阅读说明：本技术 车用永磁同步电机的信号与能量协调控制系统及方法 (Signal and energy coordination control system and method for permanent magnet synchronous motor for vehicle ) 是由 赵玉娇 于海生 王世贤 于 2021-10-20 设计创作，主要内容包括：本发明公开了车用永磁同步电机的信号与能量协调控制系统及方法,包括转速及位置检测模块、电流检测模块、反馈线性化信号控制模块、端口受控哈密顿能量控制模块、协调控制模块、电压空间矢量脉宽调制模块、逆变器。与现有技术相比,本发明的有益效果是：在系统同时满足系统动态运行位置调节快速、稳态运行能量效率优化的条件下,给出信号控制器、能量控制器和协调控制策略的设计结果,并分析系统的稳定性动态和稳态性能；通过信号控制揭示系统信号变换与能量变换的内在联系,给出位置轨迹的快速跟踪调节规律；通过能量控制揭示系统能量损耗与系统总能量的内在关系,给出能量效率优化原理；通过协调控制实现系统运行连续平稳。(The invention discloses a system and a method for coordinating and controlling signals and energy of a permanent magnet synchronous motor for a vehicle. Compared with the prior art, the invention has the beneficial effects that: under the condition that the system simultaneously meets the requirements of quick adjustment of the dynamic operation position of the system and optimization of the energy efficiency of steady-state operation, the design results of a signal controller, an energy controller and a coordination control strategy are given, and the stability dynamic and steady-state performance of the system are analyzed; the internal relation between system signal transformation and energy transformation is revealed through signal control, and a fast tracking and adjusting rule of a position track is given; the internal relation between the energy loss of the system and the total energy of the system is revealed through energy control, and an energy efficiency optimization principle is given; the system can run continuously and stably through coordination control.)

1. The signal and energy coordination control system of the permanent magnet synchronous motor for the vehicle is characterized in that: the device comprises a rotating speed and position detection module, a current detection module, a feedback linearization signal control module, a port controlled Hamilton energy control module, a coordination control module, a voltage space vector pulse width modulation module and an inverter; the rotating speed and position detection module is used for acquiring a rotating speed omega and a position angle theta of the permanent magnet synchronous motor; the current detection module is used for collecting permanent magnetsThree-phase current i of step motor_a,i_b,i_c(ii) a The feedback linearization signal control module is based on the position theta, the rotating speed omega and the current i of the permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rObtaining an input/output feedback linearization system by utilizing coordinate change, and calculating according to a pole allocation principle to obtain a control component u_sdAnd u_sq(ii) a The port-controlled Hamilton energy control module: position theta, rotating speed omega and current i based on permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rUsing i_dThe current value at the balance point is obtained by controlling the value as 0, and then the control component u is obtained by calculation through a Hamilton mathematical model_edAnd u_eq(ii) a The coordination control module is used for controlling the controller according to the received signal_sd,u_sqAnd a control component u of the energy controller_ed,u_eqRealizing cooperative control between the two by utilizing the convex combination to obtain a controlled quantity u_dAnd u_qAnd then converted into the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βThe voltage space vector pulse width modulation module is input; the voltage space vector pulse width modulation module receives the actual voltage u_αAnd u_βObtaining pulse width modulation signals for switching on and off of each power tube; and the inverter drives the permanent magnet synchronous motor to operate according to the obtained three-phase output voltage.

2. The system for coordinating and controlling signal and energy of the permanent magnet synchronous motor for the vehicle according to claim 1, wherein: the rotation speed and position detection module inputs the position angle theta into the feedback linearization signal controller, the port controlled Hamilton energy controller, the current detection module and the dq/alpha beta coordinate conversion module; the rotational speed omega is input to a feedback linearization signal controller and a port-controlled hamilton energy controller.

3. The system for controlling the permanent magnet synchronous motor for a vehicle according to claim 2, wherein:the current detection module is used for collecting three-phase current i_a,i_b,i_cConversion to actual current i in d-q coordinate system_dAnd i_qAnd the input signals are input into a feedback linearization signal controller and a port-controlled Hamilton energy controller.

4. The system for coordinating and controlling signal and energy of the permanent magnet synchronous motor for the vehicle according to claim 3, wherein: the current detection module comprises a current sensor abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module, and the current sensor acquires a three-phase current i of the permanent magnet synchronous motor_a,i_b,i_cThree-phase current i is converted by an abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module_a,i_b,i_cConversion to actual current i in d-q coordinate system_d,i_qAnd the feedback linear signal is transmitted to a feedback linear signal control module and a port controlled Hamilton energy control module.

5. The system for coordinating and controlling signal and energy of the permanent magnet synchronous motor for the vehicle according to claim 4, wherein: the voltage modulation device comprises a voltage space vector pulse width modulation module and an inverter, wherein the voltage space vector pulse width modulation module receives actual voltage u_αAnd u_βAnd obtaining pulse width modulation signals of on and off of each power tube, and obtaining three-phase output voltage through an inverter to drive the permanent magnet synchronous motor to operate.

6. The signal and energy coordination control method of the permanent magnet synchronous motor for the vehicle comprises the following control steps:

the method comprises the following steps: collecting the rotating speed omega and the position angle theta of the permanent magnet synchronous motor, and respectively inputting the position angle theta into an alpha beta/dq coordinate conversion module and a dq/alpha beta coordinate conversion module; calculating position theta and given motor speed value theta_rDifference of (2)

Step two: according to the positionError signalAnd torque T_LDesigning a signal controller by adopting a feedback linearization control method to obtain a control component u_sdAnd u_sq；

Step three: based on position error signalsAnd torque T_LDesigning an energy controller by adopting a port-controlled Hamilton system control principle to obtain a control component u_edAnd u_eq；

Step four: design of coordinated control strategy, output u_dController output u can be linearized with feedback_sdSum port controlled Hamilton energy controller output u_eIs represented by a convex combination of_qController output u may be linearized with feedback_sqAnd the power controller output u_eqA convex combination of (a);

step five: the position angle theta is summed to obtain a control voltage value u_dAnd u_qObtaining the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βAnd the pulse width modulation signals are sent to a voltage space vector pulse width modulation module to obtain pulse width modulation signals for switching on and off of each power tube, and then three-phase output voltage is obtained through an inverter to drive the permanent magnet synchronous motor to operate.

7. The method for coordinating signal and energy of the permanent magnet synchronous motor for the vehicle according to claim 6, wherein: the specific method for designing the feedback linearization signal controller in the second step is as follows,

step 2.1: establishing a mathematical model of the permanent magnet synchronous motor under a d-q coordinate system, and writing the mathematical model into a nonlinear system form;

step 2.2: selecting theta and i_dIs the output y of the system_fThe decoupling of the system is realized, and the zero dynamic problem is avoided;

step 2.3: according to the feedback linePrinciple of sexualization, for output variable y_fRepeatedly differentiating until obtaining the input variable u_sAnd derivative of output variable y^(p)The relationship of (1);

step 2.4: introducing an intermediate variable v and making v equal to y^(p)Then obtain

Step 2.5: the control quantity u of the input-output feedback linearization system can be obtained by coordinate transformation_sdAnd u_sq；

Step 2.6: and (3) designing v by adopting a pole configuration theory of a linear system, thereby realizing rapid transient response.

8. The method for coordinating signal and energy of the permanent magnet synchronous motor for the vehicle according to claim 7, wherein: in the third step, the specific method for designing the port-controlled Hamilton energy controller is as follows,

step 3.1: defining a state variable x and an energy function H (x), and constructing a Hamiltonian model;

step 3.2: defining the reference rotating speed and d and q-axis reference current of the motor asω^*. Reference d-axis currentTypically set to 0 to maintain constant flux operating conditions. When the motor reaches the desired point of equilibrium,to obtain

Step 3.3: energy function H (x) of permanent magnet synchronous motor at balance point^*) And energy functionSumming to obtain a closed loop desired energy function H_d(x)；

Step 3.4: performing energy shaping on the Hamilton model;

step 3.5: based on a Hamilton model before and after shaping, the actual current i under d-q coordinates is adopted_d,i_qAnd current value of minimum loss balance pointCalculating to obtain a control quantity u_edAnd u_eq。

Technical Field

The invention relates to the field of control of permanent magnet synchronous motors for vehicles, in particular to a system and a method for coordinating and controlling signals and energy of a permanent magnet synchronous motor for vehicles.

Background

The automobile industry is a symbolic industry reflecting national competitiveness and plays an important role in national economy and social economy. The electric automobile is an important structural upgrade and breakthrough in the automobile industry for dealing with energy safety, climate change and environmental protection, and has become a green industry with great market potential in the 21 st century. The level of a motor driving control technology, which is one of the key technologies of an electric vehicle, directly affects the overall performance of the electric vehicle. The permanent magnet synchronous motor has the remarkable advantages of high efficiency, high power density, high moment-inertia ratio and the like, and is widely applied to the field of electric automobile driving systems.

At present, most permanent magnet synchronous motor driving system control methods are based on a signal conversion viewpoint, a motor and a driver are considered to be signal conversion devices for converting input signals into output signals, and the control target is to enable a control system to quickly track given signals. The feedback linearization method can adjust the dynamic response time of the system through the distribution of the poles, and therefore, the feedback linearization method is widely applied to motor control systems. In recent years, a control method of a port-controlled hamilton system from the viewpoint of energy conversion has received a high degree of attention, in which a motor and a drive are considered as energy conversion devices for converting input energy into output energy, and the control is aimed at optimizing the input energy, the output energy, and the loss energy of the system. The method is mainly characterized in that the system has a Hamilton structure, and the energy function of the closed-loop system can be used as a Lyapunov function, so that the stability analysis and the controller synthesis of the system are easier, and the method has clear physical significance. Because the permanent magnet synchronous motor driving system is a nonlinear multivariable strong-coupling signal and energy conversion device, signal control and energy control are required. Therefore, the high performance requirement of the electric vehicle on the driving system cannot be met by using signal control or energy control, and the essence of the problem can be really disclosed only by researching the control strategy of the permanent magnet synchronous motor driving system on the basis of comprehensively analyzing the signal and energy conversion characteristics of the electric vehicle.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a system and a method for coordinating and controlling the signal and the energy of a permanent magnet synchronous motor for a vehicle.

In order to achieve the purpose, the invention provides the following technical scheme that the signal and energy coordination control system of the permanent magnet synchronous motor for the vehicle comprises a rotating speed and position detection module, a current detection module, a feedback linearization signal control module, a port controlled Hamilton energy control module, a coordination control module, a voltage space vector pulse width modulation module and an inverter; the rotating speed and position detection module is used for acquiring a rotating speed omega and a position angle theta of the permanent magnet synchronous motor; the current detection module is used for collecting three-phase current i of the permanent magnet synchronous motor_a,i_b, i_c(ii) a The feedback linearization signal control module is based on the position theta, the rotating speed omega and the current i of the permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rObtaining an input/output feedback linearization system by utilizing coordinate change, and calculating according to a pole allocation principle to obtain a control component u_sdAnd u_sq(ii) a The port-controlled Hamilton energy control module: position theta, rotating speed omega and current i based on permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rUsing i_dThe current value at the balance point is obtained by controlling the value as 0, and then the control component u is obtained by calculation through a Hamilton mathematical model_edAnd u_eq(ii) a The coordination control module is used for controlling the controller according to the received signal_sd,u_sqAnd a control component u of the energy controller_ed,u_eqRealizing cooperative control between the two by utilizing the convex combination to obtain a controlled quantity u_dAnd u_qAnd then converted into the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βThe voltage space vector pulse width modulation module is input; the voltage space vector pulse width modulation module receives the actual voltage u_αAnd u_βObtaining pulse width modulation signals for switching on and off of each power tube; and the inverter drives the permanent magnet synchronous motor to operate according to the obtained three-phase output voltage.

As a preferred technical solution of the present invention, the rotation speed and position detection module inputs the position angle θ into the feedback linearization signal controller, the port-controlled hamilton energy controller, the current detection module, and the dq/α β coordinate conversion module; the rotational speed omega is input to a feedback linearization signal controller and a port-controlled hamilton energy controller.

As a preferred technical scheme of the present invention, the current detection module is configured to collect three-phase current i_a,i_b,i_cConversion to actual current i in d-q coordinate system_dAnd i_qAnd the input signals are input into a feedback linearization signal controller and a port-controlled Hamilton energy controller.

As a preferred technical scheme of the invention, the current detection module comprises a current sensor abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module, and the current sensor acquires a three-phase current i of the permanent magnet synchronous motor_a,i_b,i_cThree-phase current i is converted by an abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module_a,i_b,i_cConversion to actual current i in d-q coordinate system_d,i_qAnd the feedback linear signal is transmitted to a feedback linear signal control module and a port controlled Hamilton energy control module.

As a preferred technical solution of the present invention, the voltage modulation apparatus includes a voltage space vector pulse width modulation module and an inverter, and the voltage space vector pulse width modulation module is configured to receive the actual voltage u according to the received actual voltage_αAnd u_βAnd obtaining pulse width modulation signals of on and off of each power tube, and obtaining three-phase output voltage through an inverter to drive the permanent magnet synchronous motor to operate.

The signal and energy coordination control method of the permanent magnet synchronous motor for the vehicle comprises the following control steps:

the method comprises the following steps: collecting the rotating speed omega and the position angle theta of the permanent magnet synchronous motor, and respectively inputting the position angle theta into an alpha beta/dq coordinate conversion module and a dq/alpha beta coordinate conversion module; calculating position theta and given motor speed value theta_rDifference of (2)

Step two: based on position error signalsAnd torque T_LDesigning a signal controller by adopting a feedback linearization control method to obtain a control component u_sdAnd u_sq；

Step three: based on position error signalsAnd torque T_LDesigning an energy controller by adopting a port-controlled Hamilton system control principle to obtain a control component u_edAnd u_eq；

Step four: design of coordinated control strategy, output u_dController output u can be linearized with feedback_sdSum port controlled Hamilton energy controller output u_eIs represented by a convex combination of_qController output u may be linearized with feedback_sqAnd the power controller output u_eqA convex combination of (a);

step five: the position angle theta is summed to obtain a control voltage value u_dAnd u_qObtaining the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βSending the pulse width modulation signals into a voltage space vector pulse width modulation module to obtain pulse width modulation signals for switching on and off each power tube, and obtaining three-phase output through an inverterAnd outputting voltage to drive the permanent magnet synchronous motor to operate.

As a preferred technical scheme of the invention, the specific method for designing the feedback linearization signal controller in the second step is as follows,

step 2.1: establishing a mathematical model of the permanent magnet synchronous motor under a d-q coordinate system, and writing the mathematical model into a nonlinear system form;

step 2.2: selecting theta and i_dIs the output y of the system_fThe decoupling of the system is realized, and the zero dynamic problem is avoided;

step 2.3: according to the principle of feedback linearization, for the output variable y_fRepeatedly differentiating until obtaining the input variable u_sAnd derivative of output variable y^(p)The relationship of (1);

step 2.4: introducing an intermediate variable v and making v equal to y^(p)Then obtain

Step 2.5: the control quantity u of the input-output feedback linearization system can be obtained by coordinate transformation_sdAnd u_sq；

Step 2.6: designing v by adopting a pole configuration theory of a linear system, thereby realizing rapid transient response;

in the third step, a specific method for designing a port-controlled hamilton energy controller is as follows,

step 3.1: defining a state variable x and an energy function H (x), and constructing a Hamiltonian model;

step 3.2: defining the reference rotating speed and d and q-axis reference current of the motor asReference d-axis currentTypically set to 0 to maintain constant flux operating conditions. When the motor reaches the desired point of equilibrium,to obtain

Step 3.3: energy function H (x) of permanent magnet synchronous motor at balance point^*) And energy functionSumming to obtain a closed loop desired energy function H_d(x)；

Step 3.4: performing energy shaping on the Hamilton model;

step 3.5: based on a Hamilton model before and after shaping, the actual current i under d-q coordinates is adopted_d,i_qAnd current value of minimum loss balance pointCalculating to obtain a control quantity u_edAnd u_eq。

Compared with the prior art, the invention has the beneficial effects that:

(1) based on a signal and energy conversion viewpoint, a signal and energy coordination control principle of a permanent magnet synchronous motor driving system is systematically established, a signal and energy coordination control model of the permanent magnet synchronous motor driving system is given, and qualitative and quantitative analysis results of model characteristics are obtained;

(2) under the condition that the system simultaneously meets the requirements of quick adjustment of the dynamic operation position of the system and optimization of the energy efficiency of steady-state operation, the design results of a signal controller, an energy controller and a coordination control strategy are given, and the stability dynamic and steady-state performance of the system are analyzed;

(3) the internal relation between system signal transformation and energy transformation is revealed through signal control, and a fast tracking and adjusting rule of a position track is given; the internal relation between the energy loss of the system and the total energy of the system is revealed through energy control, and an energy efficiency optimization principle is given; the system can run continuously and stably through coordination control.

Detailed Description

Example 1

The invention discloses a signal and energy coordination control system of a permanent magnet synchronous motor for a vehicle, which comprises a rotating speed and position detection module, a current detection module, a feedback linearization signal control module, a port-controlled Hamilton energy control module, a coordination control module, a voltage space vector pulse width modulation module and an inverter, wherein the rotating speed and position detection module is used for detecting the rotating speed and position of the vehicle; the rotating speed and position detection module is used for acquiring a rotating speed omega and a position angle theta of the permanent magnet synchronous motor; the current detection module is used for collecting three-phase current i of the permanent magnet synchronous motor_a,i_b,i_c(ii) a The feedback linearization signal control module is based on the position theta, the rotating speed omega and the current i of the permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rObtaining an input/output feedback linearization system by utilizing coordinate change, and calculating according to a pole allocation principle to obtain a control component u_sdAnd u_sq(ii) a The port-controlled Hamilton energy control module: position theta, rotating speed omega and current i based on permanent magnet synchronous motor_d,i_qTorque of T_LAnd given position theta_rUsing i_dThe current value at the balance point is obtained by controlling the value as 0, and then the control component u is obtained by calculation through a Hamilton mathematical model_edAnd u_eq(ii) a The coordination control module is used for controlling the controller according to the received signal_sd,u_sqAnd a control component u of the energy controller_ed,u_eqRealizing cooperative control between the two by utilizing the convex combination to obtain a controlled quantity u_dAnd u_qAnd then converted into the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βThe voltage space vector pulse width modulation module is input; the voltage space vector pulse width modulation module receives the actual voltage u_αAnd u_βObtaining pulse width modulation signals for switching on and off of each power tube; and the inverter drives the permanent magnet synchronous motor to operate according to the obtained three-phase output voltage.

As a preferred technical solution of the present invention, the rotation speed and position detection module inputs the position angle θ into the feedback linearization signal controller, the port-controlled hamilton energy controller, the current detection module, and the dq/α β coordinate conversion module; the rotational speed omega is input to a feedback linearization signal controller and a port-controlled hamilton energy controller.

As a preferred technical scheme of the present invention, the current detection module is configured to collect three-phase current i_a,i_b,i_cConversion to actual current i in d-q coordinate system_dAnd i_qAnd the input signals are input into a feedback linearization signal controller and a port-controlled Hamilton energy controller.

As a preferred technical scheme of the invention, the current detection module comprises a current sensor abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module, and the current sensor acquires a three-phase current i of the permanent magnet synchronous motor_a,i_b,i_cThree-phase current i is converted by an abc/alpha beta coordinate conversion module and an alpha beta/dq coordinate conversion module_a,i_b,i_cConversion to actual current i in d-q coordinate system_d,i_qAnd the feedback linear signal is transmitted to a feedback linear signal control module and a port controlled Hamilton energy control module.

As a preferred technical solution of the present invention, the voltage modulation apparatus includes a voltage space vector pulse width modulation module and an inverter, and the voltage space vector pulse width modulation module is configured to receive the actual voltage u according to the received actual voltage_αAnd u_βAnd obtaining pulse width modulation signals of on and off of each power tube, and obtaining three-phase output voltage through an inverter to drive the permanent magnet synchronous motor to operate.

As a preferred technical scheme of the invention, a mathematical model of the permanent magnet synchronous motor under a d-q coordinate system is as follows:

in the formula i_d,i_qD and q axis currents respectively; u. of_d,u_qD and q axis voltages respectively; l is_dA stator inductance; r is a stator resistor; omega is the mechanical angular speed of the rotor; theta is a mechanical angle; n is_pThe number of pole pairs of the stator winding is set; phi is the permanent magnetic flux of the rotor; j is a rotationInertia.

The above model is in the form of a nonlinear system:

in the formula

Then, select θ and i_dIs the output y of the system_fI.e. y_f＝[y_f1 y_f2]^T＝[i_dθ]^T。

According to the principle of feedback linearization, for the output variable y_fRepeated differentiation

Introducing an intermediate variable v and making v equal to y^(p)Then obtain

Wherein the content of the first and second substances,

the control quantity u of the input-output feedback linearization system can be obtained by coordinate transformation_sdAnd u_sq：

Here, in order to realize a fast transient response, the pole arrangement theory design v of the linear system is adopted

Wherein k is₁,k₂,k₃,k₄Is an adjustable parameter.

The port-controlled Hamilton energy controller is constructed by the following steps:

the following state variables were selected:

x＝[x₁ x₂ x₃ x₄]^T＝[Li_d Li_q J_mω θ]^T

the energy function is taken as:

the standard generalized hamiltonian model of the system is then:

wherein J (x) is an antisymmetric matrix, R (x) is a semi-positive definite matrix, g (x) is a matrix of appropriate order, H (x) is an energy function, x is a state variable, u_eIs the system input.

Defining the reference rotating speed and d and q-axis reference current of the motor asd-axis reference currentTypically set to 0 to maintain constant flux operating conditions. When the motor reaches the desired point of equilibrium,to obtainTherefore, the desired balance point is

For stabilizing the permanent magnet synchronous motor system for the vehicle at a balance point, defineConstructing a closed-loop desired energy function H for the state error_d(x) Let us order

So as to be subjected to feedback control u_eAfter the action, the energy H (x) of the original motor system is shaped into H through the energy of a Hamilton system_d(x) At this time, the Hamiltonian model of the original system can be written as

Wherein the antisymmetric matrix J_d(x) Interconnection matrices, R, for closed-loop systems_d(x) A semi-positive definite matrix for a closed-loop system. Suppose that

And is

Substitute it into formulaObtaining:

wherein k is₀,r,r_mRespectively, the interconnection and damping parameters to be determined.

The invention discloses a signal and energy coordination control method of a permanent magnet synchronous motor for a vehicle, which comprises the following steps:

step 1: acquiring the rotating speed omega and the position angle theta of the permanent magnet synchronous motor through a rotating speed/position detection module, and respectively inputting the position angle theta into an alpha beta/dq coordinate conversion module and a dq/alpha beta coordinate conversion module; calculating position theta and given motor speed value theta_rDifference of (2)

Step 2: based on position error signalsAnd torque T_LDesigning a signal controller by adopting a feedback linearization control method to obtain a control component u_sdAnd u_sq；

Designing a feedback linearized signal controller to obtain a control component u_sdAnd u_sqThe specific method comprises the following steps:

step 2.1: establishing a mathematical model of the permanent magnet synchronous motor under a d-q coordinate system, and writing the mathematical model into a nonlinear system form;

the mathematical model of the permanent magnet synchronous motor under a d-q coordinate system is as follows:

in the formula (I), the compound is shown in the specification,i_d,i_qd and q axis currents respectively; u. of_d,u_qD and q axis voltages respectively; l is_dA stator inductance; r is a stator resistor; omega is the mechanical angular speed of the rotor; theta is a mechanical angle; n is_pThe number of pole pairs of the stator winding is set; phi is the permanent magnetic flux of the rotor; j is moment of inertia.

The above model is in the form of a nonlinear system:

in the formula

The motor model contains nonlinear and cross-coupled terms in the first and second rows of the state-space equation.

Step 2.2: selecting theta and i_dIs the output y of the system_fI.e. y_f＝[y_f1 y_f2]^T＝[i_d θ]^TThe decoupling of the system is realized, and the zero dynamic problem is avoided;

step 2.3: according to the principle of feedback linearization, for the output variable y_fRepeatedly differentiating until obtaining the input variable u_sAnd derivative of output variable y^(p)The relationship of (1);

the specific process of the step 2.3 is as follows:

step 2.4: introducing an intermediate variable v and making v equal to y^(p)Then obtain

Wherein the content of the first and second substances,

step 2.5: the control quantity u of the input-output feedback linearization system can be obtained by coordinate transformation_sdAnd u_sq：

Step 2.6: and (3) designing v by adopting a pole configuration theory of a linear system, thereby realizing rapid transient response.

Further, a specific method for pole allocation of a linear system is as follows:

thereby obtaining a closed loop transfer system function of

And a closed loop transfer function of a typical first-order system is

To obtain

Substituted into (6) to obtain

Further obtain the closed loop transfer system functionIs composed of

And a closed loop transfer function of a typical first-order system is

To obtain

Substituted into (7) to obtain

Calculating T by selecting proper adjusting time₀And further obtain k₁,k₂,k₃,k₄。

And step 3: based on position error signalsAnd torque T_LDesigning an energy controller by adopting a port-controlled Hamilton system control principle to obtain a control component u_edAnd u_eq；

Designing a port-controlled Hamiltonian energy controller to obtain a control component u_edAnd u_eqThe specific method comprises the following steps:

step 3.1: defining a state variable x and an energy function H (x), and constructing a Hamiltonian model;

the specific process of step 3.1 is as follows:

the following state variables were selected:

x＝[x₁ x₂ x₃ x₄]^T＝[Li_d Li_q J_mω θ]^T

the energy function is taken as:

the standard generalized hamiltonian model of the system is then:

wherein J (x) is an antisymmetric matrix, R (x) is a semi-positive definite matrix, g (x) is a matrix of appropriate order, H (x) is an energy function, x is a state variable, u_eIs the system input.

Step 3.2: defining the reference rotating speed and d and q-axis reference current of the motor asReference d-axis currentTypically set to 0 to maintain constant flux operating conditions. When the motor reaches the desired point of equilibrium,to obtainTherefore, the desired balance point is

Step 3.3: energy function H (x) of permanent magnet synchronous motor at balance point^*) And energy functionSumming to obtain a closed loop desired energy function H_d(x)；

The specific process of step 3.3 is:

definition ofConstructing a closed-loop desired energy function H for the state error_d(x) Let us order

Can obtain H_d(x) Obtaining an expression:

step 3.4: so as to be subjected to feedback control u_eAfter the action, the energy H (x) of the original motor system is shaped into H through the energy of a Hamilton system_d(x) At this time, the Hamiltonian model of the original system can be written as

Wherein the antisymmetric matrix J_d(x) Interconnection matrices, R, for closed-loop systems_d(x) A semi-positive definite matrix for a closed-loop system. Suppose that

And is

Substitute it into formulaObtaining:

wherein k is₀,r,r_mRespectively, the interconnection and damping parameters to be determined.

And 4, step 4: selecting a suitable coordination function according to the real-time position errorTo design a coordination control strategy, the output u of which_dController output u can be linearized with feedback_sdSum port controlled Hamilton energy controller output u_eIs represented by a convex combination of_qController output u may be linearized with feedback_sqAnd the power controller output u_eqIs shown in a convex combination to obtain a control quantity u_dAnd u_q。

And 5: the position angle theta is summed to obtain a control voltage value u_dAnd u_qObtaining the actual voltage u under an alpha-beta coordinate system through a dq/alpha-beta coordinate conversion module_αAnd u_βAnd the pulse width modulation signals are sent to a voltage space vector pulse width modulation module to obtain pulse width modulation signals for switching on and off of each power tube, and then three-phase output voltage is obtained through an inverter to drive the permanent magnet synchronous motor to operate.

The invention provides a system and a method for coordinating and controlling signals and energy of a vehicle permanent magnet synchronous motor.A rotating speed omega and a position angle theta of the motor are obtained through a rotating speed/position detection module in the running process of the permanent magnet synchronous motor, the position angle theta is input into a feedback linearization signal controller, a port controlled Hamilton energy controller, a current detection module and a dq/alpha beta coordinate conversion module, and the rotating speed omega is input into the feedback linearization signal controller and the port controlled Hamilton energy controller; current detection module acquires three-phase current i of permanent magnet synchronous motor_a,i_b, i_cAnd converting the current into an actual current i under a d-q coordinate system_dAnd i_qThe input is input into a feedback linearization controller and a port controlled Hamilton controller; the feedback linearization signal control module obtains an input/output feedback linearization system by utilizing coordinate change, and obtains a control component u by calculation according to pole allocation_sdAnd u_sq(ii) a The port-controlled Hamilton energy control module obtains a control component u through calculation of a Hamilton mathematical model_edAnd u_eq(ii) a The coordination control module controls according to the received signalControl component u of the device_sd,u_sqAnd a control component u of the energy controller_ed,u_eqRealizing cooperative control between the two by utilizing the convex combination to obtain a controlled quantity u_dAnd u_q(ii) a The obtained controlled quantity u_d,u_qAnd the theta is input to a dq/alpha beta coordinate conversion module to be converted into u_αAnd u_β(ii) a Will u_αAnd u_βThe three-phase voltage is input to a voltage space vector pulse width modulation module, six paths of PWM signals of the controller are obtained through calculation and output, the inverter module is controlled through the PWM signals, and three-phase output voltage is obtained to drive the motor to operate.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements, and the specific meaning of the above terms in the present invention can be understood by those skilled in the art through specific situations

Although the present invention has been described in detail with reference to the specific embodiments, the present invention is not limited to the above embodiments, and various changes and modifications without inventive changes may be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.