CN107241034B - A kind of permanent magnet synchronous motor fluctuation of speed suppressing method - Google Patents
A kind of permanent magnet synchronous motor fluctuation of speed suppressing method Download PDFInfo
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- CN107241034B CN107241034B CN201710678168.1A CN201710678168A CN107241034B CN 107241034 B CN107241034 B CN 107241034B CN 201710678168 A CN201710678168 A CN 201710678168A CN 107241034 B CN107241034 B CN 107241034B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/005—Arrangements for controlling doubly fed motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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Abstract
The invention discloses a kind of permanent magnet synchronous motor fluctuation of speed suppressing methods, the undulate quantity of motor speed under load disturbance is observed by the state observer of design, load disturbance of equal value is obtained using the observer gain and filter of design, load disturbance of equal value acts on electric system, electric system generates the fluctuation of speed opposite with load disturbance, to offset the fluctuation of speed under motor load disturbance.The present invention is on the basis of id=0 vector control system, design point observer, observer gain and filter obtain input load disturbance of equal value, offset the fluctuation of speed of load disturbance bring, shown by emulation experiment: the motor speed fluctuation suppressing method based on input nonlinearities algorithm of equal value is enable to respond quickly the fluctuation of speed, cyclic loading signal, step load signal and the rotation fluctuation of irregular load signal bring can effectively be inhibited, realize the high-precision control of speed-regulating system.
Description
Technical field
The present invention relates to Motor Control Field, in particular to a kind of permanent magnet synchronous motor fluctuation of speed suppressing method.
Background technique
Permanent magnet synchronous motor is excellent with its high power density, big, small in size, high-efficient, simple, the precision height of control of torque etc.
Point is widely used in the driving control systems such as industrial robot, electric car and aerospace.Due to permanent magnet synchronous electric
The form of machine driving load is different, causes the form of load signal also different, as periodic load signal, nonlinear load are believed
Number, step load signal, irregular load signal etc., the Dynamic Electromagnetic Torque equation by analyzing permanent magnet synchronous motor knows
Road can cause the fluctuation of revolving speed when these load to be added in control system for permanent-magnet synchronous motor, and then cause electric machine control system
Vibration, influence the high-precision control of permanent magnet synchronous motor revolving speed, will lead to the resonance of entire driving control system when serious, influence
The service life of motor.Such as the robot arm in industrial production line is connected by spline, the gap between spline can cause
The difference of load signal added by permanent magnet synchronous motor, and then lead to the vibration of mechanical arm, influence the precision of mechanical arm control.
It is directed to the bring fluctuation of speed under PMSM with Load Disturbance, the common method for inhibiting the fluctuation of speed at present
Have: (1) fluctuation of speed of load disturbance bring, (2) being inhibited to repeat complex controll by design by the method for compensated torque
Device inhibits the fluctuation of speed under load disturbance, such as patent CN201510660766.7- electric car, permanent magnet synchronous motor revolving speed
The suppressing method and inhibition system of fluctuation.Compensated torque inhibit the fluctuation of speed be by comparing current period revolving speed with it is previous
The revolving speed in period determines that compensation torque inhibits the load bring fluctuation of speed by preset compensation database.On the one hand can increase
Add the calculating task amount of control system；On the other hand needs are by comparing, tabling look-up determines the torque of compensation, can not ring in real time
It answers.It repeats composite controller to inhibit the fluctuation of speed to be that establish given rotating speed by Fast Fourier Transform (FFT) corresponding with forcing frequency
Tables of data, the period inner membrance signal disturbance suppression frequency component generated using repetitive controller, and then inhibit the fluctuation of speed.It repeats
Controller is more preferable for fluctuation of speed inhibitory effect under periodic load, poor for nonlinear load inhibitory effect；In addition, control
Device processed is computationally intensive, low-response.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of permanent magnet synchronous motor fluctuation of speed inhibition sides
Method can effectively inhibit the fluctuation of motor speed, improve the precision of motor speed control.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of motor speed fluctuation suppressing method passes through
The undulate quantity of motor speed, is obtained using the observer gain and filter of design under the state observer observation load disturbance of design
To load disturbance of equal value, load disturbance of equal value acts on electric system, and electric system generates opposite with load disturbance turn
Speed fluctuation, to offset the fluctuation of speed under motor load disturbance.
This method specifically comprises the following steps:
S1, mathematical model under motor rotating coordinate system, model are established are as follows:
Wherein, ud、uqDirect-axis voltage and quadrature-axis voltage respectively under rotating coordinate system；id、iqRespectively under rotating coordinate system
Direct-axis current and quadrature axis current；R is the internal resistance of motor；Ld、LqD-axis inductance and axis inductor respectively under rotating coordinate system；Pm
For the number of pole-pairs of motor；W is motor speed；For motor magnetic flux amount；TeFor electromagnetic torque；J is motor rotary inertia；TL is electricity
Machine load disturbance, b are damping system；
S2, design point observer calculate the gain L of state observer, are disturbed by state observer observation motor in load
State variable under dynamic calculates the difference of state variable and motor expectation state variable, to disturb through state observer gain L
Amount quickly converges on stationary value, then passes through transformation matrix B+Undulate quantity caused by output loading disturbs, wherein B+=(BTB)- 1BT, B is motor status space matrix；Wherein the design of state observer includes: by using idThe optimization of=0 vector control strategy
The model of electric system obtains the state-space expression of motor:
Y=Cx
The dual system of electric system, state-space expression are obtained using the principle of duality are as follows:
Y=BTx
AT、BT、CTFor the transposed matrix of motor status space matrix A, B, C, UqFor motor quadrature-axis voltage amount, that is, input quantity, x
For state variable, y is output quantity；
The calculating of gain L are as follows: using the performance indicator of linear quadratic optimum control as the constraint condition of dual system, acquire increasing
Beneficial L；Constraint condition are as follows:Wherein Q1、R1For state weight matrix, ρ
For adjustment parameter, JLminFor the output quantity of performance indicator；
S3, design filter, calculate the gain of filter time constant, filter, matrix B+Output loading disturbance is drawn
The undulate quantity risen is adjusted through filter, filtering obtains load disturbance of equal value, and load disturbance of equal value reacts on electric system,
The fluctuation of speed of its generation for acting on electric system is of equal value with the fluctuation of speed that load disturbance generates and effect is on the contrary, to press down
The fluctuation of speed under motor load disturbance processed,
Wherein, filter is low-pass filter, the function expression of filter are as follows:
T1For filter time constant, K is filter gain；Wherein, T1≤1/(5wr), wrMost for load disturbing signal
High-frequency；The stabilized (steady-state) speed that the value of filter gain K meets motor when equivalence load disturbance TL acts on electric system is equivalent to
The stabilized (steady-state) speed of load effect motor when system.
Electric system includes double closed-loop control system, and load disturbance of equal value acts on double closed-loop control system to control motor
Velocity of rotation, wherein double closed-loop control system is current close-loop control system, speed closed loop control system.
The present invention has the advantages that PMSM Speed control system mostly uses the control structure of two close cycles, electric current
The stable state that ring and der Geschwindigkeitkreis are merely able to guarantee system exports, and the load for control system is added is merely able to follow response, not
It is able to suppress the fluctuation of revolving speed, and there are computationally intensive, real-time responses for prior art torsion compensation process and repetitive control
The defects of difference, limited inhibition signal type.The present invention is in i thusdOn the basis of=0 vector control system, design point observation
Device designs filter using input nonlinearities algorithm of equal value, by building the simulation model of PMSM Speed control system,
Shown by emulation experiment: the motor speed suppressing method based on input nonlinearities algorithm of equal value is enable to respond quickly the fluctuation of speed,
Cyclic loading signal, step load signal and the rotation fluctuation of irregular load signal bring can effectively be inhibited, realize and adjust
The high-precision control of speed system.
Detailed description of the invention
Below to each width attached drawing of description of the invention expression content and figure in label be briefly described:
Fig. 1 is that the permanent magnet synchronous motor fluctuation of speed of the present invention inhibits system control block figure；
Fig. 2 is the functional block diagram of isogonism input nonlinearities algorithm of the present invention；
Fig. 3 is that the present invention is observer gain output signal and filter signal Bode diagram curve；
Fig. 4 is present invention input nonlinearities algorithm simplified pinciple block diagram of equal value；
Fig. 5 is fluctuation of speed waveform diagram under load disturbance of the present invention.
Specific embodiment
A specific embodiment of the invention is made further detailed below against attached drawing by the description to optimum embodiment
Thin explanation.
The present invention designs controller by input nonlinearities algorithm of equal value to inhibit to interfere, and is observed by design point observer
The state variable of motor under load disturbance calculates the difference of state variable and motor expectation state variable, increases through state observer
Beneficial L guarantees that disturbance quantity quickly converges on stationary value, then passes through transformation matrix B+Undulate quantity caused by output loading disturbs, fluctuation
Amount adjusts through filter, is input to electric machine control system after filtering, act on the fluctuation of speed inhibitory effect of electric system with
Load effect is of equal value in the fluctuation of speed effect of electric system, i.e., caused by fluctuation caused by load disturbance of equal value and load disturbance
The fluctuation of speed is of equal value on the contrary, it is realized by Motor Rotating Speed Control System, and the control signal of Motor Rotating Speed Control System subtracts
Load disturbance is imitated, thus realize that motor load disturbs the inhibition of the lower fluctuation of speed, the controller of the algorithm design of equivalence input here
Including state observer and filter.
A kind of motor speed fluctuation suppressing method, the state observer for passing through design observe motor speed under load disturbance
Undulate quantity obtains load disturbance of equal value using the observer gain and filter of design, and load disturbance of equal value acts on electricity
Machine system, electric system generate the fluctuation of speed opposite with load disturbance, to offset the fluctuation of speed under motor load disturbance.
As shown in Figure 1, being the structural representation of motor double closed-loop control system and state observer, filter in circuit
Figure, motor double closed-loop control system include current close-loop control system and speed closed loop control system, mainly steady by control revolving speed
Direct-axis current i under fixed der Geschwindigkeitkreis ASR, control rotating coordinate systemd, quadrature axis current iqStable electric current loop ACR；Realize motor mould
The coordinate transformation module that type simplifies includes that 3 phase rest frames are converted to 2 phase rest frames (3/2 transformation), 2 phase static coordinates
System is converted to 2 cordic phase rotator systems (2s/2r), 2 cordic phase rotator systems are converted to 2 phase rest frames (2r/2s)；Pass through
SVPWM algorithm determines rotor space position, and then exports six phase switching mode pulse signals；Inverter is opened according to six phases
Pass type pulse signal is opened and turns off six IGBT thyristors, and ideal three phase sine voltage, driving motor are formed on stator
Rotation；Motor is carried out by the fluctuation of speed existing for load disturbance moment using the controller of input nonlinearities algorithm of equal value design
Inhibit, state observer exports variable quantity according to the fluctuation of revolving speed, and observer L ensures that the fluctuation output variable quantity of revolving speed can be fast
Speed converges on load disturbance, and filter (F (s)) estimates load disturbance of equal value, and then load disturbance bring is inhibited to turn
Speed fluctuation.
Specifically comprise the following steps:
S1, mathematical model under motor rotating coordinate system, model are established are as follows:
Wherein, ud、uqDirect-axis voltage and quadrature-axis voltage respectively under rotating coordinate system；id、iqRespectively under rotating coordinate system
Direct-axis current and quadrature axis current；R is the internal resistance of motor；Ld、LqD-axis inductance and axis inductor respectively under rotating coordinate system；Pm
For the number of pole-pairs of motor；W is motor speed；For motor magnetic flux amount；TeFor electromagnetic torque；J is motor rotary inertia；TL is electricity
Machine load disturbance, b are damping system；
S2, design point observer calculate the gain L of state observer, are disturbed by state observer observation motor in load
State variable under dynamic calculates the difference of state variable and the desired state variable of motor, disturbs through state observer gain L guarantee
Momentum quickly converges on stationary value, then passes through transformation matrix B+Undulate quantity caused by output loading disturbs, wherein B+=
(BTB)-1BT, B is motor status space matrix；Wherein the design of state observer includes: by using id=0 vector controlled plan
The model for slightly optimizing electric system, obtains the state-space expression of motor:
Y=Cx
The dual system of electric system, state-space expression are obtained using the principle of duality are as follows:
Y=BTx
AT、BT、CTFor the transposed matrix of motor status space matrix A, B, C, UqFor motor quadrature-axis voltage amount, that is, input quantity, x
For state variable, y is output quantity；By consulting the available motor relevant parameter of technical manual.
The calculating of gain L are as follows: using the performance indicator of linear quadratic optimum control as the constraint condition of dual system, Ji Keqiu
Obtain gain L；Constraint condition are as follows:Wherein Q1、R1For state weight
Matrix, ρ are adjustment parameter, JLminFor the output quantity of performance indicator；
S3, design filter, calculate the gain of filter time constant, filter, matrix B+Output loading disturbance is drawn
The undulate quantity risen is adjusted through filter, filtering obtains load disturbance of equal value, and the fluctuation of speed for acting on electric system inhibits
Effect and load effect are of equal value in the fluctuation of speed effect of electric system, thus the fluctuation of speed under inhibiting motor load to disturb.
Filter is low-pass filter, the function expression of filter are as follows:
Wherein, T1For filter time constant, K is filter gain；T1Meet T1≤1/(5wr), wrFor load disturbance letter
Number highest frequency；
The stabilized (steady-state) speed that the value of filter gain K meets motor when equivalence load disturbance TL acts on electric system is equivalent to
The stabilized (steady-state) speed of load effect motor when system.
As shown in Fig. 2, replacing actual permanent magnetism same with motor system model for the functional block diagram of input nonlinearities algorithm of equal value
Motor is walked, according to motor mathematical model, id=0 vector control strategy, the principle of duality and the motor parameters of offer permanent magnetism
The state observer of synchronous motor, for observing the internal state variable of motor, state-space expression are as follows:
Y=BTx
Using the performance indicator of linear quadratic optimum control as constraint condition, the gain L of observer is designed, that is, is met with ShiShimonoseki
It is formula, by adjusting Q1、R1Matrix and ρ parameter, it is ensured that output quantity quickly converges on load signal amount, adjusts Q1、R1, ρ ginseng
Number, while the amplitude frequency curve for meeting state observer and observer gain L composition system is located on filter amplitude frequency curve, such as
Shown in Fig. 3, observer gain L is obtained, wherein constraint condition are as follows:
The functional relation of filter are as follows:
In order to ensure the low-pass filter of design can be filtered the load disturbance signal of estimation, pass through comparison observation
The phase frequency curve of device gain signal and filter signal, if the phase frequency curve of observer gain signal is before being located at minimum point
It is constantly under filter phase frequency curve, then the filter time constant T1 designed is reasonable value, it at this time can be accurate right
Load disturbance information is filtered, and otherwise needs debug time constant again, and phase frequency curve is as shown in figure 3, actual loading disturbs
Under, observer gain signal phase frequency curve is influenced by load signal frequency, is debugged by emulation experiment, as T1≤1/ (5wr)
The requirement of phase frequency curve can be met, wherein wrFor load disturbing signal highest frequency, at this time namely meet observer increasing
In the case where being constantly in filter phase frequency curve before being located at minimum point, state observer and observer increase the phase frequency curve of beneficial signal
The amplitude frequency curve of beneficial L composition system is located on filter amplitude frequency curve.
Filter is low-pass filter, and the value of the gain K of filter meets equivalence load disturbance TL and acts on department of electrical engineering
The stabilized (steady-state) speed of motor is equivalent to the stabilized (steady-state) speed of load effect motor when system when system.Circular, using equivalence
Input algorithm, functional block diagram as shown in figure 4, Fig. 4 be motor speed fluctuation inhibit system transter schematic diagram, wherein
GfIt (s) is filter transfer function, GTLIt (s) is load transmitting letter, Gc(s) letter is transmitted for observer, G (s) is electric system biography
Letter is passed, this four transmission functions are sought.In order to seek the gain K of filter, method are as follows: enabling Uq, load TL of equal value is input
It is zero, to load TL1 as input quantity, revolving speed w is output quantity, seeks the steady-state speed under load TL1；Uq is enabled again, loads TL1 is
Zero, using equivalence load TL as input quantity, revolving speed w is output quantity, seeks the steady-state speed under load TL of equal value, includes in this revolving speed
K is the steady-state speed expression formula of unknown quantity, and according to the theory of input nonlinearities algorithm of equal value, load disturbance of equal value acts on system
Load effect is equivalent in system, i.e. steady-state speed and be zero, can be obtained in this way be about K unknown number equation, Ji Keqiu
Obtain the gain K of filter.
In order to verify the validity of revolving speed suppressing method of the present invention, compared here with the PI of prior art control, such as Fig. 5
It is shown, inhibit simulating experimental system model to can be seen that the state observer that the present invention designs, filter shape by the fluctuation of speed
At motor speed fluctuation inhibition system the load disturbance bring fluctuation of speed is significantly inhibited, export it is high-precision
Spend steady-state speed, emulation the result shows that: based on input nonlinearities algorithm of equal value design the fluctuation of speed inhibit controller can be right
Periodicity, step evolution, the scrambling load disturbance bring fluctuation of speed can effectively be inhibited, and can be quick
In response to the revolving speed of motor, the performance of noiseproof of drive system is effectively increased, improves the high-precision revolving speed control of motor.
Electric system is designed to be easy to the double closed-loop control system of speed regulating control.Turn simultaneously for load disturbance bring
Speed fluctuation designs the fluctuation that input nonlinearities algorithmic controller of equal value inhibits revolving speed, and controller includes state observer and filter.
Under electric system load disturbance, the fluctuation of speed amount of the generation load disturbance of equal value by input nonlinearities controller output of equal value,
Load disturbance of equal value acts on electric system, exports opposite fluctuation of speed amount, so that actual loading be inhibited to disturb bring
The fluctuation of speed.
Motor speed fluctuation inhibition system of the present invention is applied in the prior art by design point observer, filter
Double loop speed-regulating system is observed the undulate quantity of motor speed under load disturbance by the state observer of design, utilizes design
Observer gain and filter obtain load disturbance of equal value, act on the fluctuation of speed inhibitory effect and load of electric system
The fluctuation of speed effect for acting on electric system is of equal value, thus the fluctuation of speed under inhibiting motor load to disturb.
Obviously present invention specific implementation is not subject to the restrictions described above, as long as using method concept and skill of the invention
The improvement for the various unsubstantialities that art scheme carries out, it is within the scope of the present invention.
Claims (1)
1. a kind of permanent magnet synchronous motor fluctuation of speed suppressing method is characterized by the state observer observation load of design
The undulate quantity for disturbing lower motor speed obtains load disturbance of equal value using the observer gain and filter of design, of equal value
Load disturbance acts on electric system, and electric system generates the fluctuation of speed opposite with load disturbance, to offset motor load
The fluctuation of speed under disturbance；
The suppressing method includes:
S1, mathematical model under motor rotating coordinate system, model are established are as follows:
Wherein, ud、uqDirect-axis voltage and quadrature-axis voltage respectively under rotating coordinate system；id、iqRespectively d-axis under rotating coordinate system
Electric current and quadrature axis current；R is the internal resistance of motor；Ld、LqD-axis inductance and axis inductor respectively under rotating coordinate system；PmFor electricity
The number of pole-pairs of machine；W is motor speed；For motor magnetic flux amount；TeFor electromagnetic torque；J is motor rotary inertia；TL is negative for motor
Disturbance is carried, b is damped coefficient；
S2, design point observer calculate the gain L of state observer, by state observer observation motor under load disturbance
State variable, calculate state variable and motor expectation state variable difference, make disturbance quantity fast through state observer gain L
Speed converges on stationary value, then passes through transformation matrix B+Undulate quantity caused by output loading disturbs, wherein B+=(BTB)-1BT, B
For motor status space matrix；Wherein the design of state observer includes: by using id=0 vector control strategy optimizes motor
The model of system obtains the state-space expression of motor:
Y=Cx
C=[0 1]
The dual system of electric system, state-space expression are obtained using the principle of duality are as follows:
Y=BTx
AT、BT、CTFor the transposed matrix of motor status space matrix A, B, C, UqFor motor quadrature-axis voltage amount, that is, input quantity, x is shape
State variable, y are output quantity；
The calculating of gain L are as follows: using the performance indicator of linear quadratic optimum control as the constraint condition of dual system, acquire gain L；
Constraint condition are as follows:Wherein Q1、R1For state weight matrix, ρ is
Adjustment parameter, JLminFor the output quantity of performance indicator；
S3, design filter, calculate the gain of filter time constant, filter, matrix B+Wave caused by output loading disturbs
Momentum is adjusted through filter, filtering obtains load disturbance of equal value, and load disturbance of equal value reacts on electric system, is acted on
In the fluctuation of speed of the fluctuation of speed of the generation of electric system and load disturbance generation, of equal value and effect is on the contrary, to inhibit motor
The fluctuation of speed under load disturbance,
Wherein, filter is low-pass filter, the function expression of filter are as follows:
T1For filter time constant, K is filter gain；Wherein, T1≤1/(5wr), wrFor the most high frequency for loading disturbing signal
Rate；The stabilized (steady-state) speed that the value of filter gain K meets motor when load disturbance of equal value acts on electric system is equivalent to load
The stabilized (steady-state) speed of motor when acting on system；
Electric system includes double closed-loop control system, and load disturbance of equal value acts on double closed-loop control system to control motor and turn
Dynamic speed, wherein double closed-loop control system is current close-loop control system, speed closed loop control system.
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| CN108429501B (en) * | 2018-01-23 | 2020-07-31 | 江苏大学 | Method for observing load disturbance of permanent magnet synchronous motor |
| CN109450334B (en) * | 2018-11-27 | 2020-10-30 | 中国地质大学（武汉） | Servo system control parameter setting method and system |
| CN112977173B (en) * | 2021-04-30 | 2022-05-03 | 重庆长安新能源汽车科技有限公司 | Electric automobile and power battery pulse heating system and heating method thereof |
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