Torque ripple rejection controller of bearingless permanent magnet synchronous motor and construction method of torque ripple rejection controller

Abstract

The invention discloses a torque ripple rejection controller of a bearingless permanent magnet synchronous motor and a construction method of the torque ripple rejection controller. Through a torque controller, a suspension force controller, a current sensor, an optical-electricity encoder and eddy current displacement sensors, the torque ripple rejection controller in the torque controller is modulated by a first PID (proportion integration differentiation) regulator to obtain an initial proportion value kc, is processed by a second amplitude limiting module to obtain a proportion value k andis modulated by a first PI (proportional integral) regulator to obtain a rotor resultant current instruction value is*, the rotor resultant current instruction value is* is input into a current calculation module to obtain an initial direct-axis current instruction value iMdc* and an initial quadrature-axis current instruction value iMq*, the initial direct-axis current instruction value iMdc* isprocessed by a first amplitude limiting module to obtain a direct-axis current instruction value iMd*, and the proportion value k and the direct-axis current instruction value iMd* are input into a judging module to realize controlling of magnetism increasing and voltage regulation. The torque ripple rejection controller has the advantages that torque ripples of the motor can be rejected, precisespeed regulation of the bearingless permanent magnet synchronous motor can be realized, the influence of motor load effect on suspension stability is weakened, and working performances of the bearingless permanent magnet synchronous motor in high-speed and superhigh-speed operation states are improved.

Description

technical field [0001] The invention belongs to the field of motor control, in particular to a torque ripple suppression controller of a bearingless permanent magnet synchronous motor and a construction method thereof. Background technique [0002] Bearingless permanent magnet synchronous motor is a new type of motor that combines the characteristics of permanent magnet synchronous motor and magnetic bearing. It not only has the advantages of high power factor, high efficiency and high power density of permanent magnet synchronous motor, but also has the advantages of no mechanical friction of magnetic bearing , no lubrication and maintenance-free, etc., can realize high-speed or ultra-high-speed operation, and has potential application prospects in the fields of chemical engineering, life sciences, energy transportation, aerospace and robotics. However, the bearingless permanent magnet synchronous motor adopts permanent magnet excitation, and the torque current is small. Du...

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Problems solved by technology

Patent [CN 105337550A] proposes a torque ripple suppression technology based on deadbeat current control and angle repeatability control, which realizes the suppression of torque ripple under constant speed and variable speed and load conditions, but this method requires Iterative calculation, the calculation amount is large and complicated; the patent [CN 103378789A] adopts the method of superimposing q-axis current compensation to suppress the torque, which is relatively dependent on the motor parameters, and the motor parameters are perturbed during the operation of the motor. The suppression effect will be affected; the patent [CN 104579080A] proposes a dq-axis current filtering method based on an incremental Kalman filter, and eliminates the one-beat lag delay of the digital control method through the incremental prediction method, which is conducive to reducing the Miscompensation caused by misjudgment of phase current polarity, but the Kalman filter algorithm takes a lot of time, which will affect the results in practical applications; patent [CN 104579080A] obtains the 5th and 7th harmonic currents, and adjusts them through resonance The d-axis compensation amount and q-axis compensation amount of the harmonic voltage are obtained by the controller, the 5th and 7th harmonic currents are eliminated by feedback, and the 6th and 12th torque ripples are suppressed. This method avoids the need for accurate The problem of detecting the zero crossing of the current, however, when the input of the resonant regulator is a step signal, the output current will produce a certain degree of overshoot, which will affect the compensation effect

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