阅读说明：本技术 一种基于时序滞后补偿的双中断永磁同步电机高速驱动控制方法 (Double-interruption permanent magnet synchronous motor high-speed driving control method based on time sequence lag compensation ) 是由 王磊 肖磊 田皓元 于 2019-06-25 设计创作，主要内容包括：本发明公开了一种基于时序滞后补偿的双中断永磁同步电机高速驱动控制方法,该方法采用低速中断进行当前角度值计算以及永磁同步电机的d,q轴控制电压U<Sub>d</Sub>,U<Sub>q</Sub>计算,采用高速中断补偿程序计算过程导致的角度滞后,最终通过空间矢量坐标变换实现永磁同步电机三相相电压U<Sub>u</Sub>,U<Sub>v</Sub>,U<Sub>w</Sub>输出。该方法能够提高永磁同步电机三相相电压脉宽调制波形输出频率,降低永磁同步电机相电流纹波噪声,通过高速中断对角度计算时滞进行滞后补偿,保证高速中断输出的脉宽调制电压波形准确,提高控制系统控制精度。(The invention discloses a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation d ,U q Calculating, namely calculating angle lag caused by adopting a high-speed interruption compensation program, and finally realizing three-phase voltage U of the permanent magnet synchronous motor through space vector coordinate transformation u ,U v ,U w And (6) outputting. The method can improve the output frequency of the pulse width modulation waveform of the three-phase voltage of the permanent magnet synchronous motor, reduce the phase current ripple noise of the permanent magnet synchronous motor, carry out lag compensation on the angle calculation time lag through high-speed interruption, ensure the accuracy of the pulse width modulation voltage waveform output by the high-speed interruption, and improve the control precision of a control system.)

1. A high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation is characterized by comprising the following steps: the method comprises the following concrete implementation processes:

the method comprises the following steps: low speed interrupt calculation module setup

Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current value_u、i_v、i_wObtaining d-q axis feedback current i through space vector coordinate change_d、i_qAs shown in formula (1):

the method comprises the steps of adopting a control mode that d-axis current is 0, adopting a PI (proportional-integral) controller to realize calculation of d-q-axis voltage instructions, wherein k represents a current calculation period, k-1 represents a previous calculation period, and according to a current calculation period current instruction value and an actual d-q-axis current feedback value i obtained by three-phase current space vector transformation_d、i_qCalculation is carried out, at this time d-axis current command i_dref0, the q-axis current command is i_qrefTo find the current feedback deviation i_{d_err}、i_{q_err}As shown in formula (2):

current feedback error i according to current calculation period_{d_err(k)}、i_{q_err(k)}And an integral coefficient K_iFor current error integral value i_{d_org(k)}、i_{q_org(k)}Solving is carried out as shown in formula (3):

current error integral value i obtained according to current calculation period_{d_org(k)}、i_{q_org(k)}Feedback current i_d(k)、i_q(k)And a proportionality coefficient K_vSolving the d-q axis control voltage command is shown in the formula (4):

in the formula: r_sIs an equivalent resistance, L, of a permanent magnet synchronous motor_d、L_qIs equivalent electricity of d-q axis of the permanent magnet synchronous motorSensitivity value, ω_eIs the electric angle rotating speed value of the permanent magnet synchronous motor,

Step two: high speed interrupt calculation module setup

Firstly, reading the analog quantity value of the encoder through an analog-to-digital conversion module of a single chip microcomputer, then starting the analog-to-digital conversion module, carrying out moving average filtering on the analog quantity values of the angle values obtained by continuous 4 high-speed interruptions, and firstly carrying out moving average filtering on four adjacent acquisition points M_j+1，M_j+2，M_j+3，M_j+4The corresponding angle analog quantity value is averaged and used as the basis for calculating the angle value, the equivalent position of the angle value analog quantity sampling point is the middle position x1 of 4 times of analog quantity value acquisition, the high-speed interruption time is recorded in the high-speed interruption calculation process, the interruption time is circulated from 1 to 4, the angle lag compensation value is obtained by looking up the table according to the interruption time, and the three-phase voltage output U is obtained by performing space vector transformation after the angle lag compensation_u、U_v、U_wAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation.

The technical field is as follows:

the invention relates to a hysteresis compensation method for a driving angle of a high-speed permanent magnet synchronous motor, and belongs to the technical field of motor driving control.

Background art:

high speed motor drive control is the difficult point in servo motor drive control field, in order to realize the high rotational speed drive control of motor, motor structure is in the design process, it is high to motor back electromotive force design requirement, for reducing the back electromotive force under the high-speed state of motor, can reduce the motor stator number of turns, the reduction of motor stator number of turns can reduce motor inductance, the reduction of inductance can increase the motor phase current ripple that the drive process produced, lead to motor torque output to vibrate the increase, as shown in fig. 1, be unfavorable for the high accuracy stable control of motor. In addition, in the high-speed driving control process of the motor, the rotating speed of the rotor of the motor is high, time lag exists between the end of resolving the angle value and the final output of the motor driving pulse width modulation waveform, the control precision is reduced due to the time lag, and the rated power output cannot be guaranteed in a high-speed state.

The invention content is as follows:

in order to solve the above problems, the present invention provides a timing delay compensation-based high-speed driving control method for a dual-interruption permanent magnet synchronous motor, which improves the motor phase voltage pulse width modulation frequency through high-speed interruption to reduce the motor phase current ripple noise, and improves the driving control precision of the motor in a high-speed state by entering a high-speed interruption frequency lookup angle delay compensation value.

The above purpose is mainly achieved through the following scheme:

the invention discloses a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation, which is characterized by comprising the following steps of: the method comprises the following concrete implementation processes:

the method comprises the following steps: low speed interrupt calculation module setup

Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current value_u、i_v、i_wObtaining d-q axis feedback current i through space vector coordinate change_d、i_qAs shown in formula (1):

the calculation of a d-q axis voltage command is realized by adopting a control mode that d axis current is 0 and adopting a PI (proportional-integral) controller, wherein k represents the current calculation period, k-1 represents the last calculation period, and the current command value is converted from a three-phase current space vector according to the current calculation periodTo the actual d-q axis current feedback value i_d、i_qCalculation is carried out, at this time d-axis current command i_dref0, the q-axis current command is i_qrefTo find the current feedback deviation i_{d_err}、i_{q_err}As shown in formula (2):

current feedback error i according to current calculation period_{d_err(k)}、i_{q_err(k)}And an integral coefficient K_iFor current error integral value i_{d_org(k)}、i_{q_org(k)}Solving is carried out as shown in formula (3):

current error integral value i obtained according to current calculation period_{d_org(k)}、i_{q_org(k)}Feedback current i_d(k)、i_q(k)And a proportionality coefficient K_vSolving the d-q axis control voltage command is shown in the formula (4):

in the formula: r_sIs an equivalent resistance, L, of a permanent magnet synchronous motor_d、L_qIs the d-q axis equivalent inductance value, omega, of the permanent magnet synchronous motor_eIs the electric angle rotating speed value of the permanent magnet synchronous motor,is the equivalent flux linkage coefficient of the permanent magnet synchronous motor.

Step two: high speed interrupt calculation module setup

Firstly, reading the analog quantity value of the encoder through an analog-to-digital conversion module of a single chip microcomputer, then starting the analog-to-digital conversion module, carrying out moving average filtering on the analog quantity values of the angle values obtained by continuous 4 high-speed interruptions, and firstly carrying out moving average filtering on four adjacent acquisition points M_j+1，M_j+2，M_j+3，M_j+4The corresponding angle analog quantity value is averaged and used as the basis for calculating the angle value, the equivalent position of the angle value analog quantity sampling point is the middle position x1 of 4 times of analog quantity value acquisition, the high-speed interruption time is recorded in the high-speed interruption calculation process, the interruption time is circulated from 1 to 4, the angle lag compensation value is obtained by looking up the table according to the interruption time, and the three-phase voltage output U is obtained by performing space vector transformation after the angle lag compensation_u、U_v、U_wAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation.

The invention has the beneficial effects that:

1. the high-speed motor is driven and controlled to rotate by adopting double interruption, wherein high-speed interruption can carry out high-frequency adjustment on motor phase current control, and phase current ripples caused by small inductance of the high-speed permanent magnet synchronous motor are reduced.

2. Due to the increase of the phase voltage pulse width modulation frequency, the phase current ripple of the permanent magnet synchronous motor is reduced, so that the proportional link coefficient of the current loop control of the control system can be increased, and the response speed of the current loop is improved.

3. And looking up a table according to the number of times of entering high-speed interruption to obtain an angle lag compensation value so as to improve the driving control precision of the motor in a high-speed state.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1 is a schematic view of the current response waveform of a PMSM according to the present invention;

FIG. 2 is a high-speed and low-speed interrupt process flow of the present invention;

FIG. 3 is a timing diagram illustrating the acquisition of dual-interrupt angle analog and the compensation of angle lag in accordance with the present invention;

FIG. 4 is a diagram illustrating an angle lag compensation value according to the number of high-speed interrupt entries in the present invention;

the specific implementation mode is as follows:

in order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1, fig. 2, fig. 3, and fig. 4, the following technical solutions are adopted in the present embodiment: a high-speed drive control method of a double-interruption permanent magnet synchronous motor based on time sequence lag compensation is characterized by comprising the following steps: the method comprises the following concrete implementation processes:

the method comprises the following steps: low speed interrupt calculation module setup

Establishing 88us periodic low-speed interruption, firstly calculating the current mechanical position theta of the motor rotor, then calculating a three-phase feedback current value according to an analog signal fed back by a current sensor, and then calculating a three-phase feedback current value i according to the three-phase feedback current value_u、i_v、i_wObtaining d-q axis feedback current i through space vector coordinate change_d、i_qAs shown in formula (1):

the method comprises the steps of adopting a control mode that d-axis current is 0, adopting a PI (proportional-integral) controller to realize calculation of d-q-axis voltage instructions, wherein k represents a current calculation period, k-1 represents a previous calculation period, and according to a current calculation period current instruction value and an actual d-q-axis current feedback value i obtained by three-phase current space vector transformation_d、i_qCalculation is carried out, at this time d-axis current command i_dref0, the q-axis current command is i_qrefTo find the current feedback deviation i_{d_err}、i_{q_err}As shown in formula (2):

current feedback error i according to current calculation period_{d_err(k)}、i_{q_err(k)}And an integral coefficient K_iFor current error integral value i_{d_org(k)}、i_{q_org(k)}Solving is carried out as shown in formula (3):

current error integral value i obtained according to current calculation period_{d_org(k)}、i_{q_org(k)}Feedback current i_d(k)、i_q(k)And a proportionality coefficient K_vSolving the d-q axis control voltage command is shown in the formula (4):

in the formula: r_sIs an equivalent resistance, L, of a permanent magnet synchronous motor_d、L_qIs the d-q axis equivalent inductance value, omega, of the permanent magnet synchronous motor_eIs the electric angle rotating speed value of the permanent magnet synchronous motor,

is the equivalent flux linkage coefficient of the permanent magnet synchronous motor.

Step two: high speed interrupt calculation module setup

Firstly, reading the analog value of the encoder through the analog-to-digital conversion module of the single chip microcomputer, then starting the analog-to-digital conversion module, and interrupting 4 continuous high-speed interrupts to obtain an angle value analog value acquisition point M_j+1， M_j+2，M_j+3，M_j+4The average is calculated and used as the basis for the calculation of the angle value, the equivalent position of the sampling point of the analog quantity of the angle value is the middle position x1 of 4 times of analog quantity value acquisition, and in the process of executing high-speed interruption, the low-speed interruption is synchronously executed, as shown in figure 3, in the process of executing high-speed interruption

Entering low-level interruption, calculating angle and control voltage command value, and ending the low-level interruption

And waiting for triggering of the high-level interrupt, and sending the calculated angle value into the high-level interrupt. Pulse width modulation during time t2And (4) after the wave making calculation is carried out to obtain a pulse width modulation command value, outputting a pulse width modulation wave at a counter peak t3 of the next control period by a hardware counter at high speed interruption. Therefore, the time delay from the triggering of the angle value analog-to-digital conversion module to the output of the pulse width modulation wave is as follows: Δ t _ delay1 ═ x2-x 1. In the process of high-speed interruption calculation, recording the times of entering high-speed interruption, circulating the interruption times from 1 to 4, looking up a table according to the times of entering interruption to obtain an angle hysteresis compensation value, setting the time sequence of entering high-level interruption as the first to the fourth, and setting the angle compensation value as the first

To

Assuming that the rotational angular velocity of the motor is ω r/min, the corresponding relationship between the high-level interruption times and the angular delay compensation value is shown in fig. 4.

θ_e＝θ+θ_b (5)

θ_eTo compensate for the relief angle value, θ_bThe compensation angle value obtained by table lookup.

After angle lag compensation, space vector transformation is carried out to obtain three-phase voltage output U_u、U_v、U_wAnd finally obtaining the three-phase voltage output value subjected to angle lag compensation, as shown in formula (6).