CN117335702A - Control method of permanent magnet synchronous motor of pumping unit based on cascading sliding mode observer - Google Patents
Control method of permanent magnet synchronous motor of pumping unit based on cascading sliding mode observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention relates to the technical field of pumping unit control, in particular to a pumping unit permanent magnet synchronous motor control method based on a cascading sliding mode observer, which comprises the following steps of S1, establishing a sensorless control system of the pumping unit permanent magnet synchronous motor;step S2, establishing a mathematical model of the PMSM and designing a sliding mode speed observer; s3, transforming a mathematical model of the PMSM, and carrying out data evaluation through a sliding mode observer; step S4, setting the reference rotation speed N ref Inputting a compensation type sliding mode speed controller; and S5, carrying out data operation and transmission through a sensorless control system of the permanent magnet synchronous motor of the pumping unit. The invention can replace motor speed and torque sensors in the oil pumping unit, reduce hardware cost, avoid control failure caused by sensor faults, improve system stability, improve system control precision and response speed under complex well conditions, reduce running shake of a tower type oil pumping unit driving system, and improve stability of the tower type oil pumping unit.
Description
Technical Field
The invention relates to the technical field of pumping unit control, in particular to a pumping unit permanent magnet synchronous motor control method based on a cascading sliding mode observer.
Background
In the industrial development process, the permanent magnet synchronous motor has been widely applied to the driving system of the oil pumping unit in the oil field due to the advantages of simpler structure frame, higher power density, larger torque output, wider speed regulation range, longer stability, higher power factor, smoother torque output and the like.
The feedback link of the traditional control method in the control strategy of the prior tower type pumping unit driving system mostly adopts a feedback mode of a sensor. However, the sensor has a complex and precise structure, occupies large mechanical space, affects the whole structure of the pumping unit system, has higher long-time load and large temperature and humidity change, is subject to electromagnetic interference, and is easy to fail, thereby reducing the safety and stability of the system; the traditional sliding mode observer sensorless control strategy adopts a low-pass filter to filter back electromotive force, so that amplitude and phase errors can be generated; the traditional electric angle calculation method adopts an arctangent function, so that high-frequency shake is easy to generate, and the calculation error is larger; the pumping unit driving system operates under the working condition of load change for a long time and adopts a traditional PI speed controller, the oil quantity in the pumping rod of the tower type pumping unit is changed greatly under the complex well condition, the dynamic overshoot of the driving system is increased when the load is changed, the adjusting time is long, and the system robustness is poor; the traditional sliding mode observer has no sensor control strategy, lacks of observation and compensation of load disturbance, and has low disturbance rejection capability.
The control strategy of individual permanent magnet synchronous motors takes into account the effects of load disturbances, but also requires speed and position sensors and an additional torque sensor. The sensorless control strategy lacks a compensation link for load disturbance and has strong shake. Therefore, there is a need for improved control strategies for permanent magnet synchronous motors.
Chinese patent publication No.: CN109194207a discloses a control system of a permanent magnet synchronous motor with a position sensor, which comprises a rectifier bridge, an inverter bridge, a control board, a PWM driving module, a detection protection circuit, a can communication unit and a position sensor, wherein the PWM driving module, the detection protection circuit, the can communication unit and the position sensor are respectively electrically connected with the control board, the detection protection circuit comprises a direct-current voltage signal acquisition unit, a phase current signal acquisition unit and an or gate, and the output of the or gate is controllably connected with the PWM driving module.
In the current permanent magnet synchronous motor control method, all levels of data are poor in interaction, and the system operation stability is low.
Disclosure of Invention
Therefore, the invention provides a control method of a permanent magnet synchronous motor of an oil pumping unit based on a cascading sliding mode observer, which is used for solving the problems of poor interaction of all levels of data and low system operation stability in the current control method of the permanent magnet synchronous motor in the prior art.
In order to achieve the aim, the invention provides a control method of a permanent magnet synchronous motor of an oil pumping unit based on a cascading sliding mode observer,
step S1, a sensorless control system of a permanent magnet synchronous motor of the pumping unit is established;
step S2, establishing a mathematical model of the PMSM and designing a sliding mode speed observer;
s3, transforming a mathematical model of the PMSM, and carrying out data evaluation through a sliding mode observer;
step S4, setting the reference rotation speed N ref Inputting a compensation type sliding mode speed controller;
and S5, carrying out data operation and transmission through a sensorless control system of the permanent magnet synchronous motor of the pumping unit.
Further, in the step S1, the sensorless control system of the permanent magnet synchronous motor of the pumping unit comprises,
the system comprises a first subtracter, a second subtracter, a third subtracter, a first current controller module, a second current controller module, a park inverse transformation module, a park transformation module, a Cl mark transformation 1 module, a Cl mark transformation 2 module, a space vector pulse width modulation module, a three-phase voltage and current acquisition module, a PMSM module, a load, a compensation type sliding mode speed controller, an electromagnetic torque calculation module, a sliding mode disturbance observer, a sliding mode speed observer and a three-phase inverter, wherein,
the output end of the first subtracter is connected with the compensation type slip-mode speed controller, the output end of the compensation type slip-mode speed controller is connected with the second subtracter, the output end of the second subtracter is connected with the first current controller module, the output end of the third subtracter is connected with the second current controller module, the output end of the first current controller module is connected with the park inverse transformation module, the output end of the park inverse transformation module is connected with the space vector pulse width modulation module, the output end of the space vector pulse width modulation module is connected with the three-phase inverter, the three-phase inverter is connected with the three-phase voltage current acquisition module, the three-phase voltage current acquisition module is connected with the PMSM module, the PMSM module is connected with the load, the output end of the three-phase voltage current acquisition module is also connected with the Cl ark transformation 1 module and the Cl ark transformation 2 module respectively, the output end of the Cl ark transformation 1 module is connected with the park transformation module, the park inverse transformation module is connected with the three-phase inverter, the three-phase inverter is connected with the electromagnetic sensor and the slip-mode speed sensor, the observation module is connected with the slip-mode speed sensor, the slip-mode sensor and the electromagnetic sensor and the observation module.
Further, the sliding mode speed observer comprises a sliding mode observer, a back electromotive force self-adaption rate module, a PLL phase-locked loop and a mechanical angular speed calculation module, wherein the sliding mode observer is connected with the output end of the Clark conversion 2 module, the output end of the sliding mode observer is connected with the back electromotive force self-adaption rate module, the output end of the back electromotive force self-adaption rate module is connected with the PLL phase-locked loop, the output end of the PLL phase-locked loop is respectively connected with the sliding mode disturbance observer, the mechanical angular speed calculation module, the park inverse conversion module and the park conversion module, and the mechanical angular speed calculation module is connected with the back electromotive force self-adaption rate module.
Further, in said step S2, comprising,
step S21, establishing a mathematical model under a PMSM two-phase static coordinate system and a synchronous rotation coordinate system:
step S22, determining a mathematical model of the sliding mode observer according to the mathematical model in the step S21;
further, in said step S3, comprising,
step S31, smoothing the back electromotive force and eliminating errors generated by the low-pass filter through a back electromotive force self-adaption rate module;
s32, estimating the mechanical angular velocity by using a PLL phase-locked loop module to replace an arctangent function method;
s33, the sliding mode disturbance observer module estimates the load and carries out secondary estimation on the mechanical angular velocity;
and step S34, the compensation type sliding mode speed controller analyzes the power data.
Further, in said step S4, comprising,
will refer to the rotation speed N ref Estimated rotation speed N of disturbance observer of estimated sliding mode est And after the difference is made, inputting the difference into a compensation type sliding mode speed controller.
Further, in said step S5, comprising,
step S51, the compensation type sliding mode speed controller module transmits the data i to the second subtracter module q * The third subtracter module transmits the data i d * I in the initial state d *＝0。i d * And i q * For dq axis reference current.
Step S52, the second subtracter module transmits the voltage u to the Park inverse transformation module q The third subtracter module transmits the voltage u to the Park inverse conversion module d Park inverse transformation module pair voltage u q And a voltage u d Converting to generate a voltage u α And a voltage u β And transmitting to the space vector pulse width modulation module;
step S53, the output end of the three-phase inverter is used for collecting the three-phase voltage u through the three-phase voltage and current collecting module a,b,c And three-phase current i a,b,c Transmitting, wherein the acquired current i a,b,c Inputting the Clark conversion 1 module to collect the voltage u a,b,c Inputting the Clark conversion 2 module;
step S54, the Clark conversion 1 module processes the input current data and transmits the processed result to the Park conversion module, wherein the processed data result comprises i α ，i β ；
Step S55, the Clark conversion 2 module processes the input voltage data and transmits the processed result to the sliding mode speed observer, wherein the processed data result comprises u α ，u β ；
Step S56, the Park transformation module pair i α ，i β Processing and transmitting the processing results respectively, wherein the processing results comprise i q ，i d Wherein i is to d Transmitting to the third subtracter, i d Respectively transmitting to a second subtracter and an electromagnetic torque calculation module;
and step S57, the sliding mode disturbance observer receives the data processing results of the electromagnetic torque calculation module and the sliding mode speed observer together, processes information, and transmits the processed data results to the first subtracter and the compensation type sliding mode speed controller respectively.
Further, in the step S57, the processing of the sliding mode speed observer includes,
the sliding mode observer module acquires data i α ，i β ，u α ，u β Data processing is carried out, and the processed data is transmitted to the back electromotive force self-adaptive rate module;
the back electromotive force self-adaptive rate module processes the received data and transmits the processing result to the PLL module;
the PLL phase-locked loop module processes and outputs data, wherein the mechanical angular velocity calculation module converts the acquired data and transmits the data to the sliding mode disturbance observer.
Further, the mathematical model expression under the PMSM two-phase stationary coordinate system and the synchronous rotation coordinate system is:
wherein u is α And u β Is the voltage, i α And i β Is current, E α And E is β Is the back electromotive force of PMSM, θ e Is of an electrical angle, R is a stator resistance, L s Is the stator inductance.
Further, the mathematical model of the sliding mode observer is that
Wherein, the saturation function is used to replace the symbol function, thereby effectively reducing the shake of the system,and->K is the sliding mode switching gain, which is an estimate of the back emf.
Compared with the prior art, the method has the advantages that compared with the traditional sensor control strategy, the method adopting the state observer replaces the speed, position and torque sensors, reduces the complexity of the system structure, reduces the system space, enhances the environment adaptability of the control system, and improves the safety and stability.
Further, the invention adopts the self-adaptive rate of the counter electromotive force to re-estimate the counter electromotive force, so that the counter electromotive force curve can be smoothed and the error generated by the filtering of the low-pass filter can be eliminated; compared with the traditional PI speed controller, the invention adopts the compensation sliding mode speed controller, thereby obviously reducing the overshoot and the rotation speed adjustment time of the system and enhancing the robustness of the system.
The invention adopts the sliding mode disturbance observer to effectively estimate the load torque of the system, introduces the load torque into the compensation type sliding mode speed controller to carry out disturbance compensation, effectively improves the disturbance resistance of the system, can calculate the electromagnetic torque of the motor through the shaft current, reduces the shake of the system, and improves the robustness, the control precision and the adjustment speed of the pumping unit system.
Further, back electromotive force self-adaption rate is adopted to re-estimate back electromotive force under a sliding mode observer sensorless control strategy, a compensation type sliding mode speed controller is used for reducing system overshoot and rotation speed adjustment time and total load torque disturbance generated by oil quantity change, mechanical friction and the like in a sucker rod of a tower type pumping unit under complex well conditions, a compensation type sliding mode speed controller is introduced to carry out driving disturbance compensation, estimation of torque of a driving system of the tower type pumping unit is realized through calculation of current, load compensation is carried out in a control link, rotation speed overshoot and rotation speed adjustment time of the driving system are reduced, control precision, stability degree and response speed of the pumping unit system under complex well conditions such as continuous change of suspension point load and the like are improved, and the driving system of the pumping unit can recover stable operation more quickly under the condition of total disturbance change. The closed-loop feedback control has more excellent control effect than the open-loop control, can improve the control precision of the stroke frequency and the speed, and generally adopts a speed and torque sensor to collect the motor rotating speed and torque information so as to feed back to a speed controller to form the closed-loop control. However, the sensor hardware is high in cost, and the sensor is easy to break down in a field environment, so that the closed-loop control is ineffective. The invention provides a control strategy of a tower type pumping unit driving system based on a state observer, which can replace a motor speed and torque sensor in a pumping unit, reduce hardware cost, avoid control failure caused by sensor faults, improve system stability, improve system control precision and response speed under complex well conditions, and simultaneously reduce running shake of the tower type pumping unit driving system, improve stability and control precision of the tower type pumping unit.
Drawings
Fig. 1 is a schematic structural diagram of a sensorless control system of a permanent magnet synchronous motor of an oil pumping unit in an embodiment;
FIG. 2 is a schematic diagram of a sliding mode speed observer module structure in an embodiment;
fig. 3 is a schematic diagram of a PLL phase-locked loop module in an embodiment.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1-3, fig. 1 is a schematic structural diagram of a sensorless control system of a permanent magnet synchronous motor of an oil pumping unit in an embodiment; FIG. 2 is a schematic diagram of a sliding mode speed observer module structure in an embodiment; fig. 3 is a schematic diagram of a PLL phase-locked loop module in an embodiment.
The invention provides a control method of a permanent magnet synchronous motor of an oil pumping unit based on a cascading sliding mode observer,
step S1, a sensorless control system of a permanent magnet synchronous motor of the pumping unit is established;
step S2, establishing a mathematical model of the PMSM and designing a sliding mode speed observer;
s3, transforming a mathematical model of the PMSM, and carrying out data evaluation through a sliding mode observer;
step S4, setting the reference rotation speed N ref Inputting a compensation type sliding mode speed controller;
and S5, carrying out data operation and transmission through a sensorless control system of the permanent magnet synchronous motor of the pumping unit.
Further, in the step S1, the sensorless control system of the permanent magnet synchronous motor of the pumping unit comprises,
the system comprises a first subtracter, a second subtracter, a third subtracter, a first current controller module, a second current controller module, a park inverse transformation module, a park transformation module, a Cl mark transformation 1 module, a Cl mark transformation 2 module, a space vector pulse width modulation module, a three-phase voltage and current acquisition module, a PMSM module, a load, a compensation type sliding mode speed controller, an electromagnetic torque calculation module, a sliding mode disturbance observer, a sliding mode speed observer and a three-phase inverter, wherein,
the output end of the first subtracter is connected with the compensation type slip-mode speed controller, the output end of the compensation type slip-mode speed controller is connected with the second subtracter, the output end of the second subtracter is connected with the first current controller module, the output end of the third subtracter is connected with the second current controller module, the output end of the first current controller module is connected with the park inverse transformation module, the output end of the park inverse transformation module is connected with the space vector pulse width modulation module, the output end of the space vector pulse width modulation module is connected with the three-phase inverter, the three-phase inverter is connected with the three-phase voltage current acquisition module, the three-phase voltage current acquisition module is connected with the PMSM module, the PMSM module is connected with the load, the output end of the three-phase voltage current acquisition module is also connected with the Cl ark transformation 1 module and the Cl ark transformation 2 module respectively, the output end of the Cl ark transformation 1 module is connected with the park transformation module, the park inverse transformation module is connected with the three-phase inverter, the three-phase inverter is connected with the electromagnetic sensor and the slip-mode speed sensor, the observation module is connected with the slip-mode speed sensor, the slip-mode sensor and the electromagnetic sensor and the observation module.
Specifically, the sliding mode speed observer comprises a sliding mode observer, a back electromotive force self-adaption rate module, a PLL phase-locked loop and a mechanical angular speed calculation module, wherein the sliding mode observer is connected with the output end of the Clark conversion 2 module, the output end of the sliding mode observer is connected with the back electromotive force self-adaption rate module, the output end of the back electromotive force self-adaption rate module is connected with the PLL phase-locked loop, the output end of the PLL phase-locked loop is respectively connected with the sliding mode disturbance observer, the mechanical angular speed calculation module, the park inverse conversion module and the park conversion module, and the mechanical angular speed calculation module is connected with the back electromotive force self-adaption rate module.
Specifically, in the step S2, including,
step S21, establishing a mathematical model under a PMSM two-phase static coordinate system and a synchronous rotation coordinate system:
step S22, determining a mathematical model of the sliding mode observer according to the mathematical model in the step S21;
specifically, in the step S3, including,
step S31, smoothing the back electromotive force and eliminating errors generated by the low-pass filter through a back electromotive force self-adaption rate module;
s32, estimating the mechanical angular velocity by using a PLL phase-locked loop module to replace an arctangent function method;
s33, the sliding mode disturbance observer module estimates the load and carries out secondary estimation on the mechanical angular velocity;
and step S34, the compensation type sliding mode speed controller analyzes the power data.
In particular, in said step S4, comprising,
will refer to the rotation speed N ref Estimated rotation speed N of disturbance observer of estimated sliding mode est And after the difference is made, inputting the difference into a compensation type sliding mode speed controller.
In particular, in said step S5, comprising,
step S51, the compensation type sliding mode speed controller module transmits the data i to the second subtracter module q * The third subtracter module transmits the data i d * I in the initial state d *＝0。i d * And i q * For dq axis reference current.
Step S52, the second subtracter module transmits the voltage u to the Park inverse transformation module q The third subtracter module transmits the voltage u to the Park inverse conversion module d Park inverse transformation module pair voltage u q And a voltage u d Converting to generate a voltage u α And a voltage u β And transmitting to the space vector pulse width modulation module;
step S53, the output end of the three-phase inverter is used for collecting the three-phase voltage u through the three-phase voltage and current collecting module a,b,c And three-phase current i a,b,c Transmitting, wherein the acquired current i a,b,c Inputting the Clark conversion 1 module to collect the voltage u a,b,c Inputting the Clark conversion 2 module;
step S54, the Clark conversion 1 module processes the input current data and transmits the processed result to the Park conversion module, wherein the processed data result comprises i α ，i β ；
Step S55, the Clark conversion 2 module processes the input voltage data and transmits the processed result to the sliding mode speed observer, wherein the processed data result comprises u α ，u β ；
Step S56, the Park transformation module pair i α ，i β Processing and transmitting the processing results respectively, wherein the processing results comprise i q ，i d Wherein i is to d Transmitting to the third subtracter, i d Respectively transmitting to a second subtracter and an electromagnetic torque calculation module;
and step S57, the sliding mode disturbance observer receives the data processing results of the electromagnetic torque calculation module and the sliding mode speed observer together, processes information, and transmits the processed data results to the first subtracter and the compensation type sliding mode speed controller respectively.
Specifically, in the step S57, the processing procedure of the sliding mode speed observer includes,
the sliding mode observer module acquires data i α ，i β ，u α ，u β Data processing is carried out, and the processed data is transmitted to the back electromotive force self-adaptive rate module;
the back electromotive force self-adaptive rate module processes the received data and transmits the processing result to the PLL module;
the PLL phase-locked loop module processes and outputs data, wherein the mechanical angular velocity calculation module converts the acquired data and transmits the data to the sliding mode disturbance observer.
Specifically, in the step S2, it includes
The mathematical model expression under the PMSM two-phase stationary coordinate system and the synchronous rotation coordinate system is as follows:
wherein u is α And u β Is the voltage, i α And iβ is current, E α And E is β Is the back electromotive force of PMSM, θ e Is of an electrical angle, R is a stator resistance, L s Is the stator inductance.
Specifically, the mathematical model of the sliding mode observer is that
Wherein, the saturation function is used to replace the symbol function, thereby effectively reducing the shake of the system,and->K is the sliding mode switching gain, which is an estimate of the back emf.
Specifically, in the step S3, it includes
To attenuate the filtering error of the low pass filter to the back EMF filtering, a back EMF adaptive rate module is designed to smooth the back EMF and eliminate the error generated by the low pass filter:
and->For the back electromotive force estimated value after the self-adaptive rate calculation, < + >>Is the electric angular velocityAnd (5) estimating a value.
In order to reduce shake caused by an arctangent function method, a PLL phase-locked loop module is designed to replace the arctangent function method, and calculation is performedAnd estimating the electrical angle +.>Warp->Calculating to obtain estimated mechanical angular velocity +.>
Angular velocity of machineryLoad disturbance d (T) as a state variable, electromagnetic torque T e As a system input, the augmented state space equation is
Designing a sliding mode disturbance observer module for load disturbance d (t) to make the mechanical angular velocityAnd load disturbance d (t) is used as an observation object, the load is estimated, and the mechanical angular velocity is estimated secondarily:
where l is the gain of the observer,e ω for speed observation error, g (eω) is the slip-mode control rate, and the error equation of the disturbance observer is:
design integral slip form surfaceSelecting approach rate->Epsilon is the switching gain.
Will beAs disturbance item, design control law of sliding mode disturbance observer as +.>Parameter l<0。
The estimated value of the load torque of the sliding mode disturbance observer is as followsThe second estimate of the mechanical angular velocity is +.> Warp type->Calculating the estimated rotating speed N of the motor est 。
The dynamic equation for the PMSM is:
wherein T is L The load torque is represented by J, the moment of inertia and the viscous friction coefficient is represented by B. Taking into account load disturbances, it is possible to:
defining a mechanical angular velocity tracking error:
wherein omega ref To set a reference mechanical angular velocity.
To smooth torque and weaken shake, an integral sliding mode surface is designed
h is the integral coefficient of the integral sliding mode surface
And (3) designing an approach rate:
k 1 to switch the gain, k 2 Is the line gain.
Designing a sliding mode control law:
the output of the compensation type sliding mode speed controller can be obtained through calculation: q-axis current reference value i q *。
Specifically, in the step S4, the reference rotation speed Nref is set. The reference rotation speed Nref is input into a first subtracter, the output end of the first subtracter is connected with the input end of the compensation type sliding mode speed controller, and the output Nerro of the first subtracter enters the compensation type sliding mode speed controller.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method of a permanent magnet synchronous motor of an oil pumping unit based on a cascading sliding-mode observer is characterized in that,
step S1, a sensorless control system of a permanent magnet synchronous motor of the pumping unit is established;
step S2, establishing a mathematical model of the PMSM and designing a sliding mode speed observer;
s3, transforming a mathematical model of the PMSM, and carrying out data evaluation through a sliding mode observer;
step S4, setting the reference rotation speed N ref Inputting a compensation type sliding mode speed controller;
and S5, carrying out data operation and transmission through a sensorless control system of the permanent magnet synchronous motor of the pumping unit.
2. The method for controlling the permanent magnet synchronous motor of the pumping unit based on the cascading sliding-mode observer according to claim 1, wherein in the step S1, the sensorless control system of the permanent magnet synchronous motor of the pumping unit comprises,
the system comprises a first subtracter, a second subtracter, a third subtracter, a first current controller module, a second current controller module, a park inverse transformation module, a park transformation module, a Clark transformation 1 module, a Clark transformation 2 module, a space vector pulse width modulation module, a three-phase voltage and current acquisition module, a PMSM module, a load, a compensation type sliding mode speed controller, an electromagnetic torque calculation module, a sliding mode disturbance observer, a sliding mode speed observer and a three-phase inverter, wherein,
the output end of the first subtracter is connected with the compensation type sliding mode speed controller, the output end of the compensation type sliding mode speed controller is connected with the second subtracter, the output end of the second subtracter is connected with the first current controller module, the output end of the third subtracter is connected with the second current controller module, the output ends of the first current controller module and the second current controller module are connected with the park inverse transformation module, the output end of the park inverse transformation module is connected with the space vector pulse width modulation module, the output end of the space vector pulse width modulation module is connected with the three-phase inverter, the three-phase inverter is connected with the three-phase voltage current acquisition module, the three-phase voltage and current acquisition module is connected with the PMSM module, the PMSM module is connected with the load, the output end of the three-phase voltage and current acquisition module is also connected with the Clark conversion 1 module and the Clark conversion 2 module respectively, the output end of the Clark conversion 1 module is connected with the park conversion module, the output end of the park conversion module is connected with the second subtracter, the third subtracter and the electromagnetic torque calculation module respectively, the output end of the Clark conversion 2 module is connected with the sliding mode speed observer, the output end of the sliding mode speed observer is connected with the sliding mode disturbance observer, the output end of the electromagnetic torque calculation module is connected with the sliding mode disturbance observer, and the output end of the sliding mode disturbance observer is connected with the first subtracter and the compensation sliding mode speed controller respectively.
3. The method for controlling the permanent magnet synchronous motor of the pumping unit based on the cascading sliding mode observer according to claim 2, wherein the sliding mode speed observer comprises a sliding mode observer, a back electromotive force self-adaption rate module, a PLL phase-locked loop and a mechanical angular speed calculation module, the sliding mode observer is connected with the output end of the Clark conversion 2 module, the output end of the sliding mode observer is connected with the back electromotive force self-adaption rate module, the output end of the back electromotive force self-adaption rate module is connected with the PLL phase-locked loop, the output end of the PLL phase-locked loop is respectively connected with the sliding mode disturbance observer, the mechanical angular speed calculation module, the park inverse conversion module and the park conversion module, and the mechanical angular speed calculation module is connected with the back electromotive force self-adaption rate module.
4. The method for controlling a permanent magnet synchronous motor of a pumping unit based on a cascading sliding-mode observer according to claim 3, wherein in the step S2, it includes,
step S21, establishing a mathematical model under a PMSM two-phase static coordinate system and a synchronous rotation coordinate system:
and S22, determining a mathematical model of the sliding mode observer according to the mathematical model in the step S21.
5. The method for controlling a permanent magnet synchronous motor of a pumping unit based on a cascading sliding-mode observer according to claim 4, wherein in the step S3, it includes,
step S31, smoothing the back electromotive force and eliminating errors generated by the low-pass filter through a back electromotive force self-adaption rate module;
s32, estimating the mechanical angular velocity by using a PLL phase-locked loop module to replace an arctangent function method;
s33, the sliding mode disturbance observer module estimates the load and carries out secondary estimation on the mechanical angular velocity;
and step S34, the compensation type sliding mode speed controller analyzes the power data.
6. The method for controlling a permanent magnet synchronous motor of a pumping unit based on a cascading sliding-mode observer according to claim 5, wherein in the step S4, it includes,
will refer to the rotation speed N ref Estimated rotation speed N of disturbance observer of estimated sliding mode est And after the difference is made, inputting the difference into a compensation type sliding mode speed controller.
7. The method for controlling a permanent magnet synchronous motor of a pumping unit based on a cascading sliding-mode observer according to claim 6, wherein in the step S5, it includes,
step S51, the compensation type sliding mode speed controller module transmits the data i to the second subtracter module q * The third subtracter module transmits the data i d * I in the initial state d *＝0，i d * And i q * Reference current for dq axis;
step S52, the second subtracterThe module transmits a voltage u to the Park inverse conversion module q The third subtracter module transmits the voltage u to the Park inverse conversion module d Park inverse transformation module pair voltage u q And a voltage u d Converting to generate a voltage u α And a voltage u β And transmitting to the space vector pulse width modulation module; step S53, the output end of the three-phase inverter is used for collecting the three-phase voltage u through the three-phase voltage and current collecting module a ,u b ,u c And three-phase current i a ,i b ,i c Transmitting, wherein the acquired current i a ,i b ,i c Inputting the Clark conversion 1 module to collect the voltage u a ,u b ,u c Inputting the Clark conversion 2 module;
step S54, the Clark conversion 1 module processes the input current data and transmits the processed result to the Park conversion module, wherein the processed data result comprises i α ，i β ；
Step S55, the Clark conversion 2 module processes the input voltage data and transmits the processed result to the sliding mode speed observer, wherein the processed data result comprises u α ，u β ；
Step S56, the Park transformation module pair i α ，i β Processing and transmitting the processing results respectively, wherein the processing results comprise i q ，i d Wherein i is to d Transmitting to the third subtracter, i d Respectively transmitting to a second subtracter and an electromagnetic torque calculation module;
and step S57, the sliding mode disturbance observer receives the data processing results of the electromagnetic torque calculation module and the sliding mode speed observer together, processes information, and transmits the processed data results to the first subtracter and the compensation type sliding mode speed controller respectively.
8. The method for controlling the permanent magnet synchronous motor of the pumping unit based on the cascading sliding-mode observer according to claim 7, wherein,
in the step S57, the processing of the sliding mode speed observer includes,
the sliding mode observer module acquires data i α ，i β ，u α ，u β Data processing is carried out, and the processed data is transmitted to the back electromotive force self-adaptive rate module;
the back electromotive force self-adaptive rate module processes the received data and transmits the processing result to the PLL module;
the PLL phase-locked loop module processes and outputs data, wherein the mechanical angular velocity calculation module converts the acquired data and transmits the data to the sliding mode disturbance observer.
9. The control method of the permanent magnet synchronous motor of the pumping unit based on the cascading sliding mode observer according to claim 4, wherein the mathematical model expression under the PMSM two-phase stationary coordinate system and the synchronous rotating coordinate system is:
wherein u is α And u β Is the voltage, i α And i β Is current, E α And E is β Is the back electromotive force of PMSM, θ e Is of an electrical angle, R is a stator resistance, L s Is the stator inductance.
10. The control method for the permanent magnet synchronous motor of the pumping unit based on the cascading sliding-mode observer as set forth in claim 9, wherein the mathematical model of the sliding-mode observer is that
Wherein, the saturation function is used to replace the symbol function, thereby effectively reducing the shake of the system,and->K is the sliding mode switching gain, which is an estimate of the back emf.
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