Analysis and suppression of low-frequency harmonic current in space low-speed direct-driven servo system
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摘要:
电机直驱伺服系统输出力矩直接作用于负载，受芯片工艺缺陷、相电感及检测电路非对称、电机定子开槽等因素影响，相电流的一次、二次谐波和齿谐波直接影响电磁转矩的稳定性。为提升系统的低速平稳度，基于电机数学模型和系统传递函数，指出3类低频谐波的产生原因。针对一次谐波，提出一种中心电流电气角更新与机械角赋值算法(CC-EUMA)，提高磁路非理想时的谐波抑制能力，针对二次谐波和齿谐波，提出转速环双准比例谐振控制算法(SL-DQPR)，在滤除谐波的同时兼具抗扰能力强和调参难度低的优势。通过仿真和实验验证了所提2种算法的有效性。加入算法后，电机空载运行的跟踪误差降低了2/3，实现了系统在有限硬件资源开销下的平稳运行，为空间低速直驱伺服系统的低速控制提供了新思路。
Abstract:The output torque of the motor direct-driven servo system acts directly on the load, due to chip process defects, phase inductance, detection circuit asymmetry and other factors, motor stator slotting and other factors, the first and second harmonics of phase current and tooth harmonic will directly affect the stability of electromagnetic torque. The first step in enhancing the system’s low-speed smoothness is identifying the root causes of the three different kinds of low-frequency harmonics. Second, in order to enhance the harmonic suppression capability in cases when the magnetic circuit is not ideal, a unique electrical angle update and mechanical angle assignment algorithm for center current (CC-EUMA) is presented for the first harmonic.For the second harmonic and tooth harmonic, the double quasi-proportional resonant control algorithm for speed loop (SL-DQPR) is proposed, which has the advantages of both strong anti-disturbance ability and low tuning difficulties while filtering harmonics. Finally, the effectiveness of the two algorithms is verified by simulation and experiment. After adding these algorithms, the tracking error of the motor in no-load operation is reduced to one-third of the original, which realizes the smooth operation of the system with limited hardware resource overhead and provides a new idea for the low-speed control of the space direct drive servo system. The tracking error of the motor in no-load operation is reduced to one-third of its original value once these algorithms are included, allowing the system to operate smoothly with less hardware resource overhead and offering a fresh concept for the low-speed management of space direct drive servo system.
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图 1 齿槽转矩作用下的双闭环伺服系统
Figure 1. Double closed loop servo system under action of cogging torque
图 2 中心电流电气角更新与机械角赋值算法
Figure 2. Electrical angle update and mechanical angle assignment algorithm for center current
图 3 转速环并联QPR控制器前后系统波特图
Figure 3. Baud diagram of system before and after parallel QPR controller in speed loop
图 4 连续和离散QPR控制器波特图
Figure 4. Baud diagrams for continuous and discrete QPR controllers
图 5 加入CC-EUMA算法前后相电流的仿真
Figure 5. Simulation of phase current before and after adding CC-EUMA algorithm
图 6 加入CC-EUMA算法前后转速的仿真
Figure 6. Simulation of speed before and after adding CC-EUMA algorithm
图 7 加入CC-EUMA算法前后转速FFT的仿真
Figure 7. Simulation of speed FFT before and after adding CC-EUMA algorithm
图 8 加入SL-DQPR算法前后转速的仿真
Figure 8. Simulation of speed before and after adding SL-DQPR algorithm
图 9 加入SL-DQPR算法前后转速FFT的仿真
Figure 9. Simulation of speed FFT before and after adding SL-DQPR algorithm
图 10 空间低速直驱伺服系统实验平台
Figure 10. Experimental platform of space low speed direct-driven servo system
图 11 PMSM空间低速直驱伺服系统控制架构
Figure 11. Control structure of PMSM space low-speed direct-driven servo system
图 12 前后180°机械角下的A相拟合电流
Figure 12. A-phase fitted currents at front and rear 180°mechanical angles
图 13 加入CC-EUMA算法前后相电流的实测图
Figure 13. Measured diagram of phase currents before and after adding CC-EUMA algorithm
图 14 加入CC-EUMA算法前后转速与转速FFT的实测图
Figure 14. Measured diagram of speed and speed FFT before and after adding CC-EUMA algorithm
图 16 加入SL-DQPR算法前后转速与转速FFT的实测图
Figure 16. Measured diagram of speed and speed FFT before and after adding SL-DQPR algorithm
表 1 连续和离散QPR控制器参数
Table 1. Continuous and discrete QPR controller parameters
${T_{\mathrm {s}}}$/ms ${k_{\mathrm {p}}}$ ${k_{\mathrm {r}}}$ ${f_1}$/Hz ${f_{{\mathrm{c}}1}}$/Hz ${f_2}$/Hz ${f_{{\mathrm{c}}2}}$/Hz 0.2 1 20 2 0.1 15 0.75 
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表 2 PMSM仿真参数
Table 2. PMSM simulation parameters
${T_{\mathrm {e}}}$/(N·m) $J$/(kg·m2) $L$/mH $R$/Ω $p/$对 0 1.48×10−5 2.3 1.66 1
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表 3 SVPWM仿真参数
Table 3. SVPWM simulation parameters
${U_{{\mathrm {dc}}}}$/V $T$/μs ${T_{\mathrm {s}}}$/μs ${T_{\mathrm {d}}}$/μs 12 200 0.2 0.2
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