CN118157526B - A permanent magnet synchronous motor control method based on improved linear superhelix - Google Patents
A permanent magnet synchronous motor control method based on improved linear superhelix Download PDFInfo
- Publication number
- CN118157526B CN118157526B CN202410215392.7A CN202410215392A CN118157526B CN 118157526 B CN118157526 B CN 118157526B CN 202410215392 A CN202410215392 A CN 202410215392A CN 118157526 B CN118157526 B CN 118157526B
- Authority
- CN
- China
- Prior art keywords
- permanent magnet
- representing
- synchronous motor
- shaft
- magnet synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- H02P21/18—Estimation of position or speed
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- 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
-
- 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
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/045—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Linear Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本发明涉及电机控制技术领域，且公开了一种基于改进型线性超螺旋的永磁同步电机控制方法，建立两相静止坐标系，得到定子电流方程，建立永磁同步电机机械运动方程，定义永磁同步电机系统状态变量，建立积分滑模面，并构建趋近律速度控制器，建立改进型线性超螺旋滑膜观测器用于估计反电动势，对永磁同步电机转子转速和转子位置进行计算。该方法通过在线性超螺旋滑模观测器的基础上加以改进，当系统误差增大时，可以随系统误差而调整滑模增益，能够实现不使用低通滤波器对电机转速的精准估计；同时对传统速度控制器进行改进，搭载能够伴随系统误差变化时自适应调节增益系数的新型趋近律速度控制器，降低了系统的抖振现象，提高其抗干扰能力。
The present invention relates to the field of motor control technology, and discloses a permanent magnet synchronous motor control method based on an improved linear superhelix, establishes a two-phase stationary coordinate system, obtains a stator current equation, establishes a permanent magnet synchronous motor mechanical motion equation, defines the permanent magnet synchronous motor system state variables, establishes an integral sliding mode surface, and constructs a reaching law speed controller, establishes an improved linear superhelix sliding film observer for estimating back electromotive force, and calculates the rotor speed and rotor position of the permanent magnet synchronous motor. The method is improved on the basis of a linear superhelix sliding mode observer. When the system error increases, the sliding mode gain can be adjusted with the system error, and accurate estimation of the motor speed can be achieved without using a low-pass filter; at the same time, the traditional speed controller is improved, and a new reaching law speed controller that can adaptively adjust the gain coefficient when the system error changes is installed, which reduces the system's jitter phenomenon and improves its anti-interference ability.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor control method based on improved linear supercoiled.
Background
The high efficiency and compact nature of permanent magnet synchronous motors makes them preferred in industrial applications, particularly in areas where dynamic performance and accuracy requirements are stringent. Conventional permanent magnet synchronous motor control strategies rely on mechanical position sensors to obtain the exact position of the rotor, but this increases cost and system complexity and is highly susceptible to environmental factors, thereby reducing the reliability of the motor. Therefore, sensorless control techniques have evolved to avoid the limitations of conventional sensors by analyzing the electrical signals inside the motor to estimate rotor position and speed.
However, these sensorless technologies, particularly the sliding mode observer method, although excellent in terms of anti-interference and robustness, still have problems of high frequency jitter and insufficient dynamic response, resulting in a large amount of high frequency signals in the observed back emf, and for this purpose, the use of a low pass filter filters out the high frequency signals, but adding a low pass filter increases the complexity of the system and also causes a system phase delay. In the speed loop control, PI control is usually adopted, and the speed estimated by the method has the problems of high overshoot, large steady-state error, low convergence speed and the like.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a permanent magnet synchronous motor control method based on an improved linear supercoiled, which has the advantages of reducing the buffeting phenomenon of a system, improving the anti-interference capability of the system and the like, and solves the technical problems.
(II) technical scheme
In order to achieve the purpose, the invention provides the technical scheme that the permanent magnet synchronous motor control method based on the improved linear supercoiled comprises the following steps:
s1, establishing a two-phase static coordinate system to obtain a stator current equation;
s2, establishing a mechanical motion equation of the permanent magnet synchronous motor;
s3, defining a permanent magnet synchronous motor system state variable;
S4, establishing an integral sliding mode surface, and constructing an approach law speed controller for calculating a current estimated value;
s5, establishing an improved linear supercoiled sliding film observer for estimating back electromotive force according to a traditional sliding mode observer and a linear supercoiled algorithm;
s6, calculating the rotor rotating speed and the rotor position of the permanent magnet synchronous motor;
And S7, inputting the calculated rotor rotating speed of the permanent magnet synchronous motor into the approach law speed controller in the step S4, and completing the system closed loop.
As a preferred embodiment of the present invention, the expression of the stator current equation in the step S1 is as follows:
Wherein i α and i β represent stator currents of the α -axis and the β -axis, u α and u β represent stator voltages of the α -axis and the β -axis, respectively, R and L are stator resistance and stator inductance, respectively, e α and e β represent counter electromotive forces of the α -axis and the β -axis, respectively, Representing the derivative of the alpha-axis stator current i α with respect to time t,Representing the derivative of the beta-axis stator current i β with respect to time t.
As a preferred technical scheme of the present invention, the mechanical motion equation expression of the permanent magnet synchronous motor in the step S2 is as follows:
Where J represents moment of inertia, ω m represents rotor angular velocity, P n represents pole pair number, i q represents q-axis current, T L represents load torque, and ψ f represents permanent magnet flux linkage.
As a preferred embodiment of the present invention, the expression of the system state variable x 1 in the step S3 is as follows:
x1＝ωref-ωm
Where ω ref represents the rotor reference angular velocity and ω m represents the rotor mechanical angular velocity.
As a preferred embodiment of the present invention, the expression of the integral sliding surface in the step S4 is as follows:
Where s represents the slip plane, x 1 represents the system state variable, c represents the integral coefficient, Representing the integration of the system state variable over 0 to t with respect to time t, the expression of the approach law speed controller in step S4 is as follows:
Wherein, Representing the derivative of the sliding mode surface with respect to the system state, sign (x) representing the sign function, x 'α representing the absolute value operation, x' α representing the gain factor of the sign function sign(s), s representing the sliding mode surface, k representing the sliding mode gain factor, b representing the gain factor of the sign function sign (|s| -1), lim representing the limit operation on the system state, by performing an exponential operation on the absolute value of the system state.
As a preferred embodiment of the present invention, the estimated value expression of the current in the step S4 is as follows:
Where i q denotes a q-axis current, sign (x) denotes a sign function as a current estimation value, |x| α denotes an exponential operation with α as an index on a system absolute value, |x| α denotes a gain coefficient of sign(s) of the sign function, s denotes a slip mode surface, k denotes a slip mode gain coefficient, b denotes a gain coefficient of sign (|s| -1) of the sign function, c denotes an integral coefficient, J denotes a moment of inertia, T L denotes a load torque, and ψ f denotes a permanent magnet flux linkage.
As a preferred technical scheme of the invention, a current error state equation is obtained through a traditional sliding mode observer and a stator current equation of a two-phase static coordinate system in the step S1, and the construction of the improved linear supercoiled sliding mode observer is completed by combining a linear supercoiled algorithm, wherein the current error state equation is expressed as follows:
Wherein, AndRepresenting the error of the stator currents of the alpha axis and the beta axis in a two-phase stationary coordinate system, sign (x) represents a sign function, R and L are respectively the stator resistance and the stator inductance,Representing alpha-axis stator current errorThe derivative of the time t is used,Representing beta-axis stator current errorThe derivatives with respect to time t, e α and e β represent the back emf of the α and β axes, respectively, and the expression of the improved linear supercoiled sliding mode observer in step S5 is as follows:
where x 1 represents a system state variable, x 2 represents an intermediate variable, and k 1、k2、k3、k4 is four different sliding mode gain coefficients, respectively.
As a preferred embodiment of the present invention, the counter electromotive force expression in the step S5 is as follows:
wherein e α and e β represent back emf of the alpha and beta axes respectively, AndThe errors of the alpha-axis stator current and the beta-axis stator current in the two-phase static coordinate system are respectively represented, and k 1、k2、k3、k4 is respectively four different sliding mode gain coefficients.
As a preferred technical solution of the present invention, the rotor speed and the rotor position expression of the permanent magnet synchronous motor in the step S6 are as follows:
Rotor speed of permanent magnet synchronous motor:
Rotor position:
Wherein, Indicating the angular velocity of the rotor,Representing the estimated rotor position, ψ f represents the permanent magnet flux linkage, e α and e β represent the back emf of the α and β axes, respectively, arctan represents the arctangent trigonometric function.
Compared with the prior art, the invention provides a permanent magnet synchronous motor control method based on improved linear supercoiled, which has the following beneficial effects:
The invention improves the traditional PI speed controller, and carries a novel approximate law speed controller capable of adaptively adjusting gain coefficient along with the change of system error, thereby reducing the buffeting phenomenon of the system and improving the anti-interference capability of the system.
Drawings
FIG. 1 is a schematic diagram of the principle control of a permanent magnet synchronous motor according to the present invention;
FIG. 2 is a schematic diagram of an improved linear supercoiled sliding mode observer of the present invention;
FIG. 3 is a schematic diagram showing the comparison of the rotational speeds of the permanent magnet synchronous motor of the present invention at zero load;
FIG. 4 is a schematic diagram showing comparison of rotational speeds of a permanent magnet synchronous motor according to the present invention when a load is suddenly applied or suddenly reduced;
FIG. 5 is a flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, a permanent magnet synchronous motor control method based on improved linear supercoiled, comprising the following steps:
s1, establishing a two-phase static coordinate system to obtain a stator current equation, wherein the expression is as follows:
Wherein i α and i β represent stator currents of the α -axis and the β -axis, u α and u β represent stator voltages of the α -axis and the β -axis, respectively, R and L are stator resistance and stator inductance, respectively, e α and e β represent counter electromotive forces of the α -axis and the β -axis, respectively, Representing the derivative of the alpha-axis stator current i α with respect to time t,Representing the derivative of the beta-axis stator current i β with respect to time t;
s2, establishing a mechanical motion equation of the permanent magnet synchronous motor, wherein the expression is as follows:
Where J represents moment of inertia, ω m represents rotor angular velocity, P n represents pole pair number, i q represents q-axis current, T L represents load torque, ψ f represents permanent magnet flux linkage;
s3, defining an expression of a system state variable x 1 of the permanent magnet synchronous motor:
x1＝ωref-ωm
Where ω ref represents the rotor reference angular velocity, ω m represents the rotor angular velocity;
S4, establishing an integral sliding mode surface, constructing an approach law speed controller, designing a novel approach law speed controller for a speed ring in a permanent magnet synchronous motor system, designing the sliding mode surface as the integral sliding mode surface, and combining the mechanical motion equation of the permanent magnet synchronous motor in the step S2 and the novel approach law speed controller in the step S4 to obtain an estimated value of shaft current, wherein the expression of the integral sliding mode surface in the step S4 is as follows:
Where s represents the slip plane, x 1 represents the system state variable, c represents the integral coefficient, Representing the integration of the system state variable over 0 to t with respect to time t, the expression of the approach law speed controller in step S4 is as follows:
Wherein, Representing the derivative of the sliding mode surface with respect to the system state, sign (x) representing the sign function, x (α) representing the absolute value operation, x (α) representing the gain factor of the sign function sign(s), s representing the sliding mode surface, k representing the sliding mode gain factor, b representing the gain factor of the sign function sign (|s| -1),The limit value indicating the system state is set to 0, and the estimated value expression of the current is as follows:
Wherein i q represents q-axis current, as a current estimation value, |x| α represents an exponential operation with α as an index to the absolute value of the system, sign (x) represents a sign function, s represents a slip mode plane, k represents a slip mode gain coefficient, c represents an integral coefficient, J represents moment of inertia, and T L represents load torque;
S5, establishing an improved linear supercoiled sliding film observer for estimating back electromotive force according to a traditional sliding film observer and a linear supercoiled algorithm, obtaining a current error state equation through the traditional sliding film observer and a stator current equation of a two-phase static coordinate system in the step S1, and completing the construction of the improved linear supercoiled sliding film observer by combining the linear supercoiled algorithm, wherein the expression of the traditional sliding film observer is as follows:
Wherein, AndThe current estimates for the shaft and beta-axis stator currents, the current error state equation, are expressed as follows:
Wherein, AndRepresenting the error of the stator currents of the alpha axis and the beta axis in a two-phase stationary coordinate system, sign (x) represents a sign function, R and L are respectively the stator resistance and the stator inductance,Representing alpha-axis stator current errorThe derivative of the time t is used,Representing beta-axis stator current errorThe derivatives over time t, e α and e β represent back emf on the α and β axes, respectively, where the expression of the linear supercoiled algorithm is as follows:
the expression of the improved linear supercoiled sliding mode observer in the step S5 is as follows:
Wherein x 1 represents a system state variable, and k 1、k2、k3、k4 is four different sliding mode gain coefficients respectively;
s6, calculating the rotor speed and the rotor position of the permanent magnet synchronous motor from the estimated back electromotive force by using an arctangent function, wherein the formula is as follows:
Rotor position:
Wherein, Representing the estimated angular velocity of the rotor,Representing the estimated rotor position, e α and e β represent back emf of the α and β axes, respectively, arctan represents an arctan trigonometric function;
And S7, inputting the calculated rotor rotating speed of the permanent magnet synchronous motor into the approach law speed controller in the step S4, and completing the system closed loop.
According to the control block diagram shown in FIG. 1, a physical platform is built for experimental verification, and parameters of a permanent magnet synchronous motor are selected from the following parameters, namely, rated power 750W, rated rotating speed 3000 r/(min), rated torque 2.4 N.m, pole pair number 4, permanent magnet flux linkage 0.11Wb, stator resistance 0.901 omega and inductance 6.552mH. Fig. 3 shows the experimental result of accelerating from 0 to 1300r/min when the motor is in idle state, fig. 4 shows the experimental result of accelerating from 0 to 1300 r/(min) when the motor is in idle state, and when the speed is stabilized at 1300 r/(min), the load of 2n·m is suddenly added or the load of 2n·m is suddenly subtracted, as can be seen from fig. 3, the rotational speed estimation of the method of the invention has a great improvement and almost no overshoot compared with the traditional method. As can be seen from FIG. 4, the rotation speed of the method of the invention is quickly recovered to a given rotation speed after the rotation speed is reduced or increased after the rotation speed is loaded or unloaded 2 N.m, and the experimental result shows that the method of the invention has accurate estimation of the rotation speed and strong dynamic robustness, thereby proving the effectiveness of the invention.
The invention provides a control method of a permanent magnet synchronous motor based on an improved linear supercoiled, which is improved on the basis of a linear supercoiled sliding mode observer, when a system error is increased, the sliding mode gain can be adjusted along with the system error, the accurate estimation of the motor rotating speed can be realized without using a low-pass filter, meanwhile, the traditional PI speed controller is improved, a novel approximate law speed controller capable of adaptively adjusting the gain coefficient along with the change of the system error is mounted, the buffeting phenomenon of the system is reduced, and the anti-interference capability of the system is improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 permanent magnet synchronous motor control method based on improved linear supercoiled is characterized by comprising the following steps:
s1, establishing a two-phase static coordinate system to obtain a stator current equation;
s2, establishing a mechanical motion equation of the permanent magnet synchronous motor;
s3, defining a permanent magnet synchronous motor system state variable;
S4, establishing an integral sliding mode surface, and constructing an approach law speed controller for calculating a current estimated value;
S5, establishing an improved linear supercoiled sliding mode observer for estimating back electromotive force according to the traditional sliding mode observer and a linear supercoiled algorithm;
The current error state equation is obtained through the traditional sliding mode observer and the stator current equation of the two-phase static coordinate system in the step S1, and the construction of the improved linear supercoiled sliding mode observer is completed by combining a linear supercoiled algorithm, wherein the current error state equation expression is as follows:
;
Wherein, AndRepresenting two phases in a stationary coordinate systemShaft and method for producing the sameThe error in the shaft stator current is determined,The sign function is represented by a sign function,AndRespectively a stator resistor and a stator inductor,Representation ofShaft stator current errorFor time of dayIs used for the purpose of determining the derivative of (c),Representation ofShaft stator current errorFor time of dayIs used for the purpose of determining the derivative of (c),AndRespectively representShaft and method for producing the sameThe expression of the improved linear supercoiled sliding mode observer in the step S5 is as follows:
;
Wherein, A system state variable is represented and is used to represent,Represents an intermediate variable which is referred to as,、、、Four different sliding mode gain coefficients are respectively adopted;
The back emf expression in step S5 is as follows:
;
Wherein, AndRespectively representShaft and method for producing the sameThe back emf of the shaft,AndRespectively representing two phases under a static coordinate systemShaft and method for producing the sameThe error in the shaft stator current is determined,、、、Four different sliding mode gain coefficients are respectively adopted;
s6, calculating the rotor rotating speed and the rotor position of the permanent magnet synchronous motor;
The rotor speed and the rotor position expression of the permanent magnet synchronous motor in the step S6 are as follows:
Rotor speed of permanent magnet synchronous motor:
;
Rotor position:
;
Wherein, Representing the estimated angular velocity of the rotor,Representing the estimated rotor position of the rotor,Representing the flux linkage of the permanent magnet,AndRespectively representShaft and method for producing the sameThe back emf of the shaft,Representing an arctangent trigonometric function;
And S7, inputting the calculated rotor rotating speed of the permanent magnet synchronous motor into the approach law speed controller in the step S4, and completing the system closed loop.
2. The method for controlling a permanent magnet synchronous motor based on an improved linear supercoiled according to claim 1, wherein the stator current equation in step S1 is expressed as follows:
;
Wherein, AndRespectively representShaft and method for producing the sameThe stator current of the shaft is such that,AndRespectively representShaft and method for producing the sameThe stator voltage of the shaft is set to,AndRespectively a stator resistor and a stator inductor,AndRespectively representShaft and method for producing the sameThe back emf of the shaft,Representation ofShaft stator currentFor time of dayIs used for the purpose of determining the derivative of (c),Representation ofShaft stator currentFor time of dayIs a derivative of (a).
3. The method for controlling the permanent magnet synchronous motor based on the improved linear supercoiled according to claim 1, wherein the mechanical equation of motion of the permanent magnet synchronous motor in the step S2 is as follows:
;
Wherein, The moment of inertia is indicated and the moment of inertia,Indicating the mechanical angular velocity of the rotor,The number of pole pairs is represented,Representation ofThe current of the shaft is applied to the shaft,Which is indicative of the load torque and,Representing the permanent magnet flux linkage.
4. The method for controlling a permanent magnet synchronous motor based on improved linear supercoiled according to claim 3, wherein the system state variable in step S3 isThe expression of (2) is as follows:
;
Wherein, Indicating the reference angular velocity of the rotor,Representing the mechanical angular velocity of the rotor.
5. The method for controlling a permanent magnet synchronous motor based on an improved linear supercoiled according to claim 1, wherein the expression of the integral sliding mode surface in the step S4 is as follows:
;
Wherein, Indicating the surface of the sliding die and the surface of the sliding die,A system state variable is represented and is used to represent,The integral coefficient is represented by a value of,Representing system state variables atTo the point ofRegarding timeThe expression of the approach law speed controller in step S4 is as follows:
;
Wherein, Representing the derivative of the slip-form surface with respect to the system state,The sign function is represented by a sign function,The absolute value operation is represented by a function,Representing absolute values of system statesIs an exponential operation of the exponent,Is used for the gain factor of (a),Indicating the surface of the sliding die and the surface of the sliding die,Representing the sliding mode gain coefficient of the optical disc,Representing a sign functionIs used for the gain factor of (a),Representing a limit operation on the state of the system.
6. The method for controlling a permanent magnet synchronous motor based on an improved linear supercoiled according to claim 5, wherein the estimated value expression of the current in step S4 is as follows:
;
Wherein, Representation ofThe shaft current, as a current estimate,The sign function is represented by a sign function,The absolute value operation is represented by a function,Representing absolute values of the systemIs an exponential operation of the exponent,Is used for the gain factor of (a),Indicating the surface of the sliding die and the surface of the sliding die,Representing the sliding mode gain coefficient of the optical disc,Representing a sign functionIs used for the gain factor of (a),The integral coefficient is represented by a value of,The moment of inertia is indicated and the moment of inertia,Which is indicative of the load torque and,Representing the flux linkage of the permanent magnet,Representing the pole pair number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410215392.7A CN118157526B (en) | 2024-02-27 | 2024-02-27 | A permanent magnet synchronous motor control method based on improved linear superhelix |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410215392.7A CN118157526B (en) | 2024-02-27 | 2024-02-27 | A permanent magnet synchronous motor control method based on improved linear superhelix |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118157526A CN118157526A (en) | 2024-06-07 |
| CN118157526B true CN118157526B (en) | 2025-02-25 |
Family
ID=91292887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410215392.7A Active CN118157526B (en) | 2024-02-27 | 2024-02-27 | A permanent magnet synchronous motor control method based on improved linear superhelix |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118157526B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118399823B (en) * | 2024-07-01 | 2024-09-10 | 成都航天凯特机电科技有限公司 | Self-adaptive motor control method |
| CN119315888B (en) * | 2024-12-16 | 2025-04-01 | 中国科学院长春光学精密机械与物理研究所 | A method for back-EMF reconstruction and position and speed extraction of permanent magnet synchronous motor |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103647490B (en) * | 2013-09-27 | 2016-06-08 | 天津大学 | A kind of sliding mode control strategy of magneto |
| CN104009696B (en) * | 2014-05-08 | 2017-02-08 | 昆明理工大学 | Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control |
| CN110635734B (en) * | 2019-09-24 | 2021-01-26 | 南京工业大学 | A Fractional Sliding Mode Control Method of Permanent Magnet Synchronous Motor Speed |
| CN115459667B (en) * | 2022-11-09 | 2023-03-24 | 溧阳常大技术转移中心有限公司 | Permanent magnet synchronous motor sensorless sliding mode control method based on improved approach law |
-
2024
- 2024-02-27 CN CN202410215392.7A patent/CN118157526B/en active Active
Non-Patent Citations (2)
| Title |
|---|
| 基于改进型滑模观测器的永磁同步电机无位置传感器控制;王孝洪 等;控制理论与应用;20230731;第40卷(第07期);第1244-1248页 * |
| 搭载超螺旋滑模观测器的永磁同步电机无传感器控制策略;唐娟娟 等;探测与控制学报;20230426;第45卷(第02期);第116-120页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118157526A (en) | 2024-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN118157526B (en) | A permanent magnet synchronous motor control method based on improved linear superhelix | |
| KR101087581B1 (en) | Sensorless Control Method of Permanent Magnet Synchronous Motor | |
| CN100550594C (en) | Use the motor speed estimation system and method for hybrid model reference adaptive system | |
| CN111293947B (en) | Improved permanent magnet synchronous motor speed sensorless control method | |
| WO2021174582A1 (en) | Position sensorless permanent magnet synchronous motor control method and automobile power system | |
| CN108599645A (en) | Permanent magnet synchronous motor method for controlling position-less sensor based on sliding mode observer | |
| CN103825525A (en) | Improved sensor-less permanent magnetic synchronous motor speed estimation method | |
| CN108847793A (en) | A kind of rotor position estimation method of self-correcting | |
| CN110912485B (en) | A position sensorless control method for permanent magnet synchronous motor considering iron loss resistance | |
| CN108988723B (en) | Sectional type rotor position estimation method of Hall position sensor | |
| CN108880377A (en) | A kind of method for estimating rotating speed of the permanent magnet synchronous motor based on novel phaselocked loop | |
| CN109150029A (en) | Permanent magnet synchronous motor method for controlling position-less sensor based on smooth non-singular terminal sliding mode observer | |
| CN113315440A (en) | Permanent magnet synchronous motor model-free prediction current control method based on current difference full update | |
| CN113078865B (en) | Built-in permanent magnet synchronous motor sensorless control method | |
| CN111211717A (en) | Closed-loop structure control method of IPMSM position sensorless motor with non-singular sliding mode structure | |
| CN110661466B (en) | Quasi-proportional resonance adaptive observer and permanent magnet synchronous motor position estimation method | |
| CN115459654A (en) | A self-adaptive control method for permanent magnet synchronous motor | |
| CN114726273A (en) | A non-inductive control system and method for PCB disc permanent magnet synchronous motor based on improved sliding mode observer | |
| CN117997188A (en) | Self-adaptive high-order terminal sliding mode observer and sensorless control method of permanent magnet synchronous motor based on same | |
| Iqbal et al. | Robust backstepping sensorless speed control of PMSM using cascaded sliding mode and high gain observers | |
| CN115001342B (en) | Method, device and system for estimating rotating speed of induction motor | |
| CN117411366A (en) | A position sensorless control method for permanent magnet synchronous motor in full speed domain | |
| KR102720512B1 (en) | System for estimating stator resistance and inductance of permanent magnet synchronous motor, and permanent magnet synchronous motor control system using the same | |
| CN114679105A (en) | Permanent magnet synchronous motor control method based on super-distortion sliding-mode observer | |
| CN113315430A (en) | Sliding mode control method of six-phase permanent magnet synchronous motor without position sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |