CN109889130A - The harmonic current control method of asymmetric six phase permanent-magnet synchronous motor - Google Patents
The harmonic current control method of asymmetric six phase permanent-magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a kind of harmonic current control methods of asymmetric six phase permanent-magnet synchronous motor, including S1: the voltage vector in six phase permanent-magnet synchronous motor being decoupled, the current variable i under dqz coordinate system is respectively obtaineddq、idqz；S2: to the current variable idqFCS-MPC control is carried out, command voltage signal is obtainedS3: to the current variable idqzThe control of PR adjuster is carried out, command voltage signal is obtainedS4: respectively to command voltage signalDq inverse transformation, dqz inverse transformation are carried out, the command voltage signal under xy coordinate system is obtainedWithS5: to described instruction voltage signalWithSpace vector coupling is carried out, link order voltage signal is obtainedAnd then generate control signal DphsSPWM modulation is carried out, is given to inverter to control motor.Control method of the invention, realizes minimum harmonic current control, and structure is simple, compared with classical FCS-MPC, only need adding proportion resonant regulator in the subspace xy, without influencing α β electric current, that is, the PR adjuster added does not influence original performance of output torque.
Description
Technical field
The invention belongs to skill permanent magnet synchronous motor harmonic currents to control art field, more particularly, to a kind of asymmetric six
The harmonic current control method of phase permanent magnet synchronous motor.
Background technique
Polyphase machine power dividing ability is strong, torque ripple is low and fault tolerant is run, and can answer in high power, high current
Good performance is shown with occasion, as electric car, electric aircraft and ships promote.It is asymmetric in various polyphase machines
Six-phase motor has the advantages that low 6 subharmonic torque pulsation, and only needs two sets of 3-phase power converter parallel operations, without any spy
Different inverter design, thus by extensive, further investigation.However, in asymmetric six-phase motor, due to the impedance of the subspace xy
It is smaller, it is only made of stator resistance and leakage inductance, so often there is biggish harmonic current.Big harmonic current can dramatically increase
Loss reduces system effectiveness, requires power device higher.
Currently, limited domination set Model Predictive Control (FCS-MPC) occurs as the substitution that normal vector controls, can be improved
The performances such as drive system torque and magnetic linkage response.The principle of FCS-MPC is the system action under the possible switching state of prediction,
Each sampling instant, FCS-MPC adjuster enumerate the set of change-over switch sequence, predict corresponding system response, and use generation
Valence function assesses each response, selects the smallest on off sequence of cost as optimized switching sequence.But FCS-MPC is still
There are some problems, a common feature of such as (1) common method is that single switching state is applied within the entire sampling period,
But since each on off sequence can generate voltage vector in the subspace α β and xy, the control of torque/magnetic linkage is inevitably
Lead to xy electric current；(4) non-linear due to inverter, as dead time effect introduces extra voltage harmonic wave.
Summary of the invention
For the asymmetric six-phase permanent-magnet synchronous motor of FCS-MPC control, can be generated with biggish harmonic current,
The present invention provides a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor, and it is intrinsic not to solve existing scheme
Foot realizes minimum harmonic current control.
To solve the above-mentioned problems, the present invention provides a kind of harmonic current controlling party of asymmetric six phase permanent-magnet synchronous motor
Method includes the following steps:
S1: the voltage vector in six phase permanent-magnet synchronous motor is decoupled, and the electric current respectively obtained under dqz coordinate system becomes
Measure idq、idqz；
S2: to the current variable idqFCS-MPC control is carried out, command voltage signal is obtained
S3: to the current variable idqzThe control of PR adjuster is carried out, command voltage signal is obtained
S4: respectively to command voltage signalDq inverse transformation, dqz inverse transformation are carried out, is obtained under xy coordinate system
Command voltage signalWith
S5: to described instruction voltage signalWithSpace vector coupling is carried out, link order voltage signal is obtainedAnd then generate control signal DphsSPWM modulation is carried out, is given to inverter to control motor.
Further, in step S3, the PR adjuster control includes the following steps:
S31: reference current is calculatedWith current variable idqzError e, wherein
S32: resonance gain is carried out to the error e, obtains command voltage signal；
S33: carrying out feedforward compensation to described instruction voltage signal, the instruction electricity after obtaining the coupling of motor qz axis, dz axis
Press signal
S34: by the command voltage signal after couplingInverter is inputted by transmission function, motor is driven.
Further, the transmission function G of the PR adjusterPR(s) are as follows:
Wherein, KpFor proportional gain, KrFor resonance gain, s is Laplace operator, ωcIt is the bandwidth of resonant regulator,
ω0For resonance gain frequency, due to current variable idqzMain component be fifth overtone, so, ω0=6 ω, ω are motor angle
Speed.
Further, the parameter K of the PR adjusterp、KrAnd ωcMeet following condition:
(1) amplitude-frequency response >=35dB under working frequency, so that static error minimizes；
(2) phase margin >=45 ° guarantee stability；
(3) resonance bandwidth ωcMeet high dynamic response.
Further, in step S34, the transmission function Gsys(s) are as follows:
Wherein: RsWith LdqzFor the parameter of electric machine under impedance model, TdFor system total delay time.
Further, in step S33, the coupling are as follows:
Wherein, EdzAnd EqzIt is the back-emf under dqz coordinate system, LdzAnd LqzIt is parameter of the motor under dqz coordinate system, idz
And iqzIt is the current value under dqz coordinate system, ω is power frequency.
Further, in step S1, decoupling is carried out to voltage vector and is included the following steps:
S11: the current information i of six phase permanent-magnet synchronous motor is extractedabc、iuvw；
S12: to current information iabc、iuvwSpace vector decoupling is carried out, the current variable i under xy coordinate system is obtainedαβ、
ixy；
S13: respectively to current variable iαβ、ixyDq transformation, dqz transformation are carried out, the current variable under dqz coordinate system is obtained
idq、idqz。
Further, in step S2, the FCS-MPC control includes the following steps:
S21: by current variable idqPi controller is inputted, instruction current signal is obtained
S22: enumerating the switch state of all inverters, obtains the domination set V comprising 49 independent vectorsdq, and and electric current
Variable idq, motor angular velocity ω input prediction model together, obtain predicted value
S23: by described instruction current signalPredicted valueInput cost function is evaluated together, chooses cost most
Small state value is as command voltage signal
Further, in step S23, the cost function are as follows:
Wherein:It is d axis, q shaft voltage instruction value,For the actual value obtained by transformation, k1、k2For
Weight coefficient.
Further, in step S5, the control signal DphsAre as follows:
Wherein: Dphs=[Da,Db,Dc,Du,Dv,Dw]TIt is the duty ratio of each switching tube, VdcFor the input electricity of inverter
Pressure, Vphs=[Va,Vb,Vc,Vu,Vv,Vw]TFor the three-phase voltage command value under natural system of coordinates；
Wherein:
VdMPC,VqMPCAnd VαMPC, VβMPCIt is voltage vector of the FCS-MPC controller generation in dq plane and α β plane respectively,
VdzPR, VqzPRAnd VxPR, VyPRIt is that the voltage vector under dqz coordinate system and xy coordinate system is generated by PR harmonic wave regulator respectively.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1. harmonic current control method of the invention realizes minimum harmonic current control, structure is simple, with classics
FCS-MPC is compared, it only needs adding proportion resonant regulator in the subspace xy, without influencing α β electric current, that is, the PR tune added
Section device does not influence original performance of output torque.
2. harmonic current control method of the invention, under extensive steady state operation condition and in dynamic transient process, tool
There is good current harmonics elimination performance.
3. harmonic current control method of the invention, in operating condition in extensive range, having reduces Thd and electric current line
Wave excellent ability.
4. harmonic current control method of the invention is realized by PR adjusting controller to specific currents variable idqzIt carries out
Feature extraction, and proportional gain is carried out, it realizes to its feedforward compensation, inhibits harmonic current well.
5. harmonic current control method of the invention, on the basis of not sacrificing torque/magnetic linkage performance, voltage vector is simultaneously
Meet the requirement in the subspace α β and xy, the intrinsic deficiency of existing scheme.
Detailed description of the invention
Fig. 1 is classics FCS-MPC pressure regulator control block diagram in the prior art；
Fig. 2 is PR of embodiment of the present invention adjuster block diagram；
Fig. 3 is a kind of harmonic current control block diagram of asymmetric six phase permanent-magnet synchronous motor of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below that
Not constituting conflict between this can be combined with each other.
For the asymmetric six-phase permanent-magnet synchronous motor control problem based on model prediction, typical FCS- is used at present
MPC controller method inhibits nonideal harmonic current.The principle of this method is to be controlled by designing cost function in FCS-MPC
Harmonic current control is added in device processed.The schematic diagram of the strategy is as shown in Figure 1.The cost function of this method must consider α β simultaneously
With the mistake in the subspace xy, reference current under dgz coordinateIt should be arranged to 0, so that harmonic current is minimum.
New cost function is expressed as follows:
Wherein:It is d axis, q axis, dz, qz voltage instruction value,To pass through
Convert obtained actual value, k1、k2、k3、k4For weight coefficient.Weight coefficient must be adjusted according to control target, kiChoosing
Select is to adjust torque/magnetic linkage (k1、k2) and efficiency/distortion between balance (k3、k4).In order to obtain identical idzAnd iqzPerformance,
Weight coefficient k3It should be equal to k4.In addition, for simplicity, k1、k21 can be arbitrarily set as.Therefore, only one parameter k3It needs
Want tuning.
The increase of k3 can reduce harmonic current, but can reduce torque/magnetic linkage performance.So inhibiting current harmonics and improving to turn
Two aspect of square/magnetic linkage performance, can not optimize simultaneously.It should be noted that although the two control targets can pass through tune
Save k3Achieve the effect that compromise, cannot meet simultaneously in each sampling period selected voltage vector and be wanted in the subspace α β and xy
It asks.Reason is exactly that domination set is limited, and ideal voltage vector may and be not present under the switch state for being possible to occur.
That is, using classical this method of FCS-MPC controller current harmonics can not be inhibited well, if while wanting to drop
Low current harmonic wave will be established and is just able to achieve on the basis of sacrificing torque/magnetic linkage performance.
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of harmonic current of asymmetric six phase permanent-magnet synchronous motor
Control method is illustrated in figure 3 a kind of harmonic current control block diagram of asymmetric six phase permanent-magnet synchronous motor of the embodiment of the present invention,
Include the following steps:
S1: the voltage vector in six phase permanent-magnet synchronous motor is decoupled, and the electric current respectively obtained under dqz coordinate system becomes
Measure idq、idqz, specifically comprise the following steps:
(1) the current information i of six phase permanent-magnet synchronous motor is extractedabc、iuvw；
(2) to current information iabc、iuvwSpace vector decoupling is carried out, the current variable i under xy coordinate system is obtainedαβ、
ixy；
(3) respectively to current variable iαβ、ixyDq transformation, dqz transformation are carried out, the current variable under dqz coordinate system is obtained
idq、idqz。
S2: to the current variable idqFCS-MPC control is carried out, command voltage signal is obtained
(1) by current variable idqPi controller is inputted, instruction current signal is obtained
(2) switch state of all inverters is enumerated, the domination set V comprising 49 independent vectors is obtaineddq, and become with electric current
Measure idq, motor angular velocity ω input prediction model together, obtain predicted value
(3) by described instruction current signalPredicted valueInput cost function is evaluated together, chooses cost most
Small state value is as command voltage signalWherein, cost function are as follows:
Wherein:It is d axis, q shaft voltage instruction value,For the actual value obtained by transformation, k1、k2For
Weight coefficient.
S3: to the current variable idqzThe control of PR adjuster is carried out, command voltage signal is obtainedIf Fig. 2 is this hair
Bright embodiment PR adjuster block diagram, specifically, including the following steps:
(1) reference current is calculatedWith current variable idqzError e, wherein
(2) resonance gain is carried out to the error e, obtains command voltage signal；
(3) feedforward compensation is carried out to described instruction voltage signal, the command voltage after obtaining the coupling of motor qz axis, dz axis
Signal
(4) by the command voltage signal after couplingInverter is inputted by transmission function, motor is driven.
In addition, the transmission function G of PR adjusterPR(s) are as follows:
Wherein, KpFor proportional gain, KrFor resonance gain, s is Laplace operator, ωcIt is the bandwidth of resonant regulator,
ω0For resonance gain frequency, due to current variable idqzMain component be fifth overtone, so, ω0=6 ω, ω are motor angle
Speed；
System transter Gsys(s) are as follows:
Wherein: RsWith LdqzFor the parameter of electric machine under impedance model, TdFor system total delay time.
In addition, PR adjuster control design case principle is as follows: (1) amplitude response sufficiently large (>=35dB) under working frequency makes
Static error is obtained to minimize；(2) sufficiently large (>=45 °) the guarantees stability of phase margin；(3) resonance bandwidth ω c is sufficiently large, with full
Sufficient high dynamic response.
S4: respectively to command voltage signalDq inverse transformation, dqz inverse transformation are carried out, is obtained under xy coordinate system
Command voltage signalWith
S5: to described instruction voltage signalWithCarry out space vector coupling:
Wherein, EdzAnd EqzIt is the back-emf under dqz coordinate system, LdzAnd LqzIt is parameter of the motor under dqz coordinate system, idz
And iqzIt is the current value under dqz coordinate system, ω is power frequency；
And then obtain link order voltage signalAnd then generate control signal Dphs:
Wherein: Dphs=[Da,Db,Dc,Du,Dv,Dw]TIt is the duty ratio of each switching tube, VdcFor the input electricity of inverter
Pressure, Vphs=[Va,Vb,Vc,Vu,Vv,Vw]TFor the three-phase voltage command value under natural system of coordinates；
Wherein:
VdMPC,VqMPCAnd VαMPC, VβMPCIt is voltage vector of the FCS-MPC controller generation in dq plane and α β plane respectively,
VdzPR, VqzPRAnd VxPR, VyPRIt is that the voltage vector under dqz coordinate system and xy coordinate system is generated by PR harmonic wave regulator respectively；
And then to SPWM modulation is carried out, inverter is given to control motor.
Harmonic current control method of the invention realizes minimum harmonic current control, and structure is simple, with classical FCS-
MPC is compared, it only needs adding proportion resonant regulator in the subspace xy, without influencing α β electric current, that is, the PR adjuster added
Original performance of output torque is not influenced.Under extensive steady state operation condition and in dynamic transient process, have humorous well
Wave electric current rejection.In operating condition in extensive range, having reduces Thd and current ripples excellent ability.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of harmonic current control method of asymmetry six phase permanent-magnet synchronous motor, which comprises the steps of:
S1: the voltage vector in six phase permanent-magnet synchronous motor is decoupled, and respectively obtains the current variable under dqz coordinate system
idq、idqz；
S2: to the current variable idqFCS-MPC control is carried out, command voltage signal is obtained
S3: to the current variable idqzThe control of PR adjuster is carried out, command voltage signal is obtained
S4: respectively to command voltage signalDq inverse transformation, dqz inverse transformation are carried out, the instruction under xy coordinate system is obtained
Voltage signalWith
S5: to described instruction voltage signalWithSpace vector coupling is carried out, link order voltage signal is obtainedIn turn
Generate control signal DphsSPWM modulation is carried out, is given to inverter to control motor.
2. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 1, feature
It is, in step S3, the PR adjuster control includes the following steps:
S31: reference current is calculatedWith current variable idqzError e, wherein
S32: resonance gain is carried out to the error e, obtains command voltage signal；
S33: carrying out feedforward compensation to described instruction voltage signal, the command voltage letter after obtaining the coupling of motor qz axis, dz axis
Number
S34: by the command voltage signal after couplingInverter is inputted by transmission function, motor is driven.
3. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 1 or 2, special
Sign is, the transmission function G of the PR adjusterPR(s) are as follows:
Wherein, KpFor proportional gain, KrFor resonance gain, s is Laplace operator, ωcIt is the bandwidth of resonant regulator, ω0For
Resonance gain frequency, due to current variable idqzMain component be fifth overtone, so, ω0=6 ω, ω are motor angle speed
Degree.
4. a kind of harmonic current controlling party of asymmetric six phase permanent-magnet synchronous motor according to any one of claim 1-3
Method, which is characterized in that the parameter K of the PR adjusterp、KrAnd ωcMeet following condition:
(1) amplitude-frequency response >=35dB under working frequency, so that static error minimizes；
(2) phase margin >=45 ° guarantee stability；
(3) resonance bandwidth ωcMeet high dynamic response.
5. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 3, feature
It is, in step S34, the transmission function Gsys(s) are as follows:
Wherein: RsWith LdqzFor the parameter of electric machine under impedance model, TdFor system total delay time.
6. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 2, feature
It is, in step S33, the coupling are as follows:
Wherein, EdzAnd EqzIt is the back-emf under dqz coordinate system, LdzAnd LqzIt is parameter of the motor under dqz coordinate system, idzAnd iqz
It is the current value under dqz coordinate system, ω is power frequency.
7. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 1, feature
It is, in step S1, decoupling is carried out to voltage vector and is included the following steps:
S11: the current information i of six phase permanent-magnet synchronous motor is extractedabc、iuvw；
S12: to current information iabc、iuvwSpace vector decoupling is carried out, the current variable i under xy coordinate system is obtainedαβ、ixy；
S13: respectively to current variable iαβ、ixyDq transformation, dqz transformation are carried out, the current variable i under dqz coordinate system is obtaineddq、
idqz。
8. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 1, feature
It is, in step S2, the FCS-MPC control includes the following steps:
S21: by current variable idqPi controller is inputted, instruction current signal is obtained
S22: enumerating the switch state of all inverters, obtains the domination set V comprising 49 independent vectorsdq, and and current variable
idq, motor angular velocity ω input prediction model together, obtain predicted value
S23: by described instruction current signalPredicted valueInput cost function is evaluated together, and it is the smallest to choose cost
State value is as command voltage signal
9. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 8, feature
It is, in step S23, the cost function are as follows:
Wherein:It is d axis, q shaft voltage instruction value,For the actual value obtained by transformation, k1、k2For weight system
Number.
10. a kind of harmonic current control method of asymmetric six phase permanent-magnet synchronous motor according to claim 1, feature
It is, in step S5, the control signal DphsAre as follows:
Wherein: Dphs=[Da,Db,Dc,Du,Dv,Dw]TIt is the duty ratio of each switching tube, VdcFor the input voltage of inverter, Vphs
=[Va,Vb,Vc,Vu,Vv,Vw]TFor the three-phase voltage command value under natural system of coordinates；
Wherein:
VdMPC,VqMPCAnd VαMPC, VβMPCIt is voltage vector of the FCS-MPC controller generation in dq plane and α β plane, V respectivelydzPR,
VqzPRAnd VxPR, VyPRIt is that the voltage vector under dqz coordinate system and xy coordinate system is generated by PR harmonic wave regulator respectively.
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| CN114337440A (en) * | 2021-12-09 | 2022-04-12 | 合肥工业大学 | Signal decoupling method and device applied to inverter under vector control |
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| CN114337440B (en) * | 2021-12-09 | 2023-12-22 | 合肥工业大学 | Signal decoupling method and device applied to inverter under vector control |
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