CN-116317793-B - Permanent magnet synchronous motor self-adaptive speed control method based on internal mold

CN116317793BCN 116317793 BCN116317793 BCN 116317793BCN-116317793-B

Abstract

The invention discloses a permanent magnet synchronous motor self-adaptive speed control method based on an internal model, which comprises the steps of establishing a permanent magnet synchronous motor mathematical model; the speed tracking and interference suppression problems of the permanent magnet synchronous motor under the condition of unknown external interference frequency are described as an adaptive servo control problem, the design of the controller adopts a cascade structure of a speed-current loop, the speed loop adopts an adaptive control method based on an internal model, and the current loop adopts a PI control method. The invention solves the problems that the external interference frequency is unknown and the motor parameter perturbation influences the tracking performance in the actual control, and has good speed tracking performance. In addition, the adaptive speed control method based on the internal model allows all motor parameters to be unknown and can realize the estimation of unknown interference frequency.

Inventors

PING ZHAOWU
JIA YINGJIE
HUANG YUNZHI

Assignees

合肥工业大学

Dates

Publication Date: 20260505
Application Date: 20230217

Claims (3)

1. The self-adaptive speed control method of the permanent magnet synchronous motor based on the internal mold is characterized by comprising the following steps of: Step1, establishing a mathematical model of a permanent magnet synchronous motor, wherein the mathematical model of the permanent magnet synchronous motor is as follows: (1) Wherein: 、 respectively the d-q axis component of the stator voltage, 、 Respectively the d-q axis component of the stator current, Is the inductance of the armature and, Is the stator resistance, p is the pole pair number, Representing the flux linkage of the permanent magnet, Is the actual angular velocity of the machine, Is the load torque, J is the rotational inertia of the motor rotor, and B is the viscous friction coefficient; step 2, describing the problems of speed tracking and interference suppression of the permanent magnet synchronous motor under the condition of unknown external interference frequency as an adaptive servo control problem, wherein the problems are specifically as follows: 1) Setting a reference speed And load torque Generated by the following external systems: (2) Wherein, the Is three steady matrices, but The external system has generality, and can generate signals commonly used in practice, wherein the commonly used signals comprise constant signals, ramp signals and sine signals; 2) Order the , As control input Will be used as Writing the speed equation of the mathematical model of the permanent magnet synchronous motor into the following form: , (3) 3) Define tracking error as: , (4) 4) Order the , , , , Wherein , , , , Representing the nominal values of the various parameters of the permanent magnet synchronous motor, , , , , Representing the actual values of the various parameters of the permanent magnet synchronous motor, The mathematical model of the permanent magnet synchronous motor and the formula (2) are written into the following compact form: (5) Wherein, the ; 5) The problems of speed tracking and interference suppression of the permanent magnet synchronous motor under the condition of unknown external interference frequency are described as an adaptive servo control problem, and the control target is to make the closed-loop system stable and the steady-state tracking error of the formula (5) asymptotically approach zero under the condition that the external system contains unknown parameters; Step 3, designing an internal model, converting the self-adaptive servo control problem of a motor system into the robust stabilization problem of an augmentation system consisting of the motor system and the internal model, wherein the robust stabilization problem is as follows: 1) Solving the regulator equation as follows: (6) Wherein, the Respectively, a steady state and a steady state input, and a steady state solution of the state and the input is obtained as follows: , (7) 2) There are integers And real number So that All rails to external systems Trace And all of All satisfy , (8) 3) Let the And For a pair of observable matrices, the following is used: (9) 4) The following steady state generator is constructed to produce a steady state solution: (10) 5) Selecting a pair of controllable matrices Wherein For the Hurwitz matrix, let , The method can obtain: (11) Wherein, the Any non-singular matrix that satisfies the Sylvester equation: (12) 6) The internal mold is designed as follows: (13) 7) The following coordinate transformation and input transformation are performed: (14) the following error equation is obtained: (15) 8) At this point, the adaptive servo control problem of the system (5) has been translated into a robust stabilization problem of the system (15); step 4, adopting a cascade structure of a speed-current loop, and designing an adaptive state feedback controller aiming at the speed loop based on an adaptive output adjustment theory; And 5, adopting a cascade structure of a speed-current loop, designing a PI controller for the current loop and giving a final controller.
2. The method for controlling the self-adaptive speed of the permanent magnet synchronous motor based on the internal mold according to claim 1, wherein the step 4 is specifically: 1) Definition of the definition Order-making Wherein the method comprises the steps of Satisfy for a positive definite symmetric matrix , Is a matrix of units which is a matrix of units, Is that Is used for the estimation of the (c), Is a specific positive number, then there is a gain large enough The following inequality is satisfied: (16) 2) The following control law solving system (15) is obtained: (17) 3) The controller that gets the speed loop is of the form: (18)。
3. the method for adaptively controlling the speed of an internal mold-based permanent magnet synchronous motor according to claim 2, wherein a cascade structure of speed-current loops is adopted in combination with The step 5 specifically includes: 1) By adopting a PI control method, the controller of the current loop is as follows: (19) Wherein the method comprises the steps of ; 2) Combining (18) and (19) to obtain a final controller of: (20)。

Description

Permanent magnet synchronous motor self-adaptive speed control method based on internal mold Technical Field The invention relates to the field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor self-adaptive speed control method based on an internal model. Background In a modern alternating current servo system, a permanent magnet synchronous motor has the advantages of high power density, high efficiency, quick response, wide speed regulation range, small moment of inertia and the like, and is widely applied to the fields of aerospace, computer numerical control machine tools, robots, electric automobiles and the like. The permanent magnet synchronous motor model has the characteristics of multiple variables, nonlinearity, strong coupling and the like, and is influenced by load torque interference and parameter uncertainty, so that the aim of obtaining a good tracking control effect is often difficult. On the other hand, the problem of adaptive servo control has been paid attention to in the control field in recent decades, and the internal model and the adaptive technology are powerful tools for solving the problem of adaptive servo control, which has the advantage of being able to achieve various control targets such as track tracking, interference suppression, robustness and the like in the case that unknown parameters are contained in an external system. The internal mold and the self-adaptive technology are applied to the permanent magnet synchronous motor, so that a good speed tracking effect can be obtained under the condition that the external interference frequency and motor parameters are unknown, and the estimation of the unknown interference frequency can be realized. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a permanent magnet synchronous motor self-adaptive speed control method based on an internal mold. The technical scheme of the invention is as follows: The invention discloses an internal mold-based permanent magnet synchronous motor self-adaptive speed control method, which comprises the following steps: step 1, establishing a mathematical model of a permanent magnet synchronous motor; Step 2, describing the problems of speed tracking and interference suppression of the permanent magnet synchronous motor under the condition of unknown external interference frequency as a self-adaptive servo control problem; Step 3, designing an internal model, and converting the self-adaptive servo control problem of a motor system into the robust stabilization problem of an augmentation system consisting of the motor system and the internal model; step 4, adopting a cascade structure of a speed-current loop, and designing an adaptive state feedback controller aiming at the speed loop based on an adaptive output adjustment theory; And 5, adopting a cascade structure of a speed-current loop, designing a PI controller for the current loop and giving a final controller. Further, the self-adaptive speed control method of the permanent magnet synchronous motor based on the inner die is characterized in that the step 1 specifically comprises the following steps: The mathematical model of the permanent magnet synchronous motor is as follows: Wherein u d、uq is the d-q axis component of the stator voltage, i d、iq is the d-q axis component of the stator current, L is the armature inductance, R s is the stator resistance, p is the pole pair number, Φ v represents the permanent magnet flux linkage, ω r is the actual mechanical angular velocity, T L is the load torque, J is the motor rotor moment of inertia, and B is the viscous friction coefficient. Further, the self-adaptive speed control method of the permanent magnet synchronous motor based on the internal mold is characterized in that the step 2 specifically comprises the following steps: 1) The present method assumes that the reference speed ω d and the load torque T L can be generated by the following external systems: Where A 1(σ),N1,N2 is three constant matrices but σ is an unknown constant. The external system has generality, and can generate signals commonly used in practice, such as a constant signal, a ramp signal, a sine signal and the like. 2) Let x=ω r be the number,I q is used as control input u (to be used as a reference signal for the i q current loop). The velocity equation of system (1) is written as follows: 3) Define tracking error as: e=ωr-N1v. (4) 4) Order the Wherein the method comprises the steps ofThe method is characterized in that nominal values of all parameters of the permanent magnet synchronous motor are represented, L, R s,Φv, J and B represent actual values of all parameters of the permanent magnet synchronous motor, and epsilon R 5 represents deviation between the actual values and the nominal values of the parameters of the permanent magnet synchronous motor. The formulas (1) and (2) are written in the following compact form: