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

Abstract

The application discloses a rotor position tracking speed regulation system and a control method based on steepest tracking input shaping, and belongs to the field of motor control. The system comprises a speed loop control module, a current loop control module, a permanent magnet synchronous motor and a space vector pulse width modulation module. The first end, the second end and the third end of the speed loop control module are connected with the first end of the permanent magnet synchronous motor, and the fourth end of the speed loop control module is connected with the second end of the current loop control module. The first end of the current loop control module is connected with the first end of the permanent magnet synchronous motor, the third end of the current loop control module is connected with the first end of the space vector pulse width modulation module, the fourth end of the current loop control module is connected with the second end of the permanent magnet synchronous motor, and the second end of the space vector pulse width modulation module is connected with the third end of the permanent magnet synchronous motor. The application greatly reduces the overshoot of the step response of the speed regulation system, significantly improves the tracking performance, has no differential operation, and improves the anti-interference and anti-noise capabilities of the system.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a rotor position tracking speed regulation system and control method based on fastest tracking input shaping. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs) are widely used in aerospace, robotics, and high-precision manufacturing due to their excellent dynamic response and high control precision. They also have advantages such as high efficiency, high power density, low noise, high reliability, and high power factor.

[0003] Existing control strategies for permanent magnet synchronous motors have significant shortcomings: the integral component in proportional-integral (PI) control is prone to error accumulation, resulting in significant overshoot in step response, and there is a contradiction between tracking performance and disturbance rejection capability; the self-tuning of parameters in proportional-integral-derivative (PID) controllers cannot change the DC tracking characteristics; periodic component compensation algorithms such as proportional resonance (PR) require knowledge of specific disturbance information and are difficult to suppress random disturbances; sliding mode control suffers from chattering problems; active disturbance rejection control has many adjustable parameters; model reference adaptive control has a heavy computational burden; although rotor position tracking control avoids the error amplification of the position derivative component, the introduction of the integrator results in inherent accumulated error and overshoot at step setpoints. These defects all restrict further improvement of system performance. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide a rotor position tracking speed regulation system and control method based on the fastest tracking input shaping. By suppressing step response overshoot, eliminating integral cumulative error, and avoiding position differential noise amplification, the system tracking accuracy and anti-disturbance capability are significantly improved.

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

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

[0007] Secondly, this application provides a rotor position tracking speed control method based on the fastest tracking input shaping, which is applied to the speed control system of the permanent magnet motor servo system as described in any one of the first aspects, and includes the following steps:

[0008] A linear tracking differentiator is used to smooth and transform the speed command signal to generate a position trajectory command.

[0009] The actual position of the permanent magnet synchronous motor is obtained by a position sensing module. The actual position increment and the position trajectory command increment are calculated in real time by a feedback position increment calculator. The position trajectory command is dynamically reset based on the comparison result of the actual position increment and the threshold.

[0010] The reset position trajectory command and the actual position of the permanent magnet synchronous motor are input into the internal mold controller to generate the current setpoint;

[0011] Based on the given current value and the actual current, current loop control is performed to output the voltage vector setpoint.

[0012] The voltage vector setpoint is converted into a voltage vector setpoint in a two-phase stationary coordinate system, and a switching control signal is generated through the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

[0013] Optionally, a linear tracking differentiator is used to smooth and transform the speed command signal to generate a position trajectory command, including:

[0014] Design a linear tracking differentiator based on the maximum output electromagnetic torque, moment of inertia, and maximum allowable acceleration constraints of a permanent magnet synchronous motor.

[0015] The speed command signal is smoothed by a linear tracking differentiator to generate a smooth speed command.

[0016] The smooth speed command is input into the integrator to generate the position trajectory command.

[0017] Optionally, the structure of the linear tracking differentiator is as follows:

[0018]

[0019] in, For smooth speed commands, To accelerate the transition process, To accelerate the transition process, Provide a speed command signal. For tracking factors.

[0020] Optionally, a position sensing module is used to obtain the actual position of the permanent magnet synchronous motor, and a feedback position increment calculator is used to calculate the actual position increment and the position trajectory command increment in real time. Based on the comparison result of the actual position increment and a threshold, the position trajectory command is reset to obtain the reset position trajectory command, including:

[0021] The actual position of the permanent magnet synchronous motor is obtained in real time using a position sensing module.

[0022] The position trajectory command and the actual position input of the permanent magnet synchronous motor are fed back to the position increment calculator to obtain the actual position increment and the position trajectory increment.

[0023] The threshold is set incrementally based on the location trajectory command;

[0024] The actual position increment is compared with the threshold, and the position trajectory command is updated according to the comparison result to obtain the reset position trajectory command.

[0025] Optionally, threshold The expression is:

[0026]

[0027] in, This represents the increment of the position trajectory command at time k compared to the previous time. When the actual change in the motor's position exceeds the judgment value σ, the SR latch is used to set the motor's position at that time. save.

[0028] Optionally, the actual location increment is compared with a threshold, expressed as:

[0029]

[0030] in, This is the position trajectory instruction at discrete time k, i.e., the desired position at the current time; Discrete time k -1 is the position trajectory instruction, which is the desired position at the previous moment; h For discrete calculation step size; Discrete time k -1 smooth speed command; Discrete time k The position increment deviation is the difference between the actual position increment of the motor and the commanded position increment. σ For threshold; The discrete moments that trigger the position trajectory command reset; To reset the trigger time k The actual position of the motor is 0; To reset the trigger time k The previous moment of 0 The smooth speed command. Optionally, the voltage vector setpoint is converted into a voltage vector setpoint in a two-phase stationary coordinate system via a second coordinate transformer, and a switching control signal is generated by a space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor, including,

[0031] The voltage vector setpoint output by the current proportional-integral controller is converted into a voltage vector setpoint in a two-phase stationary coordinate system via a second coordinate transformer.

[0032] The voltage vector setpoint in the two-phase stationary coordinate system is used to obtain the switching control signal through the space vector pulse width modulation module, thereby completing the speed control of the permanent magnet synchronous motor.

[0033] The above-mentioned technical solution adopted in this application has the following beneficial effects: By introducing a linear tracking differentiator, the motor acceleration process can be rationalized, effectively reducing overshoot under a step speed command; the designed linear tracking differentiator has a simple structure, few adjustable parameters, and is easy to implement in engineering; the designed speed tracking method can effectively reduce speed overshoot under a step command, achieving smooth operation of the motor speed control system; the linear tracking differentiator proposed in this application can set a reasonable acceleration curve for the permanent magnet servo motor through relevant motor parameters, exhibiting strong adaptability; by using the difference between the position increment deviation and the position trajectory command increment for judgment, the idea of ​​rotor position tracking is adopted, without introducing an additional differential link to calculate the speed, ensuring the robustness of the system. Attached Figure Description

[0034] Figure 1 This is a structural block diagram of a rotor position tracking speed regulation system based on fastest tracking input shaping provided in one embodiment of this application.

[0035] Figure 2 This is a flowchart of a rotor position tracking speed control method based on fastest tracking input shaping provided in one embodiment of this application.

[0036] Figure 3 This is a flowchart of step S1 in a rotor position tracking speed control method based on fastest tracking input shaping provided in one embodiment of this application.

[0037] Figure 4 This is a block diagram of the linear tracking differentiator structure in step S1 of the rotor position tracking speed control method based on the fastest tracking input shaping provided in one embodiment of this application.

[0038] Figure 5 This is a flowchart of step S2 in the rotor position tracking speed control method based on fastest tracking input shaping provided in one embodiment of this application.

[0039] Figure 6 This is a flowchart of step S5 in the rotor position tracking speed control method based on fastest tracking input shaping provided in one embodiment of this application.

[0040] Figure 7 This is a graph showing the relationship between the given speed and the actual speed in one embodiment of this application when the rotor position tracking speed control method based on the fastest tracking input shaping is not used.

[0041] Figure 8 This is a graph showing the relationship between the given speed and the actual speed when using a rotor position tracking speed control method based on the fastest tracking input shaping in one embodiment of this application.

[0042] Figure 9This is a diagram showing the relationship between the trajectory generated by the position trajectory command and the actual position trajectory in one embodiment of this application when the rotor position tracking speed control method based on the fastest tracking input shaping is not used.

[0043] Figure 10 This is a diagram showing the relationship between the trajectory generated by the position trajectory command and the actual position trajectory when using a rotor position tracking speed control method based on the fastest tracking input shaping in one embodiment of this application. Detailed Implementation

[0044] To make the objectives and technical solutions of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0045] In one embodiment, see Figure 1 This application provides a rotor position tracking speed control system based on fastest tracking input shaping, including a speed loop control module 1, a current loop control module 2, a permanent magnet synchronous motor 3, a position sensing module 4, and a space vector pulse width modulation module 5. The first, second, and third ends of the speed loop control module 1 are all connected to the first end of the position sensing module 4, and the fourth end of the speed loop control module 1 is connected to the second end of the current loop control module 2. The first end of the current loop control module 2 is connected to the first end of the position sensing module 4, the third end of the current loop control module 2 is connected to the first end of the space vector pulse width modulation module 5, and the fourth end of the current loop control module 2 is connected to the second end of the permanent magnet synchronous motor 3. The second end of the space vector pulse width modulation module 5 is connected to the third end of the permanent magnet synchronous motor 3, and the first end of the permanent magnet synchronous motor 3 is connected to the second end of the position sensing module 4. The speed loop control module 1 is the outer core of the rotor position tracking speed control system based on fastest tracking input shaping, and is mainly responsible for receiving the speed command signal. The process involves smoothing, generating a smooth position trajectory, implementing position tracking and dynamic reset, and finally outputting the current setpoint. The current loop control module 2 is the inner loop of the system, responsible for controlling the given current output by the speed loop control module 1. The deviation from the actual current is used to output the voltage vector setpoint in the two-phase stationary coordinate system. The position sensing module 4 acquires the actual position of the permanent magnet synchronous motor. The space vector pulse width modulation module 5 receives the voltage vector setpoint in the two-phase stationary coordinate system output by the current loop control module 2. The speed control of the permanent magnet synchronous motor is achieved by generating a switch control signal based on the three-phase voltage.

[0046] As an example, the speed loop control module 1 includes: a linear tracking differentiator 11, an integrator 12, a feedback position increment calculator 13, a trajectory generator / resetter 14, an SR latch 15, and an internal model controller 16. The first terminal of the linear tracking differentiator 11 receives the speed command signal. The second end of the linear tracking differentiator 11 is connected to the first end of the integrator 12, and the second end of the integrator 12 is connected to the first end of the trajectory generator / resetter 14. The first end of the feedback position increment calculator 13 is connected to the second end of the integrator 12, and the second end of the feedback position increment calculator 13 is connected to the second end of the trajectory generator / resetter 14. The third end of the feedback position increment calculator 13 is connected to the first end of the position sensing module 4, and the fourth end of the feedback position increment calculator 13 is connected to the first end of the SR latch 15. The second end of the SR latch 15 is connected to the first end of the position sensing module 4, and the third end of the SR latch 15 is connected to the first end of the internal model controller 16. The third end of the trajectory generator / resetter 14 is connected to the first end of the internal model controller 16, and the second end of the internal model controller 16 is connected to the second end of the current loop control module 2. The speed loop control module 1 receives the speed command signal, smooths it to generate a smooth speed command, converts the smooth speed command into a position trajectory command, and dynamically resets the position trajectory command based on the comparison between the actual position increment and the position trajectory command increment, outputting the current command value. .

[0047] As an example, the linear tracking differentiator 11 receives the speed command signal. It is then smoothed to generate a smooth rotation speed command with limited acceleration. To integrator 12; integrator 12 will smooth the speed command Convert to position trajectory command The data is transmitted to the trajectory generator / resetter 14 and the feedback position increment calculator 13 to avoid noise amplification of the position derivative; the feedback position increment calculator 13 calculates the position trajectory command increment. and actual position increment The value is compared with a threshold to determine whether a reset is needed. When the actual change in the motor position is higher than the judgment value σ, the SR latch 15 saves the motor position at that moment and outputs a reset enable signal to the trajectory generator / resetter 14. The trajectory generator / resetter 14 then processes the position trajectory command. Perform a reset to eliminate tracking lag caused by accumulated integral error, and output the reset position command. The internal mold controller 16 receives the reset position command. and actual location The difference is used to generate the current setpoint. The output is sent to current loop control module 2 to achieve high-precision position tracking, improving the system's tracking performance and anti-interference capability. Specifically, the position trajectory command increment... The actual position increment is the change in the discrete domain of the position trajectory command generated by the integrator from the smooth rotational speed command. This represents the change in the actual position of the motor in the discrete domain, obtained through the position sensing module.

[0048] As an example, the linear tracking differentiator 11 can be a third-order linear tracking differentiator (LTD).

[0049] As an example, the internal model controller 16 may include a built-in motor mechanical model and a second-order low-pass filter.

[0050] As an example, the current loop control module 2 includes: a current proportional-integral controller 21, a first coordinate transformer 22, and a second coordinate transformer 23. The first end of the first coordinate transformer 22 is connected to the first end of the position sensing module 4; the second end of the first coordinate transformer 22 is connected to the second end of the permanent magnet synchronous motor 3; the third end of the first coordinate transformer 22 is connected to the first end of the current proportional-integral controller 21; the second end of the current proportional-integral controller 21 is connected to the first end of the second coordinate transformer 23; and the second end of the second coordinate transformer 23 is connected to the first end of the space vector pulse width modulation module 5. The current loop control module 2 is used to receive the current setpoint and the actual two-phase rotating shaft current, perform current tracking control, and output a voltage vector setpoint.

[0051] As an example, the current loop control module 2 may also include a current sensor (not shown) for acquiring the actual three-phase current. , , .

[0052] As an example, the first coordinate transformer 22 converts the actual three-phase current... , , Converted to two-phase rotating current The current proportional-integral controller 21 receives the two-phase rotating current output from the first coordinate transformer 22. For two-phase rotating current The current setpoint output by the internal model controller 16 Real-time tracking is performed, and the output voltage vector setpoint is calculated. The second coordinate transformer 23 performs coordinate transformation and outputs the voltage vector setpoint in the two-phase stationary coordinate system. .

[0053] As an example, the first coordinate transformer 22 can be a 3s / 2r transformer.

[0054] As an example, the second coordinate transformer 23 can be a 2s / 2r transformer.

[0055] The rotor position tracking speed control system based on the fastest tracking input shaping proposed in this application performs physically constrained smoothing of the speed command signal through a linear tracking differentiator 11, generating a smooth speed command with limited acceleration and jerk. This completely eliminates the noise amplification problem caused by traditional position signal differentiation operations, avoids mechanical shock to the motor, and significantly improves the system's noise immunity. Furthermore, the feedback position increment calculator 13 calculates the actual position increment and the position trajectory command increment in real time, enabling threshold-based dynamic position trajectory command reset. This completely eliminates the tracking lag caused by the accumulated error of the integrator 12, achieving high precision between the position trajectory command and the actual position. Synchronization; Through the internal model controller 16 with built-in motor mechanical model and second-order low-pass filter, a current setpoint without overshoot is directly generated. Combined with the parameter adaptive current proportional-integral controller 21, a fast tracking response of the current loop is achieved, maintaining complete decoupled control of zero direct-axis current, which significantly improves the system's resistance to load disturbances. Through the space vector pulse width modulation module 5, the voltage control signal is converted into a precise switching signal. Combined with the real-time feedback of the position sensing module and current sensor, a high-precision closed-loop drive is constructed, which greatly reduces the step response overshoot of the speed regulation system and significantly improves the tracking performance and operational stability of the permanent magnet direct drive motor speed regulation system.

[0056] In yet another embodiment, please refer to Figure 1 This application provides a rotor position tracking speed control method based on the fastest tracking input shaping, including the following steps: steps S1 to S5.

[0057] Step S1: Use a linear tracking differentiator to smooth and transform the speed command signal to generate a position trajectory command.

[0058] Step S2: Use a position sensing module to obtain the actual position of the permanent magnet synchronous motor, use a feedback position increment calculator to calculate the actual position increment and the position trajectory command increment in real time, and reset the position trajectory command based on the comparison result of the position trajectory command increment and the threshold to obtain the reset position trajectory command.

[0059] Step S3: Input the reset position trajectory command and the actual position of the permanent magnet synchronous motor into the internal model controller to generate the current setpoint.

[0060] Step S4: Based on the given current value and the actual current, perform current loop control and output the voltage vector setpoint.

[0061] Step S5: The voltage vector setpoint is converted into a voltage vector setpoint in a two-phase stationary coordinate system by the second coordinate transformer, and a switching control signal is generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

[0062] The rotor position tracking speed control method based on the fastest tracking input shaping proposed in this application uses a linear tracking differentiator to physically constrain and smooth the step speed command, which can completely eliminate the noise amplification problem caused by the traditional position signal differentiation operation and generate a smooth speed command with limited acceleration. Through the dynamic position command reset mechanism, the tracking lag caused by the cumulative error of the integrator can be eliminated. Through the internal model controller with built-in motor mechanical model and anti-disturbance filter, the overshoot-free current command can be directly generated, which significantly improves the system's anti-load disturbance capability. Through the parameter adaptive current proportional-integral controller, the tracking response of the current loop can be realized. Through the space vector pulse width modulation module, a high-precision closed-loop drive can be constructed.

[0063] In step S1, please refer to Figure 2 In step S1, a linear tracking differentiator is used to smooth and transform the speed command signal to generate a position trajectory command.

[0064] For example, please refer to Figure 3 Step S1 may include the following steps: Step S11 to Step S13.

[0065] Step S11: Design a linear tracking differentiator based on the maximum output electromagnetic torque, moment of inertia, and maximum allowable acceleration constraints of the permanent magnet synchronous motor.

[0066] Step S12: The speed command signal is smoothed by a linear tracking differentiator to generate a smooth speed command.

[0067] Step S13: Input the smooth speed command into the integrator to generate the position trajectory command.

[0068] Specifically, in step S11, the permanent magnet synchronous motor 3 is constructed in... dq The voltage equation in the coordinate system is obtained. d shaft voltage u d and q shaft voltage u q The voltage equation of a permanent magnet synchronous motor in the dq coordinate system is:

[0069]

[0070] in, u d 、u q They are respectively d, qshaft voltage, i d 、i q These are the d-axis and q-axis currents, respectively. R s The resistance of each phase of the stator winding. L d 、 L q They are respectively d, q Shaft inductor, p n For extreme logarithms, ψ f It is a permanent magnet flux chain. ω ω is the rotor angular velocity.

[0071] Furthermore, the mechanical motion equations of the permanent magnet synchronous motor 3 are established, and the expression is as follows:

[0072]

[0073] in, For rotational inertia, The drag coefficient, For electromagnetic torque, For load torque, ω The rotor angular velocity, For time.

[0074] As an example, one could use d Shaft current control, i.e. d shaft current i d When the torque angle is 0, the angle δ between the current flowing through the stator winding of the permanent magnet synchronous motor and the rotor magnetic field phasor is 90°, i.e., the torque angle is 90°. At this time, only a small portion of the current flowing through the stator winding of the permanent magnet synchronous motor is present. q Axial components, by q shaft current i q Generate electromagnetic torque And it can achieve static current decoupling, that is d shaft current i d =0 makes q shaft and d The axis can be independently controlled. At this time... d shaft voltage u d and q shaft voltage u q The expression is:

[0075]

[0076] in, for d Shaft voltage; for q Shaft voltage; The number of pole pairs reflects the quantitative characteristic of the rotor magnetic poles; This refers to the rotor angular velocity; for q Shaft inductance; The resistance of each phase of the stator winding; for q shaft current; The derivative with respect to time reflects q The rate of change of shaft current; is the flux linkage of the permanent magnet, and is the flux linkage size generated by the rotor permanent magnet.

[0077] Further, please refer to Figure 4 Based on the maximum output electromagnetic torque of the permanent magnet synchronous motor T emax Moment of inertia J The linear tracking differentiator 11 is designed with the maximum allowable acceleration constraint and a transient process arranged to achieve smooth processing of the speed command signal of the speed control system. The structure of the linear tracking differentiator 11 is as follows:

[0078]

[0079] in, To smooth the speed setting, To accelerate the transition process, To accelerate the transition process, Provide a speed command signal. r The tracking factor is used. The speed control system moves according to the smooth speed command. Acceleration is achieved through the transient process. and accelerator of the transition process By overcoming limitations and eliminating high-frequency noise from step inputs, a smooth speed command can be generated. To avoid mechanical impact on the motor.

[0080] As an example, based on the designed linear tracking differentiator structure, its transfer function... It can be represented as:

[0081]

[0082] in, For the Laplace operator, r As a tracking factor, For smooth speed commands, The speed command signal.

[0083] Furthermore, the linear tracking differentiator is discretized for implementation in a digital controller, and its discretized model structure is as follows:

[0084]

[0085] in, For smooth rotational speed in the discrete domain, The given speed signal in the discrete domain. For acceleration of the transient process in the discrete domain, To accelerate the transition process in the discrete domain, h The step size is used for discrete calculation.

[0086] Furthermore, based on the maximum output electromagnetic torque and moment of inertia Determine the tracking factor of the linear tracking differentiator r The linear tracking differentiator 11 n Time-domain function of unit step response It can be represented as:

[0087]

[0088] Where n is the amplitude of the speed step command, r is the tracking factor, and t is time.

[0089] Furthermore, the maximum acceleration during the transient process is solved based on the time-domain function of the tracking differentiator output. The linear tracking differentiator n Time-domain function of unit step response Taking the first and second derivatives, we get the expression:

[0090]

[0091] Where n is the amplitude of the step command, and r is the tracking factor. To accelerate the transition process, To accelerate the transition process.

[0092] As an example, without considering external disturbances to the system, the maximum acceleration of the motor design. It can be determined by the maximum output electromagnetic torque and system rotational inertia The maximum acceleration of the motor is obtained. With the acceleration of the transition process The maximum value is equivalent to:

[0093]

[0094] Where n is the magnitude of the step instruction. Let J be the maximum output electromagnetic torque of the motor, J be the rotational inertia of the system, and r be the tracking factor.

[0095] Furthermore, the value of the tracking factor r can be obtained:

[0096]

[0097] in, denoted as the maximum output electromagnetic torque of the motor, n as the amplitude of the step command, and J as the system's moment of inertia.

[0098] As an example, the linear tracking differentiator 11 can be a third-order linear tracking differentiator (LTD).

[0099] As an example, in step S12, the speed command signal is set as needed. , give the speed command signal Transient acceleration is generated by smoothing through a linear tracking differentiator 11. Limited smooth speed command .

[0100] As an example, in step S13, the speed control system does not directly adjust the motor speed, but instead uses the integrator 12 to process the smooth speed command obtained by the linear tracking differentiator 11. Convert into motor position trajectory command This avoids noise amplification caused by directly differentiating the position signal. The integration process is implemented in the discrete domain, generating a smooth position reference trajectory, allowing the system to indirectly adjust the rotational speed through position tracking.

[0101] Specifically, the smooth speed command The smoothed position trajectory command is obtained after processing by the integrator. The expression is:

[0102]

[0103] in, For smooth speed commands, t For time.

[0104] Furthermore, the smooth position trajectory command Transform to the discrete domain to obtain the smooth position trajectory in the discrete domain. The expression is:

[0105]

[0106] in, The position trajectory command at discrete time k, discrete time The position trajectory refers to the discrete calculation step size h. Discrete time Smooth speed command.

[0107] In step S2, please refer to Figure 2 The system employs a position sensing module to acquire the actual position of the permanent magnet synchronous motor. A feedback position increment calculator is used to calculate the actual position increment and the position trajectory command increment in real time. Based on the comparison result between the actual position increment and a threshold, the position trajectory command is reset to obtain the reset position trajectory command. For example, please refer to [link to example]. Figure 5 Step S2 may include the following steps: Step S21 to Step S24.

[0108] Step S21: Use a position sensing module to obtain the actual position of the permanent magnet synchronous motor in real time.

[0109] Step S22: Input the position trajectory command and the actual position of the permanent magnet synchronous motor into the position increment calculator to obtain the actual position increment and the position trajectory command increment.

[0110] Step S23: Set the threshold incrementally according to the location trajectory command.

[0111] Step S24: Compare the actual position increment with the threshold, update the position trajectory command according to the comparison result, and obtain the reset position trajectory command.

[0112] Specifically, in step S21, the actual position is collected in real time by the position sensing module 4 installed on the permanent magnet synchronous motor 3. and the actual location The data is transmitted to the feedback position increment calculator 13 and the trajectory generator / resetter 14.

[0113] As an example, in step S22, the feedback position increment calculator 13 receives the current position trajectory instruction output by the integrator 12. Position trajectory command from the previous moment Calculate the position trajectory command increment Furthermore, the feedback position increment calculator 13 calculates the actual position at the current moment based on the feedback from the position sensing module 4. and the actual position at the previous moment Calculate the actual position increment .

[0114] As an example, in step S23, the threshold The expression is:

[0115]

[0116] in, This represents the increment of the position trajectory command at time k compared to the previous time.

[0117] As an example, in step S24, the feedback position increment calculator 13 compares the actual position increment with a threshold, and when the absolute value of the change in the actual position of the motor... < When the actual range of motion of the motor is less than the range of motion required by the command, it indicates that the system is still in the process of acceleration or deceleration tracking and has not yet reached the state where a reset command is required. The position command at time k... Position command based on time k-1 Add the smooth speed command at time k-1 The integral displacement over a distance h from the walking distance is obtained; when the absolute value of the change in the actual position of the motor is... = When the actual movement of the motor is exactly equal to the movement range required by the command, this usually occurs just before completion. At this point, the accumulated position error reaches a critical point, requiring a reset to eliminate subsequent tracking lag. The new position trajectory command is then generated by this... The actual position of the time motor Plus Smooth rotation speed command at any time The integral displacement within a distance h from the walking distance constitutes the absolute value of the change in the actual position of the motor. When the actual movement amplitude of the motor is greater than the movement amplitude required by the command, the position trajectory command for the next moment is based on the actual position recorded at the reset moment. Add the smooth speed command from the previous time step to the current time step The integral displacement within a distance h from the walking distance constitutes the position trajectory update command. In summary, the expression for the position trajectory update command is:

[0118]

[0119] in, This is the position trajectory instruction at discrete time k, i.e., the desired position at the current time; Discrete time k -1 is the position trajectory instruction, which is the desired position at the previous moment; h For discrete calculation step size; Discrete time k -1 smooth speed command; Discrete time k The position increment deviation is the difference between the actual position increment of the motor and the commanded position increment. σ For threshold; The discrete moments that trigger the position trajectory command reset; To reset the trigger time kThe actual position of the motor is 0; To reset the trigger time k The previous moment of 0 Smooth speed command.

[0120] In step S3, please refer to Figure 2 The reset position trajectory command and the actual position of the permanent magnet synchronous motor are input into the internal model controller to generate the current setpoint.

[0121] Specifically, based on the established mechanical model of the permanent magnet synchronous motor and the second-order filter, the position trajectory command is... and actual location The difference is then input to the internal model controller 16 to obtain the current control signal, i.e., the current setpoint. Its expression is:

[0122]

[0123] in, For position trajectory instructions, For actual location, This is the structure function for the internal model controller 16.

[0124] As an example, the structure function of the internal model controller 16 for:

[0125]

[0126] Where s is the Laplace operator, used for frequency domain analysis of system dynamic characteristics; J is the system moment of inertia; The system damping coefficient; Motor torque constant, which is the conversion coefficient between current and electromagnetic torque; This is the filter transfer function in the internal model controller.

[0127] As an example, the filter transfer function in the internal model controller 16 The expression is:

[0128]

[0129] in, Let the filter order be . λ is the filter time constant.

[0130] As an example, for a common control system, the filter transfer function A second-order low-pass filter is typically chosen, and the filter order can be set. m =2, so as to simultaneously satisfy the requirements of system simplicity and control performance.

[0131] In step S4, please refer to Figure 2 Based on the given current value and the actual current, current loop control is performed to output the voltage vector setpoint.

[0132] Specifically, current sensors are used to obtain the actual three-phase current of the permanent magnet synchronous motor. , , The actual current feedback value obtained through the first coordinate transformer 22 .

[0133] Furthermore, the current setpoint output by the internal model controller 16 is... and actual current feedback value The difference is then input to the current proportional-integral controller 21, which calculates the current deviation and outputs the voltage vector setpoint. .

[0134] As an example, the current proportional-integral controller 21 and the first coordinate transformer 22 constitute a current loop control module 2, and the transfer function of the current loop control module 2 can be expressed as:

[0135]

[0136] in, These are the proportional coefficient and integral coefficient of the current proportional-integral controller 21, respectively, and their values ​​are obtained by zero-pole cancellation tuning. s For the Laplace operator; For motor q Shaft inductance is a component of permanent magnet synchronous motors. q Inductance parameters in the axial direction; is the resistance of each phase of the stator winding, and is the resistance parameter of the motor stator winding.

[0137] Furthermore, the parameters of the current loop control module 2 are tuned. According to classical automatic control theory, the farther the poles of the closed-loop transfer function are from the imaginary axis, the better the speed of response. Therefore, the proportional coefficient of the time constant of the current proportional-integral controller 21 is configured using the zero-pole cancellation method. k cp / Integral coefficient k ci With motor q Shaft inductor L q Stator winding phase resistance R s Equal to obtain the closed-loop transfer function of current loop control module 2. The expression is:

[0138]

[0139] in, Let be the bandwidth of the current loop, and s be the Laplace operator.

[0140] As an example, the current loop bandwidth can be expressed as:

[0141]

[0142] in, For motor q Shaft inductor, The resistance of each phase of the stator winding. , These are the proportional coefficient and integral coefficient of the current proportional-integral controller 21, respectively, and their values ​​are obtained by zero-pole cancellation tuning.

[0143] As an example, in order to tune the dynamic performance of the current loop control module 2 and ensure that the current loop responds quickly and operates stably, the open-loop cutoff frequency is set. ω cc To achieve full current loop bandwidth The current loop dynamic performance is adjusted to a suitable range, and the expression for the bandwidth tuning method is:

[0144]

[0145] in, , This is the proportional coefficient of the current proportional-integral controller 21, whose value is obtained by tuning using the zero-pole cancellation method. For the q-axis inductance of the motor, The open-loop cutoff frequency of the current loop. This represents the resistance of each phase of the stator winding.

[0146] In step S5, the voltage vector setpoint is converted into a voltage vector setpoint in a two-phase stationary coordinate system by the second coordinate transformer, and a switching control signal is generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

[0147] For example, please refer to Figure 6 Step S5 may include the following steps: Step S51 to Step S52.

[0148] Step S51: The voltage vector setpoint output by the current proportional-integral controller is converted into a voltage vector setpoint in a two-phase stationary coordinate system via the second coordinate transformer.

[0149] Step S52: The voltage vector setpoint in the two-phase stationary coordinate system is used to obtain the switching control signal through the space vector pulse width modulation module to complete the speed control of the permanent magnet synchronous motor.

[0150] Specifically, in step S51, the voltage vector setpoint output by the current proportional-integral controller 21 is... The output is sent to the second coordinate transformer 23, which performs coordinate transformation and outputs the voltage vector setpoint in the two-phase stationary coordinate system. .

[0151] Further, in step S52, the voltage vector given in the two-phase stationary coordinate system is... The space vector pulse width modulation module 5 generates switching control commands to drive the motor.

[0152] In one example, the performance of the rotor position tracking speed control method based on the fastest tracking input shaping proposed in this application can be verified in a Simulink simulation. Figure 7 This is a graph showing the relationship between the given speed and the actual speed in one embodiment of this application when the rotor position tracking speed control method based on the fastest tracking input shaping is not used. Figure 7 It can be seen that when the given speed is 2000 r / min, the actual speed overshoot reaches a maximum of about 350 r / min. Figure 8 This is a graph showing the relationship between the given speed and the actual speed when using a rotor position tracking speed control method based on the fastest tracking input shaping in one embodiment of this application. Figure 8 It can be seen that, given the same speed of 2000 r / min, the actual speed overshoot is reduced to less than 50 r / min. Figure 9 This is a diagram showing the relationship between the trajectory generated from the position trajectory command and the actual position trajectory in one embodiment of this application when the rotor position tracking speed control method based on the fastest tracking input shaping is not used. Figure 9 As can be seen, when the given speed reaches the given value, there is still a deviation in the actual position trajectory, which causes the motor speed to overshoot. Therefore, it is necessary to determine the difference between the actual motor speed and the given speed in real time, and reset the motor position trajectory command when the speed reaches the given speed. Figure 10 This is a graph showing the relationship between the given position and the actual position trajectory generated based on the position trajectory command when using a rotor position tracking speed control method based on the fastest tracking input shaping in one embodiment of this application. Figure 10 As can be seen, through the position trajectory command reset mechanism, when the actual position increment of the motor reaches or exceeds the command position increment threshold, the position trajectory command is reset to the superposition value of the current actual position and the smooth speed integral, eliminating the cumulative deviation of the position trajectory, so that the actual position can accurately follow the reset position trajectory command, effectively suppressing speed overshoot, and achieving smooth tracking of position and speed.

[0153] In the rotor position tracking speed control method based on the fastest tracking input shaping proposed in this application, a linear tracking differentiator 11 is designed in the discrete domain to smooth the speed command signal, generating a smooth speed command with limited acceleration. An integrator 12 is used to convert the smooth speed command into a position trajectory command, avoiding noise amplification caused by direct differentiation of the position signal. In conjunction with a position trajectory generation system with a reset function, a feedback position increment calculator 13 calculates the position trajectory increment and the actual position increment, and makes a judgment. When the reset condition is met, the position trajectory command is reset, eliminating integral accumulation error. An internal model controller 16 controls the motor rotor position to match the reset position trajectory command. Real-time tracking, output current setpoint The current loop control module 2 and the space vector pulse width modulation module 5 ultimately improve the tracking performance and disturbance rejection performance of the rotor position tracking speed regulation system based on the fastest tracking input shaping, reduce step response overshoot, and enhance the system's noise immunity. In summary, the method of this application can significantly suppress step response overshoot, eliminate integral accumulation error, avoid speed differential noise amplification, improve system tracking accuracy and disturbance rejection capability, and ensure a smooth and efficient speed regulation process.

[0154] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0155] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] Although this application has been disclosed above with reference to embodiments, it is not intended to limit this application. Anyone skilled in the art can make some modifications and refinements without departing from the spirit and scope of this application.

Claims

1. A rotor position tracking speed control system based on fastest tracking input shaping, characterized in that, include: The system comprises a speed loop control module, a current loop control module, a permanent magnet synchronous motor, a position sensing module, and a space vector pulse width modulation module. The first, second, and third terminals of the speed loop control module are all connected to the first terminal of the position sensing module, and the fourth terminal of the speed loop control module is connected to the second terminal of the current loop control module. The first terminal of the current loop control module is connected to the first terminal of the position sensing module, the third terminal of the current loop control module is connected to the first terminal of the space vector pulse width modulation module, and the fourth terminal of the current loop control module is connected to the second terminal of the permanent magnet synchronous motor. The second terminal of the space vector pulse width modulation module is connected to the third terminal of the permanent magnet synchronous motor, and the first terminal of the permanent magnet synchronous motor is connected to the second terminal of the position sensing module. The speed loop control module includes a linear tracking differentiator, an integrator, a feedback position increment calculator, a trajectory generator / resetter, an SR latch, and an internal model controller. The first terminal of the linear tracking differentiator receives a speed command signal; the second terminal of the linear tracking differentiator is connected to the first terminal of the integrator; the second terminal of the integrator is connected to the first terminal of the trajectory generator / resetter. The first terminal of the feedback position increment calculator is connected to the second terminal of the integrator; the second terminal of the feedback position increment calculator is connected to the second terminal of the trajectory generator / resetter; the third terminal of the feedback position increment calculator is connected to the first terminal of the position sensing module; the fourth terminal of the feedback position increment calculator is connected to the first terminal of the SR latch; the second terminal of the SR latch is connected to the first terminal of the position sensing module; the third terminal of the SR latch is connected to the first terminal of the internal model controller; the third terminal of the trajectory generator / resetter is connected to the first terminal of the internal model controller; and the second terminal of the internal model controller is connected to the second terminal of the current loop control module.

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

3. A rotor position tracking speed control method based on fastest tracking input shaping, characterized in that, The rotor position tracking speed control system based on the fastest tracking input shaping, as described in any one of claims 1 to 2, comprises the following steps: A linear tracking differentiator is used to smooth and transform the speed command signal to generate a position trajectory command. The actual position of the permanent magnet synchronous motor is obtained by a position sensing module. The actual position increment and the position trajectory command increment are calculated in real time by a feedback position increment calculator. Based on the comparison result of the actual position increment and a threshold, the position trajectory command is reset to obtain the reset position trajectory command. The reset position trajectory command and the actual position of the permanent magnet synchronous motor are input into the internal model controller to generate a current setpoint. Based on the given current value and the actual current, current loop control is performed to output the voltage vector setpoint. The voltage vector setpoint is converted into a voltage vector setpoint in a two-phase stationary coordinate system by the second coordinate transformer, and a switching control signal is generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor.

4. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 3, characterized in that, The linear tracking differentiator is used to smooth and transform the speed command signal to generate the position trajectory command, including: The linear tracking differentiator is designed based on the maximum output electromagnetic torque, moment of inertia, and maximum allowable acceleration constraints of the permanent magnet synchronous motor. The speed command signal is smoothed by the linear tracking differentiator to generate a smooth speed command. The smooth rotation speed command is input into the integrator to generate the position trajectory command.

5. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 4, characterized in that, The structure of the linear tracking differentiator is as follows: ， in, For smooth speed commands, To accelerate the transition process, To accelerate the transition process, Provide a speed command signal. For tracking factors.

6. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 3, characterized in that, The actual position of the permanent magnet synchronous motor is obtained using the position sensing module. The feedback position increment calculator is used to calculate the actual position increment and the position trajectory command increment in real time. Based on the comparison result of the actual position increment and the threshold, the position trajectory command is reset to obtain the reset position trajectory command, including: The position sensing module is used to obtain the actual position of the permanent magnet synchronous motor in real time. The position trajectory command and the actual position of the permanent magnet synchronous motor are input into the feedback position increment calculator to obtain the actual position increment and the position trajectory command increment; The threshold is set incrementally according to the location trajectory command; The actual position increment is compared with the threshold, and the position trajectory command is updated according to the comparison result to obtain the reset position trajectory command.

7. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 6, characterized in that, The threshold The expression is: ， in, This represents the increment of the position trajectory command at discrete time k compared to the previous time.

8. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 6, characterized in that, The actual position increment is compared with the threshold, expressed as follows: ， in, The position trajectory command for discrete time k; Discrete time k -1 position trajectory instruction; h For discrete calculation step size; Discrete time Smooth speed command; Discrete time k Position increment deviation; σ For threshold; The discrete moments that trigger the position trajectory command reset; To reset the trigger time k The actual position of the motor is 0; To reset the trigger time k The previous moment of 0 Smooth speed command.

9. The rotor position tracking speed control method based on the fastest tracking input shaping according to claim 3, characterized in that, The voltage vector setpoint is converted into a voltage vector setpoint in the two-phase stationary coordinate system via the second coordinate transformer. The switching control signal is then generated by the space vector pulse width modulation module to control the operation of the permanent magnet synchronous motor. The voltage vector setpoint output by the current proportional-integral controller is converted into the voltage vector setpoint in the two-phase stationary coordinate system by the second coordinate transformer; The voltage vector setpoint in the two-phase stationary coordinate system is used to obtain the switching control signal through the space vector pulse width modulation module, thereby completing the speed control of the permanent magnet synchronous motor.

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