CN103810024A - Position and speed simultaneous control PMSM (Permanent Magnet Synchronous Motor) simulation method - Google Patents
Position and speed simultaneous control PMSM (Permanent Magnet Synchronous Motor) simulation method Download PDFInfo
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- CN103810024A CN103810024A CN201410086130.1A CN201410086130A CN103810024A CN 103810024 A CN103810024 A CN 103810024A CN 201410086130 A CN201410086130 A CN 201410086130A CN 103810024 A CN103810024 A CN 103810024A
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Abstract
The invention relates to a position and speed simultaneous control PMSM (Permanent Magnet Synchronous Motor) simulation method which is characterized in that speed control and position control are simultaneously added into a PMSM simulation model through a multiplying unit. According to the method provided by the invention, the speed control and the position control are simultaneously added into the PMSM simulation model by adopting a multiplying unit on the basis of simulink and the traditional three-loop control model, and simulation of controlling the position and the speed of a PMSM servo system can be achieved. Optimized debugging to various parameters can be performed so as to improve the entire performance of the system.
Description
Technical field
The present invention relates to a kind of PMSM Emulation of Electrical Machinery method that Position And Velocity is controlled simultaneously.
Background technology
Be the intermediate connecting ring joint between numerical control device and physical construction take AC permasyn servo motor (PMSM) as the servo-drive system of driving element, the performance of servo-drive system is the principal element that determines whole digital control system precision and throughput rate.Motion servo is all generally three ring control system, is electric current loop, speed ring, position ring from inside to outside successively.Designer often adopts the method for Computer Simulation and experimental verification to debug various performance parameters, is based on classical control theory in current emulation mode, and the research object of classical control theory is the automatic control system of single input, single output.Therefore cannot control speed and position simultaneously simultaneously, and in the actual research and development of servo-drive system, but often need control position and speed simultaneously, various parameters are optimized to debugging, to improve entire system performance.
Summary of the invention
According to above deficiency of the prior art, the technical problem to be solved in the present invention is: provide one can overcome above-mentioned defect, the PMSM Emulation of Electrical Machinery method that the Position And Velocity of can be simultaneously position and speed being controlled is controlled simultaneously.
The PMSM Emulation of Electrical Machinery method that Position And Velocity provided by the present invention is controlled simultaneously, is characterized in that, by multiplier, speed control and position control is added in the realistic model of PMSM motor simultaneously.
In electric system simulation module library in described realistic model in Matlab/Simulink software, find permagnetic synchronous motor model, then the bus selector module Bus Selector in the basic storehouse in use Matlab/Simulink software is as output measuring unit; Secondly inverter module is selected the general three-phase bridge inverter Universal Bridge in the SimPowerSystem of electric system simulation module library in Matlab/Simulink software, it is set for IGBT pattern; Next is in realistic model again, and electric current loop and speed ring adopt the PI controller with saturation limiting, and position ring adopts PID controller, can directly in Simulink Extra module library, call.
The beneficial effect that the present invention has is, based on simulink, adopt tradition three rings to control on model basis, adopt multiplier that speed control and position control are added in realistic model simultaneously, realized the emulation that PMSM servo-drive system Position And Velocity is controlled simultaneously.Can be optimized debugging to various parameters, to improve entire system performance.
Accompanying drawing explanation
Fig. 1 is realistic model of the present invention;
Fig. 2 is the realistic model of PMSM motor;
Fig. 3 is the block scheme of inverter;
Fig. 4 is coordinate transform block scheme;
Fig. 5 is PID regulator.
In figure: 1, position control; 2, multiplier; 3 speed controls.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described further:
In realistic model as shown in Figure 1, by multiplier, 2 speed controls 3 and position control 1 are added in the realistic model of PMSM motor simultaneously.
In electric system simulation module library in described realistic model in Matlab/Simulink software, find permagnetic synchronous motor model, then the bus selector module Bus Selector in the basic storehouse in use Matlab/Simulink software is as output measuring unit; Secondly inverter module is selected the general three-phase bridge inverter Universal Bridge in the SimPowerSystem of electric system simulation module library in Matlab/Simulink software, it is set for IGBT pattern; Next is in realistic model again, and electric current loop and speed ring adopt the PI controller with saturation limiting, and position ring adopts PID controller, can directly in Simulink Extra module library, call.
The model of permagnetic synchronous motor can find in the electric system simulation module library SimPowerSystem in Simulink, and as shown in Figure 2, it is that stator winding star connects three-phase permanent-magnetic synchronous motors module.This module has four input ends, and A, B, C are three-phase alternating-current supply input end, and Tm is load torque input end.M is for measuring output terminal, and it can be connected with detecting unit.The parameter of electric machine adopts acquiescence.
In the control of motor, need to measure feedback, the general photoelectric encoder that adopts, in Simulink system emulation, select bus selector module Bus Selector in the basic storehouse of Simulink as output measuring unit, it is connected with the m interface of permagnetic synchronous motor, just can have measured needed motor output quantity.Threephase stator current i A, iB, iC in design, are selected; D shaft current and q shaft current id, iq in two-phase rotating coordinate system; The mechanical angle speed omega m of motor; Mechanical corner θ; Electromagnetic torque Te, this tittle will be detected output.
As shown in Figure 3, motor is by Driven by inverter, and in system emulation, inverter is selected the general three-phase bridge inverter Universal Bridge in the SimPowerSystem of electric system simulation module library, it is set for IGBT pattern.A, B, C are three-phase alternating-current supply output, and it is connected with A, B, the C input end of motor; + ,-for power supply input, be connected with DC voltage; G port is connected with the output of SVPWM module.
Permagnetic synchronous motor is carried out to vector controlled, need coordinate transform, because output unit can be measured and can measure d shaft current and q shaft current id, iq, so only need a coordinate transformation module in realistic model, two-phase rotating coordinate system is transformed to two-phase rest frame, i.e. Park inverse transformation.Build coordinate transformation module as shown in Figure 4.
As shown in Figure 5, in realistic model, electric current loop and speed ring adopt the PI controller with saturation limiting, can build following module, and encapsulate.Position ring adopts PID controller, can directly in Simulink Extras module library, call.In simulation analysis, need only ratio, integration, differential coefficient that PID controller is set respectively, until adjust optimum performance.
By having set up above-mentioned module, they are carried out to the realistic model shown in trip map 1 after exact connect ion, just can carry out the simulation analysis that servo-drive system three rings are controlled, carry out the ruuning situation of observing system by oscillograph.
Claims (2)
1. the PMSM Emulation of Electrical Machinery method that Position And Velocity is controlled simultaneously, is characterized in that, by multiplier, speed control and position control is added in the realistic model of PMSM motor simultaneously.
2. the PMSM Emulation of Electrical Machinery method that Position And Velocity according to claim 1 is controlled simultaneously, it is characterized in that, in electric system simulation module library in described realistic model in Matlab/Simulink software, find permagnetic synchronous motor model, then the bus selector module Bus Selector in the basic storehouse in use Matlab/Simulink software is as output measuring unit; Secondly inverter module is selected the general three-phase bridge inverter Universal Bridge in the SimPowerSystem of electric system simulation module library in Matlab/Simulink software, it is set for IGBT pattern; Next is in realistic model again, and electric current loop and speed ring adopt the PI controller with saturation limiting, and position ring adopts PID controller, can directly in Simulink Extra module library, call.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410086130.1A CN103810024A (en) | 2014-03-10 | 2014-03-10 | Position and speed simultaneous control PMSM (Permanent Magnet Synchronous Motor) simulation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410086130.1A CN103810024A (en) | 2014-03-10 | 2014-03-10 | Position and speed simultaneous control PMSM (Permanent Magnet Synchronous Motor) simulation method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016101017A (en) * | 2014-11-21 | 2016-05-30 | 株式会社安川電機 | Motor controller and motor control method |
| CN105929711A (en) * | 2016-04-25 | 2016-09-07 | 西北工业大学 | Construction method for electromechanical actuator reference model database |
| CN106775757A (en) * | 2016-12-31 | 2017-05-31 | 惠州市蓝微新源技术有限公司 | A kind of MATLAB modeling integrated approaches of BMS |
| CN108062032A (en) * | 2016-11-05 | 2018-05-22 | 南京理工大学 | A kind of control of electrical distribution formula and analogue system based on communication |
-
2014
- 2014-03-10 CN CN201410086130.1A patent/CN103810024A/en active Pending
Non-Patent Citations (2)
| Title |
|---|
| 李宁，陈桂: "《运动控制系统》", 31 July 2004 * |
| 赵力: ""基于SIMULINK的永磁同步电机在伺服系统中的仿真研究"", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016101017A (en) * | 2014-11-21 | 2016-05-30 | 株式会社安川電機 | Motor controller and motor control method |
| CN105929711A (en) * | 2016-04-25 | 2016-09-07 | 西北工业大学 | Construction method for electromechanical actuator reference model database |
| CN105929711B (en) * | 2016-04-25 | 2018-08-17 | 西北工业大学 | A kind of construction method of electromechanical actuator reference model database |
| CN108062032A (en) * | 2016-11-05 | 2018-05-22 | 南京理工大学 | A kind of control of electrical distribution formula and analogue system based on communication |
| CN106775757A (en) * | 2016-12-31 | 2017-05-31 | 惠州市蓝微新源技术有限公司 | A kind of MATLAB modeling integrated approaches of BMS |
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