CN108964549A - Line inductance electromotor predicts thrust control method without weight Modulus Model - Google Patents
Line inductance electromotor predicts thrust control method without weight Modulus Model 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
- 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
- H02P25/06—Linear motors
- H02P25/062—Linear motors of the induction type
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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
- H02P2207/01—Asynchronous machines
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Abstract
The present invention provides a kind of line inductance electromotor and predicts thrust control method without weight Modulus Model, belongs to line inductance electromotor control technology field.Model prediction thrust is controlled and introduces motor control by the present invention, and by rewriting objective function, the magnetic linkage of different dimensions and thrust is allowed to be converted to same dimension, to eliminate weight coefficient, eliminate a large amount of weight coefficient setting time, it is easier to realize in practice.
Description
Technical field
The invention belongs to line inductance electromotor control technology fields, have no right more particularly, to a kind of line inductance electromotor
Weight Modulus Model predicts thrust control method.
Background technique
Line inductance electromotor extensive utilization can generate direct Thrust to city rail traffic field, reduce integrated engineering cost.
Vector controlled and Direct Thrust Control are the control methods of two kinds of mainstreams of line inductance electromotor, and vector controlled passes through control motor electricity
Stream regulates and controls motor thrust output, and therefore, thrust response speed is slower.In order to improve motor thrust response speed, direct Thrust
Control method is by directly controlling electric motor primary magnetic linkage and thrust output, without adjusting electric current, rings to accelerate motor dynamics
Speed is answered, electric motor starting and braking time are shortened.
Direct Thrust Control relies on offline switch list, and the switch list is more coarse, can not enough guarantee the electricity selected
Pressure vector is optimal vector.Meanwhile line inductance electromotor, due to the influence of side-termind effect, mutual inductance can run shape with motor difference
Violent variation occurs for state, therefore switch list is not unique under different operating conditions.In order to improve Direct Thrust Control
Model Predictive Control Algorithm and this method can be combined by the runnability of algorithm, and as model prediction thrust controls.It should
Method by way of on-line optimization objective function, guarantee selected voltage vector be all under any operating condition it is optimal, thus excellent
Change the performance of Direct Thrust Control algorithm.
However, since not good theory can instruct how to find suitable weight coefficient value to balance different dimensions
Under control target, it is therefore desirable to a large amount of time continuously attempts to debugging weight coefficient value, by comparing under different weight coefficients
Motor performance searches out so that the optimal weight coefficient value of performance, has balanced magnetic linkage and thrust two different dimension controls
Target.Therefore, in practical application, it is convenient that this method not enough facilitates, and needs artificial setting parameter early period.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of line inductance electromotors without weight system
Exponential model predicts thrust control method, simplifies complicated weight coefficient tuning process.This method is by magnetic linkage action points and will push away
Control target under force tracking item two different dimensions is transformed under same dimension, controls target under identical dimension to balance,
It is 1 that weight coefficient, which directly selects, to eliminate coefficient tuning process.
To achieve the above object, a kind of line inductance electromotor predicts thrust control strategy without weight Modulus Model, including such as
Lower step:
(1) it samples: in current time k, line inductance electromotor electric current and operation linear velocity being sampled, obtained current
Moment motor running condition；
(2) thrust and conjugation thrust at k+1 moment are predicted: according to k instance sample value, utilizing motor prediction model, prediction
K+1 moment thrust and conjugation thrust, solution procedure are as follows out:
Line inductance electromotor, as shown in Figure 1, generating side-termind effect, leads to motor operation course since iron core cut-offs structure
In the middle, mutual inductance can change.In order to describe this mutual inductance variation, defined variable is as follows:
Wherein: D is electric motor primary length；V is motor linear velocity；R2For motor secondary resistance；Ll2For motor secondary inductance；
LmFor motor mutual inductance.
According to above formula, motor side-termind effect impact factor be may be expressed as:
Line inductance electromotor, voltage equation may be expressed as:
Flux linkage equations may be expressed as:
Wherein: p represents differential operator, uα1And uβ1Indicate electric motor primary input voltage α axis and beta -axis component, R1And R2It represents
Electric motor primary and secondary resistance, iα1And iβ1Represent electric motor primary electric current α axis and beta -axis component, iα2And iβ2Represent motor secondary electric current
α axis and beta -axis component, ψα1And ψβ1Represent electric motor primary magnetic linkage α axis and beta -axis component, ψα2And ψβ2Represent motor secondary magnetic linkage α axis and β
Axis component, Ll1And Ll2Represent electric motor primary and secondary leakage inductance, LmThe mutual inductance between motor primary and secondary, ω2Represent secondary angular speed.
In order to facilitate description electric motor primary magnetic linkage and thrust output variable, motor status variable [i is chosenα1 iβ1 ψα1 ψβ1
]T, convolution (3) and (4), motor status equation may be expressed as:
Wherein: secondary loop inductance Lr=Ll2+Lm[1-f (Q)], primary circuit inductance Ls=Ll1+Lm[1-f (Q)], amendment
Motor mutual inductance L' afterwardsm=Lm[1-f (Q)],γ=LsR2+LrR1。
Single order Euler's discrete method is taken, formula (5) discrete form may be expressed as:
Wherein: subscript k and k+1 respectively represent the motor status variable at k and k+1 moment, TsFor the sampling period.
According to formula (6), k+1 moment motor thrust output can be predicted, expression formula are as follows:
Wherein: τ is motor pole span.
Similarly, the conjugation thrust at k+1 moment may be expressed as:
(3) optimal voltage vector is selected: by 8 voltage vectors of two-level inverter, as shown in figure 3, being brought into (2) step
Prediction obtains the thrust at k+1 moment and is conjugated thrust respectively in the middle.In order to select optimal voltage vector, it is brought into target letter
It is evaluated in number, formula is as follows:
Wherein: F*For speed ring generate reference thrust signal,Ring is adjusted by magnetic linkage PI for conjugation thrust reference value to produce
It is raw.
By comparing target function value under different voltages vector, select so that the smallest voltage vector of target function value is made
Inverter modulation is given for optimal voltage vector, as follows:
Wherein: voltage vector V0...V7For two-level inverter output 8 voltage vectors, as shown in Figure 3.
The entire block diagram of control algolithm is as shown in Figure 2.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1, it is controlled compared to traditional model prediction thrust, for this method without complicated weight coefficient tuning process, simplifying should
Algorithm is operated in practical engineering application；
2, since line inductance electromotor side-termind effect causes mutual inductance variation more violent, conventional model predicts thrust control most
Excellent weight coefficient can change with motor difference operating status, and this method is based under the same dimension, weight coefficient dimension
Hold it is constant, perseverance be 1.
Detailed description of the invention
Fig. 1 is line inductance electromotor structural schematic diagram；
Fig. 2 is algorithm control block diagram；
Fig. 3 is two-level inverter output voltage vector.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
One, line inductance electromotor thrust prediction model is established
Line inductance electromotor, as shown in Figure 1, generating side-termind effect, leads to motor operation course since iron core cut-offs structure
In the middle, mutual inductance can change.In order to describe this mutual inductance variation, defined variable is as follows:
Wherein: D is electric motor primary length；V is motor linear velocity；R2For motor secondary resistance；Ll2For motor secondary inductance；
LmFor motor mutual inductance.
According to above formula, motor side-termind effect impact factor be may be expressed as:
Line inductance electromotor, voltage equation may be expressed as:
Flux linkage equations may be expressed as:
Wherein: p represents differential operator, uα1And uβ1Indicate electric motor primary input voltage α axis and beta -axis component, R1And R2It represents
Electric motor primary and secondary resistance, iα1And iβ1Represent electric motor primary electric current α axis and beta -axis component, iα2And iβ2Represent motor secondary electric current
α axis and beta -axis component, ψα1And ψβ1Represent electric motor primary magnetic linkage α axis and beta -axis component, ψα2And ψβ2Represent motor secondary magnetic linkage α axis and β
Axis component, Ll1And Ll2Represent electric motor primary and secondary leakage inductance, LmThe mutual inductance between motor primary and secondary, ω2Represent secondary angular speed.
In order to facilitate description electric motor primary magnetic linkage and thrust output variable, motor status variable [i is chosenα1 iβ1 ψα1 ψβ1
]T, convolution (3) and (4), motor status equation may be expressed as:
Wherein: secondary inductance Lr=Ll2+Lm[1-f (Q)], primary inductance Ls=Ll1+Lm[1-f (Q)], revised motor
Mutual inductance L'm=Lm[1-f (Q)],γ=LsR2+LrR1。
Single order Euler's discrete method is taken, formula (5) discrete form may be expressed as:
Wherein: subscript k and k+1 respectively represent the motor status variable at k and k+1 moment, TsFor the sampling period.
According to formula (6), k+1 moment motor thrust output can be predicted, expression formula are as follows:
Wherein: τ is motor pole span.
Similarly, the electric motor primary magnetic linkage amplitude at k+1 moment may be expressed as:
Two, thrust control strategy is predicted without weight Modulus Model
In order to control linear electric motor primary magnetic linkage amplitude and thrust output, design object function is as follows:
Wherein: F*For speed ring generate reference thrust signal,For given primary magnetic linkage amplitude, kψFor weight coefficient.
From formula (9) as can be seen that needing to the weight coefficient k in objective functionψAdjusted, come balance thrust tracking and
Magnetic linkage tracks the control target under two different dimensions.Tuning process manually experience completely, without theoretical direction, it is therefore desirable to
A large amount of setting time.
In order to by weight coefficient kψIt saves, we attempt to replace with magnetic linkage action points into the expression with reasoning with dimension
Formula replaces.Matching test (7), it is as follows that we can define conjugation thrust expression formula:
According to the active and Reactive power definition under Virtual shipyard, we can compare discovery, be formula (7) thrust expression formula and have
Function is related, is the cross product between magnetic linkage and electric current, and formula (10) conjugation thrust item is related with idle expression formula, is magnetic linkage and electricity
The dot product of stream.
Therefore, one can consider that being that the conjugation thrust that (10) define is idle related to motor, value size determines electricity
Machine excitation is horizontal, adjusts conjugation thrust magnitude, so that it may change the size of primary magnetic linkage amplitude.Therefore, objective function can be rewritten
Are as follows:
Wherein:Ring is adjusted by magnetic linkage PI for conjugation thrust reference value to generate.
From formula (11) as can be seen that at this time since two of objective function are all the same dimensions, with first item thrust amount
Guiding principle is identical, and therefore, it is 1 that weight coefficient, which can choose, no longer needs to the size for adjusting the value.Algorithm entirety control block diagram such as Fig. 2
It is shown.
Finally, by selecting so that the smallest voltage vector of objective function (11) value gives two as optimal voltage vector
Electrical level inverter goes to modulate, and solution procedure is as follows:
Wherein: voltage vector V0...V7For two-level inverter output 8 voltage vectors, as shown in Figure 3.
Three, specific embodiment
Line inductance electromotor predicts thrust control method without weight Modulus Model, includes the following steps:
(1) in current time k, line inductance electromotor electric current and operation linear velocity is sampled, current time is obtained
Motor running condition；
(2) motor running condition for combining current time k, is predicted using eight voltage vectors of two-level inverter one by one
Motor status [the i at k+1 momentα1(k+1)iβ1(k+1)ψα1(k+1)ψβ1(k+1)]T, iα1And iβ1Respectively represent electric motor primary electric current α axis and β
Axis component, ψα1And ψβ1Electric motor primary magnetic linkage α axis and beta -axis component are respectively represented, subscript k+1 represents the k+1 moment, and subscript T indicates to turn
It sets；
(3) eight motor status at the k+1 moment predicted one by one using step (2) speculate that the electrode output at k+1 moment pushes away
Power F(k+1)With conjugation thrust
Wherein, τ is motor pole span, and subscript k represents the k moment；
(4) one by one by eight motor thrust output F at the k+1 moment of supposition(k+1)With conjugation thrustSubstitute into target letter
Number selects so that the smallest voltage vector of target function value gives inverter modulation as optimal voltage vector；
The objective function are as follows:Wherein: F*The reference generated for speed ring pushes away
Force signal,To be conjugated thrust reference value.
Motor status [the i at step (2) the prediction k+1 momentα1(k+1)iβ1(k+1)ψα1(k+1)ψβ1(k+1)]TSpecific embodiment party
Formula are as follows:
Wherein, TsFor sampling period, R1And R2Respectively represent electric motor primary and secondary electrical, uα1And uβ1Indicate that electric motor primary is defeated
Enter voltage α axis and beta -axis component, LrFor secondary loop inductance, ω2Represent secondary angular speed, coefficientWith γ=
LsR2+LrR1, LsFor primary circuit inductance, L'mFor revised motor mutual inductance.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (2)
1. line inductance electromotor predicts thrust control method without weight Modulus Model, which comprises the steps of:
(1) in current time k, line inductance electromotor electric current and operation linear velocity is sampled, current time motor is obtained
Operation conditions；
(2) motor running condition for combining current time k, predicts k+1 using eight voltage vectors of two-level inverter one by one
Motor status [the i at momentα1(k+1) iβ1(k+1) ψα1(k+1) ψβ1(k+1)]T, iα1And iβ1Respectively represent electric motor primary electric current α axis and β
Axis component, ψα1And ψβ1Electric motor primary magnetic linkage α axis and beta -axis component are respectively represented, subscript k+1 represents the k+1 moment, and subscript T indicates to turn
It sets；
(3) eight motor status at the k+1 moment predicted one by one using step (2) speculate the electrode thrust output at k+1 moment
F(k+1)With conjugation thrust
Wherein, τ is motor pole span, and subscript k represents the k moment；
(4) one by one by eight motor thrust output F at the k+1 moment of supposition(k+1)With conjugation thrustSubstitute into objective function, choosing
It selects so that the smallest voltage vector of target function value gives inverter modulation as optimal voltage vector；
The objective function are as follows:Wherein: F*The reference thrust letter generated for speed ring
Number,To be conjugated thrust reference value.
2. line inductance electromotor according to claim 1 predicts that thrust control method, feature exist without weight Modulus Model
In the motor status [i at step (2) the prediction k+1 momentα1(k+1) iβ1(k+1) ψα1(k+1) ψβ1(k+1)]TSpecific embodiment
Are as follows:
Wherein, TsFor sampling period, R1And R2Respectively represent electric motor primary and secondary electrical, uα1And uβ1Indicate electric motor primary input electricity
Press α axis and beta -axis component, LrFor secondary loop inductance, ω2Represent secondary angular speed, coefficientWith γ=LsR2+
LrR1, LsFor primary circuit inductance, L 'mFor revised motor mutual inductance.
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Cited By (6)
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| CN109921706A (en) * | 2019-01-18 | 2019-06-21 | 华中科技大学 | Line inductance electromotor model prediction containing restriction of current thrust control method and system |
| CN111614278A (en) * | 2020-06-12 | 2020-09-01 | 中国矿业大学 | No-weight multivariable sequential model prediction control method and device for LCL inverter |
| CN111769770A (en) * | 2020-01-17 | 2020-10-13 | 华中科技大学 | Linear induction motor multi-step finite set model prediction control method and system |
| CN112182850A (en) * | 2020-09-07 | 2021-01-05 | 淄博京科电气有限公司 | Linear motor model prediction control weight factor optimization method |
| CN112468044A (en) * | 2020-11-10 | 2021-03-09 | 东南大学 | Model prediction control system and method of permanent magnet synchronous linear motor |
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| CN112182850A (en) * | 2020-09-07 | 2021-01-05 | 淄博京科电气有限公司 | Linear motor model prediction control weight factor optimization method |
| CN112182850B (en) * | 2020-09-07 | 2023-07-14 | 淄博京科电气有限公司 | Linear motor model predictive control weight factor optimization method |
| CN112468044A (en) * | 2020-11-10 | 2021-03-09 | 东南大学 | Model prediction control system and method of permanent magnet synchronous linear motor |
| CN112468044B (en) * | 2020-11-10 | 2022-09-06 | 东南大学 | Model prediction control system and method for permanent magnet synchronous linear motor |
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