CN109560726A - A kind of voltage vector regional selection method based on varied angle PREDICTIVE CONTROL - Google Patents
A kind of voltage vector regional selection method based on varied angle PREDICTIVE CONTROL Download PDFInfo
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- 238000010187 selection method Methods 0.000 title claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims abstract description 20
- 230000004907 flux Effects 0.000 claims description 92
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000003247 decreasing effect Effects 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 10
- 230000010349 pulsation Effects 0.000 description 7
- 238000011156 evaluation Methods 0.000 description 5
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of voltage vector regional selection methods based on varied angle PREDICTIVE CONTROL, are primarily based on DTC PREDICTIVE CONTROL, provide the selection region of surface permanent magnetic synchronous motor Direct Torque Control varied angle PREDICTIVE CONTROL；Then voltage vector phase angle selection region progress trisection is obtained into three phase angle set, passes through stator magnetic linkage amplitude and torque value calculating target function g value；Three kinds of phase angle set are finally compared, the control performance of surface-type permanent magnet synchronous motor Direct Torque Control varied angle PREDICTIVE CONTROL is analyzed, complete voltage vector regional choice.The present invention can simplify the selection of system, reduce operation time, and have certain feasibility.
Description
Technical Field
The invention belongs to the technical field of vector selection, and particularly relates to a voltage vector region selection method based on direct torque control variable angle predictive control of a surface permanent magnet synchronous motor.
Background
The direct torque control technology is based on a stator flux linkage coordinate system and directly takes the torque as a control object, so that a large amount of calculation and dependency on motor parameters during rotation coordinate transformation are avoided, the dynamic performance is good, and the torque response time is short.
In the direct torque prediction control system of the surface permanent magnet synchronous motor, an evaluation function is introduced, the torque error and the stator flux linkage error are comprehensively considered and controlled, and a space vector modulation technology is adopted, so that a more ideal control effect is realized.
However, along with variables and operation functions, the time and complexity of calculation operation are increased, so that a direct torque control variable angle prediction control-voltage vector selection area of the surface permanent magnet synchronous motor is provided, and the performance of a control system is optimized.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a voltage vector region selection method based on variable angle predictive control to improve the performance of a direct torque control system of a permanent magnet synchronous motor, reduce torque ripple, and make the switching frequency constant, aiming at the defects in the prior art.
The invention adopts the following technical scheme:
a voltage vector area selection method based on variable angle predictive control comprises the steps of firstly, giving a selection area of the direct torque control variable angle predictive control of a surface permanent magnet synchronous motor based on DTC predictive control; then trisecting the voltage vector phase angle selection area to obtain three phase angle sets, and calculating a target function g value through a stator flux linkage amplitude value and a torque value; and finally, comparing the three phase angle sets, analyzing the control performance of the direct torque control variable angle prediction control of the surface permanent magnet synchronous motor, and finishing voltage vector region selection.
Specifically, the voltage vector selection area of the direct torque control system of the surface permanent magnet synchronous motor is as follows:
∠V11∈(0°,90°)
∠V01∈(90°,180°-δ)
∠V00∈(180°,270°)
∠V10∈(270°,360°-δ)
wherein, ∠ V11Section for increasing stator flux linkage for increasing torque, ∠ V01Section for increasing torque and reducing stator flux linkage, ∠ V00Interval for reducing stator flux linkage for reducing torque, ∠ V10To reduce the torque, the stator flux interval is increased, δ being the torque angle.
Specifically, first, a voltage vector is obtainedOutput value by stator flux linkage hysteresis comparatorAnd selecting the interval where the voltage vector is located according to the output value tau and the torque angle delta of the torque hysteresis comparator, inputting the stator flux linkage amplitude and the torque value into a target function g, selecting min (g), and finding out the voltage vector of the corresponding angle.
Further, the objective function g is calculated as follows:
root mean square error T of torque ripplerip_RMSEThe calculation is as follows:
flux linkage ripple root mean square error psirip_RMSEThe calculation is as follows:
wherein n is the number of samples; t iseFor reference torque value, #sIs referred to as stator flux linkage amplitude.
Further, the stator flux linkage amplitude is calculated as follows:
the torque equation is calculated as follows:
wherein,is the stator flux linkage amplitude at the next time instant,is the voltage vector at the present moment in time,delta (k +1) is the torque angle at the next moment, delta (k) is the torque angle at the current moment, Te(k +1) is a torque value at the next time.
Further, the magnitude of the voltage vector is selectedComprises the following steps:
wherein, UdcIs the bus voltage.
Specifically, the first set of phase angles is:
wherein,for the first set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the first set of phase angles, increasing the torque, decreasing the alternative angle of the stator flux linkage,for the first set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and reducing the torque and the alternative angle of the stator flux linkage under the first phase angle set, wherein delta is a torque angle.
Specifically, the second set of phase angles is:
wherein,for the second set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the second set of phase angles, increasing the torque, decreasing the alternative angle of the stator flux linkage,for the second set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and in the second phase angle set, reducing the torque, increasing the alternative angle of the stator flux linkage, and enabling delta to be the torque angle.
Specifically, the third set of phase angles is:
wherein,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,for a third set of phase angles, increasing torque, increasing stator flux linkageThe alternative angle, δ, is a torque angle.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to a voltage vector area selection method based on variable angle predictive control, which is based on direct torque control predictive control, provides a selection area of direct torque control variable angle predictive control of a surface permanent magnet synchronous motor, reduces torque pulsation and stator flux linkage pulsation, reduces the operation time of a control system and reduces the times of switching a meter.
Further, the output value of the hysteresis comparator is obtained by the stator flux linkageAnd selecting the interval where the voltage vector is located by the output value tau and the torque angle delta of the torque hysteresis comparator, and inputting the reference torque value and the reference stator flux linkage value into a target function to select the minimum value, thereby selecting the optimal voltage vector.
Furthermore, the control system performance under the set can be obtained according to the first phase angle set, the control system performance under the set can be obtained through the second phase angle set, and the control system performance under the set can be obtained through the third phase angle set.
In summary, the present invention can simplify the selection of the system, reduce the operation time, and have certain feasibility.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic block diagram of a permanent magnet synchronous motor direct torque control variable angle predictive control based on the present invention;
FIG. 2 is a functional block diagram of the present invention;
FIG. 3 is a diagram showing the variation of the stator flux linkage in the present invention;
FIG. 4 is a voltage vector selection diagram;
FIG. 5 is a torque ripple plot for angle select 1;
FIG. 6 is a stator flux linkage pulsation diagram for angle selection 1;
FIG. 7 is a select voltage vector angle diagram for angle select 1;
FIG. 8 is a torque ripple plot for Angle selection 2;
FIG. 9 is a stator flux linkage pulsation diagram for Angle selection 2;
FIG. 10 is a select voltage vector angle diagram for angle select 2;
FIG. 11 is a torque ripple plot for Angle selection 3;
FIG. 12 is a stator flux linkage pulsation diagram for Angle selection 3;
fig. 13 is a selected voltage vector angle diagram for angle select 3.
Detailed Description
Referring to fig. 1, the present invention provides a voltage vector area selection method based on variable angle predictive control, including the following steps:
s1, determining a voltage vector selection area through a stator flux linkage comparator and a torque comparator based on DTC prediction control;
giving a basic selection area of the direct torque control variable angle prediction control of the surface permanent magnet synchronous motor, wherein under a stator flux linkage coordinate system, the voltage vector selection area of the direct torque control system of the surface permanent magnet synchronous motor is as follows:
∠V11∈(0°,90°)
∠V01∈(90°,180°-δ)
∠V00∈(180°,270°)
∠V10∈(270°,360°-δ)
wherein, ∠ V11Section for increasing stator flux linkage for increasing torque, ∠ V01Section for increasing torque and reducing stator flux linkage, ∠ V00Interval for reducing stator flux linkage for reducing torque, ∠ V10To reduce the torque, the stator flux interval is increased, δ being the torque angle.
And S2, dividing the voltage vector phase angle selection area equally, and calculating the value of the target function g through the stator flux linkage amplitude and the torque value.
Referring to FIG. 2, first, a voltage vector is determinedOutput value by stator flux linkage hysteresis comparatorThe output value tau and the torque angle delta of the torque hysteresis comparator select which interval the voltage vector is in, the phase angle interval of the voltage vector is divided into four intervals, the stator flux linkage amplitude and the torque value are input into a target function g, min (g) is selected, and the voltage vector of the corresponding angle is found out.
Referring to fig. 3, angle α is the selected phase angle of the voltage vector, dividing α into four regions, and trisecting each region, the four regions of the phase angle of the voltage vector are shown in fig. 4.
In a given voltage vector basic selection area, the voltage vector of predictive control is the optimal voltage vector selected in a limited candidate voltage vector set, the calculated amount and performance of predictive control are in direct proportion to the number of the phase angle equi-divisions of the candidate voltage vectors, and when the number of the phase angle equi-divisions of the candidate voltage vectors is increased to a certain value, the performance improvement is saturated. The method comprises the following specific steps:
s201, determining the vector amplitude of the selected voltage asUdcFor the bus voltage, on the premise that the phase angle of the alternative voltage vector is trisected, a first phase angle set is selected, namely: angle selection 1
Wherein,for the first set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the first set of phase angles, increasing the torque, decreasing the alternative angle of the stator flux linkage,for the first set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and reducing the torque and the alternative angle of the stator flux linkage under the first phase angle set, wherein delta is a torque angle.
The phase angle set is a standard set of direct torque control variable angle prediction control of the surface permanent magnet synchronous motor. And calculating the minimum value min (g) of the evaluation index g through the torque ripple and the stator flux ripple, and comparing the value g, the torque ripple and the stator flux ripple.
The stator flux linkage calculation formula is shown as (1)
The torque equations are shown in (2), (3) and (4)
Q is defined as follows:
wherein,is the stator flux linkage amplitude at the next time instant,is the voltage vector at the present moment in time,delta (k +1) is the torque angle at the next moment, delta (k) is the torque angle at the current moment, Te(k +1) is a torque value at the next time.
The evaluation index function formula is shown in formula (5):
the root mean square error of the torque ripple is shown in equation (6), where n is the number of samples:
the root mean square error of the flux linkage ripple is shown in equation (7), where n is the number of samples:
wherein n is the number of samples; t iseFor reference torque value, #sIs referred to as stator flux linkage amplitude.
TABLE 1 control Performance
| Root mean square error/N.m of torque ripple | 1.3519 |
| Flux linkage ripple root mean square error/Wb | 0.0065 |
S202, on the premise that the phase angle of the candidate voltage vector is trisected, selecting a second phase angle set, that is: angle selection 2
Wherein,for the second set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the second set of phase angles, increasing the torque, decreasing the alternative angle of the stator flux linkage,for the second set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and in the second phase angle set, reducing the torque, increasing the alternative angle of the stator flux linkage, and enabling delta to be the torque angle.
The phase angle set is a test set of direct torque control variable angle prediction control of the surface permanent magnet synchronous motor. And calculating the minimum value min (g) of the evaluation index g through the torque ripple and the stator flux ripple, and comparing the value g, the torque ripple and the stator flux ripple. The formula used here is the same as angle selection 1.
TABLE 2 control Performance
| Root mean square error/N.m of torque ripple | 1.3560 |
| Flux linkage ripple root mean square error/Wb | 0.0067 |
S203, on the premise that the phase angle of the candidate voltage vector is trisected, selecting a third phase angle set, that is: angle selection 3
Wherein,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,and increasing the torque and the alternative angle of the stator flux linkage under the third phase angle set, wherein delta is a torque angle. The phase angle set is a test set of direct torque control variable angle prediction control of the surface permanent magnet synchronous motor. Calculating the minimum value min (g) of the evaluation index g through the torque ripple and the stator flux ripple, and comparing the value g, the torque ripple and the stator flux ripple; wherein the formula used is the same as angle selection 1.
TABLE 3 control Performance
| Root mean square error/N.m of torque ripple | 1.3214 |
| Flux linkage ripple root mean square error/Wb | 0.0065 |
S3, comparing the g value, the torque ripple and the stator flux ripple of the three phase angle sets obtained in the step S2, and analyzing the selection of the alternative voltage vector phase angle predicted by the direct torque control variable angle of the surface permanent magnet synchronous motor.
Selecting a voltage vector magnitude:
selecting a voltage vector angle:
the system control for determining angle selection 3 works best.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 5, 6, 8, 9, 11, and 12, it can be seen that the variation of the torque ripple and the stator flux ripple is not particularly large in the case of three angle selections. Referring to fig. 7, 10 and 13, under three different angle selections, the angle difference selected by the control system is very large, and the number of the system selection angles is also very variable.
Different angle selections have little influence on the root mean square error of the magnetic linkage pulsation, but have great influence on the root mean square error of the torque pulsation.
Compared to angle selection 1, angle selection 3 is easy to implement, and does not require torque angle information, but torque angle information is required for predictive control.
The angle selection 3 simulation finds that:
when the torque is larger, the increase of the torque and the reduction of the flux linkage (namely V) are less likely to occur01) The case (1).
When the torque is large, V01Only 95 degrees and 135 degrees are actually selected, i.e. 175 degrees are involved in the calculation, but not actually. The invention considers the control idea of changing the alternative set: the torque is small, 3 candidate variables are designed, the torque is large, and 2 candidate variables are designed, so that the operation time is reduced.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A voltage vector area selection method based on variable angle predictive control is characterized in that firstly, based on DTC predictive control, a selection area of direct torque control variable angle predictive control of a surface permanent magnet synchronous motor is given; then trisecting the voltage vector phase angle selection area to obtain three phase angle sets, and calculating a target function g value through a stator flux linkage amplitude value and a torque value; and finally, comparing the three phase angle sets, analyzing the control performance of the direct torque control variable angle prediction control of the surface permanent magnet synchronous motor, and finishing voltage vector region selection.
2. The variable angle predictive control-based voltage vector region selection method according to claim 1, wherein the surface permanent magnet synchronous motor direct torque control system voltage vector selection region is as follows:
∠V11∈(0°,90°)
∠V01∈(90°,180°-δ)
∠V00∈(180°,270°)
∠V10∈(270°,360°-δ)
wherein, ∠ V11Section for increasing stator flux linkage for increasing torque, ∠ V01Section for increasing torque and reducing stator flux linkage, ∠ V00Interval for reducing stator flux linkage for reducing torque, ∠ V10To reduce the torque, the stator flux interval is increased, δ being the torque angle.
3. The method of claim 1, wherein the voltage vector is first determinedOutput value by stator flux linkage hysteresis comparatorAnd selecting the interval where the voltage vector is located according to the output value tau and the torque angle delta of the torque hysteresis comparator, inputting the stator flux linkage amplitude and the torque value into a target function g, selecting min (g), and finding out the voltage vector of the corresponding angle.
4. The method of claim 3, wherein the objective function g is calculated as follows:
root mean square error T of torque ripplerip_RMSEThe calculation is as follows:
flux linkage ripple root mean square error psirip_RMSEThe calculation is as follows:
wherein n is the number of samples; t iseFor reference torque value, #sIs referred to as stator flux linkage amplitude.
5. The variable angle predictive control-based voltage vector region selection method of claim 4, wherein the stator flux linkage magnitude is calculated as follows:
the torque equation is calculated as follows:
wherein,is the next momentThe amplitude of the stator flux linkage of (a),is the voltage vector at the present moment in time,delta (k +1) is the torque angle at the next moment, delta (k) is the torque angle at the current moment, Te(k +1) is a torque value at the next time.
6. The method of claim 3, wherein selecting the voltage vector magnitude is based on a selection of a voltage vector regionComprises the following steps:
wherein, UdcIs the bus voltage.
7. The variable angle predictive control-based voltage vector region selection method of claim 1, wherein the first set of phase angles is:
wherein,for the first set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the first phase angle set, the torque is increased, and the alternative angle of the stator flux linkage is reduced，For the first set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and reducing the torque and the alternative angle of the stator flux linkage under the first phase angle set, wherein delta is a torque angle.
8. The variable angle predictive control-based voltage vector region selection method of claim 1, wherein the second set of phase angles is:
wherein,for the second set of phase angles, the torque is increased, the alternative angle of the stator flux linkage is increased,for the second set of phase angles, increasing the torque, decreasing the alternative angle of the stator flux linkage,for the second set of phase angles, the torque is reduced, the alternative angle of the stator flux linkage is reduced,and in the second phase angle set, reducing the torque, increasing the alternative angle of the stator flux linkage, and enabling delta to be the torque angle.
9. The variable angle predictive control-based voltage vector region selection method of claim 1, wherein the third set of phase angles is:
wherein,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,increasing the torque and the alternative angle of the stator flux linkage for the third phase angle set,and increasing the torque and the alternative angle of the stator flux linkage under the third phase angle set, wherein delta is a torque angle.
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| CN110365273A (en) * | 2019-07-08 | 2019-10-22 | 长安大学 | It is a kind of etc. to divide the magnetic linkage method that circle determines alternative voltage vector set |
| CN110943663A (en) * | 2019-12-02 | 2020-03-31 | 长安大学 | Permanent magnet synchronous motor dynamic finite state set model prediction torque control method |
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