CN118432496B - Current closed-loop control method and system of permanent magnet synchronous motor and vehicle - Google Patents
Current closed-loop control method and system of permanent magnet synchronous motor and vehicle 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
- H02P21/22—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
- 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
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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
- H02P21/18—Estimation of position or speed
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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
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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
- 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
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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
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Abstract
The invention discloses a current closed-loop control method and system of a permanent magnet synchronous motor and a vehicle, wherein the current closed-loop control method of the permanent magnet synchronous motor comprises the following steps: constructing a stator state space equation under a rotating coordinate system; constructing a double-input-output state observer according to a stator state space equation; obtaining a disturbance value according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a current closed-loop control method and system of a permanent magnet synchronous motor and a vehicle.
Background
The Permanent Magnet Synchronous Motor (PMSM) adopts a permanent magnet to generate a magnetic field, has the advantages of small volume, high power density and the like, and is widely applied to the fields of numerical control machine tools, automobile manufacturing, industrial robots and the like. Since its magnetic field is mainly provided by an internal permanent magnet, it is difficult to control its magnetic field from the outside. Common control methods include vector control and direct torque control, however, during operation, there are many nonlinear unknown disturbances, including unknown parameters, disturbances, nonlinear friction and unknown external disturbances, which have adverse effects on the control effect, so it is necessary to study the servo control problem of the permanent magnet synchronous motor under uncertain factors in order to make the PMSM system have a higher performance control effect.
Currently, the most widely used vector control usually adopts two regulators of rotating speed and current, and is generally controlled by a PI controller or independent nonlinear Active Disturbance Rejection (ADRC). In the prior art, the independent control of each loop can not well solve the coupling effect between two loops. In addition, the PID parameter has poor adaptability and complex calibration; the nonlinear ADRC principle is complex, and the calibration workload is large, so that the control effect of the permanent magnet synchronous engine is influenced.
Disclosure of Invention
The invention provides a current closed-loop control method, a current closed-loop control system and a current closed-loop control vehicle for a permanent magnet synchronous motor, wherein disturbance is estimated through a double-input-output state observer, the robustness is high, the calibration workload is reduced, and the current closed-loop control of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
According to an aspect of the present invention, there is provided a current closed-loop control method of a permanent magnet synchronous motor, which is applied to a current closed-loop control system of the permanent magnet synchronous motor, the current closed-loop control system of the permanent magnet synchronous motor including a controller, wherein the current closed-loop control method of the permanent magnet synchronous motor includes:
Constructing a stator state space equation under a rotating coordinate system;
Constructing a dual-input-output state observer according to the stator state space equation;
Obtaining a disturbance value according to the dual-input/output state observer;
constructing an input observer according to the stator state space equation;
determining a linear control rate from the input observer and the disturbance value;
And performing current closed-loop control on the permanent magnet synchronous motor according to the linear control rate.
Optionally, constructing a dual input/output state observer according to the stator state space equation includes:
acquiring a stator state space adjustment equation according to the stator state space equation;
and constructing a double-input-output state observer according to the stator state space adjustment equation.
Optionally, after constructing the dual input/output state observer according to the stator state space adjustment equation, the method further includes:
Acquiring a state quantity observation error equation according to the stator state space adjustment equation and the double-input-output state observer;
acquiring a bandwidth characteristic equation of the dual-input-output state observer;
And obtaining a state quantity observation error rate according to the bandwidth characteristic equation of the dual-input-output state observer and the state quantity observation error equation, and adjusting the state quantity observation error rate to be zero.
Optionally, after constructing the input observer according to the stator state space equation, the method further includes:
Acquiring an input observer error equation according to the stator state space equation and the input observer;
Acquiring a bandwidth characteristic equation of a controller;
And obtaining the error change rate of the input observer according to the error equation of the input observer and the bandwidth characteristic equation of the controller, and adjusting the error change rate of the input observer to be zero.
Optionally, the expression of the stator state space equation is:
；
wherein, ，，，，，，，，，，X is a state variable matrix, A is a system matrix, B is a control matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance,For the d-axis input voltage, u q is the q-axis input voltage, f d is the total perturbation of the d-axis equation, and f q is the total perturbation of the q-axis equation.
Optionally, the expression of the dual input/output state observer is:
；
wherein, ，，，，
，，，，，，X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, L E is an observer gain matrix,For the state variable matrix of estimated values,For the output variable estimation matrix, Y E is the output variable adjustment matrix, U is the system input matrix,As the d-axis current estimate value,Is q-axis current estimated value, R is stator winding, w is motor rotation speed, L d is d-axis inductance, L q is q-axis inductance, u d is d-axis input voltage, u q is q-axis input voltage,Is the total disturbance estimate of the d-axis equation,For the total disturbance estimate of the q-axis equation, l 1 、l2 、l3 and l 4 are both observer gains to be set.
Optionally, the expression of the input observer is:
；
wherein, ，，，，，，，，，，，，In order to achieve a matrix of desired state variables,For the desired output variable matrix, F is the disturbance variable matrix, U is the system input matrix,As the d-axis current desired value,For the q-axis current expected value, R is the stator winding, w is the motor speed, L d is the d-axis inductance, L q is the q-axis inductance, u d is the d-axis input voltage, u q is the q-axis input voltage, f d is the total disturbance of the d-axis equation, f q is the total disturbance of the q-axis equation, K p is the controller gain matrix to be set, and K 1 and K 2 are the average controller gains.
Optionally, the expression of the stator state space adjustment equation is:
；
Wherein: ，，，， ，，，，， X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance, U d is a d-axis input voltage, U q is a q-axis input voltage, F d is a total disturbance of a d-axis equation, and F q is a total disturbance of a q-axis equation.
According to another aspect of the present invention, there is provided a current closed-loop control system of a permanent magnet synchronous motor, by which a current closed-loop control method of a permanent magnet synchronous motor including any one of the above aspects is performed, the current closed-loop control system of the permanent magnet synchronous motor comprising:
The stator state space equation construction module is used for constructing a stator state space equation under a rotating coordinate system;
the double-input-output state observer construction module is used for constructing a double-input-output state observer according to the stator state space equation;
the disturbance value acquisition module is used for acquiring a disturbance value according to the dual-input/output state observer;
the input observer construction module is used for constructing an input observer according to the stator state space equation;
The linear control rate determining module is used for determining a linear control rate according to the input observer and the disturbance value;
and the current closed-loop control module is used for carrying out current closed-loop control on the permanent magnet synchronous motor according to the linear control rate.
According to another aspect of the present invention, there is provided a vehicle including:
At least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of current closed loop control of a permanent magnet synchronous motor of any of the above aspects.
The technical scheme of the embodiment of the invention provides a current closed-loop control method of a permanent magnet synchronous motor, which comprises the following steps: constructing a stator state space equation under a rotating coordinate system; constructing a double-input-output state observer according to a stator state space equation; obtaining a disturbance value according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a controller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an electric drive system according to an embodiment of the present invention;
Fig. 4 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 5 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 6 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a current closed-loop control system of a permanent magnet synchronous motor according to an embodiment of the present invention;
Fig. 8 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a current closed-loop control method of a permanent magnet synchronous motor, which is provided by the embodiment of the invention, and the method can be applied to the current closed-loop control situation of the permanent magnet synchronous motor, and can be implemented by a current closed-loop control system of the permanent magnet synchronous motor, wherein the current closed-loop control system of the permanent magnet synchronous motor can be implemented in a hardware and/or software mode, the current closed-loop control system of the permanent magnet synchronous motor comprises a controller, the controller is a linear self-reactance controller, the control performance can be improved, the self-decoupling of a control algorithm is realized, and the current closed-loop control system of the permanent magnet synchronous motor can be configured in a vehicle. As shown in fig. 1, the current closed-loop control method of the permanent magnet synchronous motor includes:
S101, constructing a stator state space equation under a rotation coordinate system.
The stator state space equation under the rotating coordinate system is established, so that a double-input-output state observer can be conveniently established later, the linear control rate can be obtained, and further the current closed-loop control of the motor can be realized.
Alternatively, the expression of the stator state space equation is:
；
wherein, ，，，，，，，，，，X is a state variable matrix, A is a system matrix, B is a control matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance, U d is a d-axis input voltage, U q is a q-axis input voltage, F d is a total disturbance of a d-axis equation, and F q is a total disturbance of a q-axis equation.
In order to simplify the algorithm of the controller, the rotor flux linkage in the q-axis equation is supposed to be combined into a total disturbance term, namely the disturbance moment F, and the total disturbance term is an unknown value and needs to be estimated by means of a double-input-output state observer.
S102, constructing a double-input-output state observer according to a stator state space equation.
The method comprises the steps of constructing a double-input-output state observer according to a stator space equation, wherein the double-input-output state observer is provided with deviation correction, so that errors can be compensated, the accuracy of subsequent disturbance estimation is guaranteed, input signals are timely compensated for disturbance, and current closed-loop control of the permanent magnet synchronous motor is further realized.
Optionally, the expression of the dual input output state observer is:
；
wherein, ，，，，
，，，，，，X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, L E is an observer gain matrix,For the state variable matrix of estimated values,For the output variable estimation matrix, Y E is the output variable adjustment matrix, U is the system input matrix,As the d-axis current estimate value,Is q-axis current estimated value, R is stator winding, w is motor rotation speed, L d is d-axis inductance, L q is q-axis inductance, u d is d-axis input voltage, u q is q-axis input voltage,Is the total disturbance estimate of the d-axis equation,For the total disturbance estimated value of the q-axis equation, l 1 、l2 、l3 and l 4 are the gains of the observer to be set, and the self-decoupling can be realized by introducing the dual-input-output state observer into the current closed-loop control, so that the performance of the system is ensured.
S103, obtaining a disturbance value according to the dual-input-output state observer.
The disturbance value can be obtained by using the dual-input-output state observer, and the input signal can be compensated by means of the disturbance value, so that the accuracy of the controller is improved.
S104, constructing an input observer according to the stator state space equation.
Wherein, construct the input observer according to the stator state space equation, optionally, the expression of the input observer is:
；
wherein, ，，，，，，，，，，，，In order to achieve a matrix of desired state variables,For the desired output variable matrix, F is the disturbance variable matrix, U is the system input matrix,As the d-axis current desired value,For the q-axis current expected value, R is the stator winding, w is the motor speed, L d is the d-axis inductance, L q is the q-axis inductance, u d is the d-axis input voltage, u q is the q-axis input voltage, f d is the total disturbance of the d-axis equation, f q is the total disturbance of the q-axis equation, K p is the controller gain matrix to be set, and K 1 and K 2 are the average controller gains.
S105, determining the linear control rate according to the input observer and the disturbance value.
In an exemplary embodiment, fig. 2 is a schematic structural diagram of a controller according to an embodiment of the present invention, as shown in fig. 2, a desired output variable related expression may be obtained according to an input observer: ; simultaneous command ，For the disturbance observation value of the dual-input-output state observer, the expression of the linear control rate is as follows: The disturbance value observed by the dual-input-output state observer is combined, feedforward compensation is carried out on the disturbance value to the linear control rate, and meanwhile, the disturbance resistance of the system can be improved by matching with the gain matrix K p of the controller to be set, so that the current quality is effectively improved.
And S106, performing current closed-loop control on the permanent magnet synchronous motor according to the linear control rate.
The linear control rate can be obtained by means of the input observer and the disturbance value, so that the input voltage of the input controlled motor is determined, the current is changed according to the set value, and the current closed-loop control of the motor is realized.
Specifically, the specific process of motor control is that, fig. 3 is a schematic structural diagram of an electric driving system provided by the embodiment of the present invention, as shown in fig. 3, the electric driving system includes a rotation speed PI control module 101, a controller 102, a first coordinate conversion module 103, a pulse modulation circuit 104, a three-phase inverter 105, a permanent magnet synchronous motor 106, a second coordinate conversion module 107, a position sensing module 1087 and a speed calculating unit 109 that are electrically connected in sequence, when the specific operating principle of the permanent magnet synchronous motor 106 is that torque is input to the electric driving system, the rotation speed PI control module 101 outputs current in a rotation coordinate system to the controller 102 according to the torque, the controller 102 outputs voltage to the first coordinate conversion module after passing through a circuit closed-loop control method in the above embodiment according to the current in the rotation coordinate system, the first coordinate conversion module 103 converts the voltage in the rotation coordinate system into voltage in a static coordinate system and outputs the voltage in the static coordinate system to the pulse width modulation circuit 104, the pulse width modulation circuit 104 adjusts, the three-phase inverter 105 outputs three-phase voltage signals to the input end of the permanent magnet synchronous motor 106 according to the pulse width adjusted voltage, and acquires three-phase current, and the three-phase current signals are input to the permanent magnet synchronous motor 106 as feedback signals, and the position sensor current signals are output to the position sensor module 102 according to the pulse width adjusted voltage signals, so that the current signals are input to the position signals are equal to the position signals are calculated, and the position signals are input to the position signals are output to the permanent magnet synchronous motor 102, and the current signals are calculated, and the position signals are output to the position signals are fed back by the position sensor module.
According to the embodiment of the invention, a stator state space equation under a rotating coordinate system is constructed; constructing a double-input-output state observer according to a stator state space equation; obtaining a disturbance value according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
Optionally, fig. 4 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention, where, as shown in fig. 4, the current closed-loop control method of the permanent magnet synchronous motor includes:
S201, constructing a stator state space equation under a rotation coordinate system.
S202, acquiring a stator state space adjustment equation according to the stator state space equation.
The stator state space equation is simplified, the disturbance quantity matrix F is expanded into state quantity, and the disturbance is unknown, so that the derivative of the disturbance is set to be zero, and the stator state space adjustment equation is obtained.
Optionally, the expression of the stator state space adjustment equation is:
；
Wherein: ，，，， ，，，，， X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance, U d is a d-axis input voltage, U q is a q-axis input voltage, F d is a total disturbance of a d-axis equation, and F q is a total disturbance of a q-axis equation.
S203, constructing a dual-input-output state observer according to the stator state space adjustment equation.
On the basis of a stator state space adjustment equation, the double-input-output state observer is formed, and subsequent disturbance estimation is facilitated.
S204, obtaining a disturbance value according to the dual-input-output state observer.
S205, constructing an input observer according to a stator state space equation.
S206, determining the linear control rate according to the input observer and the disturbance value.
S207, current closed-loop control of the permanent magnet synchronous motor is performed according to the linear control rate.
According to the embodiment of the invention, a stator state space equation under a rotating coordinate system is constructed; acquiring a stator state space adjustment equation according to the stator state space equation; constructing a dual-input-output state observer according to a stator state space adjustment equation; obtaining a disturbance value according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
Optionally, fig. 5 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention, where, as shown in fig. 5, the current closed-loop control method of the permanent magnet synchronous motor includes:
s301, constructing a stator state space equation under a rotation coordinate system.
S302, acquiring a stator state space adjustment equation according to the stator state space equation.
S303, constructing a dual-input-output state observer according to the stator state space adjustment equation.
S304, acquiring a state quantity observation error equation according to the stator state space adjustment equation and the double-input-output state observer.
The state quantity observation error equation is obtained according to a stator state space adjustment equation and a double-input-output state observer, and the expression of the state quantity observation error equation of the double-input-output state observer is as follows: ; wherein E E is the state quantity observation error. Further performing derivative calculation to obtain expression of state quantity observation error rate 。
S305, obtaining a bandwidth characteristic equation of the dual-input-output state observer.
In order to ensure the stability of the dual-input/output state observer, a bandwidth characteristic equation of the dual-input/output state observer is required, and the expression of the bandwidth characteristic equation of the dual-input/output state observer is as follows: Wherein, the method comprises the steps of, wherein, The bandwidth characteristic equation is a dual-input-output state observer, s is a characteristic value, I is an identity matrix, and omega E is the bandwidth of the dual-input-output state observer.
S306, obtaining a state quantity observation error rate according to the bandwidth characteristic equation and the state quantity observation error equation of the dual-input-output state observer, and adjusting the state quantity observation error rate to be zero.
The pole of (a E-LE) in the state quantity observation error equation of the dual-input/output state observer needs to be configured at the negative value of the bandwidth omega E of the dual-input/output state observer, namely-omega E, so that the state quantity observation error approaches zero, and the dual-input/output state observer can accurately track the state variable of the system in real time only by selecting the proper bandwidth of the dual-input/output state observer, so as to ensure the accuracy of the disturbance value estimated by the dual-input/output state observer.
S307, obtaining disturbance values according to the dual-input-output state observer.
S308, constructing an input observer according to a stator state space equation.
S309, determining the linear control rate according to the input observer and the disturbance value.
And S310, performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate.
According to the embodiment of the invention, a stator state space equation under a rotating coordinate system is constructed; acquiring a stator state space adjustment equation according to the stator state space equation; constructing a dual-input-output state observer according to a stator state space adjustment equation; acquiring a state quantity observation error equation according to a stator state space adjustment equation and a double-input-output state observer; acquiring a bandwidth characteristic equation of the dual-input-output state observer; obtaining according to a bandwidth characteristic equation and a state quantity observation error equation of the dual-input-output state observer; the state quantity observation error rate is adjusted to be zero, and a disturbance value is obtained according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
Optionally, fig. 6 is a flowchart of another current closed-loop control method of a permanent magnet synchronous motor according to an embodiment of the present invention, where, as shown in fig. 6, the current closed-loop control method of the permanent magnet synchronous motor includes:
s401, constructing a stator state space equation under a rotation coordinate system.
S402, acquiring a stator state space adjustment equation according to the stator state space equation.
S403, constructing a dual-input-output state observer according to the stator state space adjustment equation.
S404, acquiring a state quantity observation error equation according to the stator state space adjustment equation and the double-input-output state observer.
S405, obtaining a bandwidth characteristic equation of the dual-input-output state observer.
S406, obtaining a state quantity observation error rate according to the bandwidth characteristic equation and the state quantity observation error equation of the dual-input-output state observer, and adjusting the state quantity observation error rate to be zero.
S407, obtaining a disturbance value according to the dual-input-output state observer.
S408, constructing an input observer according to the stator state space equation.
S409, acquiring an input observer error equation according to the stator state space equation and the input observer.
The method comprises the steps of obtaining an input observer error equation according to a stator state space equation and an input observer, wherein the expression of the input observer error equation is as follows: ; e p is the error of the input observer, and further performs derivative calculation to obtain an expression of the error rate of the input observer: 。
s410, obtaining a controller bandwidth characteristic equation.
In order to ensure the stability of the system, a bandwidth characteristic equation of the controller needs to be acquired, wherein the expression of the bandwidth characteristic equation of the controller is as follows: ; wherein, For the controller bandwidth characteristic equation, s is a characteristic value, I is an identity matrix,Is the controller bandwidth.
S411, obtaining the error change rate of the input observer according to the error equation of the input observer and the bandwidth characteristic equation of the controller, and adjusting the error change rate of the input observer to be zero.
Wherein, the controller bandwidth error equation is neededIs configured at the controller bandwidthAt a negative value of (i.e.)And the error of the input observer is enabled to approach zero, the proper controller bandwidth is selected, and the accuracy of the linear control rate obtained through the input observer and the disturbance value is ensured. By tuning the dual input output state observer bandwidth omega E and the controller bandwidthThe calibration can be completed, the calibration workload can be effectively reduced, and the stability of the system is ensured.
And S412, determining the linear control rate according to the input observer and the disturbance value.
S413, performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate.
According to the embodiment of the invention, a stator state space equation under a rotating coordinate system is constructed; acquiring a stator state space adjustment equation according to the stator state space equation; constructing a dual-input-output state observer according to a stator state space adjustment equation; acquiring a state quantity observation error equation according to a stator state space adjustment equation and a double-input-output state observer; acquiring a bandwidth characteristic equation of the dual-input-output state observer; obtaining according to a bandwidth characteristic equation and a state quantity observation error equation of the dual-input-output state observer; the state quantity observation error rate is adjusted to be zero, and a disturbance value is obtained according to the dual-input-output state observer; constructing an input observer according to a stator state space equation; acquiring an input observer error equation according to the stator state space equation and the input observer; acquiring a bandwidth characteristic equation of a controller; obtaining the error change rate of the input observer according to the error equation of the input observer and the bandwidth characteristic equation of the controller, and adjusting the error change rate of the input observer to be zero; determining a linear control rate from the input observer and the disturbance value; and performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate. Disturbance is estimated through a double-input-output state observer, robustness is high, calibration workload is reduced, and closed-loop control of a current source of the self-decoupling and self-disturbance-rejection permanent magnet synchronous motor is realized.
Fig. 7 is a schematic structural diagram of a current closed-loop control system of a permanent magnet synchronous motor according to an embodiment of the present invention, where, as shown in fig. 7, the current closed-loop control method of the permanent magnet synchronous motor according to any one of the foregoing embodiments is executed by the current closed-loop control system of the permanent magnet synchronous motor, and the current closed-loop control system of the permanent magnet synchronous motor includes:
the stator state space equation construction module 201 is configured to construct a stator state space equation under a rotation coordinate system;
the dual-input-output state observer construction module 201 is configured to construct a dual-input-output state observer according to a stator state space equation;
the disturbance value acquisition module 203 is configured to acquire a disturbance value according to the dual-input/output state observer;
an input observer construction module 204 for constructing an input observer from the stator state space equations;
a linear control rate determination module 205 for determining a linear control rate from the input observer and the disturbance value;
And the current closed-loop control module 206 is used for performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate.
It should be noted that, since the current closed-loop control system of the permanent magnet synchronous motor provided in this embodiment includes any of the current closed-loop control methods of the permanent magnet synchronous motor provided in the embodiments of the present invention, the current closed-loop control method of the permanent magnet synchronous motor has the same or corresponding beneficial effects, and will not be described herein.
Fig. 8 is a schematic structural view of a vehicle according to an embodiment of the present invention, and fig. 8 is a schematic structural view of a vehicle 10 that may be used to implement an embodiment of the present invention. The vehicle 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Vehicles may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the vehicle 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the Random Access Memory (RAM) 13, various programs and data required for the operation of the vehicle 10 may also be stored. The processor 11, read Only Memory (ROM) 12 and Random Access Memory (RAM) 13 are connected to each other by a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the vehicle 10 are connected to an input/output (I/O) interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunications networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the current closed loop control method of a permanent magnet synchronous motor.
In some embodiments, the current closed loop control method of the permanent magnet synchronous motor may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the vehicle 10 via Read Only Memory (ROM) 12 and/or communication unit 19. When the computer program is loaded into a Random Access Memory (RAM) 13 and executed by the processor 11, one or more steps of the method of current closed loop control of a permanent magnet synchronous motor described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the current closed loop control method of the permanent magnet synchronous motor in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
Embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements a method for closed-loop control of a current of a permanent magnet synchronous motor according to any of the above embodiments.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The current closed-loop control method of the permanent magnet synchronous motor is applied to a current closed-loop control system of the permanent magnet synchronous motor, and the current closed-loop control system of the permanent magnet synchronous motor comprises a controller and is characterized by comprising the following steps of:
Constructing a stator state space equation under a rotating coordinate system;
Constructing a dual-input-output state observer according to the stator state space equation;
Obtaining a disturbance value according to the dual-input/output state observer;
constructing an input observer according to the stator state space equation;
determining a linear control rate from the input observer and the disturbance value;
performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate;
the expression of the dual input/output state observer is as follows:
；
wherein, ，，，，
，，，，，，X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, L E is an observer gain matrix,For the state variable matrix of estimated values,For the output variable estimation matrix, Y E is the output variable adjustment matrix, U is the system input matrix,As the d-axis current estimate value,Is q-axis current estimated value, R is stator winding, w is motor rotation speed, L d is d-axis inductance, L q is q-axis inductance, u d is d-axis input voltage, u q is q-axis input voltage,Is the total disturbance estimate of the d-axis equation,For the total disturbance estimate of the q-axis equation, l 1 、l2 、l3 and l 4 are both observer gains to be set.
2. The method of claim 1, wherein constructing a dual input-output state observer from the stator state space equation, comprises:
acquiring a stator state space adjustment equation according to the stator state space equation;
and constructing a double-input-output state observer according to the stator state space adjustment equation.
3. The method of claim 2, further comprising, after constructing a dual input-output state observer according to the stator state space adjustment equation:
Acquiring a state quantity observation error equation according to the stator state space adjustment equation and the double-input-output state observer;
acquiring a bandwidth characteristic equation of the dual-input-output state observer;
And obtaining a state quantity observation error rate according to the bandwidth characteristic equation of the dual-input-output state observer and the state quantity observation error equation, and adjusting the state quantity observation error rate to be zero.
4. The method of claim 1, further comprising, after constructing an input observer from the stator state space equation:
Acquiring an input observer error equation according to the stator state space equation and the input observer;
Acquiring a bandwidth characteristic equation of a controller;
And obtaining the error change rate of the input observer according to the error equation of the input observer and the bandwidth characteristic equation of the controller, and adjusting the error change rate of the input observer to be zero.
5. The method of claim 1, wherein the expression of the stator state space equation is:
；
wherein, ，，，，，，，，，，X is a state variable matrix, A is a system matrix, B is a control matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance, U d is a d-axis input voltage, U q is a q-axis input voltage, F d is a total disturbance of a d-axis equation, and F q is a total disturbance of a q-axis equation.
6. The method for closed-loop control of current of a permanent magnet synchronous motor according to claim 1, wherein the expression of the input observer is:
；
wherein, ，，，，，，，，，，，，In order to achieve a matrix of desired state variables,For the desired output variable matrix, F is the disturbance variable matrix, U is the system input matrix,As the d-axis current desired value,For the q-axis current expected value, R is the stator winding, w is the motor speed, L d is the d-axis inductance, L q is the q-axis inductance, u d is the d-axis input voltage, u q is the q-axis input voltage, f d is the total disturbance of the d-axis equation, f q is the total disturbance of the q-axis equation, K p is the controller gain matrix to be set, and K 1 and K 2 are the average controller gains.
7. The method of claim 2, wherein the expression of the stator state space adjustment equation is:
；
Wherein: ，，，， ，，，，， X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, U is a system input matrix, F is a disturbance quantity matrix, Y is an output variable matrix, R is a stator winding, w is a motor speed, i d is a d-axis current, i q is a q-axis current, L d is a d-axis inductance, L q is a q-axis inductance, U d is a d-axis input voltage, U q is a q-axis input voltage, F d is a total disturbance of a d-axis equation, and F q is a total disturbance of a q-axis equation.
8. A current closed-loop control system of a permanent magnet synchronous motor, characterized in that a current closed-loop control method comprising the permanent magnet synchronous motor according to any one of claims 1 to 7 is performed by the current closed-loop control system of the permanent magnet synchronous motor, the current closed-loop control system of the permanent magnet synchronous motor comprising:
The stator state space equation construction module is used for constructing a stator state space equation under a rotating coordinate system;
the double-input-output state observer construction module is used for constructing a double-input-output state observer according to the stator state space equation;
the disturbance value acquisition module is used for acquiring a disturbance value according to the dual-input/output state observer;
the input observer construction module is used for constructing an input observer according to the stator state space equation;
The linear control rate determining module is used for determining a linear control rate according to the input observer and the disturbance value;
the current closed-loop control module is used for performing current closed-loop control of the permanent magnet synchronous motor according to the linear control rate;
the expression of the dual input/output state observer is as follows:
；
wherein, ，，，，
，，，，，，X E is a state variable adjustment matrix, A E is a system adjustment matrix, B E is a control adjustment matrix, L E is an observer gain matrix,For the state variable matrix of estimated values,For the output variable estimation matrix, Y E is the output variable adjustment matrix, U is the system input matrix,As the d-axis current estimate value,Is q-axis current estimated value, R is stator winding, w is motor rotation speed, L d is d-axis inductance, L q is q-axis inductance, u d is d-axis input voltage, u q is q-axis input voltage,Is the total disturbance estimate of the d-axis equation,For the total disturbance estimate of the q-axis equation, l 1 、l2 、l3 and l 4 are both observer gains to be set.
9. A vehicle, characterized in that the vehicle comprises:
At least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of current closed loop control of a permanent magnet synchronous motor according to any one of claims 1-7.
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