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Double-loop prediction and suppression method for periodic disturbance of permanent magnet synchronous motor

A permanent magnet synchronous motor and disturbance suppression technology, which is applied in motor control, motor generator control, electronic commutation motor control, etc., can solve the problem that the given tracking performance cannot be guaranteed, and the given tracking and periodic disturbance suppression cannot be realized. Coupling and other issues, to achieve fast and smooth transient performance, dynamic response characteristics and steady-state performance guarantee, strong robustness effect

Active Publication Date: 2020-10-30
萤火科技发展(天津)有限责任公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this approach also fails to achieve decoupling of given tracking and periodic disturbance rejection, resulting in significant transient oscillations in the system response when the given signal undergoes a step change [8]
Therefore, traditional periodic disturbance suppression strategies cannot guarantee a given tracking performance

Method used

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  • Double-loop prediction and suppression method for periodic disturbance of permanent magnet synchronous motor
  • Double-loop prediction and suppression method for periodic disturbance of permanent magnet synchronous motor
  • Double-loop prediction and suppression method for periodic disturbance of permanent magnet synchronous motor

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Embodiment 1

[0064] The embodiment of the present invention proposes a dual-loop predictive control structure, and a dual-loop predictive controller is designed in the current loop and the speed loop respectively (that is, in addition to the loop where the main predictive controller is located, the embodiment of the present invention is also provided with an additional disturbance suppression loop, these two loops constitute a double-loop structure, the double-loop structure is applied in the speed loop and the current loop respectively), which effectively suppresses the periodic disturbance, and can not affect the main controller while suppressing the disturbance, that is, the prediction The original given tracking capability of the controller realizes the decoupling of given tracking and periodic disturbance suppression.

[0065] Among them, the given tracking performance is only determined by the main predictive controller, and the disturbance suppression performance is determined by the...

Embodiment 2

[0073] Combined with the specific calculation formula, the appended Figure 1-4 1. Examples further introduce the scheme in Example 1, see the following description for details:

[0074] 1. Modeling of permanent magnet synchronous motor system

[0075] In the embodiment of the present invention, the model of the permanent magnet synchronous motor is divided into two parts, the current loop and the speed loop. In the current loop, select the stator current vector i s As the state variable, the current loop model is obtained:

[0076]

[0077] In the formula, R s is the stator resistance, L s is the stator inductance, u c is the stator voltage vector, is the permanent magnet flux linkage, ω e is the rotor electrical angular frequency.

[0078] Discretize the formula (1) to obtain the state space expression of the current loop model in the discrete domain:

[0079]

[0080] In the formula,

[0081]

[0082] Among them, T s Indicates the sampling period, and η...

Embodiment 3

[0180] Combine below Figure 5-Figure 8 The scheme in embodiment 1 and 2 is carried out feasibility verification, see the following description for details:

[0181] In the embodiment of the present invention, taking the current loop as an example, the given tracking characteristics of the double-loop control structure and the parallel control structure are compared. The given tracking performance of the double-loop controller and the parallel controller is as follows: Figure 5 shown. When the parallel structure is used for current control, the signal at or near the resonant frequency is amplified or reduced, and this phenomenon is caused by the inherent cut-off frequency ω of the resonant controller l caused. Due to these fluctuations, the transient response exhibits significant oscillations when a step change occurs in the given signal. Adopting a parallel periodic disturbance suppression strategy will reduce the given tracking performance of the main predictive control...

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Abstract

The invention discloses a periodic disturbance dual-loop forecast suppression method of a permanent-magnet synchronous motor. The periodic disturbance dual-loop forecast suppression method comprises the steps of designing a current loop main forecast controller, embedding a current loop disturbance observer for suppressing non-periodic disturbance, constructing a cost function, and solving to obtain an optimal stator given control voltage by minimization; designing a disturbance suppression loop and a disturbance controller which are additionally embedded to a current loop; designing a speed loop main forecast controller, embedding a speed loop disturbance observer for suppressing non-periodic disturbance, constructing another one cost function, and solving to obtain an optimal reference q-axis current; designing a disturbance suppression loop and a disturbance controller which are additionally embedded to a speed loop; determining parameters of the forecast controller and the observeraccording to closed-loop transfer functions of the current loop and the speed loop and according to expected bandwidth and an observer pole; and weighing disturbance suppression capability and noisesensitivity, comprehensively considering high suppression capability on special sub-harmonic and low influence on other frequency signals, and determining a disturbance controller parameter.

Description

technical field [0001] The invention relates to the field of permanent magnet synchronous motor control, in particular to a predictive control method for permanent magnet synchronous motor disturbance suppression with given tracking and disturbance suppression decoupling characteristics. Background technique [0002] Permanent magnet synchronous motor has the characteristics of high air gap flux density, high efficiency, compact structure and wide speed range, so it is widely used in the field of industrial speed control [1] . Field Oriented Control is a very mature control strategy applied in permanent magnet synchronous motor control, and its inner and outer loops generally use traditional proportional-integral controllers [2] . In recent years, model predictive control has become another control strategy that has attracted much attention [3] . In the case of dealing with nonlinear systems and multiple control objects, the model predictive control strategy has signific...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/13H02P21/22
CPCH02P21/13H02P2205/01H02P21/22
Inventor 宋战锋王亚琦于贇
Owner 萤火科技发展(天津)有限责任公司
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