CN106059428B - The model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor - Google Patents
The model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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Abstract
The invention discloses a kind of model predictive control methods of three-phase Four-switch converter driving permanent magnet synchronous motor.It is control variable with permanent-magnetic synchronous motor stator flux linkage vector based on " rotating excitation field is constant " principle.Two capacitance voltages of DC side are acquired, first to construct switch state and basic voltage vectors relationship；Then the reference of (k+1) moment stator magnetic linkage vector is calculated, then stator magnetic linkage predicted value is obtained by voltage vector equation, according to stator magnetic linkage vector reference value and predicted value design value function；Three-phase Four-switch converter optimized switching state is obtained finally by optimization cost function, inverter drives permanent magnet synchronous motor according to optimized switching state output optimal voltage.Cost function in the present invention is free of weight computing, reduces due to basic voltage vectors reduce to the interference of system performance, it can be achieved that DC side mid-point voltage Pressure and Control.
Description
Technical field
The invention belongs to motor driven and control field, in particular to a kind of three-phase Four-switch converter drives permanent-magnet synchronous
The model predictive control method of motor.
Background technique
Traditional six switching inverter of three-phase is motor driven (hereinafter referred, electricity drive) system as power conversion unit
Important component.However, device for power switching is the weak link in electric drive system, easily break down, such as driving signal
Mistake or loss, auxiliary circuit failure, over-voltage or thermal breakdown, device failure etc..Fault of converter will lead to motor output torque
Pulsation aggravation, influences motor performance, even motor can be made to lose service ability when serious.It has been investigated that in alternating current generator tune
In speed system, fault of converter rate accounts for about the 38% of total failare.Therefore, research has the error-tolerance type inverter of high reliability, right
It is of great significance in the reliability and fault-tolerant operation ability for improving electric drive system.
Lot of domestic and foreign scholar has made intensive studies application of the error-tolerance type inverter in electric drive system, wherein three-phase
Four-switch converter is received significant attention because of the advantages that its structure is simple, at low cost.The core design of three-phase Four-switch converter
Thought are as follows: after the device for power switching of a certain bridge arm of six switching inverter of three-phase breaks down, the failure bridge arm is isolated, and will
Its corresponding machine winding is connected to DC side midpoint, makes motor still in three-phase operation state.
The control method that three-phase four switchs error-tolerance type inverter motor drive system mainly has vector controlled and Direct Torque
Control.In both control strategies, since three-phase Four-switch converter output basic voltage vectors are reduced, stagnant ring modulation technique
The torque pulsation of generation will aggravate.Although torque pulsation can be effectively reduced in space vector pulse width modulation, its is modulated
Journey is complex, and the PI parameter that double circle structure needs to adjust is more, is unfavorable for Project Realization.In addition, three-phase four switchs
This uneven problem of inverter direct-flow side mid-point voltage is never effectively solved.
Summary of the invention
Goal of the invention: in view of the problems of the existing technology the present invention, provides one kind and effectively increases motor driven system
The model predictive control method of the three-phase Four-switch converter of reliability of uniting and fault-tolerant operation ability driving permanent magnet synchronous motor.
Technical solution: the present invention provides a kind of model prediction controls of three-phase Four-switch converter driving permanent magnet synchronous motor
Method processed, first acquisition three-phase Four-switch converter DC capacitor voltage, building inverter switching states and fundamental voltage are sweared
The corresponding relationship of amount；Secondly, referring to mould by reference to the relationship building stator magnetic linkage vector between torque and stator magnetic linkage vector
Type obtains (k+1) moment stator magnetic linkage vector reference value using stator magnetic linkage vector reference model, according to voltage vector and stator
Relationship between flux linkage vector constructs stator magnetic linkage vector prediction model, obtains (k+1) using stator magnetic linkage vector prediction model
Carve stator magnetic linkage vector predictor；Then, cost function is constructed using stator magnetic linkage vector reference model and prediction model, passed through
Cost function finds optimal basic voltage vectors；It is corresponding with basic voltage vectors in conjunction with three-phase Four-switch converter switch state
Relationship obtains optimal three-phase Four-switch converter switch state, three-phase Four-switch converter according to optimized switching state output most
Excellent voltage drives permanent magnet synchronous motor；Wherein, when the value minimum of cost function, the arrow of fundamental voltage corresponding to cost function
Amount is optimal basic voltage vectors.
Further, the acquisition methods of the torque reference are as follows: according to formulaCalculate torque reference Te *,
In, e indicates reference velocity ω*With the rotating speed difference of actual feedback speed omega, KPAnd KIRespectively the proportional gain of PI controller and
Integral gain.
Further, (k+1) moment stator magnetic linkage vector reference value ψ is obtained in the stator magnetic linkage vector reference models *'s
Method are as follows: according to formulaCalculate (k+1) moment stator magnetic linkage vector reference value ψs *, wherein | ψs|*Table
Show stator magnetic linkage amplitude reference value,Indicate stator magnetic linkage position angle reference value.
Further, (k+1) is obtained in the stator magnetic linkage vector prediction model carve stator magnetic linkage vector predictor ψs(k+1)
Method are as follows: according to formula ψs(k+1)=ψs(k)+Ts[ui-Rsis(k)] it calculates (k+1) and carves stator magnetic linkage vector predictor ψs(k
+ 1), wherein ψs(k) k moment stator magnetic linkage vector predictor is indicated.
Further, the cost function is
Working principle: the present invention is based on " rotating excitation field is constant " principles, are straight with permanent-magnetic synchronous motor stator flux linkage vector
Connect control object.Two capacitance voltages of DC side are acquired, first to construct switch state and basic voltage vectors relationship；Then
The reference of (k+1) moment stator magnetic linkage vector is calculated, then stator magnetic linkage predicted value is obtained by voltage vector equation, according to stator magnet
Chain vector reference value and predicted value design value function；It is optimal that three-phase Four-switch converter is obtained finally by optimization cost function
Switch state, inverter drive permanent magnet synchronous motor according to optimized switching state output optimal voltage.Finally, it can be effectively isolated
Failure bridge arm realizes the high performance control of three-phase Four-switch converter driving Permanent-magnet Synchronous-motor Speed Servo System.
The utility model has the advantages that compared with prior art, the present invention is control variable with permanent-magnetic synchronous motor stator flux linkage vector, it will
For three-phase Four-switch converter output characteristics in conjunction with permanent magnet synchronous motor electromagnetic property, structure is simple, and cost function is free of weight
It calculates, reduces due to basic voltage vectors reduce to the interference of system performance, it can be achieved that DC side mid-point voltage Pressure and Control,
It can be effectively improved the permanent magnet synchronous motor performance of three-phase Four-switch converter driving, improve motor driven systems reliability and appearance
Wrong service ability.
Detailed description of the invention
Fig. 1 is that the model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor provided by the invention is former
Reason figure；
Fig. 2 is three-phase Four-switch converter driving Permanent-magnet Synchronous-motor Speed Servo System structure chart；
Fig. 3 is the model predictive control method stream of three-phase Four-switch converter driving permanent magnet synchronous motor provided by the invention
Cheng Tu；
Fig. 4 is three-phase Four-switch converter switch state provided by the invention and basic voltage vectors relational graph；
Fig. 5 is in the model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor provided by the invention
Stator magnetic linkage vector refers to the schematic diagram of computing module；
Fig. 6 is the permanent magnet synchronous motor three-phase current simulation waveform using control method of the present invention；
Fig. 7 is the permanent magnet synchronous motor torque simulation waveform using control method of the present invention；
Fig. 8 (a) is permanent-magnetic synchronous motor stator magnetic linkage α, β component simulation waveform using control method of the present invention；
Fig. 8 (b) is the permanent-magnetic synchronous motor stator magnetic linkage circle simulation waveform using control method of the present invention；
Fig. 9 (a) is the three-phase Four-switch converter DC capacitor voltage waveform using control method of the present invention；
Fig. 9 (b) is the three-phase Four-switch converter DC capacitor voltage waveform using Direct Torque Control；
Figure 10 is the three-phase Four-switch converter DC capacitor voltage detail view using control method of the present invention.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
As shown in Figure 1, the Model Predictive Control of three-phase Four-switch converter driving permanent magnet synchronous motor disclosed by the invention
System, comprising: PI controller 1, stator magnetic linkage amplitude reference computing module 2, stator magnetic linkage vector refer to computing module 3, stator
Flux estimation module 4, cost function optimization module 5, three-phase Four-switch converter 6, permanent magnet synchronous motor 7 and photoelectric encoder or
Rotor-position observer 8, photoelectric encoder or rotor-position observer 8 are right angle for measuring rotor.Wherein, as shown in Fig. 2,
The three-phase output of three-phase Four-switch converter 6 is connect with the input terminal of permanent magnet synchronous motor 7 respectively.In PI controller 1, according to
Reference velocity ω*Torque reference T is obtained with the rotating speed difference e of actual feedback speed omegae *.Stator magnetic linkage amplitude reference computing module
2 according to torque reference Te *To stator magnetic linkage amplitude reference | ψs|*.Stator magnetic linkage vector combines stator magnetic linkage with reference to computing module 3
Amplitude reference | ψs|*With torque reference Te *It calculates and obtains (k+1) moment stator magnetic linkage vector with reference to ψs *.Stator magnetic linkage prediction module
4 according to stator current isWith 4 basic voltage vectors uiIt calculates (k+1) and carves stator magnetic linkage vector predictor ψs(k+1).It is worth letter
Number optimization module 5 combines (k+1) moment stator magnetic linkage vector to refer to ψs *(k+1) moment stator magnetic linkage vector predictor ψs(k+
1) cost function g is calculatedi, as cost function giWhen minimum value, corresponding basic voltage vectors are optimal basic voltage vectors
uopt, optimized switching state S is obtained according to switch state and basic voltage vectors relationshipb,c.To realize three-phase four switch inversion
Driving of the device to permanent magnet synchronous motor.
As shown in figure 3, the Model Predictive Control side for the three-phase Four-switch converter driving permanent magnet synchronous motor that this hair provides
Method acquires the voltage of two capacitors of three-phase Four-switch converter DC side first, to establish three-phase Four-switch converter switch shape
The mapping table of state and basic voltage vectors；Secondly, being designed a model forecast Control Algorithm according to established relation table.This hair
Model predictive control method in bright, to directly control object, is calculated stator magnetic linkage vector and refers to ψ with stator magnetic linkage vectors *, it is pre-
Survey the stator magnetic linkage vector ψ at (k+1) moments(k+1)；Then, it is designed according to stator magnetic linkage reference value and predicted value and optimizes valence
Value function, to find optimized switching state, to realize the driving to permanent magnet synchronous motor.Specifically includes the following steps:
(1) the voltage u of two capacitors of voltage sensor acquisition three-phase Four-switch converter DC side is utilizedc1、uc2；It adopts
With current sensor measurement stator current is, rotor position angle θ is obtained by photoelectric encoder or rotor-position observer 8r, knot
Close the rotor position angle θ obtainedrActual feedback speed omega is calculated；
(2) the two capacitance voltage u of DC side acquired according to step (1)c1、uc2, in conjunction with Fig. 4, establish three-phase four switch inversion
The mapping table of device switch state and basic voltage vectors, as shown in table 1.Three-phase Four-switch converter switch state and basic
Voltage vector relational graph is as shown in Figure 4.
1 three-phase four of table switchs basic voltage vectors table
Wherein, Sb、ScIndicate Fig. 2 in two bridge arm switching tubes of b, c state, " 1 " indicate upper switch pipe open, lower switch pipe
It closes, " 0 " indicates that upper switch pipe closes, lower switch pipe is opened.In the switch of three-phase four, there is a phase bridge arm failure, only there are two bridge arm works
Make, therefore the only state of i.e. four switching tubes of two bridge arms of demand solution.As shown in Fig. 2, a phase fault, b, c are normal.u1, u2, u3,
u4For the expression symbol of 4 basic voltage vectors.
(3) torque reference T is calculatede *: by reference velocity ω*With the rotating speed difference e input PI control of actual feedback speed omega
Device 1 obtains torque reference T according to formula (1)e *；
Wherein, KPAnd KIThe respectively proportional gain of PI controller and integral gain；S is differential operator.
(4) stator magnetic linkage amplitude reference value is calculated | ψs|*: by torque reference Te *It inputs stator magnetic linkage amplitude reference and calculates mould
Block 2 obtains stator magnetic linkage amplitude reference according to formula (2) | ψs|*；
Wherein, ψdAnd ψqRespectively d, q axis component of stator magnetic linkage, LqFor motor axis inductor, PrFor motor number of pole-pairs, |
ψf| it is permanent magnet flux linkage amplitude.
(5) (k+1) moment stator magnetic linkage vector reference value ψ is calculateds *: as shown in figure 5, by stator magnetic linkage amplitude reference | ψs
|*With torque reference Te *Input torque angle refers to computing module 3-1, refers to δ according to formula (3) calculating torque angle*；By rotor position
Angle setting θrComputing module 3-2 is referred to actual feedback speed omega input rotor position angle, calculates (k+1) quarter according to formula (4)
Rotor position angle refers to θr *；Angle of torsion is referred into δ according to formula (5)*θ is referred to rotor position angler *It is added, when obtaining (k+1)
Carve stator magnetic linkage position angle reference value θs *；By stator magnetic linkage position angle reference value θs *With stator magnetic linkage amplitude reference | ψs|*Input
Stator magnetic linkage vector obtains (k+1) moment stator magnetic linkage vector with reference to ψ according to formula (6) with reference in computing module 3-3s *；
Wherein, TsIndicate the sampling time, j indicates the unit of imaginary number.
(6) it calculates (k+1) and carves stator magnetic linkage vector predictor ψs(k+1) the step of: by stator current is, 4 fundamental voltages
Vector uiStator magnetic linkage vector prediction module 4 is inputted, (k+1) is calculated according to formula (7) and carves stator magnetic linkage vector predictor ψs(k+
1)；
ψs(k+1)=ψs(k)+Ts[ui-Rsis(k)] (7)
Wherein, ψs(k) the stator magnetic linkage vector for indicating the k time, is calculated, R by the current equation of motorsIt is motor
Stator resistance, is(k) be the k moment stator current vector, uiIndicate corresponding expression formula in table 1.
(7) it selects inverter optimized switching state: (k+1) moment stator magnetic linkage vector is referred into ψs *(k+1) moment is fixed
Sub- flux linkage vector predicted value ψs(k+1) value of import function optimization module 5 calculates cost function g according to formula (8)i, then sentence
Whether disconnected i at this time is more than or equal to 4, if i less than 4, records this cost function gi, after enabling i value add one, repeat step (6)；Such as
I is more than or equal to 4 to fruit at this time, in first 4 times cost function giIn be minimized, corresponding basic voltage vectors are determined as optimal
Basic voltage vectors uopt, optimized switching state S is obtained according to switch state and basic voltage vectors relationshipb,c；
(8) export optimal voltage step: three-phase Four-switch converter is according to acquisition optimized switching state S in step (7)b,c
Adjustment switch, is then conveyed to permanent magnet synchronous motor for optimal voltage.
Fig. 6~Figure 10 is the simulation result using Matlab/Simulink software to the mentioned control method of the present invention, motor
Parameter is as shown in table 2.When emulation, reference velocity ω*For 500r/min, electric motor load torque 10Nm, DC bus-bar voltage
440V, two capacitances of DC side are 2200uF, sample frequency 25kHz.
2 parameter of electric machine of table
As shown in fig. 6, using control method of the invention, three-phase balance and symmetry is preferable.As shown in fig. 7, turning
Square is more steady and torque pulsation within an acceptable range.Fig. 8 (a) is stator magnetic linkage α, β component ψαAnd ψβSimulation waveform, Fig. 8
It (b) is stator magnetic linkage circle waveform.From figure 8, it is seen that ψαAnd ψβFluctuate smaller, the circle of a stator magnetic linkage circle almost standard
Shape.As shown in Fig. 9 (a), using control method of the invention, three-phase Four-switch converter DC capacitor voltage is gradually restrained simultaneously
Stablize；In Fig. 9 (b), under the conditions of identical simulation parameter, using Strategy of Direct Torque Control, three-phase Four-switch converter is straight
Stream lateral capacitance voltage also gradually tends towards stability, but uneven, and capacitance voltage difference is larger.As shown in Figure 10, using of the invention
Control method is influenced, DC capacitor voltage is still in U after the system stabilizes by three-phase Four-switch converter inherent characteristicdcOn/2
Lower fluctuation.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (1)
1. a kind of model predictive control method of three-phase Four-switch converter driving permanent magnet synchronous motor, it is characterised in that: first
Three-phase Four-switch converter DC capacitor voltage is acquired, building inverter switching states are corresponding with basic voltage vectors to close
System；Secondly, constructing stator magnetic linkage vector reference model by reference to the relationship between torque and stator magnetic linkage vector, stator is utilized
Flux linkage vector reference model obtains (k+1) moment stator magnetic linkage vector reference value, according to voltage vector and stator magnetic linkage vector it
Between relationship construct stator magnetic linkage vector prediction model, utilize stator magnetic linkage vector prediction model obtain (k+1) carve stator magnetic linkage
Vector predictor；Then, have no right costly value function using stator magnetic linkage vector reference model and prediction model building, pass through value
Function finds optimal basic voltage vectors；In conjunction with the corresponding relationship of three-phase Four-switch converter switch state and basic voltage vectors
Optimal three-phase Four-switch converter switch state is obtained, three-phase Four-switch converter is according to the optimal electricity of optimized switching state output
Pressure driving permanent magnet synchronous motor；Wherein, when the value minimum of cost function, basic voltage vectors corresponding to cost function are
Optimal basic voltage vectors；The acquisition methods of the torque reference are as follows: according to formulaCalculate torque reference Te *,
Wherein, e indicates reference velocity ω*With the rotating speed difference of actual feedback speed omega, KPAnd KIThe respectively proportional gain of PI controller
And integral gain；(k+1) moment stator magnetic linkage vector reference value ψ is obtained in the stator magnetic linkage vector reference models *Method
Are as follows: according to formulaCalculate (k+1) moment stator magnetic linkage vector reference value ψs *, wherein | ψs|*Indicate fixed
Sub- magnetic linkage amplitude reference value,Indicate stator magnetic linkage position angle reference value, TsIndicate the sampling time；The stator magnetic linkage vector is pre-
It surveys in model and obtains (k+1) quarter stator magnetic linkage vector predictor ψs(k+1) method are as follows: according to formula ψs(k+1)=ψs(k)+Ts
[ui-Rsis(k)] it calculates (k+1) and carves stator magnetic linkage vector predictor ψs(k+1), wherein ψs(k) k moment stator magnetic linkage arrow is indicated
Amount, RsIt is motor stator resistance, is(k) be the k moment stator current vector；It is described to have no right costly value function and be
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| CN106357185B (en) * | 2016-11-15 | 2019-01-25 | 吉林大学 | Permanent magnet synchronous motor method for controlling torque |
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| CN108111077B (en) * | 2018-01-12 | 2019-07-26 | 湖南大学 | The fault-tolerant prediction stator flux regulation method and system of permanent magnet synchronous motor |
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| CN108418491B (en) * | 2018-04-04 | 2019-10-29 | 浙江大学 | Three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method based on simplified model prediction |
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| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
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