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Permanent magnet synchronous motor driven flexible load resonance suppression method and device

A permanent magnet synchronous motor, flexible load technology, applied in the control of electromechanical transmission, motor generator control, electronic commutation motor control and other directions, can solve the problem of noise and resonance information mixed, difficult to separate, affecting the mechanical life of ride comfort and other problems, to achieve the effect of increasing the damping coefficient of the shaft end and increasing the vertical component

Inactive Publication Date: 2020-12-04
SUZHOU LVKON TRANSMISSION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the actual electric vehicle system, due to the effect of elastic bodies such as suspensions and tires, permanent magnet synchronous motors for electric vehicles will inevitably carry flexible loads, and the characteristics of flexible loads bring many problems to the motion control system. Under the conditions of rapid torque changes such as starting and emergency stop, the speed will vibrate, which will affect the mechanical life and ride comfort
[0003] In order to suppress the oscillation phenomenon caused by the flexible load driven by the permanent magnet synchronous motor, a method of inserting a notch filter in series between the output terminal of the speed regulator and the given torque has been proposed in the prior art. Attenuation, although the resonance of the flexible load can be passively suppressed, it is necessary to accurately extract the resonance characteristics of the system, such as resonance frequency, anti-resonance frequency, etc. If the resonance frequency is not extracted accurately, it may lead to the failure of the notch. The algorithm of the system is complicated, and it is not easy to carry out in the actual system
For the active suppression strategy based on the PI control in the classical control theory, it can realize the non-static tracking of the speed and a certain degree of mechanical resonance suppression effect, but because the PI regulator has only two adjustable parameters, it is difficult to realize the arbitrary configuration of the pole , therefore, cannot completely solve the problem of load resonance
Although there are related existing technologies that further propose a method of constructing a state observer, the observed load information usually contains random noise, and the noise and resonance information are mixed together, making it difficult to separate

Method used

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  • Permanent magnet synchronous motor driven flexible load resonance suppression method and device
  • Permanent magnet synchronous motor driven flexible load resonance suppression method and device
  • Permanent magnet synchronous motor driven flexible load resonance suppression method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] This embodiment provides a permanent magnet synchronous motor drive flexible load resonance suppression method, such as figure 1shown, including the following steps:

[0044] --After the permanent magnet synchronous motor drives the flexible load, collect the electromagnetic torque T of the permanent magnet synchronous motor e , motor speed ω m and shaft torque T c ;

[0045] -- Calculate the transfer function Q between the load speed and the electromagnetic torque 1 , The transfer function Q of shaft torque and electromagnetic torque 2 , the transfer function Q of shaft torque and electromagnetic torque 2 It is only used when checking to determine the effect of resonance suppression, and it can prove the vertical component coefficient b of the electromagnetic torque 2 Ability to increase, not participate in torque feedback increment ΔT e ＊ OK for:

[0046] After the permanent magnet synchronous motor drives the flexible load, the Q can be calculated by formula...

Embodiment 2

[0071] This embodiment provides a permanent magnet synchronous motor driven flexible load resonance suppression device, including:

[0072] --Data acquisition module: used to collect the electromagnetic torque T of the permanent magnet synchronous motor after the permanent magnet synchronous motor drives the flexible load e , motor speed ω m and shaft torque T c ;

[0073] In the transfer function calculation module, the transfer function Q between the load speed and the electromagnetic torque 1 , The transfer function Q2 of the torque on the shaft and the electromagnetic torque is calculated in the following way:

[0074]

[0075]

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Abstract

The invention relates to a permanent magnet synchronous motor driven flexible load resonance suppression method and device. The method comprises the steps: obtaining a transfer function between a loadrotating speed and an electromagnetic torque and a transfer function between an on-axis torque and the electromagnetic torque after a permanent magnet synchronous motor drives a flexible load, and solving a frequency signal; obtaining the motor rotating speed increment through the transfer function of the on-axis torque and the electromagnetic torque; and finally calculating a torque feedback increment in a rotating speed negative feedback suppression ring according to the rotating speed increment of the motor, and performing feedback adjustment on electromagnetic torque output in a torque increment form so as to increase a shaft end damping coefficient, so that suppression of flexible load resonance is achieved while dynamic response performance of the system is ensured.

Description

technical field [0001] The present application belongs to the technical field of synchronous motor drive, and in particular relates to a method and device for suppressing resonance of a flexible load driven by a permanent magnet synchronous motor. Background technique [0002] Permanent magnet synchronous motors are widely used in metallurgy, ceramics, electric vehicles and other fields due to their good performance, small size, simple structure, and wide speed range. In the actual electric vehicle system, due to the effect of elastic bodies such as suspensions and tires, permanent magnet synchronous motors for electric vehicles will inevitably carry flexible loads, and the characteristics of flexible loads bring many problems to the motion control system. Under the conditions of rapid torque changes such as start-up and emergency stop, the speed will vibrate, which will affect the mechanical life and ride comfort. [0003] In order to suppress the oscillation phenomenon ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/05H02P21/20
CPCH02P21/05H02P21/20
Inventor 李磊於峰黄全安张雷
Owner SUZHOU LVKON TRANSMISSION TECH CO LTD