CN108365788A - A kind of Matrix Converter-Permanent Magnetic Synchronous Machine governing system and method based on passive coherent locating - Google Patents

Abstract

The invention belongs to the field of motor transmission, and specifically relates to a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control; the device includes the permanent magnet synchronous motor PWSM respectively connected to a bidirectional matrix converter and output current detection circuit, the bidirectional matrix converter is sequentially connected to a passive low-pass filter and a three-phase AC power supply, an input voltage detection circuit is connected between the passive low-pass filter and the three-phase AC power supply, and the output current detection circuit and The input voltage detection circuit is respectively connected to the control circuit through the signal conditioning circuit, and the control circuit is connected to the bidirectional matrix converter through the switch tube drive circuit. The power module is respectively an output current detection circuit, a signal conditioning circuit, a control circuit, a switch tube drive circuit and an input The voltage detection circuit supplies power; the invention has the advantages of fast response speed, strong anti-interference ability and good robustness, and improves the performance of the speed regulation system.

Description

A matrix converter-permanent magnet synchronous motor speed control system based on passive control and methods

technical field

The invention belongs to the field of motor transmission, and in particular relates to a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control.

Background technique

Energy consumption is one of the costs of social progress, and energy conservation, environmental protection, and sustainable development are of strategic significance. For a long time, the most important source of energy consumption in the industrial field should be the motor. Therefore, the improvement of motor control technology and the improvement of motor efficiency have important implications for sustainable development. At present, AC speed control technology is widely used in motor drives, and it is a key part of the research on motor speed control systems. Such as energy-saving AC speed control systems used in fans and water pumps, high-performance AC speed control systems in rolling mills, machine tools, electric locomotives, etc., synchronous AC speed control systems in petrochemical, textile, and light industrial machinery, etc. AC frequency conversion speed regulation has become the mainstream of AC motor speed regulation technology research and development because of its high control precision, good speed regulation smoothness, wide speed regulation range and other advantages.

The executive motor of the AC electric drive system is an AC motor, generally an asynchronous motor, a permanent magnet synchronous motor and a permanent magnet brushless DC motor. The rotor of the permanent magnet motor is made of permanent magnet steel, which has the advantages of high efficiency, high power factor, high reliability, small size, high power density, large starting torque, low noise, and low temperature rise. In terms of speed regulation effect, it has a wider speed regulation range and higher precision than permanent magnet brushless motors and asynchronous motors. Therefore, permanent magnet synchronous motors are widely used in high-precision transmission systems and precision servo control systems. In terms of control strategy, vector control and direct torque control are relatively mature and mainstream methods at present, which can basically realize smooth speed regulation of permanent magnet synchronous motors. However, since the permanent magnet synchronous motor is a strongly coupled, multivariable, high-order nonlinear system, the system is easily affected by the external environment during operation (such as changes in motor body parameters, frequent load changes, and grid fluctuations, etc.). And in most cases, the operating environment of the motor is a relatively harsh factory environment. Only through vector control or direct torque control strategy, the stability and robustness of the permanent magnet motor speed control system are not satisfactory.

Contents of the invention

In view of the above problems, the object of the present invention is to provide a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passive control.

The purpose of the present invention is achieved like this:

A matrix converter-permanent magnet synchronous motor speed control system based on passive control, including permanent magnet synchronous motor PWSM, output current detection circuit, signal conditioning circuit, control circuit, switch tube drive circuit, bidirectional matrix converter, wireless A source low-pass filter, a power module, an input voltage detection circuit and a three-phase AC power supply; the control circuit includes a load side current polarity judgment circuit; the permanent magnet synchronous motor PWSM is respectively connected to a bidirectional matrix converter and an output current detection circuit , the bidirectional matrix converter is sequentially connected to a passive low-pass filter and a three-phase AC power supply, an input voltage detection circuit is connected between the passive low-pass filter and the three-phase AC power supply, and the output current detection circuit and the input The voltage detection circuit is respectively connected to the control circuit through the signal conditioning circuit, and the control circuit is connected to the bidirectional matrix converter through the switch tube drive circuit. The power module is respectively an output current detection circuit, a signal conditioning circuit, a control circuit, a switch tube drive circuit and an input voltage The detection circuit is powered.

Based on the speed regulation method realized by the matrix converter-permanent magnet synchronous motor speed regulation system based on the passive control, the method comprises the following steps:

Step 1. The output current detection circuit collects the three-phase currents i _A , i _B , and i _C of the permanent magnet motor stator, undergoes abc/αβ transformation, and obtains the current signals i _α , i _β in the α-β coordinate system, and then passes through αβ/αβ dq transformation to obtain current signals _id and i _q in the dq coordinate system, and transmit id _and i _q signals and output signals u _d and u _q of the robust passive controller to the adaptive synovial film velocity observer, The observation value of the speed signal of the permanent magnet synchronous motor and the observation value of the rotor position angle signal are obtained through the calculation of the adaptive sliding film speed observer;

Step 2: Set the given motor speed signal and the observed value ω _f of the motor speed signal obtained by the adaptive sliding film speed observer is sent to the adaptive fuzzy sliding film soft switching speed controller, and the q-axis current command value of the motor is obtained after adjustment In order to realize the vector control strategy of the permanent magnet synchronous motor, set the d-axis current command value of the motor

Step 3: Set the motor q-axis current command value and motor given speed signal It is transmitted to the robust passive controller, and at the same time, the current signals i _α and i _β of the motor stator in the α-β coordinate system are also transmitted to the robust passive controller;

The robust passive controller operates and adjusts the above four signals to obtain the given voltage signals u _df and u _df in the dq coordinate system, and performs dq/αβ transformation on u _df and u _df to obtain the virtual inversion of the bidirectional matrix converter Side given voltage u _α1 and u _β1 ;

Step 4: Sampling the three-phase voltage at the three-phase AC power supply terminal through the input voltage detection circuit to obtain the three-wire voltage u _A , u _B and u _C on the power supply side; perform abc/αβ conversion on u _A , u _B and u _C to obtain a bidirectional The given voltage signals u _α2 and u _β2 on the virtual rectification side of the matrix converter;

Step 5. Transmit the given voltages u _α1 and u _β1 on the virtual inverter side of the bidirectional matrix converter and the given voltage signals u _α2 and u _β2 on the virtual rectification side of the bidirectional matrix converter to the voltage vector, phase area and duty cycle Calculation module; perform virtual inverter side voltage space vector calculation, sector calculation and two-way PWM duty cycle calculation for u _α1 and u _β1 ; perform virtual side voltage space vector calculation, sector calculation and two-way PWM duty ratio calculation for u _α2 and u _β2 One-way PWM duty ratio calculation; the sector signals on the virtual inverter side and virtual rectification side are integrated to obtain the joint sector signal _nv ; the two-way PWM duty ratio signals on the virtual rectification side and the two-way The PWM duty ratio signal is synthesized to obtain four joint PWM duty ratio signals T ₁ , T ₂ , T ₃ , T ₄ ;

Step 6. Apply the RBF neural network prediction algorithm to adjust the power factor of the video game side; through the statistical prediction function of the RBF neural network, through the timing sampling of the PWM duty cycle signal on the virtual rectification side, and through the effective statistics of a large amount of data, the power factor of the power grid side can be analyzed. Predict the power factor, and generate a power factor correction signal Pr according to the prediction result;

Step 7. Transmit the four joint PWM duty ratio signals T1, T2, T3, T4, joint sector signal n _v , and power factor correction signal P _r to the dual SVPWM modulation and its drive module; the three signals participate in dual SVPWM together Modulate to obtain 18 SVPWM vector modulation waveforms; transmit the waveforms to the drive circuit to drive the power switch tube to realize motor control.

Further, in the passive control-based matrix converter-permanent magnet synchronous motor speed regulation method, the bidirectional matrix converter described in step 3 is equivalent to a virtual rectifier connected to a virtual inverter, that is, a virtual An AC-DC-AC structure with a DC link, the virtual rectifier and the virtual inverter are simultaneously controlled by the SVPWM space vector algorithm, and the RBF neural network algorithm is introduced on the virtual rectifier side to obtain the power factor correction coefficient and participate in dual SVPWM modulation. According to the passive control principle, the Hamilton dissipation form of port control is obtained as:

In the formula: J(x)=-J(x) ^T is a negative symmetric matrix, reflecting the internal interconnection structure; R(x) is a positive semi-definite symmetric matrix that smooth depends on x, reflecting the additional resistive structure on the port; g (x) reflects the port characteristics; H(x) defines the energy stored in the system, if H(x) has a lower bound, it is a passive system;

The mathematical model of the permanent magnet synchronous motor in the d-q rotating coordinate system can be written as:

Define the state vector, input, output vector, and external disturbance as:

From this, the state space expression can be written as:

Take the Hamiltonian function of PMSM as the sum of electric energy and mechanical kinetic energy, namely:

From this it follows that:

Substituting formulas (6) and (7) into formula (5), the Hamiltonian dissipation passive model of permanent magnet synchronous motor port control is:

In the formula:

Further, in the passive control-based matrix converter-permanent magnet synchronous motor speed regulation method, the mathematical model of the permanent magnet synchronous motor PMSM is combined with the passive control strategy to set the current inner loop robust passive Controller, construct a closed-loop expected energy function after adding feedback control, it takes the minimum value at x ₀ to seek feedback control

u=β(x) (10)

Let the closed-loop system be:

Let the passive expectation equilibrium point be:

Take the expected Hamiltonian function of the closed-loop system as:

Take the desired interconnection and damping matrix as:

Substituting the interconnection and damping matrix into Equation (11), the inner-loop robust passive controller can be obtained as:

Further, in the passive control-based matrix converter-permanent magnet synchronous motor speed regulation method, the mathematical model of the permanent magnet synchronous motor PMSM is combined with the passive control strategy to set the speed outer loop adaptive fuzzy sliding Membrane soft switching speed controller, the mechanical motion equation of permanent magnet synchronous motor PMSM under the condition of motor parameter variation and uncertainty is:

In the formula Δa, Δb, and Δd represent the perturbation values of the motor parameters; define the velocity tracking error in To estimate the speed, is the reference speed; thus the dynamic equation can be obtained as:

In the formula:

The surface of the integral sliding model with velocity tracking error e as the independent variable is selected as: According to formula (17):

s=e+ke=-ae(t)+w(t)+f(t)+ke(t) (18)

make f(t)=0 to obtain the adaptive fuzzy film soft switching speed controller:

Further, in the passive control-based matrix converter-permanent magnet synchronous motor speed regulation method, the mathematical model of the permanent magnet motor is combined with the passive control strategy to set the adaptive sliding film velocity observer, including permanent The mathematical model of the magnetic synchronous motor PMSM in the d-q rotating coordinate system can be described as:

y=Dx (20)

Where: u＝u _T ＝[u _d u _q ] ^T , x＝i _T ＝[i _d i _q ] ^T

According to the above state equation and output equation, the PMSM sliding mode adaptive full-state observer equation is constructed as follows:

The design switching function is:

In the formula, G is the gain matrix determined by the steady state of the observer; the dynamic equation of the deviation is obtained by subtracting the observation equation from the state equation:

According to Lyapunov's stability theory, the following formula holds:

The above formula is simplified and combined with the PI controller to obtain an adaptive sliding film velocity observer:

Further, in the passive control-based matrix converter-permanent magnet synchronous motor speed regulation method, the virtual rectifier and the virtual inverter are simultaneously controlled by the SVPWM space vector algorithm, and the DC voltage U of the virtual inverter is _PN = U _dc , according to the point of view of vector synthesis, the space vector form of the load line voltage is defined as U _o :

Let the dc current i _P =I _dc produced by the virtual rectifier, and only six combinations produce non-zero input current vectors, and three combinations produce zero vectors. The input phase voltage space vector U _iPh is defined as:

Integrate the duty ratios obtained from the voltage-current space vector modulation in the two virtual processes to obtain the corresponding five comprehensive duty ratios that can simultaneously control the output line voltage and the input phase current, and the combined switch state Can correspond to each integrated duty cycle, respectively:

According to the combined duty cycle obtained by the above formula, perform SVPWM vector control operation on it to obtain the action time of the space vector of each sector, and obtain the switch table of the direct matrix converter according to the switch table conversion function, according to the position of the permanent magnet synchronous motor The information switching switch realizes the control of motor rotation and speed regulation.

Beneficial effect:

The invention provides a matrix converter-permanent magnet synchronous motor speed regulation system and method based on passivity control. The synovial film speed observer and the three controllers take advantage of passive control, and have the characteristics of fast response, strong anti-interference ability and good robustness, which greatly improves the performance of the speed control system.

The present invention adopts the permanent magnet synchronous motor system formed by the bidirectional matrix converter, so that the present invention has the following advantages:

① High power density, compact structure, and strong environmental adaptability;

②The regenerative energy of the motor is fed to the power grid, which has the ability of rapid braking and frequent forward and reverse rotation;

③The input current of the system is sinusoidal, the power factor can be adjusted flexibly, and the compatibility with the power grid is good.

Description of drawings

Figure 1 is a block diagram of a matrix converter-permanent magnet synchronous motor speed control system based on passive control.

Figure 2 is a circuit diagram of output current detection.

Figure 3 is a circuit diagram of the input voltage detection.

Figure 4 is a circuit diagram for judging the polarity of the load-side current.

Figure 5 is a circuit diagram of the switch tube drive.

Fig. 6 is a flow chart of a matrix converter-permanent magnet synchronous motor speed regulation method based on passive control.

Fig. 7a is a topological structure diagram of a matrix converter.

Fig. 7b is an equivalent cross-direction-cross structure diagram.

Figure 8 is a logic block diagram of the DSP program.

Figure 9 is a flowchart of timer T4 interrupt.

Fig. 10a is a flow chart of initial setting value calculation.

Figure 10b is a flow chart of the double SVPWM algorithm.

Figure 11 is a flowchart of the FPGA program.

Fig. 12 is a waveform diagram of the phase voltage and phase current of phase A of the power grid side in stable operation.

Fig. 13 is a waveform diagram of the output rotational speed.

Fig. 14 is an output torque waveform diagram.

Detailed ways

The specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Specific implementation mode one

A matrix converter-permanent magnet synchronous motor speed control system based on passive control, as shown in Figure 1, includes a permanent magnet synchronous motor PWSM, an output current detection circuit, a signal conditioning circuit, a control circuit, a switch tube drive circuit, A bidirectional matrix converter, a passive low-pass filter, a power module, an input voltage detection circuit and a three-phase AC power supply; the control circuit includes a load side current polarity judging circuit; the permanent magnet synchronous motor PWSM is respectively connected to a bidirectional matrix conversion and an output current detection circuit, the bidirectional matrix converter is sequentially connected to a passive low-pass filter and a three-phase AC power supply, an input voltage detection circuit is connected between the passive low-pass filter and the three-phase AC power supply, and the The output current detection circuit and the input voltage detection circuit are respectively connected to the control circuit through the signal conditioning circuit, and the control circuit is connected to the bidirectional matrix converter through the switching tube driving circuit. The tube drive circuit and the input voltage detection circuit are powered.

The control circuit includes DSP and FPGA, DSP is produced by TI company, the model is TMS320F28335, as the main controller, it realizes A/D conversion, PWM capture, processing of motor speed and position signal and the function of dual SVPWM algorithm of matrix converter; FPGA The model is EP4CE6E22C8N, as an auxiliary controller, it realizes the function of outputting PWM driving waveform and troubleshooting IGBT; DSP and FPGA are jointly used for input voltage, output current signal processing, robust passive controller algorithm realization, adaptive fuzzy Synovial film soft switching speed controller algorithm realization, adaptive synovial film speed observer algorithm realization, SVPWM algorithm realization, matrix converter 18-way PWM signal generation; switch tube drive circuit is used for strong and weak current isolation and amplifies the power of PWM signal drive The switch tube; the signal conditioning circuit is responsible for level conversion, amplification and filtering, and clamp protection of the sampling signal; the input voltage detection circuit and output current detection circuit are used to detect the voltage and current of the power supply terminal and the load terminal; the power supply module is used for output The current detection circuit, the signal conditioning circuit, the control circuit, the switching tube drive circuit and the input voltage detection circuit are powered by each DC circuit part.

Working process: The three-phase AC power supply is connected to the input terminal of the input voltage detection circuit, and the voltage information of the input terminal is detected, including voltage amplitude, phase angle, zero crossing point, and polarity; the output current detection circuit is set at the output terminal, and the current information of the output terminal is detected , including current amplitude, phase angle, zero-crossing point, and polarity; real-time observation of motor speed and position information through an adaptive synovial film speed observer; DSP and FPGA are used as the controller of the speed control system; the detected input The terminal voltage signal, the current signal at the output terminal and the rotational speed and position information observed by the adaptive synovial film velocity observer are transmitted to the DSP chip through the signal conditioning circuit. The DSP realizes the passive control algorithm and the dual SVPWM algorithm modulation through software programming to obtain PWM duty cycle signal. The DSP transmits the PWM duty cycle signal to the FPGA, and the FPGA obtains the driving waveform of the matrix converter through calculation, and finally drives the switching device IGBT of the matrix converter through the driving circuit.

As shown in Figure 2, the output current detection circuit uses a closed-loop current Hall sensor model LA-50P to detect the load current. Configure the appropriate sampling resistor RM1 according to the transformation ratio of the input and output signals of the Hall current sensor, so as to obtain the sampling voltage UM. The sampling voltage signal UM1 is input to the A/D port of DSP after being isolated, biased, low-pass filtered and clamped. As shown in Figure 3, the input voltage detection circuit uses a closed-loop voltage Hall sensor of the model CHV50-1000V to detect the voltage signal. Similar to the current detection, it is necessary to configure the sampling resistor to obtain the sampling voltage signal, and transmit the sampling voltage signal to the A/D port of the DSP after processing similar to the current detection; the sampling voltage signal waveform is obtained by the CHV50-1000V closed-loop voltage Hall sensor, The voltage waveform is converted into a PWM duty ratio waveform by a voltage comparator LM393, and the PWM duty ratio signal is transmitted to the capture unit of the DSP to complete the judgment of the voltage phase and zero-crossing point.

The core of the frequency conversion speed regulation system is the power converter. At present, the mainstream power converters are mainly divided into AC-DC-AC indirect conversion, that is, dual PWM converters, uncontrolled rectification PWM converters, AC-AC direct converters, cycle converters and There are two types of matrix converters. A large-capacity energy storage capacitor must be added to the intermediate DC link of the AC-DC-AC indirect converter, which will make the inverter too large. In addition, the front-end diode rectification link and LC filter circuit of the uncontrolled rectification PWM converter will distort the input current. Make the input power factor low. AC-AC cycle converters generally use thyristors as control components. The topology of the main circuit of the converter is relatively complex, and the number of switching devices is large, which increases the cost. However, the phase control method of thyristors will distort the input current and reduce the power factor. However, the AC-AC matrix converter has very obvious advantages compared with the above three converters. The bidirectional matrix converter adopted by the present invention has the advantages of no intermediate DC side capacitor, bidirectional flow of energy, sinusoidal input and output waveforms and small harmonic distortion, flexible input current phase adjustment, etc., and the structure is shown in Figure 7a.

The invention adopts the semi-softening four-step commutation method of the proof converter to realize the switching of the switch tube, so the FPGA needs to judge the current polarity of the permanent magnet motor load when generating 18 PWM driving waveforms, so a load current polarity detection circuit is designed As shown in Figure 4, the current polarity judgment circuit on the load side obtains the load current sampling signal through the LA-50P closed-loop current Hall sensor, and obtains the sampling voltage signal by matching the appropriate sampling resistor, and converts the sampling voltage signal through the voltage comparator LM393 into The PWM signal is transmitted to the capture unit of the FPGA to determine the polarity of the load current.

As shown in Figure 5, the chip used in the switching tube drive circuit is the HCPL-316J photocoupler produced by Toshiba Corporation of Japan. The optocoupler driver chip is very powerful. The maximum switching speed reaches 500ns, which is fully satisfactory for driving IGBT; it has a wide operating voltage range of 15 to 30V, which facilitates the design of power supply circuits; it has undervoltage and overvoltage protection functions; it has the function of overcurrent detection of switching tubes, etc. The switch tube drive circuit includes HCPL-316J drive chip and peripheral circuits. The chip has a total of 16 pins. Pin 13 is the drive power supply pin, which has overvoltage and undervoltage protection functions. Pins 9, 10, and 16 are the grounding pins of the driving end, which are connected to the IGBT emitter or E pole. Pin 14 is an overcurrent detection pin, connected to the collector or C pole of the switch tube IGBT through resistor R6 and two diodes D4 and D5, the role of resistor R6 is to limit the input current of pin 14, and the diodes D4 and D5 The role is to limit the input voltage of pin 14. Pin 6 is the fault signal output pin, the output of this pin is low level when the chip is working normally, and it is pulled up by 5V voltage through resistor R7 and connected to FPGA. Pin 5 is a reset input pin, active low, connected to FPGA through resistor R2. Pin 11 is an optocoupler drive pin, which is connected to the gate or G pole of the IGBT through the drive resistor R6. When the input voltage of pin 13 is higher than 19 volts or lower than 12 volts and the input voltage of pin 14 is 2.5 times higher than the voltage drop of the IGBT tube, pin 11 will stop outputting the driving signal and keep it at low level. At the same time, the output of pin 6 jumps from high level to low level, and transmits the low level fault signal to FPGA. FPGA takes protective measures and sends a low level reset signal to pin 5. After a period of time, the chip completes the reset. Only then can the driving signal be issued again. The bidirectional voltage regulator diode D6 is connected between the gate and the source of the IGBT, and plays the role of limiting the driving voltage of the IGBT. At the same time, the discharge resistor R3 is connected between the gate and the source of the IGBT, so that the parasitic capacitance between the gate and the source can be quickly discharged, so that the IGBT can be turned off reliably and quickly. The driving circuit can realize reliable and safe driving of the IGBT, reduce the burning rate of the IGBT, and reduce losses.

Specific implementation mode two

Based on the speed regulation method realized by the matrix converter-permanent magnet synchronous motor speed regulation system based on said a kind of passive control, as shown in Figure 6, comprises the following steps:

Step 1. The output current detection circuit collects the three-phase currents i _A , i _B , and i _C of the permanent magnet motor stator, and after abc/αβ transformation, the three-phase static coordinate system/two-phase static coordinate system obtains the current in the α-β coordinate system The current signals i _α and i _β are transformed by αβ/dq, and the two-phase stationary coordinate system/two-phase rotating coordinate system are used to obtain the current signals i _d and i _q in the dq coordinate system. The i _d , i _q signals and the Lu The output signals u _d and u _q of the rod passive controller are transmitted to the adaptive sliding film velocity observer, and the observation value of the speed signal of the permanent magnet synchronous motor and the observation value of the rotor position angle signal are obtained through the operation of the adaptive sliding film velocity observer.

Step 2: Set the given motor speed signal and the observed value ω _f of the motor speed signal obtained by the adaptive sliding film speed observer is sent to the adaptive fuzzy sliding film soft switching speed controller, and the q-axis current command value of the motor is obtained after adjustment In order to realize the vector control strategy of the permanent magnet synchronous motor, set the d-axis current command value of the motor

Step 3: Set the motor q-axis current command value and motor given speed signal It is transmitted to the robust passive controller, and at the same time, the current signals iα and iβ of the motor stator in the α-β coordinate system are also transmitted to the robust passive controller,

The robust passive controller operates and adjusts the above four signals to obtain the given voltage signals u _df and u _df in the dq coordinate system, and performs dq/αβ transformation on u _df and u _df to obtain the virtual inverter side of the matrix converter Given voltages u _α1 and u _β1 .

Step 4: Sampling the three-phase voltage at the three-phase AC power supply terminal through the input voltage detection circuit to obtain three-wire voltages u _A , u _B and u _C at the power supply side. Perform abc/αβ transformation on u _A , u _B and u _C to obtain the given voltage signals u _α2 and u _β2 on the virtual rectification side of the matrix converter.

Step 5. Transmit the given voltages u _α1 and u _β1 on the virtual inverter side of the matrix converter and the given voltage signals u _α2 and u _β2 on the virtual rectification side of the matrix converter to the voltage vector, phase area and duty ratio calculation module . Carry out virtual inverter side voltage space vector calculation, sector calculation and two-way PWM duty cycle calculation for u _α1 and u _β1 . Perform virtual side voltage space vector calculation, sector calculation and two-way PWM duty cycle calculation for u _α2 and u _β2 . The combined sector signal nv is obtained by integrating the sector signals on the virtual inverter side and the virtual rectifier side. The two channels of PWM duty cycle signals on the virtual rectification side and the two channels of PWM duty cycle signals on the virtual inverter side are synthesized to obtain four combined PWM duty cycle signals T ₁ , T ₂ , T ₃ , and T ₄ .

Step 6: Applying the RBF neural network prediction algorithm to adjust the power factor of the video game side. The specific method is to use the statistical prediction function of the RBF neural network to regularly sample the PWM duty ratio signal on the virtual rectification side, and through the effective statistics of a large amount of data, the power factor of the grid side can be predicted, and the power factor correction signal is generated according to the prediction results. Pr.

Step 7. Transmit the four combined PWM duty ratio signals T ₁ , T ₂ , T ₃ , T ₄ , the combined sector signal n _v , and the power factor correction signal Pr to the dual SVPWM modulation and its driving module. The above three signals participate in dual SVPWM modulation to obtain 18 SVPWM vector modulation waveforms. The waveform is transmitted to the drive circuit to drive the power switch tube to finally realize the motor control.

Specifically, a matrix converter-permanent magnet synchronous motor speed regulation method based on passive control uses a matrix converter to control the speed regulation of the permanent magnet synchronous motor. Compared with the traditional AC-DC-AC frequency conversion system, it has power It has the advantages of high density, bidirectional flow of energy, sinusoidal input current of the system and high power factor. In the control strategy, the combination of passive control and dual SVPWM vector control of matrix converter is used. Since the matrix converter-permanent magnet synchronous motor speed control system is a strongly coupled, multivariable, high-order nonlinear system, the anti-interference ability and system robustness are unsatisfactory, so the present invention combines passive control with The combination of matrix converter dual SVPWM vector control, adding passive control on the basis of vector control high-precision speed regulation, greatly enhances system stability, anti-interference ability and robustness, and makes matrix converter-permanent magnet synchronous The performance of the motor speed control system is superior. According to the passivity theory, the port-controlled dissipative Hamiltonian PCHD model of the permanent magnet synchronous motor is calculated, and on this basis, the robust passivity controller, the adaptive fuzzy synchronous film soft switching speed controller and the adaptive Synovial Velocity Observer. According to the dual SVPWM control strategy of the matrix converter, the direct matrix converter is equivalent to a virtual rectifier VSR connected with a virtual inverter VSI, that is, an AC-DC-AC structure with a DC link is virtualized, and the virtual rectifier and virtual The inverter is controlled by the SVPWM space vector algorithm at the same time, and the RBF neural network algorithm is introduced on the virtual rectification side to obtain the power factor correction coefficient and participate in dual SVPWM modulation to improve the power factor of the system.

According to the principle of passive control, the form of the port-controlled dissipative Hamiltonian PCHD system is:

In the formula: J(x)＝-J(x) ^T is a negative symmetric matrix, which reflects the internal interconnection structure of the system; R(x) is a positive semi-definite symmetric matrix of smooth dependence on x, which reflects the additional Resistive structure; g(x) reflects the port characteristics of the system; H(x) defines the energy stored in the system, if H(x) has a lower bound, the formula is a passive system.

The mathematical model of the permanent magnet synchronous motor in the d-q rotating coordinate system can be written as the following formula, ignoring the viscous friction coefficient:

Define the state vector of the system, the input and output vectors, and the external disturbance as follows:

From this, the state space expression of the system can be written as:

Take the Hamiltonian function of the PMSM system as the sum of electrical energy and mechanical kinetic energy, namely:

From this it follows that:

Substituting equations (6) and (7) into equation (5), the dissipative Hamiltonian PCHD passive system model of permanent magnet synchronous motor port control is:

In the formula:

Specifically, according to the mathematical model of the permanent magnet motor combined with the characteristics of the passive control strategy, the current inner loop robust passive controller is designed. In order to asymptotically stabilize the PMSM system at the desired x ₀ equilibrium point. Nearby, construct a closed-loop expected energy function after adding feedback control, which takes the minimum value at x ₀ to seek feedback control

u=β(x) (10)

Let the closed-loop system be:

Let the expected equilibrium point of the passive system be:

Take the expected Hamiltonian function of the closed-loop system as:

The desirable interconnection and damping matrix is:

Substituting the interconnection and damping matrix into Equation (11), the inner-loop robust passive controller can be obtained as:

Specifically, according to the permanent magnet motor mathematical model combined with the passive control strategy, the speed outer loop adaptive fuzzy sliding film soft switching speed controller is designed.

The mechanical motion equation of permanent magnet synchronous motor PMSM under the condition of motor parameter variation and uncertainty is:

In the formula Δa, Δb and Δd represent the perturbation values of the motor parameters.

Define Velocity Tracking Error in To estimate the speed, is the reference speed.

From this, the dynamic equation can be obtained as:

In the formula:

The surface of the integral sliding model with velocity tracking error e as the independent variable is selected as:

According to the formula (17):

s=e+ke=-ae(t)+w(t)+f(t)+ke(t) (18)

make f(t)=0 can get the adaptive fuzzy film soft switching speed controller:

Specifically, the adaptive sliding film velocity observer is designed according to the mathematical model of the permanent magnet motor combined with the passive control strategy. The mathematical model of PMSM in the d-q rotating coordinate system can be described as:

y=Dx (20)

Where: u＝u _T ＝[u _d u _q ] ^T , x＝i _T ＝[i _d i _q ] ^T

According to the above state equation and output equation, the PMSM sliding mode adaptive full-state observer equation is constructed as follows:

The design switching function is:

where G is the gain matrix determined by the steady state of the observer.

Subtracting the observation equation from the state equation of the system, the dynamic equation of the deviation system can be obtained as:

According to Lyapunov's stability theory, the following formula can be obtained:

The above formula is simplified and combined with the PI controller to obtain the adaptive sliding film velocity observer:

Specifically, the matrix converter dual SVPWM vector control strategy. The matrix converter is equivalent to a virtual rectifier connected with a virtual inverter, that is, an AC-DC-AC structure with a DC link is virtualized, and the virtual rectifier and virtual inverter are simultaneously controlled by the SVPWM space vector algorithm.

The SVPWM on the virtual inverter side is shown in Fig. 7a and Fig. 7b. Let the dc voltage U _PN = U _dc of the virtual inverter. From the viewpoint of vector synthesis, the space vector form of the load line voltage is defined as U _o :

The virtual rectifier VSR SVPWM space vector modulation is similar to the virtual inverter VSI. The DC current i _P ＝I _dc generated by the VSR can be made, and only six combinations produce non-zero input current vectors, and three combinations produce zero vectors. The input phase voltage space vector U _iPh is defined as:

The VSR space vector modulation and VSI space vector modulation in the matrix converter are modulated independently of each other in the equivalent AC-DC-AC structure, so they need to be integrated, that is, within one PWM cycle, the voltage in the two virtual processes The duty cycle obtained by the current space vector modulation is integrated to obtain the corresponding five comprehensive duty cycles that can control the output line voltage and the input phase current at the same time, and the combined switch state of the two can be compared with each comprehensive duty cycle. The empty ratios correspond to:

According to the combined duty cycle obtained by the above formula, the SVPWM vector control operation can be performed on it, and the action time of the space vector of each sector can be obtained. According to the switch table conversion function, the switch table of the direct matrix converter can be obtained. According to the permanent magnet synchronous The position information switching switch of the motor can realize the control of motor rotation and speed regulation.

Specifically, the third embodiment

The control circuit includes DSP and FPGA, as shown in Figure 8, when the DSP program is started, the main program is executed, and the system initialization is completed in the main program in sequence, and then the initialization of prohibited interrupts, I/O ports, registers, timers, interrupts, etc. It meets the conditions for entering the interrupt subroutine. When the conditions are not met, return to execute the system initialization. When the conditions are met, jump out of the main program to execute the interrupt subroutine. After the execution of the interrupt subroutine is completed, return to the main program and wait. A boot interrupt.

The interrupt subroutine mentioned is the timer T4 interrupt subroutine, and the interrupt subroutine flow is shown in Figure 9, which is used to convert the load three-phase current into the load three-phase line voltage and the output speed into the output frequency; Phase current phase determination; robust passivity controller algorithm realization, adaptive fuzzy synovial film soft switching speed controller algorithm realization, adaptive synovial film speed observer algorithm realization and dual SVPWM algorithm realization; RBF neural network power factor correction coefficient calculate.

The calculation process of the initial set value in Figure 7 is shown in Figure 10a. The T2 timer interrupt is used to complete the calculation of the initial design value, which is used to complete the conversion of the output speed setting value into the output frequency setting, input voltage sampling value and output current sampling. Value reading, processing and phase correction, and calculate the output line voltage value, MC predicted power factor value and predicted virtual DC voltage compensation coefficient value. The T4 interrupt is nested in the underflow interrupt of T2 to implement the dual SVPWM algorithm, read the input current and output voltage αβ values, calculate the corresponding sector and vector duty cycle, calculate the joint duty cycle and vector action time, and finally output Four-way PWM waveform, the process is shown in Figure 10b.

FPGA is used to complete power tube protection, control signal decoding, semi-soft four-step commutation, output overload and short circuit protection. Through signal decoding, the four-way PWM joint duty ratio signal transmitted by the DSP is converted into the switch sequence number of the nine-way bidirectional switch. According to the polarity of the load current, according to the semi-softening four-step commutation principle, the switch sequence number of the 9-way bidirectional switch is converted into the on-off sequence of the 18 power tubes, and then the 18-way drive signal is output. When the output is overloaded or short-circuited, the decoder will receive an alarm signal and directly cut off the drive signal of the bidirectional switch to implement protection. Its process is shown in Figure 11.

In order to verify the feasibility and effectiveness of the present invention, system simulation is carried out.

Figure 12 shows the phase voltage and phase current waveforms of phase A on the grid side when the system is running stably. It can be seen that the phase current waveform on the grid side maintains a sine wave, the harmonics are small, the phase current and the phase voltage are consistent, and the common factor reaches 1.

Fig. 13 is a waveform diagram of the rotational speed of the motor. It can be seen that the speed reaches a given speed of 750r/min after about 0.06 seconds of adjustment. During the 0.06 second speed adjustment process, the speed rises smoothly, the speed overshoot is small, and the error is very small after the speed is stable, and the realization is very accurate. speed control.

Fig. 14 is a torque waveform diagram of a permanent magnet motor. Set the load torque to 5N·m. It can be seen that the starting torque of the motor is very large, which can reach about 40N·m, which shows that the system has a very strong starting ability, which can meet the requirements of heavy load starting, and greatly improves the engineering practicability of the system. The system enters the stable stage in about 0.06 seconds, the motor torque is stable at the load torque of 5N·m, the startup process is fast and smooth, the motor torque is very stable during stable operation, and the control accuracy is high.

Claims (7)

1. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine governing system based on passive coherent locating, which is characterized in that including permanent magnetism Synchronous motor PWSM, output current detection circuit, signal conditioning circuit, control circuit, switch tube driving circuit, two-way matrix become Parallel operation, passive low ventilating filter, power module, input voltage detection circuit and three-phase alternating-current supply；The control circuit includes Load-side current polarity decision circuitry；The permanent magnet synchronous motor PWSM is separately connected two-way matrix converter and output current inspection Slowdown monitoring circuit, the two-way matrix converter are sequentially connected passive low ventilating filter and three-phase alternating-current supply, the Passive low pass Input voltage detection circuit, the output current detection circuit and input voltage measurement are connected between wave device and three-phase alternating-current supply Circuit connects control circuit by signal conditioning circuit respectively, and control circuit connects two-way matrix by switch tube driving circuit and becomes Parallel operation, the power module are respectively output current detection circuit, signal conditioning circuit, control circuit, switch tube driving circuit It powers with input voltage detection circuit.

2. real based on a kind of Matrix Converter-Permanent Magnetic Synchronous Machine governing system based on passive coherent locating described in claim 1 Existing speed regulating method, which is characterized in that include the following steps：

Step 1: output current detection circuit acquisition permanent magnet motor stator three-phase current i_A、i_B、i_C, convert, obtain by abc/ α β Current signal i under to alpha-beta coordinate system_α、i_β, converted using α β/dq, obtain the current signal i under d-q coordinate systems_d、i_q, will i_d、i_qThe output signal u of signal and Robust passive control device_d、u_qSignal transmission is to adaptive synovial membrane speed observer, by certainly It adapts to synovial membrane speed observer operation and obtains permanent magnet synchronous motor tach signal observation and rotor-position angle signal observation；

Step 2: by given motor speed signalWith the motor speed signal observation obtained by adaptive synovial membrane speed observer Value ω_fIt is sent to adaptive fuzzy synovial membrane soft handover speed control, motor q shaft current command values are obtained through overregulatingIn order to It realizes the vector control strategy of permanent magnet synchronous motor, sets motor d shaft current command values

Step 3: by motor q shaft current command valuesWith motor given rotating speed signalIt is transmitted to Robust passive control device, simultaneously By current signal i of the motor stator under alpha-beta coordinate system_αAnd i_βAlso it is transmitted to Robust passive control device；

Robust passive control device carries out carrying out operation to above-mentioned four kinds of signals and adjusting obtains given voltage signal under d-q coordinate systems u_dfAnd u_df, to u_dfAnd u_dfDq/ α β are carried out to convert to obtain the virtual inverter side given voltage u of two-way matrix converter_α1And u_β1；

Step 4: being sampled to three-phase alternating current source three-phase voltage by input voltage detection circuit, mains side three lines electricity is obtained Press u_A、u_BAnd u_C；To u_A、u_BAnd u_CAbc/ α β transformation is carried out, the given voltage letter of the virtual rectification side of two-way matrix converter is obtained Number u_α2And u_β2；

Step 5: by the virtual inverter side given voltage u of two-way matrix converter_α1And u_β1And its two-way virtual rectification of matrix converter The given voltage signal u of side_α2And u_β2It is transmitted to voltage vector, phase region and duty ratio computing module；To u_α1And u_β1It carries out virtual Inverter side space vector of voltage calculates, sector calculates and two-way PWM duty cycle calculates；To u_α2And u_β2Carry out virtual side voltage Space vector calculates, sector calculates and two-way PWM duty cycle calculates；To the sector signals of virtual inverter side and virtual rectification side It is integrated to obtain joint sector signals n_v；By the two-way of the two-way PWM duty cycle signal and virtual inverter side of virtual rectification side PWM duty cycle signal is synthesized to obtain four road combined PWM duty cycle signal T₁、T₂、T₃、T₄；

Step 6: electronic game side power factor is adjusted using RBF neural prediction algorithm；Pass through RBF neural Statistical forecast function, by being timed sampling to virtual rectification side PWM duty cycle signal, by effective statistics of mass data Grid side power factor can be predicted, according to prediction result, generate pfc signal Pr；

Step 7: by four road combined PWM duty cycle signal T1, T2, T3, T4, joint sector signals n_v, pfc signal P_rIt is transmitted to double SVPWM modulation and its drive module；Three kinds of signals participate in double SVPWM and modulate to obtain 18 road SVPWM vectors jointly Modulation waveform；Waveform transfer to driving circuit driving power switching tube is realized into motor control.

3. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine speed regulating method based on passive coherent locating according to claim 2, It is characterized in that, two-way matrix converter described in step 3 is equivalent to virtual rectifier and is connected with virtual inverter, i.e., virtually Go out a cross-straight-intersection structure for carrying DC link, the spaces SVPWM arrow is carried out at the same time to virtual rectifier and virtual inverter Quantity algorithm controls, and introducing RBF neural algorithm in virtual rectification side obtains PFC coefficient and the double SVPWM tune of participation System, the Hamilton dissipation form that Port-Controlled is obtained according to passive coherent locating principle are：

In formula：J (x)=- J (x)^TTo bear symmetrical matrix, reflect internal interconnection architecture；R (x) is the smooth x positive semidefinites depended on Symmetrical matrix reflects the additional resistive structures on port；G (x) reflects port identity；H (x) defines the energy of system storage, if H (x) there is lower bound, be then passive system；

The mathematical model of permanent magnet synchronous motor can be written as in d-q rotating coordinate systems：

Definition status vector, input, output vector, additional interference are respectively：

Thus state-space expression, which can be written, is：

Take the Hamiltonian function of PMSM for electric energy and mechanical kinetic energy summation, i.e.,：

Thus it can release：

By formula (6) and (7) bring into formula (5) can the Hamilton of permanent magnet synchronous motor Port-Controlled dissipate and without source model be：

In formula：

4. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine speed regulating method based on passive coherent locating according to claim 3, It is characterized in that, the mathematical model combination passive coherent locating strategy of the permanent magnet synchronous motor PMSM is configured current inner loop robust Passive Shape Control device, construct one be added feedback control after closed loop expectation energy function it in x₀Place's minimalization seeks feedback control System

U=β (x) (10)

The closed-loop system is set to be：

If passive desired equalization point is：

The desired Hamiltonian function of closed-loop system is taken to be：

Take it is desired interconnection and damping matrix be：

It is by inner ring Robust passive control device is obtained in interconnection and damping matrix substitution formula (11)：

5. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine speed regulating method based on passive coherent locating according to claim 4, It is characterized in that, it is adaptive that the mathematical model combination passive coherent locating strategy of the permanent magnet synchronous motor PMSM is configured speed outer shroud Synovial membrane soft handover speed control, machines of the permanent magnet synchronous motor PMSM under parameter of electric machine variation and condition of uncertainty should be obscured The tool equation of motion is：

In formulaΔ a, Δ b and Δ d represent the perturbation value of the parameter of electric machine；Define speed with Track errorWhereinTo estimate rotating speed,For reference rotation velocity；It can thus be concluded that dynamical equation is：

In formula：

Select be by the integral form gliding model face of independent variable of speed tracing error e：It is obtained according to formula (17)：

S=e+ke=-ae (t)+w (t)+f (t)+ke (t) (18)

It enablesF (t)=0 obtains adaptive fuzzy synovial membrane soft handover speed control：

6. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine speed regulating method based on passive coherent locating according to claim 5, It being characterized in that, the magneto mathematical model combination passive coherent locating strategy is configured adaptive synovial membrane speed observer, Mathematical model including permanent magnet synchronous motor PMSM in d-q rotating coordinate systems can be described as：

Y=Dx (20)

In formula：U=u_T=[u_d u_q]^T, x=i_T=[i_d i_q]^T

According to above-mentioned state equation and output equation, the structure adaptive state observer equation of PMSM sliding formworks is：

Designing switching function is：

G is gain matrix determined by observer stable state in formula；Observational equation is subtracted with state equation, obtains the dynamic of deviation Equation is：

According to Lyapunov stability theory, following formula establishment is obtained：

Abbreviation is carried out to above formula and obtains adaptive synovial membrane speed observer in conjunction with PI controllers：

7. a kind of Matrix Converter-Permanent Magnetic Synchronous Machine speed regulating method based on passive coherent locating according to claim 3, It is characterized in that, it is described that the control of SVPWM PWM Algorithms is carried out at the same time to virtual rectifier and virtual inverter, virtual inversion DC voltage U_PN=U_dc, by the viewpoint of Vector modulation, definition load line voltage space vector form is U_o：

The DC current i for enabling virtual rectifier generate_P=I_dc, and only six kinds combination generation non-zero input current vectors, three kinds Combination generates zero vector, the input phase space vector of voltage U_iPhIt is defined as：

The obtained duty ratio of voltage and current space vector modulation in two virtual process is integrated, find out it is corresponding can Simultaneously control output line voltage and input phase current 5 comprehensive duty ratios, and the two combine on off state can with it is each Comprehensive duty ratio is corresponding, respectively：

The joint duty ratio obtained according to above formula carries out it SVPWM vector controlled operations, obtains each sector space vector Action time just obtains the switch list of direct matrix transform device according to switch list transfer function, according to the position of permanent magnet synchronous motor Confidence breath switching switch realizes the rotation of control motor and speed governing.