CN202094838U - Vector control apparatus with servo system of permanent magnet synchronous motor capable of on-line identification of parameter - Google Patents
Vector control apparatus with servo system of permanent magnet synchronous motor capable of on-line identification of parameter Download PDFInfo
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Abstract
The utility model relates to a vector control apparatus with a servo system of a permanent magnet synchronous motor (PMSM) capable of on-line identification of a parameter. An apparatus for on-line identification of a parameter is added, on the basis of the conventional vector control of a servo system of a PMSM with decoupling control of a velocity sensor; The apparatus for on-line identification of a parameter carries out an on-line identification of an estimated value of a motor parameter; continuously updates the motor parameter used in operation in the decoupling controller; and the optimal vector control effect is achieved, according to a voltage signal measured from a three phase power supply of the PMSM, a current signal of a three-phase winding of the PMSM and an electric angular velocity signal of the motor.
Description
Technical field:
The utility model relates to permagnetic synchronous motor vector control technology field, relates to the technology of online definite permagnetic synchronous motor parameter again, particularly a kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification.
Background technology:
Along with the continuous growth of every profession and trade, be that the application of servo system of controlling object is also increasingly extensive with the mechanical parameter to the automation demand.Permagnetic synchronous motor in the servo system is simple in structure with it, volume is little, in light weight, loss is little, efficient advantages of higher and cause people's attention, and obtains application more and more widely at aspects such as industrial and agricultural production, national defence and daily lifes.
The core of permagnetic synchronous motor servo system be to the permagnetic synchronous motor electromagnetic torque fast, dynamically control, and this just really is achieved only after vector control technology occurs.Vector control also claims field orientation control, and it is that 20th century 60, the seventies are by Germany
Doctor Hasse of the college of engineering at first delivers, and the Blaschke of Siemens Company forms Systems Theory with this general notion again subsequently.The basic principle that vector control realizes is by measuring and control alternating current machine stator current vector, respectively the exciting current and the torque current of alternating current machine being controlled according to the field orientation principle, thereby reached the purpose of controlling the alternating current machine torque.Owing to be in the servo-control system of core with the permagnetic synchronous motor, the vector control mode of employing is based on the parameter of controlled permagnetic synchronous motor accurately, therefore, is the first step of realization vector control to the measurement of permagnetic synchronous motor parameter.Yet therefore the parameter of permagnetic synchronous motor must be revised the parameter of electric machine in the vector control computing at any time, otherwise be difficult to reach ideal control effect along with the operation of environmental condition and motor, the variation of heating situation change.
Summary of the invention:
The technical problems to be solved in the utility model provides a kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification comprises on-line parameter identification device, q shaft current controller, d shaft current controller, contrary Park converter unit, decoupling controller, space vector pulse width modulation device (SVPWM), three-phase inverter, current transformer, Carke converter unit, Park converter unit, permagnetic synchronous motor (PMSM), angular speed and angular position pick up, Position And Velocity signal processing unit, triangular function generator, speed control and positioner; Angular speed and angular position pick up are installed on the power transmission shaft of permagnetic synchronous motor, and its output is connected to the input of Position And Velocity signal processing unit; The output of Position And Velocity signal processing unit is connected respectively to triangular function generator, positioner, speed control; The output of the output of positioner and Position And Velocity signal processing unit is connected to the input of speed control; The q shaft current output of the output of speed control and Park converter unit all is connected to the input of q shaft current controller; The output of q shaft current controller and the output of decoupling controller all are connected to the input of contrary Park converter unit; The d shaft current output of Park converter unit is connected to the input of d shaft current controller; The output of d shaft current controller and the output of decoupling controller are connected to the input of contrary Park converter unit; The output of contrary Park converter unit links to each other with the input of space vector pulse width modulation device; The output of space vector pulse width modulation device is connected to the input of three-phase inverter; The output of three-phase inverter is connected to the stator coil of permagnetic synchronous motor; The output of current transformer is connected to the input of Clarke converter unit; The output of Clarke converter unit is connected to the Park converter unit; The output of Park converter unit is exported to decoupling controller, d shaft current controller, q shaft current controller with d axle, the q shaft current of permagnetic synchronous motor respectively; The output of triangular function generator is connected to Park converter unit, contrary Park converter unit; It is characterized in that: the input of on-line parameter identification device is connected with three-phase inverter, current transformer, triangular function generator and Position And Velocity signal processing unit respectively, and the output of on-line parameter identification device is connected to decoupling controller.
Described on-line parameter identification device comprises that parameter identification opens/stop unit, on-line parameter identification unit, parameter storage unit, fundamental component extraction unit and three-phase alternating current/d-q coordinate transformation unit; The output of fundamental component extraction unit links to each other with the input of three-phase alternating current/d-q coordinate transformation unit, and the output of three-phase alternating current/d-q coordinate transformation unit is connected with the input of on-line parameter identification unit; The output of on-line parameter identification unit is connected to parameter storage unit on the one hand, is connected to the input of decoupling controller on the other hand; The output that parameter identification opened/stopped the unit is connected to the control input end of on-line parameter identification unit.
Described on-line parameter identification device comprises that parameter identification opens/stop unit, on-line parameter identification unit, parameter storage unit and three-phase alternating current/d-q coordinate transformation unit; The input of three-phase alternating current/d-q coordinate transformation unit is connected with the input of permagnetic synchronous motor, the output of current transformer respectively.
Described on-line parameter identification device comprises that parameter identification opens/stop unit, on-line parameter identification unit and parameter storage unit; The input of parameter identification unit is connected with input, Park converter unit output, the output of Position And Velocity signal processing unit and the output of triangular function generator of contrary Park converter unit respectively.
The beneficial effects of the utility model are:
Permagnetic synchronous motor is implemented high performance vector control be based upon controlled permagnetic synchronous motor accurately on the parameter value, and the parameter of permagnetic synchronous motor can change along with the variation of the operation of environmental condition and motor, the situation of generating heat, but the variation of the present invention's on-line tracing parameter of electric machine in running is for high-quality vector control provides the estimated value of parameter of electric machine on-line identification accurately.
Description of drawings:
Fig. 1 is the permagnetic synchronous motor servo system vector control apparatus schematic block diagram of band on-line parameter identification of the present utility model.
Fig. 2 is the schematic block diagram of the on-line parameter identification device in the utility model.
Fig. 3 is the FB(flow block) of the on-line parameter identification in the utility model.
Embodiment:
Below in conjunction with accompanying drawing execution mode of the present utility model is described further.But, those skilled in the art will appreciate that following execution mode is exemplary, be to be the restriction of scope that this patent is comprised in order to enable those skilled in the art to understand this patent better, can not to be interpreted as; So long as anyly be equal to change or modify analog structure, method and the similar variation thereof form, all fall into the scope that this patent comprises according to what the spirit that this patent disclosed was done.
See also Fig. 1, Fig. 1 controls based on the electric current decoupling zero under the d-q coordinate system, band on-line parameter identification device, the permagnetic synchronous motor vector control servo system schematic block diagram of speed sensor is by on-line parameter identification device 1, q shaft current controller 2, d shaft current controller 3, contrary Park converter unit 4, decoupling controller 5, space vector pulse width modulation device (SVPWM) 6, three-phase inverter 7, current transformer 8 and 9, Carke converter unit 10, Park converter unit 11, permagnetic synchronous motor (PMSM) 12, angular speed and angular position pick up 13, Position And Velocity signal processing unit 14, triangular function generator 15, speed control 16, and positioner 17 is formed; It in the frame of broken lines essential part of servo system; The control procedure of whole servo system is: the positional value θ of setting
m *With angular speed and angular position pick up 13 and Position And Velocity signal processing unit 14 detected motor actual rotor positional value θ
mCompare, through the rotary speed instruction signal ω of positioner 17 output speeds control
m *, by speed command and the current rotational speed omega of motor
mCompare, through speed control 16 output q shaft current command value i
q *, i
d *It is d shaft current set point; By the current i in current transformer 8,9 detected permagnetic synchronous motor 12 3 phase windings
u, i
v, i
w(i
w=-i
u-i
v), after coordinate transformation unit 10,11 conversion, obtain the current i on d, the q axle
d, i
q, with itself and i
d *, i
q *Compare, through d, q shaft current controller 3,2 output voltage values u ' separately
d *And u '
q *, obtain d, q shaft voltage instruction u after making up with the output of decoupling controller 5 again
d *And u
q *, again through be transformed into the voltage instruction u under the alpha-beta coordinate system against Park converter unit 4
α *And u
β *, after space vector pulse width modulation device 6 becomes three-phase voltage control command u
u *, u
v *, u
w *, be transformed into the three-phase electricity flow valuve i that controls permagnetic synchronous motor 12 by three-phase inverter 7 again
u, i
v, i
w, flow into permagnetic synchronous motor 12; The electric angle positional value θ that obtains from Position And Velocity signal processing unit 14
eBe admitted to triangular function generator 15, calculate corresponding Sin θ
eWith Cos θ
eValue is sent into contrary Park converter unit 4 and Park converter unit 11 again, and on-line parameter identification device 1; The electric angle velocity amplitude ω that obtains from Position And Velocity signal processing unit 14
eBe used to the computing of decoupling controller 5 and on-line parameter identification device 1; On-line parameter identification device 1 is according to the voltage signal u that records from the permagnetic synchronous motor three phase mains
u, u
v, u
w, the current signal i in permagnetic synchronous motor three phase windings
u, i
v, i
w, and the electric angle rate signal ω of motor
eOn-line identification goes out the estimated value of the parameter of electric machine
The employed parameter of electric machine when constantly upgrading in the decoupling controller 5 computing is to reach best decoupling zero control effect.
In Fig. 1, the stator winding of supposing motor is a wye connection, and stator field is a Sine distribution, does not consider humorously to involve saturatedly, ignores eddy current and magnetic hysteresis loss.Rotor is the undamped winding, and then under the d-q coordinate system, the voltage relationship formula of permagnetic synchronous motor can be expressed as:
In the formula, R
s, L
d, L
q, ψ
fIt is respectively the amplitude of stator winding resistance, d axle inductance, q axle inductance and permanent magnet magnetic linkage for permagnetic synchronous motor 12.
When decoupling zero is controlled, order
At this moment, i
d, i
qCan pass through u '
* d, u '
* qControl simply.
See also Fig. 2, permagnetic synchronous motor servo parameter on-line identification device 1 opens/stops unit 101, on-line parameter identification unit 102, parameter storage unit 103, fundamental component extraction unit 104 and three-phase alternating current/d-q coordinate transformation unit 105 by parameter identification and forms; The voltage signal u that records from the permagnetic synchronous motor three phase mains
u, u
v, u
w, and the current signal i in permagnetic synchronous motor 12 3 phase windings
u, i
v, i
w(i
w=-i
u-i
v), extract the fundamental component of each signal through fundamental component extraction unit 104, and after three-phase alternating current/d-q coordinate transformation unit 105 is handled, be transformed into the voltage and current signal u under the d-q coordinate system
1d, u
1q, i
1d, i
1q, and the electric angle rate signal ω of motor
eBe admitted to on-line parameter identification unit 102 together, on-line parameter identification unit 102 opens at parameter identification/stops under unit 101 control and carries out parameter of electric machine identification, and the result of output identification, simultaneously the result of identification is kept among the parameter storage unit 103.
Said fundamental component extraction unit can be a filter, also can be the known technologies such as Fourier conversion of recursion, quick to realize, the online fundamental component that extracts each signal.
The permagnetic synchronous motor servo system is in order to reach the control to position and speed, quicken continually or slow down and order about permagnetic synchronous motor, it is to be in to quicken or the decelerating phase according to permagnetic synchronous motor that parameter identification opens/stop unit 101, still be in speed stabilizing or operation-stopping stage, decide the running of opening or stopping on-line parameter identification unit 102, the requirement of required lasting excitation when satisfying parameter identification, that is:
Said on-line parameter identification unit 102 is after obtaining enabled instruction, according to input variable u
1d, u
1q, i
1d, i
1q, ω
ePick out the estimated value of the parameter of electric machine
For this reason, in on-line parameter identification unit 102, structure parameter of electric machine observation variable y (t), it forms linear relationship with the parameter of motor, just can estimate the parameter of electric machine under the condition that encourages continuing then.Order,
G in the formula
T=[g
dg
q] be weighing vector, expression d axle and/or q axle operating mode are to participating in the significance level of permagnetic synchronous motor parameter identification.If get g
T=[1 1] think that promptly d axle and q axle operating mode are of equal importance to participating in the permagnetic synchronous motor parameter identification, at this moment with formula 1 and formula 2 substitution formula 6, are that the frequency of Ts is sampled, discretization again with the sampling period; As previously mentioned, the parameter of permagnetic synchronous motor can take place to change slowly along with the variation of the operation of environmental condition and motor, the situation of generating heat; When sampling and the speed of identification are enough fast, and because limited through the word length of data after A in the sampling process, therefore, the variation of the parameter of electric machine that obtains for adjacent twice identification can be thought approximately equalised, and so, process can get after putting in order:
In the formula:
[formula 8]
[formula 10]
[formula 11]
ξ
T=[R
s, L
d, L
q, ψ
f] [formula 13]
By formula 7 as seen, the parameter vector ξ and the parameter of electric machine observation variable y of motor are linear, therefore can carry out the On-line Estimation of the parameter of electric machine with the parameter estimation algorithm of various types of recursion.Owing to exist noise in the system, therefore, at the different types of noise model, the relevant parameters method of estimation be can take, least square class method for parameter estimation (such as least square method, forgetting factor least square method, augmentation least square method, submodel least square method, generalized least square method, broad sense augmentation least square method, auxiliary variable method, parameter and the state joint estimation technique) and stochastic gradient algorithm, many new breath algorithms or the like comprised.
When the influence of the disturbance that can survey because of the operation of environmental condition and motor, heating situation etc. when the parameter of permagnetic synchronous motor takes place to change faster, formula 7 just becomes generalized time-varying, at this moment can adopt general parameter estimation method to try to achieve the estimated value of the parameter of electric machine.
In some application scenario, for structure, reduction by 1 pair of complete machine resource of on-line parameter identification device and the occupancy of CPU time of simplifying system, can cancel the fundamental component extraction unit 104 in the on-line parameter identification device 1, the voltage of permagnetic synchronous motor, current signal after three-phase alternating current/d-q coordinate transformation unit 105 is handled, are sent into on-line parameter identification unit 102 and carried out parameter identification; Also the fundamental component extraction unit 104 in the on-line parameter identification device 1 and three-phase alternating current/d-q coordinate transformation unit 105 all can be cancelled, directly be used u
* d, u
* q, i
dAnd i
qThe input signal u that replaces on-line parameter identification unit 102
1d, u
1q, i
1d, i
1q,, come the estimated value of identification permagnetic synchronous motor parameter with angular velocity signal
When implementing the estimation of parameter recursion, when powering on cold start-up for the first time, servo system (begins to start) from the cold conditions of motor, in order to keep whole system to turn round reposefully, the initial value of the parameter of electric machine can be set to the parameter of electric machine value that the motor manufacturer provides, or the parameter of electric machine value that records with static test, and the parameter of electric machine estimated value that the identification of cold start-up stage obtains is kept in the parameter storage unit 103 initial value when parameter recursion estimated when powering on cold start-up next time; And, in system's running, each time because of quickening or moderating process finishes, when the parameter identification process also finishes thereupon, the result of parameter identification is kept in the parameter storage unit 103, as receive enabled instruction next time, initial value when implementing the parameter On-line Estimation.
See also Fig. 3, show the FB(flow block) of on-line parameter identification of the present utility model.Do 51 judge whether it is the back cold start-up that powers on for the first time? if then enter 52, the parameter of electric machine that the producer of packing into provides, or the parameter of electric machine that obtains with static test; Not, 53 parameter identification results that cold start-up stage last time preserves that pack into then; Do 54 judge whether to be in acceleration or decelerating phase? if, 55 acquired signal then, 56 identifying motor parameters are also exported identification result; If not, then return 54; Do 57 judge that acceleration or moderating process are through with? if not, then return 55; If, then finish this parameter identification, enter 58, judge that this identification is first identification after the cold start-up? if then 59 results with identification deposit cold start-up parameter initial value memory block in, for the initial value of the parameter identification in cold start-up stage after next the powering on; If not, then 60 deposit identification result in next start-up parameter initial value memory block.Do 61 judge whether shutdown? if not, then 62 pack into and started the identification result of preserving after the identification last time, return 54, enter the next round parameter identification; If then withdraw from the parameter identification flow process.
Claims (4)
1. the permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification comprises on-line parameter identification device (1), q shaft current controller (2), d shaft current controller (3), contrary Park converter unit (4), decoupling controller (5), space vector pulse width modulation device (6), three-phase inverter (7), current transformer (8) and (9), Carke converter unit (10), Park converter unit (11), permagnetic synchronous motor (12), angular speed and angular position pick up (13), Position And Velocity signal processing unit (14), triangular function generator (15), speed control (16), and positioner (17); Angular speed and angular position pick up (13) are installed on the power transmission shaft of permagnetic synchronous motor (12), and its output is connected to the input of Position And Velocity signal processing unit (14); The output of Position And Velocity signal processing unit (14) is connected respectively to triangular function generator (15), positioner (17), speed control (16); The output of the output of positioner (17) and Position And Velocity signal processing unit (14) is connected to the input of speed control (16); The q shaft current output of the output of speed control (16) and Park converter unit (11) all is connected to the input of q shaft current controller (2); The output of the output of q shaft current controller (2) and decoupling controller (5) is connected to the input of contrary Park converter unit (4); The d shaft current output of Park converter unit (11) is connected to the input of d shaft current controller (3); The output of the output of d shaft current controller (3) and decoupling controller (5) is connected to the input of contrary Park converter unit (4); The output of contrary Park converter unit (4) links to each other with the input of space vector pulse width modulation device (6); The output of space vector pulse width modulation device (6) is connected to the input of three-phase inverter (7); The output of three-phase inverter (7) is connected to the stator coil of permagnetic synchronous motor (12); The output of current transformer (8) and (9) is connected to the input of Clarke converter unit (10); The output of Clarke converter unit (10) is connected to Park converter unit (11); The output of Park converter unit (11) is exported to decoupling controller (5), d shaft current controller (3), q shaft current controller (2) with d axle, the q shaft current of permagnetic synchronous motor (12) respectively; The output of triangular function generator (15) is connected to Park converter unit (11), contrary Park converter unit (4); It is characterized in that: the input of on-line parameter identification device (1) is connected with three-phase inverter (7), current transformer (8) and (9), triangular function generator (15) and Position And Velocity signal processing unit (14) respectively, and the output of on-line parameter identification device (1) is connected to decoupling controller (5).
2. a kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification according to claim 1 is characterized in that: described on-line parameter identification device (1) comprises that parameter identification opens/stop unit (101), on-line parameter identification unit (102), parameter storage unit (103), fundamental component extraction unit (104) and three-phase alternating current/d-q coordinate transformation unit (105); The output of fundamental component extraction unit (104) links to each other with the input of three-phase alternating current/d-q coordinate transformation unit (105), and the output of three-phase alternating current/d-q coordinate transformation unit (105) is connected with the input of on-line parameter identification unit (102); The output of on-line parameter identification unit (102) is connected to parameter storage unit (103) on the one hand, is connected to the input of decoupling controller (5) on the other hand; The output that parameter identification opened/stopped unit (101) is connected to the control input end of on-line parameter identification unit (102).
3. according to claim 1 or the described a kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification of claim 2, it is characterized in that: described on-line parameter identification device (1) comprises that parameter identification opens/stop unit (101), on-line parameter identification unit (102), parameter storage unit (103) and three-phase alternating current/d-q coordinate transformation unit (105); The input of three-phase alternating current/d-q coordinate transformation unit (105) is connected with the output of the input of permagnetic synchronous motor (12), current transformer (8) and (9) respectively.
4. according to claim 1 or the described a kind of permagnetic synchronous motor servo system vector control apparatus with on-line parameter identification of claim 2, it is characterized in that: described on-line parameter identification device (1) comprises that parameter identification opens/stop unit (101), on-line parameter identification unit (102) and parameter storage unit (103); The input of parameter identification unit (102) is connected with input, Park converter unit (11) output, the output of Position And Velocity signal processing unit (14) and the output of triangular function generator (15) of contrary Park converter unit (4) respectively.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102594253A (en) * | 2012-02-21 | 2012-07-18 | 常州联力自动化科技有限公司 | Parameter off-line identifying method and device of three-phase asynchronous motor |
| CN102624315A (en) * | 2012-04-11 | 2012-08-01 | 上海三一精机有限公司 | High-precision permanent magnetic servo motor three-closed-loop control system and method |
| CN104283479A (en) * | 2014-09-30 | 2015-01-14 | 卧龙电气集团杭州研究院有限公司 | Permanent magnet synchronous motor load torque monitoring system based on three-dimensional motor parameter tables |
| CN104283473A (en) * | 2013-07-02 | 2015-01-14 | 广东美的制冷设备有限公司 | Motor control device and method and air conditioner system |
| CN105529965A (en) * | 2016-01-19 | 2016-04-27 | 奇瑞汽车股份有限公司 | Brushless direct current motor position detection circuit |
-
2011
- 2011-06-10 CN CN2011201960698U patent/CN202094838U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102594253A (en) * | 2012-02-21 | 2012-07-18 | 常州联力自动化科技有限公司 | Parameter off-line identifying method and device of three-phase asynchronous motor |
| CN102594253B (en) * | 2012-02-21 | 2014-10-08 | 常州联力自动化科技有限公司 | Parameter off-line identifying method and device of three-phase asynchronous motor |
| CN102624315A (en) * | 2012-04-11 | 2012-08-01 | 上海三一精机有限公司 | High-precision permanent magnetic servo motor three-closed-loop control system and method |
| CN104283473A (en) * | 2013-07-02 | 2015-01-14 | 广东美的制冷设备有限公司 | Motor control device and method and air conditioner system |
| CN104283479A (en) * | 2014-09-30 | 2015-01-14 | 卧龙电气集团杭州研究院有限公司 | Permanent magnet synchronous motor load torque monitoring system based on three-dimensional motor parameter tables |
| CN105529965A (en) * | 2016-01-19 | 2016-04-27 | 奇瑞汽车股份有限公司 | Brushless direct current motor position detection circuit |
| CN105529965B (en) * | 2016-01-19 | 2018-07-06 | 奇瑞汽车股份有限公司 | A kind of position detecting circuit for brushless direct current dynamo |
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