magnet synchronous motor in the embodiment 1 of the electric variable pitch motor driving control system of the fan, a given load torque value T calculated at the current k moment (or the k 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
The speed control method of the permanent magnet synchronous motor in the embodiment 1 of the driving control system of the electric variable pitch motor of the fan 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 b And i c ；
Step two, 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 Current i β According to the current i α Current i β And carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d Current i q ；
Step three, feedback gain g is given value T according to load torque L * And load torque observed value
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 new load torque observed value
And a torque current compensation component i ″ q ；
Step five, the sliding mode speed controller gives the angular speed omega according to the input rotor * And the angular speed omega of the rotor are controlled and calculated to obtain a given value of the load torque
And torque current given component i' q ；
Step six, giving component i 'according to torque current' q And torque current complementThe component i ″, which is compensated q Calculating to obtain a given value i of q-axis torque current q * (ii) a d-axis current controller according to d-axis torque current set value i d * And the current i under the d-axis coordinate system d PI control operation is carried out on the difference value between the two 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 * With current i in 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 above steps, the sequence of the step three and the step four and the step five can be interchanged, that is, the step four and the step five can be performed first, and then the step three can be performed. In the steps of three, four and five, the feedback gain is automatically adjusted firstly, then the load torque observation and the speed control are carried out,
both (b) in fig. 2 and (b) in fig. 3 are subjected to load torque observation and speed control, and then to feedback gain automatic adjustment,
ΔT L * ＝T L * (k)-T L * (k-1); in the above steps, the fourth step and the fifth step are performed first, and then the third step is performed.
Observation ofObtaining load torque observations
Then, the observed value of the load torque is measured
Converted into a torque current compensation component i ″) q Feedforward compensation is carried out to the input of a q-axis current PI controller, and a component i 'is given to a torque current output by a sliding mode speed controller' 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 (27), k q ＝1/(1.5pψ f ) The compensation factor is observed for torque. Comparing the equation (11) with the equation (27), when the load is disturbed or the system parameter is changed, the equation (11) does not add the load torque compensation, 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 (27) instead 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 a given rotation speed is changed at a rated load torque, although the actual load torque is not changed, as can be seen from the load torque observer constructed by equations (17), (18) or equations (20), (21), when the rotor angular velocity ω is changed, the observed torque observed value changes even if the load torque is not changed, resulting in 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 * q 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
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 if no change has occurred, the feedback gain g is adjustedObserved value of load torque
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
The observation error of the motor is further improved, and the rapidity and the accuracy of the speed control of the motor are further improved. Similarly, when the system model parameter changes, the given value T of the load torque is caused to change L * Prior to load torque observation
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 to the optical disk,
when a large change occurs, as can be seen from fig. 2 and 3, the feedback gain g can be automatically adjusted to eliminate (reduce) the load torque observed value as soon as possible
To make the load torque observed value
Follow the load torque T as soon as possible L A change in (c).
Further, in embodiment 1 of the driving control system for the electric variable pitch motor of the fan, after the parameters of the sliding mode speed controller and the parameters of the load torque observer are set in sequence manually or in an optimization manner, the parameters of the sliding mode speed controller can be manually fine-tuned under the condition of realizing the compensation control of the load torque, or the parameters of the sliding mode speed controller are re-optimized by adopting a particle swarm algorithm according to steps 101 to 105.
Fig. 4 is a block diagram of an embodiment 2 of a fan electric variable pitch motor drive control system for implementing a permanent magnet synchronous motor sliding mode control method based on a load torque observer. The difference between the embodiment 2 in fig. 4 and the embodiment 1 in fig. 1 is that the speed sliding mode controller adopts an integral sliding mode control mode, and the observed value of a load torque observer
Is sent to a speed sliding mode 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 given component of the torque current) output by the speed sliding mode controller in the embodiment 2 can be directly used as the given value of the q-axis torque current, and can also play a role in load torque compensation; given value T of load torque output by speed sliding mode controller L Δ Also already including load torque observations
The load torque observer directly calculates the given value T of the load torque 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 fan electric pitch motor drive control system embodiment 2 are:
selecting a sliding mode surface function as follows:
s y ＝c y y 1 +y 2 (29)
in the formula (29), c y Is a slip form face parameter, and c y Is greater than 0. In the formula (29) c y The coefficient of the rotor angular velocity error integral term, the influence of the magnitude 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 (29) can be:
on the basis of the traditional exponential approximation law, a new approximation law is adopted as follows:
μ 1 、μ 2 、μ 3 exponential rate coefficient for speed sliding mode control, where 1 ＞0，μ 2 ＞0，μ 3 Is greater than 0. When the rotor angular velocity error y of the motor 2 When | is larger, the term is calculated
The approaching speed of the variable speed approaching item is higher, and the approaching movement speed of the slip form can be accelerated; when existingy 2 When the ratio of the absolute value is smaller,
the approach speed of the variable speed approach term is smaller, and the buffeting can be weakened. Mu.s 3 The value can refer to the steady-state jitter limit value of the rotor angular speed when the permanent magnet synchronous motor stably runs, the value is suggested to be not more than the inverse value of the square of the allowable steady-state jitter limit value, and further, the value is taken in the range of 25% to 100% of the inverse value of the square of the allowable steady-state jitter limit value; for example, let the allowable steady-state jitter limit of the rotor angular velocity of the PMSM be 5rad/s (radian/second), with the inverse square value equal to 0.04, mu 3 Values can be taken within the range of 0.01 to 0.04. Mu.s 3 The magnitude of the variable speed coefficient changes the variable speed. E in the formula (31) is a natural exponent, i.e., the base of the natural logarithm.
Generally, the coefficient μ 1 Coefficient of sum μ 2 Are all less than 5000. Mu.s 1 And mu 2 Respectively, a variable speed approaching term coefficient and an exponential approaching term coefficient, because
Is changed in the vicinity of 1, and therefore, the coefficient μ of the shift approach term in the equation (31) 1 Coefficient of sum exponential 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 (31) to obtain:
combining formulas (31) and (32) directly use the calculated q-axis given current 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 (33), the load torque value T L Using the output value of a load torque observer
Instead of that. Defining the Lyapunov function as:
from formulas (30) and (31):
in the formula (35), 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 in a limited time, and the system can stably run.
Setting parameter c in designing sliding mode speed controller y 、μ 1 、μ 2 、μ 3 By the artificial method of (1), first determining mu 3 A value of (d); let the output value of the load torque observer in equation (33)
(i.e., without load torque compensation control), and then adjusting the sliding mode surface parameter c 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 inhibiting and system state convergence speed are considered, 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 suppression of the slip mode buffeting is compatibleThe exponential approximation term coefficient μ is adjusted primarily based on the rapidity of the system arrival segment (e.g., the motor start phase of the step response) 2 And making appropriate fine adjustments to other parameter values of the sliding mode speed controller.
The load torque observer in the embodiment 2 of the electric variable pitch motor driving control system of the blower still adopts the embodiment 1 of the load torque observer or adopts the embodiment 2 of the load torque observer; 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 in dependence on the rotor angular velocity omega and the current i q To load torque T L Observing to obtain load torque observed value
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 drive control system of the electric pitch motor of the wind turbine in fig. 4, the feedback gain is automatically adjusted. In FIG. 5, ε is the torque change comparison threshold, ε > 0; g is a radical of formula max For high value of feedback gain, g min Is a feedback gain low value, and g min ＜g max ＜0；ΔT L Δ The difference between the load torque set points for the last 2 times. When the feedback gain g is adjusted prior to the calculation of the output of the sliding mode speed controller during the periodic control of the primary motor speed, the feedback gain g shown in (a) of fig. 5 is based on
The specific method for adjusting and observing the load torque comprises the following steps:
step (1), calculating
Step (a)2) And judging
Whether the torque variation is greater than a torque variation comparison threshold epsilon; when the temperature is higher than the set temperature
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
Step (4), the sliding mode speed controller performs control operation and outputs a load torque set value
At this time
Is composed of
Until the next periodic control process of the motor speed, the given value of the output load torque becomes
The feedback gain g adjustment method shown in fig. 5 (b) changes the above-described steps (3) - (4) to steps (1) - (2), steps (1) - (2) to steps (3) - (4),
because of T L Δ The output items of (2) include the parameters of the system model,Given component in changing state of rotor angular speed given value and rotor angular speed actual value
Also includes compensating the load torque observed term
When the given value of the load torque changes by a value | Delta T for the last 2 times L Δ When | is greater than epsilon, it indicates that the observed value fluctuation of the load torque is large, or the T is changed due to the change of system model parameters, the change of the set value of the rotor angular speed and the change of the actual value of the 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 subentries in (1) 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 e 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 e is a value within a range that e is greater than 0 and is generally less than 5% of a rated torque, for example, the rated torque is 22N · m, e =0.2N · m, or e =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 is a radical of formula 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 values are specified by first, at constant load torque, a load torque observer and a slipWhen the mode speed controllers are all in a steady state, the feedback gain g is made to start from a larger value, for example, the feedback gain g is made to gradually decrease from-0.01, the steady-state jitter observed by the load torque is gradually increased, and when the steady-state jitter observed by the load torque is increased to the steady-state jitter limit value observed by the load torque, the feedback gain g at the moment is determined to be g max Keeping the load torque constant and making the feedback gain g equal to g max While continuously carrying out F 1 Sub |. DELTA.T L Δ Measurement of | value, and will F 1 Maximum F in the sub-measurement 2 A | Delta T L Δ The average value of the | measured values is used as a torque variation comparison threshold epsilon; then, when the load torque observer and the sliding mode speed controller are both in a steady state, the load torque is suddenly changed, and g is adjusted and determined by shortening the tracking and adjusting time of the output observed value of the load torque observer as much as possible on the premise of ensuring that the torque observation tracking overshoot of the output observed value of the load torque observer is within the torque observation tracking overshoot limit value min The value is obtained.
G is selected from the above 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; when the parameter value is determined manually, suggestion F is made 1 Is an integer of 20 or more, F 2 Is not less than 5 and not more than 0.5F 1 Is an integer of (1).
In embodiment 2 of the driving control system for the electric variable pitch motor of the wind turbine, parameters of the sliding mode speed controller and the load torque observer can be set by adopting optimization algorithms such as a particle swarm algorithm, a wolf pack algorithm, a genetic algorithm and the like under the condition of realizing load torque compensation control. The specific method for setting parameters in the sliding mode speed controller and the load torque observer embodiment 1 (or the load torque observer embodiment 2) of the fan electric variable pitch motor drive control system embodiment 2 by adopting the wolf colony algorithm is as follows:
system motor given rotor angular speed omega * Is a sine wave signal, as shown in (a) of fig. 6. Given the angular speed ω of the rotor * The sine wave signal having a period of T * Maximum value of angular speed of rotor
Not greater than rated angular speed of motor and minimum value of rotor angular speed
Not less than 10% of rated angular speed of motor and maximum value of angular speed of rotor
Minimum value of angular speed of rotor
The difference between the two is not less than 50% of the rated angular speed of the motor. Let T be the starting rise time to rated rotation speed when the fan electric variable pitch motor drive control system embodiment 2 is started with rated load torque r Then T is * At 5-10T r Selecting. The system motor gives the angular speed omega of the rotor according to the sine wave * When the signal is running, a load torque T is applied according to (b) in FIG. 6 L That is, the system motor gives the rotor angular velocity ω in accordance with a sine wave * When the signal starts to operate, the load torque is a low value T of the load torque Lmin (ii) a After the motor enters the rotor angular speed stable following state, the load torque is changed from a low value T Lmin Mutation increases to a high value of T Lmax (ii) a The load torque is maintained at a high value T Lmax Run time T 1 * Then, from a high value T Lmax Reduction of the mutation to a low value of T Lmin (ii) a Wherein the load torque is high value T Lmax Not greater than rated load torque T of motor N Low value of load torque T Lmin Not less than 10% of rated load torque of motor, and high value T of load torque Lmax With low value T of load torque Lmin The difference between the motor load and the motor load is not less than 50 percent of rated load torque of the motor;
is 2-5T * To a random value. The system motor gives the angular speed omega of the rotor according to the sine wave * The signal runs for at least 2 periods T * Then entering a stable following state of the angular speed of the rotor.
FIG. 7 shows 1 sine wave period T in the steady following state of the rotor angular velocity of the motor * Given rotor angular velocity signal and rotor angular velocity response diagram, where curve (1) is given rotor angular velocity ω * Curve (2) is the rotor angular velocity response ω, with buffeting present. To clearly distinguish ω * And ω, given rotor angular velocity ω in FIG. 7 * And the rotor angular velocity response omega in a different scale from the ordinate of the vertical axis of the rotor angular velocity response omega. Rotor angular velocity tracking jitter omega z For the buffeting amplitude of the rotor angular velocity ω, the tracking delay time τ is the delay time between the rotor angular velocity ω and a given rotor angular velocity ω ×. In FIG. 7,. Omega. o For a given rotor angular velocity sinusoidal signal mid-line value, ω z1 Tracking jitter at the rotor angular velocity peak when the rotor angular velocity response omega is at a maximum state (peak state), tau 1 Tracking delay time, ω, for negative crossing of rotor angular velocity z2 Is the rotor angular velocity valley tracking jitter, tau, when the rotor angular velocity response omega is in the minimum state (valley state) 2 Is the rotor angular velocity is crossing the tracking delay time. Continuous measurement involving load torque from a low value T Lmin Mutation increasing to a high value T Lmax To load torque from a high value T Lmax Reduction of the mutation to a low value of T Lmin For example, 10 or more than 10T periods * Period) of the rotor angular velocity peak-to-peak tracking jitter ω z1 Rotor angular velocity valley bottom tracking jitter omega z2 Negative crossing tracking delay time tau 1 Positive crossing tracking delay time tau 2 (ii) a Rotor angular velocity tracking jitter omega z For the multiple periods omega z1 And ω z2 Average value of (a); the tracking delay time is equal to the multiple periods 1 And τ 2 Average value of (a). The method comprises the steps of adopting a sinusoidal signal as a given rotor angular speed signal of a motor, controlling load torque sudden change when the motor runs, constructing performance indexes through tracking jitter of the rotor angular speed and tracking delay time of the rotor angular speed to simultaneously optimize parameters of a sliding mode speed controller and a load torque observer, and enabling the load torque observer to observe the load torqueThe influence of good and bad performance is unified to the rotor angular speed performance index, the parameter optimization process is simplified, and meanwhile, the rotor angular speed performance index can be improved to the maximum extent.
Obtaining the tracking jitter omega of the rotor angular velocity peak z1 The method comprises the following steps: taking the average value of 2 times of maximum sampling values of the rotor angular speed in a peak top area as the maximum value of the peak top, and taking the minimum sampling value between the sampling moments of the 2 times of maximum sampling values as the minimum value of the peak top; rotor angular velocity peak tracking jitter omega z1 Is the absolute value of the difference between the peak-top maximum and the peak-top minimum. Obtaining rotor angular velocity valley bottom tracking jitter omega z2 The method comprises the following steps: taking the average value of 2 times of minimum sampling values of the angular speed of the rotor in a valley bottom area as a valley bottom minimum value, and taking the maximum sampling value between the sampling moments of the 2 times of minimum sampling values as a valley bottom maximum value; rotor angular velocity valley bottom tracking jitter omega z2 Is the absolute value of the difference between the minimum value of the bottom of the valley and the maximum value of the bottom of the valley.
Obtaining a negative crossing tracking delay time tau 1 And positive crossing tracking delay time tau 2 The method comprises the following steps: taking the central point of the previous sampling moment of the first negative crossing of the rotor angular velocity and the next sampling moment of the last negative crossing of the rotor angular velocity as the negative crossing moment of the rotor angular velocity; giving the absolute value of the time difference between the rotor angular speed negative crossing moment and the rotor angular speed negative crossing moment as a negative crossing tracking delay time tau 1 . Taking the central point of the previous sampling moment when the rotor angular velocity is passing through for the first time and the next sampling moment when the rotor angular velocity is passing through for the last time as the rotor angular velocity passing through moment; the absolute value of the time difference between the moment when the rotor angular velocity is crossing and the moment when the rotor angular velocity is crossing is given as the tracking delay time tau of positive crossing 2 。
Tracking delay time τ with negative crossing 1 Further illustrating the calculations of (a) fig. 8 is a schematic diagram of a negative crossing over at a given rotor angular velocity signal and rotor angular velocity response signal. Negative crossing means that the sinusoidal signal for a given rotor angular velocity and the rotor angular velocity response signal crosses the centerline of the sinusoidal signal for a given rotor angular velocity from large to small, in FIG. 8, ω o The transverse line is a given rotationA sub angular velocity sinusoidal signal mid-line value line; tau is a For a given rotor angular velocity negative crossing instant. Due to buffeting, multiple times of negative crossing are formed in an actual sampling value of the rotor in a one-time negative crossing process of the angular speed of the rotor; in fig. 8, points (1) to r are sampling points of the angular velocity response of the rotor, where the sampling values of points (1), (2), (3), (5), and (7) are greater than the centerline value ω o Sampled values at points (4), (6), (8), (9) and R < mid-line value omega o . In the process of the negative crossing of the rotor angular speed, the sampling time of the point (3) is the previous sampling time tau of the first negative crossing b1 The sampling time of the point (8) is the sampling time tau after the last negative crossing b2 ，τ b Is tau b1 And τ b2 The center point of (a). A special case is that only one negative crossing occurs in a certain rotor angular velocity negative crossing process, and the negative crossing is the first negative crossing and also the last negative crossing. The given rotor angular velocity negative crossing time and the given rotor angular velocity positive crossing time may both be calculated from a given rotor angular velocity ω · sinusoidal signal. The meaning of a positive crossing tracking delay time is similar to a negative crossing tracking delay time.
The objective function for comprehensively evaluating the performance indexes of a sliding mode speed controller and a load torque observer in embodiment 2 of the electric variable pitch motor drive control system of the fan is established as
Q 3 ＝ω z +γ z τ (36)
In formula (36), Q 3 The adaptive value is a target function value, namely an adaptive value for parameter optimization of a sliding mode speed controller and a load torque observer in the embodiment 2 of the fan electric variable pitch motor driving control system by adopting a wolf pack algorithm, and consists of a rotor angular speed tracking jitter term and a tracking delay time term; gamma ray z The fitness balance adjustment coefficient is a constant larger than 0; setting a steady-state shake difference limit value omega of the angular speed of the rotor of the system Δ 1.5rad/s, start-up rise time T of the motor r Is 0.1s, and the tracking delay time tau is not more than the starting rising time T under the normal working condition r Thus, γ z When the value is 15, the tracking delay time term and the rotor angular speed tracking jitter term are betweenRelative balance; or the tracking delay time term and the rotor angular speed tracking jitter term play equivalent roles; reduction of gamma z Value, then objective function value Q 3 The weight of the angular speed tracking jitter term of the middle rotor is increased, and the system performance is more biased to the stability of speed control; increase gamma z Value, then objective function value Q 3 The weight of the middle tracking delay time item is increased, and the system performance is more biased to the rapidity of speed control.
The method for optimizing parameters of the sliding mode speed controller and the load torque observer in the embodiment 2 of the electric variable pitch motor drive control system of the fan by the wolf colony algorithm comprises the following specific steps:
in step 301, a wolf pack is initialized. The initial position of the wolf in the wolf group is set as
Wherein M is the number of wolfs in the wolf group, generally selected from 20-150, and the initial position requirement is subject to random distribution. For different optimized objects, there are:
(1) For the sliding mode speed controller and the load torque observer embodiment 1 in the fan electric variable pitch motor drive control system embodiment 2, when the feedback gain automatic adjustment method embodiment 3 is adopted to perform the feedback gain automatic adjustment, the parameter vector to be optimized is theta z1 ＝[c y ，μ 1 ，μ 2 ，μ 3 ，G max ，G min ，ε，α]When the search space dimension N of the algorithm is equal to 8; the position of the ith individual wolf (ith wolf) is indicated as
Corresponding to the parameter vector theta to be optimized z1 。
(2) Aiming at the sliding mode speed controller and the load torque observer embodiment 2 in the fan electric variable pitch motor drive control system embodiment 2, when the feedback gain automatic adjustment method embodiment 3 is adopted to carry out the feedback gain automatic adjustment, the parameter vector to be optimized is theta z2 ＝[c y ，μ 1 ，μ 2 ，μ 3 ，G max ，G min ，ε，β]When the search space dimension N of the algorithm is equal to 8; the position of the ith individual wolf (ith wolf) is indicated as
Corresponding to the parameter vector theta to be optimized z2 。
In each embodiment of step 301, the finally constructed wolf location is the optimal location, the parameters thereof are the optimal parameters, g max According to
g min According to
Calculating to obtain; sliding mode gain k g Calculated according to equation (23) based on parameter α, proportional gain k W Calculated according to equation (24) based on the parameter β.
In each embodiment of step 301, the position value interval is [ z ] imin z imax ]The range interval can be given based on prior knowledge or experience, e.g. the parameter c y Value range of [ z ] 1min z 1max ]Is [0 100 ]](ii) a Parameter mu 1 Value range of [ z ] 2min z 2max ]Is [0 5000 ] of](ii) a Parameter mu 2 Value range of [ z ] 3min z 3max ]Is [0 5000 ] of](ii) a Parameter mu 3 Value range of [ z ] 4min z 4max ]Is [ 0.25/omega ] Δ 2 1/ω Δ 2 ]，ω Δ Is a steady-state jitter tolerance limit value of the angular speed of the rotor; parameter G max Value range of [ z ] 5min z 5max ]Is [ -4](ii) a Parameter G min Value range of [ z ] 6min z 6max ]Is [ -4](ii) a Value range [ z ] of parameter epsilon 7min z 7max ]Is [ 0.05T ] N ]，T N Is the rated torque of the motor; value range [ z ] of parameter alpha 8min z 8max ]Is [ 15 ]]Or, the value range [ z ] of the parameter beta 8min z 8max ]Is [1 20 ]]。
Step 302, hunting for competition. According to formula (36)Calculating the adaptive value of each wolf in the wolf group, wherein the smaller the adaptive value is, the better the position of the wolf is, and selecting the R with the optimal position 1 The wolf is a competitive wolf. R 1 The hunting wolves are developed by the hunting wolves according to the formula (37), and each hunting wolve competes for the wolf head according to the size of the adaptive value, which specifically comprises the following steps:
step 3021, randomly selecting h for each wolf 1 A direction, which is further advanced and then retreated according to formula (37) along each direction search parameter; calculating the adaptive value after the forward movement according to the formula (36), selecting the minimum adaptive value in all directions, and replacing the home position of the wolve race with the position of the minimum adaptive value if the minimum adaptive value is smaller than the adaptive value of the home position of the wolve race;
step 3022, repeating h for each wolf race 2 The next step 3021;
step 3023, all R 1 After the step 3022 is completed, the best-positioned wolf race is selected as the wolf head.
In the formula (37), i =1,2, \8230;, R 1 (ii) a j =1,2, \ 8230;, 8; rand (-1, 1) is uniformly distributed in [ -1.1 ]]A random number within; l =1,2, \8230;, h 1 (ii) a Stepa is the hunting step length, and the value range of the suggested Stepa is [ 0.1.0.9 ]]；z i ＝[z i1 z i2 …z i8 ]Is the location of the ith winning wolf. R 1 Suggested in the interval [0.1M 0.25M]Taking a fixed value or a random value; number of directions h 1 Suggested in the interval [ 38]Value, repetition number h 2 Suggested in the interval [3 10]And (4) taking values.
Step 303, call a flush. The wolfs except the competitive wolf develop the running search behavior according to the formula (38) and run towards the head wolf. Calculating an adaptive value of a new position according to an equation (36), and changing the position of the new position searched by the ith wolf when the new position is superior to the current position of the ith wolf, otherwise, keeping the position unchanged; if the new position searched by the ith wolf is better than the wolf position, the ith wolf is converted into the wolf and the call for the attack is reissued.
z′ ij ＝z ij +rand(-1，1)·stepb·(z bj -z ij ) (38)
In the formula (38), i =1,2, \8230;, M-R 1 ；j＝1，2，…，8；z′ i ＝[z′ i1 z′ i2 …z′ i8 ]Indicating the location of the ith wolf search update; z is a radical of i ＝[z i1 z i2 …z i8 ]Represents the current position of the ith wolf; z is a radical of b ＝[z b1 z b2 …z b8 ]Indicating the current wolf location; stepb is the running step length, and the value range of the suggested Stepb is [ 1.3.2.5 ]]。
And step 304, the prey is attacked. Upon summoning of the wolf, other wolfs push (39) deploy a containment of the prey. Calculating an adaptive value of a new position according to the formula (36), and changing the position of the wolf when the new position searched in the chasing process of the ith wolf is better than the current position, otherwise, keeping the position unchanged; if the ith wolf is containment in the new position found to be better than the wolf position, then the ith wolf is converted to a wolf.
In formula (39), i =1,2, \8230;, M-1; j =1,2, \8230, 8;
representing the current position of the ith wolf (i.e. the position over n iterations),
representing the attack update position of the ith wolf; z is a radical of formula b ＝[z b1 z b2 …z b8 ]Indicating the current head wolf position; delta is a pre-established threshold value, and the value range of the suggested delta is [ 0.1.0.4](ii) a Stepc is the attack step size and is calculated according to equation (40).
In the formula (40), n is the current iteration number, and n max Is the set maximum iteration number; stepc max 、stepc min Respectively the set maximum attack step length and the set minimum attack step length. Suggested stepc min Is in the range of [ 0.3.1.3]，stepc max Is taken to be stepc min From 5 to 100 times. z is a radical of formula jmax And z jmin Respectively is the maximum value and the minimum value of the value interval of the jth dimension parameter. E in the formula (40) is a natural exponent, i.e., a base of a natural logarithm.
Step 305, the conditional judgment is terminated. If the loop iteration times reach, or the head wolf adaptive value is smaller than a certain threshold value, the optimization process is terminated, and the head wolf position parameter is the optimal parameter; otherwise let n = n +1, go to step 306.
Step 306, contend for updates. Randomly generating R according to the principle of high-priority and low-priority 2 Replacement of R in wolf group by wolf 2 The wolf with the worst fitness value is matched, and the wolf group is updated by competition, and the process goes to step 302.R 2 Suggested in the interval [0.05M 0.15M]Take a fixed value or a random value.
In the above steps, a new position of the individual wolf is randomly generated, or when the individual wolf searches for the new position, the dimensional variable of the new position of each wolf cannot exceed the value range corresponding to the variable. Among the parameters to be optimized, g max 、g min With a constraint g in between min ＜g max Corresponding to the constraint G min ＞G max . When randomly generating a new location of an individual wolf or searching for an individual wolf to generate a new location, first, the individual wolf z i Parameter z in i5 According to the value interval [ z 5min z 5max ]Randomly generating a location or making a location update, then the individual wolf z i Parameter z of i6 According to the value range [ z i5 z 6max ]Randomly generating position or updating position to make individual wolf z i Satisfies the constraint condition G min ＞G max I.e. satisfies the constraint g min ＜g max 。
In step 305, the termination condition adopts a maximum iteration step number limiting mode, and the maximum iteration number n max Suggesting an interval [20 500]A fixed value is taken. Meanwhile, when the condition that the head wolf adaptive value is smaller than a certain threshold value is set, the threshold value condition needs to comprehensively consider the rapidity and the stability of speed control. For example, rotor angular velocity steady state jitter limit ω Δ 1.5rad/s, start-up rise time T of the motor r Is 0.1s, gamma z At a value of 15, the threshold for the termination condition may be selected to be 1.5.
In each step, when calculating the adaptive value of the new position according to equation (36), it is required to sequentially convert the individual position of the wolf into corresponding parameters of the sliding-mode speed controller and the load torque observer, control the operation of the motor (or operate in a simulation system), and set the angular speed ω of the rotor in the system motor * Being a sine wave signal, load torque T L Under the condition that the rotor angular speed is in a stable following state and suddenly changed, the speed response of the motor is obtained, and the tracking jitter omega of the rotor angular speed is determined according to the speed response z And tracking the delay time τ, and calculating an adaptation value according to equation (36).
In the periodic control process of the speed of the permanent magnet synchronous motor in the embodiment 2 of the electric variable pitch motor driving control system of the fan, the given value of the load torque calculated at the current k moment (or the k step) is used
Is marked 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
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
When the feedback gain g is adjusted according to (a) in fig. 5, the periodic control process of the speed of the permanent magnet synchronous motor includes 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 b 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 ；
Step three, feedback gain g is given according to load torque
Is adjusted;
observing the load torque by a load torque observer to obtain a load torque observed value
Step five, the sliding mode speed controller carries out control calculation to obtain a given value of the 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 * With current i in d-axis coordinate system d PI control operation is carried out on the difference value between the two 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 PI control operation is carried out on the difference value between the two to obtain a control voltage U under a q-axis coordinate system q (ii) a According to control voltage U under 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 The SVPWM module is used for controlling a three-phase inverter to generate a three-phase alternating current power supply U as input of the SVPWM module 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 fourth and fifth steps are performed first, and the content of the third step is performed later.
Inclusion of a compensated binomial load torque observation in the output term of a sliding-mode speed controller of equation (33)
When the load is disturbed or the system parameter is changed, a given current change quantity which is large enough to counteract the related influence of the disturbance of the load or the change of the system parameter can be provided, 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 Automatically adjusting to a given value T of load torque when the given speed is changed L Δ Changing, 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 generated really, the response speed of the observer can be increased, and the observed value of the load torque can be eliminated (reduced) as soon as possible
The observation error of the motor speed control is further improved, and the rapidity and the accuracy of the motor speed control are further improved. Similarly, when the system parameter changes, the given value T of the load torque is caused to change L Δ Prior to load torque observation
When the change occurs, the feedback gain g changes according to the variable quantity delta T of the given value of the load torque L Δ 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, if a disturbance occurs in the load
When a change occurs,. DELTA.T L Δ Also, the feedback gain g varies by an amount Δ T according to the set value of the load torque L Δ Automatic adjustment is performed to eliminate (reduce) the observed value of the load torque as soon as possible
To make the load torque observed value
Follow the load torque T as soon as possible L A change in (c).
Embodiment 2 of a fan electric variable pitch motor driving control system with a speed sliding mode controller adopting an integral sliding mode control mode, wherein the feedback gain of the system is set according to a load torque set value T L Δ The algorithm for automatically adjusting the variation is applied to the embodiment 1 of the driving control system of the electric variable pitch motor of the fan, and the feedback gain is based on the sum of the variation of the given value of the load torque and the variation of the observed value of the load torque for the last 2 times
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
If the observed value of load torque has large fluctuation due to the change of the set value of rotor angular speed or/and the change of the actual value of rotor angular speed, the feedback gain g is adjusted in advance, and if the observed value of load torque has large fluctuation due to the change of the set component of the set value of load torque caused by the change of the system model parameters, the feedback gain g is adjusted in advance, and if the observed value of load torque has large fluctuation, the feedback gain g is adjusted in advance
When the observation error is generated really, the response speed of the observer is accelerated, and the observed value of the load torque is reduced quickly
And observation error ofThe speed and accuracy of the motor speed control are further improved.
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 steady-state jitter limit value of the load torque observation is the torque observation transition process, and the tracking adjustment time refers to the time of the transition process. The load torque observation steady state jitter refers to an error between an observation torque instantaneous value and a load torque when the load torque is unchanged and a load torque observer is in a steady state, wherein the error comprises an observation error caused by buffeting of the sliding mode observer and an observation error caused by interference reasons except load fluctuation, or the observation error caused by rotor angular speed buffeting and the observation error caused by interference reasons except load fluctuation of the state observer; the load torque observation steady-state jitter limit value is the maximum absolute value of the load torque observation steady-state jitter allowed by the load torque observer; the load torque observation steady-state jitter limit is generally the same as the maximum value of the load torque observation steady-state error allowed by the system; the load torque observed steady state jitter limit is typically 1% to 5% of the rated torque of the motor, specifically, the load torque observed steady state jitter 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 jitter of the load torque is within a range near the observed steady state jitter 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 jitter of the load torque is deemed to have increased to the observed steady state jitter 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 jitter refers to a difference value between an instantaneous value and a steady-state value of the angular speed of the motor rotor in a steady state, and the rotor angular speed steady-state jitter limit value is a maximum absolute value of the rotor angular speed steady-state jitter 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 refers to an operating state of the state observer after a transient process of torque observation. The rotor angular speed steady-state jitter refers to a difference value between an angular speed instantaneous value and a steady-state value of the motor rotor in a steady state, and the rotor angular speed steady-state jitter limit value is a maximum absolute value of the rotor angular speed steady-state jitter allowed by a system; the rotor angular velocity steady-state jitter limit is generally the same as the maximum value of the rotor angular velocity steady-state error allowed by the system.
In the invention, the variable pitch motor of the driving control method of the electric variable pitch motor of the fan is a permanent magnet synchronous motor, and the driving control system of the electric variable pitch motor of the fan is a speed control system of the permanent magnet synchronous motor. The speed control system and the speed control method of the permanent magnet synchronous motor provided by the invention can be used for the electric variable pitch drive control of the fan 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 (6)
1. A fan electric variable pitch motor drive control method based on sliding mode observation is characterized in that the speed of a permanent magnet synchronous motor is controlled by a sliding mode speed controller, a load torque observer observes load torque, and the load is converted into a torqueThe output of the moment observer is used for carrying out load torque compensation on the output of the sliding mode speed controller; the method is characterized in that a load torque observer adjusts feedback gains according to changes of a load torque given value and changes of a load torque observation value, and the feedback gains are adjusted according to a rotor angular velocity omega and a current i q Observing the load torque to obtain a new load torque observation value; the q-axis torque current given value is the sum of a torque current given component and a torque current compensation component;
the state variable of the sliding mode speed controller is
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 = cx 1 +x 2 C is a sliding mode surface parameter, and c is more than 0; slip-form speed controller output load torque set value
And torque current given component i' q Is composed of
Wherein J is the moment of inertia, p is the motor pole pair number, psi f Is a permanent magnet flux linkage; coefficient k 1 、k 2 、k 3 、k 4 Exponential rate coefficient for speed sliding mode control, and k 1 ＞0，k 2 ＞0，1＜k 3 ＜2，k 4 ＞0；
The load torque observer is
Wherein the content of the first and second substances,
as an observation of the load torque,
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 and k g ≤-|e 2 /J|，
For load torque observation errors, T L Is the load torque.
2. The method for controlling the driving of the electric variable-pitch motor of the fan based on the sliding-mode observation according to claim 1, wherein the method for adjusting the feedback gain by the load torque observer according to the change of the given value of the load torque and the change of the observed value of the load torque comprises the following steps:
step 1, 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 a load torque set value
Step 2, calculating
Step 3, judgment
Whether or not greater than epsilon 1 (ii) a When in use
Greater than epsilon 1 Taking feedback gain g equal to g min And withdrawing; when the temperature is higher than the set temperature
Is less than or equal to epsilon 1 If so, entering the step 4;
step 4, judgment
Whether or not greater than epsilon 2 (ii) a When the temperature is higher than the set temperature
Greater than epsilon 2 Taking feedback gain g equal to g min And withdrawing;
when in use
Is less than or equal to epsilon 2 Taking feedback gain g equal to g max And withdrawing;
ε 1 comparing threshold values for a given torque change, and e 1 ＞0；ε 2 Comparing threshold values for observed torque variations, and e 2 ＞0；g max For high value of feedback gain, g min Is a low value of feedback gain, and g min ＜g max ＜0。
3. The wind turbine electric variable pitch motor drive control method based on sliding mode observation according to claim 2, characterized in that the torque current compensation component i ″' is q Is composed of
Set value of q-axis torque current
Is composed of
4. The sliding-mode observation-based fan electric variable pitch motor drive control method of claim 3, wherein parameters of the load torque observer are optimized and set by adopting a particle swarm optimization, and the method is that a parameter vector to be optimized is theta 1 ＝[G max ，G min ，ε 1 ，ε 2 ，α]；g max And G max In a relationship of
g min And G min In a relationship of
k g In relation to alpha is
Wherein alpha is more than or equal to 1;
an objective function for calculating the fitness value of each particle is
Q 2 Is the fitness value of the particle;
for load torque observation error, e 2 (t) is the instantaneous value of the observed error of the load torque, t p The tracking and adjusting time of the step response is observed for the load torque of the motor, and t =0 is the load of the step response observed for the load torqueThe moment of mutation; q 21 The second term γ in (1) p1 (1-sgn(e 2 (t)+T δ ) Track an overshoot penalty function for torque observations, T δ Tracking overshoot limit, gamma, for torque observation p1 Taking a positive number large enough; max (| e) 2 (t) |) is the absolute value of steady-state jitter observed by the maximum torque, gamma p2 Taking a constant larger than 0 for a fitness balance weight coefficient; q 22 Middle second term gamma p1 (1-sgn(e 2 (t)+T Δ ) Is a penalty function for the steady state jitter of the torque observations, T Δ Observing a steady state jitter limit for the load torque; gamma ray p3 ≥2。
5. The wind turbine electric variable pitch motor drive control method based on sliding mode observation according to claim 4, characterized in that parameters of the sliding mode speed controller are optimized and set by a particle swarm optimization, and the method is that a parameter vector to be optimized is theta = [ c, k ] 1 ，k 2 ，k 3 ，k 4 ]；
An objective function for calculating the fitness value of each particle is
Q 1 Is the fitness value of the particle; e (t) is instantaneous value of rotor angular speed error, t m The method comprises the steps that the transition process time of the angular speed step response of a motor rotor is represented, and t =0 is the starting time of the step response of the motor; q 11 The second term γ in (1) m1 (1-sgn(e(t)+ω δ ) Is an angular velocity overshoot penalty function, where γ m1 Is a sufficiently large positive number, ω δ The rotor angular speed overshoot limit; q 12 For the steady state jitter penalty function, ω Δ Is a steady-state jitter tolerance limit value of the angular speed of the rotor; gamma ray m2 ≥2。
6. Fan electric pitch motor drive control method based on sliding mode observation according to any of claims 1-5, characterized in that the rotor position of the PMSM is detectedTheta and three-phase current i 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 Current i β According to the current i α Current i β Carrying out Park conversion on the rotor position theta to obtain a current i under a d-q axis coordinate system d Current i q 。
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