CN109391202A - Permanent magnet synchronous motor model prediction-Direct Torque Control - Google Patents
Permanent magnet synchronous motor model prediction-Direct Torque Control Download PDFInfo
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- CN109391202A CN109391202A CN201811325725.2A CN201811325725A CN109391202A CN 109391202 A CN109391202 A CN 109391202A CN 201811325725 A CN201811325725 A CN 201811325725A CN 109391202 A CN109391202 A CN 109391202A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/30—Direct torque control [DTC] or field acceleration method [FAM]
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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
- H02P25/022—Synchronous motors
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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
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
A kind of permanent magnet synchronous motor model prediction-Direct Torque Control, belongs to control technology field.The purpose of the present invention is the accurate estimations using torque and magnetic linkage in the complete paired systems of reduced dimension observer, and permanent magnet synchronous motor model prediction-Direct Torque Control of hub motor drive system controller is then designed using Model Predictive Control Algorithm.Step of the present invention is: selecting motor torque and magnetic linkage for quantity of state, selection makes torque and Flux estimation value and the smallest objective function of desired value error, and the three-phase voltage of acquisition control motor completes the control to PMSM.The Optimal Control Problem of multiple-input and multiple-output and multiple constraint can be effectively treated in the Model Predictive Control Algorithm that the present invention applies, it takes and has replaced hysteresis comparator and switch selecting module in traditional Direct Torque Control, the bound pulsation and unnecessary switching loss for avoiding stagnant ring, effectively inhibit the torque pulsation of driving motor.
Description
Technical field
The invention belongs to control technology fields.
Background technique
With the raising of people's quality of life and the rapid development of automobile industry, the car ownership in China was continuous in recent years
Increase, global non-renewable energy resources reserves constantly consume, and have seriously threatened energy security, especially a large amount of conventional fuel oil automobiles
Use be further exacerbated by the deterioration of environment.Electric car has the advantage of high energy efficiency, zero-emission, low pollution, has become
The development trend of future automobile.
The electric car of In-wheel motor driving is research hotspot in recent years, and the maximum feature of this electric car is will be electric
Machine is mounted on the wheel of electric car, and the driving moment that motor generates directly acts on wheel, saves orthodox car complexity
Mechanical driving device saves space, improves automobile comfort level, and be able to achieve the lightweight of automobile, hub drive system realizes
The independent accurate control of each driving wheel of automobile, improves drive system to the control force of automobile.Electric automobile whole torque control
System strategy is that driver's bend the throttle provides torque-demand, and power assembly of electric automobile controller receives the information and combines
Vehicle current driving situation and road, environmental aspect calculate optimal driving torque and assign direct torque instruction, hub motor
Control system responds the instruction and provides demand torque, frequently due to operating condition variation, often starting brake, climb and fall etc.,
Output torque variation is frequent.Frequent torque pulsation will cause vibration and the noise of driving motor, and reducing motor driven systems can
It by property and control precision, and will increase the additional energy consumption of motor, shorten electric car course continuation mileage.So obtaining quick and precisely
Torque tracking be automobile permanent magnet synchronous motor important control target.
Mainly there is Field orientable control (Field oriented applied to the basic skills of motor control at present
) and Direct Torque Control (Direct torque control) control.Occur very in current motor control scientific research field
More control strategies are derived based on both methods.
For the Torque tracking control of automobile permanent magnet synchronous motor, the main problems are as follows:
1. the mathematical model of hub motor is complicated, there are magnitude of current coupling, is relied on to the parameter of electric machine the problems such as big, the magnitude of current is not
The calculation amount that control system is increased with the transformation under coordinate system, keeps dynamic response slack-off, influences hub motor drive system
Control effect, if drive system cannot timely respond to, easily causes traffic accident especially under traffic catastrophe.
2. there is a problem of what flux linkage estimation was not allowed, when control system needs to carry out direct tracing control to torque and magnetic linkage
When, the value of current time actual torque and magnetic linkage can not be directly obtained by measurement, and the estimated bias of torque and magnetic linkage will
Directly affect the control effect of hub motor drive system.
3. being effectively controlled in the control performance for improving motor driven systems for three-phase inverter plays critical effect,
Since there are dead times in actual inverter, it will cause the error of torque and magnetic linkage, increase loss, in some instances it may even be possible to lead to system
Oscillatory occurences occurs.
Summary of the invention
The purpose of the present invention is the accurate estimations using torque and magnetic linkage in the complete paired systems of reduced dimension observer, then use
Model Predictive Control Algorithm designs permanent magnet synchronous motor model prediction-Direct torque of hub motor drive system controller
Method processed.
Step of the present invention is:
1. selecting motor torque and magnetic linkage for quantity of state, i.e. x=[Te ψs]T, select the switching signal of three-phase inverter for control
Amount, i.e. u=[Sa Sb Sc]T, select the time-varying parameter of system for d=ψd, λ is dead area compensation, then system state equation are as follows:
In formula, matrix B are as follows:
2. selection makes torque and Flux estimation value and the smallest J of desired value error as objective function:
3. each entry value corresponding to optional different switch combinations is substituted into objective function J, when screening obtains target function value minimum
The control amount that corresponding switch combination is exported as controller；
4. specific control process can be stated are as follows:
Voltage Feedback amount u is obtained by sensor firstd、uqWith current feedback amount id、iq, flux observer is passed data to,
Current time flux linkage estimation value can be obtainedAnd torque estimated valueBy estimated value and given valuePass to MPC control
Device obtains controller output control amount S by Optimal calculationa、Sb、ScThree-phase inverter is acted on, control motor is then obtained
Three-phase voltage completes the control to PMSM；
5. the control target of driving system controller mainly has following components:
1) designing controller by Model Predictive Control Algorithm avoids bound brought by traditional Hysteresis control from pulsing, and effectively presses down
The interference that controller processed controls target following, mentions high control precision；
2) it is control amount that design controller, which chooses inverter control signal, and switch selection supplementary module is omitted, simplifies system
Structure avoids unnecessary loss；
3) guaranteeing that system structure is simple, under the premise of loss is small, selecting optimization object function, be optimally controlled by solving
Amount combination, effectively inhibits the tracking error of torque and magnetic linkage, completes the main control target of drive system；
4) consider that dead time effect bring influences, by the way that dead zone modeling is added in model predictive controller, inverter is realized
More accurately control, reduces dead zone bring error.
Magnetic linkage reduced dimension observer of the present invention:
1. to permanent magnet synchronous motor three-phase current ia,ib,icClarke transformation is carried out, biphase current i is obtainedα,iβ, similarly obtain
The stator magnetic linkage of two-phase is ψα,ψβ, the voltage u of two-phaseα,uβ；Consider the permanent magnet synchronous motor state equation in dead zone are as follows:
State space equation can simplify are as follows:
2. designing reduced dimension observer, chooses variable z and replace quantity of state x2, it carries out variable replacement and obtains:
Wherein concrete matrix D, F, G, H are as follows:
Wherein γ is POLE PLACEMENT USING parameter；
3. assigned pole d
D=γ | ωr| < 0 (18)
4. final proper γ is less than 0, observer convergence takes γ=- 0.2.
Compared with prior art, the present invention the beneficial effects of the present invention are:
1. using motor torque and magnetic linkage as controlled object, and completing system design under stator coordinate, do not need by electricity
Flow completes control, effectively prevents magnitude of current coupled problem in complicated changes in coordinates and motor model, reduces system
Complexity improves the dynamic responding speed of system and intuitive, the reliability of system control effect.
2. when carrying out motor torque and flux linkage estimation, it is contemplated that there are error accumulations to ask in traditional quadrature estimation
Open loop integral estimation in conventional method is converted into closed loop estimation control form by topic, present invention application reduced dimension observer principle,
Integral accumulated error is eliminated, improves motor torque and flux linkage estimation accuracy, while reducing the variation of the intrinsic parameter of motor to magnetic
The influence that chain estimation generates.
3. the present invention is for inverter in Practical Project, there are dead times, and inverter output voltage current first harmonics is caused to subtract
Few, higher harmonic components increase, and cause torque pulsation, increase the added losses of motor, in some instances it may even be possible to system be caused to vibrate
Phenomenon models inverter with motor again, carries out dead area compensation, and reducing dead zone bring influences, and improves direct torque
Effect.
4. the excellent of multiple-input and multiple-output and multiple constraint can be effectively treated in the Model Predictive Control Algorithm that the present invention applies
Change control problem, take for hysteresis comparator in traditional Direct Torque Control and switch selecting module, avoids the upper and lower of stagnant ring
Limit pulsation and unnecessary switching loss, effectively inhibit the torque pulsation of driving motor.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three-phase inverter and permanent magnet synchronous motor system；
Fig. 2 is the Direct Torque Control System for Permanent Magnet Synchronous Motor structural block diagram based on observer and Model Predictive Control；
Fig. 3 is the structural schematic diagram of three-phase inverter；
Fig. 4 is Inverter Dead-time logic simulation figure；
Fig. 5 is inverter a phase bridge arm current schematic diagram；
Fig. 6 is Inverter Dead-time basic principle schematic；
Fig. 7 is the basic schematic diagram of Model Predictive Control；
Fig. 8 is the MPC-DTC sine torque tracking simulation comparison figure for not considering dead zone MPC-DTC and considering dead zone.
Fig. 9 is the MPC-DTC step torque tracking simulation comparison figure for not considering dead zone MPC-DTC and considering dead zone.
Figure 10 is the magnetic linkage analogous diagram of reduced dimension observer.
Specific embodiment
The present invention relates to a kind of model prediction-Direct Torque Controls of automobile permanent magnet synchronous motor, specifically, this
Invention is related to a kind of model prediction control of torque pulsation that can effectively improve flux linkage estimation precision and reduce permanent magnet synchronous motor
Method processed, while improving inverter control effect by compensating to Inverter Dead-time, to complete fast to given torque
The accurate tracing control of speed, reaches the requirement of hub motor for electric automobile driving control system.
The permanent magnet synchronous motor for the Model Predictive Control based on dead area compensation and reduced dimension observer that the present invention designs drives
Control system can improve the above three point problem well.Firstly, this secondary design is selected based on Direct Torque Control, directly
It connects direct torque not needing directly to control torque and magnetic linkage by the magnitude of current, simplifies the mathematical model of motor, avoid multiple
Miscellaneous coordinate transform improves the dynamic responding speed of system.Not for magnetic linkage in traditional Direct Torque Control and torque estimation
Accurate problem, this secondary design will be observed magnetic linkage using reduced dimension observer method, to reduce production during flux linkage estimation
Raw deviation, and then realize the accurate estimation of torque, reduce torque pulsation.Finally, the design uses Model Predictive Control Algorithm
To design the controller of driving control system for electric machine, actuator of the selection three-phase inverter as control system, wherein model is pre-
Survey controller exports optimal switching signal and directly acts on inverter, and this control method can be further simplified system knot
Structure, and effectively inhibit the torque pulsation of controlled motor, while there are dead time effects in actual inverter, produce to torque
It raw the problem of influencing, is compensated in model predictive controller, to be effectively improved direct torque effect.
Open loop estimation in traditional Direct Torque Control is transformed to closed-loop control form by flux observer of the present invention, is being subtracted
The accumulation of error that integral element generates in conventional estimated can be eliminated while small flux linkage estimation error, to reduce pulsation.It adopts
This Multiobjective Optimal Control Problems can be effectively treated with model predictive control method, make torque and magnetic for dead time effect selection
Optimized switching signal when chain error minimum, directly controls the three-phase inverter with dead zone, can effectively reduce motor
Torque pulsation and switching loss.
The invention firstly uses the principles of reduced dimension observer, complete the design of motor driven systems estimator, same in conjunction with permanent magnetism
Walk the voltage of motor, the magnitude of current to calculate the torque of motor and magnetic linkage under current state in real time；Secondly, observer is obtained
Torque and magnetic linkage value pass to controller together with reference given value as value of feedback, and then controller utilizes Model Predictive Control
Algorithm construction has the electric machine control system of Inverter Dead-time, and system Controlling object function mainly includes two control amounts, for electricity
The torque of machine and magnetic linkage, objective function indicate the tracking error of control system motor torque and magnetic linkage；Finally, by solving target
The corresponding optimal control problem of function, acquisition make torque and the smallest switch combination of magnetic linkage tracking error, and act on dead
The three-phase inverter in area completes system to motor torque and magnetic linkage fast and accurately tracing control.
For the technology contents that the present invention will be described in detail, construction features, realize purpose etc., with reference to the accompanying drawing to the present invention into
Row is explained comprehensively.
Realization platform of the invention is automobile permanent magnet synchronous motor, and permanent magnet synchronous motor is as a kind of alternating current generator, by one
A two-stage three-phase voltage source inverter connection DC power supply realizes drive control.The inverter group indispensable as PMSM system
It needs to regard motor and inverter as a complete controlled system jointly to realize that motor accurately drives at part.Its entirety
Structure is as shown in Figure 1, Q in figure1,Q2,...,Q6Respectively indicate inverter is driven by electricity switch element.
Consider cost and development time problem, the permanent magnet synchronous motor of the invention based on dead area compensation and reduced dimension observer
MPC-DTC control system uses Matlab/Simulink platform progress simulation model and builds, and model composition includes that dimensionality reduction is observed
Device module；MPC controller module；Controlled module, i.e. permanent magnet synchronous motor and three-phase inverter module, dead zone module.Its structure
Figure is as shown in Figure 2.
Controlled device of the invention is permanent magnet synchronous motor, and the mathematical model of motor is other advanced theoretical bases realized
Plinth, the mathematical model of motor mainly include the voltage equation, flux linkage equations and electromagnetic torque equation of stator.The relevant parameter of motor
As shown in table 1.
One permanent magnet synchronous motor relevant parameter of table
Modules are described in detail respectively below:
1, inverter-permanent magnet synchronous motor modeling
In practical application, often there is dead time effect, mechanism of production can be divided into inverter, switching dead effect and set
Set dead time effect.Electronic switching device has certain time that turns on and off in inverter, and it turns on and off the time and is
Uncontrollable, commonly referred to as opening with the time difference of shutdown is switching dead time.Since the service time of general switching device is small
In the turn-off time, if in the control electrode for two switching devices that complementary control signal is added to same mutually upper and lower bridge arm, that
The two switching devices will occur " to lead directly to ", and consequence is very serious.General inverter uses time delay control technology,
Signal rise edge delay will preferably be controlled for a period of time, commonly referred to as this period is setting dead time.In dead time,
For switching device all in off state, inverter output voltage is uncontrollable.Numerous results of study show in dead time effect
In, the influence of switching dead effect is smaller, and can partly offset controlling dead error effect, and setting dead time effect rises conclusive
Effect.Therefore, ignore herein switching device open and the turn-off time, the dead time being previously mentioned be setting dead time.
In dead time, for the power device of the upper and lower bridge arm of inverter all in off state, output voltage is uncontrollable,
It is Microsecond grade although dead time is very short, the dead time of single pulse will not cause very big influence to system performance, its
Persistent accumulation effect is but enough to make the stator voltage electric current of motor to be greatly affected, with the raising of switching frequency, extremely
Influence of area's time to inverter output voltage and output electric current is also more and more serious.Especially when low speed is lightly loaded, inversion
Device output voltage is smaller, and the error voltage vector size that dead time generates is constant, and dead time effect will be more significant, and show as
Reduce inverter output voltage current first harmonics, higher harmonic components increase, and cause torque pulsation, increase the additional damage of motor
Consumption, in some instances it may even be possible to cause system that oscillatory occurences occurs.
Three-phase inverter is mainly made of DC power supply, 6 switches, 3 inductance, 3 resistance and 3 counter electromotive force,
Structural schematic diagram is as shown in Figure 3.
Since the switch state of bridge arm on three-phase inverter is opposite with the switch state of lower bridge arm respectively, it is possible to pass through
3 switching signal Sa、SbAnd ScIndicate 6 switch state Sx(1,2 ..., 6), as shown in Table 2.
The relationship of table two switch states and switching signal
Ideally inverter three-phase voltage Ua, Ub, UcAre as follows:
Assuming that dead time is set as Td, the logic realization in dead zone as shown in figure 4, postpone T for former pulse backwarddThe arteries and veins that time obtains
The pulse that punching is obtained with former pulse progress and logical operation is exactly that the pulse in dead zone is arranged.
Influence for the ease of analysis dead time to inverter output performance, is analyzed by taking a phase bridge arm as an example below,
Assuming that device for power switching is high effectively triggering (that ignores IGBT switching tube turns on and off the time), current direction is defined: stream
Inverter leg is positive out；Inverter leg is flowed into be negative.Fig. 5 is the current flow diagram of a phase bridge arm.
In Fig. 6, a, b are respectively the trigger signal of ideally two switching device of a phase bridge arm；C is schemed for ideally a
The output voltage of phase bridge arm；Scheming d, e is respectively that dead time T is addeddThe trigger signal of switching device up and down afterwards；Scheme f, g points
Dead time T Wei not be addeddAfterwards, a phase bridge arm output voltage waveforms when electric current is respectively positive and negative, wherein dash area indicates
Error voltage.
Work as iaWhen > 0, in a PWM cycle, the influence in dead zone, which is equivalent to, has lost a square-wave voltage such as Fig. 6 (f)
Shown in middle dash area, similarly, in a PWM cycle, it produces an error square wave electricity contrary with primary voltage
The synergistic effect of pressure.The error voltage that dead time generates haves the characteristics that such: one is only existed in each switch periods partially
Potential difference pulse；The amplitude of error voltage pulse is Udc, width Td；The polarity of error voltage pulse and corresponding output electric current
Polarity it is opposite.That is, the error voltage that dead time generates is only related to current direction, and it is unrelated with size of current,
Its size (absolute value) is all (Td/Ts)/Udc.Therefore, when dead time is added, a phase output voltage UaIt can indicate are as follows:
Wherein, UaFor actual output voltage values, Ua' it is theoretical output voltage values.As analyzing it is found that electricity caused by dead zone
The polarity of pressure distortion and electric current is directly related, and unrelated with the size of electric current, and the polarity of the deviation voltage Δ U of dead zone generation
Always with load current on the contrary, therefore always making actual current less than normal.
Then, three voltages of the inverter with dead zone are as follows:
In formula, UdcFor the voltage value of DC power supply, UiIt indicates three-phase voltage (i a, b or c), since the switch of upper and lower bridge arm closes
Conjunction state is exactly the opposite, can use Sa、Sb、ScIndicate the switch closed condition S of three-phase inverterx(x=1,2 ..., 6).
Above formula (3) is obtained by Clarke:
It is converted by Park:
It is obtained by (3), (4), (5):
PMSM is modeled, the state equation of the voltage of PMSM are as follows:
The state equation of magnetic linkage are as follows:
Define motor torque and magnetic linkage are as follows:
2, magnetic linkage reduced dimension observer
Drive control system of permanent magnet synchronous motor designed by the present invention is estimated using what the principle design of reduced dimension observer was wanted
Gauge is observed the stator magnetic linkage of permanent magnet synchronous motor.
To permanent magnet synchronous motor three-phase current ia,ib,icCarry out Clarke transformation, available biphase current iα,iβ, similarly
The stator magnetic linkage of available two-phase is ψα,ψβ, the voltage u of two-phaseα,uβ.Consider the permanent magnet synchronous motor state equation in dead zone
Are as follows:
State space equation can simplify are as follows:
Reduced dimension observer is designed, variable z is chosen and replaces quantity of state x2, it carries out variable replacement and obtains:
Wherein concrete matrix D, F, G, H are as follows:
Wherein γ is POLE PLACEMENT USING parameter.
It is stable in order to reach, it needs assigned pole d in imaginary axis Left half-plane, restrains observer, at the beginning of magnetic linkage being eliminated
Beginning error:
D=γ | ωr| < 0 (17)
Finally can proper γ less than 0 when, observer convergence, take γ=- 0.2.
The optimal estimation value of magnetic linkage is obtained by above formula, the feedback of torque can be obtained according to coordinate transform and formula (9)
Value.
3, based on the model predictive control method in dead zone
Model Predictive Control is a kind of substep forecast Control Algorithm, and basic thought can be described as meeting objective function, state
And the open loop optimal control problem under the conditions of input constraint etc. in one finite time-domain of line solver.PREDICTIVE CONTROL can be simply general
It includes as three steps: according to the current measurement information of acquisition and the following dynamic of prediction model forecasting system；Guarantee objective function and constraint
Under the conditions of line solver optimization problem；First element interaction of solution is in system.Model Predictive Control is with each sampling instant
Measured value as prediction primary condition.The basic principle of Model Predictive Control is as shown in Figure 7.In current time t, from controlled
System obtains measured value x0, according to metrical information and prediction model, forecasting system is in prediction time domain TpThe interior following dynamic behaviourOptimize open-loop performance target function, searches out control time domain TcInterior optimal control list entriesSo that the system of prediction
Output is with the output of desired system closer to better, i.e. in Fig. 7 hatched area minimum.
Specific step is as follows:
Inverter and PMSM integrated modelling
Select motor torque and magnetic linkage for quantity of state according to formula 3-8, i.e. x=[Te ψs]T, select the switching signal of three-phase inverter
For control amount, i.e. u=[Sa Sb Sc]T, select the time-varying parameter of system for d=ψd, λ is dead area compensation, then system state equation
Are as follows:
In formula, matrix B are as follows:
By the realization of the achievable MPC controller of above step, selection makes torque and Flux estimation value and desired value error most
Small J is as objective function:
Each entry value corresponding to optional different switch combinations is substituted into objective function J, screening obtains target function value minimum
When the control amount that is exported as controller of corresponding switch combination.
Specific control process can be stated are as follows:
Voltage Feedback amount u is obtained by sensor firstd、uqWith current feedback amount id、iq, flux observer is passed data to,
Current time flux linkage estimation value can be obtainedAnd torque estimated valueBy estimated value and given valuePass to MPC control
Device obtains controller output control amount S by Optimal calculationa、Sb、ScThree-phase inverter is acted on, control motor is then obtained
Three-phase voltage completes the control to PMSM.
The control target of driving system controller designed by the present invention mainly has following components:
1) designing controller by Model Predictive Control Algorithm avoids bound brought by traditional Hysteresis control from pulsing, and effectively presses down
The interference that controller processed controls target following, mentions high control precision.
2) it is control amount that present invention design controller, which chooses inverter control signal, and the supplementary modules such as switch selection, letter is omitted
Change system structure, avoids unnecessary loss.
3) guaranteeing that system structure is simple, under the premise of loss is small, selecting suitable optimization object function, obtained most by solving
Good control amount combination, effectively inhibits the tracking error of torque and magnetic linkage, completes the main control target of drive system.
4) consider that dead time effect bring influences, by the way that dead zone modeling is added in model predictive controller, inverter is realized
More accurately control, reduces dead zone bring error.
The Model Predictive Control hub motor drive system based on dead area compensation and reduced dimension observer of the invention designed,
Firstly, by flux observer module, real-time estimation goes out torque and magnetic linkage value under motor current state, obtains predicting the following shape
State；Secondly, guaranteeing objective function line solver optimization problem, the switching signal optimal solution of control inverter is obtained；It finally will most
Excellent signal compound action is in inverter.
The motor drive system controller that the present invention designs can complete the accurate tracing control to motor torque and magnetic linkage, be
Realize one of the key foundation that four wheels of electric automobile independently accurately controls, the motor drive controller that the present invention designs is simplifying system
Bring motor torque in Inverter Dead-time in tracing control is effectively inhibited while system structure, reduction unnecessary switching loss
Pulsation, improve control precision, theoretically greatly improve the control effect of hub motor drive system.
Analysis of simulation result
The control system feasibility that the present invention known to Fig. 8, Fig. 9 simulation result designs has obtained preliminary verifying, by comparing,
The torque tracking effect of MPC-DTC control method based on dead zone be better than the torque of the MPC-DTC method for not considering dead zone with
Track control effect, as can be seen from FIG. 10, designed flux observer can obtain accurate estimated value.
Claims (2)
1. a kind of permanent magnet synchronous motor model prediction-Direct Torque Control, it is characterised in that: the steps include:
1. selecting motor torque and magnetic linkage for quantity of state, i.e. x=[Te ψs]T, select the switching signal of three-phase inverter for control
Amount, i.e. u=[Sa Sb Sc]T, select the time-varying parameter of system for d=ψd, λ is dead area compensation, then system state equation are as follows:
In formula, matrix B are as follows:
2. selection makes torque and Flux estimation value and the smallest J of desired value error as objective function:
3. each entry value corresponding to optional different switch combinations is substituted into objective function J, when screening obtains target function value minimum
The control amount that corresponding switch combination is exported as controller；
4. specific control process can be stated are as follows:
Voltage Feedback amount u is obtained by sensor firstd、uqWith current feedback amount id、iq, flux observer is passed data to,
Current time flux linkage estimation value can be obtainedAnd torque estimated valueBy estimated value and given valuePass to MPC control
Device obtains controller output control amount S by Optimal calculationa、Sb、ScThree-phase inverter is acted on, control motor is then obtained
Three-phase voltage completes the control to PMSM；
5. the control target of driving system controller mainly has following components:
1) designing controller by Model Predictive Control Algorithm avoids bound brought by traditional Hysteresis control from pulsing, and effectively presses down
The interference that controller processed controls target following, mentions high control precision；
2) it is control amount that design controller, which chooses inverter control signal, and switch selection supplementary module is omitted, simplifies system
Structure avoids unnecessary loss；
3) guaranteeing that system structure is simple, under the premise of loss is small, selecting optimization object function, be optimally controlled by solving
Amount combination, effectively inhibits the tracking error of torque and magnetic linkage, completes the main control target of drive system；
4) consider that dead time effect bring influences, by the way that dead zone modeling is added in model predictive controller, inverter is realized
More accurately control, reduces dead zone bring error.
2. permanent magnet synchronous motor model prediction-Direct Torque Control according to claim 1, it is characterised in that: institute
The magnetic linkage reduced dimension observer stated:
1. to permanent magnet synchronous motor three-phase current ia,ib,icClarke transformation is carried out, biphase current i is obtainedα,iβ, similarly obtain two
The stator magnetic linkage of phase is ψα,ψβ, the voltage u of two-phaseα,uβ；Consider the permanent magnet synchronous motor state equation in dead zone are as follows:
State space equation can simplify are as follows:
2. designing reduced dimension observer, chooses variable z and replace quantity of state x2, it carries out variable replacement and obtains:
Wherein concrete matrix D, F, G, H are as follows:
Wherein γ is POLE PLACEMENT USING parameter；
3. assigned pole d
D=γ | ωr| < 0 (18)
4. final proper γ is less than 0, observer convergence takes γ=- 0.2.
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