永磁同步电机模型预测磁链控制
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摘要
针对永磁同步电机(PMSM)模型预测转矩控制(MPTC)成本函数中权重系数设计繁琐问题,提出一种模型预测磁链控制(MPFC),能够消除成本函数中的权重系数。首先,根据永磁同步电机数学方程建立转矩、磁链及负载角之间数学模型;然后,推导转矩和磁链幅值与定子磁链矢量之间解析关系,将对转矩和定子磁链幅值的控制转化为对定子磁链矢量的控制,从而省略了权重系数的设计过程;最后,在永磁同步电机试验平台上进行算法验证,并与MPTC进行详细对比,结果表明所提出的MPFC能够有效抑制转矩脉动和定子磁链脉动,具有与MPTC最优控制时相当的动静态性能,算法运算量显著降低,验证了所提方法的可行性和有效性。
Aiming at solving the problem of weight coefficient design of model predictive torque control( MPTC) for permanent magnet synchronous motor( PMSM),a novel model predictive flux control( MPFC) strategy was proposed,which can eliminate the weighting factor in cost function of MPTC. Firstly,according to the mathematical equation of PMSM,the mathematical model of torque,flux and load angle was established. Secondly,by investigating the relationship among torque,stator flux and stator flux vector,the controlling of torque and stator flux amplitude was converted to the controlling of stator flux vector. Finally,the proposed MPFC was verified on a test platform of PMSM,and the comparison with MPTC was conducted. The results confirm that the proposed MPFC can effectively suppress torque ripple and stator flux ripple while reducing the amount of computation,and it shows equivalent high control performance as MPTC in both steady state and dynamic state.
Aiming at solving the problem of weight coefficient design of model predictive torque control( MPTC) for permanent magnet synchronous motor( PMSM),a novel model predictive flux control( MPFC) strategy was proposed,which can eliminate the weighting factor in cost function of MPTC. Firstly,according to the mathematical equation of PMSM,the mathematical model of torque,flux and load angle was established. Secondly,by investigating the relationship among torque,stator flux and stator flux vector,the controlling of torque and stator flux amplitude was converted to the controlling of stator flux vector. Finally,the proposed MPFC was verified on a test platform of PMSM,and the comparison with MPTC was conducted. The results confirm that the proposed MPFC can effectively suppress torque ripple and stator flux ripple while reducing the amount of computation,and it shows equivalent high control performance as MPTC in both steady state and dynamic state.
引文
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[12]王永宾,林辉,计宏.多约束永磁同步电机稳定模型预测控制策略[J].电机与控制学报,2011,15(12):7.WANG Yongbin,LIN Hui,JI Hong.Stabilizing model predictive control strategy for permanent magnet synchronous motor with multi-variable constraints[J].Electric Machines and Control,2011,15(12):7.
[13]郑泽东,王奎,李永东,等.采用模型预测控制的交流电机电流控制器[J].电工技术学报,2013,28(11):118.ZHENG Zedong,WANG Kui,LI Yongdong,et al.Current controller for AC motors using model predictive control[J].Transactions of China Electrotechnical Society,2013,28(11):118.
[14]NEMEC M,NEDELJKOVIC D,AMBROZIC V.Predictive torque control of induction machines using immediate flux control[J].IEEE Transactions on Industrial Electronics,2007,54(4):2009.
[15]何凤有,王从刚,曹晓冬,等.感应电机准无差拍模型预测电流控制策略[J].电机与控制学报,2013,17(9):57.HE Fengyou,WANG Conggang,CAO Xiaodong,et al.Quasideadbeat model predictive current control strategy for induction motor drives[J].Electric Machines and Control,2013,17(9):57.
[16]罗德里格斯,科特斯.功率变换器和电气传动的预测控制[M].陈一民,周京华,卫三民,等译.北京:机械出版社,2014:138-139.
[17]ROJAS C,RODRIGUEZ J,VILLARROEL F,et al.Predictive torque and flux control without weighting factors[J].IEEE Transactions on Industrial Electronics,2013,60(2):681.
[18]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045.XIA Changliang,QIU Xudong,WANG Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045.
[19]张永昌,杨海涛.感应电机模型预测磁链控制[J].中国电机工程学报,2015,35(3):719.ZHANG Yongchang,YANG Haitao.Model predictive flux control for induction motor drives[J].Proceedings of the CSEE.2015,35(3):719.
[20]ZHANG Yongchang,YANG Haitao.Two-vector-based model predictive torque control without weighting factors for induction motor drives[J].IEEE Transactions on Power Electronics,2016,31(2):1381.
[2]NIU Feng,WANG Bingsen,BABEL A S,et al.Comparative evaluation of direct torque control strategies for permanent magnet synchronous machines[J].IEEE Transactions on Power Electronics,2016,31(2):1408.
[3]RODRIGUEZ J,KENNEL R,ESPINOZA J,et al.High-performance control strategies for electrical drives:An experimental assessment[J].IEEE Transactions on Industrial Electronics,2012,59(2):812.
[4]RICHTER S,JONES C N,MORARI M.Computational complexity certification for real-time MPC with input constraints based on the fast gradient method[J].IEEE Transactions on Automatic Control,2012,57(6):2590.
[5]夏长亮,张天一,周湛清,等.结合开关表的三电平逆变器永磁同步电机模型预测转矩控制[J].电工技术学报,2016,31(20):83.XIA Changliang,ZHANG Tianyi,ZHOU Zhanqing,et al.Model predictive torque control with switching table for neutral point clamped three-level inverter-fed permanent magnet synchronous motor[J].Transactions of China Electrotechnical Society,2016,31(20):83.
[6]VAZQUEZ S,RODRIGUEZ J,RIVERA M,et al.Model predictive control for power converters and drives:advances and trends[J].IEEE Transactions on Industrial Electronics,2017,64(2):935.
[7]邱瑞生.三相电压型PWM整流器直接功率控制策略研究[J].哈尔滨理工大学学报,2016,21(6):91.QIU Ruisheng.Research on the direct power control strategy of three phase type PWM rectifier[J].Journal of Harbin University of Science and Technology,2016,21(6):91.
[8]王庚,杨明,牛里,等.永磁同步电机电流预测控制电流静差消除算法[J].中国电机工程学报,2015,35(10):2544.WANG Geng,YANG Ming,NIU Li,et al.A static current error elimination algorithm for PMSM predictive current control[J].Proceedings of the CSEE,2015,35(10):2544.
[9]牛峰,李奎,王尧.永磁同步电机模型预测直接转矩控制[J].电机与控制学报,2015,19(12):60.NIU Feng,LIKui,WANG Yao.Model predictive direct torque control for permanent magnet synchronous machines[J].Electric Machines and Control,2015,19(12):60.
[10]GEYER T,PAPAFOTIOU G,MORARI M.Model predictive direct torque control-part I:concept,algorithm,and analysis[J].IEEE Transactions on Power Electronics,2009,56(6):1894.
[11]PAPAFOTIOU G,KLEY J,PAPADOPOULOS K G,et al.Model predictive direct torque control-partⅡ:implementation and experimental evaluation[J].IEEE Transactions on Industrial Electronics,2009,56(6):1906.
[12]王永宾,林辉,计宏.多约束永磁同步电机稳定模型预测控制策略[J].电机与控制学报,2011,15(12):7.WANG Yongbin,LIN Hui,JI Hong.Stabilizing model predictive control strategy for permanent magnet synchronous motor with multi-variable constraints[J].Electric Machines and Control,2011,15(12):7.
[13]郑泽东,王奎,李永东,等.采用模型预测控制的交流电机电流控制器[J].电工技术学报,2013,28(11):118.ZHENG Zedong,WANG Kui,LI Yongdong,et al.Current controller for AC motors using model predictive control[J].Transactions of China Electrotechnical Society,2013,28(11):118.
[14]NEMEC M,NEDELJKOVIC D,AMBROZIC V.Predictive torque control of induction machines using immediate flux control[J].IEEE Transactions on Industrial Electronics,2007,54(4):2009.
[15]何凤有,王从刚,曹晓冬,等.感应电机准无差拍模型预测电流控制策略[J].电机与控制学报,2013,17(9):57.HE Fengyou,WANG Conggang,CAO Xiaodong,et al.Quasideadbeat model predictive current control strategy for induction motor drives[J].Electric Machines and Control,2013,17(9):57.
[16]罗德里格斯,科特斯.功率变换器和电气传动的预测控制[M].陈一民,周京华,卫三民,等译.北京:机械出版社,2014:138-139.
[17]ROJAS C,RODRIGUEZ J,VILLARROEL F,et al.Predictive torque and flux control without weighting factors[J].IEEE Transactions on Industrial Electronics,2013,60(2):681.
[18]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045.XIA Changliang,QIU Xudong,WANG Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045.
[19]张永昌,杨海涛.感应电机模型预测磁链控制[J].中国电机工程学报,2015,35(3):719.ZHANG Yongchang,YANG Haitao.Model predictive flux control for induction motor drives[J].Proceedings of the CSEE.2015,35(3):719.
[20]ZHANG Yongchang,YANG Haitao.Two-vector-based model predictive torque control without weighting factors for induction motor drives[J].IEEE Transactions on Power Electronics,2016,31(2):1381.
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