Permanent magnet synchronous motor self-adaptive identification control method and control system thereof

Abstract

The invention discloses a permanent magnet synchronous motor self-adaptive identification control method comprising the following steps that the dynamic model of the vector control system of a permanent magnet synchronous motor is established under a dq coordinate system, and decoupling control is performed on the component of stator voltage in the dq coordinate system; a simplified state space model of the permanent magnet synchronous motor is established; parameter identification is performed on the undetermined parameters in the simplified state space model of the permanent magnet synchronous motor so that stable motor identification parameters are obtained; an accurate model of the permanent magnet synchronous motor is established according to the stable motor identification parameters, and a speed ring closed-loop transfer function is calculated; a reference model of the permanent magnet synchronous motor is constructed according to the speed ring closed-loop transfer function and the static and dynamic performance indexes of the vector control system; and self-adaptive control rate of the permanent magnet synchronous motor is derived according to the reference model of the permanent magnet synchronous motor and the speed ring closed-loop transfer function after identification. A speed ring is enabled to have better stability, anti-interference capability and control precision.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to an adaptive identification control method and a control system for a permanent magnet synchronous motor. Background technique [0002] Three-phase permanent magnet synchronous motor (PMSM) has the characteristics of small size, light weight, and no heating of the rotor. It has been widely used in high-performance AC servo systems, such as industrial robots, CNC machine tools, aerospace and other fields. It is developed from a wound rotor synchronous motor. It uses permanent magnets to replace the electric excitation system, which makes the motor structure simple, reduces processing and assembly costs, saves the excitation winding, brushes and collector rings, and improves the motor. efficiency and power density. [0003] At present, the parameters of the AC motor controller are mainly manually adjusted, which has problems such as poor stability and weak anti-interference a...

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Problems solved by technology

Existing motor identification methods mainly include least squares method, state observer method, Kalman filter identification, etc., and the patent document with application number 200810018783.0 discloses a moment of inertia identification method for an AC servo system, and provides a motor parameter identification method method, but it is limited to the identification of the moment of inertia of the system, and there are problems of complex calculation and slow convergence speed. At the same time, the parameters of the motor will change with the environment, and the identification accuracy is not high.

The patent document with the application number 201510096895.8 discloses a method for identifying the moment of inertia of permanent magnet synchronous motors based on model reference self-adaptation. It proposes to use the actual system as a reference model to establish a reference model with unknown parameters and compare the deviation between the two models. , by continuously adjusting the model parameters to realize the output of the adjustable model following the reference model, but this method needs to identify the system model online, which requires a large amount of calculation, and at the same time, the form of the reference model will have a great impact on the stability of the system

In this case, the traditional control method will inevitably affect the control accuracy of the motor, seriously reducing the stability and adaptability of the system.

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