A permanent magnet synchronous motor simulator based on disturbance compensation control

Abstract

The application provides a permanent magnet synchronous motor simulator based on disturbance compensation control, and the control conflict problem of a current loop can be effectively avoided through disturbance compensation, so that the stability of the system is significantly improved; an open loop control link improves the dynamic response speed of the system, and the use of a sliding mode disturbance observer improves the robustness of the control algorithm, so that the defects of the prior art are overcome, and many beneficial effects can be provided.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor hardware-in-the-loop test, and particularly relates to a permanent magnet synchronous motor simulator based on disturbance compensation control. BACKGROUND

[0002] At present, in the test and development of motor drive systems, the motor simulator (EME) based on power hardware-in-the-loop can realize better test efficiency of motor control units and lower research and development cost. The current control algorithm is the key to whether the motor simulator can accurately simulate the characteristics of the real motor port, however, the PI control strategy commonly used in the prior art has low-pass filtering characteristics, so that the simulation bandwidth of the motor simulator is limited, and it is only suitable for medium and low speed motor simulators; and since the current loop control is commonly used on the motor controller side, in the case of limited bandwidth, the PI control on the motor simulator side will conflict with the current loop control. Although the traditional open-loop control can avoid the current loop control conflict, it has the shortcomings of poor robustness and being easily affected by parameter disturbance, and the differential calculation in this control mode will introduce certain high-frequency noise, resulting in insufficient simulation accuracy. SUMMARY

[0003] Therefore, in view of the above technical problems existing in the prior art, the application provides a permanent magnet synchronous motor simulator based on disturbance compensation control, which specifically comprises an interface circuit, a power inverter, a signal acquisition circuit and a real-time processor.

[0004] The interface circuit is in the form of an L-type filter circuit, the input end of which is connected with the three-phase output end of the motor controller to be tested, and the output end of the interface circuit is connected with the input end of the power inverter; the signal acquisition circuit is connected with the input end of the interface circuit, and is used to acquire three-phase current and voltage and input the real-time processor; the real-time processor runs a permanent magnet synchronous motor model, an interface circuit voltage model, an open-loop voltage model, a sliding mode disturbance observer and an SVPWM modulation module.

[0005] The signal acquisition circuit acquires the current and voltage of the input end of the interface circuit and transmits them to the real-time processor;

[0006] The real-time processor uses the acquired three-phase current i f and voltage u s to sequentially execute the following processing:

[0007] The permanent magnet synchronous motor model outputs the expected current i s of the interface circuit based on the acquired voltage u s ; the open-loop voltage model uses the expected current i s and the acquired current i fand voltage u s output voltage u e ; the sliding mode disturbance observer utilizes the desired current i s with the collected current i f and voltage u s output observed disturbance the voltage u e with disturbance as the expected output voltage u* of the power inverter, and after SVPWM modulation, output by the power inverter.

[0008] Further, the permanent magnet synchronous motor model is established based on the dq coordinate system and has the following form:

[0009]

[0010]

[0011] In the formula, u sd , u sq are d, q axis voltage components respectively; i sd , i sq are d, q axis expected current components respectively; R s represents the phase resistance of the permanent magnet synchronous motor; L sd , L sq are the d, q axis inductance of the motor respectively; ω e is the electrical angular velocity; ψ f is the permanent magnet synchronous motor permanent magnet flux linkage; t is the time variable;

[0012] The interface circuit voltage equation can be expressed as:

[0013]

[0014]

[0015] In the formula, u ed , u eq are d, q axis voltage components of the simulator side respectively; i fd , i fq are d, q axis current components respectively; R f is the actual value of the phase resistance of the interface a circuit; L f is the actual value of the phase inductance of the interface circuit;

[0016] The open-loop voltage model is specifically based on i fd = i sd , i fd = i sq , Under the assumption that the permanent magnet synchronous motor model is coupled with the interface circuit voltage equation, the following open-loop control voltage equation is obtained:

[0017]

[0018]

[0019] where L fr and R fr are the nominal inductance and resistance of the interface circuit respectively; u ed and u eq are the d, q-axis components of the open-loop control output voltage u e .

[0020] The sliding mode disturbance observer specifically considers the following parameter disturbance:

[0021]

[0022]

[0023]

[0024] where f d and f q are the disturbance quantities of the d, q-axis respectively, ΔR f = R f -Rxx, ΔL f = L f -L fr , and the superscript · represents the first derivative of the corresponding parameter;

[0025] The interface circuit voltage equation can be rewritten as:

[0026]

[0027]

[0028] The sliding mode disturbance observer designed in this way has the following formula form:

[0029]

[0030]

[0031] where the superscript ^ represents the observed value of the corresponding parameter;

[0032] The sliding surface is selected as: and let to reduce chattering, so that the sliding mode control function is:

[0033]

[0034] wherein, g d , g q , λ, ε are all design parameters greater than 0;

[0035] Summing the open-loop control voltage and the observed disturbance, so as to obtain the final control voltage of the power converter:

[0036]

[0037] The permanent magnet synchronous motor simulator based on disturbance compensation control provided by the application can effectively avoid the control conflict problem of the current loop through disturbance compensation, and the stability of the system is significantly improved. The open-loop control link improves the dynamic response speed of the system, and the use of the sliding mode disturbance observer greatly improves the robustness of the control algorithm, thereby overcoming the defects of the prior art and providing many beneficial effects. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The topological structure diagram of the permanent magnet synchronous motor simulator provided by the application;

[0039] Figure 2 The control flowchart executed by the real-time processor in the simulator;

[0040] Figure 3 The principle block diagram of the sliding mode disturbance observer used in the simulator. DETAILED DESCRIPTION

[0041] The technical solutions of the application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0042] The permanent magnet synchronous motor simulator based on disturbance compensation control provided by the application specifically comprises an interface circuit 7, a power inverter 6, a signal acquisition circuit 3, and a real-time processor 4.

[0043] The interface circuit specifically adopts the form of an L-type filter circuit, the input end of which is connected with the three-phase output end of the motor controller 2 to be measured, and the output end of the interface circuit is connected with the input end of the power inverter. The signal acquisition circuit is connected with the input end of the interface circuit, used for acquiring three-phase current and voltage and inputting the real-time processor. The real-time processor runs a permanent magnet synchronous motor model, an interface circuit voltage model, an open-loop voltage model, a sliding mode disturbance observer, and an SVPWM modulation module.

[0044] The signal acquisition circuit acquires the current and voltage of the input end of the interface circuit and transmits to the real-time processor;

[0045] As Figure 2 shown, the real-time processor utilizes the acquired three-phase current i f and voltage u s to sequentially execute the following processing:

[0046] The permanent magnet synchronous motor model is based on the acquired voltage u s to output the expected current i s ; the open-loop voltage model utilizes the expected current i s and the acquired current i f and voltage u s to output the voltage u e ; the sliding mode disturbance observer utilizes the expected current i s and the acquired current i f and voltage u s to output the observed disturbance The sum of the voltage u e and disturbance is taken as the expected output voltage u* of the power inverter, and after SVPWM modulation, the output is output by the power inverter. When testing, the system is also connected with a direct current power supply 1 and a bidirectional power supply 5 at both ends.

[0047] In a preferred embodiment of the present application, the permanent magnet synchronous motor model is established based on the dq coordinate system and has the following form:

[0048]

[0049]

[0050] In the formula, u sd and u sq are d and q axis voltage components respectively; i sd and i sq are d and q axis expected current components respectively; R s represents the phase resistance of the permanent magnet synchronous motor; L sd and L sq are the d and q axis inductances of the motor respectively; ω e is the electrical angular velocity; ψ f is the permanent magnet synchronous motor permanent magnet flux linkage; and t is the time variable.

[0051] The interface circuit voltage equation can be expressed as:

[0052]

[0053]

[0054] wherein u ed , u eq are the d, q-axis voltage components of the simulator side; i fd , i fq are the d, q-axis current components; R f is the actual value of the interface circuit phase resistance; L f is the actual value of the interface circuit phase inductance; the actual inductance and resistance values of the interface circuit will change during actual operation.

[0055] The open-loop voltage model is specifically based on the assumption that i fd = i sd , i fq = i sq , The following open-loop control voltage equation is obtained by combining the permanent magnet synchronous motor model with the interface circuit voltage equation:

[0056]

[0057]

[0058] wherein L fr , R fr are the nominal inductance and resistance values of the interface circuit, when the interface circuit parameters are not disturbed, L fr = L f , R fr = R f When the actual inductance and resistance values change, they will deviate from the nominal values of the parameters, thereby causing control errors; u ed , u eq are the d, q-axis components of the open-loop control output voltage u e ;

[0059] The sliding mode disturbance observer specifically considers the following parameter disturbances:

[0060]

[0061]

[0062]

[0063] wherein f d , f q are the d, q-axis disturbance quantities, ΔR f = R f - R fr , ΔL f = L f - L fr The superscript · represents the first derivative of the corresponding parameter;

[0064] The interface circuit voltage equation can be rewritten as:

[0065]

[0066]

[0067] The sliding mode disturbance observer designed in this way has the following formula form:

[0068]

[0069]

[0070] In the formula, the superscript ^ represents the predicted value of the corresponding parameter;

[0071] The sliding mode surface is selected as: And let In order to reduce chattering, the sliding mode control function can be obtained as:

[0072]

[0073] In the formula, g d , g q , λ, ε are all design parameters greater than 0;

[0074] Figure 3 The sliding mode disturbance observer is shown in the frame corresponding to the d, q axes.

[0075] The open-loop control voltage and the observed disturbance are summed to obtain the final control voltage of the power converter:

[0076]

[0077] It should be understood that the size of the serial number of each step in the embodiments of the present application does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0078] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A permanent magnet synchronous motor simulator based on disturbance compensation control, characterized in that: Specifically comprising: Interface circuit, power inverter, signal acquisition circuit and real-time processor; Wherein, the interface circuit specifically adopts the form of L-type filter circuit, the input end is connected with the three-phase output end of the motor controller to be measured, the output end of the interface circuit is connected with the input end of the power inverter; The signal acquisition circuit is connected with the input end of the interface circuit, used for collecting three-phase current and voltage, and inputting the real-time processor; The real-time processor runs with permanent magnet synchronous motor model, interface circuit voltage model, open loop voltage model, sliding mode disturbance observer and SVPWM modulation module; The signal acquisition circuit collects the current and voltage of the input end of the interface circuit and transmits them to the real-time processor; The real-time processor utilizes the acquired three-phase current i f and voltage u s The following processes are executed in this order: The permanent magnet synchronous motor model is based on the acquired voltage u s The output interface circuit expected current i s The open loop voltage model uses the expected current i s And the acquired current i f And the voltage u s The output voltage u e The sliding mode disturbance observer uses the expected current i s And the acquired current i f And the voltage u s The output observed disturbance The sum of the voltage u e And the disturbance As the expected output voltage of the power inverter u* , and after SVPWM modulation, output by the power inverter The permanent magnet synchronous motor model is based on Dq The coordinate system is established and has the following form: wherein u sd , u sq are respectively d , q axle voltage component; i sd , i sq are respectively d , q axle desired current component; R s represents the phase resistance of the permanent magnet synchronous motor; L sd , L sq respectively the motor d , q shaft inductance; ω e is the electrical angular velocity; Ψ f is the permanent magnet synchronous motor permanent magnet flux linkage; t is the time variable; The interface circuit voltage equation is expressed as: wherein u ed , u eq are the axis voltage components, respectively d , q i fd , i fq are the axis current components, respectively d , q R f is the interface a circuit phase resistance actual value; L f is the interface circuit phase inductance actual value;​​ The open-loop voltage model is specifically based on , , , Assuming the following assumptions, by combining the permanent magnet synchronous motor model with the interface circuit voltage equations, the following open-loop control voltage equations are obtained: wherein L fr , R fr are the nominal inductance and resistance values of the interface circuit, respectively; u ed , u eq are the open-loop control output voltage u e of the d , q axial component; The sliding mode disturbance observer specifically considers the following parameter disturbance: wherein f d , f q are respectively d , q the perturbation of the axis, the superscript · denotes the first derivative of the corresponding parameter; The interface circuit voltage equation is rewritten as: The sliding mode disturbance observer designed in this way has the following formula form: In the formula, the superscript ^ represents the observed value of the corresponding parameter; The sliding surface is selected as: and let In order to reduce buffeting, the sliding mode control function is obtained as wherein , , are design parameters greater than 0; The open loop control voltage and the observed disturbance are summed up, so as to obtain the final control voltage of the power converter: 。

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