A precision manufacturing ring permanent magnet synchronous motor anti-interference control method

Abstract

The application discloses a kind of precision manufacturing annular permanent magnet synchronous motor anti-interference control methods, comprising:1, design annular permanent magnet synchronous motor;2, according to the annular permanent magnet synchronous motor of design constructs annular permanent magnet synchronous motor second-order motion equation;3, based on annular permanent magnet synchronous motor second-order motion equation, constructs adaptive nonlinear disturbance observer;4, based on fixed time control principle, design single-loop speed-current fixed time controller and fixed time d-axis current controller, obtain q-axis reference voltage and d-axis reference voltage.The application can improve the response speed of annular permanent magnet synchronous motor, steady precision, control bandwidth, and then improve the machining precision of precision manufacturing system.

Description

Technical Field

[0001] This invention belongs to the field of intelligent precision manufacturing, and in particular relates to an anti-interference control method for a precision-manufactured ring permanent magnet synchronous motor. Background Technology

[0002] Ring permanent magnet linear synchronous motors (RPMSMs) are characterized by simple structure, high thrust density, low mechanical loss, high positioning accuracy, high efficiency, and fast dynamic response. Traditional proportional-integral (PI) control algorithms are simple and can eliminate steady-state errors. However, when internal motor parameters are mismatched or external disturbances are excessive, a fixed set of PI parameters cannot adapt well to changes in operating conditions, making it difficult to achieve satisfactory control performance across the entire operating range. Traditional PI controllers struggle to achieve ideal control performance for RPMSMs. Due to the various periodic and non-periodic disturbances present in RPMSMs, new control strategies and disturbance compensation methods need to be explored. The current interference issues of toroidal permanent magnet synchronous motors include the following: End effect: Due to the disconnection at the ends of the RPMSM, the thrust at the ends is unequal to the internal thrust, resulting in thrust pulsation; Arc effect: At both ends of the RPMSM, because the permanent magnet is fan-shaped and the mover is rectangular, the thrust is uneven, generating many thrust pulsations; Current measurement error: Offset error and scaling error will cause first-order and second-order harmonic torques of the speed; Position measurement error: Position measurement error will cause first-order harmonics of the speed; Current harmonics: The main source of current harmonics is the interaction of flux linkage harmonics and inverter nonlinearity with the permanent magnet flux, generating torque harmonics. Therefore, solving the interference immunity of toroidal permanent magnet synchronous motors is an urgent problem to be solved. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide an anti-interference control method for precision-manufactured ring permanent magnet synchronous motors. The single-ring speed-current fixed-time controller proposed in this invention simultaneously controls the speed and q-axis current, while the d-axis current adopts a fixed-time d-axis current controller. This controller can better handle system nonlinearity problems, improve system control bandwidth, and thus improve the dynamic response speed and positioning accuracy of the RPMSM.

[0004] Technical solution: The present invention provides an anti-interference control method for a precision-manufactured toroidal permanent magnet synchronous motor, comprising the following steps:

[0005] Step 1: Design a toroidal permanent magnet synchronous motor;

[0006] Step 2: Construct the second-order motion equations of the ring permanent magnet synchronous motor based on the designed ring permanent magnet synchronous motor;

[0007] Step 3: Based on the second-order equations of motion of the toroidal permanent magnet synchronous motor, construct an adaptive nonlinear disturbance observer. The input of this observer is the reference speed v of the toroidal permanent magnet synchronous motor. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. q The d-axis current i of the toroidal permanent magnet synchronous motor d The reference voltage u of the q-axis of the ring permanent magnet synchronous motor q The observer outputs an estimate of the unmatched disturbance. And the estimated value of matching interference

[0008] Step 4: Based on the fixed-time control principle, design a single-loop speed-current fixed-time controller. The input of this controller is the reference speed v. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis feedback current i of the toroidal permanent magnet synchronous motor. q The d-axis feedback current i of the toroidal permanent magnet synchronous motor d Estimates of mismatched interference And the estimated value of matching interference Its output is the q-axis reference voltage u. q Based on the principles of fixed-time control and vector control, a fixed-time d-axis current controller is designed. The inputs of this controller are the d-axis reference current 0 and the d-axis feedback current i. d Its output is the d-axis reference voltage u. d ;

[0009] Step 5: Based on the q-axis reference voltage u q With d-axis reference voltage u d This enables closed-loop control of the speed and current of the ring permanent magnet synchronous motor.

[0010] Furthermore, in step 1, the annular permanent magnet synchronous motor is composed of permanent magnet synchronous linear motors on both sides and arc-shaped permanent magnet synchronous motors at both ends; the stator of the annular permanent magnet synchronous motor is composed of modular windings, and the mover is composed of permanent magnet modules; the annular permanent magnet synchronous motor can realize the infinite cyclic movement of the mover without cable; the annular permanent magnet synchronous motor includes a base, on which several modular winding units are arranged in succession. The modular winding unit is composed of a back iron and a three-phase winding. There is a certain gap between two modular winding units. The mover is installed 1-2 mm above the modular windings. The permanent magnets are arranged in the order of N pole and S pole on the part of the mover and the modular windings facing each other. The mover is connected and supported to the edge of the base through a guide rail.

[0011] Furthermore, in step 2, the second-order equation of motion for the ring permanent magnet synchronous motor is designed as follows:

[0012]

[0013] F e =1.5πn p / τ[(L d -L q )i d +ψ f i q (2)

[0014]

[0015] Where m is the mass of the rotor of the toroidal permanent magnet synchronous motor, and v is the speed of the toroidal permanent magnet synchronous motor. It is the first derivative of the velocity, n p Let L be the polar logarithm, take the value 1, τ be the polar moment, and L be the polar distance. d and L q These are the d-axis inductance and the q-axis inductance, respectively, ψ f For permanent magnet flux linkage, i d and i q These are the d-axis current and the q-axis current, respectively. and These are the first derivatives of the d-axis current and the q-axis current, respectively, f v For the velocity loop lumped disturbance, F l It is a load disturbance, Δ v It is a disturbance caused by parameter changes; u d and u q These are the d-axis voltage and q-axis voltage, respectively, where R is the resistance and f is the voltage. d and f q These are the lumped interference along the d-axis and the lumped interference along the q-axis, respectively; f v f d and f q They are respectively:

[0016]

[0017] Where ΔR is the difference between the nameplate resistance and the actual resistance, and ΔL is... d ΔL q Δψ represents the difference between the nameplate d-axis and q-axis inductance and the actual inductance. f ΔF represents the difference between the nameplate flux linkage and the actual flux linkage. L Δ represents the difference between the nameplate friction and the actual friction. d For the d-axis, which is not modeled dynamically, Δ q The q-axis is not modeled dynamically;

[0018] The second-order equation of motion for a toroidal permanent magnet synchronous motor can be expressed as:

[0019]

[0020] Where d1 and d2 are the q-axis unmatched interference and q-axis matched interference, respectively, and κ = 3πψ f / (2mτ).

[0021] Furthermore, step 3 specifically involves: the input to the adaptive nonlinear disturbance observer being the reference speed v of the toroidal permanent magnet synchronous motor. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. q The reference voltage u of the toroidal permanent magnet synchronous motor q Its output is an estimate of the unmatched interference. And the estimated value of matching interference The adaptive nonlinear disturbance observer is designed as follows:

[0022]

[0023]

[0024] in, These are the estimated values ​​of d1 and d2, respectively, and p 11 ,p 12 It is an intermediate state variable, l 11 ,l 12 λ is the adaptive gain coefficient, λ is the attenuation factor, and C is a constant.

[0025] Furthermore, step 4 specifically involves: the input to the single-loop speed-current fixed-time controller being the reference speed v. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis feedback current i of the toroidal permanent magnet synchronous motor. q The d-axis feedback current i of the toroidal permanent magnet synchronous motor d Estimates of mismatched interference And the estimated value of matching interference Its output is the q-axis reference voltage u. q The single-loop speed-current fixed-time controller is designed as follows:

[0026]

[0027] Where k1 and k2 are gain coefficients, k1 > 0, k2 > 0, sig α (x) = sign(x)|x| α , 0<α1<1,β1>1,α2=2α1 / (1+α1),β2=2β1 / (1+β1);

[0028] Design a fixed-time d-axis current controller. The input to the controller is the d-axis reference current 0, and the d-axis feedback current i. dIts output is the d-axis reference voltage u. d The d-axis current fixed-time controller is designed as follows:

[0029] u d =Ri q -Lπvi d / τ+k d (-i d )+k d sig γ (-i d )+k d sig χ (-i d (9)

[0030] Where, k d γ is the gain coefficient of the d-axis controller, 0 < γ < 1, χ > 1.

[0031] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages:

[0032] (1) Traditional linear servo systems, such as "rotary motor + ball screw", have defects such as low positioning accuracy, high energy consumption and short life. However, linear servo systems using direct-drive RPMSM can be cable-free, saving energy and improving positioning accuracy.

[0033] (2) Compared with the traditional PI control method, the speed loop uses a PI controller, the d-axis current uses a PI controller, and the q-axis current uses a PI controller. The traditional PI controller is difficult to handle nonlinear problems well and is difficult to cope with load disturbances. The single-loop speed-current fixed-time controller proposed in this invention controls the speed and q-axis current at the same time, and the d-axis current uses a fixed-time d-axis current controller. This controller can better handle the nonlinear problems of the system, improve the system control bandwidth, and thus improve the dynamic response speed and positioning accuracy of RPMSM.

[0034] (3) Compared with the traditional active disturbance rejection control algorithm, it is difficult to balance the initial spike and steady-state accuracy due to the fixed gain coefficient. The adaptive nonlinear disturbance observer proposed in this invention can eliminate the initial estimation spike and has high steady-state accuracy.

[0035] (4) The composite control strategy of the single-loop velocity-current fixed-time controller, fixed-time d-axis current controller and adaptive nonlinear disturbance observer proposed in this invention greatly improves the system's response speed, steady-state tracking accuracy and disturbance suppression capability. Attached Figure Description

[0036] Figure 1This is a block diagram illustrating the principle of a ring permanent magnet synchronous motor control method based on a single-loop fixed-time controller and an adaptive nonlinear disturbance observer proposed in this invention.

[0037] Figure 2 This is a block diagram of a single-loop speed-current fixed-time controller.

[0038] Figure 3 The speed tracking simulation curve is based on the method proposed in this invention;

[0039] Figure 4 The q-axis current curve is based on the method proposed in this invention;

[0040] Figure 5 The simulation curves for speed tracking under sudden load are based on the method proposed in this invention.

[0041] Figure 6 This is the q-axis current curve under sudden load based on the method proposed in this invention;

[0042] Figure 7 The curves are based on the sinusoidal speed tracking comparison between the method proposed in this invention and traditional PI and sliding mode controller (SMC).

[0043] Figure 8 The q-axis current curves during sinusoidal velocity tracking are based on the method proposed in this invention and those of traditional PI and sliding mode controllers (SMC).

[0044] Figure 9 This is a flowchart of the present invention. Detailed Implementation

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0046] This invention provides a finite-time active anti-interference control method for a permanent magnet synchronous linear motor, the principle block diagram of which is shown below. Figure 1 As shown, the reference speed v of the toroidal permanent magnet synchronous motor ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. q The d-axis current i of the toroidal permanent magnet synchronous motor d The reference voltage u of the toroidal permanent magnet synchronous motor q As input to the adaptive nonlinear disturbance observer, its output is an estimate of the unmatched disturbance. And the estimated value of matching interference Reference speed v ref The feedback speed v of the toroidal permanent magnet synchronous motor is estimated by the mismatched disturbance from the adaptive nonlinear disturbance observer. and matching interference The d-axis feedback current i of the toroidal permanent magnet synchronous motord The q-axis feedback current i of the toroidal permanent magnet synchronous motor q The inputs to the single-loop speed-current fixed-time controller are the q-axis reference voltage and the d-axis reference current 0 and the d-axis feedback current i. d As the input to a fixed-time d-axis current controller, its output is the d-axis reference voltage u. d ;u d and u q After inverse Park transform, it becomes u α and u β u α and u β As the input of SVPWM, its output signal is transmitted to the drive circuit; the drive circuit outputs 6 duty cycle signals to the IGBT module; the outputs of the three IGBTs are connected to the RPMSM to realize the speed and current closed-loop control of the RPMSM.

[0047] like Figure 1 As shown, a finite-time active anti-interference control method for a permanent magnet synchronous linear motor includes the following steps:

[0048] Step 1: Structure of a Ring-Shaped Permanent Magnet Synchronous Motor

[0049] A schematic diagram of the structure of a ring permanent magnet synchronous motor is shown below. Figure 2 As shown, the toroidal permanent magnet synchronous motor includes a base 1, which is used for supporting and fixing the motor. Modular winding units 2 are arranged sequentially on the base 1. Each modular winding unit consists of a back iron 4 and a three-phase winding 3. There is a gap 5 between two modular winding units. A mover 6 is installed 1 mm to 2 mm above the modular windings. Permanent magnets are installed on the part of the mover 6 that faces the modular windings in the order of N pole and S pole. The mover 6 is connected to the edge of the base 1 for support via a guide rail.

[0050] Step 2: Construct the second-order equations of motion for the toroidal permanent magnet synchronous motor

[0051] Based on the actual situation of the toroidal permanent magnet synchronous motor, its mathematical model is constructed, and its mathematical model is expressed as follows:

[0052]

[0053] F e =1.5πn p / τ[(L d -L q )i d +ψ f i q (2)

[0054]

[0055] Where m is the mass of the rotor of the toroidal permanent magnet synchronous motor, and v is the speed of the toroidal permanent magnet synchronous motor. It is the first derivative of the velocity, n p Let L be the polar logarithm, take the value 1, τ be the polar moment, and L be the polar distance. d and L q These are the d-axis inductance and the q-axis inductance, respectively, ψ f For permanent magnet flux linkage, i d and i q These are the d-axis current and the q-axis current, respectively. and These are the first derivatives of the d-axis current and the q-axis current, respectively, f v For the velocity loop lumped disturbance, F l It is a load disturbance, Δ v It is a disturbance caused by parameter changes; u d and u q These are the d-axis voltage and q-axis voltage, respectively, where R is the resistance and f is the voltage. d and f q These are the lumped interference along the d-axis and the lumped interference along the q-axis, respectively; f v f d and f q They are respectively:

[0056]

[0057] Where ΔR is the difference between the nameplate resistance and the actual resistance, and ΔL is... d ΔL q Δψ represents the difference between the nameplate d-axis and q-axis inductance and the actual inductance. f ΔF represents the difference between the nameplate flux linkage and the actual flux linkage. L Δ represents the difference between the nameplate friction and the actual friction. d For the d-axis, which is not modeled dynamically, Δ q The dynamics of the q-axis are not modeled.

[0058] The second-order equation of motion for a toroidal permanent magnet synchronous motor can be expressed as:

[0059]

[0060] Where d1 and d2 are the q-axis unmatched interference and q-axis matched interference, respectively, and κ = 3πψ f / (2mτ).

[0061] Step 3: Design an adaptive nonlinear perturbation observer

[0062] The input to the adaptive nonlinear disturbance observer is the reference speed v of the toroidal permanent magnet synchronous motor. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. qThe reference voltage u of the toroidal permanent magnet synchronous motor q Its output is an estimate of the unmatched interference. And the estimated value of matching interference The adaptive nonlinear disturbance observer is designed as follows:

[0063]

[0064]

[0065] in, These are the estimated values ​​of d1 and d2, respectively, and p 11 ,p 12 It is an intermediate state variable, l 11 ,l 12 λ is the adaptive gain coefficient, λ is the attenuation factor, and C is a constant.

[0066] Step 4: Design a single-loop speed-current fixed-time controller

[0067] The input to the loop speed-current fixed-time controller is the reference speed v. ref The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis feedback current i of the toroidal permanent magnet synchronous motor. q The d-axis feedback current i of the toroidal permanent magnet synchronous motor d Estimates of mismatched interference And the estimated value of matching interference Its output is the q-axis reference voltage u. q The single-loop speed-current fixed-time controller is designed as follows:

[0068]

[0069] Where k1 and k2 are gain coefficients, k1 > 0, k2 > 0, sig α (x) = sign(x)|x| α , 0<α1<1, β1>1, α2=2α1 / (1+α1), β2=2β1 / (1+β1).

[0070] Step 5: Design a fixed-time d-axis current controller

[0071] The input to this controller is the d-axis reference current 0 and the d-axis feedback current i. d Its output is the d-axis reference voltage u. d The d-axis current fixed-time controller is designed as follows:

[0072] u d =Ri q -Lπvi d / τ+kd (-i d )+k d sig γ (-i d )+k d sig χ (-i d (9)

[0073] Where, k d γ is the gain coefficient of the d-axis controller, 0 < γ < 1, χ > 1.

[0074] To verify the effectiveness and reliability of the method proposed in this invention, according to Figure 1 The control architecture shown is used to establish a simulation model and verify the finite-time active anti-interference control method for permanent magnet synchronous linear motor proposed in this invention.

[0075] In this simulation, Figure 5 The reference speed is given as 0.2 m / s; Figure 6 The load changed abruptly from 0 N·m to 0.3 N·m in 0.5 seconds; Figure 9 The reference velocity is a sine curve.

[0076] The simulation results of this invention are as follows: Figures 5-8 As shown, by Figure 5 It can be observed that when the reference velocity is 0.2 m / s, the proposed method reaches steady state in 0.0075 seconds; Figure 6 It can be observed that the q-axis current converges quickly to its steady-state value; from Figure 7 The sudden load test shows that when a load is suddenly applied after 0.5 seconds, the toroidal permanent magnet synchronous motor experiences very little disturbance. Figure 8 It can be seen that when a load is suddenly applied, the q-axis current can respond quickly and reach a new steady-state value.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for anti-interference control of a precision-manufactured ring permanent magnet synchronous motor, characterized in that, Includes the following steps: Step 1: Design a toroidal permanent magnet synchronous motor; Step 2: Construct the second-order equations of motion for the ring-shaped permanent magnet synchronous motor based on the designed equations; the second-order equations of motion for the ring-shaped permanent magnet synchronous motor are expressed as: (5) Where d1 and d2 are the q-axis unmatched interference and the q-axis matched interference, respectively. The reference speed is The feedback speed v of the toroidal permanent magnet synchronous motor It is the first derivative of the velocity; the q-axis current of the toroidal permanent magnet synchronous motor is i. q R is resistance, L is inductance, and u q This is the q-axis voltage; Step 3: Based on the second-order equations of motion of the toroidal permanent magnet synchronous motor, construct an adaptive nonlinear disturbance observer. The input of this observer is the reference speed of the toroidal permanent magnet synchronous motor. The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. q The d-axis current i of the toroidal permanent magnet synchronous motor d q-axis reference voltage of a ring permanent magnet synchronous motor The observer outputs an estimate of the unmatched disturbance. And the estimated value of matching interference ; Step 3 specifically involves: the input to the adaptive nonlinear disturbance observer is the reference speed of the toroidal permanent magnet synchronous motor. The feedback speed v of the toroidal permanent magnet synchronous motor, and the q-axis current i of the toroidal permanent magnet synchronous motor. q The reference voltage u of the toroidal permanent magnet synchronous motor q Its output is an estimate of the unmatched interference. And the estimated value of matching interference The adaptive nonlinear disturbance observer is designed as follows: (6) ， (7) in, , These are the estimated values ​​of d1 and d2, respectively, and p 11 , p 12 It is an intermediate state variable, l 11 , l 12 For adaptive gain coefficients, It is the attenuation factor. It is a constant; Step 4: Based on the fixed-time control principle, design a single-loop speed-current fixed-time controller. The input of this controller is the reference speed. Feedback speed of a ring permanent magnet synchronous motor The q-axis feedback current i of the toroidal permanent magnet synchronous motor q The d-axis feedback current i of the toroidal permanent magnet synchronous motor d Estimates of mismatched interference And the estimated value of matching interference The output of this controller is the q-axis reference voltage. Based on the principles of fixed-time control and vector control, a fixed-time d-axis current controller is designed. The inputs of this controller are the d-axis reference current 0 and the d-axis feedback current. Its output is the d-axis reference voltage. ; Step 4 specifically involves: the input to the single-loop speed-current fixed-time controller is the reference speed. Feedback speed of a ring permanent magnet synchronous motor The q-axis feedback current i of the toroidal permanent magnet synchronous motor q The d-axis feedback current i of the toroidal permanent magnet synchronous motor d Estimates of mismatched interference And the estimated value of matching interference Its output is the q-axis reference voltage. The single-loop speed-current fixed-time controller is designed as follows: (8) Where k1 and k2 are gain coefficients. , , , , , , , ; Design a fixed-time d-axis current controller. The input to the controller is the d-axis reference current (0) and the d-axis feedback current. Its output is the d-axis reference voltage. The d-axis current fixed-time controller is designed as follows: (9) Where, k d It is the d-axis controller gain coefficient. , ; Step 5: Based on q-axis reference voltage With d-axis reference voltage This enables closed-loop control of the speed and current of the ring permanent magnet synchronous motor.

2. The anti-interference control method for a precision-manufactured ring permanent magnet synchronous motor according to claim 1, characterized in that, In step 1, the annular permanent magnet synchronous motor is composed of permanent magnet synchronous linear motors on both sides and arc-shaped permanent magnet synchronous motors at both ends. The stator of the annular permanent magnet synchronous motor is composed of modular windings, and the mover is composed of permanent magnet modules. The annular permanent magnet synchronous motor includes a base, on which several modular winding units are arranged in succession. Each modular winding unit consists of a back iron and a three-phase winding. There is a certain gap between two modular winding units. The mover is installed 1-2 mm above the modular windings. The permanent magnets are arranged in the order of N pole and S pole on the part of the mover and the modular windings facing each other. The mover is connected and supported to the edge of the base through a guide rail.

3. The anti-interference control method for a precision-manufactured ring permanent magnet synchronous motor according to claim 1, characterized in that, In step 2, the second-order equation of motion for the ring permanent magnet synchronous motor is designed as follows: (1) (2) (3) Where m is the mass of the rotor of the toroidal permanent magnet synchronous motor, and v is the speed of the toroidal permanent magnet synchronous motor. It is the first derivative of the velocity, n p It is the extreme logarithm, taking the value 1. L is the polar distance. d and L q These are the d-axis inductance and the q-axis inductance, respectively. For permanent magnet flux linkage, i d and i q These are the d-axis current and the q-axis current, respectively. and These are the first derivatives of the d-axis current and the q-axis current, respectively. v For velocity loop lumped disturbances It's a load disturbance. It is a disturbance caused by parameter changes; u d and u q These are the d-axis voltage and q-axis voltage, respectively, where R is the resistance and f is the voltage. d and f q These are the lumped interference along the d-axis and the lumped interference along the q-axis, respectively; f v f d and f q They are respectively: (4) in, This is the difference between the nameplate resistor and the actual resistor. , This represents the difference between the d-axis and q-axis inductances on the nameplate and the actual inductances. This is the difference between the nameplate magnetic flux and the actual magnetic flux. This is the difference between the friction force on the nameplate and the actual friction force. For the d-axis, the dynamics are not modeled. The dynamics of the q-axis are not modeled.

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