Permanent magnet synchronous motor control system and method based on fuzzy sliding mode, equipment and medium

Abstract

According to the permanent magnet synchronous motor control system and method based on the fuzzy sliding mode, the equipment and the medium, the problems that a traditional SMC controller is large in overshoot, poor in dynamic performance, weak in disturbance rejection capacity, buffeting and the like can be solved, and compared with the traditional SMC controller, the CSMC controller provided by the invention improves the dynamic response speed of the system; non-overshoot starting of the rotating speed of the system is achieved, the system can recover to a stable state more quickly when a load is suddenly added in 0.2 s, and the anti-disturbance capacity is high; the dynamic response time is 0.01 s, the steady-state error is 0 after the rotating speed is stable, and the control performance is good. On the basis of the provided CSMC, the dynamic performance of the CSMC is improved, an FCSMC is provided, and the controller introduces a fuzzy control theory into a CSMC controller to control a sliding mode gain value to change along with the change of the distance between the CSMC controller and a sliding mode surface, so that the switching gain is self-tuned.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motors, and in particular to a permanent magnet synchronous motor control system and method, equipment and medium based on a fuzzy sliding film. Background Art

[0002] Since Faraday discovered the electromagnetic induction phenomenon in the early 19th century, motor technology has gradually developed. As an important branch of motor technology, the core technology of permanent magnet synchronous motor is to use the strong magnetic field generated by permanent magnets to interact with the current in the stator winding to achieve efficient and stable power conversion. With the widespread application of rare earth permanent magnet materials such as neodymium iron boron, permanent magnet synchronous motors have achieved significant improvements in performance. Its high power density, high efficiency, low noise, low vibration and other characteristics make it widely used in new energy vehicles, industrial automation, aerospace and other fields. In the future, with the continuous advancement of materials science, power electronics technology and control algorithms, the performance of permanent magnet synchronous motors will be further optimized, and the cost will gradually decrease, becoming one of the key technologies for the transformation of the energy and power fields.

[0003] In the related art, the permanent magnet synchronous motor control system has problems such as large overshoot, poor dynamic performance, weak anti-disturbance ability and jitter. For example, the Chinese patent with application number CN201910557703.7 and invention name is a permanent magnet synchronous motor control system based on fuzzy sliding film variable structure, which discloses a permanent magnet synchronous motor control system based on fuzzy sliding film variable structure. The system includes: a sensor module, a permanent magnet synchronous motor, a fuzzy sliding film controller module, a C l ark transformation module, a Park transformation module, a PI controller module, a dq / αβ conversion module, an SVPWM module and an inverter module. This patent can only reduce the speed overshoot, but cannot achieve no overshoot. At the same time, the response speed is slow and the steady-state error is large.

[0004] Therefore, it is necessary to provide a new method to solve the above technical problems. Summary of the invention

[0005] In order to achieve the above-mentioned purpose and other advantages of the present invention, the first purpose of the present invention is to provide a permanent magnet synchronous motor control method based on fuzzy sliding film, comprising the following steps:

[0006] Obtain the detected three-phase current, actual speed and rotor position of the permanent magnet synchronous motor;

[0007] Converting the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis;

[0008] Converting the three-phase current into an α-axis current and a β-axis current;

[0009] Convert the α-axis current, the β-axis current and the rotor position into an actual q-axis current and an actual d-axis current;

[0010] Converting the difference between the rated current of the q-axis and the actual current of the q-axis, and the difference between the rated current of the d-axis and the actual current of the d-axis into the actual voltage of the q-axis and the actual voltage of the d-axis respectively;

[0011] Convert the actual voltage of the q-axis, the actual voltage of the d-axis and the rotor position into the voltage of the α-axis and the voltage of the β-axis;

[0012] Converting the voltage of the α-axis, the voltage of the β-axis and the bus voltage into multiple PWM waves;

[0013] Controlling the on and off of power switches in the multiple PWM waves according to the multiple PWM waves;

[0014] The actual voltage of the permanent magnet synchronous motor is adjusted according to the on-off of the power switch, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor.

[0015] Furthermore, the rated current of the d-axis is 0.

[0016] Furthermore, the step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis comprises:

[0017] Based on the novel sliding mode controller, the difference between the command speed of the permanent magnet synchronous motor and the actual speed is converted into the rated current of the q-axis; wherein the novel sliding mode controller is:

[0018]

[0019] Where, 0<α<1, G1>0, G2>0, F>0 are adjustable parameters, and s is the function of sliding mode control.

[0020] Furthermore, the step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis also includes:

[0021] The fuzzy sliding mode controller designed by fuzzy logic simultaneous sliding mode approach speed and state quantity approach sliding mode surface distance converts the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q axis; wherein the fuzzy sliding mode controller is:

[0022]

[0023] Furthermore, the system input variables of the fuzzy sliding mode controller are described by using 7 fuzzy linguistic variable sets, including negative large, negative medium, negative small, zero, positive small, positive medium and positive large, which together constitute an input fuzzy set, and a non-uniform membership function is used;

[0024] The sliding mode gain of the system output variable is described by 11 fuzzy linguistic variables, including extremely negative, extremely negative, medium negative, extremely negative, extremely negative, extremely negative, zero, extremely positive, extremely positive, extremely positive, medium positive, extremely positive, and extremely positive.

[0025] The second object of the present invention is to provide a permanent magnet synchronous motor control system based on fuzzy sliding film, which implements the above method, including a sensor module, a fuzzy sliding mode controller module, a PID controller module, a C l ark transformation module, a Park transformation module, a Park inverter module, an SVPWM module and a three-phase inverter module; wherein,

[0026] The sensor module is connected to the permanent magnet synchronous motor and is used to detect the three-phase current, actual speed and rotor position of the permanent magnet synchronous motor;

[0027] The fuzzy sliding mode controller module is connected to the sensor module and is used to convert the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis;

[0028] The C l ark conversion module is connected to the sensor module and is used to convert the three-phase current into the current of the α-axis and the current of the β-axis;

[0029] The Park transformation module is connected to the C l ark transformation module and the sensor module, and is used to receive the current of the α-axis, the current of the β-axis and the rotor position and convert them into the actual current of the q-axis and the actual current of the d-axis;

[0030] The PID controller module is connected to the fuzzy sliding mode controller module, the Clark transformation module and the Park transformation module, and is used to convert the difference between the rated current of the q-axis and the actual current of the q-axis, and the difference between the rated current of the d-axis and the actual current of the d-axis into the actual voltage of the q-axis and the actual voltage of the d-axis respectively;

[0031] The Park inverter module is connected to the PID controller module and is used to convert the actual voltage of the q-axis, the actual voltage of the d-axis and the rotor position into the voltage of the α-axis and the voltage of the β-axis;

[0032] The SVPWM module is connected to the Park inverter module and is used to convert the voltage of the α-axis, the voltage of the β-axis and the bus voltage into multiple PWM waves;

[0033] The three-phase inverter module is connected to the SVPWM module and is used to control the on-off of the power switches in the multiple PWM waves according to the received multiple PWM waves;

[0034] The three-phase inverter module is connected to the permanent magnet synchronous motor, and adjusts the actual voltage of the permanent magnet synchronous motor according to the on-off of the power switch, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor.

[0035] Furthermore, the fuzzy sliding mode controller is:

[0036]

[0037] Furthermore, the system input variables of the fuzzy sliding mode controller are described by using 7 fuzzy linguistic variable sets, including negative large, negative medium, negative small, zero, positive small, positive medium and positive large, which together constitute an input fuzzy set, and a non-uniform membership function is used;

[0038] The sliding mode gain of the system output variable is described by 11 fuzzy linguistic variables, including extremely negative, extremely negative, medium negative, extremely negative, extremely negative, extremely negative, zero, extremely positive, extremely positive, extremely positive, medium positive, extremely positive, and extremely positive.

[0039] A third object of the present invention is to provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0040] A fourth object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0041] Compared with the prior art, the beneficial effects of the embodiments of the present invention are:

[0042] In view of the problems of large overshoot, poor dynamic performance, weak anti-disturbance ability and jitter in traditional SMC controllers, the present invention proposes a CSMC. Compared with the traditional SMC controller, this controller improves the dynamic response speed of the system and realizes the system speed starting without overshoot. When the load is suddenly added in 0.2s, the system can recover to a stable state more quickly and has a strong anti-disturbance ability. The dynamic response time is 0.01s, the steady-state error after the speed is stable is 0, and the control performance is good.

[0043] Based on the proposed CSMC, its dynamic performance is improved and a FCSMC is proposed. This controller introduces fuzzy control theory into the CSMC controller to control the sliding mode gain value as the distance from the sliding mode surface changes, so that the switching gain is self-tuning. It has been verified that FCSMC has a faster dynamic response speed, stronger dynamic performance of the system and improved anti-disturbance ability of the system compared to SMC. The implementation of this technology can effectively promote the development of automated control in the medical care, industrial production and artificial intelligence industries, and can further improve the high-speed, high-precision and low-jitter control requirements of the automation solution.

[0044] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0046] Figure 1 It is a schematic diagram of a permanent magnet synchronous motor control system based on fuzzy sliding film;

[0047] Figure 2 Schematic diagram of membership function for system input;

[0048] Figure 3 Schematic diagram of system output membership function;

[0049] Figure 4 It is a schematic diagram of fuzzy input membership function;

[0050] Figure 5 Speed ​​waveform diagrams for traditional sliding mode control, improved sliding mode control and new fuzzy sliding mode control;

[0051] Figure 6 The 1000r / min speed waveform diagram of traditional sliding mode control, improved sliding mode control and new fuzzy sliding mode control;

[0052] Figure 7 Torque waveform diagrams for traditional sliding mode control, improved sliding mode control and new fuzzy sliding mode control;

[0053] Figure 8 The three-phase current waveform diagrams of traditional sliding mode control, improved sliding mode control and new fuzzy sliding mode control;

[0054] Fig. 9This is a schematic diagram of the speed waveform of SMC when it is unloaded;

[0055] Fig.10 This is a schematic diagram of the speed waveform of CSMC when it is unloaded;

[0056] Fig.11 This is a schematic diagram of the speed waveform of FCSMC when it is unloaded;

[0057] Fig.12 It is a flow chart of the permanent magnet synchronous motor control method based on fuzzy sliding film;

[0058] Fig.13 It is a schematic diagram of computer equipment;

[0059] Fig.14 A schematic diagram of a computer-readable storage medium. DETAILED DESCRIPTION

[0060] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. It should be noted that, under the premise of no conflict, the embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0061] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0062] The figure numbers in this application are only used to distinguish the various steps in the scheme, and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0064] Example 1

[0065] A permanent magnet synchronous motor control system based on fuzzy sliding film, such as Figure 1 As shown, it includes a sensor module, a fuzzy sliding mode controller module, a PID controller module, a Clark transformation module, a Park transformation module, a Park inverter module, a SVPWM module and a three-phase inverter module; wherein,

[0066] The sensor module is connected to the permanent magnet synchronous motor and is used to detect the three-phase current and actual speed ω of the permanent magnet synchronous motor. m and rotor position θ;

[0067] The fuzzy sliding mode controller module is connected to the sensor module and is used to set the command speed ω of the permanent magnet synchronous motor. ref The actual speed ω m The difference is converted into the rated current of the q axis

[0068] The Clark transformation module is connected to the sensor module and is used to convert the three-phase current into the current i of the α-axis. α and the β-axis current i β ;

[0069] The Park transformation module is connected to the Clark transformation module and the sensor module, and is used to receive the current i of the α axis. α , the β-axis current i β and the rotor position θ and converted into the actual current i of the q-axis q and the actual current i of the d-axis d ;

[0070] The PID controller module is connected to the fuzzy sliding mode controller module, the Clark transformation module and the Park transformation module, and is used to convert the rated current of the q axis The actual current i of the q axis q The difference between the rated current of the d-axis and the actual current i of the d-axis d The difference is converted into the actual voltage u of the q axis q and the actual voltage u of the d-axis d ; Among them, the rated current of the d-axis is 0.

[0071] The Park inverter module is connected to the PID controller module to convert the actual voltage u of the q axis into q , the actual voltage u of the d-axis d The rotor position θ is converted to the voltage u on the α-axis α and the voltage u of the β axis β ;

[0072] The SVPWM module is connected to the Park inverter module and is used to convert the voltage u of the α axis α , the voltage u of the β axis β and bus voltage into multiple PWM waves; for example, the voltage u of the α axis is converted into α , the voltage u of the β axis β And the bus voltage is converted into six-way PWM waves;

[0073] The three-phase inverter module is connected to the SVPWM module, and is used to control the on-off of power switches in multiple PWM waves according to the received multiple PWM waves; for example, to control the on-off of power switches in six PWM waves according to the received six PWM waves;

[0074] The three-phase inverter module is connected to the permanent magnet synchronous motor, and adjusts the actual voltage of the permanent magnet synchronous motor according to the on-off of the power switch, thereby adjusting its actual speed, thereby achieving control of the speed of the permanent magnet synchronous motor.

[0075] In some embodiments, the fuzzy sliding mode controller module includes an improved sliding mode controller and a fuzzy controller. The improved sliding mode controller is used to convert the command speed ω ref With the actual speed ω m The difference between the sliding surface design and the rated current of the q-axis Combined with the rated current of the q axis, The fuzzy controller controls the system more accurately in the form of dynamic sliding mode gain, dynamically associates the distance of the system state quantity approaching the sliding surface with the sliding mode gain setting fuzzy rules, realizes the dynamic change of the system sliding mode approach speed with the associated fuzzy rules, and realizes the dynamic change of the approach speed of the system state quantity through the output of fuzzy association rules.

[0076] For the improved fuzzy sliding mode controller, the specific setting process is as follows:

[0077] Mathematical model of PMSM in dq coordinate system:

[0078]

[0079] Among them, u d 、u q 、i d and i d are the dq axis components of the stator voltage and current respectively, L is the stator inductance, ω m is the rotor mechanical angular velocity, R s is the stator resistance, ψ f is the permanent magnet flux, p n is the pole pair number, T L is the load torque, B is the viscosity coefficient, and J is the moment of inertia.

[0080] System Selection d =0 vector control strategy, so formula (1) is expressed as:

[0081]

[0082] The state variables of the PMSM control system are defined as:

[0083]

[0084] Where: x1, x2 are system state variables; ω r To define the rotor speed; ω m is the actual rotor speed of the motor. According to formulas (2) and (3), we can get:

[0085]

[0086] definition

[0087] The function that defines this sliding mode control is:

[0088] s=cx1+x2 (5)

[0089] Where c>0 is the sliding mode design parameter, and the derivative of formula (5) yields:

[0090]

[0091] The traditional exponential reaching law is:

[0092]

[0093] The traditional power reaching law is:

[0094]

[0095] By sorting out formula (6) and formula (7), we can get:

[0096]

[0097] In order to further reduce the fluctuation range of the output speed and achieve more stable output performance, a new reaching law is designed by combining the exponential reaching law and the power reaching law as follows:

[0098]

[0099] In the formula: 0<α<1, G1>0, G2>0, F>0 are adjustable parameters.

[0100] In order to reduce the chattering problem of SMC and improve the output performance of the system, exponential approach is used as the approach mode of the system, and the smoothly switched si gmo id continuous function is used instead of the traditional sgn discontinuous sign function as the switching mode of the system.

[0101] The new synovial approach law is further designed as follows:

[0102]

[0103] By combining the sliding mode approaching speed and the state quantity approaching the sliding mode surface distance through fuzzy logic, a fuzzy new sliding mode control (FCSMC) method is designed, and the fuzzy sliding mode controller is obtained as follows:

[0104]

[0105] The design of the fuzzy controller is as follows:

[0106] In view of the requirements for dynamic response rate, such as Figure 2-Figure 4 As shown in Table 1, the system input variables are described by 7 fuzzy linguistic variable sets, including negative large (NB), negative middle (NM), negative small (NS), zero (ZO), positive small (PS), positive middle (PM) and positive large (PB), which together constitute the input fuzzy set, and a non-uniform membership function is used. The system output variable sliding mode gain is described by eleven more sophisticated fuzzy linguistic variables, including negative large (NVB), negative large (NB), negative middle (NM), negative small (NS), negative small (NVS), zero (ZO), positive small (PVS), positive small (PS), positive middle (PM), positive large (PB) and positive large (PVB).

[0107] Table 1 Fuzzy rules table

[0108]

[0109] Fuzzy control is introduced into SMC, and the system is controlled more accurately in the form of dynamic sliding mode gain. The distance of the system state quantity approaching the sliding surface is dynamically associated with the sliding mode gain setting fuzzy rules, so that the system sliding mode approach speed can be dynamically changed with the associated fuzzy rules, and the dynamic change of the approach speed of the system state quantity can be realized through the output of fuzzy association rules.

[0110] The following experimental simulation verification is carried out. The reference speed is set to increase from 0 to 600 r / min, and then to 1000 r / min. The simulation time is 0.3 s, and the load is suddenly increased at 0.2 s.

[0111] from Figure 5 and Figure 6 It can be seen that FCSMC control weakens the system chattering and improves the system output performance compared to SMC. Compared with CSMC, it has improved control accuracy and reduced steady-state error, which improves the control performance of the system. It also has a faster dynamic response speed and improves the robustness of the system. Figure 7It can be seen that when the load is suddenly added, the traditional SMC control has the problems of slow dynamic response speed, large torque output fluctuation, and easy to produce torque pulsation. The introduction of CSMC reduces the torque fluctuation of the system and improves the dynamic response speed of the system compared with the traditional SMC, while FCSMC further improves the system response speed compared with CSMC. Figure 8 It can be seen that SMC has a large current output pulsation and poor system control performance. Compared with traditional SMC, CSMC effectively suppresses current pulsation and improves the control performance of the system. The FCSMC proposed for the system dynamic response speed does not significantly improve the current output performance. From the perspective of the overall system, it reduces the current pulsation on the basis of improving the system output performance and improves the system output stability. Figure 9-11 It can be seen that, as the conclusion obtained in the simulation, the convergence law after combination will reduce the dynamic response speed, and the addition of fuzzy algorithm can effectively improve the dynamic response speed of the system.

[0112] In view of the problems of large overshoot, poor dynamic performance, weak anti-disturbance ability and jitter in traditional SMC controllers, the present invention proposes a CSMC. Compared with the traditional SMC controller, this controller improves the dynamic response speed of the system and realizes the system speed starting without overshoot. When the load is suddenly added in 0.2s, the system can recover to a stable state more quickly and has a strong anti-disturbance ability. The dynamic response time is 0.01s, the steady-state error after the speed is stable is 0, and the control performance is good.

[0113] Based on the proposed CSMC, its dynamic performance is improved and a FCSMC is proposed. This controller introduces fuzzy control theory into the CSMC controller to control the sliding mode gain value as the distance from the sliding mode surface changes, so that the switching gain is self-tuning. It has been verified that FCSMC has a faster dynamic response speed, stronger dynamic performance of the system and improved anti-disturbance ability of the system compared to SMC. The implementation of this technology can effectively promote the development of automated control in the medical care, industrial production and artificial intelligence industries, and can further improve the high-speed, high-precision and low-jitter control requirements of the automation solution.

[0114] Example 2

[0115] A permanent magnet synchronous motor control method based on fuzzy sliding film is based on the above system. For detailed description of the system, please refer to the corresponding description in the above system embodiment, which will not be repeated here. Figure 1 , Fig.12 As shown, the method comprises the following steps:

[0116] S1, obtaining the detected three-phase current, actual speed and rotor position of the permanent magnet synchronous motor;

[0117] Specifically, the sensor module detects the three-phase current and actual speed ω of the permanent magnet synchronous motor. m and the rotor position θ.

[0118] S2, converting the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis;

[0119] Specifically, the fuzzy sliding mode controller module is used to set the command speed ω of the permanent magnet synchronous motor. ref The actual speed ω m The difference is converted into the rated current of the q axis

[0120] S3, converting the three-phase current into a current of an α-axis and a current of a β-axis;

[0121] Specifically, the three-phase current is converted into the current i of the α-axis through the Clark transformation module. α and the β-axis current i β .

[0122] S4, converting the α-axis current, the β-axis current and the rotor position into an actual current of the q-axis and an actual current of the d-axis;

[0123] Specifically, the current i of the α-axis is received by the Park transformation module. α , the β-axis current i β and the rotor position θ and converted into the actual current i of the q-axis q and the actual current i of the d-axis d .

[0124] S5, converting the difference between the rated current of the q-axis and the actual current of the q-axis, and the difference between the rated current of the d-axis and the actual current of the d-axis into the actual voltage of the q-axis and the actual voltage of the d-axis respectively;

[0125] Specifically, the rated current of the q-axis is set by the PID controller module. The actual current i of the q axis q The difference between the rated current of the d-axis and the actual current i of the d-axis d The difference is converted into the actual voltage u of the q axis q and the actual voltage u of the d-axis d ; Among them, the rated current of the d-axis is 0.

[0126] S6, converting the actual voltage of the q-axis, the actual voltage of the d-axis and the rotor position into the voltage of the α-axis and the voltage of the β-axis;

[0127] Specifically, the actual voltage u of the q axis is converted to q , the actual voltage u of the d-axis d The rotor position θ is converted to the voltage u on the α-axis α and the voltage u of the β axis β .

[0128] S7, converting the voltage of the α-axis, the voltage of the β-axis and the bus voltage into multiple PWM waves;

[0129] Specifically, the voltage u of the α-axis is set by the SVPWM module. α , the voltage u of the β axis β and bus voltage into multiple PWM waves; for example, the voltage u of the α axis is converted into α , the voltage u of the β axis β The bus voltage is converted into six PWM waves.

[0130] S8, controlling the on-off of power switches in the multiple PWM waves according to the multiple PWM waves;

[0131] Specifically, the three-phase inverter module controls the on-off of power switches in multiple PWM waves according to the received multiple PWM waves; for example, controls the on-off of power switches in six PWM waves according to the received six PWM waves.

[0132] S9. Adjust the actual voltage of the permanent magnet synchronous motor according to the on-off of the power switch, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor.

[0133] Specifically, the actual voltage of the permanent magnet synchronous motor is adjusted according to the on-off of the power switch through the three-phase inverter module, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor, thereby realizing the control of the rotation speed of the permanent magnet synchronous motor.

[0134] In some embodiments, the fuzzy sliding mode controller module includes an improved sliding mode controller and a fuzzy controller. The improved sliding mode controller is used to convert the command speed ω ref With the actual speed ω m The difference between the sliding surface design and the rated current of the q-axis Combined with the rated current of the q axis, The fuzzy controller controls the system more accurately in the form of dynamic sliding mode gain, dynamically associates the distance of the system state quantity approaching the sliding surface with the sliding mode gain setting fuzzy rules, realizes the dynamic change of the system sliding mode approach speed with the associated fuzzy rules, and realizes the dynamic change of the approach speed of the system state quantity through the output of fuzzy association rules.

[0135] For the improved fuzzy sliding mode controller, the specific setting process is as follows:

[0136] Mathematical model of PMSM in dq coordinate system:

[0137]

[0138] Among them, u d 、u q 、i d and i d are the dq axis components of the stator voltage and current respectively, L is the stator inductance, ω m is the rotor mechanical angular velocity, R s is the stator resistance, ψ f is the permanent magnet flux, p n is the pole pair number, T L is the load torque, B is the viscosity coefficient, and J is the moment of inertia.

[0139] System Selection d =0 vector control strategy, so formula (1) is expressed as:

[0140]

[0141] The state variables of the PMSM control system are defined as:

[0142]

[0143] Where: x1, x2 are system state variables; ω r To define the rotor speed; ω m is the actual rotor speed of the motor. According to formulas (2) and (3), we can get:

[0144]

[0145] definition

[0146] The function that defines this sliding mode control is:

[0147]

[0148] Where c>0 is the sliding mode design parameter, and the derivative of formula (5) yields:

[0149]

[0150] The traditional exponential reaching law is:

[0151]

[0152] The traditional power reaching law is:

[0153]

[0154] By sorting out formula (6) and formula (7), we can get:

[0155]

[0156] In order to further reduce the fluctuation range of the output speed and achieve more stable output performance, a new reaching law is designed by combining the exponential reaching law and the power reaching law as follows:

[0157]

[0158] In the formula: 0<α<1, G1>0, G2>0, F>0 are adjustable parameters.

[0159] In order to reduce the chattering problem of SMC and improve the output performance of the system, exponential approach is used as the approach mode of the system, and the smoothly switched si gmo id continuous function is used instead of the traditional sgn discontinuous sign function as the switching mode of the system.

[0160] The new synovial approach law is further designed as follows:

[0161]

[0162] In some embodiments, the step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis comprises:

[0163] Based on the novel sliding mode controller, the difference between the command speed of the permanent magnet synchronous motor and the actual speed is converted into the rated current of the q-axis; wherein the novel sliding mode controller is:

[0164]

[0165] Where, 0<α<1, G1>0, G2>0, F>0 are adjustable parameters, and s is the function of sliding mode control.

[0166] By combining the sliding mode approaching speed and the state quantity approaching the sliding mode surface distance through fuzzy logic, a fuzzy new sliding mode control (FCSMC) method is designed, and the fuzzy sliding mode controller is obtained as follows:

[0167]

[0168] The design of the fuzzy controller is as follows:

[0169] In view of the requirements for dynamic response rate, such as Figure 2-Figure 4As shown in Table 1, the system input variables are described by 7 fuzzy linguistic variable sets, including negative large (NB), negative middle (NM), negative small (NS), zero (ZO), positive small (PS), positive middle (PM) and positive large (PB), which together constitute the input fuzzy set, and a non-uniform membership function is used. The system output variable sliding mode gain is described by eleven more sophisticated fuzzy linguistic variables, including negative large (NVB), negative large (NB), negative middle (NM), negative small (NS), negative small (NVS), zero (ZO), positive small (PVS), positive small (PS), positive middle (PM), positive large (PB) and positive large (PVB).

[0170] Fuzzy control is introduced into SMC, and the system is controlled more accurately in the form of dynamic sliding mode gain. The distance of the system state quantity approaching the sliding surface is dynamically associated with the sliding mode gain setting fuzzy rules, so that the system sliding mode approach speed can be dynamically changed with the associated fuzzy rules, and the dynamic change of the approach speed of the system state quantity can be realized through the output of fuzzy association rules.

[0171] In some embodiments, the step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis further includes:

[0172] The fuzzy sliding mode controller designed by fuzzy logic simultaneous sliding mode approach speed and state quantity approach sliding mode surface distance converts the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q axis; wherein the fuzzy sliding mode controller is:

[0173]

[0174] The following experimental simulation verification is carried out. The reference speed is set to increase from 0 to 600 r / min, and then to 1000 r / min. The simulation time is 0.3 s, and the load is suddenly increased at 0.2 s.

[0175] from Figure 5 and Figure 6 It can be seen that FCSMC control weakens the system chattering and improves the system output performance compared to SMC. Compared with CSMC, it has improved control accuracy and reduced steady-state error, which improves the control performance of the system. It also has a faster dynamic response speed and improves the robustness of the system. Figure 7 It can be seen that when the load is suddenly added, the traditional SMC control has the problems of slow dynamic response speed, large torque output fluctuation, and easy to produce torque pulsation. The introduction of CSMC reduces the torque fluctuation of the system and improves the dynamic response speed of the system compared with the traditional SMC, while FCSMC further improves the system response speed compared with CSMC. Figure 8It can be seen that SMC has a large current output pulsation and poor system control performance. Compared with traditional SMC, CSMC effectively suppresses current pulsation and improves the control performance of the system. The FCSMC proposed for the system dynamic response speed does not significantly improve the current output performance. From the perspective of the overall system, it reduces the current pulsation on the basis of improving the system output performance and improves the system output stability. Figure 9-11 It can be seen that, as the conclusion obtained in the simulation, the convergence law after combination will reduce the dynamic response speed, and the addition of fuzzy algorithm can effectively improve the dynamic response speed of the system.

[0176] In view of the problems of large overshoot, poor dynamic performance, weak anti-disturbance ability and jitter in traditional SMC controllers, the present invention proposes a CSMC. Compared with the traditional SMC controller, this controller improves the dynamic response speed of the system and realizes the system speed starting without overshoot. When the load is suddenly added in 0.2s, the system can recover to a stable state more quickly and has a strong anti-disturbance ability. The dynamic response time is 0.01s, the steady-state error after the speed is stable is 0, and the control performance is good.

[0177] Based on the proposed CSMC, its dynamic performance is improved and a FCSMC is proposed. This controller introduces fuzzy control theory into the CSMC controller to control the sliding mode gain value as the distance from the sliding mode surface changes, so that the switching gain is self-tuning. It has been verified that FCSMC has a faster dynamic response speed, stronger dynamic performance of the system and improved anti-disturbance ability of the system compared to SMC. The implementation of this technology can effectively promote the development of automated control in the medical care, industrial production and artificial intelligence industries, and can further improve the high-speed, high-precision and low-jitter control requirements of the automation solution.

[0178] Example 3

[0179] A computer device 100, such as Fig.13 As shown, it includes a memory 110, a processor 120, and a computer program 130 stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a permanent magnet synchronous motor control method based on fuzzy sliding film are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0180] Example 4

[0181] A computer readable storage medium such as Fig.14 As shown, a computer program is stored thereon, and when the computer program is executed by the processor, the steps of a permanent magnet synchronous motor control method based on fuzzy sliding film are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0182] Example 5

[0183] A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of a permanent magnet synchronous motor control method based on a fuzzy sliding film are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0184] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0185] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0186] The apparatus, computer device, non-volatile computer storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, computer device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device and non-volatile computer storage medium will not be repeated here.

[0187] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software units for implementing the method and structures within the hardware component.

[0188] The systems, devices or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions in various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or more software and / or hardware.

[0189] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may be in the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of this specification may be in the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0190] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0191] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0192] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0193] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0194] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program units. Generally, program units include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program units may be located in local and remote computer storage media, including storage devices.

[0195] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0196] The above description is only an embodiment of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of one or more embodiments of this specification.

Claims

1. A permanent magnet synchronous motor control method based on fuzzy sliding film, characterized in that: The following steps are involved: Obtain the detected three-phase current, actual speed and rotor position of the permanent magnet synchronous motor; Converting the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis; Converting the three-phase current into an α-axis current and a β-axis current; Convert the α-axis current, the β-axis current and the rotor position into an actual q-axis current and an actual d-axis current; Converting the difference between the rated current of the q-axis and the actual current of the q-axis, and the difference between the rated current of the d-axis and the actual current of the d-axis into the actual voltage of the q-axis and the actual voltage of the d-axis respectively; Convert the actual voltage of the q-axis, the actual voltage of the d-axis and the rotor position into the voltage of the α-axis and the voltage of the β-axis; Converting the voltage of the α-axis, the voltage of the β-axis and the bus voltage into multiple PWM waves; Controlling the on and off of power switches in the multiple PWM waves according to the multiple PWM waves; The actual voltage of the permanent magnet synchronous motor is adjusted according to the on-off of the power switch, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor.

2. A permanent magnet synchronous motor control method based on fuzzy sliding film as claimed in claim 1, characterized in that: The rated current of the d-axis is 0.

3. A permanent magnet synchronous motor control method based on fuzzy sliding film as claimed in claim 1, characterized in that: The step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis comprises: Based on the novel sliding mode controller, the difference between the command speed of the permanent magnet synchronous motor and the actual speed is converted into the rated current of the q-axis; wherein the novel sliding mode controller is: Where, 0<α<1, G1>0, G2>0, F>0 are adjustable parameters, and s is the function of sliding mode control.

4. A permanent magnet synchronous motor control method based on fuzzy sliding film as claimed in claim 3, characterized in that: The step of converting the difference between the command speed given to the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis also includes: The fuzzy sliding mode controller designed by fuzzy logic simultaneous sliding mode approaching speed and state quantity approaching sliding mode surface distance converts the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q axis; wherein the fuzzy sliding mode controller is:

5. A permanent magnet synchronous motor control method based on fuzzy sliding film as claimed in claim 4, characterized in that: The system input variables of the fuzzy sliding mode controller are described by using 7 fuzzy linguistic variable sets, including negative large, negative medium, negative small, zero, positive small, positive medium and positive large, which together constitute the input fuzzy set, and a non-uniform membership function is used; The sliding mode gain of the system output variable is described by 11 fuzzy linguistic variables, including extremely negative, extremely negative, medium negative, extremely negative, extremely negative, extremely negative, zero, extremely positive, extremely positive, extremely positive, medium positive, extremely positive, and extremely positive.

6. A permanent magnet synchronous motor control system based on fuzzy sliding film, implementing the method according to any one of claims 1 to 5, characterized in that: It includes a sensor module, a fuzzy sliding mode controller module, a PID controller module, a Clark transformation module, a Park transformation module, a Park inverter module, a SVPWM module and a three-phase inverter module; wherein, The sensor module is connected to the permanent magnet synchronous motor and is used to detect the three-phase current, actual speed and rotor position of the permanent magnet synchronous motor; The fuzzy sliding mode controller module is connected to the sensor module and is used to convert the difference between the command speed of the permanent magnet synchronous motor and the actual speed into the rated current of the q-axis; The Clark conversion module is connected to the sensor module and is used to convert the three-phase current into an α-axis current and a β-axis current; The Park transformation module is connected to the Clark transformation module and the sensor module, and is used to receive the current of the α-axis, the current of the β-axis and the rotor position and convert them into the actual current of the q-axis and the actual current of the d-axis; The PID controller module is connected to the fuzzy sliding mode controller module, the Clark transformation module and the Park transformation module, and is used to convert the difference between the rated current of the q-axis and the actual current of the q-axis, and the difference between the rated current of the d-axis and the actual current of the d-axis into the actual voltage of the q-axis and the actual voltage of the d-axis respectively; The Park inverter module is connected to the PID controller module and is used to convert the actual voltage of the q-axis, the actual voltage of the d-axis and the rotor position into the voltage of the α-axis and the voltage of the β-axis; The SVPWM module is connected to the Park inverter module and is used to convert the voltage of the α-axis, the voltage of the β-axis and the bus voltage into multiple PWM waves; The three-phase inverter module is connected to the SVPWM module and is used to control the on-off of the power switches in the multiple PWM waves according to the received multiple PWM waves; The three-phase inverter module is connected to the permanent magnet synchronous motor, and adjusts the actual voltage of the permanent magnet synchronous motor according to the on-off of the power switch, thereby adjusting the actual rotation speed of the permanent magnet synchronous motor.

7. A permanent magnet synchronous motor control system based on fuzzy sliding film as claimed in claim 6, characterized in that: The fuzzy sliding mode controller is:

8. A permanent magnet synchronous motor control system based on fuzzy sliding film as claimed in claim 7, characterized in that: The system input variables of the fuzzy sliding mode controller are described by using 7 fuzzy linguistic variable sets, including negative large, negative medium, negative small, zero, positive small, positive medium and positive large, which together constitute the input fuzzy set, and a non-uniform membership function is used; The sliding mode gain of the system output variable is described by 11 fuzzy linguistic variables, including extremely negative, extremely negative, medium negative, extremely negative, extremely negative, extremely negative, zero, extremely positive, extremely positive, extremely positive, medium positive, extremely positive, and extremely positive.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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