CN109510539B - Model prediction flux linkage control system and method based on gain matrix - Google Patents

Model prediction flux linkage control system and method based on gain matrix Download PDF

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CN109510539B
CN109510539B CN201811166715.9A CN201811166715A CN109510539B CN 109510539 B CN109510539 B CN 109510539B CN 201811166715 A CN201811166715 A CN 201811166715A CN 109510539 B CN109510539 B CN 109510539B
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stator
rotating speed
reference value
pole
flux linkage
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CN109510539A (en
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张永昌
黄朋
白宇宁
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North China University of Technology
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North China University of Technology
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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
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control

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Abstract

The invention discloses a model prediction flux linkage control system and method based on a gain matrix. A series of methods such as constructing an observer model through a mathematical model, solving the pole of an asynchronous motor, solving the pole of the observer through the model, solving a gain matrix through the model and the like provide a brand-new gain matrix design method to replace the traditional gain matrix, and the limitation of the gain matrix in the prior art is solved. The method not only enlarges the applicability of the used design method, but also has larger damping ratio when being compared with the gain matrix of the traditional pole moving type configuration method, thereby being more beneficial to the stability of the motor.

Description

Model prediction flux linkage control system and method based on gain matrix
Technical Field
The invention relates to the field of motors, in particular to a model prediction flux linkage control system and method based on a gain matrix.
Background
In a high-performance asynchronous motor speed regulation control system, accurate flux linkage information is acquired, which is very important for the performance of the control system. However, the internal magnetic field information of the asynchronous machine is difficult to measure directly and is usually estimated by software algorithms in practical applications.
The method mainly applied in the prior art comprises a current model method, a voltage model method, a sliding-mode observer, a full-order observer, Kalman filtering and the like. In these methods, the full-order observer receives wide attention because it has good observation accuracy in a wide speed range and can realize non-speed operation, and at the same time, the full-order observer has good parameter robustness and can even further realize parameter identification, so that it can adapt to complex working conditions in practical industrial applications. Meanwhile, one difficulty in the application of the full-order observer is the design of the feedback gain matrix, however, the gain matrix in the prior art is often limited in the used range, that is, the gain matrix of the conventional pole-shifting type configuration method can only be regarded as a special case of the gain matrix and cannot be well applied to the variable situations.
Disclosure of Invention
In view of the above, an objective of the present invention is to provide a model predictive flux linkage control system and method based on a gain matrix, so as to solve the problems that the conventional matrix in the prior art has a narrow application range and is easy to destabilize when the motor speed is high.
Based on the above purpose, the present invention provides a model predictive flux linkage control system and method based on a gain matrix. A model prediction flux linkage control system based on a gain matrix comprises a variable parameter PI regulator module, a reference value conversion module, a space vector pulse width modulation module, a first alpha beta/abc module, a rotating speed self-adaptive full-order observer module, a low-pass filter module, a three-level inverter module, a second alpha beta/abc module and an asynchronous motor; the rotating speed self-adaptive full-order observer module is used for detecting stator voltage and stator current under a static coordinate system so as to output stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor;
the low-pass filter module is used for receiving the rotating speed of the motor and filtering out high frequency in the rotating speed of the motor so as to output the rotating speed of the filtered motor;
the variable parameter PI regulator module is used for receiving a motor rotating speed reference value and the filtered motor rotating speed and detecting a difference value between the motor rotating speed reference value and the filtered motor rotating speed so as to output a corresponding electromagnetic torque reference value;
the reference value conversion module is used for receiving the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value and converting the stator flux linkage reference value, the electromagnetic torque and the electromagnetic torque reference value into a flux linkage vector reference value to obtain and output a stator voltage reference value under a static coordinate system;
the space vector pulse width modulation module is used for receiving the stator voltage reference value to output a switching signal of the three-level inverter;
and the three-level inverter module is used for receiving the switching signal to output three-phase alternating current to realize the control of the rotating speed and the flux linkage of the asynchronous motor.
In some optional embodiments, the space vector pulse width modulation module is connected to the three-level inverter through a delay module.
A control method of a model predictive flux linkage control system based on a gain matrix comprises the following steps:
the rotating speed self-adaptive full-order observer module detects stator voltage and stator current under a static coordinate system and outputs stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor;
the low-pass filter module receives the motor rotating speed and filters high frequency in the motor rotating speed to output the filtered motor rotating speed;
the variable parameter PI regulator module receives a motor rotating speed reference value and the filtered motor rotating speed, and outputs a corresponding electromagnetic torque reference value by detecting a difference value of the motor rotating speed reference value and the filtered motor rotating speed;
the reference value conversion module receives a stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value, converts the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value into a flux linkage vector reference value and obtains a stator voltage reference value under an output static coordinate system;
the space vector pulse width modulation module receives the stator voltage reference value and outputs a switching signal of the three-level inverter;
and the three-level inverter module receives the switching signal and outputs three-phase alternating current, and the control of the rotating speed and the flux linkage of the asynchronous motor is realized by controlling the switching state of the three-level inverter.
In some optional embodiments, the rotation speed adaptive full-order observer includes establishing a mathematical model of the asynchronous machine in a two-phase stationary coordinate system:
Figure GDA0002731411100000031
y＝Cx
wherein the state variable x ═ is ψs]T，isFor said stator current vector, #sIs the stator flux linkage vector.
Figure GDA0002731411100000032
ωrFor the motor speed, LsIs a stator inductance, LrIs rotor inductance, RsStator resistance, RrThe rotor resistance.
Figure GDA0002731411100000033
As input variables, usIs the stator voltage vector; c ═ 10]，y＝[is]Is an output variable.
In some optional embodiments, constructing a rotational speed adaptive full-order observer model from the mathematical model comprises:
Figure GDA0002731411100000034
wherein the state vector
Figure GDA0002731411100000035
usIs the stator voltage vector, G1As a gain matrix, with said stator current vector isAnd self-estimating current
Figure GDA0002731411100000036
The difference is used as a correction term; the state variable is converted into
Figure GDA0002731411100000037
Gradually converging to the same value as the real value of the system to obtain the reference value of the stator flux linkage vector; and solving the stator voltage reference value according to the stator flux linkage vector reference value.
In some alternative embodiments, the pole S of the asynchronous machine is determined according to the mathematical model by solving the equation | sI-a | ═ 0 according to the linear system characteristic root1And pole S2：
Figure GDA0002731411100000038
Wherein:
Figure GDA0002731411100000041
wherein, t'σIs a transient time constant, trIs the rotor time constant, t'sIs the stator transient time constant, ωrIs the motor speed.
In some alternative embodiments, the poles S of the asynchronous machine are determined according to1And pole S2The process of obtaining the corresponding observer pole includes: pole p of an asynchronous machineIMIs the pole S1Or pole S2Pole P of the observer corresponding to saidObSatisfies the relationship: pob＝kPIM+b,(k＞0,b＜0)。
In some optional embodiments, a matrix eigenequation is obtained according to the mathematical model and the rotation speed adaptive full-order observer model:
eig(A-G1C)＝keig(A)+b
wherein eig () represents solving the matrix eigenvalue of the matrix eigen equation, and solving the equation to obtain the gain matrix G1Expression (c):
Figure GDA0002731411100000042
from the above description, the present invention provides a model predictive flux linkage control system and method based on a gain matrix. A series of methods such as constructing an observer model through a mathematical model, solving the pole of an asynchronous motor through the mathematical model, solving the pole of the observer, solving a gain matrix according to the model and the like are provided, a brand-new gain matrix design method is provided to replace the traditional gain matrix, and the limitation of the gain matrix in the prior art is solved. The method not only enlarges the applicability of the used design method, but also has larger damping ratio when being compared with the gain matrix of the traditional pole moving type configuration method, thereby being more beneficial to the stability of the motor.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention
FIG. 2 is a block diagram of a rotational speed adaptive full-order observer;
FIG. 3 is a plot of the pole placement for two different gain matrices, corresponding to a speed range of-3000 rpm to 3000 rpm;
FIG. 4 is an experimental waveform for starting an asynchronous machine from rest to 1500rpm using the MPFC control algorithm of a normal observer G;
FIG. 5 is a diagram of an observer G using a gain matrix1The experimental waveform of the asynchronous motor from stationary start to 1500rpm under the MPFC control algorithm of (1).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It should be noted that all expressions using "first" and "second" in the present application are used for distinguishing two entities with the same name but different names or different parameters, and it should be understood that "first" and "second" are only used for convenience of description and should not be construed as a limitation to the present application, and the following embodiments do not describe any more.
The invention provides a model prediction flux linkage control system and method based on a gain matrix.
A model prediction flux linkage control system based on a gain matrix refers to fig. 1 and comprises a variable parameter PI regulator module, a reference value conversion module, a space vector pulse width modulation module, a first alpha beta/abc module, a rotating speed self-adaptive full-order observer module, a low-pass filter module, a three-level inverter module, a second alpha beta/abc module and an asynchronous motor; the rotating speed self-adaptive full-order observer module is used for detecting stator voltage and stator current under a static coordinate system so as to output stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor;
the low-pass filter module is used for receiving the rotating speed of the motor and filtering out high frequency in the rotating speed of the motor so as to output the rotating speed of the filtered motor;
the variable parameter PI regulator module is used for receiving the motor rotating speed reference value and the filtered motor rotating speed and detecting the difference value of the motor rotating speed reference value and the filtered motor rotating speed so as to output a corresponding electromagnetic torque reference value;
the reference value conversion module is used for receiving the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value, converting the stator flux linkage reference value into a flux linkage vector reference value and obtaining a stator voltage reference value under an output static coordinate system;
the space vector pulse width modulation module is used for receiving the stator voltage reference value to output a switching signal of the three-level inverter;
the three-level inverter module is used for receiving the switching signal to output three-phase alternating current to realize the control of the rotating speed and the flux linkage of the asynchronous motor.
In this embodiment, a delay module may be disposed between the space vector pulse width modulation module and the connection of the first α β/abc module and the three-level inverter module, and is used for delaying transmission of the output of the space vector pulse width modulation module.
In the embodiment, the low-pass filter module filters out high-frequency harmonics in the rotating speed, so that the rotating speed of the motor obtained by the observer is more stable.
In the present embodiment, α β in the α β/abc module represents a two-phase stationary coordinate system, i.e., a rectangular coordinate system; abc denotes a three-phase stationary coordinate system, i.e. the three axes of the coordinate system are 120 degrees in space to each other. The first alpha beta/abc module is used for outputting stator voltage, wherein the output stator voltage is reconstructed voltage and is not directly measured; the second α β/abc block is for outputting a stator current, wherein the output stator current is measured directly. Obviously, in other embodiments, "first" and "second" are not necessarily limited to outputting a stator current or a stator voltage, and only a distinction is made here.
Referring to fig. 1, a control method of a model predictive flux linkage control system based on a gain matrix includes the steps of:
step 101: the method comprises the steps that stator voltage and stator current of a motor rotating speed detection static coordinate system are obtained through an observer, and stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor are output;
step 102: the low-pass filter module receives the motor rotating speed and filters high frequency in the motor rotating speed to output the filtered motor rotating speed;
step 103: the variable parameter PI regulator module receives a motor rotating speed reference value and the filtered motor rotating speed, and outputs a corresponding electromagnetic torque reference value by detecting a difference value of the motor rotating speed reference value and the filtered motor rotating speed;
step 104: the reference value conversion module receives a stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value, converts the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value into a flux linkage vector reference value and obtains a stator voltage reference value under an output static coordinate system;
step 105: the space vector pulse width modulation module receives the stator voltage reference value and outputs a switching signal of the three-level inverter;
step 106: and the three-level inverter module receives the switching signal and outputs three-phase alternating current, and the control of the rotating speed and the flux linkage of the asynchronous motor is realized by controlling the switching state of the three-level inverter.
The traditional method for obtaining the rotating speed of the motor mainly adopts a speed sensor and other independent measuring technologies to realize the measurement of the rotating speed of the motor, and the measuring method needs to install a speed sensor and other measuring devices in an operated system. The gain matrix observer provided by the invention belongs to one of the technologies without speed sensors, can obtain the rotating speed of a motor only through an observer module, reduces the setting of predictive control of speed models such as the speed sensors, and has the advantages of reducing the hardware cost, enhancing the environmental adaptability of a system, improving the reliability of the system and the like.
Referring to fig. 2, in this embodiment, the rotating speed adaptive full-order observer includes a mathematical model established under a two-phase stationary coordinate system of the asynchronous machine:
Figure GDA0002731411100000071
y＝Cx
wherein the state variable x ═ is ψs]T，isFor said stator current vector, #sIs the stator flux linkage vector.
Figure GDA0002731411100000072
ωrFor the motor speed, LsIs a stator inductance, LrIs rotor inductance, RsStator resistance, RrThe rotor resistance.
Figure GDA0002731411100000073
As input variables, usIs the stator voltage vector; c ═ 10]，y＝[is]Is an output variable.
In this embodiment, constructing the rotation speed adaptive full-order observer model according to the mathematical model includes:
Figure GDA0002731411100000074
wherein the state vector
Figure GDA0002731411100000081
usIs the stator voltage vector, G1As a gain matrix, with said stator current vector isAnd self-estimating current
Figure GDA0002731411100000082
The difference is used as a correction term; the state variable is converted into
Figure GDA0002731411100000083
Gradually converging to the same value as the true value of the system to obtain the stator flux linkage vector referenceA value; and solving the stator voltage reference value according to the stator flux linkage vector reference value.
In this embodiment, according to the mathematical model, the equation | sI-a | ═ 0 is solved according to the linear system characteristic root, and the pole S of the asynchronous motor is obtained1And pole S2：
Figure GDA0002731411100000084
Wherein:
Figure GDA0002731411100000085
wherein, t'σIs a transient time constant, trIs the rotor time constant, t'sIs the stator transient time constant, ωrIs the motor speed.
In the present embodiment, the poles S of the asynchronous machine are based on1And pole S2The process of obtaining the corresponding observer pole includes: pole p of an asynchronous machineIMIs the pole S1Or pole S2Pole P of the observer corresponding to saidObSatisfies the relationship: pob＝kPIM+b,(k＞0,b＜0)。
In this embodiment, a matrix characteristic equation is obtained according to the mathematical model and the rotation speed adaptive full-order observer model:
eig(A-G1C)＝keig(A)+b
wherein eig () represents solving the matrix eigenvalue of the matrix eigen equation, and solving the equation to obtain the gain matrix G1Expression (c):
Figure GDA0002731411100000086
in the prior art, when the observer pole is calculated through the motor pole, a method of configuring the observer pole as k times of the motor pole is often adopted, at this time, the value range of the k value is often only larger than 1, when k is smaller than 1, the observer pole is on the right side of the motor pole, so that the algorithm is not converged and fails, and the observer pole cannot be naturally included in the applied specific model under the condition of 0-1, so that the applicable range is limited. In the calculation mode of the invention, the value range of the k value is more than 0 by adopting the optimization of the algorithm, and when the k is more than 0 and less than 1, the pole can be moved by adjusting the value of b, so that the pole of the observer is ensured to be positioned at the left side of the pole of the motor. Therefore, the expression of the gain matrix provided by the invention can be regarded as a uniform and generalized expression which can be used in more general situations, and the gain matrix of the traditional pole shifting type configuration method can only be regarded as a special case of the gain matrix.
Meanwhile, the feedback gain matrix G of the invention is configured1The poles of the observer are provided with negative real parts, so that the difference between the state observed by the observer and the actual state of the system can be converged to 0 in a limited time, and the stability and the accuracy of the observer are ensured.
Referring to fig. 1, in the reference value conversion module portion of the present embodiment, the core idea of the conversion is to convert the torque reference value
Figure GDA0002731411100000091
And a stator flux linkage reference value
Figure GDA0002731411100000092
Converted into an equivalent flux linkage vector reference value
Figure GDA0002731411100000093
According to the dead-beat strategy, it is assumed that the stator flux reaches the equivalent flux vector reference value at the end of the control period
Figure GDA0002731411100000094
Selecting an optimal voltage vector, namely obtaining a stator voltage reference value under a static coordinate system
Figure GDA0002731411100000095
The transformation method is realized under a static coordinate system and does not involve coordinate transformation.
The reference value conversion section in fig. 1 is specifically obtained by the following equation. According to the asynchronous motor equation, the electromagnetic torque TeCan be expressed as:
Figure GDA0002731411100000096
wherein the content of the first and second substances,
Figure GDA0002731411100000097
indicating rotor flux linkage psirAnd stator flux linkage psisIs calculated as the vector product of (a).
The angle relation between the stator and the rotor can be obtained according to the formula of the electromagnetic torque:
Figure GDA0002731411100000101
wherein N ispIs the pole pair number and angle psi of the motorrIs the angle of the rotor flux linkage, and the remaining parameters are shown in table 1.
TABLE 1 common parameters
Figure GDA0002731411100000102
Reference value of electromagnetic torque
Figure GDA0002731411100000103
And stator flux linkage amplitude reference value
Figure GDA0002731411100000104
Substituting the formula into the formula, the angle of the stator flux linkage complex vector can be obtained
Figure GDA0002731411100000105
Comprises the following steps:
Figure GDA0002731411100000106
at this point in time,the electromagnetic torque can be referenced
Figure GDA0002731411100000107
And stator flux linkage amplitude reference value
Figure GDA0002731411100000108
Conversion to stator flux linkage vector reference:
Figure GDA0002731411100000109
finally, a dead beat strategy is used, and the stator flux linkage vector is assumed to reach the reference value at the end of the control period
Figure GDA0002731411100000111
According to stator voltage equation
Figure GDA0002731411100000112
Discretizing the voltage reference value to obtain the stator voltage reference value in the static coordinate system
Figure GDA0002731411100000113
Figure GDA0002731411100000114
Wherein
Figure GDA0002731411100000115
Representing the stator current at the next instant in time,
Figure GDA0002731411100000116
indicating the stator flux linkage, T, at the next momentscIndicating a control period.
Referring to fig. 3, corresponding rotational speeds range from-3000 rpm to 3000rpm, where rpm represents revolutions per minute. Where G is the conventional gain matrix (where b is-40) obtained by moving the observer's pole to the left of the motor pole by b units, G1Is the increase proposed by the inventionThe gain matrix (where k is 0.8 and b is-40) clearly shows the relationship between the gain matrix poles in fig. 3: the gain matrix G proposed by the present invention1The imaginary part of the flux linkage branch is smaller under the same rotating speed, and the damping ratio is maximum, so that the stability of a control system is facilitated.
Referring to fig. 4 and 5, a general observer G and a gain matrix observer G are used, respectively1The waveform of the no-load starting experiment of the asynchronous motor of the MPFC control method is the difference between the rotor rotation speed, the electromagnetic torque, the a-phase current, the estimated rotation speed and the actual rotation speed in sequence from top to bottom. It can be seen from fig. 4 and 5 that the systems based on both observers have good dynamic performance, with the current being relatively sinusoidal after entering steady state. Further comparing the 4 th channel of fig. 4 and 5, it can be seen that the MPFC control method using the normal observer G has a large rotation speed error in the dynamic process, the convergence time of the rotation speed estimation is long, and the gain matrix observer G is used1The MPFC control method effectively reduces the rotating speed estimation error, and the convergence rate of the rotating speed estimation is faster. Thus, a gain matrix G is employed1The method can better realize the accurate observation of the stator flux linkage and the rotating speed of the asynchronous motor, thereby improving the dynamic and steady-state performance of the motor closed-loop control.
The system of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known connections to induction motors and other components may or may not be shown in the figures provided for simplicity of illustration and discussion, and so as not to obscure the invention (i.e., such details should be well within the understanding of those skilled in the art). Where specific details are set forth in order to describe example embodiments of the invention, it will be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (3)

1. A model prediction flux linkage control system based on a gain matrix is characterized by comprising a variable parameter PI regulator module, a reference value conversion module, a space vector pulse width modulation module, a first alpha beta/abc module, a rotating speed self-adaptive full-order observer module, a low-pass filter module, a three-level inverter module, a second alpha beta/abc module and an asynchronous motor; the rotating speed self-adaptive full-order observer module is used for detecting stator voltage and stator current under a static coordinate system so as to output stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor;
the rotating speed self-adaptive full-order observer module comprises a mathematical model which is established under a two-phase static coordinate system of the asynchronous motor:
Figure FDA0002907916180000011
y＝Cx
wherein the state variable x ═ is ψs]T，isAs stator current vector, #sIs a vector of the flux linkage of the stator,
Figure FDA0002907916180000012
ωris the motor speed, lambda is the leakage inductance factor, LsIs a stator inductance, LrIs rotor inductance, RsStator resistance, RrThe resistance of the rotor is set to be,
Figure FDA0002907916180000013
u＝[us]as input variables, usIs a stator voltage vector; c ═ 10]，y＝[is]Is an output variable;
constructing a rotating speed self-adaptive full-order observer model according to the mathematical model comprises the following steps:
Figure FDA0002907916180000014
wherein the state variable is
Figure FDA0002907916180000015
usIs stator voltage vector, G1In order to be a matrix of gains, the gain matrix,
Figure FDA0002907916180000016
for the estimated value of the stator flux linkage vector, the stator current vector isAnd self-estimating current
Figure FDA0002907916180000017
The difference is used as a correction term; the state variable is converted into
Figure FDA0002907916180000018
Gradually converging to the same value as the real value of the system to obtain a stator flux linkage;
according to the mathematical model, solving a formula | sI-A | ═ 0 according to a linear system characteristic root, and solvingPole S of asynchronous motor1And pole S2：
Figure FDA0002907916180000021
Wherein:
Figure FDA0002907916180000022
wherein, t'σIs a transient time constant, trIs the rotor time constant, t'sIs the stator transient time constant, ωrIs the motor speed;
according to the pole S of the asynchronous motor1And pole S2The process of obtaining the corresponding observer pole includes: pole p of an asynchronous machineIMIs the pole S1Or pole S2Pole p of an asynchronous machineIMWith pole P of observerobSatisfies the relationship: pob＝kPIM+ b, (0 < k <1, b < 0), k representing the multiple of the observer pole relative to the motor pole, b representing the intercept;
obtaining a matrix characteristic equation according to the mathematical model and the rotating speed self-adaptive full-order observer model:
eig(A-G1C)＝keig(A)+b
wherein eig () represents solving the eigenvalue of the matrix, solving the equation to obtain the gain matrix G1Expression (c):
Figure FDA0002907916180000023
the low-pass filter module is used for receiving the rotating speed of the motor and filtering out high frequency in the rotating speed of the motor so as to output the rotating speed of the filtered motor;
the variable parameter PI regulator module is used for receiving a motor rotating speed reference value and the filtered motor rotating speed and detecting a difference value between the motor rotating speed reference value and the filtered motor rotating speed so as to output a corresponding electromagnetic torque reference value;
the reference value conversion module is used for receiving the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value and converting the stator flux linkage reference value, the electromagnetic torque and the electromagnetic torque reference value into a flux linkage vector reference value to obtain and output a stator voltage reference value under a static coordinate system;
the space vector pulse width modulation module is used for receiving the stator voltage reference value to output a switching signal of the three-level inverter;
and the three-level inverter module is used for receiving the switching signal to output three-phase alternating current to realize the control of the rotating speed and the flux linkage of the asynchronous motor.
2. The gain matrix based model predictive flux linkage control system of claim 1, wherein said space vector pulse width modulation module is coupled to said three level inverter through a delay module.
3. A control method of the model predictive flux linkage control system according to claim 1 or 2, characterized by comprising:
the rotating speed self-adaptive full-order observer module detects stator voltage and stator current under a static coordinate system and outputs stator flux linkage, electromagnetic torque and motor rotating speed of the asynchronous motor;
the rotating speed self-adaptive full-order observer module comprises a mathematical model which is established under a two-phase static coordinate system of the asynchronous motor:
Figure FDA0002907916180000031
y＝Cx
wherein the state variable x ═ is ψs]T，isFor said stator current vector, #sFor the purpose of the stator flux linkage vector,
Figure FDA0002907916180000032
ωris the motor speed, lambda is the leakage inductance factor, LsIs a stator inductance, LrIs rotor inductance, RsStator resistance, RrThe resistance of the rotor is set to be,
Figure FDA0002907916180000033
u＝[us]as input variables, usIs the stator voltage vector; c ═ 10]，y＝[is]Is an output variable;
constructing a rotating speed self-adaptive full-order observer model according to the mathematical model comprises the following steps:
Figure FDA0002907916180000034
wherein the state variable is
Figure FDA0002907916180000035
usIs the stator voltage vector, G1In order to be a matrix of gains, the gain matrix,
Figure FDA0002907916180000036
for the estimated value of the stator flux linkage vector, the stator current vector isAnd self-estimating current
Figure FDA0002907916180000037
The difference is used as a correction term; the state variable is converted into
Figure FDA0002907916180000038
Gradually converging to the same value as the real value of the system to obtain the stator flux linkage;
according to the mathematical model, solving a formula | sI-A | ═ 0 according to a linear system characteristic root, and solving a pole S of the asynchronous motor1And pole S2：
Figure FDA0002907916180000041
Wherein:
Figure FDA0002907916180000042
wherein, t'σIs a transient time constant, trIs the rotor time constant, t'sIs the stator transient time constant, ωrIs the motor speed;
according to the pole S of the asynchronous motor1And pole S2The process of obtaining the corresponding observer pole includes: pole p of an asynchronous machineIMIs the pole S1Or pole S2Pole p of an asynchronous machineIMWith pole P of observerobSatisfies the relationship: pob＝kPIM+ b, (0 < k <1, b < 0), k representing the multiple of the observer pole relative to the motor pole, b representing the intercept;
obtaining a matrix characteristic equation according to the mathematical model and the rotating speed self-adaptive full-order observer model:
eig(A-G1C)＝keig(A)+b
wherein eig () represents solving the eigenvalue of the matrix, solving the equation to obtain the gain matrix G1Expression (c):
Figure FDA0002907916180000043
the low-pass filter module receives the motor rotating speed and filters high frequency in the motor rotating speed to output the filtered motor rotating speed;
the variable parameter PI regulator module receives a motor rotating speed reference value and the filtered motor rotating speed, and outputs a corresponding electromagnetic torque reference value by detecting a difference value of the motor rotating speed reference value and the filtered motor rotating speed;
the reference value conversion module receives a stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value, converts the stator flux linkage reference value, the stator flux linkage, the electromagnetic torque and the electromagnetic torque reference value into a flux linkage vector reference value and obtains a stator voltage reference value under an output static coordinate system;
the space vector pulse width modulation module receives the stator voltage reference value and outputs a switching signal of the three-level inverter;
and the three-level inverter module receives the switching signal and outputs three-phase alternating current, and the control of the rotating speed and the flux linkage of the asynchronous motor is realized by controlling the switching state of the three-level inverter.
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