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工程设计学报
Chin J Eng Design  2022, Vol. 29 Issue (6): 731-738    DOI: 10.3785/j.issn.1006-754X.2022.00.087
Design for Quality     
Research on passive control of surface-mounted permanent magnet synchronous motor based on current decoupling
Feng-yu FAN(),Zhao-zhong ZHOU,Ying ZHAO,Jun WANG
College of Mechanical Engineering, Quzhou University, Quzhou 324000, China
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Abstract  

In order to improve the current loop frequency response capability and speed response performance of the surface-mounted permanent magnet synchronous motor, and aiming at the problem of excessive unknown parameters of the expected interconnection matrix due to the coupling of d-axis and q-axis current in the passive controller design process, a new design method of passive controller based on current decoupling was proposed by combining with voltage feedforward decoupling control. Firstly, according to the energy balance principle and voltage feedforward decoupling control, the port control Hamilton system with dissipation (PCHD) model of surface-mounted permanent magnet synchronous motor based on current decoupling was constructed. Then, the passive controller of surface-mounted permanent magnet synchronous motor was designed by the interconnection and damping assignment passive-based control (IDA-PBC) method, and the voltage feedforward decoupling control was introduced in the design process to eliminate the coupling between d-axis and q-axis current, so that the unknown parameters of the expected interconnection matrix were reduced from 3 to 1. Finally, the test platform of surface-mounted permanent magnet synchronous motor was built for experimental verification. The experimental results showed that when the passive controller based on current decoupling was used in the current loop of surface-mounted permanent magnet synchronous motor, the q-axis current response frequency increased from less than 250 Hz to more than 333 Hz; the speed response time at rated speed decreased from 0.16 s to 0.11 s, the overshoot decreased from 2.0% to 0.6%, and the steady-state error decreased from 5.98 r/min to 1.15 r/min. The research results can provide a new idea for the passive controller design of permanent magnet synchronous motor.

Key words： passive control      current decoupling      permanent magnet synchronous motor      voltage feedforward decoupling      port control Hamilton system with dissipation (PCHD)      interconnection and damping assignment (IDA)     
Received: 22 April 2022      Published: 06 January 2023
CLC:  TM 341  
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Feng-yu FAN
Zhao-zhong ZHOU
Ying ZHAO
Jun WANG
Cite this article:

Feng-yu FAN,Zhao-zhong ZHOU,Ying ZHAO,Jun WANG. Research on passive control of surface-mounted permanent magnet synchronous motor based on current decoupling. Chin J Eng Design, 2022, 29(6): 731-738.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2022.00.087     OR     https://www.zjujournals.com/gcsjxb/Y2022/V29/I6/731


基于电流解耦的表贴式永磁同步电机无源控制研究

为了提高表贴式永磁同步电机的电流环频率响应能力和转速响应性能，针对其无源控制器设计过程中因d轴、q轴电流存在耦合而造成期望互联矩阵未知参数过多的问题，结合电压前馈解耦控制，提出了一种基于电流解耦的无源控制器新型设计方法。首先，根据能量平衡原理和电压前馈解耦控制，构建基于电流解耦的表贴式永磁同步电机端口受控耗散哈密顿系统（port control Hamilton system with dissipation, PCHD）模型。然后，通过互联和阻尼配置的无源控制（interconnection and damping assignment passivity-based control, IDA-PBC）方法，完成表贴式永磁同步电机无源控制器的设计，并在设计过程中引入了电压前馈解耦控制，消除了d轴、q轴电流的耦合关系，使期望互联矩阵的未知参数由3个减少为1个。最后，搭建表贴式永磁同步电机测试平台进行实验验证。实验结果表明，当表贴式永磁同步电机的电流环采用基于电流解耦的无源控制器时，q轴电流响应频率由小于250 Hz增大为大于333 Hz；额定转速下的转速响应时间由0.16 s减小为0.11 s，超调量由2.0%减小为0.6%，稳态误差由5.98 r/min减小为1.15 r/min。研究结果可为永磁同步电机的无源控制器设计提供新思路。


关键词： 无源控制,  电流解耦,  永磁同步电机,  电压前馈解耦,  端口受控耗散哈密顿系统（PCHD）,  互联和阻尼配置（IDA） 
Fig.1 Coupling relationship between d-axis and q-axis current of surface-mounted permanent magnet synchronous motor
Fig.2 Test platform for surface-mounted permanent magnet synchronous motor
参数数值
额定电压/V24
额定电流/A24.4
额定转速/(r/min)1 000
极对数4
定子电阻/Ω0.045
Table 1 Basic parameters of surface-mounted permanent magnet synchronous motor
Fig.3 Comparison of q-axis current response curve with frequency of 100 Hz
Fig.4 Comparison of q-axis current response curve with frequency of 200 Hz
Fig.5 Comparison of q-axis current response curve with frequency of 250 Hz
Fig.6 Comparison of q-axis current response curve with frequency of 333 Hz
频率/Hz采用无源控制器采用PI控制器
幅值衰减相位滞后/(°)幅值衰减相位滞后/(°)
1000.96821.60.91543.2
2000.94536.10.80057.6
2500.94245.20.77790.2
3331.01060.10.70096.3
Table 2 Amplitude attenuation and phase hysteresis of q-axis current response at different frequencies
Fig.7 Comparison of speed response curves with given speed of 500 r/min
Fig.8 Comparison of speed response curves with given speed of 1 000 r/min
动态特性给定转速为500 r/min给定转速为1 000 r/min
采用无源控制器采用PI控制器采用无源控制器采用PI控制器
响应时间/s0.060.240.110.16
超调量/%1.42.10.62.0
稳态误差/(r/min)0.573.321.155.98
负载突变时转速变化量/(r/min)12.840.242.359.8
负载突变后转速恢复时间/s0.130.180.170.20
Table 3 Comparison of dynamic characteristics of speed response under different given speeds
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