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Method for suppressing rotation speed fluctuation of PMSM based on iterative learning

An iterative learning control and iterative learning technology, which is applied in the field of motor control, can solve problems such as affecting the control accuracy of the speed control system and restricting the application of high-performance direct drive systems, and achieve the effect of realizing uncertainty and suppressing periodic pulsation.

Inactive Publication Date: 2018-05-01
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

However, its torque ripple problem seriously affects the control accuracy of the speed control system, which limits its application in high-performance direct drive systems

Method used

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  • Method for suppressing rotation speed fluctuation of PMSM based on iterative learning
  • Method for suppressing rotation speed fluctuation of PMSM based on iterative learning
  • Method for suppressing rotation speed fluctuation of PMSM based on iterative learning

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Embodiment

[0048] This embodiment discloses a PMSM speed fluctuation suppression method based on iterative learning, comprising the following steps:

[0049] Step S1, such as figure 1 as shown, figure 1 Adopt the PMSM system structural diagram of PI type iterative learning control for the present embodiment, wherein in the dotted line frame is PI type iterative learning controller, and learning law is:

[0050] i q，k+1 (t)=(1-α)i q，k +G pc e k+1 (t)+G I ∫e k+1 (t) dt (1)

[0051] In the above formula, i q，k+1 is the q-axis current reference signal of the current cycle; i q,k is the shaft current reference signal of the previous cycle, which is the "learning experience"; e k+1 is the current cycle speed deviation signal, which is mainly used to compensate the loss of "learning experience" caused by the forgetting factor, G pc , G I Learning gain for closed loop. The above formula can be written in the form of Z domain as:

[0052]

[0053] The iterative learning process...

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Abstract

The invention discloses a method for suppressing the rotation speed fluctuation of a PMSM based on iterative learning. The method can suppress the periodic pulsating torque of the PMSM and improve servo precision. The method is a motor control algorithm that compensate for torque ripple by using a PI learning law and attenuates non-periodic agitation error accumulation by introducing a forgettingfactor. The method comprises steps of: firstly establishing a transfer function model of an iterative learning controller to analyze its stability; then determining the convergence condition of the algorithm; and designing two important parameters, namely the learning gain and the forgetting factor, in consideration of the steady-state performance and dynamic response performance of the system. The method is simple and easy to implement, and can track the desired trajectory with high accuracy by learning the periodic deviation signal.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a PMSM speed fluctuation suppression method based on iterative learning. Background technique [0002] PMSM has the characteristics of high power density, good controllability and simple structure, and is widely used in industrial production. However, its torque ripple problem seriously affects the control accuracy of the speed control system, which limits its application in high-performance direct drive systems. The reasons can be divided into two categories, one is the uneven distribution of the permanent magnet magnetic field, which is caused by the unsatisfactory manufacturing process of the permanent magnet itself and the different reluctance at the motor armature slot; the other is caused by the armature magnetic field Caused by space harmonics, which are caused by stator current harmonics. [0003] According to the above two reasons, there are correspondingly two t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00H02P21/05H02P6/10
CPCH02P21/0017H02P6/10H02P21/05
Inventor 余志强游林儒
Owner SOUTH CHINA UNIV OF TECH
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