Multi-feature vibration suppression control method for permanent magnet motor

Abstract

The invention discloses a multi-characteristic vibration suppression control method for a permanent magnet motor, which comprises the following steps: a multi-characteristic vibration suppression module and a vibration acceleration sensor are additionally arranged in a permanent magnet synchronous motor vector control system consisting of a current controller, a 3s / 2r coordinate transformation module, a 2r / 2s coordinate transformation module, a pulse width modulation module and a frequency converter, so that motor vibration signals are acquired in real time; and extracting multi-spectrum vibration characteristics, generating a vibration suppression waveform based on dynamic parameter identification and waveform synthesis, and superposing the vibration suppression waveform to the control voltage to realize multi-channel vibration suppression. According to the method, through multi-branch parameter identification and waveform synthesis, the problem that a traditional method is insufficient in suppression of complex frequency spectrum vibration is effectively solved, vibration and noise during motor operation are remarkably reduced, and the system stability and reliability are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of permanent magnet motor control, and particularly relates to a multi-feature vibration suppression control method for permanent magnet motors, which is applicable to high-precision motor control scenarios such as new energy vehicle drive and industrial servo systems. Background Art

[0002] Permanent magnet synchronous motors are widely used due to their advantages such as high efficiency and high power density. However, during their operation, they are prone to generate multi-spectrum vibrations due to factors such as electromagnetic force harmonics and mechanical resonance, resulting in noise and mechanical wear.

[0003] Traditional vibration suppression methods mostly target single-frequency characteristics and cannot effectively address complex spectrum vibration problems.

[0004] In the prior art, such as the harmonic injection method based on a PI regulator, there are defects such as fixed parameters and poor adaptability.

[0005] Therefore, there is an urgent need for a solution that can dynamically identify multi-spectrum vibration characteristics and generate vibration suppression signals in real time. Summary of the Invention

[0006] Aiming at the problems that the existing permanent magnet motor vibration suppression methods have insufficient adaptability to complex spectrum vibrations, limited suppression effects, and parameter adjustment relying on manual experience and being difficult to achieve dynamic optimization, the present invention provides a multi-channel vibration suppression method for permanent magnet motors based on multi-feature parameter identification and waveform synthesis.

[0007] The technical solution adopted by the present invention to solve its technical problems is: a multi-feature vibration suppression control method for permanent magnet motors, based on a permanent magnet synchronous motor vector control system including a current controller, a 3s / 2r coordinate transformation module, a 2r / 2s coordinate transformation module, a pulse width modulation module, and an inverter. The 3s / 2r coordinate transformation module, the current controller, the 2r / 2s coordinate transformation module, the 3s / 2r coordinate transformation module, the pulse width modulation module, and the inverter are sequentially connected and then connected to the permanent magnet motor; the multi-feature vibration suppression module is connected in series between the 2r / 2s coordinate transformation module and the pulse width modulation module. The multi-feature vibration suppression module is connected to the permanent magnet motor through a vibration acceleration sensor, and the permanent magnet motor is connected to the 3s / 2r coordinate transformation module through a position sensor; the vibration acceleration sensor real-time collects the vibration acceleration signal of the permanent magnet motor and transmits it to the multi-feature vibration suppression module. The multi-feature vibration suppression module processes the original control voltages u a0 and u β0 to make them into optimized voltages u a and u β and inputs them into the pulse width modulation module.

[0008] Further, the multi - feature vibration suppression module consists of 1 vibration feature extraction module, n vibration suppression parameter identification modules, n vibration suppression waveform synthesis modules, and 1 multi - feature vibration suppression waveform superposition module, where n is a natural number. Each vibration suppression parameter identification module and vibration suppression waveform synthesis module corresponds to a group of vibration features, represented by vibration amplitude V and characteristic frequency h. Among them, the vibration feature extraction module analyzes the vibration spectrum through FFT or wavelet transform, identifies the excessive characteristic frequency h and vibration amplitude V. The n vibration suppression waveform synthesis modules synthesize the vibration suppression waveform △u based on the vibration suppression parameters p1 - p4 and the characteristic frequency h α and △u β , the multi - feature vibration suppression waveform superposition module superimposes the vibration suppression waveforms △u α and △u β onto the original control voltages u a0 and u β0 , and outputs the voltages u a and u β .

[0009] Furthermore, the vibration suppression waveform synthesis module calculates the vibration suppression waveforms △u and through the vibration suppression parameters 1, vibration suppression parameter 2, vibration suppression parameter 3, vibration suppression parameter 4, and the vibration characteristic frequency h. The multi - feature vibration suppression waveform superposition module calculates the optimized voltages u α and △u β through the formulas u α = u α0 +△u α1 +△u α2 +...+△u αn and u β = u β0 +△u β1 +△u β2 +...+△u βn . a and u β .

[0010] Still further, the vibration suppression parameter identification module consists of four branches. Each branch calculates one vibration suppression parameter; each branch includes a high - pass filter, a low - pass filter, an integrator, and a modulator and a demodulator with the same frequency and phase

[0011] Among them, the frequencies of Branch 1 and Branch 2 are different from those of Branch 3 and Branch 4. The phase difference between Branch 1 and Branch 2 is 90°, and the phase difference between Branch 3 and Branch 4 is 90°

[0012] The beneficial effect of the present invention is that the present invention optimizes the control voltage by adding a vibration acceleration sensor and a multi-feature vibration suppression module in the permanent magnet motor vector control system. The optimized voltage is output to the motor through the SVPWM module to drive the inverter, thereby suppressing the motor vibration in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of a permanent magnet synchronous motor vector control system of the present invention;

[0014] Figure 2 It is a schematic diagram of a multi-feature vibration suppression module of the present invention;

[0015] Figure 3 It is a schematic diagram of a vibration suppression parameter identification module of the present invention;

[0016] Figure 4 It is a schematic diagram of the vibration suppression waveform synthesis module of the present invention. DETAILED DESCRIPTION

[0017] In conjunction with the accompanying drawings, the implementation examples of the present invention are described in detail as follows.

[0018] The permanent magnet synchronous motor vector control system of the present invention is composed of the following Figure 1 , a 3s / 2r coordinate transformation module, a current controller, a 2r / 2s coordinate transformation module, a 3s / 2r coordinate transformation module, a multi-feature vibration suppression module, a pulse width modulation module and a frequency converter are sequentially connected and then connected to a permanent magnet motor, and an upper control is connected to the current controller, wherein the frequency converter is a voltage-type three-phase bridge inverter, and the permanent magnet motor is a three-phase Y-connected permanent magnet synchronous motor. The present invention adds a multi-feature vibration suppression module to the permanent magnet synchronous motor vector control system, and the multi-feature vibration suppression module connected in series between the 2r / 2s coordinate transformation module and the pulse width modulation module is connected to the permanent magnet motor through a vibration acceleration sensor, and the permanent magnet motor is connected to the 3s / 2r coordinate transformation module through a position sensor; the vibration acceleration sensor collects the vibration acceleration signal of the permanent magnet motor in real time and transmits it to the multi-feature vibration suppression module, and the multi-feature vibration suppression module controls the original control voltage u of the α-β coordinate system a0 and u β0 Process it to become the optimized voltage u a and u β Enter the PWM module.

[0019] The internal structure and composition of the multi-feature vibration suppression module are shown in the attached Figure 2, including one vibration feature extraction module, n vibration suppression parameter identification modules, n vibration suppression waveform synthesis modules, and one multi-feature vibration suppression waveform superposition module. Here, n is a natural number, and the value of n depends on the number of features where the vibration spectrum of the permanent magnet motor exceeds the standard. Each vibration suppression parameter identification module and vibration suppression waveform synthesis module corresponds to a set of vibration features, represented by the vibration amplitude V and the characteristic frequency h. Among them, the vibration feature extraction module analyzes the vibration spectrum through FFT or wavelet transform, identifies the characteristic frequency h and vibration amplitude V that exceed the standard. The n vibration suppression waveform synthesis modules synthesize the vibration suppression waveforms △u α and △u β , whose inputs are the vibration acceleration signal and the original voltage signal u a0 、u β0 , and the outputs are the optimized voltage signals u a and u β . That is, the multi-feature vibration suppression waveform superposition module superimposes the vibration suppression waveforms of each channel onto the original control voltage u a0 and u β0 , and outputs the voltage u a and u β .

[0020] The vibration feature extraction module analyzes the vibration acceleration signal and extracts the vibration amplitude V and characteristic frequency h of the vibration feature points. There may be multiple feature points, and the number is represented by n. The number of vibration suppression parameter identification modules and vibration suppression waveform synthesis modules is determined according to the number of feature points.

[0021] The structure and composition of the vibration suppression parameter identification module are shown in the appendix Figure 3 . Each vibration suppression parameter identification module includes four branches. Each branch identifies one vibration suppression parameter, and there are a total of four independent vibration suppression parameters. Each branch contains a high-pass filter, a low-pass filter, an integrator, a modulator, and a demodulator; the frequencies and phases of the modulator and demodulator within each branch are the same. The modulation and demodulation frequencies of branches one and two are ω1, and the modulation and demodulation frequencies of branches three and four are ω2; the modulation and demodulation phases of branches one and three are 0 degrees, and the modulation and demodulation phases of branches two and four are 90 degrees.

[0022] Each vibration suppression parameter identification module corresponds to a set of vibration features and dynamically identifies the parameters p1~p4 through a four-branch structure. The structure and composition of the vibration suppression waveform synthesis module are shown in the appendix Figure 4 .

[0023] Each vibration suppression waveform synthesis module calculates the vibration suppression waveforms △u α and △u β through the vibration suppression parameter p1, vibration suppression parameter p2, vibration suppression parameter p3, vibration suppression parameter p4, and vibration characteristic frequency h. The specific calculation formulas are respectively and

[0024] The multi - feature vibration - suppressing waveform superposition module superposes multiple vibration - suppressing waveforms △u α and △u β to obtain the optimized voltage u a and u β , and the formulas are respectively u α = u α0 +△u α1 +△u α2 +...+△u αn and u β = u β0 +△u β1 +△u β2 +...+△u βn .

[0025] The above - mentioned embodiments merely illustrate the principles and effects of the present invention and some applied embodiments. For those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. A multi-feature vibration suppression control method for a permanent magnet motor, based on a permanent magnet synchronous motor vector control system including a current controller, a 3s / 2r coordinate transformation module, a 2r / 2s coordinate transformation module, a pulse width modulation module, and an inverter; characterized in that: It includes a multi-feature vibration suppression module connected in series between the 2r / 2s coordinate transformation module and the pulse width modulation module. The multi-feature vibration suppression module is connected to the permanent magnet motor through a vibration acceleration sensor, and the permanent magnet motor is connected to the 3s / 2r coordinate transformation module through a position sensor. The vibration acceleration sensor collects the vibration acceleration signal of the permanent magnet motor in real time and transmits it to the multi-feature vibration suppression module. The multi-feature vibration suppression module processes the original control voltages u a0 and u β0 to become the optimized voltages u a and u β which are input into the pulse width modulation module.

2. The multi-feature vibration suppression control method for a permanent magnet motor according to claim 1, characterized in that, The multi-feature vibration suppression module is composed of a vibration feature extraction module, n vibration suppression parameter identification modules, n vibration suppression waveform synthesis modules, and a multi-feature vibration suppression waveform superposition module, where n is a natural number. Each vibration suppression parameter identification module and vibration suppression waveform synthesis module corresponds to a set of vibration features represented by vibration amplitude V and characteristic frequency h. The vibration feature extraction module analyzes the vibration spectrum through FFT or wavelet transform to identify the excessive characteristic frequency h and vibration amplitude V. The n vibration suppression waveform synthesis modules synthesize the vibration suppression waveform △u based on the vibration suppression parameters and characteristic frequency h α and △u β , and the multi-feature vibration suppression waveform superposition module superimposes the vibration suppression waveforms △u α and △u β onto the original control voltages u a0 and u β0 , and outputs the voltages u a and u β .

3. The multi-feature vibration suppression control method for a permanent magnet motor according to claim 2, characterized in that, The vibration suppression waveform synthesis module calculates the vibration suppression waveform △u through the formulas and . The multi-feature vibration suppression waveform superposition module calculates the optimized voltages u α and △u β through the formulas u α = u α0 + △u α1 + △u α2 +... + △u αn and u β = u β0 + △u β1 + △u β2 +... + △u βn . a and u β .

4. A multi-feature vibration suppression control method for a permanent magnet motor according to claim 1 or 2 or 3, characterized in that, The described vibration suppression parameter identification module consists of four branches, and each branch calculates a vibration suppression parameter; each branch includes a high-pass filter, a low-pass filter, an integrator, and a modulator and a demodulator with the same frequency and phase.

5. A vibration suppression control method for a permanent magnet motor with multiple characteristics according to claim 4, characterized in that, The frequencies of Branch 1 and Branch 2 are different from those of Branch 3 and Branch 4.

6. The multi - feature vibration suppression control method for a permanent magnet motor according to claim 5, characterized in that, The phases of Branch 1 and Branch 2 differ by 90°, and the phases of Branch 3 and Branch 4 differ by 90°.

Images