CN107919829B - Permanent magnet synchronous motor model prediction torque control method - Google Patents

Permanent magnet synchronous motor model prediction torque control method Download PDF

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CN107919829B
CN107919829B CN201711332775.9A CN201711332775A CN107919829B CN 107919829 B CN107919829 B CN 107919829B CN 201711332775 A CN201711332775 A CN 201711332775A CN 107919829 B CN107919829 B CN 107919829B
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voltage vector
permanent magnet
zero voltage
torque control
synchronous motor
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CN107919829A (en
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张承宁
苏丹丹
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Beijing Institute of Technology BIT
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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
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P21/141—Flux estimation
    • 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
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a permanent magnet synchronous motor model prediction torque control method, which is characterized by comprising the following steps: only the torque and the stator flux linkage when the zero voltage vector acts are predicted, when the torque error is within a set threshold value, the zero voltage vector is selected as an optimal voltage vector, and otherwise, the optimal non-zero voltage vector is determined based on a voltage vector selection table of direct torque control. Compared with direct torque control, the improved model prediction torque control adopts fixed switching frequency, so that switching loss can be reduced, and the efficiency of the inverter is improved; compared with the traditional model prediction torque control, the improved MP-DTC only needs to predict the torque and the stator flux linkage when the zero voltage vector acts, and cancels an evaluation function, thereby greatly reducing the calculation workload, not only inheriting the advantage of high response speed of direct torque control, but also abandoning the disadvantage of large calculation workload of the traditional model prediction torque control.

Description

Permanent magnet synchronous motor model prediction torque control method
Technical Field
The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor model prediction torque control method.
Background
The traditional direct torque control mode can obviously improve the dynamic response speed of the torque, and the control system has simple structure and good robustness. The model prediction direct torque control is developed on the basis of the traditional direct torque control, has very high response speed as the traditional direct torque control, and can also take other control targets into consideration, such as harmonic distortion, switching frequency, current protection and the like. However, the above-mentioned conventional direct torque control method has the disadvantages of unfixed switching frequency, large torque ripple, etc., and the model-predictive direct torque control has the problems of large calculation workload and poor real-time performance, so that an effective model-predictive torque control method is still lacking in the art, so as to solve the technical problems of significantly reducing the calculation workload, improving the control real-time performance, etc.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a permanent magnet synchronous motor model prediction torque control method, which specifically comprises the following steps:
step one, measuring a current signal and a rotor position signal through a sensor in each sampling period, and performing delay compensation.
Predicting the output torque and the stator flux linkage of the permanent magnet synchronous motor under the action of a zero voltage vector based on a mathematical model of the permanent magnet synchronous motor;
step three, determining an optimal voltage vector according to errors between the torque and the stator flux linkage predicted in the step two and a given reference torque and a given reference stator flux linkage respectively;
and step four, applying the optimal voltage vector determined in the step three to a system for torque control.
Further, the second step specifically includes:
the discrete mathematical model of the permanent magnet synchronous motor under the action of the zero voltage vector is as follows:
Figure BDA0001506957340000011
Figure BDA0001506957340000012
in the formula id(k+1)、iq(k +1) is the dq axis current at the k +1 moment after one-step delay compensation; i.e. id0(k+2)、iq0(k +2) applying a zero voltage vector predicted based on the permanent magnet synchronous motor model to dq-axis current at the k +2 moment after a sampling period; rsIs the motor stator winding resistance; l isd、LqRespectively dq axis inductance; lambda [ alpha ]fIs a main magnetic flux of a permanent magnet; omegarIs the rotor electrical angular velocity; ts is the sampling period.
Output torque T of permanent magnet synchronous motor at k moment under action of zero voltage vectore0(k) Magnetic linkage psi with stators0(k) Respectively as follows:
Figure BDA0001506957340000021
Figure BDA0001506957340000022
in the formula, P is the pole number of the permanent magnet synchronous motor.
Further, the determining an optimal voltage vector in the third step specifically includes:
as can be seen from the above equation, both the output torque and the stator flux linkage change smoothly by the zero voltage vector, and the inverter operates without switching, so that the use of the zero voltage can reduce the torque ripple and the switching loss of the inverter.
Under the action of a zero voltage vector, the errors of the predicted output torque and the stator flux linkage with the given reference torque and the given stator flux linkage are respectively as follows:
Figure BDA0001506957340000023
Figure BDA0001506957340000024
for model-predictive torque control, too much zero vector usage results in a reduction in the average torque output by the motor, and too little zero vector usage results in a significant increase in inverter switching frequency. By taking these factors into consideration, a reasonable torque error and stator flux linkage error threshold (D) should be setT0，Dψ0). If the error between the predicted torque under the action of the zero vector and the stator flux linkage and a given reference value is within an allowable range, the optimal voltage vector output by the inverter is the zero vector, otherwise, the optimal vector needs to be further selected from the non-zero voltage vectors, as shown in the following formula:
Figure BDA0001506957340000025
because the changing direction of the stator flux linkage is consistent with the direction of the applied non-zero voltage vector, when the non-zero voltage vector needs to be selected, the optimal non-zero voltage vector can be selected by adopting the subarea of the stator flux linkage and the voltage vector selection table based on the basic principle of direct torque control.
Compared with the traditional direct torque control and model prediction direct torque control, the method provided by the invention can reduce the number of the optimal voltage vectors to be determined, saves evaluation function calculation, greatly reduces the calculation amount, improves the real-time performance of processing and has a plurality of beneficial effects.
Drawings
FIG. 1 is a schematic diagram of a conventional model-predictive direct torque control
FIG. 2 is a schematic diagram of the control principle of the method provided by the present invention
Detailed Description
The technical scheme of the method provided by the invention is further explained in detail with reference to the attached drawings.
Fig. 1 is a block diagram of a conventional model predictive torque control system of a permanent magnet synchronous motor. In the conventional model-based predictive torque control, a voltage equation of the discrete permanent magnet synchronous motor in a dq two-phase rotation coordinate system can be expressed as follows:
Figure BDA0001506957340000031
in the formula, Vd(k)、Vq(k) For the dq-axis voltage at time k, id(k)、iq(k) Dq axis current, ω, at time kr(k) Is the electrical angular velocity of the rotor.
Wherein the content of the first and second substances,
Figure BDA0001506957340000032
the discrete permanent magnet synchronous motor stator flux linkage equation is as follows:
ψd(k)＝Ldid(k)+λf
ψq(k)＝Lqiq(k)
Figure BDA0001506957340000033
in the formula, #d(k) And psiq(k) Respectively at time k d-axisAnd q-axis flux linkage psis(k) The stator flux linkage is at time k.
The discrete output torque equation is:
Figure BDA0001506957340000034
in the formula, Te(k) And outputting the electromagnetic torque at the moment k, wherein P is the pole number of the permanent magnet synchronous motor.
As can be seen from fig. 1, the control of the model-predicted torque control can be divided into the following four steps:
1) measurement: the relevant state variables, such as current signals, bus voltage signals, rotor position signals, etc., are obtained by sensor measurements.
2) And (3) prediction: and respectively predicting the output torque and the stator flux linkage of the inverter under 7 switching states by using a discrete mathematical model of the permanent magnet synchronous motor according to the motor state variable obtained by measurement.
3) Evaluation: the evaluation functions in 7 switching states are calculated respectively, and the value of the evaluation function is minimum by the optimal voltage vector.
4) The application comprises the following steps: the inverter outputs an optimum voltage vector.
In the process, the output torque and the stator flux linkage of the motor after 7 voltage vectors are acted are respectively predicted in one sampling period, and meanwhile, an evaluation function is required to be calculated 7 times, so that the calculation burden is heavy
As shown in fig. 2, the method for controlling the model predicted torque of the permanent magnet synchronous motor provided by the present invention specifically includes the following steps:
step one, measuring a current signal and a rotor position signal through a sensor in each sampling period, and performing delay compensation.
Predicting the output torque and the stator flux linkage of the permanent magnet synchronous motor under the action of a zero voltage vector based on a mathematical model of the permanent magnet synchronous motor;
step three, determining an optimal voltage vector according to errors between the torque and the stator flux linkage predicted in the step two and a given reference torque and a given reference stator flux linkage respectively;
and step four, applying the optimal voltage vector determined in the step three to a system for torque control.
In a preferred embodiment of the present application, the second step specifically includes:
establishing a discrete mathematical model of the permanent magnet synchronous motor under the action of a zero voltage vector:
Figure BDA0001506957340000041
Figure BDA0001506957340000042
in the formula id(k+1)、iq(k +1) is d-axis current and q-axis current at the k +1 moment after one-step delay compensation; i.e. id0(k+2)、iq0(k +2) applying a zero voltage vector predicted based on the permanent magnet synchronous motor model to dq-axis current at the k +2 moment after a sampling period; rsIs the motor stator winding resistance; l isd、LqRespectively dq axis inductance; lambda [ alpha ]fIs a main magnetic flux of a permanent magnet; omegarIs the rotor electrical angular velocity; ts is the sampling period.
Output torque T of permanent magnet synchronous motor at k moment under action of zero voltage vectore0(k) Magnetic linkage psi with stators0(k) Respectively as follows:
Figure BDA0001506957340000043
Figure BDA0001506957340000044
wherein, P is the pole number of the permanent magnet synchronous motor.
In a preferred embodiment of the present application, the determining an optimal voltage vector in step three specifically includes:
under the action of a zero voltage vector, the errors of the predicted output torque and the stator flux linkage with the given reference torque and the given stator flux linkage are respectively as follows:
Figure BDA0001506957340000045
Figure BDA0001506957340000046
the error is compared with a stator flux linkage error threshold (D)T0，Dψ0) And comparing, selecting a zero voltage vector as an optimal voltage vector output by the inverter when the voltage is smaller than the threshold value, and otherwise, selecting the optimal voltage vector from the non-zero voltage vectors.
In a preferred embodiment of the present application, when the non-zero voltage vector needs to be selected, based on the basic principle of direct torque control, the optimal non-zero voltage vector is selected by using the partition of the stator flux linkage and the voltage vector selection table.
According to the method provided by the invention, the optimal voltage vector can be determined by utilizing the subarea of the stator flux linkage and the voltage vector selection table in the traditional direct torque control theory according to the torque and flux linkage errors, so that an evaluation function is cancelled, and the complicated adjustment work of a weight factor in the evaluation function is saved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (2)

1. A permanent magnet synchronous motor model prediction torque control method is characterized in that: the method specifically comprises the following steps:
step one, measuring a current signal and a rotor position signal through a sensor in each sampling period, and performing delay compensation;
predicting the output torque and the stator flux linkage of the permanent magnet synchronous motor under the action of a zero voltage vector based on a mathematical model of the permanent magnet synchronous motor;
step three, determining an optimal voltage vector according to errors between the torque and the stator flux linkage predicted in the step two and a given reference torque and a given reference stator flux linkage respectively; the method specifically comprises the following steps:
under the action of a zero voltage vector, the errors of the predicted output torque and the stator flux linkage with the given reference torque and the given stator flux linkage are respectively as follows:
Figure FDA0002268403710000011
Figure FDA0002268403710000012
the error is compared with a stator flux linkage error threshold (D)T0，Dψ0) Comparing, selecting a zero voltage vector as an optimal voltage vector output by the inverter when the voltage is smaller than the threshold value, otherwise selecting the optimal voltage vector from the non-zero voltage vectors;
step four, acting the optimal voltage vector determined in the step three on a system to perform torque control;
when the non-zero voltage vector needs to be selected, based on the basic principle of direct torque control, the optimal non-zero voltage vector is selected by adopting the partition of the stator flux linkage and the voltage vector selection table.
2. The method of claim 1, wherein: the second step specifically comprises:
establishing a discrete mathematical model of the permanent magnet synchronous motor under the action of a zero voltage vector:
Figure FDA0002268403710000013
Figure FDA0002268403710000014
in the formula id(k+1)、iq(k +1) is a single-step processThe dq axis current at the k +1 moment after time compensation; i.e. id0(k+2)、iq0(k +2) applying a zero voltage vector predicted based on the permanent magnet synchronous motor model to dq-axis current at the k +2 moment after a sampling period; rsIs the motor stator winding resistance; l isd、LqRespectively dq axis inductance; lambda [ alpha ]fIs a main magnetic flux of a permanent magnet; omegarIs the rotor electrical angular velocity; ts is a sampling period;
output torque T of permanent magnet synchronous motor at k moment under action of zero voltage vectore0(k) Magnetic linkage psi with stators0(k) Respectively as follows:
Figure FDA0002268403710000015
Figure FDA0002268403710000016
wherein, P is the pole number of the permanent magnet synchronous motor.
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