CN108923698A - A kind of motor control method of predicted voltage vector sequence - Google Patents
A kind of motor control method of predicted voltage vector sequence Download PDFInfo
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- CN108923698A CN108923698A CN201810726241.2A CN201810726241A CN108923698A CN 108923698 A CN108923698 A CN 108923698A CN 201810726241 A CN201810726241 A CN 201810726241A CN 108923698 A CN108923698 A CN 108923698A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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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
- 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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Abstract
The invention discloses a kind of motor control methods of predicted voltage vector sequence, include the following steps：Influence by voltage vectors all in two level voltage source inventer of quantitative analysis sequence to the fluctuation of stator magnetic linkage vector filters out 12 kinds of voltage vector sequences for being conducive to optimization stator magnetic linkage vector controlled performance；12 kinds of voltage vector sequences are brought into the domination set of PREDICTIVE CONTROL, novel voltage vector sequence domination set is established；The undulate quantity virtual value that stator magnetic linkage vector is controlled in the period at one is as evaluation index；The stator magnetic linkage vector error of each voltage vector switching moment in each control period is assessed, evaluation function is constructed；By first confirming that phase angle confirms that the two-step method of amplitude seeks the action time of each basic voltage vectors again.Present invention reduces the torque ripples of permanent magnet synchronous motor and magnetic linkage to fluctuate, so that motor be allow to run more stablely.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control fields, more particularly to one kind to be suitable in two level voltage source inventers
The permanent magnet synchronous motor system of feed takes into account the electricity of the runnability of motor in particular in the case where predicting direct torque
Machine control field.Present invention can apply to the fields such as electric machine speed regulation, power electronics control.
Background technique
Permanent magnet synchronous motor is widely used because it has many advantages, such as that structure is simple, power density is high, speed adjustable range is wide
In the fields such as elevator dragging, numerically-controlled machine tool, railroad traction system.Limited domination set prediction direct torque has implementation method spirit
The advantages that work, is easy to realize in multi-variable system, rapid dynamic response speed.With the continuous development of microprocessor technology, have
Limit domination set prediction direct torque has obtained more and more concerns, and has obtained widely in permanent magnet synchronous motor system
Research.
In the permanent magnet synchronous motor system of two level voltage source Inverter Feds, limited domination set predicts direct torque plan
Only fixed basic voltage vectors of 8 amplitudes and phase angle in domination set slightly, and select in each control period one most
Excellent basic voltage vectors are acted on.Therefore the control freedom degree of limited domination set prediction direct torque is low, torque and magnetic linkage etc.
It is unable to get accurate control.In order to improve the control performance of limited domination set prediction direct torque, related scholar passes through one
A control applies multiple basic voltage vectors to improve the control freedom degree and standard of limited domination set prediction direct torque in the period
Exactness, i.e., more vector prediction direct torques.
However when applying voltage vector in a different order, the quantity of states such as the stator magnetic linkage vector of motor, electromagnetic torque
It can be run with different tracks, i.e., can generate different magnetic linkage and torque ripple.It is currently applied in permanent magnet synchronous motor system
More vector prediction direct torques with it is each control end cycle moment motor control performance it is optimal for target, i.e., guarantee stator
The running track of the quantity of states such as flux linkage vector, electromagnetic torque meets control in each control end cycle and requires, not
There is the influence considered when the voltage vector of application arranges in a different order to electromagnetic torque and stator magnetic linkage fluctuation.Therefore,
The static control performance of more vector prediction direct torques can be by selecting optimal voltage vector to put in order to obtain further
Raising.
Summary of the invention
The present invention provides a kind of motor control methods of predicted voltage vector sequence, to reduce turning for permanent magnet synchronous motor
Square fluctuation is fluctuated with magnetic linkage, thus run motor more stablely, it is described below：
A kind of motor control method of predicted voltage vector sequence, the described method comprises the following steps：
Fluctuation by voltage vectors all in two level voltage source inventer of quantitative analysis sequence to stator magnetic linkage vector
Influence, filter out 12 kinds be conducive to optimization stator magnetic linkage vector controlled performance voltage vector sequence；
12 kinds of voltage vector sequences are brought into the domination set of PREDICTIVE CONTROL, the control of novel voltage vector sequence is established
Collection；
The undulate quantity virtual value that stator magnetic linkage vector is controlled in the period at one is as evaluation index；
The stator magnetic linkage vector error of each voltage vector switching moment in each control period is assessed, building is commented
Valence function；
By first confirming that phase angle confirms that the two-step method of amplitude seeks the action time of each basic voltage vectors again.
Wherein, described bring 12 kinds of voltage vector sequences in the domination set of PREDICTIVE CONTROL into, establish novel voltage vector
Sequence domination set is specially：
Further, the undulate quantity virtual value that stator magnetic linkage vector is controlled in the period at one is as evaluation index
Specially：
The corresponding stator magnetic linkage vector fluctuation valid value table of different voltages vector sequence is as follows up to formula：
In formula, VS=A, B, C, D；ψs mIndicate stator magnetic linkage vector each voltage vector switching moment in each control period
Predicted value；
In formula, ψs0Indicate stator magnetic linkage vector in the initial value in each control period；Sl=Vs,l-Rsis(k), wherein Vs,l
Indicate the basic voltage vectors of first of application in each control period；TlthIndicate Vs,lAction time.
When specific implementation, the evaluation function is specially：
Wherein, λNIndicate the weight factor of each control end cycle moment stator magnetic linkage vector error item；ψs mIndicate fixed
The predicted value of sub- flux linkage vector each voltage vector switching moment in each control period；ψs0Indicate stator magnetic linkage vector each
Control the initial value in period；SlIndicate stator magnetic linkage vector change rate；TlthIndicate Vs,lAction time；Vs,lIndicate each control
The basic voltage vectors of first of application in period processed.
Further, described by first confirming that phase angle confirms that the two-step method of amplitude seeks the effect of each basic voltage vectors again
Time is specially：
In formula, Δ ψs=ψs *-ψs(k)；S1With S2Stator magnetic linkage vector change rate Sl。
The beneficial effect of the technical scheme provided by the present invention is that：
1, this method, which filters out, is conducive to optimize stator magnetic linkage vector controlled performance in two level voltage source inventers
Voltage vector sequence, and the voltage vector filtered out sequence is brought into domination set, design voltage vector sequence domination set, and
Establish appraisement system selection optimal voltage vector sequence；
2, this method can be applied to the fields such as electric machine speed regulation, power electronics control, and advantage is by reasonably selecting voltage
The sequence of operation of vector effectively reduces the Steady Wave momentum of electromagnetic torque and stator magnetic linkage, to allow motor more stablely
Operation；Motor stator current distortion rate also available reduction simultaneously, reduces in motor operation course since current harmonics is made
At the loss of electric machine；
3, this method reduces the overall calculation complexity of algorithm by reducing voltage vector sequence quantity to be assessed in advance
Degree.Improve computational efficiency.
Detailed description of the invention
Fig. 1 is forecasting sequence control strategy implementation flow chart；
Fig. 2 is the permanent magnet synchronous motor system topological figure of two level voltage source Inverter Feds；
Fig. 3 is two level voltage source contravarianter voltage polar plots；
Fig. 4 is forecasting sequence control strategy structural block diagram；
Fig. 5 is that voltage vector combines six kinds of corresponding on off sequence figures of voltage vectors sequence in I；
Wherein, (a) combines the on off sequence figure when voltage vector in I is applied by vector sequence VS=A for voltage vector；
(b) the on off sequence figure when voltage vector in I is applied by vector sequence VS=B is combined for voltage vector；(c) it is sweared for voltage
On off sequence figure when voltage vector in amount combination I is applied by vector sequence VS=C；(d) electricity in I is combined for voltage vector
On off sequence figure when vector being pressed to apply by vector sequence VS=D；(e) voltage vector in I is combined for voltage vector press vector
On off sequence figure when the VS=E that sorts applies；(f) voltage vector in I is combined for voltage vector to apply by vector sequence VS=F
When on off sequence figure.
Fig. 6 is the running track that stator magnetic linkage vector controls in the period at one；
Fig. 7 is that in voltage vector combination I there is corresponding stator magnetic linkage vector fluctuation between any two kinds of voltage vectors sequence
The difference of valid value；
Wherein, (a) is eA-eB；It (b) is eA-eC；It (c) is eA-eD；It (d) is eB-eC；It (e) is eB-eD；It (f) is eC-eD。
The transient state experimental waveform of the mentioned predicted voltage vector sequence algorithm of Fig. 8 present invention；
The steady-state performance pair of the mentioned predicted voltage vector sequence algorithm of Fig. 9 present invention and the more vector prediction direct torques of tradition
Than；
Wherein, (a) is traditional two vector prediction direct torque stable state waveform figures；(b) for based on Discrete Space Vector Modulation
The stable state waveform figure of three vector prediction direct torques of strategy；It (c) is the stable state waveform figure of the mentioned algorithm of the present invention.
Figure 10 is sorted using optimal voltage vector and the steady-state performance only with the sequence of single kind voltage vector compares.
Wherein, (a) is Steady Experimental waveform diagram when sorting only with the corresponding 6 kinds of voltage vectors of VS=C in Table I；(b)
Steady Experimental waveform diagram when to sort only with the corresponding 6 kinds of voltage vectors of VS=A in Table I；(c) for only with present invention choosing
Select the Steady Experimental waveform diagram of optimal voltage vector sequence.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, embodiment of the present invention is made below further
Ground detailed description.
Embodiment 1
A kind of motor control method of predicted voltage vector sequence, referring to Fig. 1, this approach includes the following steps：
101：It is sorted by voltage vectors all in two level voltage source inventer of quantitative analysis to stator magnetic linkage vector
The influence of fluctuation filters out the voltage vector sequence for being conducive to optimize stator magnetic linkage vector controlled performance；
102：The sequence of all voltage vectors is brought into the domination set of PREDICTIVE CONTROL, novel voltage vector sequence control is established
System collection；The undulate quantity virtual value that stator magnetic linkage vector is controlled in the period at one is as evaluation index；
103：The stator magnetic linkage vector error of each voltage vector switching moment in each control period is assessed, structure
Build evaluation function；
104：By first confirming that phase angle confirms that the two-step method of amplitude seeks the action time of each basic voltage vectors again.
In conclusion the embodiment of the present invention through the above steps 101- step 104 by voltage vector sequence bring control into
It concentrates, designs novel voltage vector sequence domination set, and by each in the evaluation function of building evaluation each control period
The stator magnetic linkage vector error value of a voltage vector switching moment, the smallest optimal voltage vector of evaluation function so that selection is sent as an envoy to
Sequence.This method on the basis of guaranteeing that permanent magnet synchronous motor system has good dynamic property, reduces through the above steps
The fluctuation of torque ripple and stator magnetic linkage, meets a variety of needs in practical application.
Embodiment 2
The scheme in embodiment 1 is further introduced below with reference to Fig. 2-Fig. 7, specific calculation formula, is detailed in
It is described below：
One, permanent magnet synchronous motor mathematical model is established：
In Fig. 2, the switch state of the upper and lower bridge arm IGBT of two level voltage source inventers is complementary, therefore can use SA、 SB
And SCThe switch state of the upper and lower bridge arm IGBT of level voltage source inventer three-phase (A, B and C) is respectively indicated, and is indicated with " 1 "
It is in an off state that upper bridge arm IGBT is in opening state, lower bridge arm IGBT, in " 0 " expression bridge arm IGBT it is in an off state,
Lower bridge arm IGBT is in opening state.
8 kinds of switch combinations are shared in level voltage source inventer, and the corresponding output phase voltage of this 8 kinds of switch combinations is turned
It is changed to space vector form, the effective voltage space vector that available 6 amplitudes and space-phase angle are fixed：V1(100)、 V2
(110)、V3(010)、V4(011)、V5(001)、V6(101)；And 2 zero vectors：V0(000)、V7(111), as shown in Figure 3.
With voltage vector V1For, 100 indicate the upper bridge arm conducting of A phase, lower bridge arm shutdown, and B phase and the upper bridge arm of C phase close
Disconnected, lower bridge arm is open-minded, and the meaning and so on of other 5 kinds of effective voltage space vectors, the embodiment of the present invention does not repeat them here this.
Wherein, effective voltage vector V1~V6Subscript be that voltage vector hexagon in Fig. 3 is numbered counterclockwise.
Space vector of voltage can be expressed as follows：
In formula (1), VxExpression basic voltage vectors, x=0,1 ..., 7；VdcIndicate DC side busbar voltage；A=ej2 π/3。
Under two-phase stationary coordinate system, the voltage vector and stator magnetic linkage vector equation of permanent magnet synchronous motor can be indicated such as
Under：
In formula (2), Vs、isAnd ψsRespectively indicate stator voltage vector, stator current vector and stator magnetic linkage vector；Rs
Indicate stator resistance；LsIndicate stator inductance；ψfRotor flux linkage vector.
It, can be by Euler's single order forward-difference method by formula (2) discretization, stator magnetic linkage in view of the control period is short enough
Vector is in (k+1) TsThe predicted value at moment can be acquired by following formula：
ψs(k+1)=ψs(k)+VsTs-Rsis(k)Ts (3)
In formula (3), TsIndicate the control period；isIt (k) is the stator current vector obtained in the measurement of kth moment, ψs(k)
For the stator magnetic linkage vector observed at the kth moment using flux observer.
Wherein, Euler's single order forward-difference method is known to those skilled in the art, and the embodiment of the present invention does not do this superfluous
It states.
Since the mechanical time constant of permanent magnet synchronous motor is much larger than electrical time constant, it will be assumed that rotor flux linkage vector
Angular velocity of rotation is constant within a control period, therefore rotor flux linkage vector is in (k+1) TsThe phase angle at moment is：
∠ψf(k+1)=∠ ψf(k)+ωrTs (4)
In formula (4), ωrIndicate the rotation angular rate of rotor flux linkage vector, ∠ ψfIt (k) is rotor flux linkage vector in kTs
The phase angle at moment.Rotor flux linkage vector is in (k+1) TsThe predicted value at moment is：
In formula (5), | ψf| the amplitude for indicating rotor flux linkage vector, is a constant.
Permanent magnet synchronous motor is in (k+1) TsThe electromagnetic torque at moment can be expressed as follows：
In formula (6), npIt indicates motor number of pole-pairs (technical term of this field).
Two, forecasting sequence domination set is established：
Two level voltage source inventers share 6 effective basic voltage vectors and 2 zero vectors：V0(000)、V1(100)、
V2(110)、V3(010)、V4(011)、V5(001)、V6(101)、V7(111)。
More vector prediction direct torques apply multiple voltage vectors within a control period, when within a control period
When applying 2 effective basic voltage vectors and 1 zero vector, two can be arbitrarily selected in 6 effective basic voltage vectors
Adjacent effective basic voltage vectors are simultaneously combined with zero vector, then one share 6 vectorial combinations (VC)：VC=I：V1,V2,
V0/V7, VC=II：V2,V3,V0/V7, VC=III：V3,V4,V0/V7, VC=IV：V4,V5,V0/V7, VC=V：V5,V6, V0/V7、
And VC=VI：V6,V1,V0/V7。
In embodiments of the present invention, the voltage vector in each voltage vector combination is applied according to 5 sections of symmetrical expressions.With electricity
Press vectorial combination VC=I for, when one control the period in apply the voltage vector combination in 2 effective voltage vectors
V1, V2With zero vector V0Or V7When, voltage vector putting in order within a control period shares 6 kinds following： V1-V2-V7-
V2-V1、V2-V1-V0-V1-V2、V0-V1-V2-V1-V0、V7-V2-V1-V2-V7、V1-V7-V2-V7-V1、 V2-V0-V1-V0-V2。
Voltage vector the putting in order in each control period in other 5 voltage vector combinations is similarly analyzed, it can
Sorted with summing up the 6 kinds of voltage vectors of the voltage vector in 6 voltage vector combinations in each control cycle (VS=A,
B ..., F) it can be as follows with unified representation：
VS=A：Vi-Vj-V7-Vj-Vi, VS=B：Vj-Vi-V0-Vi-Vj, VS=C：V0-Vi-Vj-Vi-V0, VS=D：V7-Vj-
Vi-Vj-V7, VS=E：Vi-V7-Vj-V7-ViAnd VS=F：Vj-V0-Vi-V0-Vj, wherein (i, j)=(1,2), (3,2), (3,
4), (5,4), (5,6), (1,6), wherein VS indicates the number of voltage vector sequence, and 6 kinds of voltage vector sequences are numbered respectively
For A~B.In above-mentioned 6 in voltage vector sequence, zero vector V0Or V7Selection with the minimum principle of switching frequency.
By taking voltage vector combines I as an example, the corresponding on off sequence of 6 kinds of vectors sequences is as shown in Figure 5.Comparison diagram 5 (a)-
(f) it is found that voltage vector sorts, A-D only has a phase switch state to change during each vectors switching, and voltage
Vector sequence E and F will appear the case where two-phase switch state converts simultaneously during vectors switching.Therefore shape is switched to reduce
The number of state switching, reduces switching frequency, and the embodiment of the present invention rejects voltage vector sequence E and F.Similarly, other 5 are analyzed
Voltage vector combines the corresponding voltage vector sequence of II~VI, can reject 2 kinds of voltage vector sequences.Therefore, it is necessary to analyze
Voltage vector sequence it is as shown in table 1.
Table 1
Influence for voltage vector sequence different in quantitative analysis table 1 to stator magnetic linkage vector controlled performance, this hair
The undulate quantity virtual value that bright embodiment controls stator magnetic linkage vector in the period at one is as evaluation index.It is different
Voltage
The corresponding stator magnetic linkage vector fluctuation valid value table of vector sequence is as follows up to formula：
In formula, VS=A, B, C, D；ψs m(m=1,2 ..., 5) indicate stator magnetic linkage vector each electricity in each control period
Press the predicted value at vectors switching moment.Had according to formula (3)：
In formula, ψs0Indicate stator magnetic linkage vector in the initial value in each control period；Sl=Vs,l-Rsis(k), wherein Vs,l
Indicate the basic voltage vectors of first of application in each control period；TlthIndicate Vs,lAction time.
Optional one group in the above-mentioned voltage vector combination listed, by the basic voltage vectors V in combinationi、Vj、V0/V7It is right
In 4 kinds of voltage vectors sequence substitution formula (8) answered, it is contemplated that Vs,l=Vs,5, Vs,2=Vs,4, T1th=T5th, T2th=T4th, ψs m's
The running track that amplitude controls in the period at one is as shown in Figure 6.
Formula (8) are substituted into formula (7), and ignore stator resistance item, any one voltage vector combines corresponding 4 kinds of voltage
Stator magnetic linkage error virtual value expression formula under vector sequence is as follows：
In formula, e0=ψs *-ψs0；Ti、TjWith T0Respectively indicate effective voltage vector Vi、VjWith the action time of zero vector.Root
According to formula (9)~formula (12), it is found that four kinds of voltage vectors sort, corresponding flux linkage vector fluctuation virtual value and basic voltage vectors are selected
It takes and its respective action time is related.By the way that formula (9)~formula (12) is carried out sorting as difference come each voltage vector of comparison two-by-two
Size relation between corresponding flux linkage vector fluctuation virtual value, by arranging available following expression：
For the size relation under more intuitive more different on off sequences between stator magnetic linkage error virtual value, according to formula
(13)~formula (18) difference drawing three-dimensional figure, as shown in Figure 7.X-axis is voltage vector V in Fig. 7iAction time Ti, y-axis is electricity
Press vector VjAction time Tj, z-axis is the difference of the flux linkage vector fluctuation virtual value between the sequence of different voltages vector.In Fig. 7
It carries out control period and voltage vector magnitude to mark change, i.e., will control cycle TsWith basic voltage vectors amplitude | Vi|、|Vj|
It is set to 1.
The e it can be seen from Fig. 7 (b) and Fig. 7 (e)APerseverance is less than or equal to eC, eBPerseverance is less than or equal to eD, the result account for voltage
Vector sequence C and D is not optimal always.Therefore, vector sequence C and D can be rejected, realizes process in actual control algolithm
In, it need to only assess the influence that vector sequence A and B fluctuates flux linkage vector, i.e., the voltage vector in Table I in red dotted line frame
Sequence.Zero vector is distributed among effective voltage vector in the sequence of these two types of voltage vectors.
The influence fluctuated by analysis different voltages vector sequence to stator flux of motor vector, filters out and advantageously reduces
The voltage vector of stator magnetic linkage vector undulate quantity sorts, while being the number of reduction switch state switching, reduces switching frequency, this
Inventive embodiments only need totally 12 kinds of assessment A and B class voltage vector sequence.Therefore, the embodiment of the present invention needs all electricity analyzed
Press vector sequence as shown in table 2.
Table 2
12 kinds of voltage vector sequences are brought into the domination set of PREDICTIVE CONTROL, the control of novel voltage vector sequence is established
Collection.Domination set can be expressed from the next：
Three, evaluation function is constructed：
In order to assess the influence that the voltage vector in above-mentioned domination set sorts to stator magnetic linkage vector undulate quantity, the present invention is real
Example is applied to assess the stator magnetic linkage vector error of each voltage vector switching moment in each control period.Therefore, this hair
Bright embodiment building evaluation function is as follows：
In formula (20), λNIndicate the weight factor of each control end cycle moment stator magnetic linkage vector error item, certainly
Surely the stator magnetic linkage vector error item significance level at end cycle moment is controlled；ψs m(m=1,2 ..., 5) indicate stator magnetic linkage arrow
Measure the predicted value of each voltage vector switching moment in each control period；ψs0Indicate stator magnetic linkage vector in each control period
Initial value；Sl=Vs,l-Rsis(k), stator magnetic linkage vector change rate is indicated, wherein Vs,l(l=1,2 ..., m) indicate each control
The basic voltage vectors of first of application in period processed；TlthIndicate Vs,lAction time.Since voltage vector is symmetrical by five sections
Mode applies, therefore Vs,1=Vs,5, Vs,2=Vs,4, S1=S5, S2=S4。
Angle calculation formula with reference to stator magnetic linkage vector is as follows：
In formula (21), Te *With | ψs *| it respectively indicates reference electromagnetic torque and refers to stator magnetic linkage vector magnitude.
It is as follows with reference to stator magnetic linkage vector expression formula：
ψs *=| ψs *|∠ψs * (22)
Four, the action time of basic voltage vectors in the sequence of different voltages vector is calculated：
Make evaluation function J under asking each voltage vector to sort1The action time T of the smallest each basic voltage vectorslth(l=
1,2 ..., 5) the problem of be the convex optimization problem with Prescribed Properties.It cannot achieve since its solution procedure is more complicated online
It calculates, therefore the embodiment of the present invention obtains the action time of voltage vector using the method that substep solves.Formula (20)
In each voltage vector action time can be expressed as T1th=T5th=0.5 μθμnTs, T2th=T4th=0.5 (1-
μθ)μnTs,
T3th=(1- μn)Ts, wherein 0≤μn≤ 1,0≤μθ≤1.Coefficient μnDetermine VsAmplitude, and work as μnV when=1s
Always it falls on the boundary of voltage vector hexagon；Coefficient μθDetermine equivalent resultant vector VsAngle.
Below by first determining VsPhase angle again determine VsThe step of amplitude, seeks the action time of each basic voltage vectors.
V is set firstsAmplitude be maximum value, by coefficient μn=1 substitutes into formula (20), to evaluation function J1It asks about unknown quantity μθDerivative,
DJ is enabled to acquire1/dμθ=0 μθ.To μθSolution be typical double optimization problem, after the influence of negligible resistance item,
Display solution is as follows：
In formula, Δ ψs=ψs *-ψs(k)；S1With S2For the stator magnetic linkage vector change rate S in formula (20)l, since voltage is sweared
Amount is applied by five sections of symmetrical modes, therefore can use S1Instead of S5, S2With instead of S4, and in the shadow for ignoring stator resistance item
S after sound3=0.
Then μ is setnFor unknown quantity, the μ that will be calculatedθIn substitution formula (20), to evaluation function J1It asks about unknown quantity μn
Derivative, enable dJ to acquire1/dμn=0 μθ.To μnSolution be equally double optimization problem, formula is neglected to simplify the calculation
Slightly stator resistance item, display solution are as follows：
In formula, for the expression complexity for reducing formula (24), μ is usedmIndicate 1- μθ。
μ is obtained in solutionθWith μnAfterwards, the action time T of each voltage vector in voltage vector sequence can be obtained1th~T5th。
By the basic voltage vectors V in alternative voltage vector sequence each in domination set CSs,lAnd each basic voltage vectors Vs,l
Action time T1th~T5thSubstitute into evaluation function J1In, the mistake of stator magnetic linkage vector when evaluation applies the sequence of different voltages vector
Difference, the evaluation function J so that selection is sent as an envoy to1The smallest voltage vector is ordered as optimal sequencing.Finally obtain optimal voltage vector row
The switching signal S of the corresponding three-phase bridge arm of sequenceA、SB、SC, and output it to inverter.
Five, the realization of permanent magnet synchronous motor forecasting sequence control strategy：
All voltage vector sequences are assessed using the method for exhaustion, will cause biggish calculation amount.Therefore, the embodiment of the present invention
Reduce the quantity of alternative voltage vector sequence in advance using the optimization problem of classical limited domination set prediction direct torque.
Optimization problem can be expressed as follows：
By the ψ in formula (3)s(k+1) ψ is replaced withs *, then formula (25) can be rewritten as：
ψs *=ψs(k)+Vs *Ts-Rsis(k)Ts(26)
In formula, Vs *Indicate the reference voltage vector for meeting stator magnetic linkage vector track with zero error requirement.
Formula (3) and formula (26) are substituted into formula (25), formula (25) can be rewritten as：
According to formula (27), J3The size of value is related at a distance from basic voltage vectors and reference voltage vector.Therefore make
The effective basic voltage vectors of the smallest 2 of formula (27) value are distance Vs *3 nearest voltage vectors are 2 effective bases respectively
This voltage vector (is denoted as V respectivelyx optWith Vx sub) and zero vector V0,7.Due to distance Vs *2 nearest effective basic voltage vectors
Necessarily adjacent, therefore, the embodiment of the present invention will need the voltage vector assessed sequence to be reduced to voltage vector group from 12
Close (Vx opt、Vx sub、V0\V7) sequence of corresponding 2 kinds of voltage vectors.
Therefore by the optimization problem in solution formula (25), the J that sends as an envoy to is selected in 6 effective basic voltage vectors2It is minimum
With secondary the smallest Vx optWith Vx sub.Voltage vector combine (Vx opt、Vx sub、V0\V7) corresponding 2 kinds of voltage vectors sort substitution formula
(20) the evaluation function J in1In assessed, optimal voltage vector sequence can be selected.Electricity to need to assess
The quantity of pressure vector sequence is reduced to 2 kinds.
In conclusion the embodiment of the present invention runs motor through the above steps more stablely；Motor stator simultaneously
Current distortion rate also available reduction reduces the loss of electric machine as caused by current harmonics in motor operation course, meets
A variety of needs in practical application.
Embodiment 3
The scheme in Examples 1 and 2 is carried out below with reference to specific experimental data, Fig. 8-Figure 10 and simulation waveform
Feasibility verifying, it is described below：
The embodiment of the present invention carries out experimental verification in the permanent magnet synchronous motor system of 6.0kW.The parameter of electric machine such as 3 institute of table
Show.Experiment test platform in, digital signal processor (DSP) TMS320F28335 carry out algorithm realization, and load by
The induction machine of 11.2kW provides, and induction machine is controlled by the S120 that Siemens Company produces.
Table 3
One, transient performance is verified
Fig. 8 gives the transient performance experimental waveform of the mentioned algorithm of present example.During the experiment, motor speed is
100r/min loads as 50Nm, and then, the given rotating speed of motor sports 200r/min, and last motor load sports
100Nm.The torque of motor and stator magnetic linkage can accurately track its given value as seen from Figure 8, have good tracking
Performance.
Two, the steady-state performance with the more vector prediction direct torques of tradition compares
Experiment by the steady-state performance of the mentioned algorithm of present example and two vector prediction torque control algorithms and be based on from
The three vector prediction torque control algorithms for dissipating Space Vector Modulation Strategy are compared, wherein two vector prediction torque control algorithms
The control period be 100 μ s, the control period of three vector prediction torque control algorithms and mentioned algorithm is 200 μ s.It is calculated at three kinds
In method, switching frequency fswIn 3.4kHz or so, the operating condition of motor is：Revolving speed 200r/min, load torque 100Nm.
Fig. 9 gives two vector prediction torque control algorithms, three vector predictions based on Discrete Space Vector Modulation strategy
The Steady Experimental waveform of torque control algorithm and mentioned algorithm.Comparison diagram 9 (a)-(c) as can be seen that Fig. 9 (a) in torque with
Magnetic linkage fluctuation is maximum, and stator current THD is also the largest, and compared to Fig. 9 (a), torque and magnetic linkage in Fig. 9 (b) are fluctuated
Smaller, electric current THD is also further decreased, and illustrates that the steady-state performance of three vector prediction direct torques is better than two vector prediction torques
Control.But compared to Fig. 9 (a) and Fig. 9 (b), it is the smallest, comparison that the torque of Fig. 9 (c), magnetic linkage, which are fluctuated with electric current THD,
As a result illustrate that the torque of mentioned algorithm, stator magnetic linkage fluctuation are obtained with electric current THD compared to the more vector prediction direct torques of tradition
To being substantially reduced,.Therefore Steady Experimental the result shows that the mentioned algorithm of present example compared to traditional more vector prediction torques
Control algolithm further improves steady-state performance.
Three, steady-state performance is verified
Figure 10 provides the stable state of electromagnetic torque, stator magnetic linkage, stator current when selecting the sequence of different types of voltage vector
Waveform diagram and voltage vector select situation.Figure 10 (a) gives 6 kinds of voltage vectors sequence corresponding only with VS=C in Table I
When Steady Experimental waveform；Figure 10 (b) gives stable state reality when 6 kinds of voltage vectors sequence corresponding only with VS=A in Table I
Test waveform；Figure 10 (c) gives the Steady Experimental waveform of the mentioned algorithm of present example.In figure, VS=1,2,3 respectively correspond VS
=A, B, C.In an experiment, motor speed 200r/min, load torque 100Nm.Torque in the case of 10 3 kinds of comparison diagram
With stator magnetic linkage experimental waveform can be seen that the mentioned algorithm of present example torque and stator magnetic linkage fluctuation be respectively less than only with
Corresponding voltage vector sequence in VS=A or VS=C, and electromagnetism when 6 kinds of voltage vectors sequence corresponding only with VS=C
Torque and stator magnetic linkage fluctuation are maximum, consistent with the theoretical analysis result in example two.
The embodiment of the present invention to the model of each device in addition to doing specified otherwise, the model of other devices with no restrictions,
As long as the device of above-mentioned function can be completed.
It will be appreciated by those skilled in the art that attached drawing is the schematic diagram of a preferred embodiment, the embodiments of the present invention
Serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of motor control method of predicted voltage vector sequence, which is characterized in that the described method comprises the following steps：
By voltage vectors all in two level voltage source inventer of quantitative analysis sequence to the shadow of the fluctuation of stator magnetic linkage vector
It rings, filters out 12 kinds of voltage vector sequences for being conducive to optimization stator magnetic linkage vector controlled performance；
12 kinds of voltage vector sequences are brought into the domination set of PREDICTIVE CONTROL, novel voltage vector sequence domination set is established；
The undulate quantity virtual value that stator magnetic linkage vector is controlled in the period at one is as evaluation index；
The stator magnetic linkage vector error of each voltage vector switching moment in each control period is assessed, building evaluation letter
Number；
By first confirming that phase angle confirms that the two-step method of amplitude seeks the action time of each basic voltage vectors again.
2. a kind of motor control method of predicted voltage vector sequence according to claim 1, which is characterized in that described to incite somebody to action
12 kinds of voltage vector sequences are brought into the domination set of PREDICTIVE CONTROL, and establishing novel voltage vector sequence domination set is specially：
3. a kind of motor control method of predicted voltage vector sequence according to claim 1, which is characterized in that described to incite somebody to action
Stator magnetic linkage vector controls the undulate quantity virtual value in the period at one：
The corresponding stator magnetic linkage vector fluctuation valid value table of different voltages vector sequence is as follows up to formula：
In formula, VS=A, B, C, D；ψs mIndicate stator magnetic linkage vector it is each control the period in each voltage vector switching moment it is pre-
Measured value；
In formula, ψs0Indicate stator magnetic linkage vector in the initial value in each control period；Sl=Vs,l-Rsis(k), wherein Vs,lIt indicates
The basic voltage vectors of first of application in each control period；TlthIndicate Vs,lAction time.
4. a kind of motor control method of predicted voltage vector sequence according to claim 1, which is characterized in that institute's commentary
Valence function is specially：
Wherein, λNIndicate the weight factor of each control end cycle moment stator magnetic linkage vector error item；ψs mIndicate stator magnet
The predicted value of chain vector each voltage vector switching moment in each control period；ψs0Indicate stator magnetic linkage vector in each control
The initial value in period；SlIndicate stator magnetic linkage vector change rate；TlthIndicate Vs,lAction time；Vs,lIndicate each control week
The basic voltage vectors of interim first of application.
5. a kind of motor control method of predicted voltage vector sequence according to claim 1, which is characterized in that described logical
Confirm that the two-step method of amplitude seeks action time of each basic voltage vectors and is specially again after first confirmation phase angle：
In formula, Δ ψs=ψs *-ψs(k)；S1With S2Stator magnetic linkage vector change rate Sl。
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