CN110943666A - Constraint control system for composite current of permanent magnet synchronous motor and construction method thereof - Google Patents
Constraint control system for composite current of permanent magnet synchronous motor and construction method thereof Download PDFInfo
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Abstract
The invention discloses a constraint control system of composite current of a permanent magnet synchronous motor and a construction method thereof, aiming at the problem of overcurrent protection of the permanent magnet synchronous motor in a single-loop structure in the prior art, the invention provides the constraint control system of the composite current of the permanent magnet synchronous motor and the construction method thereof. The invention solves the problem of overcurrent protection of the permanent magnet synchronous motor in a non-cascade structure through the composite current constraint controller with simple structure and low calculation complexity, realizes the requirement on current constraint, ensures better dynamic stability and is easy to realize.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control systems, in particular to a constraint control system of a permanent magnet synchronous motor composite current and a construction method thereof.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of simple structure, small volume, light weight, high power, high efficiency and the like, and is widely applied to the industrial fields of aerospace, numerical control machines, robots, electric automobiles and the like. In order to perform accurate speed regulation control on a permanent magnet synchronous motor, a good control strategy is required, and the speed regulation strategy of the permanent magnet synchronous motor comprises three types: voltage transformation and frequency conversion control, direct torque control and vector control. Vector control is the most commonly used control strategy, and converts three-phase alternating current of a motor stator into two mutually perpendicular current vectors under a two-phase rotating coordinate system through a coordinate transformation theory, so that the control strategy has a good decoupling characteristic.
In some cases, a single loop configuration may be considered as an alternative to combining the speed loop and the current loop into one. Compared with a cascade structure, the application of the non-cascade structure reduces adjustable parameters, and the controller has the advantages of simple design, easy realization and the like.
In a vector control system with a single-loop structure, q-axis current is a variable state quantity instead of an output quantity of a current loop in a traditional cascade structure, so that the q-axis current is difficult to control in a stable range by a traditional proportional-integral controller, and excessive transient current may cause hardware damage, so that the overcurrent protection problem under the single-loop structure needs to be solved urgently. Meanwhile, in practical application, interference suppression is an important index for evaluating the performance of the control system. Various disturbances exist in permanent magnet synchronous motors, and conventional control methods based on feedback design, such as proportional-integral-derivative (PID) control, generally cannot timely eliminate the disturbances, and although the control methods can finally suppress the influence of the disturbances through feedback adjustment, the speed is relatively slow. The closed loop system performance is greatly reduced if the controller compensates the closed loop system without regard to the corresponding feedforward control design. If the problems of current constraint and disturbance suppression can be effectively solved, the control performance of the vector control system of the permanent magnet synchronous motor can be greatly improved.
The invention discloses a composite current constraint control method of a direct current buck converter, which is applied for Chinese patent application No. CN201710333130.0, published 2017, 8, 11 and discloses a composite current constraint control method of a direct current buck converter, wherein the composite current constraint control method takes capacitance voltage and inductance current of the direct current buck converter as state quantities, establishes a state space average model of a nominal system of the direct current buck converter, gives consideration to the dynamic response speed of output voltage while based on starting current constraint, establishes a reference current constraint controller based on a dynamic gain method, establishes a disturbed state average model of the direct current buck converter according to parameter perturbation, input voltage fluctuation and load sudden change disturbance of the direct current buck converter system, constructs a generalized proportional integral observer and obtains a time-varying disturbance estimation value; and introducing the reference current constraint controller to compensate time-varying disturbance so as to obtain the composite current constraint controller. The method has the disadvantages of more parameters, large calculation amount and complex algorithm realization.
The Chinese patent application, application number CN201810710038.6, published 2018, 11 and 23 discloses a prediction control method of a current-constrained dual-vector model of a linear induction motorα1(k)+ox)2+(uβ1(k)+oy)2＜r2Calculating the optimum duty ratio d from the vector sum of the reference voltagesoptThe method has the disadvantages that the model prediction control of the method is difficult to process model uncertainty and interference problems of a physical control system, and a large amount of calculation is needed, so that the method is not favorable for implementation.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problem of overcurrent protection of a permanent magnet synchronous motor in a single-loop structure in the prior art, the invention provides a constraint control system of a permanent magnet synchronous motor composite current and a construction method thereof, which can meet the requirement of current constraint, ensure better dynamic stability and are easy to realize.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
A restraint control system of compound current of a permanent magnet synchronous motor comprises:
a first coordinate transformation unit for converting three-phase output current of the permanent magnet synchronous motor into d-axis current idAnd q-axis current iq；
The encoder is used for receiving the angular displacement of the rotor of the permanent magnet synchronous motor and detecting and calculating the space phase of the magnetic pole axis of the rotor of the permanent magnet synchronous motor and the actual angular speed omega of the rotor;
a PI controller for receiving d-axis current idAnd a reference current
Outputting d-axis voltage ud；
A reduced order proportion observer for receiving the actual angular velocity omega and the q-axis current i of the permanent magnet synchronous motorqOutputting an estimated value of the time-varying interference for estimating the time-varying interference of the system, and outputting a d-axis voltage uqFeed-forward compensation is carried out, and the anti-interference capability of the system is improved;
a current constraint controller for receiving the q-axis current i output by the first coordinate transformation unitqAnd simultaneously receiving the angular velocity omega of the permanent magnet synchronous motorrAnd the actual angular velocity omega, and outputs a q-axis voltage uqFor limiting the magnitude of the current;
a second coordinate transformation unit for d-axis voltage udAnd q-axis voltage uqPerforming coordinate transformation to convert udAnd uqConverting into voltage u under two-phase static coordinate systemαAnd uβ；
An SVPWM module for receiving voltage u in two-phase static coordinate systemαAnd uβThe SVPWM module performs PWM modulation and outputs a pulse width modulation signal;
and the three-phase inverter receives the pulse width modulation signal, outputs three-phase sinusoidal voltage and drives the motor to operate.
Further, the estimated value of the time-varying disturbance output by the reduced order proportion observer is as follows:
wherein,
is a time-varying interference estimate, z2、z3、z4Is a set of state quantities, λ1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
Further, the q-axis voltage u output by the current constraint controllerqComprises the following steps:
wherein, ω isrIs the angular velocity of the motor, omega is the actual angular velocity of the motor, npIs the number of pole pairs, L is the stator inductance, psifRepresenting the flux linkage of the permanent magnet, J is the moment of inertia, l is an adjustable parameter, k1Is the proportionality coefficient, k2Is a differential coefficient, and c is a normal number.
Further, the reduced order proportional-integral observer and the current constraint controller combine to generate a composite controller:
a construction method of a constraint control system of composite current of a permanent magnet synchronous motor restrains the composite current of the permanent magnet synchronous motor by constructing a composite controller combined with a current constraint controller and a reduced order proportional-integral observer, and comprises the following steps:
and 4, generating a composite controller combining a current constraint controller and a reduced order proportional integral observer aiming at the single loop structure of the constraint control system of the permanent magnet synchronous motor, and enabling the rotating speed to gradually track the reference track while meeting the condition of q-axis current constraint.
Further, the establishment of the permanent magnet synchronous motor control model in the step 1 further includes the following steps:
step 1.1, establishing a control model of the surface-mounted permanent magnet synchronous motor on a d-q axis coordinate system:
wherein u isdAnd uqD-q axis components, i, of the stator voltage, respectivelydAnd iqD-q axis components of the stator current, omega the actual angular velocity of the machine, npIs the number of pole pairs, L is the stator inductance, RsIs stator resistance, #fRepresents the permanent magnet flux linkage, TLIs the load torque, J is the moment of inertia, B is the damping coefficient,
and
d-q axis currents i of motor statordAnd iqThe differential of (a) is determined,
is the differential of the actual angular velocity omega of the motor;
step 1.2, eliminating d-axis voltage u in formula (1)dAnd q-axis voltage uqThe coupling between:
setting a reference current for the d-axisIs composed of
When the controller works normally, the output quantity idSatisfy the requirement of
Ignoring the damping coefficient B, the control model in step 1.1 is rewritten as:
wherein the q-axis current is constrained to | iqC is less than or equal to | and c is a constant.
Further, the step 2 further comprises the following steps:
step 2.1, a permanent magnet synchronous motor torque equation:
order to
a1、a2、a3Respectively is a substitute
For simplifying the expression of the coefficient matrix, according to the constraint iqI ≦ c, rewriting formula (2) as:
wherein
Is the external interference term and the external interference term,
is a control input term, and the constraint condition of q-axis current is | iqC is less than or equal to | wherein c is a normal number;
establishing a torque equation of the permanent magnet synchronous motor in the no-load state:
step 2.2, calculating a speed tracking error:
definition of ωrFor reference speed, the speed tracking error is: e- ωrω and defines e1＝e，
e1For velocity tracking errors e, e2For the differentiation of the velocity tracking error e, the velocity tracking error system can be described as:
wherein e1、e2Respectively, the state quantity of the system and the current constraint is | e2|<a1c, c is a normal number, where c is associated with a constraint | iqC is the same when the | is less than or equal to c,
is the differential of the velocity tracking error e,
Is a state quantity e2Differentiation of (1);
and 2.3, generating an improved backstepping method controller:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Are differential coefficients, and the performance of the controller can be improved by adjusting the parameters, wherein the more complex parts of the controller u are composed of G,
f、
Instead of, for expression in a simplified form, in which
Is a virtual controller, as follows:
wherein c is the current constraint | e2|<a1A constant in c;
step 2.4, simplifying the structure of the controller:
simplifying the controller u of equation (6) results in a new current-constrained controller u:
wherein c is a constant c in the current constraint in the formula (7), the controller is similar to a typical PD controller by simplifying a backstepping method controller before, but the gain of the controller is nonlinear and difficult to realize and can generate unpredictable dynamic response, and the improved novel controller uses a proportional gain term
Is converted into k1L, a differential gain term
Change to
The final form is shown as a formula (11), and the structure of the controller is simplified.
For the practical constraint control system of the permanent magnet synchronous motor, the control quantity is controlled
Available input voltage uqComprises the following steps:
wherein c is the same as c in formula (11).
Further, the step 3 further comprises the following steps:
step 3.1, generating a third-order reduced proportional integral observer:
and (4) carrying out derivation substitution on the formula (3) to obtain a state equation of the combined permanent magnet synchronous motor:
wherein
First order differential and second order differential of actual angular velocity when the motor is running, a ═ a2，b＝a1，a3，c＝a1，
The formula (13) can be obtained by performing the above substitution after deriving the actual angular velocity equation in the formula (3), d (t) is an additional interference term,
is the differential of d (t), a (t) is the sum of all time-varying disturbance related terms, defining x1＝ω，
x3A (t) and
it is possible to obtain:
wherein
Is a state quantity x1、x2、x3、x4The differential of (a) is determined,
second order differential of a (t);
generating a reduced order proportional integral observer for estimating and compensating interference and uncertainty factors of the system:
wherein the state quantity
Are each x2、x3、x4Is determined by the estimated value of (c),
three state quantities of reduced order proportional integral observer
C is a substitute a in formula (13)1An intermediate amount of (a);
step 3.2, estimating time-varying disturbance
Make it
z2、z3、z4For a state variable x2、x3、x4A set of state quantities after the conversion is performed,
the reduced order proportional integral observer is rewritten as:
the function of the transformation is that the new observer equation has no coupling phenomenon, so that the state variables can be controlled independently;
it is possible to obtain:
wherein
Is x2、x3And x4Estimate of (a) ("lambda1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
Furthermore, the composite controller in step 4 considers the influence of interference, and a controller based on a current constraint controller and a feedforward compensation of a reduced order proportional-integral observer is designed for a single-loop structure of the permanent magnet synchronous motor:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Is the differential coefficient, c is the constant c in the current constraint in step two.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
the invention designs a constraint control system of composite current of a permanent magnet synchronous motor and a construction method thereof, the overcurrent protection problem of the permanent magnet synchronous motor in a non-cascade structure is processed by combining a controller with a current constraint controller and a reduced order proportional integral observer, and the lumped time of the system is estimated by the three-order reduced order proportional integral observerThe estimated value is applied to feedforward compensation of the system, the anti-interference capability of the system is improved, the q-axis current can be limited in a safe range by the current constraint controller, and hardware overcurrent burning is prevented. Compared with the traditional PID controller, the method adopts a mode of automatically adjusting the gain of the controller, a set of punishment mechanism is directly established for the current in the controller, and the improved novel controller uses a proportional gain term
Is converted into k1L, a differential gain term
Change to
The final form is shown as formula (11), the controller structure is simplified, namely the improved controller is obviously different in that the differential gain of the controller comprises a penalty term for q-axis current
Therefore, the invention solves the problem of overcurrent protection of the permanent magnet synchronous motor in the non-cascade structure through the composite current constraint controller with simple structure and low calculation complexity.
Drawings
FIG. 1 is a block diagram of a control system of the present invention;
FIG. 2 is a velocity feedback graph during a motor start-up phase;
FIG. 3 is a q-axis current feedback plot during a motor start-up phase;
FIG. 4 is a q-axis voltage feedback plot during a motor start-up phase;
FIG. 5 is a graph of speed feedback when the motor is suddenly loaded with a step load;
FIG. 6 is a graph of the q-axis current feedback when the motor is suddenly loaded with a step load;
FIG. 7 is a graph of the q-axis voltage feedback when the motor is suddenly loaded with a step load;
fig. 8 is a speed feedback graph with motor ramp load.
Fig. 9 is a graph of the q-axis current feedback when the motor is loaded with a sudden ramp.
Fig. 10 is a graph of q-axis voltage feedback when the motor is under a sudden ramp load.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
Example 1
As shown in fig. 1, a restraint control system for compound current of a permanent magnet synchronous motor comprises;
a first coordinate transformation unit including a Park inverse transformation unit for converting three-phase output current of the permanent magnet synchronous motor into d-axis current idAnd q-axis current iq；
The encoder is used for receiving the angular displacement of the rotor of the permanent magnet synchronous motor and detecting and calculating the space phase of the magnetic pole axis of the rotor of the permanent magnet synchronous motor and the actual angular speed omega of the rotor;
a PI controller for receiving d-axis current idAnd a reference current
Outputting d-axis voltage ud；
A reduced order proportion observer for receiving the actual angular velocity omega and the q-axis current i of the permanent magnet synchronous motorqOutputting an estimated value of the time-varying interference for estimating the time-varying interference of the system, and outputting a d-axis voltage uqFeed-forward compensation is carried out, and the anti-interference capability of the system is improved;
a current constraint controller for receiving the q-axis current i output by the first coordinate transformation unitqAnd simultaneously receiving the angular velocity omega of the permanent magnet synchronous motorrAnd the actual angular velocity omega, and outputs a q-axis voltage uqFor limiting the magnitude of the current;
a second coordinate transformation unit including a Clark transformation unit and a Park transformation unit for transforming the d-axis voltage udAnd q-axis voltage uqPerforming coordinate transformation to convert udAnd uqConverting into voltage u under two-phase static coordinate systemαAnd uβ；
An SVPWM module for receiving voltage u in two-phase static coordinate systemαAnd uβThe SVPWM module performs PWM modulation and outputs a pulse width modulation signal;
and the three-phase inverter receives the pulse width modulation signal, outputs three-phase sinusoidal voltage and drives the motor to operate.
The estimated value of the time-varying interference output by the reduced order proportion observer is as follows:
wherein,
is a time-varying interference estimate, z2、z3、z4Is a set of state quantities, λ1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
Q-axis voltage u output by current constraint controllerqComprises the following steps:
wherein, ω isrIs the angular velocity of the motor, omega is the actual angular velocity of the motor, npIs the number of pole pairs, L is the stator inductance, psifRepresenting the flux linkage of the permanent magnet, J is the moment of inertia, l is an adjustable parameter, k1Is the proportionality coefficient, k2Is a differential coefficient, and c is a normal number.
The reduced order proportional-integral observer and the current constraint controller are combined to generate a composite controller:
in this embodiment, the system gives the d-axis reference current
Is 0, radix GinsengThe reference current and the actual current idInputting the difference into a PI controller to obtain d-axis voltage ud，udAnd uqAfter passing through a first coordinate transformation unit, performing Park inverse transformation to convert the voltage into a voltage u under a two-phase static coordinate systemαAnd uβThe three-phase output current of the motor passes through a second coordinate transformation unit, the second coordinate transformation unit carries out Clark transformation on the three-phase output current to obtain the current of the motor under a two-phase static αβ coordinate system, and then the two-phase current i under a d-q rotating coordinate system is obtained through Park transformationdAnd iq. The encoder is installed on the motor side of the permanent magnet synchronous motor, and can detect and calculate the space phase of the magnetic pole axis of the rotor and the actual angular speed omega of the rotor.
Given angular velocity ω of a permanent magnet synchronous motorrAnd the actual angular speed omega, and the system combines the error of the two with the obtained q-axis current iqInputting into a current constraint controller to limit the current and outputting a q-axis voltage uq(ii) a The system converts the actual angular velocity omega and the q-axis current iqInputting into a reduced order proportional-integral observer, outputting an estimated value of time-varying interference to d-axis voltage uqAnd feed-forward compensation is performed, and the anti-interference capability of the system is improved.
A construction method of a constraint control system of composite current of a permanent magnet synchronous motor restrains the composite current of the permanent magnet synchronous motor by constructing a composite controller combined with a current constraint controller and a reduced order proportional-integral observer, and comprises the following steps:
and 4, generating a composite controller combining a current constraint controller and a reduced order proportional integral observer aiming at the single loop structure of the constraint control system of the permanent magnet synchronous motor, and enabling the rotating speed to gradually track the reference track while meeting the condition of q-axis current constraint.
Further, the establishment of the permanent magnet synchronous motor control model in the step 1 further includes the following steps:
step 1.1, establishing a control model of the surface-mounted permanent magnet synchronous motor on a d-q axis coordinate system:
wherein u isdAnd uqD-q axis components, i, of the stator voltage, respectivelydAnd iqD-q axis components of the stator current, omega the actual angular velocity of the machine, npIs the number of pole pairs, L is the stator inductance, RsIs stator resistance, #fRepresents the permanent magnet flux linkage, TLIs the load torque, J is the moment of inertia, B is the damping coefficient,
and
d-q axis currents i of motor statordAnd iqThe differential of (a) is determined,
is the micro of the actual angular velocity omega of the motorDividing;
step 1.2, eliminating d-axis voltage u in formula (1)dAnd q-axis voltage uqThe coupling between:
setting the reference current of the d-axis to
When the controller works normally, the output quantity idSatisfy the requirement of
Ignoring the damping coefficient B, the control model in step 1.1 can be rewritten as:
wherein the q-axis current is constrained to iq<c and c are constants.
Further, the step 2 further comprises the following steps:
step 2.1, a permanent magnet synchronous motor torque equation:
order to
a1、a2、a3Respectively is a substitute
For simplifying the expression of the coefficient matrix, according to the constraint iqI ≦ c, rewriting formula (2) as:
wherein
Is the external interference term and the external interference term,
is a control input term, and the constraint condition of q-axis current is | iqC is less than or equal to | wherein c is a normal number;
establishing a torque equation of the permanent magnet synchronous motor in the no-load state:
step 2.2, calculating a speed tracking error:
definition of ωrFor reference speed, the speed tracking error is: e- ωrω and defines e1＝e，
e1For velocity tracking errors e, e2For the differentiation of the velocity tracking error e, the velocity tracking error system can be described as:
wherein e1、e2Respectively, the state quantity of the system and the current constraint is | e2|<a1c and c are a normal number,
is the differential of the velocity tracking error e,
Is a state quantity e2Differentiation of (1);
and 2.3, generating an improved backstepping method controller:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Are differential coefficients, and the performance of the controller can be improved by adjusting the parameters, wherein the more complex parts of the controller u are composed of G,
f、
Instead of, for expression in a simplified form, in which
Is a virtual controller, as follows:
wherein c is the current constraint | e2|<a1A constant in c;
step 2.4, simplifying the structure of the controller:
simplifying the controller u of equation (6) results in a new current-constrained controller u:
the simplified backstepping controller is similar to a typical PD controller, but the gain of the simplified backstepping controller is nonlinear and difficult to realize, unpredictable dynamic response is possible, and the improved novel controller uses a proportional gain term
Is converted into k1L, a differential gain term
Change to
The final form is as shown in formula (11), and the structure of the controller is greatly simplified.
For the practical constraint control system of the permanent magnet synchronous motor, the control quantity is controlled
Available input voltage uqComprises the following steps:
wherein c is the same as c in formula (11).
Further, the step 3 further comprises the following steps:
step 3.1, generating a third-order reduced proportional integral observer:
and (4) carrying out derivation substitution on the formula (3) to obtain a state equation of the combined permanent magnet synchronous motor:
wherein
First order differential and second order differential of actual angular velocity when the motor is running, a ═ a2，b＝a1a3，c＝a1，
The formula (13) can be obtained by performing the above substitution after deriving the actual angular velocity equation in the formula (3), d (t) is an additional interference term,
is the differential of d (t), a (t) is the sum of all time-varying disturbance related terms, defining x1＝ω，
x3A (t) and
it is possible to obtain:
wherein
Is a state quantity x1、x2、x3、x4The differential of (a) is determined,
second order differential of a (t);
generating a reduced order proportional integral observer for estimating and compensating interference and uncertainty factors of the system:
wherein the state quantity
Are each x2、x3、x4Is determined by the estimated value of (c),
three state quantities of reduced order proportional integral observer
C is a substitute a in formula (13)1An intermediate amount of (a);
step 3.2, estimating time-varying disturbance
Make it
z2、z3、z4For a state variable x2、x3、x4A set of state quantities after the conversion is performed,
the reduced order proportional integral observer is rewritten as:
the function of the transformation is that the new observer equation has no coupling phenomenon, so that the state variables can be controlled independently;
it is possible to obtain:
wherein
Is x2、x3And x4Estimate of (a) ("lambda1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
The composite controller in the step 4 considers the influence of interference, and designs a composite control law based on the feedforward compensation of a current constraint controller and a reduced order proportional-integral observer aiming at the single-loop structure of the permanent magnet synchronous motor:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Is the differential coefficient, c is the constant c in the current constraint in step two.
As shown in fig. 2, at the position of about 0.004s, the overshoot of the composite controller is about 2%, while the overshoot of the conventional PID controller is about 20%, and the overshoot of the present invention is significantly reduced compared to the conventional PID controller. In addition, as shown in fig. 3, the composite controller has a good ability to constrain iq within a limited range according to the requirements of the current limit 10A. As is also clearly shown in fig. 4.
As shown in fig. 5, when the step loading torque T is applied at T-0.05 sLWhen 2 n.m. The falling time (0.005s) of the composite controller is shorter than that of the PID controller (0.02s), and the rotating speed falling (25rpm) is smaller than that of the PID controller (110 rpm). Also in fig. 6 and 7, it is evident that the governor system incorporating the composite controller can reach steady state faster.
As shown in fig. 8, when there is a slope torque disturbance, the speed reduction of the hybrid controller is small and the recovery time is short compared to the PID controller. Corresponding features can also be observed in fig. 9 and 10.
The invention and its embodiments have been described above schematically, without limitation, and the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The representation in the drawings is only one of the embodiments of the invention, the actual construction is not limited thereto, and any reference signs in the claims shall not limit the claims concerned. Therefore, if a person skilled in the art receives the teachings of the present invention, without inventive design, a similar structure and an embodiment to the above technical solution should be covered by the protection scope of the present patent. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several of the elements recited in the product claims may also be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (9)
1. A restraint control system of permanent magnet synchronous motor combined current is characterized by comprising:
a first coordinate transformation unit for converting three-phase output current of the permanent magnet synchronous motor into d-axis current idAnd q-axis current iq；
The encoder is used for receiving the angular displacement of the rotor of the permanent magnet synchronous motor and detecting and calculating the space phase of the magnetic pole axis of the rotor of the permanent magnet synchronous motor and the actual angular speed omega of the rotor;
PI controller for inputting d-axis current idAnd a reference current
Outputting d-axis voltage ud；
A reduced order proportional-integral observer for receiving the actual angular velocity omega and the q-axis current i of the permanent magnet synchronous motorqOutputting an estimated value of the time-varying interference;
a current constraint controller for receiving the q-axis current i output by the first coordinate transformation unitqAnd simultaneously receiving the given angular velocity omega of the permanent magnet synchronous motorrAnd the actual angular velocity omega, and outputs a q-axis voltage uq；
A second coordinate transformation unit for transforming the d-axis voltage udAnd q-axis voltage uqConverting into voltage u under two-phase static coordinate systemαAnd uβ；
An SVPWM module for receiving voltage u in two-phase static coordinate systemαAnd uβOutputting a pulse width modulation signal;
and the three-phase inverter receives the pulse width modulation signal, outputs three-phase sinusoidal voltage and drives the motor to operate.
2. The restraint control system of compound current of permanent magnet synchronous motor according to claim 1, characterized in that: the estimated value of the time-varying interference output by the reduced order proportional-integral observer is as follows:
wherein,
is a time-varying interference estimate, z2、z3、z4Is a set of state quantities, λ1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
3. The restraint control system of compound current of permanent magnet synchronous motor according to claim 2, characterized in that: q-axis voltage u output by current constraint controllerqComprises the following steps:
wherein, ω isrIs the angular velocity of the motor, omega is the actual angular velocity of the motor, npIs the number of pole pairs, L is the stator inductance, psifRepresenting the flux linkage of the permanent magnet, J is the moment of inertia, l is an adjustable parameter, k1Is the proportionality coefficient, k2Is a differential coefficient, and c is a normal number.
4. The restraint control system of compound current of permanent magnet synchronous motor according to claim 3, characterized in that: the reduced order proportional-integral observer and the current constraint controller are combined to generate a composite controller:
5. a construction method of a constraint control system based on the composite current of a permanent magnet synchronous motor of claim 1 is characterized by comprising the following steps:
step 1, controlling the reference current of a d axis to be zero, establishing a control model of a permanent magnet synchronous motor on a d-q axis coordinate system, and eliminating the coupling of d-q axis voltage;
step 2, generating a current constraint controller based on a back stepping method according to a permanent magnet synchronous motor control model;
step 3, designing a reduced order proportional integral observer capable of estimating time-varying disturbance and performing feedforward compensation on the system;
and 4, generating a composite controller combining the current constraint controller and the reduced order proportional-integral observer aiming at the single loop structure of the permanent magnet synchronous motor constraint control system.
6. The construction method of the restraint control system of the compound current of the permanent magnet synchronous motor according to claim 5, is characterized in that: the establishment of the permanent magnet synchronous motor control model in the step 1 further comprises the following steps:
step 1.1, establishing a control model of the permanent magnet synchronous motor on a d-q axis coordinate system:
wherein u isdAnd uqD-q axis components, i, of the stator voltage, respectivelydAnd iqD-q axis components of the stator current, omega the actual angular velocity of the machine, npIs the number of pole pairs, L is the stator inductance, RsIs stator resistance, #fRepresents the permanent magnet flux linkage, TLIs the load torque, J is the moment of inertia, B is the damping coefficient,
and
d-q axis currents i of motor statordAnd iqThe differential of (a) is determined,
is the differential of the actual angular velocity omega of the motor;
step 1.2, eliminating d-axis voltage u in formula (1)dAnd q-axis voltage uqThe coupling between:
setting the reference current of the d-axis to
When the controller works normally, the output quantity id is satisfied
Neglecting the damping coefficient B, the control mode in step 1.1The type is rewritten as:
wherein the q-axis current is constrained to | iqC is less than or equal to | and c is a constant.
7. The construction method of the restraint control system of the compound current of the permanent magnet synchronous motor according to claim 5, is characterized in that: the step 2 further comprises the following steps:
step 2.1, establishing a torque equation of the permanent magnet synchronous motor:
order to
a1、a2、a3Respectively is a substitute
According to the constraint iqI ≦ c, rewriting formula (2) as:
wherein
Is the external interference term and the external interference term,
is a control input item;
establishing a torque equation of the permanent magnet synchronous motor in the no-load state:
step 2.2, calculating a speed tracking error:
definition of ωrFor the purpose of reference to the speed,the velocity tracking error is: e- ωrω and defines e1＝e，
e1For velocity tracking errors e, e2For the differentiation of the velocity tracking error e, the velocity tracking error system can be described as:
wherein e1、e2Respectively, the state quantity of the system and the current constraint is | e2|<a1c and c are a normal number,
is the differential of the velocity tracking error e,
Is a state quantity e2Differentiation of (1);
and 2.3, generating an improved backstepping method controller:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Is the differential coefficient, G,
f、
To replace the intermediate variables of the complex factors (7), (8), (9), (10):
step 2.4, simplifying the structure of the controller:
simplifying the controller u of equation (6) results in a new current-constrained controller u:
for the constraint control system of permanent magnet synchronous motor
Available input voltage uqComprises the following steps:
8. the construction method of the restraint control system of the compound current of the permanent magnet synchronous motor according to claim 5, is characterized in that: the step 3 further comprises the following steps:
step 3.1, generating a reduced order proportional-integral observer:
and (4) carrying out derivation substitution on the formula (3) to obtain a state equation of the permanent magnet synchronous motor:
wherein
First order differential and second order differential of actual angular velocity when the motor is running, a ═ a2，b＝a1a3，c＝a1，
The formula (13) can be obtained by performing the above substitution after deriving the actual angular velocity equation in the formula (3), d (t) is an additional interference term,
is the differential of d (t), a (t) is the sum of all time-varying disturbance related terms, defining x1＝ω，
x3A (t) and
it is possible to obtain:
wherein
Is a state quantity x1、x2、x3、x4The differential of (a) is determined,
second order differential of a (t);
generating a reduced order proportional integral observer:
wherein the state quantity
Are each x2、x3、x4Is determined by the estimated value of (c),
three state quantities of reduced order proportional integral observer
Differentiation of (1);
step 3.2, estimating time-varying disturbance:
make it
z2、z3、z4For a state variable x2、x3、x4A set of state quantities after the conversion is performed,
the reduced order proportional integral observer is rewritten as:
it is possible to obtain:
wherein
Is x2、x3And x4Estimate of (a) ("lambda1、λ2And λ3Is the number of poles of the reduced order proportional integral observer.
9. The construction method of the restraint control system of the compound current of the permanent magnet synchronous motor according to claim 5, is characterized in that: the composite controller in the step 4 combines a current constraint controller and a feedforward compensation of a reduced order proportional integral observer:
where l is an adjustable parameter, k1Is the proportionality coefficient, k2Is the differential coefficient.
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