CN108649855A - A kind of model prediction method for controlling torque based on duty ratio - Google Patents
A kind of model prediction method for controlling torque based on duty ratio Download PDFInfo
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- CN108649855A CN108649855A CN201810615105.6A CN201810615105A CN108649855A CN 108649855 A CN108649855 A CN 108649855A CN 201810615105 A CN201810615105 A CN 201810615105A CN 108649855 A CN108649855 A CN 108649855A
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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Abstract
A kind of model prediction method for controlling torque based on duty ratio：On the basis of six basic effectively vectors for having motor, increase by six virtual vectors, it establishes simultaneously with stator magnetic linkage oriented rotating coordinate system, it is divided into four sectors according to torque and magnetic linkage increase and decrease demand, each each sector of controlling cycle includes three vectors to be selected, vector number to be selected is then reduced, reduces and calculates the time；For three voltage vectors to be selected, three vectors to be selected, which are calculated separately, according to torque error and magnetic linkage error reaches the magnetic linkage duty ratio that the torque duty ratio that torque error is zero and magnetic linkage error are zero at this controlling cycle end, a kind of new optimal evaluation method is proposed according to torque duty ratio and magnetic linkage duty ratio, the evaluation function in conventional method is not needed, thus the problem of yet eliminating the need for weight coefficient；Duty ratio algorithm is added simultaneously, inhibits torque pulsation caused by traditional single vector effect control.While eliminating weight factor problem, make torque and magnetic linkage while controlling, therefore makes torque and magnetic linkage that there is better control effect.
Description
Technical field
The present invention relates to a kind of prediction method for controlling torque.More particularly to a kind of model prediction torque based on duty ratio
Control method.
Background technology
In commercial Application, permanent magnet synchronous motor (PMSM) control system is widely used, mainly due to its precision is high,
It is efficient, control performance is excellent.In actual control system for permanent-magnet synchronous motor, fast dynamic response is to determine whole system
The key factor of performance, therefore, in order to improve the dynamic property of control system, model prediction direct torque (MPTC) is excellent due to its
Different dynamic response capability is widely used.In traditional two-level inverter, six effective vector sums one can be generated
A zero vector predicts next period motor status by motor model, selects optimal vector by evaluation function, evaluation function is logical
It is often to be made of the error of predicted value and reference value, selects optimal vector later in next controlling cycle output action in electricity
Machine.
Traditional model prediction direct torque, in order to be controlled while realizing torque and magnetic linkage, evaluation function generally comprises
Torque error and magnetic linkage error, but since torque and stator magnetic linkage have different dimensions, so for balancing moment and magnetic linkage
Performance, the weight coefficient in evaluation function are particularly important, but due to lacking Theoretical Design process, adjustment weight factor is one
Item difficult task.In addition to the optimization task of weight factor, model prediction method for controlling torque is also faced with others simultaneously and chooses
War, such as high torque (HT) pulsation and high computation burden.In conventional method, effective voltage vector number is very few, if a cycle effect is whole
A effective vector, inevitably results in excessively high torque pulsation.
Invention content
The technical problem to be solved by the invention is to provide one kind not needing evaluation function, to eliminate weight coefficient
The model prediction method for controlling torque based on duty ratio.
The technical solution adopted in the present invention is：A kind of model prediction method for controlling torque based on duty ratio, including such as
Lower step：
1) at the k moment, by control system to rotor angular rate ωe, rotor position angle θ, motor ABC three-phase currents
iA(k)、iB(k) and iC(k), DC bus-bar voltage udc(k) it is sampled, and solves d, q axis component i of ABC three-phase currentsd(k)
And iq(k)；
2) by speed error Δ ωeElectromagnetic torque reference value T is calculated by pi regulatore *, stator magnetic linkage reference value
For steady state value ψs *；
3) according to d, q axis component i of obtained ABC three-phase currentsd(k) and iq(k), the k moment is obtained using torque formula
Electromagnetic torque value Te(k), the d axis of k moment stator magnetic linkages is calculated using stator magnetic linkage calculation formula and q axis components is respectively
ψd(k) and ψq(k), the d axis of stator magnetic linkage and q axis components are transformed to by α axis according to coordinate transform and β axis obtains stator magnetic linkage in α
The component ψ of axis and β axisα(k) and ψβ(k), then according to ψα(k) and ψβ(k) magnetic linkage amplitude ψ is found outs(k) and magnetic linkage angle, θs；Profit
With electromagnetic torque reference value Te *With stator magnetic linkage reference value ψs *, acquire the torque error T at k momente_errorWith magnetic linkage error
ψs_error；
4) according to torque error Te_errorWith magnetic linkage error ψs_errorSector is selected, 3 vectors in sector are constituted limited
The vector to be selected of domination set；
5) three vectors to be selected are brought into motor model, predict the d of three lower controlling cycles of vector to be selected respectively
Axis and q shaft current values id1(k+1)、id2(k+1)、id3(k+1) and iq1(k+1)、iq2(k+1)、iq3(k+1), according to electromagnetic torque
It predicts to obtain under the action of three vectors to be selected with the calculation formula of stator magnetic linkage, the electromagnetic torque difference of next controlling cycle
For Te1(k+1)、Te2(k+1)、Te3(k+1) and stator magnetic linkage is respectively ψs1(k+1)、ψs2(k+1)、ψs3(k+1), to obtain three
A vector to be selected is respectively Δ T in the variable quantity of a controlling cycle torquee1、ΔTe2、ΔTe3Variable quantity with magnetic linkage is respectively
Δψs1、Δψs2、Δψs3, with torque error Te_errorDivided by the variable quantity of a controlling cycle torque, acquire k+1 moment torques
When reaching dead beat, the torque duty ratio of three vectors to be selected is respectively DT1、DT2、DT3, with magnetic linkage error ψs_errorDivided by one
The variable quantity of controlling cycle magnetic linkage, when acquiring magnetic linkage and reaching dead beat, the magnetic linkage duty ratio of three vectors to be selected is respectively Dψ1、
Dψ2、Dψ3, amplitude limiting processing is carried out to the magnetic linkage duty ratio of all torque duty ratio sums acquired, limitation amplitude is between 0~1；
6) torque duty ratio D is utilizedT1、DT2、DT3With magnetic linkage duty ratio Dψ1、Dψ2、Dψ3, obtain each vector torque duty ratio
With the difference D of corresponding magnetic linkage duty ratioerror1、Derror2、Derror3, select optimal in three vectors to be selected one as most
Excellent vector；
7) according to optimal vector, the α axis and beta -axis component V of optimal vector are obtainedα, Vβ, the duty ratio selection turn of optimal vector
Square duty ratio DT, by the α axis and beta -axis component V of optimal vectorα, VβWith torque duty ratio DTIt is multiplied, by obtained result next
Controlling cycle output action is in motor, and return to step 1)~step 7), it is recycled with this.
Sector described in step 4) is with magnetic linkage angle, θsFor zero degree benchmark, 90 degree of sectors are counterclockwise drawn
Dividing has 4 sectors, is equipped with 6 basis vectors in two-level inverter and 6 virtual vectors collectively form vector to be selected, then each
There are 3 vectors to be selected in sector, wherein：
1st sector meets：Te_error>0, ψs_error>0
2nd sector meets：Te_error>0, ψs_error<0
3rd sector meets：Te_error<0, ψs_error<0
4th sector meets：Te_error<0, ψs_error>0
It is the magnetic linkage control based on direct torque that the selection of optimal vector, which is according to the control targe of optimal vector, in step 6)
It is made as auxiliary, provides and select the condition of optimal vector as follows：
1, as torque duty ratio DT1=DT2=DT3When=1, three vectors all cannot make torque reach dead beat at this time, then
Optimal vector selects a cycle torque variation delta T in three vectorse1、ΔTe2、ΔTe3Maximum vector；
2, as torque duty ratio DT1, DT2, DT3In there are two be 1, one be 1 when, at this time torque duty ratio be 1 two
A torque to be made to reach dead beat, it is not optimal vector for the vector corresponding to 1 to select torque duty ratio, come reach torque without
Beat control；
3, as torque duty ratio DT1, DT2, DT3When not being 1, three vectors can reach torque dead beat at this time, choosing
Select the difference D of torque duty ratio and corresponding magnetic linkage duty ratioerror1、Derror2、Derror3Minimum vector is optimal vector,
While ensureing torque dead beat, magnetic linkage is also controlled.
A kind of model prediction method for controlling torque based on duty ratio of the present invention, on the basis of six basic effectively vectors
On, increase by six virtual vectors, while establishing with stator magnetic linkage oriented rotating coordinate system, demand is increased and decreased according to torque and magnetic linkage
It is divided into four sectors, each each sector of controlling cycle includes three vectors to be selected, then reduces vector number to be selected, reduces meter
Evaluation time；For three voltage vectors to be selected, three vectors to be selected are calculated separately in this control according to torque error and magnetic linkage error
System all end of term reach the torque duty ratio that torque error is zero and the magnetic linkage duty ratio that magnetic linkage error is zero, according to torque duty ratio
A kind of new optimal evaluation method is proposed with magnetic linkage duty ratio, does not need the evaluation function in conventional method, to also just eliminate
The problem of weight coefficient；Duty ratio algorithm is added simultaneously, inhibits torque pulsation caused by traditional single vector effect control.Disappearing
While except weight factor problem, make torque and magnetic linkage while controlling, therefore makes torque and magnetic linkage that there is better control effect.
Description of the drawings
Fig. 1 is a kind of control principle drawing of the model prediction method for controlling torque based on duty ratio of the present invention；
Fig. 2 is voltage vector distribution and rotary sector division figure in the present invention；
Fig. 3 is a kind of flow chart of the model prediction method for controlling torque based on duty ratio of the present invention.
Specific implementation mode
A kind of model prediction method for controlling torque based on duty ratio of the present invention is done with reference to embodiment and attached drawing
Go out to be described in detail.
A kind of model prediction method for controlling torque based on duty ratio of the present invention, includes the following steps：
1) at the k moment, by control system to rotor angular rate ωe, rotor position angle θ, motor ABC three-phase currents
iA(k)、iB(k) and iC(k), DC bus-bar voltage udc(k) it is sampled, and solves d, q axis component i of ABC three-phase currentsd(k)
And iq(k)；
2) by speed error Δ ωeElectromagnetic torque reference value T is calculated by pi regulatore *, stator magnetic linkage reference value
For steady state value ψs *；
3) according to d, q axis component i of obtained ABC three-phase currentsd(k) and iq(k), the k moment is obtained using torque formula
Electromagnetic torque value Te(k), the d axis of k moment stator magnetic linkages is calculated using stator magnetic linkage calculation formula and q axis components is respectively
ψd(k) and ψq(k), specific formula for calculation is as follows：
ψ in formulafFor permanent magnet flux linkage value, p is motor number of pole-pairs, LdAnd LqRespectively d axle inductances value and q axle inductance values.
According to coordinate transform by the d axis of stator magnetic linkage and q axis components transform to α axis and β axis obtain stator magnetic linkage in α axis and
The component ψ of β axisαAnd ψβ, then according to ψαAnd ψβFind out magnetic linkage amplitude ψs(k) and magnetic linkage angle, θs；Utilize electromagnetic torque reference value
Te *With stator magnetic linkage reference value ψs *, acquire the torque error T at k momente_errorWith magnetic linkage error ψs_error, specific formula for calculation is such as
Under：
4) according to torque error Te_errorWith magnetic linkage error ψs_errorSector is selected, 3 vectors in sector are constituted limited
The vector to be selected of domination set；
The sector is with magnetic linkage angle, θsFor zero degree benchmark, 90 degree of sectors, counterclockwise dividing has 4 fans
Area is equipped with 6 basis vectors in two-level inverter and 6 virtual vectors collectively forms vector to be selected, in Figure of description
Shown in Fig. 2, long arrow is magnetic linkage position, counterclockwise divides four sectors, the vector to be selected in 1 sector be vector 7,
Vector 2, vector 8, other sectors are similar.There are 3 vectors to be selected in each sector, wherein：
1st sector meets：Te_error>0, ψs_error>0
2nd sector meets：Te_error>0, ψs_error<0
3rd sector meets：Te_error<0, ψs_error<0
4th sector meets：Te_error<0, ψs_error>0
As torque error Te_errorMore than 0, magnetic linkage error ψs_errorWhen more than 0, torque at this time and magnetic linkage must all increase, institute
To select 1 sector, 3 vector of 1 sector is calculated as V as vector to be selected at this time1,V2,V3, increase virtual vector, can make up
The very few problem of voltage vector to be selected in conventional method, and the method that rotary sector is added obtain including only three arrows to be selected
The limited domination set of amount greatly reduces and calculates the time.
5) three vectors to be selected are brought into motor model, predict the d of three lower controlling cycles of vector to be selected respectively
Axis and q shaft current values id1(k+1)、id2(k+1)、id3(k+1) and iq1(k+1)、iq2(k+1)、iq3(k+1), according to electromagnetic torque
It predicts to obtain under the action of three vectors to be selected with the calculation formula of stator magnetic linkage, the electromagnetic torque difference of next controlling cycle
For Te1(k+1)、Te2(k+1)、Te3(k+1) and stator magnetic linkage is respectively ψs1(k+1)、ψs2(k+1)、ψs3(k+1), specific to calculate public affairs
Formula is as follows：
It is respectively Δ T to obtain three vectors to be selected in the variable quantity of a controlling cycle torquee1、ΔTe2、ΔTe3With
The variable quantity of magnetic linkage is respectively Δ ψs1、Δψs2、Δψs3, pass through following formula (8) torque error Te_errorA divided by control
The variable quantity of period torque processed, when acquiring (k+1) moment torque and reaching dead beat, the torque duty ratio difference of three vectors to be selected
For DT1,DT2,DT3, with magnetic linkage error ψs_errorDivided by the variable quantity of a controlling cycle magnetic linkage, it acquires magnetic linkage and reaches dead beat
When, the magnetic linkage duty ratio of three vectors to be selected is respectively Dψ1、Dψ2、Dψ3, to the magnetic linkage duty of all torque duty ratio sums acquired
Than carrying out amplitude limiting processing, limitation amplitude is between 0~1；
6) torque duty ratio D is utilizedT1,DT2,DT3With magnetic linkage duty ratio Dψ1、Dψ2、Dψ3, obtained using following formula (9)
The difference D of each vector torque duty ratio and corresponding magnetic linkage duty ratioerror1、Derror2、Derror3, select three vectors to be selected
In an optimal optimal vector of conduct；Evaluation function is not needed with this method, it is only necessary to the duty ratio of voltage vector, with
This eliminates the problem of weight coefficient is adjusted in conventional method.
Derror=DT-Dψ (9)
The selection of optimal vector be according to the control targe of optimal vector be based on direct torque, supplemented by magnetic linkage control,
It provides and selects the condition of optimal vector as follows：
1, as torque duty ratio DT1=DT2=DT3When=1, three vectors all cannot make torque reach dead beat at this time, then
Optimal vector selects a cycle torque variation delta T in three vectorse1、ΔTe2、ΔTe3Maximum vector；
2, as torque duty ratio DT1, DT2, DT3In there are two be 1, one be 1 when, at this time torque duty ratio be 1 two
A torque to be made to reach dead beat, it is not optimal vector for the vector corresponding to 1 to select torque duty ratio, come reach torque without
Beat control；
3, as torque duty ratio DT1, DT2, DT3When not being 1, three vectors can reach torque dead beat at this time, choosing
Select the difference D of torque duty ratio and corresponding magnetic linkage duty ratioerror1、Derror2、Derror3Minimum vector is optimal vector,
While ensureing torque dead beat, magnetic linkage is also controlled.
7) according to optimal vector, the α axis and beta -axis component V of optimal vector are obtainedαAnd Vβ, main control targe of the invention is
Torque, so the duty ratio selection torque duty ratio D of optimal vectorT, by the α axis and beta -axis component V of optimal vectorαAnd VβWith torque
Duty ratio DTIt is multiplied, by obtained result in next controlling cycle output action in motor, and return to step 1)~step 7), with
This cycle.
Claims (3)
1. a kind of model prediction method for controlling torque based on duty ratio, which is characterized in that include the following steps：
1) at the k moment, by control system to rotor angular rate ωe, rotor position angle θ, motor ABC three-phase currents iA
(k)、iB(k) and iC(k), DC bus-bar voltage udc(k) it is sampled, and solves d, q axis component i of ABC three-phase currentsd(k) and
iq(k)；
2) by speed error Δ ωeElectromagnetic torque reference value T is calculated by pi regulatore *, stator magnetic linkage reference value is perseverance
Definite value ψs *；
3) according to d, q axis component i of obtained ABC three-phase currentsd(k) and iq(k), the electromagnetism at k moment is obtained using torque formula
Torque value Te(k), it is respectively ψ the d axis of k moment stator magnetic linkages and q axis components to be calculated using stator magnetic linkage calculation formulad(k)
And ψq(k), according to coordinate transform by the d axis of stator magnetic linkage and q axis components transform to α axis and β axis obtain stator magnetic linkage in α axis and
The component ψ of β axisα(k) and ψβ(k), then according to ψα(k) and ψβ(k) magnetic linkage amplitude ψ is found outs(k) and magnetic linkage angle, θs；Utilize electricity
Magnetic torque reference value Te *With stator magnetic linkage reference value ψs *, acquire the torque error T at k momente_errorWith magnetic linkage error ψs_error；
4) according to torque error Te_errorWith magnetic linkage error ψs_errorSector is selected, 3 vectors in sector are constituted into limited control
The vector to be selected of collection；
5) three vectors to be selected are brought into motor model, predict the d axis and q of three lower controlling cycles of vector to be selected respectively
Shaft current value id1(k+1)、id2(k+1)、id3(k+1) and iq1(k+1)、iq2(k+1)、iq3(k+1), according to electromagnetic torque and stator
The calculation formula of magnetic linkage is predicted to obtain under the action of three vectors to be selected, and the electromagnetic torque of next controlling cycle is respectively Te1(k
+1)、Te2(k+1)、Te3(k+1) and stator magnetic linkage is respectively ψs1(k+1)、ψs2(k+1)、ψs3(k+1), to be selected to obtain three
Vector is respectively Δ T in the variable quantity of a controlling cycle torquee1、ΔTe2、ΔTe3Variable quantity with magnetic linkage is respectively Δ ψs1、
Δψs2、Δψs3, with torque error Te_errorDivided by the variable quantity of a controlling cycle torque, it acquires k+1 moment torques and reaches nothing
When beat, the torque duty ratio of three vectors to be selected is respectively DT1、DT2、DT3, with magnetic linkage error ψs_errorA divided by control week
The variable quantity of phase magnetic linkage, when acquiring magnetic linkage and reaching dead beat, the magnetic linkage duty ratio of three vectors to be selected is respectively Dψ1、Dψ2、Dψ3,
Amplitude limiting processing is carried out to the magnetic linkage duty ratio of all torque duty ratio sums acquired, limitation amplitude is between 0~1；
6) torque duty ratio D is utilizedT1、DT2、DT3With magnetic linkage duty ratio Dψ1、Dψ2、Dψ3, obtain each vector torque duty ratio with it is right
The difference D for the magnetic linkage duty ratio answerederror1、Derror2、Derror3, select optimal in three vectors to be selected one as optimal arrow
Amount；
7) according to optimal vector, the α axis and beta -axis component V of optimal vector are obtainedα, Vβ, optimal vector duty ratio selection torque account for
Sky ratio DT, by the α axis and beta -axis component V of optimal vectorα, VβWith torque duty ratio DTIt is multiplied, by obtained result in next control
Period output action is in motor, and return to step 1)~step 7), it is recycled with this.
2. a kind of model prediction method for controlling torque based on duty ratio according to claim 1, which is characterized in that step
4) sector described in is with magnetic linkage angle, θsFor zero degree benchmark, 90 degree of sectors, counterclockwise dividing has 4 sectors,
It is equipped with 6 basis vectors in two-level inverter and 6 virtual vectors collectively form vector to be selected, then there are 3 in each sector
Vector to be selected, wherein：
1st sector meets：Te_error>0, ψs_error>0
2nd sector meets：Te_error>0, ψs_error<0
3rd sector meets：Te_error<0, ψs_error<0
4th sector meets：Te_error<0, ψs_error>0
3. a kind of model prediction method for controlling torque based on duty ratio according to claim 1, which is characterized in that step
6) selection of optimal vector, which is according to the control targe of optimal vector, in is provided based on direct torque, supplemented by magnetic linkage control
Select the condition of optimal vector as follows：
1, as torque duty ratio DT1=DT2=DT3When=1, three vectors all cannot make torque reach dead beat at this time, then optimal
Vector selects a cycle torque variation delta T in three vectorse1、ΔTe2、ΔTe3Maximum vector；
2, as torque duty ratio DT1, DT2, DT3In there are two being 1, one when not being 1, at this time torque duty ratio be two of 1 not
Torque can be made to reach dead beat, it is not optimal vector for the vector corresponding to 1 to select torque duty ratio, to reach torque dead beat
Control；
3, as torque duty ratio DT1, DT2, DT3When not being 1, three vectors can reach torque dead beat at this time, and selection turns
The difference D of square duty ratio and corresponding magnetic linkage duty ratioerror1、Derror2、Derror3Minimum vector is optimal vector, is being ensured
While torque dead beat, magnetic linkage is also controlled.
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| CN109600085A (en) * | 2018-12-05 | 2019-04-09 | 天津工业大学 | Permanent magnet synchronous motor based on variable domination set directly predicts duty ratio control method |
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