CN111162710A - Torque ripple suppression method for permanent magnet hub motor - Google Patents
Torque ripple suppression method for permanent magnet hub motor Download PDFInfo
- Publication number
- CN111162710A CN111162710A CN201911356903.2A CN201911356903A CN111162710A CN 111162710 A CN111162710 A CN 111162710A CN 201911356903 A CN201911356903 A CN 201911356903A CN 111162710 A CN111162710 A CN 111162710A
- Authority
- CN
- China
- Prior art keywords
- current
- axis current
- loop
- permanent magnet
- axis
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000001629 suppression Effects 0.000 title claims description 11
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 230000004907 flux Effects 0.000 claims description 11
- 238000013178 mathematical model Methods 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000010349 pulsation Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000011541 reaction mixture Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 239000012855 volatile organic compound Substances 0.000 description 1
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
- H02P21/05—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
-
- 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
-
- 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
- H02P21/22—Current control, e.g. using a current control loop
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The method for suppressing the torque ripple of the permanent magnet hub motor is based on a double closed-loop PI regulator vector control method that the direct-axis component of stator current is zero, a speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, adjusts an output shaft current instruction through PI and sends the output shaft current instruction to a shaft current inner loop PI controller, the shaft current inner loop and the shaft current inner loop respectively output the voltage components of the direct axis and the quadrature axis through the PI controller, and 6 paths of high-frequency switching signals are obtained through inverse Park conversion and SVPWM algorithm and input to a three-phase inverter, the three-phase current of the motor and the real-time position of the rotor are obtained by a current sensor and an angle sensor, and the current components of the direct axis and the quadrature axis obtained by Clark conversion and Park conversion are fed back to the current loop PI controller to form closed loop control.
Description
Technical Field
The invention belongs to the technical field of motors, and particularly relates to a torque ripple suppression method for a permanent magnet hub motor.
Background
In the distributed driving system directly driven by the permanent magnet hub motor, the hub motor integrates driving, braking and cooling, a complex mechanical transmission system is omitted, the space distribution of an automobile chassis is more free, meanwhile, as passive damping and vibration isolation parts such as a torsional vibration absorber and a flywheel are not arranged in the topological structure of the whole automobile, the vibration transmission rate of the distributed hub direct driving system in the whole frequency range is high, the damping attenuation of resonance is particularly insufficient, an obvious underdamping characteristic is presented, when the output torque or load is suddenly changed, the obvious longitudinal vibration of the whole automobile can be caused, and the driving comfort is greatly reduced. In fact, the vibration in the torque sudden change process is caused by the fact that step torque comprises torque pulsation of each order, and the longitudinal vibration is caused by the fact that the torque pulsation of a certain order is consistent with the resonance frequency of a transmission system, so that the longitudinal vibration of the whole vehicle is caused by the torque pulsation of the hub motor even if no load sudden change exists in certain low-speed starting working conditions.
In summary, the problem of overall vehicle longitudinal shaking in the distributed drive system can be summarized as torque ripple output by the permanent magnet hub motor, scholars at home and abroad have long-term research on the problem and provide various inhibition methods, and at present, the inhibition method for the permanent magnet motor output torque ripple is mainly considered from the perspective of motor body design, and the motor air gap magnetic field has better sine degree through the optimized design of a motor stator and rotor structure, an air gap magnetic field, a tooth socket and the like, so that the tooth socket torque ripple caused by the motor body factor is reduced. However, there is no technical breakthrough in Control, and although the model-free Control method based on the memory mechanism "self-learns" the periodic deviation signal in a memory manner through Iterative Learning Control (ILC) so that the deviation approaches 0 in a limited time, in an actual system, due to the complexity of the system operating condition, there is an aperiodic disturbance, and at this time, it is difficult for the Iterative Learning Control to provide an appropriate compensation signal under the aperiodic disturbance.
In view of the above problems, the present inventors have conducted extensive research and innovation based on practical experience and professional knowledge in engineering application of such products for many years, and together with the application of theory, to create a torque ripple suppression method for a permanent magnet hub motor, which is more practical.
Disclosure of Invention
The invention provides a torque ripple suppression method for a permanent magnet hub motor, which effectively solves the problems in the background technology by optimizing a control mode.
In order to achieve the purpose, the invention adopts the technical scheme that: the method comprises the following steps:
a torque ripple suppression method for a permanent magnet hub motor comprises the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
in the above formula, ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: speed measuring deviceThe degree ring PI controller is used as a system outer ring, receives a difference value between a rotating speed instruction and a motor feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet end of a permanent magnet hub motor after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of a motor by a current sensor;
s7: acquiring the real-time position of a motor rotor by an angle sensor;
s8: obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
Further, the method also comprises the step of compensating the q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To a q-axis current loop PI controller.
Further, the mathematical model of the current error iterative learning controller is as follows:
wherein,
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error of the q-axis current command and feedback in the ith iteration loop, α is a filter coefficient, and β is a learning law.
Further, the method also comprises the step of compensating the q-axis current loop PI controller: receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
Further, the mathematical model of the load torque observer is as follows:
wherein ω ismIs the mechanical angular velocity of the motor; j is moment of inertia; t iseIs an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
Further, the sampling frequency is increased, and the load torque T in one sampling period is setlIs a constant value, i.e.:
setting the output rotation speed omega of the motor according to the q-axis currentmFor input variables, to observe the rotational speed
Load torque TlAs an output variable.
Go toThe method further comprises the step of compensating the q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To q-axis current loop PI controller;
receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
Through the technical scheme, the invention has the beneficial effects that:
the basic method in this application is based on idThe vector control method of the double closed-loop PI regulator is characterized in that a speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefInput i to q-axis current inner loop PI controller, d-axis current inner loopdrefIs a non-volatile organic compound (I) with a value of 0,
the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uqObtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, inverting the input direct-current voltage, outputting symmetrical three-phase sine alternating-current voltage to a three-phase outlet end of the permanent magnet hub motor, obtaining three-phase current of the motor and the real-time position of a rotor through a current sensor and an angle sensor, and obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for suppressing torque ripple of a permanent magnet hub motor;
FIG. 2 is a block diagram of a current error iterative learning control architecture;
FIG. 3 is a graph comparing observed torque and real time feedback torque;
fig. 4 is a frame diagram of the structure of the load torque observer;
FIG. 5 is a block diagram of a system for applying the torque ripple suppression method for a permanent magnet hub motor;
FIG. 6 is a graph comparing torque ripple before and after the permanent magnet in-wheel motor torque ripple suppression method of the present invention;
reference numerals: the device comprises a speed loop PI controller 1, a d-axis current PI controller 2, a q-axis current PI controller 3, a current error iterative learning controller 4, a load 5, a permanent magnet hub motor 6 and a load torque observer 7.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
A torque ripple suppression method for a permanent magnet hub motor is shown in FIG. 1, and comprises the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
in the above formula (1), ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: the speed loop PI controller 1 is used as a system outer loop, receives a difference value between a rotating speed instruction and a rotating speed fed back by the motor 6, and outputs a g-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively regulate and output voltage components u of a direct axis and a quadrature axis by a d-axis current PI controller 2 and a q-axis current PI controller 3d、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet terminal of a motor 6 after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of the motor 6 by a current sensor;
s7: acquiring the real-time position of the rotor of the motor 6 by an angle sensor;
s8: obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
The basic method in this application is based on idThe vector control method of the double closed-loop PI regulator is that a speed loop PI controller 1 is used as a system outer loop, receives a difference value between a rotating speed instruction and a feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefInput i to q-axis current inner loop PI controller, d-axis current inner loopqrefIs 0, d-axis electricityThe current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uqObtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, inverting the input direct-current voltage, outputting symmetrical three-phase sine alternating-current voltage to a three-phase wire outlet end of a motor 6, obtaining the three-phase current of the motor 6 and the real-time position of a rotor through a current sensor and an angle sensor, and obtaining current components i of a direct axis and a quadrature axis through Clark conversion and Park conversion in sequencedfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
Preferably, as a preferred embodiment of the above embodiment, the method for suppressing torque ripple of a permanent magnet hub motor further includes the step of compensating for the q-axis current loop PI controller: the current error iterative learning controller 4 receives a q-axis current instruction and a current difference value signal fed back by a q-axis current output by the motor 6, and outputs a current error compensation signal i after iterative learning control operationqcomp1To a q-axis current loop PI controller.
The q-axis current instruction output by the speed loop PI controller 1 is differed with the q-axis feedback current, a difference signal is input into a q-axis current error iterative learning controller 4, a q-axis current error compensation signal is output by the error iterative learning controller and is simultaneously input to the input end of the q-axis current loop PI controller together with the compensation quantity output by the load torque observer 7, so that the q-axis current error closed-loop control can be realized, the control precision of the q-axis current is improved, and the output torque pulsation of the motor 6 in the steady-state operation is restrained.
The mathematical model of the current error iterative learning controller 4 is as follows:
in the formula (2), the reaction mixture is,
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error between the q-axis current instruction and feedback in the ith iteration loop, α being a filter coefficient, β being a learning law, and a frame diagram of a current error iterative learning control structure is shown in FIG. 2.
Preferably, as a preferred embodiment of the above embodiment, the method for suppressing torque ripple of a permanent magnet hub motor further includes the step of compensating for the q-axis current loop PI controller: receiving a q-axis current command and a speed feedback value output by a motor through a load torque observer 7, and outputting an observed rotating speed and an observed torque through state observation, wherein a comparison graph between the observed torque and a real-time feedback torque is shown in fig. 3, and according to the relation between the load torque and the q-axis current:
in the formula (3), TobsLoad torque, p, observed for the system at steady statenIs the pole pair number, psi, of the motor 6fIs a permanent magnet flux linkage;
the load torque observer 7 obtains a compensation current i after the output observation torque passes through the formula gainqcomp2The output is sent to a q-axis current loop PI controller, and a frame diagram of the structure of the load torque observer is shown in fig. 4.
In the above embodiment, based on a state space method, a dimension-reduced Luenberger torque observer is set, the load torque and the output rotation speed are tracked and estimated, and the observed load torque is compensated to the input end of the q-axis current loop PI controller, so that when a load step is suddenly changed, the q-axis current is compensated in time to reduce the rotation speed fluctuation caused by the disturbance of the load 5.
The mathematical model of the load torque observer 7 is as follows:
in the formula (4) < omega >mIs the mechanical angular velocity of the motor 6; j is moment of inertia;Teis an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
Wherein, when the sampling frequency is high, the load torque T in one sampling period can be approximately consideredlFor customization, therefore, in the preferred embodiment, the sampling frequency is increased and the load torque T is set for one sampling periodlIs a constant value, i.e.:
given by q-axis current and output speed omega of motor 6mFor input variables, to observe the rotational speed
Load torque TlAs an output variable.
In the present invention, the method for suppressing torque ripple of a permanent magnet hub motor may further include adding a load torque observer 7 and a q-axis current error iterative learning controller 4, so as to achieve a better technical effect, as shown in fig. 5, which is a frame diagram of a system to which the method for suppressing torque ripple of a permanent magnet hub motor is applied, and the beneficial effects obtained by the method are specifically as follows:
1) the method for inhibiting the torque ripple of the permanent magnet hub motor can effectively inhibit the rotation speed fluctuation of the permanent magnet hub motor under the condition of load torque step mutation, and the rotation speed fluctuation can be reduced by about 20% through verification;
2) in the steady-state operation process of the permanent magnet hub motor, the method can effectively reduce the pulsation degree of the output torque of the motor, a comparison graph of the torque pulsation before and after the method for inhibiting the torque pulsation of the permanent magnet hub motor is adopted is shown in fig. 6, and the torque pulsation degree in the steady-state operation process is greatly reduced compared with that before the algorithm is added.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A torque ripple suppression method of a permanent magnet hub motor is characterized by comprising the following steps:
s1: a mathematical model of the permanent magnet hub motor is established based on a synchronous rotation coordinate system as follows:
in the above formula, ud、uqRespectively representing a direct-axis component and a quadrature-axis component of the stator voltage of the permanent magnet hub motor in a rotating coordinate system; i.e. id、iqRespectively the direct component and quadrature component of the stator current; r is the stator resistance; psid、ψqRespectively a direct axis flux linkage and a quadrature axis flux linkage of the permanent magnet; omegaeIs the electrical angular velocity of the rotor;
s2: another id0, input i of d-axis current inner loopdrefIs 0;
s3: the speed loop PI controller is used as a system outer loop, receives a difference value between a rotating speed instruction and a motor feedback rotating speed, and outputs a q-axis current instruction i through PI regulationqrefGiving q-axis current to an inner loop;
s4: the d-axis current inner ring and the q-axis current inner ring respectively output voltage components u of a direct axis and a quadrature axis through the regulation of a PI (proportional-integral) controllerd、uq；
S5: obtaining 6 paths of high-frequency switching signals through inverse Park conversion and SVPWM algorithm, inputting the signals into a three-phase inverter, and outputting symmetrical three-phase sinusoidal alternating-current voltage to a three-phase outlet end of a permanent magnet hub motor after inverting the input direct-current voltage by the three-phase inverter;
s6: collecting three-phase current of a motor by a current sensor;
s7: acquiring the real-time position of a motor rotor by an angle sensor;
s8: obtained by Clark conversion and Park conversion in sequenceDirect and quadrature current components idfdkAnd iqfdkAnd feeding back to the current loop PI controller to form closed loop control.
2. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising the step of compensating a q-axis current loop PI controller: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To a q-axis current loop PI controller.
3. The method for suppressing torque ripple of a permanent magnet hub motor according to claim 2, wherein the mathematical model of the current error iterative learning controller is as follows:
wherein,
represents a compensation value representing the q-axis current of the (i +1) th iteration cycle,
a compensation value, e, representing the q-axis current of the i-th iteration cycleiRepresenting the error of the q-axis current command and feedback in the ith iteration loop, α is a filter coefficient, and β is a learning law.
4. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising the step of compensating a q-axis current loop PI controller: receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
5. The permanent magnet in-wheel motor torque ripple suppression method of claim 4, wherein the mathematical model of the load torque observer is as follows:
wherein ω ismIs the mechanical angular velocity of the motor; j is moment of inertia; t iseIs an electromagnetic torque; t islIs the load torque; and B is a damping coefficient.
6. The method for suppressing torque ripple of permanent magnet hub motor according to claim 5, wherein the sampling frequency is increased and the load torque T in one sampling period is setlIs a constant value, i.e.:
setting the output rotation speed omega of the motor according to the q-axis currentmFor input variables, to observe the rotational speed
Load torque TlAs an output variable.
7. The method for suppressing torque ripple of a permanent magnet in-wheel motor according to claim 1, further comprising performing a q-axis current loop PI controllerAnd (3) compensation: a current error iterative learning controller receives a q-axis current instruction and a current difference signal fed back by a motor output q-axis current, and outputs a current error compensation signal i through iterative learning control operationqcomp1To q-axis current loop PI controller;
receiving a q-axis current instruction and a speed feedback value output by a motor through a load torque observer, outputting an observed rotating speed and an observed torque through state observation, and according to the relation between the load torque and the q-axis current:
Tobsload torque, p, observed for the system at steady statenIs the pole pair number psi of the permanent magnet hub motorfIs a permanent magnet flux linkage;
the load torque observer obtains a compensation current i after the output observation torque passes through the formula gainqcomp2And outputting the output to a q-axis current loop PI controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911356903.2A CN111162710A (en) | 2019-12-25 | 2019-12-25 | Torque ripple suppression method for permanent magnet hub motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911356903.2A CN111162710A (en) | 2019-12-25 | 2019-12-25 | Torque ripple suppression method for permanent magnet hub motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111162710A true CN111162710A (en) | 2020-05-15 |
Family
ID=70558065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911356903.2A Pending CN111162710A (en) | 2019-12-25 | 2019-12-25 | Torque ripple suppression method for permanent magnet hub motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111162710A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112468049A (en) * | 2020-10-29 | 2021-03-09 | 珠海格力电器股份有限公司 | Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner |
| CN112583321A (en) * | 2020-12-16 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Double-motor propulsion system and control method |
| CN112977085A (en) * | 2021-03-02 | 2021-06-18 | 北京航天发射技术研究所 | Running control method for heavy-duty rail electric drive system |
| CN115329670A (en) * | 2022-08-11 | 2022-11-11 | 深圳朗道智通科技有限公司 | Data acquisition method for unmanned vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012133799A1 (en) * | 2011-03-30 | 2012-10-04 | 株式会社明電舎 | Motor-ripple inhibiting apparatus and motor-ripple inhibiting method |
| CN103492962B (en) * | 2011-04-15 | 2016-11-02 | 株式会社明电舍 | Rejection of Cyclic Disturbances equipment and Rejection of Cyclic Disturbances method |
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN110086393A (en) * | 2019-05-27 | 2019-08-02 | 东北大学 | A kind of permanent magnet synchronous motor (PMSM) speed ripple and torque ripple control system |
-
2019
- 2019-12-25 CN CN201911356903.2A patent/CN111162710A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012133799A1 (en) * | 2011-03-30 | 2012-10-04 | 株式会社明電舎 | Motor-ripple inhibiting apparatus and motor-ripple inhibiting method |
| CN103492962B (en) * | 2011-04-15 | 2016-11-02 | 株式会社明电舍 | Rejection of Cyclic Disturbances equipment and Rejection of Cyclic Disturbances method |
| CN110034711A (en) * | 2019-05-06 | 2019-07-19 | 上海海事大学 | A kind of control system of bisalient-pole permanent-magnet synchronous machine |
| CN110086393A (en) * | 2019-05-27 | 2019-08-02 | 东北大学 | A kind of permanent magnet synchronous motor (PMSM) speed ripple and torque ripple control system |
Non-Patent Citations (4)
| Title |
|---|
| W. ZHAODONG ET AL.: "An Effective Optimized Strategy on Speed Fluctuation Suppression for Air Conditioner Compressor", 《2017 36TH CHINESE CONTROL CONFERENCE (CCC)》 * |
| 张钟保: "基于负载扰动观测器的永磁同步电机预测控制研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
| 荀倩等: "基于负载转矩观测器的PMSM抗负载扰动控制策略", 《电工电能新技术》 * |
| 陈亚东: "交流永磁同步电机转矩脉动抑制的控制策略研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112468049A (en) * | 2020-10-29 | 2021-03-09 | 珠海格力电器股份有限公司 | Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner |
| CN112468049B (en) * | 2020-10-29 | 2022-05-27 | 珠海格力电器股份有限公司 | Method and device for suppressing rotation speed fluctuation of variable frequency compressor and air conditioner |
| CN112583321A (en) * | 2020-12-16 | 2021-03-30 | 航天科工智能机器人有限责任公司 | Double-motor propulsion system and control method |
| CN112977085A (en) * | 2021-03-02 | 2021-06-18 | 北京航天发射技术研究所 | Running control method for heavy-duty rail electric drive system |
| CN115329670A (en) * | 2022-08-11 | 2022-11-11 | 深圳朗道智通科技有限公司 | Data acquisition method for unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110022105A (en) | Permanent magnet synchronous motor predictive-current control method and system based on FOSMC | |
| CN111162710A (en) | Torque ripple suppression method for permanent magnet hub motor | |
| CN209844868U (en) | Dead beat current prediction control system of permanent magnet synchronous motor | |
| CN106655938B (en) | Control system for permanent-magnet synchronous motor and control method based on High-Order Sliding Mode method | |
| CN109560736A (en) | Method for controlling permanent magnet synchronous motor based on second-order terminal sliding formwork | |
| CN107994826A (en) | A kind of full order observer senseless control system based on error weighting | |
| CN101931361A (en) | Vector control device for induction motor | |
| CN110190795A (en) | A kind of permanent magnet synchronous motor tandem type Robust Prediction current control method | |
| CN109728755A (en) | A kind of PMSM inverting TSM control method | |
| CN108377117A (en) | Permanent magnet synchronous motor recombination current control system based on PREDICTIVE CONTROL and method | |
| CN111313773A (en) | Permanent magnet synchronous motor parameter identification method based on variable step length LMS algorithm | |
| CN106849809A (en) | A kind of SVM DTC motor control algorithms based on magnetic linkage error vector method | |
| CN113839589A (en) | Decoupling linear active disturbance rejection control method of permanent magnet synchronous motor | |
| CN105591575B (en) | A kind of direct character control system of non-salient pole permanent magnet synchronous motor and control method | |
| CN115864928A (en) | PMSM model reference self-adaptive rotation speed estimation method based on correction current prediction | |
| CN111293933A (en) | PMSM sensor anti-interference control method based on full-order adaptive observer | |
| CN113676088B (en) | Permanent magnet synchronous motor speed sensorless control method with harmonic suppression | |
| CN108429501B (en) | Method for observing load disturbance of permanent magnet synchronous motor | |
| CN113098335A (en) | Permanent magnet synchronous motor harmonic suppression method based on fuzzy QPR control and voltage compensation | |
| CN110943666A (en) | Constraint control system for composite current of permanent magnet synchronous motor and construction method thereof | |
| CN108683370B (en) | Brushless direct current motor torque control method based on adaptive sliding mode observer | |
| CN111049442A (en) | Method for suppressing rotational speed pulsation of servo motor | |
| CN114221584A (en) | Permanent magnet synchronous motor controlled by non-speed sensor | |
| CN114362600A (en) | Permanent magnet synchronous motor control system and control method | |
| CN111769777A (en) | Two-degree-of-freedom control method for discrete domain current loop of permanent magnet synchronous motor |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200515 |
|
| RJ01 | Rejection of invention patent application after publication |