A self-disturbance rejection internal model control method for a six-phase single-winding marine magnetic levitation motor

Abstract

This invention belongs to the field of control strategies, specifically disclosing a self-disruption-resistant internal model control method for a six-phase single-winding marine magnetic levitation motor. The specific steps are as follows: S1. Based on the multi-plane redundant degree-of-freedom control principle of multi-phase motors, the six-phase winding current is decomposed into a stationary coordinate system torque current component, a stationary coordinate system levitation current component, and a zero-sequence current component through a constant power transformation matrix; S2. A rotor dynamics model of the six-phase single-winding marine magnetic levitation motor is established; S3. The error between the actual output and the internal model output is defined based on the nonlinear internal model principle; S4. The levitation force output is calculated based on the internal model principle; S5. The levitation force output is updated based on the rotor state observation results; S6. The controllable current component is calculated. This invention controls the levitation and rotation of a six-phase single-winding marine magnetic levitation motor through six-phase control current, solving the problems of difficult parameter identification and complex controller parameter tuning for six-phase single-winding marine magnetic levitation motors.

Description

Technical Field

[0001] This invention belongs to the field of control strategies, specifically relating to a self-disturbing internal model control method for a six-phase single-winding marine magnetic levitation motor. Background Technology

[0002] Six-phase single-winding marine magnetic levitation motors are commonly used in marine propulsion systems. This type of motor combines the characteristics of six phases (six electrical phases) and single winding (only one winding per phase), while using magnetic levitation technology to levitate the motor rotor, thereby reducing friction, improving efficiency, and reducing mechanical wear.

[0003] The control strategies for six-phase single-winding marine magnetic levitation motors include internal model control, vector control, and fuzzy control. Among them, internal model control combines the dynamic model of the motor with the controller to control the motor by modeling, so as to achieve efficient and precise control of the motor.

[0004] However, traditional internal model control strategies suffer from difficulties in parameter identification and complex controller parameter tuning for six-phase single-winding marine magnetic levitation motors. Summary of the Invention

[0005] The purpose of this invention is to provide a self-disruption-resistant internal model control method for a six-phase single-winding marine magnetic levitation motor, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A self-disturbance rejection type internal model control method for a six-phase single-winding marine magnetic levitation motor, the specific steps of which are as follows:

[0008] S1. Based on the multi-plane redundant degree of freedom control principle of multi-phase motor, the six-phase winding current is decomposed into the torque current component in the stationary coordinate system, the floating current component in the stationary coordinate system, and the zero-sequence current component through the constant power transformation matrix.

[0009] S2. Establish a rotor dynamics model for a six-phase single-winding marine magnetic levitation motor;

[0010] S3. Define the error between the actual output and the internal model output based on the principle of nonlinear internal model;

[0011] S4. Calculate the suspension force output based on the internal mold principle;

[0012] S5. Update the levitation force output based on the rotor state observation results to include compensation information for the current rotor state.

[0013] S6. Calculate the controllable current components;

[0014] S7. Calculate the six-phase control current;

[0015] S8. Six-phase control current is used to control the levitation and rotation of a six-phase single-winding marine magnetic levitation motor.

[0016] Preferably, the specific steps for calculating the levitation force output based on the internal mold principle in step S4 are as follows:

[0017] S4.1. Reduce high-frequency harmonic signals in the error by using a second-order low-pass filter;

[0018] S4.2 Define auxiliary variables to make the actual output track the given displacement;

[0019] S4.3, Based on the feedback linearization theory, a new x-direction levitation force output is formed together;

[0020] S4.4 Similarly, calculate the new y-direction levitation force output.

[0021] Preferably, the calculation steps for the controllable levitation force with levitation rotor observation in step S5 are as follows:

[0022] S5.1 In order to better obtain the total disturbance caused by the unmodeled dynamics, the output of the rotor state observation is used instead of the actual displacement;

[0023] S5.2 Calculate the controllable levitation force in the x-direction with observation of the levitation rotor;

[0024] S5.3 Calculate the controllable levitation force in the y-direction with observation of the levitation rotor.

[0025] Preferably, the calculation steps for the controllable current component in step S6 are as follows:

[0026] S6.1 Calculate the relationship between the controllable levitation force and the controllable levitation current of a six-phase single-winding marine magnetic levitation motor;

[0027] S6.2 Calculate the levitation current components in a controllable stationary coordinate system;

[0028] S6.3 Calculate the torque current component and zero-sequence current component in the controllable stationary coordinate system.

[0029] Preferably, in step S7, the six-phase control current is calculated based on the controllable stationary coordinate system suspending current component, the controllable stationary coordinate system torque current component, and the zero-sequence current component.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] (1) This invention controls the levitation and rotation of a six-phase single-winding marine magnetic levitation motor by controlling the six-phase control current, and has the function of observing the state of the levitation rotor. It solves the problems of difficult parameter identification and complex controller parameter tuning of the six-phase single-winding marine magnetic levitation motor. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating the specific steps of the present invention;

[0033] Figure 2 This is a cross-sectional view of the six-phase single-winding marine magnetic levitation motor of the present invention;

[0034] Figure 3 This is a schematic diagram of the rotor dynamics model of the six-phase single-winding marine magnetic levitation motor of the present invention;

[0035] Figure 4 This is a control block diagram of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] As attached Figure 1 To be continued Figure 4 As shown:

[0038] Example 1: This invention provides a self-disruption rejection internal model control method for a six-phase single-winding marine magnetic levitation motor. The specific steps are as follows:

[0039] S1. Based on the principle of multi-plane redundant degree-of-freedom control for multi-phase motors, the six-phase winding current is decomposed into a torque current component in the stationary coordinate system, a floating current component in the stationary coordinate system, and a zero-sequence current component using a constant power transformation matrix, as shown in the appendix. Figure 2 As shown, the six-phase single-winding marine magnetic levitation motor consists of a stator and a rotor, where i A -i F These represent the six-phase winding currents, with the + and - signs indicating the positive and negative directions of the current. x and y represent the rotor radial displacements in the x and y directions, respectively. θ Ω This refers to the tangential rotational mechanical angle of the rotor.

[0040] i αT i βT For the torque current component in the stationary coordinate system, i αS i βS Let i be the component of the levitation current in the stationary coordinate system. o1 i o2 For the zero-sequence current component, the specific formula is as follows:

[0041]

[0042] In the formula, i k =i kT +i kS k = AF, i AS =i DS i BS =i ES i CS =i FS i AT =-i DT i ET =-i BT and i CT =-i FT ,

[0043]

[0044] S2. Establish the rotor dynamics model of the six-phase single-winding marine magnetic levitation motor. The rotor dynamics model is as follows:

[0045]

[0046] In the formula, I z Let I be the moment of inertia along the z-axis. r Let m be the moment of inertia along the x and y axes, g be the rotor mass, and h be the acceleration due to gravity. r l is the height of the rotor's center of mass. rt F is the rotor shaft length. x F is the levitation force in the x-direction. y f is the levitation force in the y-direction. ux For the unmodeled dynamics in the x-direction, f uy The dynamics in the y-direction are not modeled.

[0047] S3. Based on the nonlinear internal model principle, define the error between the actual output and the internal model output, and design the internal model displacement in the x-direction of a six-phase single-winding marine magnetic levitation motor as x. M The internal displacement in the y-direction is y M ;

[0048] make According to formula (3), we can obtain:

[0049]

[0050] Taking the x-direction as an example, the error between the actual output and the internal model output is defined as follows:

[0051] S4. Calculate the suspension force output based on the internal mold principle;

[0052] S5. Update the levitation force output based on the rotor state observation results to include compensation information for the current rotor state.

[0053] S6. Calculate the controllable current components;

[0054] S7. Calculate the six-phase control current;

[0055] S8. Six-phase control current is used to control the levitation and rotation of a six-phase single-winding marine magnetic levitation motor.

[0056] Specifically, the steps for calculating the levitation force output based on the internal mold principle in step S4 are as follows:

[0057] S4.1. Reduce high-frequency harmonic signals in the error by using a second-order low-pass filter. The specific formula is as follows:

[0058]

[0059] S4.2 Define auxiliary variables to make the actual output track the given displacement. To make the actual output x track the given displacement x... * Define auxiliary variables: Therefore, when the filter coefficients are close to the internal mode displacement, x f ≈xx * Therefore, the problem of controlling the rotor radial displacement in the x-direction becomes making x f =0 control problem;

[0060] S4.3, Based on the feedback linearization theory, a new x-direction levitation force output is formed together;

[0061] make

[0062]

[0063] Based on the feedback linearization theory, equation (4) is linearized, and the calculation formula is as follows:

[0064]

[0065] According to formula (7), the characteristic equation of formula (6) is: s 2 x f +sk2x f +k1x f =0, and we have:

[0066]

[0067] Substitute the second row of equation (7) into the second row of equation (6), and let x * =0, therefore:

[0068]

[0069] Will Multiplying into the [·] of formula (8) together constitutes a new x-direction levitation force output, calculated as follows:

[0070]

[0071] S4.4 Similarly, calculate the new y-direction levitation force output, as shown in the following formula;

[0072]

[0073] Specifically, the calculation steps for the controllable levitation force with levitation rotor observation in step S5 are as follows:

[0074] S5.1 To better obtain the total disturbance caused by the unmodeled dynamics, the output of the rotor state observation is used instead of the actual displacement. Taking the x-direction as an example, the calculation formula is as follows:

[0075]

[0076] In the formula, b0 represents the controller gain, and β1, β2 and β3 represent the observer gains, respectively;

[0077] S5.2 Calculate the controllable levitation force in the x-direction with observation of the levitation rotor. The calculation formula is as follows:

[0078]

[0079] S5.3 Calculate the controllable levitation force in the y-direction with observation of the levitation rotor. The calculation formula is as follows:

[0080]

[0081] Specifically, the calculation steps for the controllable current component in step S6 are as follows:

[0082] S6.1 Calculate the relationship between the controllable levitation force and the controllable levitation current of a six-phase single-winding marine magnetic levitation motor. The relationship is as follows:

[0083]

[0084] In the formula, k sus The levitation current stiffness coefficient;

[0085] S6.2 Calculate the levitation current component in the controllable stationary coordinate system. The calculation formula is as follows:

[0086]

[0087]

[0088] In the formula, θ r i is the electrical angle of the motor rotor. qTFor the actual torque current components in the rotating coordinate system, k q For torque current i qT Together with the unit levitation current, they generate the levitation force amplitude coefficient, k PM The amplitude coefficient of the levitation force generated per unit levitation current when the permanent magnet is energized alone;

[0089] S6.3 Calculate the torque current component and zero-sequence current component in the controllable stationary coordinate system. The formula for calculating the torque current component in the controllable stationary coordinate system is as follows:

[0090]

[0091] In the formula, i qT * and i dT * The torque current component is a controllable rotating coordinate system.

[0092] Specifically, in step S7, the six-phase control current is calculated based on the controllable stationary coordinate system floating current component, the controllable stationary coordinate system torque current component, and the zero-sequence current component, as shown in the following formula:

[0093]

[0094] In the formula, T6 -1 It is the inverse matrix of the T6 matrix in formula (2).

[0095] As can be seen from the above, the six-phase control current i A * -i F * It can control the levitation and rotation of a six-phase single-winding marine magnetic levitation motor, and has the function of observing the state of the levitation rotor, which solves the problems of difficult parameter identification and complex controller parameter tuning of six-phase single-winding marine magnetic levitation motors.

[0096] All standard parts used in this invention can be purchased commercially, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0097] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0098] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0099] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0100] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] The accompanying drawings of the embodiments disclosed in this invention only involve structures related to the embodiments disclosed in this invention. Other structures can refer to general designs. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0102] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 six-phase single-winding marine magnetic levitation motor active disturbance rejection type inner model control method, characterized in that, The specific steps are as follows: S1. According to the multi-plane redundant degree of freedom control principle of the polyphase motor, six-phase winding currents are decomposed into static coordinate system torque current components, static coordinate system suspension current components and zero sequence current components through a constant power transformation matrix; S2. A rotor dynamics model of the six-phase single-winding marine magnetic suspension motor is established; S3. According to the nonlinear internal model principle, an error between an actual output and an internal model output is defined; S4. A suspension force output is calculated according to the internal model principle; S5. The suspension force output is updated according to the rotor state observation result, so as to have compensation information of the current state of the rotor; S6. Controllable current components are calculated; S7. Six-phase control currents are calculated; S8. The six-phase single-winding marine magnetic suspension motor is controlled to suspend and rotate by using the six-phase control currents; The specific steps of calculating the suspension force output according to the internal model principle in the S4 step are as follows: S4.

1. High-frequency harmonic signals in the error are reduced through a second-order low-pass filter; S4.

2. An auxiliary variable is defined so that the actual output tracks a given displacement; S4.

3. According to the feedback linearization theory, a new x-direction suspension force output is jointly constructed; S4.

4. A new y-direction suspension force output is calculated in the same way; The calculation steps of the controllable suspension force with suspension rotor observation in the S5 step are as follows: S5.

1. In order to better obtain total disturbances caused by unmodeled dynamics, the output of the rotor state observation is replaced by the actual displacement; S5.

2. The controllable suspension force with suspension rotor observation in the x direction is calculated; S5.

3. The controllable suspension force with suspension rotor observation in the y direction is calculated; The calculation steps of the controllable current components in the S6 step are as follows: S6.

1. The relationship between the controllable suspension force of the six-phase single-winding marine magnetic suspension motor and the controllable suspension current is calculated; S6.

2. The controllable static coordinate system suspension current component is calculated; S6.

3. The controllable static coordinate system torque current component and the zero sequence current component are calculated.

2. The active disturbance rejection control method for a six-phase single-winding marine magnetic levitation motor according to claim 1, characterized in that: The six-phase control currents are calculated according to the controllable static coordinate system suspension current component, the controllable static coordinate system torque current component and the zero sequence current component in the S7 step.

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