CN112104289B - A Parameter Disturbance Suppression Method for Phase Current Reconstruction of Permanent Magnet Synchronous Motors - Google Patents
A Parameter Disturbance Suppression Method for Phase Current Reconstruction of Permanent Magnet Synchronous Motors Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
- H02P2207/055—Surface mounted magnet motors
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Abstract
一种永磁同步电机相电流重构的参数扰动抑制方法，其首先利用带有遗忘因子的递推最小二乘法对电机参数进行在线辨识，且在电机模型中排除了定子电流扰动的影响，然后基于电机模型进行相电流重构，重构得到的相电流信息可以代替传感器实测的相电流信息反馈给电机控制系统实现电流闭环控制。参数辨识过程速度较快，能够提高永磁同步电机相电流重构的抗参数扰动性能，具有较强的应用价值。
A parameter disturbance suppression method for phase current reconstruction of permanent magnet synchronous motor, which firstly uses the recursive least squares method with forgetting factor to identify the motor parameters online, and excludes the influence of stator current disturbance in the motor model, and then Based on the motor model, the phase current is reconstructed, and the reconstructed phase current information can be fed back to the motor control system instead of the phase current information measured by the sensor to realize current closed-loop control. The parameter identification process is fast, which can improve the anti-parameter disturbance performance of the phase current reconstruction of the permanent magnet synchronous motor, and has strong application value.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a parameter disturbance resisting technology of a permanent magnet synchronous motor, which is realized based on least square method online parameter identification and is suitable for only a single phase current sensor.
Background
From the application of the three-phase current reconstruction technology in the field of permanent magnet synchronous motor control by using the single current sensor, the volume and the weight of the driver and the cost of the whole system are effectively reduced, and the method has very important practical significance. The conventional single current sensor control method mainly comprises single current sensor control based on direct current bus current detection and single current sensor control based on single-phase current detection. The parameter disturbance suppression method provided by the invention aims at a single-current sensor control technology based on single-phase current detection.
In the running process of the permanent magnet synchronous motor, the stator inductance and the rotor flux linkage of the motor can change to a certain degree, and the disturbance of parameters such as stator current and the like generated by the change can have serious influence on the phase current reconstruction effect. How to suppress the adverse effect of such disturbance becomes a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
In view of this, the present invention provides a method for suppressing disturbance of a parameter of a phase current reconstruction of a permanent magnet synchronous motor, which specifically includes the following steps:
the method comprises the following steps that firstly, the rotating speed, the rotor position angle and the motor a-phase current in the running process of the permanent magnet synchronous motor are collected in real time through a sensor;
establishing a voltage equation of the permanent magnet synchronous motor under an alpha and beta axis coordinate system;
discretizing the current differential quantity in the voltage equation, and deducing a parameter identification equation related to the stator inductance and the rotor flux linkage based on alpha-phase actual measurement current recursion; the influence of the stator current disturbance quantity is not considered in the parameter identification equation;
step four, performing online parameter identification on the stator inductance and the rotor flux linkage by adopting a recursive least square method with forgetting factors;
and step five, reconstructing phase current by using the actual inductance and flux linkage parameters of the motor obtained by online parameter identification and combining with the voltage equation subjected to discretization in the step three.
Further, the phase a current in the first step is measured by a phase a current sensor arranged in the motor controller;
the formula of the constant-amplitude Clark transformation from the abc phase coordinate system to the alpha beta phase coordinate system is as follows:
from the above formula we can obtain:
and because:
(ib+ic)＝-ia
therefore, it is not only easy to use
Therefore, the a-phase current measured here is the α -phase current.
Further, the simplified mathematical model of the permanent magnet synchronous motor under the α β axis coordinate system established in the second step is specifically based on the following assumptions:
(1) the magnetic circuit characteristic of the permanent magnet synchronous motor is linear, and the phenomena of magnetic hysteresis and magnetic circuit saturation are avoided;
(2) the three-phase winding parameters of the stator are the same, the angles are 120 degrees apart, and the magnetic field formed in the air gap is in sinusoidal distribution;
(3) air gaps formed between the stator winding and the rotor permanent magnet are uniformly distributed;
the permanent magnet synchronous motor adopts a surface-mounted structure, and a simplified mathematical model established from the structure is as follows:
in the formula uα、uβIs the stator voltage under an alpha beta coordinate system; i.e. iα、iβIs the stator current under an alpha beta coordinate system; psirIs a rotor flux linkage; rsIs a stator resistor; l issIs a stator inductance; omegaeIs the electrical angular velocity of the rotor; θ is the rotor position angle and t is time.
Further, the step three of deriving a parameter identification equation related to the stator inductance and the rotor flux linkage based on the α -phase measured current recursion specifically includes:
discretizing the current differential quantity in the equation in the time of k-k +1 to obtain the following approximation:
therefore, a discretization permanent magnet synchronous motor alpha beta axis voltage equation is obtained:
wherein iα(k-1)、iα(k) Respectively are alpha phase current vectors at the k-1 moment and the k moment; u. ofα(k-1) is the α -phase voltage vector at time k-1; t issIs the sampling interval;
and secondly, arranging the discretized alpha-phase voltage equation into an equation form suitable for least square parameter identification to obtain:
wherein L iss0、ψr0The actual values of the stator inductance and the rotor flux linkage are respectively.
Further, a recursive least square method with a forgetting factor λ is adopted in the fourth step, a forgetting coefficient is added to the data acquired each time, the forgetting coefficient of the latest acquired data is 1, and the forgetting coefficient of the ith data is λi(ii) a Wherein 0<λ<The value of 1, λ can be adjusted as the application scenario changes.
Further, the phase current reconstruction in the fifth step is specifically derived by using a discretized voltage equation:
in the formula iα(k)、iβ(k) For reconstructing the stator current i at the previous momentα(k+1)、iβ(k +1) is the reconstructed stator current at the current moment; wherein the actual value L of the stator inductances0And the actual value Ψ of the rotor flux linkager0And updating in real time along with the result of parameter identification.
By applying a reconstructed current iα、iβAnd (4) carrying out coordinate change to obtain the dq axis current information of the permanent magnet synchronous motor, and realizing the current closed-loop control of the permanent magnet synchronous motor based on the current information.
According to the method provided by the invention, firstly, a parameter identification equation of stator inductance and rotor flux linkage is obtained by utilizing an alpha-beta coordinate system voltage equation, the influence of stator current disturbance is eliminated, then, the parameters are identified on line by utilizing a recursive least square method with forgetting factors, and finally, the phase current reconstruction based on a motor model is carried out by utilizing the actual motor parameters obtained by parameter identification. The phase current information reconstructed based on the method can replace the phase current information actually measured by the sensor and is fed back to the motor control system to realize current closed-loop control, and compared with the prior art, the method has the advantages that the speed of the parameter identification process is higher, the parameter disturbance resistance of the permanent magnet synchronous motor phase current reconstruction can be improved, and the method has higher application value.
Drawings
FIG. 1 is a flow chart of a control method provided by the present invention;
FIG. 2 is a graph comparing an identified value of stator inductance to a motor setpoint;
FIG. 3 is a graph comparing the identification of permanent magnet flux linkage with a motor setpoint;
fig. 4 is a diagram showing the effect of phase current reconstruction when the parameter disturbance suppression method is applied in the case where the actual parameter of the motor changes.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a parameter disturbance resisting method for reconstructing phase current of a permanent magnet synchronous motor, which specifically comprises the following steps of:
the method comprises the following steps that firstly, the rotating speed, the rotor position angle and the motor a-phase current in the running process of the permanent magnet synchronous motor are collected in real time through a sensor;
establishing a voltage equation of the permanent magnet synchronous motor under an alpha and beta axis coordinate system;
discretizing the current differential quantity in the voltage equation, and deducing a parameter identification equation related to the stator inductance and the rotor flux linkage based on alpha-phase actual measurement current recursion; the influence of the stator current disturbance quantity is not considered in the parameter identification equation;
step four, performing online parameter identification on the stator inductance and the rotor flux linkage by adopting a recursive least square method with forgetting factors;
and step five, reconstructing phase current by using the actual inductance and flux linkage parameters of the motor obtained by online parameter identification and combining with the voltage equation subjected to discretization in the step three.
In a preferred embodiment of the present invention, the phase-a current in the first step is measured by a phase-a current sensor disposed in the motor controller, and the following relationship is obtained according to the Clark transformation from abc phase coordinate system to α β phase coordinate system:
the a-phase current measured here is the a-phase current.
In a preferred embodiment of the invention, the simplified mathematical model is established as:
in the formula uα、uβIs the stator voltage under an alpha beta coordinate system; i.e. iα、iβIs the stator current under an alpha beta coordinate system; psirIs a rotor flux linkage; rsIs a stator resistor; l issIs a stator inductance; omegaeIs the electrical angular velocity of the rotor; θ is the rotor position angle and t is time.
In a preferred embodiment of the present invention, the step three of deriving a parameter identification equation based on the measured a-phase current for the stator inductance and the rotor flux linkage specifically includes:
discretizing the current differential quantity in the equation in the time of k-k +1 to obtain the following approximation:
therefore, the discretization permanent magnet synchronous motor alpha beta axis voltage equation is as follows:
wherein iα(k-1)、iα(k) Respectively are alpha phase current vectors at the k-1 moment and the k moment; u. ofα(k-1) is the α -phase voltage vector at time k-1; ts is a sampling interval;
and secondly, arranging the discretized alpha voltage equation into an equation form suitable for least square parameter identification to obtain:
wherein L iss0、ψr0The actual values of the stator inductance and the rotor flux linkage are respectively.
In a preferred embodiment of the present invention, the recursive least squares method used in the fourth step has a flexibly adjustable forgetting factor λ (0)<λ<1) Adding a forgetting coefficient for the data acquired each time, wherein the forgetting coefficient of the latest acquired data is 1, and the forgetting coefficient of the ith forward data is lambdai；
The specific implementation process is as follows:
the system equation for the first m measurements is:
Ym＝XmΘ
in the formula, Xm、YmRespectively, vectors formed by data measured in the previous m times, wherein theta is a parameter to be identified; according to the theory of least square method, the result identified by the previous m times of measurement data is obtained as follows:
the upper mark inverted V represents an observed value;
at the m +1 th measurement:
Ym+1＝Xm+1Θ
wherein x (m +1) and y (m +1) are the m +1 th measurement result
It is possible to obtain:
definition of
Then after the m +1 th observation:
using a matrix identity:
(A+BC)-1＝A-1-A-1B(E+CA-1B)-1CA-1
the recurrence equation can be found as follows:
γ(m+1)＝1/[λ+XT(m+1)P(m)X(m+1)]
λ is forgetting factor, and can be generally 0.9-1.0. γ (m +1) is used to simplify the formula.
The identification results based on the actual values of the stator inductance and the permanent magnet flux linkage of the motor in the preferred embodiment are shown in fig. 2 and 3.
In a preferred embodiment of the present invention, in the step five, the model-based phase current reconstruction equation is derived by using a discretized voltage equation:
in the formula iα(k)、iβ(k) For reconstructing the stator current i at the previous momentα(k+1)、iβ(k +1) is the reconstructed stator current at the current moment; wherein the actual value L of the stator inductances0And the actual value Ψ of the permanent magnet flux linkager0And updating in real time along with the result of parameter identification.
By applying a reconstructed current iα、iβAnd (4) carrying out coordinate change to obtain the dq axis current information of the permanent magnet synchronous motor, and realizing the current closed-loop control of the permanent magnet synchronous motor based on the current information.
In one example of application of the invention, the parameters of the machine are as follows, the nominal voltage U being given 310V, the nominal current I being given 10A, the stator resistance per phase winding Rs0.365 omega, stator inductance Ls0.001225H, rotor permanent magnet flux linkage ΨfAt 0.1667Wb, the motor model gives a torque step of (3N to 5N) at 0.04s and a speed step of (1000r/min to 2000r/min) at 0.06 s.
In the operation process, the stator inductance change is assumed to be 200%, the permanent magnet flux linkage change is assumed to be 50%, and the phase current reconstruction result is shown in fig. 4.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A parameter disturbance suppression method for permanent magnet synchronous motor phase current reconstruction is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the following steps that firstly, the rotating speed, the rotor position angle and the motor a-phase current in the running process of the permanent magnet synchronous motor are collected in real time through a sensor;
establishing a voltage equation of the permanent magnet synchronous motor under an alpha and beta axis coordinate system;
discretizing the current differential quantity in the voltage equation, and deducing a parameter identification equation related to the stator inductance and the rotor flux linkage based on alpha-phase actual measurement current recursion; the influence of the stator current disturbance quantity is not considered in the parameter identification equation;
step four, performing online parameter identification on the stator inductance and the rotor flux linkage by adopting a recursive least square method with forgetting factors;
and step five, reconstructing phase current by using the actual inductance and flux linkage parameters of the motor obtained by online parameter identification and combining with the voltage equation subjected to discretization in the step three.
2. The method of claim 1, wherein: the phase a current in the step one is measured by a phase a current sensor arranged in a motor controller, and the constant amplitude Clark transformation from an abc phase coordinate system to an alpha beta phase coordinate system is obtained by:
3. the method of claim 2, wherein: the simplified mathematical model of the permanent magnet synchronous motor under the alpha and beta axis coordinate system is established in the second step and is specifically based on the following assumptions:
(1) the magnetic circuit characteristic of the permanent magnet synchronous motor is linear, and the phenomena of magnetic hysteresis and magnetic circuit saturation are avoided;
(2) the three-phase winding parameters of the stator are the same, the angles are 120 degrees apart, and the magnetic field formed in the air gap is in sinusoidal distribution;
(3) air gaps formed between the stator winding and the rotor permanent magnet are uniformly distributed;
the permanent magnet synchronous motor adopts a surface-mounted structure, and a simplified mathematical model established from the structure is as follows:
in the formula uα、uβIs the stator voltage under an alpha beta coordinate system; i.e. iα、iβIs the stator current under an alpha beta coordinate system; psirIs a rotor flux linkage; rsIs a stator resistor; l issIs a stator inductance; omegaeIs the electrical angular velocity of the rotor; θ is the rotor position angle and t is time.
4. The method of claim 3, wherein: the third step of deriving a parameter identification equation related to the stator inductance and the rotor flux linkage based on the alpha-phase measured current recursion specifically comprises the following steps:
discretizing the current differential quantity in the equation in the time of k-k +1 to obtain the following approximation:
therefore, a discretization permanent magnet synchronous motor alpha beta axis voltage equation is obtained:
wherein iα(k-1)、iα(k) Respectively are alpha phase current vectors at the k-1 moment and the k moment; u. ofα(k-1) is the α -phase voltage vector at time k-1; t issIs the sampling interval;
and secondly, arranging the discretized alpha-phase voltage equation into an equation form suitable for least square parameter identification to obtain:
wherein L iss0、ψr0The actual values of the stator inductance and the rotor flux linkage are respectively.
5. The method of claim 1, wherein: and in the fourth step, a recursive least square method with a forgetting factor lambda is adopted, a forgetting coefficient is added to the data acquired each time, the forgetting coefficient of the latest acquired data is 1, and the forgetting coefficient of the ith forward data is lambdai(ii) a Wherein 0<λ<The value of 1, λ can be adjusted as the application scenario changes.
6. The method of claim 4, wherein: in the fifth step, the phase current reconstruction is specifically obtained by using discretization voltage equation derivation:
in the formula iα(k)、iβ(k) For reconstructing the stator current i at the previous momentα(k+1)、iβ(k +1) is the reconstructed stator current at the current moment; wherein the actual value L of the stator inductances0And the actual value Ψ of the rotor flux linkager0And updating in real time along with the result of parameter identification.
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