Nothing Special   »   [go: up one dir, main page]

CN109495040B - Motor PI control parameter setting method based on dynamic inductor - Google Patents

Motor PI control parameter setting method based on dynamic inductor Download PDF

Info

Publication number
CN109495040B
CN109495040B CN201811269634.1A CN201811269634A CN109495040B CN 109495040 B CN109495040 B CN 109495040B CN 201811269634 A CN201811269634 A CN 201811269634A CN 109495040 B CN109495040 B CN 109495040B
Authority
CN
China
Prior art keywords
axis
motor
dynamic inductance
control parameter
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811269634.1A
Other languages
Chinese (zh)
Other versions
CN109495040A (en
Inventor
赵宇
王双全
黄洪剑
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Dajun Technologies Inc
Original Assignee
Shanghai Dajun Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Dajun Technologies Inc filed Critical Shanghai Dajun Technologies Inc
Publication of CN109495040A publication Critical patent/CN109495040A/en
Application granted granted Critical
Publication of CN109495040B publication Critical patent/CN109495040B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • 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
    • H02P21/141—Flux estimation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a motor PI control parameter setting method based on dynamic inductanced、qAnd parameters such as the current, the voltage and the rotating speed of the shaft are calculated according to a steady-state voltage equation of the permanent magnet synchronous motor, magnetic chains corresponding to different currents are calculated, dynamic inductance values under different currents are calculated according to the magnetic chains, and PI parameter values are calculated according to the dynamic inductance values. The method can enable the PI parameters to adapt to the change of all working conditions, improves the precision of the whole control system, enhances the robustness of the system, has small calculated amount and simple algorithm, saves the memory space of a single chip microcomputer, has high response speed and can meet the real-time requirement of the control system.

Description

Motor PI control parameter setting method based on dynamic inductance
Technical Field
The invention relates to a motor PI control parameter setting method based on dynamic inductance.
Background
The electric automobile is a clean and efficient development product of sustainable transportation, and the development of the electric automobile well solves the problems of petroleum energy crisis, air pollution and the like. The permanent magnet synchronous motor contains the permanent magnet inside, has the advantages of high efficiency, high power density, high control precision and the like, and is very suitable for the field of automobiles with large starting torque and high requirements on torque precision and efficiency. However, the performance of the electric vehicle system depends on the control performance of the drive motor, which requires that the control accuracy of the motor be as high as possible.
The control system of the permanent magnet synchronous motor based on vector control has a current control link, the current control is influenced by current sampling and system working condition change, and the current change has uncertain characteristics such as time-varying property, hysteresis, nonlinearity, system internal and external interference and the like, so that the contradiction between the stability and the accuracy of the system cannot be solved by the traditional fixed parameter PI control or PI control parameters calculated according to the rotating speed in a segmented manner. At present, the variable PI parameter control technology based on an intelligent algorithm, such as a neural network, a genetic algorithm and the like, has the problems of large operation amount, low response speed and the like, and cannot meet the real-time requirement of electric vehicle control.
Therefore, in order to improve the performance of the motor control system, it is important to find a tuning method of the variable PI control parameter that meets the real-time performance.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a motor PI control parameter setting method based on dynamic inductance, the method calculates the dynamic inductance value of the motor under different currents, and sets the PI control parameter according to the dynamic inductance value, so that the PI control parameter adapts to the working condition change of the motor, the precision of the whole control system is improved, the robustness of the control system is enhanced, and the real-time requirement of the control system is met.
In order to solve the technical problem, the motor PI control parameter setting method based on the dynamic inductor comprises the following steps:
step one, d-axis and q-axis currents i are obtained through motor calibration measurementdAnd iqVoltage udAnd uqAnd a rotational speed omegaeData, according to the steady-state voltage equation of the permanent magnet synchronous motor, all (i) in the current limit circle are obtained by calculationd,iq) Corresponding d and q axis magnetic linkage of motor
Figure GDA0003336628010000011
And
Figure GDA0003336628010000012
step two, the d and q axes magnetic linkage of the motor
Figure GDA0003336628010000021
And
Figure GDA0003336628010000022
with id、iqNon-linear change, expressed as
Figure GDA0003336628010000023
Figure GDA0003336628010000024
Obtained by polynomial fitting
Figure GDA0003336628010000025
And
Figure GDA0003336628010000026
to idAnd iqThe curved surface equation of (c);
step three,
Figure GDA0003336628010000027
And
Figure GDA0003336628010000028
respectively to idAnd iqObtaining a dynamic inductance DL of a d axis by calculating a deviationd(id,iq) Is composed of
Figure GDA0003336628010000029
q-axis dynamic inductor DLq(id,iq) Is composed of
Figure GDA00033366280100000210
Step four, according to the dynamic inductance DL of the d and q axesd(id,iq) And DLq(id,iq) Respectively calculating d-axis PI control parameters and q-axis PI control parameters, wherein the d-axis PI control parameter KpdIs composed of
Figure GDA00033366280100000211
KidIs composed of
Figure GDA00033366280100000212
q-axis PI control parameter KpqIs composed of
Figure GDA00033366280100000213
KiqIs composed of
Figure GDA00033366280100000214
RsIs stator resistance, taufThe current loop delay time is controlled for the PI.
Further, the d and q axes magnetic linkage of the motor
Figure GDA00033366280100000215
And
Figure GDA00033366280100000216
is calculated as follows:
Figure GDA00033366280100000217
wherein: u. udAnd uqFor d, q-axis voltages of the motor, idAnd iqIs d and q axis current of the motor, RsIs stator resistance, ωeIs the motor speed.
Further, the polynomial fitting surface equation is:
f(x,y)＝a00+a10x+a01y+a20x2+a11xy+a02y2+a30x3+a21x2y+a12xy2+a03y3
wherein: a is00、a10、a01、a20、a11、a02、a30、a21、a12、a03For polynomial fitting coefficients, in polynomial fitting, x represents the d-axis current value idAnd y represents a q-axis current value iqF (x, y) represents a d-axis flux linkage
Figure GDA00033366280100000218
Or q-axis flux linkage
Figure GDA00033366280100000219
Fitting coefficients can be obtained through fitting.
The motor PI control parameter setting method based on the dynamic inductance adopts the technical scheme, namely the method obtains parameters such as current, voltage, rotating speed and the like of d and q axes of the motor through motor calibration measurement, calculates magnetic chains corresponding to different currents according to a steady-state voltage equation of the permanent magnet synchronous motor, calculates dynamic inductance values under different currents according to the magnetic chains, and finally calculates PI parameter values according to the dynamic inductance values. The method can enable the PI parameters to adapt to the change of all working conditions, improves the precision of the whole control system, enhances the robustness of the system, has small calculated amount and simple algorithm, saves the memory space of a single chip microcomputer, has high response speed and can meet the real-time requirement of the control system.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a flow chart of a motor PI control parameter setting method based on dynamic inductance according to the present invention;
FIG. 2 shows the polynomial fit obtained in the present method
Figure GDA00033366280100000220
A surface map;
FIG. 3 shows the polynomial fit obtained in the present method
Figure GDA0003336628010000031
And (5) a curved surface graph.
Detailed Description
Fig. 1 shows an embodiment of the method for setting the PI control parameter of the motor based on the dynamic inductance, which comprises the following steps:
step one, d-axis and q-axis currents i are obtained through motor calibration measurementdAnd iqVoltage udAnd uqAnd a rotational speed omegaeData, all (i) in the current limit circle are calculated according to the steady state voltage equation of the permanent magnet synchronous motord,iq) Corresponding d and q axis magnetic linkage of motor
Figure GDA0003336628010000032
And
Figure GDA0003336628010000033
step two, the d and q axes magnetic linkage of the motor
Figure GDA0003336628010000034
And
Figure GDA0003336628010000035
with id、iqNon-linear change, expressed as
Figure GDA0003336628010000036
Figure GDA0003336628010000037
By polynomial fitting
Figure GDA0003336628010000038
And
Figure GDA0003336628010000039
to idAnd iqThe curved surface equation of (c);
Figure GDA00033366280100000310
and
Figure GDA00033366280100000311
to idAnd iqAs shown in fig. 2 and 3;
step three,
Figure GDA00033366280100000312
And
Figure GDA00033366280100000313
respectively to idAnd iqObtaining the dynamic inductance DL of the d axis by calculating the deviationd(id,iq) Is composed of
Figure GDA00033366280100000314
Dynamic inductance DL of q-axisq(id,iq) Is composed of
Figure GDA00033366280100000315
Step four, according to the dynamic inductance DL of the d and q axesd(id,iq) And DLq(id,iq) Respectively calculating d-axis PI control parameters and q-axis PI control parameters, wherein the d-axis PI control parameter KpdIs composed of
Figure GDA00033366280100000316
KidIs composed of
Figure GDA00033366280100000317
q-axis PI control parameter KpqIs composed of
Figure GDA00033366280100000318
KiqIs composed of
Figure GDA00033366280100000319
RsIs stator resistance, taufThe current loop delay time is controlled for the PI.
Preferably, the d and q axes of the motor are linked by magnetic flux
Figure GDA00033366280100000320
And
Figure GDA00033366280100000321
is calculated as follows:
Figure GDA00033366280100000322
wherein: u. udAnd uqFor d, q-axis voltages of the motor, idAnd iqIs d, q axis current of the motor, RsIs stator resistance, ωeIs the motor speed.
Preferably, the polynomial fitting surface equation is:
f(x,y)＝a00+a10x+a01y+a20x2+a11xy+a02y2+a30x3+a21x2y+a12xy2+a03y3
wherein: a is a00、a10、a01、a20、a11、a02、a30、a21、a12、a03For polynomial fitting coefficients, in polynomial fitting, x represents the d-axis current value idAnd y represents a q-axis current value iqAnd f (x, y) represents a d-axis flux linkage
Figure GDA00033366280100000323
Or q-axis flux linkage
Figure GDA00033366280100000324
Fitting coefficients can be obtained by fitting.
When the method is actually applied, the dynamic inductance DL of the d and q axes obtained by off-line calculationd(id,iq) And DLq(id,iq) The matrix list is imported into the task of motor control, and the current d-axis and q-axis currents (i) of the motor are passedd,iq) Looking up a table to obtain real-time d and q axis dynamic inductance DLdAnd DLqAccording to DLdAnd DLqAnd respectively calculating d-axis PI control parameters and q-axis PI control parameters to realize the optimal control of the motor.
According to the method, parameters such as current, voltage and rotating speed obtained by motor calibration and measurement are used, flux linkages corresponding to different currents are calculated according to a steady-state voltage equation of the permanent magnet synchronous motor, dynamic inductance values under different currents are calculated according to the flux linkages, and PI parameter values used for motor control are calculated according to the dynamic inductance values, so that the stability of PI parameters in motor control on current control is effectively improved, and the motor control with the characteristics of time variation, nonlinearity and the like is adapted.

Claims (3)

1. A motor PI control parameter setting method based on dynamic inductance is characterized by comprising the following steps:
step one, d-axis and q-axis currents i are obtained through motor calibration measurementdAnd iqVoltage udAnd uqAnd a rotational speed omegaeData, according to the steady-state voltage equation of the permanent magnet synchronous motor, all (i) in the current limit circle are obtained by calculationd,iq) Point-corresponding d and q axis magnetic linkage of motor
Figure FDA0003336627000000011
And
Figure FDA0003336627000000012
step two, d and q axis magnetic linkage of the motor
Figure FDA0003336627000000013
And
Figure FDA0003336627000000014
with id、iqNon-linear change, expressed as
Figure FDA0003336627000000015
Figure FDA0003336627000000016
Obtained by polynomial fitting
Figure FDA0003336627000000017
And
Figure FDA0003336627000000018
to i is todAnd iqThe curved surface equation of (c);
step three,
Figure FDA0003336627000000019
And
Figure FDA00033366270000000110
respectively to idAnd iqObtaining a dynamic inductance DL of a d axis by calculating a deviationd(id,iq) Is composed of
Figure FDA00033366270000000111
Dynamic inductance DL of q-axisq(id,iq) Is composed of
Figure FDA00033366270000000112
Step four, according to the dynamic inductance DL of the d and q axesd(id,iq) And DLq(id,iq) Respectively calculating d-axis PI control parameters and q-axis PI control parameters, wherein the d-axis PI control parameter KpdIs composed of
Figure FDA00033366270000000113
KidIs composed of
Figure FDA00033366270000000114
q-axis PI control parameter KpqIs composed of
Figure FDA00033366270000000115
KiqIs composed of
Figure FDA00033366270000000116
RsIs stator resistance, taufThe current loop delay time is controlled for the PI.
2. The dynamic inductance-based motor PI control parameter tuning method of claim 1, wherein: the d and q axes magnetic linkage of the motor
Figure FDA00033366270000000117
And
Figure FDA00033366270000000118
is calculated as follows:
Figure FDA00033366270000000119
wherein: u. udAnd uqFor d, q-axis voltages of the motor, idAnd iqIs d, q axis current of the motor, RsIs stator resistance, ωeIs the motor speed.
3. The dynamic inductance-based motor PI control parameter tuning method of claim 1, wherein: the polynomial fitting surface equation is:
f(x,y)＝a00+a10x+a01y+a20x2+a11xy+a02y2+a30x3+a21x2y+a12xy2+a03y3
wherein: a is00、a10、a01、a20、a11、a02、a30、a21、a12、a03For polynomial fitting coefficients, in polynomial fitting, x represents the d-axis current value idY represents a q-axis current value iqF (x, y) represents a d-axis flux linkage
Figure FDA00033366270000000120
Or q-axis flux linkage
Figure FDA00033366270000000121
Fitting coefficients can be obtained through fitting.
CN201811269634.1A 2018-03-23 2018-10-29 Motor PI control parameter setting method based on dynamic inductor Active CN109495040B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810246187 2018-03-23
CN2018102461871 2018-03-23

Publications (2)

Publication Number Publication Date
CN109495040A CN109495040A (en) 2019-03-19
CN109495040B true CN109495040B (en) 2022-07-22

Family

ID=65693317

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811269634.1A Active CN109495040B (en) 2018-03-23 2018-10-29 Motor PI control parameter setting method based on dynamic inductor

Country Status (1)

Country Link
CN (1) CN109495040B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110928239B (en) * 2019-12-12 2020-11-13 山东大学 Control method and system for feeding system of numerical control machine tool with time delay
CN113809970B (en) * 2021-09-10 2024-09-03 中国科学院电工研究所 Maximum regenerative braking torque optimization control method for permanent magnet synchronous motor driving system
CN116080420B (en) * 2023-04-10 2023-06-06 四川大学 Optimizing control system and method for electric drive system of new energy automobile

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105897110A (en) * 2016-06-07 2016-08-24 合肥工业大学 Proportional integral (PI) parameter setting method for high-performance controller of permanent-magnet synchronous motor
CN106408661A (en) * 2016-09-13 2017-02-15 电子科技大学 Adaptive mixed interpolation method based on geological surface local complexity
CN106788045A (en) * 2017-02-17 2017-05-31 天津工业大学 A kind of permagnetic synchronous motor model prediction PI changeable weight concurrency control methods
CN106849615A (en) * 2017-01-04 2017-06-13 天津电气科学研究院有限公司 A kind of method that electric current loop bandwidth is extended using quasi-continuous pulsewidth modulation strategy

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3914108B2 (en) * 2002-07-15 2007-05-16 本田技研工業株式会社 DC brushless motor control device
CN105116340B (en) * 2015-08-13 2018-04-03 北京交通大学 Battery life detecting system and harmonic current control method based on harmonic detecting

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105897110A (en) * 2016-06-07 2016-08-24 合肥工业大学 Proportional integral (PI) parameter setting method for high-performance controller of permanent-magnet synchronous motor
CN106408661A (en) * 2016-09-13 2017-02-15 电子科技大学 Adaptive mixed interpolation method based on geological surface local complexity
CN106849615A (en) * 2017-01-04 2017-06-13 天津电气科学研究院有限公司 A kind of method that electric current loop bandwidth is extended using quasi-continuous pulsewidth modulation strategy
CN106788045A (en) * 2017-02-17 2017-05-31 天津工业大学 A kind of permagnetic synchronous motor model prediction PI changeable weight concurrency control methods

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
永磁同步电动机调速系统PI控制器参数整定方法;王莉娜等;《电工技术学报》;20140531;第29卷(第5期);第104-117页 *

Also Published As

Publication number Publication date
CN109495040A (en) 2019-03-19

Similar Documents

Publication Publication Date Title
CN109495040B (en) Motor PI control parameter setting method based on dynamic inductor
CN106655938B (en) Control system for permanent-magnet synchronous motor and control method based on High-Order Sliding Mode method
CN111245321B (en) Maximum torque current ratio and weak magnetic calibration method of embedded permanent magnet synchronous motor
CN106627251A (en) Motor control method and device
CN114389497B (en) Directional error compensation method for voltage and current hybrid flux linkage observer of asynchronous motor
CN108736776A (en) A kind of control method of internal permanent magnet synchronous motor
CN105262395A (en) Method and system for controlling permanent magnet synchronous motor based on sliding mode control theory
CN108365785A (en) A kind of asynchronous machine repetition forecast Control Algorithm
CN111756288A (en) Method for improving estimation performance of permanent magnet synchronous motor without position sensor
CN110466597B (en) Energy optimization control system of alternating current permanent magnet motor for electric vehicle EPS
CN108988726A (en) A kind of MTPA control method of permanent magnet synchronous motor
CN115102452A (en) Permanent magnet synchronous motor parameter identification method based on piecewise function update forgetting factor
CN112054730B (en) Permanent magnet synchronous motor online parameter identification method
CN108063569A (en) A kind of fast solution method of magneto optimal working point
CN108768234B (en) Offline parameter identification-based method for vector control of permanent magnet synchronous motor
Dogan et al. Application of speed control of permanent magnet synchronous machine with PID and fuzzy logic controller
CN107395080B (en) Speed sensor-free torque control system and method based on cascade nonsingular terminal sliding mode observer
CN109033617A (en) The multi-target parameter optimizing method of direct current permanent magnetic brushless motor based on genetic algorithm
CN109742985B (en) Weak magnetic performance calculation method and system of permanent magnet synchronous motor
CN109379014B (en) Design method of LPV (Low Power Voltage) rotating speed observer of permanent magnet synchronous motor
CN111371360A (en) Three-phase squirrel-cage asynchronous motor control method based on anti-interference observer
CN111241659A (en) Hardware-in-loop real-time simulation method and device for surface-mounted permanent magnet synchronous motor and terminal
CN111181453B (en) Construction method of permanent magnet synchronous hub motor oversampling dead beat compensation controller
CN116094390A (en) Two-degree-of-freedom speed regulation method of asynchronous motor based on novel active disturbance rejection algorithm
CN108649846A (en) A kind of weak magnetic voltage based on single electric current adjuster determines method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant