Rotor position tracking speed regulation system based on steepest tracking input shaping and control method

Abstract

The invention discloses a rotor position tracking speed regulation system based on steepest tracking input shaping and a control method, and belongs to the field of motor control. The system comprises a rotating speed loop control module, a current loop control module, a permanent magnet synchronous motor and a space vector pulse width modulation module; the first end, the second end and the third end of the rotating speed loop control module are connected with the first end of the permanent magnet synchronous motor; the fourth end of the rotating speed loop control module is connected with the second end of the current loop control module; the first end of the current loop control module is connected with the first end of the permanent magnet synchronous motor, the third end of the current loop control module is connected with the first end of the space vector pulse width modulation module, and the fourth end of the current loop control module is connected with the second end of the permanent magnet synchronous motor; the second end of the space vector pulse width modulation module is connected with the third end of the permanent magnet synchronous motor. According to the method, the step response overshoot of the speed regulation system is greatly reduced, the tracking performance is remarkably improved, differential operation is avoided, and the anti-interference and anti-noise capabilities of the system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a rotor position tracking speed regulation system based on steepest tracking input shaping and a control method. BACKGROUND

[0002] Permanent magnet synchronous motor (PMSM) is widely used in aerospace, robots and high-precision manufacturing fields due to excellent dynamic response and high control accuracy, and has advantages of high efficiency, high power density, low noise, high reliability and high power factor.

[0003] The existing PMSM control strategy has obvious defects: in proportional-integral (PI) control, the integral element is easy to cause error accumulation, the step response overshoot is obvious, and there is a contradiction between the following performance and the anti-disturbance ability; the proportional-integral-derivative (PID) parameter self-tuning cannot change the direct current tracking characteristics; the proportional resonance (PR) and other periodic component compensation algorithms need to know specific disturbance information, and it is difficult to suppress random disturbance; the sliding mode control has the problem of chattering; the auto disturbance rejection control has many adjustable parameters; the model reference adaptive control has heavy calculation burden; and the rotor position tracking control avoids the error amplification of the position differential element, but has inherent cumulative error and overshoot when the step is given, which restricts the further improvement of the system performance. SUMMARY

[0004] The present application aims to overcome the defects of the prior art, and provides a rotor position tracking speed regulation system based on steepest tracking input shaping and a control method, which significantly improves the tracking accuracy and anti-disturbance ability by suppressing the step response overshoot, eliminating the integral accumulation error and avoiding the position differential noise amplification.

[0005] In a first aspect, the present application provides a rotor position tracking speed regulation system based on steepest tracking input shaping, comprising: a speed loop control module, a current loop control module, a permanent magnet synchronous motor, a position sensing module and a space vector pulse width modulation module, a third end of the speed loop control module is further connected to a first end of the current loop control module, and a fourth end of the speed loop control module is connected to a second end of the current loop control module; the first end of the current loop control module is connected to the first end of the position sensing module, the third end of the current loop control module is connected to the first end of the space vector pulse width modulation module, and the fourth end of the current loop control module is connected to a second end of the permanent magnet synchronous motor; a second end of the space vector pulse width modulation module is connected to a third end of the permanent magnet synchronous motor; and a first end of the permanent magnet synchronous motor is connected to a second end of the position sensing module.

[0006] Optionally, the speed loop control module comprises a linear tracking differentiator, an integrator, a feedback position increment calculator, a trajectory generator / reset, an SR latch, an inner model controller, a first end of the linear tracking differentiator receives a speed given signal, a second end of the linear tracking differentiator is connected to a first end of the integrator, a second end of the integrator is connected to a first end of the trajectory generator / reset; a first end of the feedback position increment calculator is connected to a second end of the integrator, a second end of the feedback position increment calculator is connected to a second end of the trajectory generator / reset, a third end of the feedback position increment calculator is connected to a first end of the position sensing module, a fourth end of the feedback position increment calculator is connected to a first end of the SR latch; a second end of the SR latch is connected to a first end of the position sensing module, a third end of the SR latch is connected to a first end of the inner model controller; a third end of the trajectory generator / reset is connected to a first end of the inner model controller, a second end of the inner model controller is connected to a second end of the current loop control module. Optionally, the current loop control module comprises a current proportional-integral controller, a first coordinate transformer, a second coordinate transformer, a first end of the first coordinate transformer is connected to a first end of the position sensing module, a second end of the first coordinate transformer is connected to a second end of the permanent magnet synchronous motor, a third end of the first coordinate transformer is connected to a first end of the current proportional-integral controller, a second end of the current proportional-integral controller is connected to a first end of the second coordinate transformer, a second end of the second coordinate transformer is connected to a first end of the space vector pulse width modulation module.

[0007] In a second aspect, the application provides a rotor position tracking speed control method based on the fastest tracking input shaping, which applies the speed control system of the permanent magnet motor servo system in any one of the first aspect, comprising the following steps: The speed given signal is smoothed and converted by a linear tracking differentiator to generate a position trajectory instruction; The actual position of the permanent magnet synchronous motor is obtained by a position sensing module, and the actual position increment is calculated in real time by a feedback position increment calculator, and the position trajectory instruction is dynamically reset according to the comparison result of the actual position increment and the threshold value; The reset position trajectory instruction and the actual position of the permanent magnet synchronous motor are input into an inner model controller to generate a current given value; The current loop control is performed based on the current given value and the actual current to output a voltage vector given value; The voltage vector given value is converted into a voltage vector given value in a two-phase static coordinate system, and a space vector pulse width modulation module is used to generate a switching control signal to control the operation of the permanent magnet synchronous motor.

[0008] Optionally, the linear tracking differentiator is used to smooth and convert the speed given signal to generate the position trajectory command, including: The linear tracking differentiator is designed according to the maximum output electromagnetic torque, moment of inertia and the maximum acceleration constraint of the permanent magnet synchronous motor. The speed given signal is smoothed by the linear tracking differentiator to generate the smoothed speed command. The smoothed speed command is input into the integrator to generate the position trajectory command.

[0009] Optionally, the structure of the linear tracking differentiator is:

[0010] wherein, is the smoothed speed command, is the transition process acceleration, is the transition process jerk, is the speed given signal, is the tracking factor.

[0011] Optionally, the position sensing module is used to obtain the actual position of the permanent magnet synchronous motor, and the feedback position increment calculator is used to calculate the actual position increment and the position trajectory command increment in real time, according to the comparison result of the actual position increment and the threshold value, the position trajectory command is reset to obtain the reset position trajectory command, including: The actual position of the permanent magnet synchronous motor is obtained in real time by the position sensing module. The position trajectory command and the actual position of the permanent magnet synchronous motor are input into the feedback position increment calculator to obtain the actual position increment and the position trajectory increment. The threshold value is set according to the position trajectory command increment. The actual position increment is compared with the threshold value, and the position trajectory command is updated according to the comparison result to obtain the reset position trajectory command.

[0012] Optionally, the threshold value The expression is:

[0013] wherein, represents the position trajectory command increment at time k and the last time, when the actual position change of the motor is higher than the judgment value σ, the SR latch is used to save the position of the motor at this time .

[0014] Optionally, the actual position increment is compared with the threshold value, and the expression is:

[0015] wherein, is a position trajectory instruction at discrete time k, i.e., a desired position at a current time; is a position trajectory instruction at discrete time , i.e., a desired position at a previous time; h is a discrete calculation step; is a smooth speed instruction at discrete time ; is a position increment deviation at discrete time k , i.e., a difference between an actual position increment of the motor and an instructed position increment; σ is a threshold value; is a discrete time at which a position trajectory instruction is reset; is a motor actual position at the reset trigger time k 0; is a smooth speed instruction at a previous time k 0 of the reset trigger time; Optionally, the voltage vector given value is converted into a voltage vector given value in a two-phase static coordinate system through a second coordinate converter, a switching control signal is generated through a space vector pulse width modulation module, and the permanent magnet synchronous motor is controlled to operate, including, the voltage vector given value output by the current proportional integral controller is converted into a voltage vector given value in a two-phase static coordinate system through a second coordinate converter; the voltage vector given value in the two-phase static coordinate system is converted into a switching control signal through a space vector pulse width modulation module, and speed control of the permanent magnet synchronous motor is completed.

[0016] The application has the following beneficial effects: by introducing the linear tracking differentiator, the acceleration process of the motor can be rationalized, and the overshoot under a step speed given value can be effectively reduced; the linear tracking differentiator has a simple structure and fewer adjustable parameters, and is easy to implement in engineering; the speed tracking method can effectively reduce the speed overshoot under a step given value, and realize smooth operation of the motor speed regulation system; the linear tracking differentiator can set a reasonable acceleration curve for the permanent magnet servo motor through motor related parameters, and has strong adaptability; by using the difference between the position increment deviation and the position trajectory instruction increment, the idea of rotor position tracking is followed, and no additional differential element is introduced to calculate the speed, thereby ensuring the robustness of the system. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structure block diagram of a rotor position tracking speed regulation system based on the fastest tracking input shaping provided in an embodiment of the application.

[0018] Figure 2 is a flowchart of a rotor position tracking speed regulation control method based on the fastest tracking input shaping provided in an embodiment of the application.

[0019] Figure 3 Flow chart of step S1 in the rotor position tracking speed regulation control method based on the steepest tracking input shaping provided in an embodiment of the present application.

[0020] Figure 4 Block diagram of the linear tracking differentiator structure in step S1 in the rotor position tracking speed regulation control method based on the steepest tracking input shaping provided in an embodiment of the present application.

[0021] Figure 5 Flow chart of step S2 in the rotor position tracking speed regulation control method based on the steepest tracking input shaping provided in an embodiment of the present application.

[0022] Figure 6 Flow chart of step S5 in the rotor position tracking speed regulation control method based on the steepest tracking input shaping provided in an embodiment of the present application.

[0023] Figure 7 Relationship diagram of the given speed and the actual speed when the rotor position tracking speed regulation control method based on the steepest tracking input shaping is not adopted in an embodiment of the present application.

[0024] Figure 8 Relationship diagram of the given speed and the actual speed when the rotor position tracking speed regulation control method based on the steepest tracking input shaping is adopted in an embodiment of the present application.

[0025] Figure 9 Relationship diagram of the trajectory generated based on the position trajectory command and the actual position trajectory when the rotor position tracking speed regulation control method based on the steepest tracking input shaping is not adopted in an embodiment of the present application.

[0026] Figure 10 Relationship diagram of the trajectory generated based on the position trajectory command and the actual position trajectory when the rotor position tracking speed regulation control method based on the steepest tracking input shaping is adopted in an embodiment of the present application. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of the present application.

[0028] In an embodiment, refer to Figure 1The present application provides a rotor position tracking speed regulation system based on the fastest tracking input shaping, including a speed loop control module 1, a current loop control module 2, a permanent magnet synchronous motor 3, a position sensing module 4 and a space vector pulse width modulation module 5. The first end, the second end and the third end of the speed loop control module 1 are all connected to the first end of the position sensing module 4, and the fourth end of the speed loop control module 1 is connected to the second end of the current loop control module 2; the first end of the current loop control module 2 is connected to the first end of the position sensing module 4, the third end of the current loop control module 2 is connected to the first end of the space vector pulse width modulation module 5, and the fourth end of the current loop control module 2 is connected to the second end of the permanent magnet synchronous motor 3; the second end of the space vector pulse width modulation module 5 is connected to the third end of the permanent magnet synchronous motor 3; the first end of the permanent magnet synchronous motor 3 is connected to the second end of the position sensing module 4. The speed loop control module 1 is the outer loop core of the rotor position tracking speed regulation system based on the fastest tracking input shaping, and is mainly responsible for receiving the speed setting signal Perform smoothing, generate smooth position trajectory, realize position tracking and dynamic reset, and finally output current given value The current loop control module 2 is the inner loop of the system, responsible for the given current output by the speed loop control module 1. Deviation from the actual current, output voltage vector given value in two-phase stationary coordinate system The position sensing module 4 obtains the actual position of the permanent magnet synchronous motor The space vector pulse width modulation module 5 receives the voltage vector given value in the two-phase stationary coordinate system output by the current loop control module 2 , a switch control signal is generated according to the three-phase voltage to realize the speed control of the permanent magnet synchronous motor.

[0029] As an example, the speed loop control module 1 includes: a linear tracking differentiator 11, an integrator 12, a feedback position increment calculator 13, a trajectory generator / resetter 14, an SR latch 15, and an internal model controller 16. The first terminal of the linear tracking differentiator 11 receives a speed reference signal , the second end of the linear tracking differentiator 11 is connected to the first end of the integrator 12, the second end of the integrator 12 is connected to the first end of the trajectory generation / resetter 14; the first end of the feedback position increment calculator 13 is connected to the second end of the integrator 12, the second end of the feedback position increment calculator 13 is connected to the second end of the trajectory generation / resetter 14, the third end of the feedback position increment calculator 13 is connected to the first end of the position sensing module 4, the fourth end of the feedback position increment calculator 13 is connected to the first end of the SR latch 15; the second end of the SR latch 15 is connected to the first end of the position sensing module 4, the third end of the SR latch 15 is connected to the first end of the inner model controller 16; the third end of the trajectory generation / resetter 14 is connected to the first end of the inner model controller 16, the second end of the inner model controller 16 is connected to the second end of the current loop control module 2. The speed loop control module 1 is used for receiving a speed given signal, smoothing the speed given signal to generate a smoothed speed instruction, converting the smoothed speed instruction into a position trajectory instruction, and dynamically resetting the position trajectory instruction based on a comparison result of an actual position increment and an increment of the position trajectory instruction, and outputting a current given value .

[0030] As an example, the linear tracking differentiator 11 receives a speed given signal , and smoothes the speed given signal to generate an acceleration-limited smoothed speed instruction to the integrator 12; the integrator 12 converts the smoothed speed instruction into a position trajectory instruction , and transmits the position trajectory instruction to the trajectory generation / resetter 14 and the feedback position increment calculator 13 to avoid noise amplification of position differentiation; the feedback position increment calculator 13 calculates an increment of the position trajectory instruction and an actual position increment , compares the increment of the position trajectory instruction and the actual position increment with a threshold value to determine whether resetting is needed, when the actual position increment of the motor is higher than a judgment value σ, the position of the motor at the moment is saved by using the SR latch 15, a reset enable signal is output to the trajectory generation / resetter 14, the trajectory generation / resetter 14 resets the position trajectory instruction to eliminate tracking lag caused by integral cumulative error, and outputs a reset position instruction ; the inner model controller 16 receives the reset position instruction and an actual position , and generates a current given value after subtraction, and outputs the current given value to the current loop control module 2 to realize high-precision position tracking and improve system tracking performance and anti-disturbance capability. The increment of the position trajectory instruction is a change amount of the position trajectory instruction generated by the smoothed speed given signal through the integrator in a discrete domain, and the actual position increment is a change amount of the actual position of the motor obtained through the position sensing module in the discrete domain.

[0031] As an example, the linear tracking differentiator 11 can be a third order linear tracking differentiator (LTD).

[0032] As an example, the inner model controller 16 can include a built-in motor mechanical model and a second order low pass filter.

[0033] As an example, the current loop control module 2 includes a current proportional integral controller 21, a first coordinate transformer 22, and a second coordinate transformer 23. The first end of the first coordinate transformer 22 is connected to the first end of the position sensing module 4, the second end of the first coordinate transformer 22 is connected to the second end of the permanent magnet synchronous motor 3, the third end of the first coordinate transformer 22 is connected to the first end of the current proportional integral controller 21, the second end of the current proportional integral controller 21 is connected to the first end of the second coordinate transformer 23, and the second end of the second coordinate transformer 23 is connected to the first end of the space vector pulse width modulation module 5. The current loop control module 2 is used to receive the current given value and the actual two-phase rotating shaft current, perform current tracking control, and output the voltage vector given value.

[0034] As an example, the current loop control module 2 can also include a current sensor (not shown) for obtaining three-phase actual current 、 、 .

[0035] As an example, the first coordinate transformer 22 converts the three-phase actual current 、 、 into two-phase rotating current , the current proportional integral controller 21 receives the two-phase rotating current output by the first coordinate transformer 22, performs real-time tracking on the two-phase rotating current and the current given value output by the inner model controller 16, and outputs the voltage vector given value to the second coordinate transformer 23, which performs coordinate transformation and outputs the voltage vector given value in the two-phase stationary coordinate system .

[0036] As an example, the first coordinate transformer 22 can be a 3s / 2r transformer.

[0037] As an example, the second coordinate transformer 23 can be a 2s / 2r transformer.

[0038] The rotor position tracking speed regulation system based on the steepest tracking input shaping of the application completely eliminates the noise amplification problem caused by the differential operation of the traditional position signal, avoids the mechanical impact of the motor, and significantly improves the noise resistance of the system; the actual position increment and the position trajectory instruction increment are calculated in real time by the feedback position increment calculator 13 to realize the dynamic position trajectory instruction reset based on the threshold, which can completely eliminate the tracking lag caused by the cumulative error of the integrator 12, and realize the high-precision synchronization of the position trajectory instruction and the actual position; the internal model controller 16 with the built-in motor mechanical model and the second-order low-pass filter directly generates the current given value without overshoot, which cooperates with the parameter adaptive current proportional integral controller 21 to realize the fast tracking response of the current loop, maintains the complete decoupling control of the zero direct axis current, and significantly improves the load disturbance resistance of the system; the voltage control signal is converted into accurate switching signal by the space vector pulse width modulation module 5, combined with the real-time feedback of the position sensing module and the current sensor, to build a high-precision closed-loop drive, which greatly reduces the overshoot of the step response of the speed regulation system, and significantly improves the tracking performance and operation stability of the permanent magnet direct drive motor speed regulation system.

[0039] In yet another embodiment, referring to Figure 1 The application provides a rotor position tracking speed regulation control method based on the steepest tracking input shaping, comprising the following steps: steps S1-S5.

[0040] Step S1: a linear tracking differentiator is used to smooth and convert the speed given signal to generate a position trajectory instruction.

[0041] Step S2: the actual position of the permanent magnet synchronous motor is obtained by using a position sensing module, the actual position increment and the position trajectory instruction increment are calculated in real time by using a feedback position increment calculator, and the position trajectory instruction is reset according to the comparison result of the position trajectory instruction increment and the threshold to obtain the reset position trajectory instruction.

[0042] Step S3: the reset position trajectory instruction and the actual position of the permanent magnet synchronous motor are input into an internal model controller to generate a current given value.

[0043] Step S4: based on the current given value and the actual current, the current loop control is performed to output a voltage vector given value.

[0044] Step S5: the voltage vector given value is converted into a voltage vector given value in the two-phase stationary coordinate system by a second coordinate converter, and a switching control signal is generated by a space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

[0045] The rotor position tracking speed control method based on the steepest tracking input shaping of the application can physically constrain and smooth the step speed command through a linear tracking differentiator, can completely eliminate the noise amplification problem caused by the traditional position signal differential operation, and generate a smooth speed command with limited acceleration; through a dynamic position command reset mechanism, it can eliminate the tracking lag caused by the integrator cumulative error; through the internal model controller of the built-in motor mechanical model and the disturbance filter, it can directly generate a current command without overshoot, significantly improving the system's ability to resist load disturbances; through the parameter adaptive current proportional integral controller, the tracking response of the current loop can be realized; through the space vector pulse width modulation module, a high-precision closed-loop drive can be constructed.

[0046] In step S1, please refer to Figure 2 , a linear tracking differentiator is used to smooth and convert the speed given signal to generate a position trajectory command.

[0047] As an example, please refer to Figure 3 , step S1 can include the following steps: steps S11-S13.

[0048] Step S11: design a linear tracking differentiator according to the maximum output electromagnetic torque, moment of inertia and allowed maximum acceleration constraint of the permanent magnet synchronous motor.

[0049] Step S12: smooth the speed given signal through the linear tracking differentiator to generate a smooth speed command.

[0050] Step S13: input the smooth speed command into the integrator to generate a position trajectory command.

[0051] Specifically, in step S11, the voltage equation of the permanent magnet synchronous motor 3 in the d-q coordinate system is constructed to obtain d axis voltage u d and q axis voltage u q The voltage equation of the permanent magnet synchronous motor in the d-q coordinate system is:

[0052] wherein, u d 、u q are d, q axis voltage, i d 、i q are d, q axis currents, R s is the resistance of each phase of the stator winding, Ld 、 L q They are d, q Shaft inductance, p n is the pole pair number, ψ f is the permanent magnet flux, ω is the rotor angular velocity.

[0053] Furthermore, the mechanical motion equation of the permanent magnet synchronous motor 3 is established, and the expression is:

[0054] in, is the moment of inertia, is the drag coefficient, is the electromagnetic torque, is the load torque, ω is the rotor angular velocity, For time.

[0055] As an example, you can use d Axis current control, that is, d Shaft current i d = 0, the angle δ between the current flowing through the stator winding of the permanent magnet synchronous motor 3 and the rotor magnetic field phase is 90°, that is, the torque angle is 90°. At this time, the current flowing through the stator winding of the permanent magnet synchronous motor only has q Axis component, given by q Shaft current i q Generate electromagnetic torque , and can realize current static decoupling, that is d Shaft current i d =0 makes q Axis and d The axes are controlled independently. d Shaft voltage u d and q Shaft voltage u q The expression is:

[0056] in, for d Shaft voltage; for q Shaft voltage; is the number of pole pairs, reflecting the number of rotor poles; is the rotor angular velocity; for qShaft inductance For each phase resistance of stator winding For q Shaft current Derivative to time, embodying q Rate of change of shaft current For permanent magnet flux linkage, the size of the flux linkage generated by the rotor permanent magnet.

[0057] Further, please refer to Figure 4 , according to the maximum output electromagnetic torque of permanent magnet synchronous motor T emax , moment of inertia J And the maximum allowable acceleration constraint design linear tracking differentiator and arrange the transition process to realize the smooth processing of the speed given signal of the speed regulation system, the structure of the linear tracking differentiator 11 is:

[0058] Wherein, Smooth speed given, Transition process acceleration, Transition process jerk, Speed given signal, r Tracking factor. The speed regulation system moves according to the smooth speed command. Through the limitation of transition process acceleration And transition process jerk Eliminate the high frequency noise of step input, generate smooth speed command Avoid mechanical impact of motor.

[0059] As an example, according to the designed linear tracking differentiator structure, its transfer function Can be expressed as:

[0060] Wherein, Laplace operator, r Tracking factor, Smooth speed command, Speed given signal.

[0061] Further, the linear tracking differentiator is discretized to realize in digital controller, and its discrete model structure is:

[0062] Wherein, Smooth speed in discrete domain, Speed given signal in discrete domain, Transition process acceleration in discrete domain, The jerk of the transient process in discrete domain, h The discrete calculation step.

[0063] Further, the maximum output electromagnetic torque and the moment of inertia determine the tracking factor of the linear tracking differentiator r The time-domain function of the n times unit step response of the linear tracking differentiator 11 can be expressed as:

[0064] Wherein, n is the amplitude of the speed step command, r is the tracking factor, and t is the time.

[0065] Further, according to the time-domain function of the tracking differentiator output, the maximum acceleration of the transient process , the time-domain function of the n times unit step response of the linear tracking differentiator is derived to the first derivative and the second derivative, and the expression is:

[0066] Wherein, n is the amplitude of the step command, r is the tracking factor, is the acceleration of the transient process, is the jerk of the transient process.

[0067] As an example, without considering the external disturbance of the system, the maximum acceleration of the motor can be derived from the maximum output electromagnetic torque and the moment of inertia of the system , and the maximum acceleration of the motor is equivalent to the maximum value of the transient process acceleration :

[0068] Wherein, n is the amplitude of the step command, is the maximum output electromagnetic torque of the motor, J is the moment of inertia of the system, and r is the tracking factor.

[0069] Further, the value of the tracking factor r can be obtained:

[0070] Wherein, is the maximum output electromagnetic torque of the motor, n is the amplitude of the step command, and J is the moment of inertia of the system.

[0071] ​As an example, the linear tracking differentiator 11 may be a third-order linear tracking differentiator (LTD).

[0072] As an example, in step S12, the speed setting signal is set as needed , the speed given signal The linear tracking differentiator 11 performs smoothing to generate the transient acceleration. Limited smooth speed command .

[0073] As an example, in step S13, the speed control system does not directly adjust the motor speed, but uses the integrator 12 to linearly track the smooth speed command obtained by the differentiator 11. Converted into position trajectory command of the motor This avoids the noise amplification caused by directly differentiating the position signal. The integration process is implemented in the discrete domain, generating a smooth position reference trajectory, allowing the system to indirectly adjust the speed through position tracking.

[0074] Specifically, the smooth speed command After integrator processing, a smooth position trajectory command is obtained , the expression is:

[0075] in, To smooth the speed command, t For time.

[0076] Furthermore, the smooth position trajectory instruction Convert to discrete domain and obtain smooth position trajectory in discrete domain , the expression is:

[0077] in, is the position trajectory instruction at discrete time k, The position trajectory is, h is the discrete calculation step length, For discrete moments Smooth speed command.

[0078] In step S2, see Figure 2 , using the position sensor module to obtain the actual position of the permanent magnet synchronous motor, using the feedback position increment calculator to calculate the actual position increment and the position trajectory instruction increment in real time, and reset the position trajectory instruction according to the comparison result between the actual position increment and the threshold value to obtain the reset position trajectory instruction. As an example, please refer to Figure 5, step S2 can include the following steps: step S21~step S24.

[0079] Step S21: Real-time acquisition of the actual position of the permanent magnet synchronous motor by using the position sensing module.

[0080] Step S22: The position trajectory command and the actual position of the permanent magnet synchronous motor are input into the feedback position increment calculator to obtain the actual position increment and the position trajectory command increment.

[0081] Step S23: Setting the threshold value according to the position trajectory command increment.

[0082] Step S24: Comparing the actual position increment with the threshold value, and updating the position trajectory command according to the comparison result to obtain the reset position trajectory command.

[0083] Specifically, in step S21, the actual position is collected in real time by the position sensing module 4 installed on the permanent magnet synchronous motor 3 and transmitted to the feedback position increment calculator 13 and the trajectory generation / resetter 14.

[0084] As an example, in step S22, the feedback position increment calculator 13 receives the current time position trajectory command output by the integrator 12 and the last time position trajectory command , calculates the position trajectory command increment ; further, the feedback position increment calculator 13 calculates the actual position increment according to the current time actual position and the last time actual position fed back by the position sensing module 4.

[0085] As an example, in step S23, the threshold value is expressed as:

[0086] wherein, represents the position trajectory command increment at time k and the last time.

[0087] As an example, in step S24, the feedback position increment calculator 13 compares the actual position increment with the threshold value, when the absolute value of the change amount of the actual position of the motor < , i.e. the amplitude of the actual movement of the motor is less than the required movement amplitude of the command, which indicates that the system is still in the acceleration or deceleration tracking process, and has not yet reached the state that requires resetting the command, the position command at time k is based on the position command at time . plus smooth speed command at the instant , the integral displacement amount within the discrete step h is obtained; when the absolute value of the change amount of the actual position of the motor , that is, the actual movement amplitude of the motor is exactly equal to the movement amplitude required by the instruction, which usually occurs at the instant when completion is imminent, at which time the accumulated position error reaches a critical point, and resetting is required to eliminate subsequent tracking lag, and the new position trajectory instruction is obtained by adding the actual position of the motor at the instant plus the smooth speed command at the instant , the integral displacement amount within the discrete step h is obtained; when the absolute value of the change amount of the actual position of the motor , that is, the actual movement amplitude of the motor is greater than the movement amplitude required by the instruction, the position trajectory instruction at the next instant is based on the actual position recorded at the resetting instant plus the smooth speed command at the instant , the integral displacement amount within the discrete step h is obtained. In summary, the expression for updating the position trajectory instruction is:

[0088] wherein, is the position trajectory instruction at the discrete instant k, that is, the expected position at the current instant; is the position trajectory instruction at the discrete instant , that is, the expected position at the previous instant; h is the discrete calculation step; is the smooth speed command at the discrete instant ; is the position increment deviation at the discrete instant , that is, the difference between the actual position increment of the motor and the instruction position increment; k is the threshold value; σ is the discrete instant at which the resetting of the position trajectory instruction is triggered; is the actual position of the motor at the instant 0 at which the resetting is triggered; k is the smooth speed command at the instant 0 at which the resetting is triggered, of the previous instant k .

[0089] In step S3, referring to Figure 2 , the reset position trajectory instruction is input into the inner model controller of the permanent magnet synchronous motor along with the actual position of the permanent magnet synchronous motor, to generate a current given value.

[0090] Specifically, based on the set mechanical model of the permanent magnet synchronous motor and the second-order filter, the position trajectory instruction​​ and actual position is input to the inner model controller 16 to obtain a current control signal, i.e. a current setpoint , which is expressed as:

[0091] wherein, is a position trajectory command, is an actual position, is a structure function of the inner model controller 16.

[0092] As an example, the structure function of the inner model controller 16 is:

[0093] wherein s is a Laplace operator used for frequency domain analysis of system dynamic characteristics; J is a system rotational inertia; is a system damping coefficient; is a motor torque constant representing a conversion coefficient of current and electromagnetic torque; is a filter transfer function in the inner model controller.

[0094] As an example, the filter transfer function in the inner model controller 16 is:

[0095] wherein, is a filter order, λ is a filter time constant.

[0096] As an example, for a commonly used control system, the filter transfer function is usually selected in a form of a second-order low-pass filter, and the filter order m = 2 can be set to simultaneously satisfy system simplicity and ease of implementation and control performance.

[0097] In step S4, please refer to Figure 2 , based on the current setpoint and the actual current, a current loop control is performed to output a voltage vector setpoint.

[0098] Specifically, a current sensor is used to obtain three-phase actual currents , , of the permanent magnet synchronous motor, and a current actual feedback value is obtained through a first coordinate converter 22.

[0099] Further, the current setpoint output by the inner model controller 16 and the current actual feedback value​​ The difference is input to the current proportional-integral controller 21, and the current proportional-integral controller 21 is used to calculate the current deviation output voltage vector given value .

[0100] As an example, the current proportional-integral controller 21 and the first coordinate transformer 22 constitute a current loop control module 2, and the transfer function of the current loop control module 2 can be expressed as:

[0101] wherein, Kp and Ki are the proportional coefficient and the integral coefficient of the current proportional-integral controller 21, respectively, and the values thereof are obtained by zero-pole cancellation method setting; s s is the Laplace operator; L is the motor q axis inductance, which is the inductance parameter of the permanent magnet synchronous motor in the q axis direction; Rs is the stator winding per-phase resistance, which is the resistance parameter of the motor stator winding.

[0102] Further, the parameters of the current loop control module 2 are set, according to the classical automatic control theory, the farther the pole distance of the system closed-loop transfer function from the imaginary axis, the better the speed. Therefore, by zero-pole cancellation method, the time constant proportional coefficient k cp integral coefficient k ci of the current proportional-integral controller 21 is configured to be equal to the motor q axis inductance L q stator winding per-phase resistance R s , and the closed-loop transfer function of the current loop control module 2 is obtained as , and the expression is:

[0103] wherein, ωc is the current loop bandwidth, and s is the Laplace operator.

[0104] As an example, the current loop bandwidth can be expressed as:

[0105] wherein, L is the motor q axis inductance, Rs is the stator winding per-phase resistance, , Kp and Ki are the proportional coefficient and the integral coefficient of the current proportional-integral controller 21, respectively, and the values thereof are obtained by zero-pole cancellation method setting.

[0106] As an example, in order to set the dynamic performance of the current loop control module 2, ensure that the current loop responds quickly and operates stably, set the open-loop cutoff frequency ω cc , realize the regulation of the current loop bandwidth , and in turn set the dynamic performance of the current loop to a suitable range. The expression of the bandwidth setting method is:

[0107] wherein, , is the proportional coefficient of the current proportional-integral controller 21, the value of which is obtained by zero-pole cancellation method setting, is the q-axis inductance of the motor, is the open-loop cutoff frequency of the current loop, is the resistance of each phase of the stator winding.

[0108] In step S5, the voltage vector given value is converted into a voltage vector given value in the two-phase stationary coordinate system by the second coordinate converter, and a switching control signal is generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

[0109] As an example, referring to Figure 6 , step S5 can include the following steps: step S51 to step S52.

[0110] In step S51, the voltage vector given value output by the current proportional-integral controller is converted into a voltage vector given value in the two-phase stationary coordinate system by the second coordinate converter.

[0111] In step S52, the voltage vector given value in the two-phase stationary coordinate system is used to obtain a switching control signal by the space vector pulse width modulation module, and the speed control of the permanent magnet synchronous motor is completed.

[0112] Specifically, in step S51, the voltage vector given value output by the current proportional-integral controller 21 is output to the second coordinate converter 23, and the second coordinate converter 23 performs coordinate conversion to output a voltage vector given value in the two-phase stationary coordinate system .

[0113] Further, in step S52, the voltage vector given value in the two-phase stationary coordinate system is used to generate a switching control instruction by the space vector pulse width modulation module 5 to realize motor driving.

[0114] In one example, the performance of the rotor position tracking speed control method based on the fastest tracking input shaping of the present application can be verified in Simulink simulation. Figure 7Figure 2 shows the relationship between the given speed and the actual speed when the rotor position tracking speed control method based on the fastest tracking input shaping is not used in an embodiment of the present application. Figure 7 It can be seen that when the given speed is 2000 r / min, the actual speed overshoot reaches about 350 r / min. Figure 8 Figure 3 shows the relationship between the given speed and the actual speed when the rotor position tracking speed control method based on the fastest tracking input shaping is used in an embodiment of the present application. Figure 8 It can be seen that when the given speed is 2000 r / min, the actual speed overshoot is reduced to within 50 r / min. Figure 9 Figure 4 shows the relationship between the trajectory based on the position trajectory command and the actual position trajectory when the rotor position tracking speed control method based on the fastest tracking input shaping is not used in an embodiment of the present application. Figure 9 It can be seen that when the given speed reaches the given value, the actual position trajectory still has a deviation, resulting in an overshoot of the motor speed, so it is necessary to determine the difference between the actual motor speed and the given speed in real time, and reset the motor position trajectory command when the speed reaches the given speed. Figure 10 Figure 5 shows the relationship between the given position based on the position trajectory command and the actual position trajectory when the rotor position tracking speed control method based on the fastest tracking input shaping is used in an embodiment of the present application. Figure 10 It can be seen that through the reset mechanism of the position trajectory command, when the actual position increment of the motor reaches or exceeds the command position increment threshold, the position trajectory command is reset to the superposition of the current actual position and the smoothed speed integral, eliminating the cumulative deviation of the position trajectory, so that the actual position can accurately follow the reset position trajectory command, effectively suppressing the speed overshoot, and achieving smooth tracking of the position and the speed.

[0115] In the rotor position tracking speed control method based on the fastest tracking input shaping of the present application, the speed given signal is smoothed by designing a linear tracking differentiator 11 in the discrete domain to generate an acceleration-limited smoothed speed command; the smoothed speed command is converted into a position trajectory command by an integrator 12 to avoid the noise amplification problem caused by directly differentiating the position signal; the position trajectory generation system with the reset function is used to calculate the position trajectory increment and the actual position increment by a feedback position increment calculator 13, and to judge when to reset the position trajectory command to eliminate the integral cumulative error; the motor rotor position is tracked in real time to the reset position trajectory command by an inner model controller 16, and the current given value is output ​, the current loop control module 2 and the space vector pulse width modulation module 5 ultimately realize the improvement of the tracking performance and the anti-interference performance of the rotor position tracking speed regulation system based on the fastest tracking input shaping, reduce the step response overshoot, and improve the anti-noise ability of the system. In summary, the method of the present application can significantly suppress the step response overshoot, eliminate the integral accumulation error, avoid the amplification of the speed differential noise, improve the tracking accuracy and the anti-interference ability of the system, and ensure the smooth and efficient speed regulation process.

[0116] It should be understood that, although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless explicitly stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0117] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0118] Although the present application has been disclosed as above with the embodiments, it is not intended to limit the present application, and anyone with ordinary knowledge in the art can make some changes and modifications without departing from the spirit and scope of the present application.

Claims

1. A rotor position tracking speed regulation system based on maximum tracking input shaping, characterized in that: include: A speed loop control module, a current loop control module, a permanent magnet synchronous motor, a position sensing module and a space vector pulse width modulation module, wherein the first end, the second end and the third end of the speed loop control module are all connected to the first end of the position sensing module, and the fourth end of the speed loop control module is connected to the second end of the current loop control module; the first end of the current loop control module is connected to the first end of the position sensing module, the third end of the current loop control module is connected to the first end of the space vector pulse width modulation module, and the fourth end of the current loop control module is connected to the second end of the permanent magnet synchronous motor; the second end of the space vector pulse width modulation module is connected to the third end of the permanent magnet synchronous motor; and the first end of the permanent magnet synchronous motor is connected to the second end of the position sensing module.

2. The rotor position tracking speed regulation system based on maximum speed tracking input shaping according to claim 1 is characterized in that: The speed loop control module includes a linear tracking differentiator, an integrator, a feedback position increment calculator, a trajectory generator / resetter, an SR latch, and an internal model controller. The first end of the linear tracking differentiator receives a speed setting signal, the second end of the linear tracking differentiator is connected to the first end of the integrator, and the second end of the integrator is connected to the first end of the trajectory generator / resetter; the first end of the feedback position increment calculator is connected to the second end of the integrator, the second end of the feedback position increment calculator is connected to the second end of the trajectory generator / resetter, the third end of the feedback position increment calculator is connected to the first end of the position sensing module, and the fourth end of the feedback position increment calculator is connected to the first end of the SR latch; the second end of the SR latch is connected to the first end of the position sensing module, and the third end of the SR latch is connected to the first end of the internal model controller; the third end of the trajectory generator / resetter is connected to the first end of the internal model controller, and the second end of the internal model controller is connected to the second end of the current loop control module.

3. The rotor position tracking speed regulation system based on maximum speed tracking input shaping according to claim 1, characterized in that: The current loop control module includes a current proportional-integral controller, a first coordinate converter, and a second coordinate converter. The first end of the first coordinate converter is connected to the first end of the position sensing module, the second end of the first coordinate converter is connected to the second end of the permanent magnet synchronous motor, the third end of the first coordinate converter is connected to the first end of the current proportional-integral controller, the second end of the current proportional-integral controller is connected to the first end of the second coordinate converter, and the second end of the second coordinate converter is connected to the first end of the space vector pulse width modulation module.

4. A rotor position tracking speed control method based on maximum tracking input shaping, characterized in that: The rotor position tracking speed regulation system based on maximum speed tracking input shaping applied to any one of claims 1 to 3 comprises the following steps: A linear tracking differentiator is used to smooth and convert the speed reference signal to generate a position trajectory command. A position sensing module is used to obtain the actual position of the permanent magnet synchronous motor, and a feedback position increment calculator is used to calculate the actual position increment and the position trajectory instruction increment in real time. According to the comparison result of the actual position increment and the threshold value, the position trajectory instruction is reset to obtain the reset position trajectory instruction; Inputting the reset position trajectory command and the actual position of the permanent magnet synchronous motor into an internal model controller to generate a current set value; Based on the current set value and the actual current, current loop control is performed to output a voltage vector set value; The voltage vector given value is converted into a voltage vector given value in a two-phase stationary coordinate system by a second coordinate converter, and a switch control signal is generated by a space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

5. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 4 is characterized in that: The linear tracking differentiator is used to smooth and convert the speed setting signal to generate the position trajectory instruction, including: Designing the linear tracking differentiator according to the maximum output electromagnetic torque, moment of inertia and maximum allowable acceleration constraints of the permanent magnet synchronous motor; The speed setting signal is smoothed by the linear tracking differentiator to generate a smooth speed command; The smoothed rotation speed instruction is input into an integrator to generate the position trajectory instruction.

6. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 5 is characterized in that: The structure of the linear tracking differentiator is: ， in, To smooth the speed command, is the transition process acceleration, is the transition process jerk, is the speed given signal, is the tracking factor.

7. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 4 is characterized in that: The method comprises: using the position sensing module to obtain the actual position of the permanent magnet synchronous motor, using the feedback position increment calculator to calculate the actual position increment and the position trajectory instruction increment in real time, and resetting the position trajectory instruction according to a comparison result of the actual position increment and the threshold value to obtain the reset position trajectory instruction, including: The position sensing module is used to obtain the actual position of the permanent magnet synchronous motor in real time; Inputting the position trajectory instruction and the actual position of the permanent magnet synchronous motor into the feedback position increment calculator to obtain the actual position increment and the position trajectory instruction increment; Setting the threshold value according to the position trajectory instruction increment; The actual position increment is compared with the threshold, and the position trajectory instruction is updated according to the comparison result to obtain the reset position trajectory instruction.

8. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 7 is characterized in that: The threshold The expression is: ， in, Represents the position trajectory command increment between discrete moment k and the previous moment.

9. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 7, characterized in that: The actual position increment is compared with the threshold value, and the expression is: ， in, is the position trajectory instruction at discrete time k; For discrete moments Position trajectory command; h is the discrete calculation step size; For discrete moments Smooth speed command; For discrete moments k Position increment deviation; σ is the threshold; The discrete moment that triggers the reset of the position trajectory command; Reset trigger time k The actual position of the motor is 0; Reset trigger time k 0's last moment Smooth speed command.

10. The rotor position tracking speed control method based on maximum speed tracking input shaping according to claim 4, characterized in that: The voltage vector given value is converted into a voltage vector given value in the two-phase stationary coordinate system by the second coordinate converter, and the switch control signal is generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor, including: Converting the voltage vector given value output by the current proportional-integral controller into a voltage vector given value in the two-phase stationary coordinate system via the second coordinate converter; The voltage vector given value in the two-phase stationary coordinate system is used to obtain the switch control signal through the space vector pulse width modulation module to complete the speed control of the permanent magnet synchronous motor.

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