CN102122916B - Compound control method based on vector control system of permanent magnet synchronous motor - Google Patents
Compound control method based on vector control system of permanent magnet synchronous motor Download PDFInfo
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- CN102122916B CN102122916B CN2011100963320A CN201110096332A CN102122916B CN 102122916 B CN102122916 B CN 102122916B CN 2011100963320 A CN2011100963320 A CN 2011100963320A CN 201110096332 A CN201110096332 A CN 201110096332A CN 102122916 B CN102122916 B CN 102122916B
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- fractional order
- permanent magnet
- magnet synchronous
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Abstract
The invention discloses a compound control method based on a vector control system of a permanent magnet synchronous motor. The method comprises the following steps: converting a three-phase current of the permanent magnet synchronous motor into equivalent currents on a straight shaft and a crossed shaft by utilizing a vector conversion principle; further linearly decoupling the mathematical models of shafts d and q of the permanent magnet synchronous motor by using the method of id=0; and using fractional order PIgammaDmu control and sliding mode variable structure compound control, wherein the fractional order PIgammaDmu control and the sliding mode variable structure compound control can be used for performing joint cross-feedback control on the speed ring through a variable weighting factor alpha. The compound control method based on a vector control system of a permanent magnet synchronous motor, provided by the invention, has the advantages of both the fractional order PIgammaDmu control and the sliding mode variable structure compound control during the control of the speed ring, and the favorable factors are maximized while the unfavorable factors are minimized. Compared with the traditional PID (proportional-integral derivative) control, the fractional order PIgammaDmu control has a widened control scope, thereby more flexibly matching the sliding mode variable structure to realize the compound control to the permanent magnet synchronous motor.
Description
Technical field
The present invention relates to alternating current machine drive technology field, be specifically related to a kind of composite control method based on permanent magnet synchronous motor vector control system.
Background technology
Along with the development of economy, automobile has become one of requisite vehicles in people's life, and automobile industry has become the important pillar industry of national economy.Electric automobile is as a kind of green traffic instrument, and it is had a clear-cut stand and takes the course of its own.In recent years, consumer and government strengthen the consciousness of environmental protection and constantly the increasing crazily of world energy sources price, and electric automobile is as a kind of new-energy automobile of Zero-discharge non-pollution, extremely motor-dom personage's favor.And motor and driving control system thereof be as the control core of electric automobile, and the quality of its control effect directly affects the quality of electric automobile whole performance.That the limited space requirement of electric automobile is selected is small-sized, light weight and efficient motor, volume is little, lightweight, moment of inertia is light, power density is high, efficient is high and export the advantages such as torque is large and permagnetic synchronous motor has, become a motor the most competitive in the driving motor for electric automobile, generally use on mixed power electric car in Japan and Europe.Simultaneously, China contains abundant rare earth resources, along with continuing to bring out of novel permanent magnetic material, the cost of permanent magnetic material is expected to reduce, thereby magneto is occupying absolute advantage in price especially than other class motors, permagnetic synchronous motor itself is exactly the multivariable system of a high-order, non-linear, close coupling, therefore is difficult to the system of such complexity is carried out accurate targeted control.Early 1970s, the people such as German scholar F.Blaschke have proposed principle of vector control, control object for this close coupling of alternating current machine, adopt the modern control theory of parameter reconstruct to come decoupling zero, carry out vector, copy the DC speed regulation principle, make the dynamic and static performance of Alternating Current Governor System reach the level of DC speed regulation.Permagnetic synchronous motor for surface-mount type generally adopts direct-axis current i
d=0 method is further carried out Linearized Decoupling to permagnetic synchronous motor.At present, permagnetic synchronous motor (PMSM) vector control system generally adopts speed and current double closed-loop control method, the control major part of speed is utilized traditional PID controller, although the traditional PID control principle is simple, robustness, good stability, but rapidity and jamproof ability are very limited.
Summary of the invention
The object of the invention is to provide a kind of composite control method based on permanent magnet synchronous motor vector control system, its can the Effective Raise Permanent Magnet Synchronous Motor Controller robustness, stability and stable state accuracy, and can reach the rapidity of control and strong anti-disturbance ability.
In order to solve these problems of the prior art, technical scheme provided by the invention is:
Composite control method based on permanent magnet synchronous motor vector control system utilizes the vector principle that the three-phase current of permagnetic synchronous motor is converted to d-axis, hands over the equivalent current on the axle, passes through i again
d=0 method is to the d of permagnetic synchronous motor, the further Linearized Decoupling of Mathematical Modeling of q axle, and speed ring adopts fractional order PI
λD
μControl and the compound control of sliding moding structure, described fractional order PI
λD
μControl and the compound control of sliding moding structure are united intersection control by the variable weighting factor-alpha to speed ring.
Further, described composite control method adopts space vector pulse width modulation (SVPWM) technical modelling to approach basic magnetic linkage circle, realizes the simulation key player on a team ripple control to permagnetic synchronous motor.
Further, described fractional order PI
λD
μSliding mode variable structure control in control and the compound control of sliding moding structure adopts the integral variable structure control strategy, and the switching function of described Sliding mode variable structure control is introduced the State integral item, becomes structural design and is chosen as the function switching controls.
Further, described vector comprises Clark conversion, Park conversion and Park inverse transformation.
Further, the scope of the described variable weighting factor is 0≤α≤1.
Further, utilize the two ends limiting value realization of α to the single choice of control method, and then adopt fractional order PI
λD
μControl or Sliding mode variable structure control are carried out whole process control to speed ring separately.
Further, the main control chip of described composite control method employing is the TMS320LF2812 digital processing chip.
With respect to scheme of the prior art, advantage of the present invention is:
1. the composite control method based on permanent magnet synchronous motor vector control system proposed by the invention has both fractional order PI in the control of speed ring
λD
μControl and Sliding Mode Controller advantage are are separately maximized favourable factors and minimized unfavourable ones, simultaneously fractional order PI
λD
μControl is widened its control range with respect to traditional PID control, thereby can go more flexibly to mate the sliding moding structure realization to the compound control of permagnetic synchronous motor;
2. the fractional order PI that proposes among the present invention
λD
μFractional order PI in control and the compound control of sliding moding structure
λD
μControl is the popularization of traditional integer rank PID control, fractional order PI
λD
μUtilize two degrees of freedom of λ, μ the point territory control range of traditional PI D can be extended to the face territory, the existing fractional order PI that experimental results show that
λD
μControl more traditional integer rank PID control and have better control effect;
3. the present invention judges two kinds of controller operating time sections by variable weighting factor-alpha (0≤α≤1), the characteristic requirements that satisfies is according to actual needs determined corresponding α value, corresponding control strategy separately in the different α value certain limits, independent Sliding mode variable structure control (α=0) and independent fractional order PI
λD
μControl (α=1) is two kinds of special case situations of the compound control of the present invention;
4. TMS320LF2812 chip of the present invention, its efficient data processing speed can satisfy a large amount of data operation that vector control and the compound control of speed ring etc. bring in the composite controller.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 is theory diagram of the present invention;
Fig. 2 is the controller that the present invention divides by the calculus order;
Fig. 3 is the theory diagram that the present invention controls speed ring.
Embodiment
Below in conjunction with specific embodiment such scheme is described further.Should be understood that these embodiment are not limited to limit the scope of the invention for explanation the present invention.The implementation condition that adopts among the embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in the normal experiment.
Embodiment:
The theory diagram of the composite control method of the described opportunity permanent magnet synchronous motor vector control system of present embodiment as shown in Figure 1, at first by Clark conversion, Park conversion, make each physical quantity be transformed into synchronous rotating frame (d, q coordinate system) from rest frame (threephase stator coordinate system), the actual detection of present embodiment biphase current i
a, i
b, by the Clark conversion, obtain i
α, i
β, obtain direct-axis current i under the rotating coordinate system by the Park conversion again
dWith friendship shaft current i
qCurrent feedback amount as electric current loop is carried out feedback ratio, adopts simultaneously i
d=0 method is to the further linear decoupling zero of the Mathematical Modeling on permagnetic synchronous motor d, the q axle, and d-axis and friendship shaft current produce d-axis after regulating by PI more respectively by feedback ratio, hand over the voltage signal u of axle
d, u
q, carry out again the voltage u that the Park inverse transformation obtains two phase coordinates
α, u
βThen advancing Using dSPACE of SVPWM (SVPWM) generation six road pwm signals controls permagnetic synchronous motor by inverter circuit, effective vector that on off state by suitable combination fundamental space vector on the space voltage vector quoted control (SVPWM) technical spirit produces approaches basic circle, namely come approximate simulation circular with shape changeable, thereby make the control of permagnetic synchronous motor reach the control effect of direct current machine.
To sum up, the photoelectric encoder that the present invention utilizes permagnetic synchronous motor to carry can record, calculate position and the rotating speed of rotor, the position signalling of rotor is introduced the vector coordinate transform that participates in electric current loop between Park conversion and the Park inverse transformation, the rotating speed that calculates compares through feedback and initial reference rotation velocity, the fractional order PI that the error signal after relatively proposes by the present invention
λD
μRegulate with the sliding moding structure composite controller, the error signal of d, q shaft current regulates, after the Park inverse transformation, realizes key player on a team's ripple control to permagnetic synchronous motor thereby produce 6 road PWM ripples by SVPWM via PI, and fractional order PI
λD
μBe incorporated into speed ring in permagnetic synchronous motor electric current, the speed double closed-loop control with the sliding moding structure composite control method, speed ring is carried out compound control.
In the present embodiment, fractional order PI
λD
μThe compound control of controller and sliding moding structure is made up mutually with a variable weighting factor-alpha (0≤α≤1), and this composite controller also can be realized separately fractional order PI
λD
μ(α=1) and sliding moding structure (α=0) are to the control of speed ring, Fig. 3 is the implementation theory diagram, control system performance requirement according to reality, when error signal is larger, get close to 0 or equal 0 α value, allow composite controller and mainly or fully be in Sliding mode variable structure control, force system according to the state trajectory motion of predetermined " sliding mode ", the controller fast response time of this moment, variation and external disturbance to parameter are insensitive, strong robustness is in the design of present embodiment Sliding Mode Controller, for saving the required acceleration signal of sliding mode speed control device, in switching function, introduce the State integral item, become structure and adopt the function switching controls
Because sliding moding structure can produce dither near the initial point of sliding formwork plane, in order to overcome this problem, when error signal hour, get near 1 or equal 1 α value, allow composite controller mainly or be in fractional order PI fully
λD
μControl reduces overshoot and the vibration of system, makes controller have good control quality.Fig. 2 is the controller that the utility model divides by the calculus order, visible fractional order PI
λD
μController has been Duoed λ and two degrees of freedom of μ than conventional PID controllers, and range of choice is more flexible, can better control increase and the minimizing of differential, integration item, is conducive to further oscillation-damped.
The TMS320LF2812 chip that adopts in the present embodiment has powerful control and signal handling capacity, can realize complicated control algolithm, and special-purpose Electric Machine Control interface is arranged, thereby is the huge help that implements of the present invention
Above-mentioned example only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the people who is familiar with technique can understand content of the present invention and according to this enforcement, can not limit protection scope of the present invention with this.All equivalent transformations that Spirit Essence is done according to the present invention or modification all should be encompassed within protection scope of the present invention.
Claims (4)
1. the composite control method based on permanent magnet synchronous motor vector control system is characterized in that, described composite control method utilizes the vector principle that the three-phase current of permagnetic synchronous motor is converted to d-axis, hands over the equivalent current on the axle, passes through i again
d=0 method is to the d of permagnetic synchronous motor, the further Linearized Decoupling of Mathematical Modeling of q axle, and speed ring adopts fractional order PI
λD
μControl and the compound control of sliding moding structure, described fractional order PI
λD
μControl and the compound control of sliding moding structure are united intersection control by the variable weighting factor-alpha to speed ring;
Described composite control method adopts space vector pulse width modulation (SVPWM) technical modelling to approach basic magnetic linkage circle, realizes the simulation key player on a team ripple control to permagnetic synchronous motor;
Described fractional order PI
λD
μSliding mode variable structure control in control and the compound control of sliding moding structure adopts the integral variable structure control strategy, and the switching function of described Sliding mode variable structure control is introduced the State integral item, becomes structural design and is chosen as the function switching controls;
The scope of the described variable weighting factor is 0≤α≤1.
2. composite control method according to claim 1 is characterized in that, described vector comprises Clark conversion, Park conversion and Park inverse transformation.
3. composite control method according to claim 1 is characterized in that, utilizes the two ends limiting value realization of α to the single choice of control method, and then adopts fractional order PI
λD
μControl or Sliding mode variable structure control are carried out whole process control to speed ring separately.
4. according to claim 1 and 2 or 3 described composite control methods, it is characterized in that the main control chip that described composite control method adopts is the TMS320LF2812 digital processing chip.
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