Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery
Abstract
:1. Introduction
2. Mathematical Model Analysis
2.1. Mathematical Model of PMSM
2.2. Mathematical Model of Positive Flow System
- Hydraulic pump inlet pressure, system return pressure, and the tank pressure are assumed to be zero;
- The relief valve is not set at the pump outlet port. The leakage of hydraulic pump, valves, and actuators is ignored;
- The flow fluctuation caused by pipeline pressure loss and pipeline friction is not considered.
3. Control Strategy of Motor Control System
3.1. Control System Overall Scheme
3.2. Closed Loop Regulator Design
3.2.1. Automatic Speed Regulator (ASR) Design
- The system contains two pure integration loops, the initial slope of the amplitude-frequency characteristic is −40 dB, and the initial phase angle is −180°;
- The corner frequency of the system is in the inertia loop and in the differential loop.
3.2.2. Fuzzy PI Regulator Design
- When is large and , should be increased to make the system output quickly approach the target value, while should be reduced to prevent the system from overshooting;
- When is large and , should be appropriately reduced to reduce overshoot, while should be increased to eliminate the steady-state error;
- When is small and is large, should be reduced and should be appropriately increased;
- When is close to zero, and should be increased appropriately to improve the steady-state accuracy and dynamic characteristics of the system.
4. Simulation Study
4.1. Comparison of Traditional PI and Fuzzy PI
4.2. PI Parameter Online Tuning System-Positive Flow System
5. Experimental Study
5.1. Comparative Test Research on No-Load Variable Speed
5.2. Comparative Test on Constant Speed Loading
5.3. Positive Flow System Test
6. Conclusions
- Compared with the traditional PI control, when using the fuzzy PI control, the motor speed output overshoot is smaller, the response is faster, the load disturbance has less affection, and the stability is higher;
- When the fuzzy PI control is used, the electric motor output torque overshoot is slightly increased, but the responsiveness and stability are significantly improved;
- The simulation results show that when the load is variable, the fluctuation of motor speed was approximately 1.5% with fuzzy PI, and 2.5% with traditional PI;
- The test results show that when the load fluctuates drastically, the electric motor speed fluctuation is within 3.5%, and the steady-state error is only approximately 0.3%.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Conflicts of Interest
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e | NB | NM | NS | ZO | PS | PM | PB | |
---|---|---|---|---|---|---|---|---|
ec | ||||||||
NB | PB | PB | PM | PM | PS | ZO | ZO | |
NM | PB | PB | PM | PS | PS | ZO | NS | |
NS | PM | PM | PM | PS | ZO | NS | NS | |
ZO | PM | PM | PS | ZO | NS | NM | NM | |
PS | PS | PS | ZO | NS | NS | NM | NB | |
PM | PS | ZO | NS | NM | NM | NM | NB | |
PB | ZO | ZO | NM | NM | NM | NB | NB |
e | NB | NM | NS | ZO | PS | PM | PB | |
---|---|---|---|---|---|---|---|---|
ec | ||||||||
NB | NB | NB | NM | NM | NS | ZO | ZO | |
NM | NB | NB | NM | NS | NS | ZO | ZO | |
NS | NB | NM | NS | NS | ZO | PS | PS | |
ZO | NM | NM | NS | ZO | PS | PM | PM | |
PS | NM | NS | ZO | PS | PS | PM | PB | |
PM | ZO | ZO | PS | PS | PM | PB | PB | |
PB | ZO | ZO | PS | PM | PM | PB | PB |
Rate Power/W | Rate Speed/rpm | Rate Torque/N·m | Rate Current/A | Pole-Pairs |
---|---|---|---|---|
750 | 1800 | 6 | 4.2 | 4 |
Nominal Displacement/ mL·r−1 | Pressure /MPa | Speed /r·min−1 | |||
---|---|---|---|---|---|
Working | Max | Rated | Max | Min | |
10 | 20 | 22 | 1800 | 3000 | 500 |
Cylinder Diameter/mm | Piston Rod Diameter/mm | Cylinder Stroke/mm |
---|---|---|
63 | 25 | 400 |
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Li, Z.; Lin, T.; Zhao, Y.; Chen, Q.; Fu, S.; Ren, H.; Gong, W. Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery. Appl. Sci. 2022, 12, 10072. https://doi.org/10.3390/app121910072
Li Z, Lin T, Zhao Y, Chen Q, Fu S, Ren H, Gong W. Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery. Applied Sciences. 2022; 12(19):10072. https://doi.org/10.3390/app121910072
Chicago/Turabian StyleLi, Zhongshen, Tianliang Lin, Yi Zhao, Qihuai Chen, Shengjie Fu, Haoling Ren, and Wen Gong. 2022. "Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery" Applied Sciences 12, no. 19: 10072. https://doi.org/10.3390/app121910072
APA StyleLi, Z., Lin, T., Zhao, Y., Chen, Q., Fu, S., Ren, H., & Gong, W. (2022). Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery. Applied Sciences, 12(19), 10072. https://doi.org/10.3390/app121910072