CN110112979A - Permanent magnet synchronous motor based on mark change is without weight coefficient prediction method for controlling torque - Google Patents
Permanent magnet synchronous motor based on mark change is without weight coefficient prediction method for controlling torque Download PDFInfo
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- CN110112979A CN110112979A CN201910399476.XA CN201910399476A CN110112979A CN 110112979 A CN110112979 A CN 110112979A CN 201910399476 A CN201910399476 A CN 201910399476A CN 110112979 A CN110112979 A CN 110112979A
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- magnet synchronous
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- torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
Abstract
The present invention propose it is a kind of based on mark change permanent magnet synchronous motor without weight coefficient prediction method for controlling torque, it the steps include: three-phase current, angular speed and the rotor position angle of the permanent magnet synchronous motor at sampling k moment, and output electric current and equivalent counter electromotive force obtained by coordinate transform；The voltage vector and stator voltage of output are calculated according to the switch state of voltage source inverter, and output electric current, stator magnetic linkage and the stator magnetic linkage amplitude and torque at k+1 moment are predicted according to stator voltage；Stator magnetic linkage amplitude and torque calculation torque target function and stator magnetic linkage objective function and its corresponding standard deviation are recycled, and then obtains new objective function；Finally, being used for the corresponding voltage vector of the smallest objective function to control permanent magnet synchronous motor.The present invention is changed by carrying out standard deviation mark to torque and magnetic linkage objective function, realize permanent magnet synchronous motor without weight coefficient prediction direct torque, simplify system complexity, reduce torque ripple, improve direct torque precision.
Description
Technical field
The present invention relates to field of power electronics, the permanent magnet synchronous motor for particularly relating to change based on mark is without weight coefficient prediction
Method for controlling torque.
Background technique
In recent years, in order to cope with energy crisis, New-energy electric vehicle technology is flourished.With asynchronous machine phase
Than permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) is because having high-efficient, power density
Many advantages, such as big and be used widely in electric car field.Spy is controlled in order to improve the torque dynamic of permanent magnet synchronous motor
Property, Model Predictive Control is widely used in the drive control of permanent magnet synchronous motor.However, conventional permanent magnet synchronous motor is pre-
Survey method for controlling torque, which exists, needs the shortcomings that designing weight coefficient.Although having literature research permanent magnet synchronous motor without weight
Coefficient prediction method for controlling torque, but up to the present, still without preferable weight coefficient theoretical design method.
The control method of current existing permanent magnet synchronous motor torque prediction, such as application No. is 201611046203.X,
It is entitled a kind of quickly without weight Modulus Model PREDICTIVE CONTROL calculation method and its system, one kind is proposed quickly without weight
Modulus Model forecast Control Algorithm, by using target voltage vector as objective function, avoiding using weight coefficient, so as to
Realize the quick no weight coefficient control of multi-level converter.However, this method cannot be used for realizing the pre- of permanent magnet synchronous motor
Survey direct torque.Application No. is 201810724498.4, entitled line inductance electromotor is pushed away without the prediction of weight Modulus Model
Force control method proposes a kind of pre- without weight Modulus Model as the line inductance electromotor of objective function using thrust and conjugation thrust
Thrust control method is surveyed, by rewriting objective function, same dimension is converted by the thrust of different dimensions and magnetic linkage, to avoid
Use weight coefficient.However, the patent of invention not can be used directly for line inductance electromotor in permanent magnet synchronous electric
Machine.It is entitled to be turned based on the permanent magnet motor system of discrete duty cycles without Weight prediction application No. is 201811426304.9
Square control method proposes a kind of permanent magnet synchronous motor without Weight prediction method for controlling torque, it is characterized in that according to magnetic linkage and turning
Square instruction calculates reference voltage instruction, and establishes objective function with reference voltage, to eliminate weight coefficient.Although this method
Permanent magnet motor system may be implemented without Weight prediction direct torque, but need to carry out complicated calculating to obtain target voltage arrow
Amount.[Xu Yanping, Li Yuanyuan, Zhou Qin permanent magnet synchronous motor dual model predict Stator-Quantities Control [J] power electronics skill to document
Art, 2018,52 (06): 37-39] a kind of permanent magnet synchronous motor dual model prediction direct torque is proposed, effectively reduce torque
Pulsation, and reduce the calculation amount of algorithm.However need to design weight factor in this method, and the design of weight factor is relatively tired
It is difficult.
Summary of the invention
The technical problem of calculation amount complexity existing for control method for existing permanent magnet synchronous motor torque prediction, this
Invention proposes a kind of permanent magnet synchronous motor changed based on mark without weight coefficient prediction method for controlling torque, establish torque and
Two objective functions of magnetic linkage, and changed by standard deviation mark and obtained the new objective function without weight coefficient, thus
Finally realize permanent magnet synchronous motor without weight coefficient prediction direct torque, simplify algorithm complexity, and reduce torque
Ripple.
The technical scheme of the present invention is realized as follows:
It is a kind of based on mark change permanent magnet synchronous motor without weight coefficient prediction method for controlling torque, its step are as follows:
Step 1: the three-phase current i of the permanent magnet synchronous motor at sampling k momenta、ib、icWith the angular speed of permanent magnet synchronous motor
ωr, rotor position angle θr, and by three-phase current ia、ib、icThe output electric current i under static α β coordinate system is obtained by coordinate transformα
And iβ；
Step 2: electric current i will be exportedα、iβUtilize rotor position angle θrD shaft current i is acquired by coordinate transformdWith q axis electricity
Flow iq, then by the angular velocity omega in step 1r, rotor position angle θrWith d shaft current idSubstitute into the equivalent anti-electricity of permanent magnet synchronous motor
In kinetic potential mathematical model, the equivalent counter electromotive force e of permanent magnet synchronous motor is calculatedαAnd eβ；
Step 3: according to the switch state S of voltage source invertera、Sb、Sc, obtain the voltage arrow of voltage source inverter output
Measure Vi(SaSbSc), wherein i=0,1,2,3,4,5,6,7, switch state Sa、Sb、ScValue be equal to 0 or 1；
Step 4: according to the DC voltage U of voltage source inverterdc, calculate and the voltage vector V in step 3i(SaSbSc)
The output voltage of corresponding inverter namely the stator voltage u of permanent magnet synchronous motorαiAnd uβi；
Step 5: the output electric current i that step 1 is obtainedα、iβ, equivalent counter electromotive force e that step 2 obtainsα、eβAnd step
Four obtained stator voltage uαi、uβiSubstitute into the output electric current at the stray currents prediction model prediction k+1 moment of permanent magnet synchronous motor
iαi(k+1) and iβi(k+1)；
Step 6: the output electric current i that step 5 is obtainedαi(k+1)、iβi(k+1) and step 2 obtain it is equivalent anti-electronic
Gesture eα、eβSubstitute into the stator magnetic linkage ψ at the stator magnetic linkage prediction model prediction k+1 moment of permanent magnet synchronous motorαi(k+1)、ψβi(k+1)
And calculate stator magnetic linkage amplitude ψsi(k+1)；
Step 7: the output electric current i that step 5 is obtainedαi(k+1)、iβi(k+1) and the obtained stator magnetic linkage ψ of step 6αi
(k+1)、ψβi(k+1) the torque prediction model for substituting into permanent magnet synchronous motor calculates the torque T of permanent magnet synchronous motorei(k+1)；
Step 8: referring to motor torque according to load requirement settingAnd according to reference motor torqueIt calculates with reference to fixed
Sub- magnetic linkage
Motor torque is referred to Step 9: calculatingSubtract the torque T that step 7 obtainsei(k+1) thoroughly deserve torque
Objective function gTi, calculate and refer to stator magnetic linkageSubtract the stator magnetic linkage amplitude ψ that step 6 obtainssi(k+1) thoroughly deserve
Stator magnetic linkage objective function gψi, then respectively to eight torque target function gTiWith eight stator magnetic linkage objective function gψiIt is asked
Averagely obtain torque target mean value functionsWith stator magnetic linkage objective function average value
Step 10: the torque target function g obtained according to step 9TiWith stator magnetic linkage objective function gψiAnd torque mesh
Scalar functions average valueWith stator magnetic linkage objective function average valueTorque target functional standard difference g is calculatedTσAnd magnetic linkage
Objective function standard deviation gψσ；
Step 11: the torque target function g obtained according to step 8Ti, stator magnetic linkage objective function gψi, torque target
Mean value functionsStator magnetic linkage objective function average valueThe torque target functional standard difference g obtained with step 10Tσ, magnetic
Chain objective function standard deviation gψσThe mathematical model for substituting into the objective function changed based on mark, is calculated new objective function Gi；
Step 12: comparing objective function GiValue, by the smallest objective function GiCorresponding voltage vector Vi(SaSbSc)
It is used to control permanent magnet synchronous motor as optimal vector, and by optimal vector.
Preferably, the three-phase current i in the step 1a、ib、icIt is obtained under static α β coordinate system by coordinate transform
Export electric current iαAnd iβAre as follows:
Preferably, the electric current i of the d axis in the step 2 and q axisdWith electric current iqPreparation method are as follows:
Wherein, θrFor the rotor position angle of permanent magnet synchronous motor；
The equivalent counter electromotive force mathematical model of the permanent magnet synchronous motor are as follows:
Wherein, ωrFor the angular speed of permanent magnet synchronous motor, ψfFor permanent magnetism
The permanent magnet flux linkage of synchronous motor, LdAnd LqIt is the stator inductance of permanent magnet synchronous motor.
Preferably, the voltage vector V in the step 3i(SaSbSc) preparation method are as follows:
Sa=1 indicates two-way AC/DC convertor a phase bridge arm upper tube conducting, down tube shutdown；
Sa=0 indicates two-way AC/DC convertor a phase bridge arm upper tube shutdown, down tube conducting；
Sb=1 indicates two-way AC/DC convertor b phase bridge arm upper tube conducting, down tube shutdown；
Sb=0 indicates two-way AC/DC convertor b phase bridge arm upper tube shutdown, down tube conducting；
Sc=1 indicates two-way AC/DC convertor c phase bridge arm upper tube conducting, down tube shutdown；
Sc=0 indicates two-way AC/DC convertor c phase bridge arm upper tube shutdown, down tube conducting；
If Sa=0, Sb=0, Sc=0, voltage vector is denoted as V0(000)；
If Sa=1, Sb=0, Sc=0, voltage vector is denoted as V1(100)；
If Sa=1, Sb=1, Sc=0, voltage vector is denoted as V2(110)；
If Sa=0, Sb=1, Sc=0, voltage vector is denoted as V3(010)；
If Sa=0, Sb=1, Sc=1, voltage vector is denoted as V4(011)；
If Sa=0, Sb=0, Sc=1, voltage vector is denoted as V5(001)；
If Sa=1, Sb=0, Sc=1, voltage vector is denoted as V6(101)；
If Sa=1, Sb=1, Sc=1, voltage vector is denoted as V7(111)。
Preferably, the stator voltage u of the permanent magnet synchronous motor in the step 4αiAnd uβiPreparation method are as follows:
Wherein, i=0,1,2,3,4,5,6,7, Sai
For voltage vector Vi(SaSbSc) corresponding switch state Sa, SbiFor voltage vector Vi(SaSbSc) corresponding switch state Sb, SciFor
Voltage vector Vi(SaSbSc) corresponding switch state Sc。
Preferably, the stray currents prediction model of the permanent magnet synchronous motor in the step 5 are as follows:
Wherein, eαAnd eβIt is the equivalent anti-electricity of permanent magnet synchronous motor
Kinetic potential, TsFor sampling period, RsFor the stator resistance of permanent magnet synchronous motor, LqFor the stator inductance of permanent magnet synchronous motor；
The stator magnetic linkage prediction model of permanent magnet synchronous motor in the step 6 are as follows:
Wherein, ωrFor the angular speed of permanent magnet synchronous motor；
Stator magnetic linkage amplitude ψ in the step 6si(k+1) preparation method are as follows:
The torque prediction model of permanent magnet synchronous motor in the step 7 are as follows:
Wherein, npFor permanent magnet synchronous motor
Number of pole-pairs.
Preferably, using with reference to motor torque in the step 8Calculate Reference Stator Flux LinkageMethod are as follows:
Wherein, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor.
Preferably, the torque target function g in the step 9TiWith stator magnetic linkage objective function gψiPreparation method are as follows:
The torque target mean value functionsWith stator magnetic linkage objective function average valuePreparation method are as follows:
Preferably, the torque target functional standard difference g in the step 10TσWith magnetic linkage objective function standard deviation gψσObtain
The method of obtaining are as follows:
Preferably, the mathematical model of the objective function changed based on mark in the step 11 are as follows:
It is that the technical program can generate the utility model has the advantages that by using two objective functions of torque and magnetic linkage, be not necessarily to weight system
Number, can be realized the torque of permanent magnet synchronous motor and the control of magnetic linkage, not only reduce system design, the complexity of debugging, and
And help to reduce torque ripple, improve direct torque precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is overall structure block diagram of the invention.
Fig. 2 is that [Xu Yanping, Li Yuanyuan, Zhou Qin permanent magnet synchronous motor dual model predict Stator-Quantities Control [J] electricity to document
Power electronic technology, 2018,52 (06): 37-39] simulation result diagram；It (a) is the simulation result diagram of torque error and torque, (b)
For the simulation result diagram of magnetic linkage error and magnetic linkage.
Fig. 3 is simulation result diagram of the invention；(a) it is the simulation result diagram of torque error and torque, (b) is magnetic linkage error
With the simulation result diagram of magnetic linkage.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of permanent magnet synchronous motor changed based on mark is without weight coefficient prediction method for controlling torque, step
It is rapid as follows:
Step 1: the three-phase current i of the permanent magnet synchronous motor at sampling k momenta、ib、icWith the angular speed of permanent magnet synchronous motor
ωr, rotor position angle θr, and utilize formula (1) by three-phase current ia、ib、icIt is obtained under static α β coordinate system by coordinate transform
Output electric current iαAnd iβ:
Step 2: electric current i will be exported according to formula (2)α、iβWith rotor position angle θrAcquire d axis respectively by coordinate transform
With the electric current i of q axisdWith electric current iq:
Again by angular velocity omegar, rotor position angle θrWith d shaft current idSubstitute into the equivalent counter electromotive force number of permanent magnet synchronous motor
It learns in model, the equivalent counter electromotive force e of permanent magnet synchronous motor is calculatedαAnd eβ, as shown in formula (3):
Wherein, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor, LdAnd LqIt is the stator inductance of permanent magnet synchronous motor.
Step 3: according to the switch state S of voltage source invertera、Sb、Sc, obtain the voltage arrow of voltage source inverter output
Measure Vi(SaSbSc), wherein i=0,1,2,3,4,5,6,7, switch state Sa、Sb、ScValue be equal to 0 or 1:
Sa=1 indicates two-way AC/DC convertor a phase bridge arm upper tube conducting, down tube shutdown；
Sa=0 indicates two-way AC/DC convertor a phase bridge arm upper tube shutdown, down tube conducting；
Sb=1 indicates two-way AC/DC convertor b phase bridge arm upper tube conducting, down tube shutdown；
Sb=0 indicates two-way AC/DC convertor b phase bridge arm upper tube shutdown, down tube conducting；
Sc=1 indicates two-way AC/DC convertor c phase bridge arm upper tube conducting, down tube shutdown；
Sc=0 indicates two-way AC/DC convertor c phase bridge arm upper tube shutdown, down tube conducting；
If Sa=0, Sb=0, Sc=0, voltage vector is denoted as V0(000)；
If Sa=1, Sb=0, Sc=0, voltage vector is denoted as V1(100)；
If Sa=1, Sb=1, Sc=0, voltage vector is denoted as V2(110)；
If Sa=0, Sb=1, Sc=0, voltage vector is denoted as V3(010)；
If Sa=0, Sb=1, Sc=1, voltage vector is denoted as V4(011)；
If Sa=0, Sb=0, Sc=1, voltage vector is denoted as V5(001)；
If Sa=1, Sb=0, Sc=1, voltage vector is denoted as V6(101)；
If Sa=1, Sb=1, Sc=1, voltage vector is denoted as V7(111)。
Therefore, eight voltage vectors of voltage source inverter output are denoted as V respectively0(000)、V1(100)、V2(110)、V3
(010)、V4(011)、V5(001)、V6(101) and V7(111)。
Step 4: according to the DC voltage U of voltage source inverterdc, calculate and the voltage vector V in step 3i(SaSbSc)
The output voltage of corresponding inverter namely the stator voltage u of permanent magnet synchronous motorαiAnd uβi, as shown in formula (4):
Wherein, i=0,1,2,3,4,5,6,7, SaiEqual to voltage vector Vi(SaSbSc) corresponding switch state Sa, SbiDeng
In voltage vector Vi(SaSbSc) corresponding switch state Sb, SciEqual to voltage vector Vi(SaSbSc) corresponding switch state Sc。
Step 5: the output electric current i that step 1 is obtainedα、iβ, equivalent counter electromotive force e that step 2 obtainsα、eβAnd step
Four obtained stator voltage uαi、uβiSubstitute into the output electric current at the stray currents prediction model prediction k+1 moment of permanent magnet synchronous motor
iαi(k+1) and iβi(k+1), as shown in formula (5):
Wherein, i=0,1,2,3,4,5,6,7, TsFor sampling period, RsFor the stator resistance of permanent magnet synchronous motor, LqFor forever
The stator inductance of magnetic-synchro motor.
Step 6: the output electric current i that step 5 is obtainedαi(k+1)、iβi(k+1) and step 2 obtain it is equivalent anti-electronic
Gesture eα、eβSubstitute into the stator magnetic linkage ψ at the stator magnetic linkage prediction model prediction k+1 moment of permanent magnet synchronous motorαi(k+1)、ψβi(k+1)
And calculate stator magnetic linkage amplitude ψsi(k+1), as shown in formula (6) and formula (7):
Wherein, i=0,1,2,3,4,5,6,7, eαAnd eβIt is the equivalent counter electromotive force of permanent magnet synchronous motor, ωrFor permanent magnetism
The angular speed of synchronous motor.
Step 7: the output electric current i obtained according to step 5αi(k+1)、iβi(k+1), the stator magnetic linkage that step 6 obtains
ψαi(k+1)、ψβi(k+1) and the torque prediction model of permanent magnet synchronous motor calculate permanent magnet synchronous motor torque Tei(k+1), such as
Shown in formula (8):
Wherein, i=0,1,2,3,4,5,6,7, npFor the number of pole-pairs of permanent magnet synchronous motor.
Step 8: referring to motor torque according to load requirement settingAnd according to reference motor torquePass through formula
(9) it is calculated with reference to stator magnetic linkage
Wherein, npFor the number of pole-pairs of permanent magnet synchronous motor, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor, LqIt is same for permanent magnetism
Walk the stator inductance of motor.
Stator magnetic linkage is referred to Step 9: calculatingSubtract the stator magnetic linkage amplitude ψ that step 6 obtainssi(k+1) absolute value
Obtain stator magnetic linkage objective function gψi, calculate and refer to motor torqueSubtract the torque T that step 7 obtainsei(k+1) absolute value
Obtain torque target function gTi, as shown in formula (10):
Further according to formula (11) respectively to eight torque target function gTiWith eight stator magnetic linkage objective function gψiIt is asked
Averagely obtain torque target mean value functionsWith stator magnetic linkage objective function average value
Step 10: the torque target function g obtained according to step 9TiWith stator magnetic linkage objective function gψiAnd torque mesh
Scalar functions average valueWith stator magnetic linkage objective function average valueTorque target functional standard difference g is calculatedTσAnd magnetic linkage
Objective function standard deviation gψσ, as shown in formula (12):
Wherein, i=0,1,2,3,4,5,6,7.
Step 11: the torque target function g obtained according to step 9Ti, stator magnetic linkage objective function gψi, torque target
Mean value functionsStator magnetic linkage objective function average valueThe torque target functional standard difference g that step 10 obtainsTσ, magnetic linkage
Objective function standard deviation gψσWith the mathematical model for the objective function changed based on mark, new objective function G is calculatedi, such as public
Shown in formula (13):
Wherein, i=0,1,2,3,4,5,6,7.
Step 12: comparing objective function GiValue, by the smallest objective function GiCorresponding voltage vector Vi(SaSbSc)
As most there is vector, and will most there be vector to be used to control permanent magnet synchronous motor.
In order to verify effectiveness of the invention, emulation has been carried out with traditional permanent magnet synchronous motor prediction torque control scheme and has been tested
Card.When emulation, the DC voltage U of gird-connected inverterdcFor 600V, motor stator resistance RsFor 0.0154 Ω, permanent magnet flux linkage
ψfFor 1.5Wb, d axle inductance LdFor 4mH, q axle inductance LqFor 9mH, motor number of pole-pairs npIt is 3, with reference to motor torqueFor 300Nm.
Fig. 2 gives document, and [Xu Yanping, Li Yuanyuan, Zhou Qin permanent magnet synchronous motor dual model predict Stator-Quantities Control [J] electric power electricity
Sub- technology, 2018,52 (06): 37-39] simulation result, Fig. 3 gives simulation result of the invention.As shown in Fig. 2, traditional
Permanent magnet synchronous motor predicts that torque control scheme due to weight factor design theory still unmature at present, is difficult to obtain simultaneously
The waveform of the waveform and magnetic linkage error and magnetic linkage of optimal stator magnetic linkage and direct torque effect namely torque error and torque
It fluctuates relatively large；As shown in figure 3, the present invention is due to establishing two objective functions of torque and magnetic linkage, and pass through standard deviation
Mark, which is changed, has obtained the new objective function without weight coefficient, realizes the torque and magnetic linkage control of permanent magnet synchronous motor,
Reduce the waveform of torque error and torque and the waveform fluctuating range of magnetic linkage error and magnetic linkage.The present invention is not necessarily to weight system
Number, this not only lowers system designs, the complexity of debugging, and help to reduce torque ripple, improve direct torque precision.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of permanent magnet synchronous motor changed based on mark is without weight coefficient prediction method for controlling torque, which is characterized in that it is walked
It is rapid as follows:
Step 1: the three-phase current i of the permanent magnet synchronous motor at sampling k momenta、ib、icWith the angular velocity omega of permanent magnet synchronous motorr、
Rotor position angle θr, and by three-phase current ia、ib、icThe output electric current i under static α β coordinate system is obtained by coordinate transformαWith
iβ；
Step 2: electric current i will be exportedα、iβUtilize rotor position angle θrD shaft current i is acquired by coordinate transformdWith q shaft current iq,
Again by the angular velocity omega in step 1r, rotor position angle θrWith d shaft current idSubstitute into the equivalent counter electromotive force of permanent magnet synchronous motor
In mathematical model, the equivalent counter electromotive force e of permanent magnet synchronous motor is calculatedαAnd eβ；
Step 3: according to the switch state S of voltage source invertera、Sb、Sc, obtain the voltage vector V of voltage source inverter outputi
(SaSbSc), wherein i=0,1,2,3,4,5,6,7, switch state Sa、Sb、ScValue be equal to 0 or 1；
Step 4: according to the DC voltage U of voltage source inverterdc, calculate and the voltage vector V in step 3i(SaSbSc) corresponding
Inverter output voltage namely permanent magnet synchronous motor stator voltage uαiAnd uβi；
Step 5: the output electric current i that step 1 is obtainedα、iβ, equivalent counter electromotive force e that step 2 obtainsα、eβIt is obtained with step 4
The stator voltage u arrivedαi、uβiSubstitute into the output electric current i at the stray currents prediction model prediction k+1 moment of permanent magnet synchronous motorαi(k
+ 1) and iβi(k+1)；
Step 6: the output electric current i that step 5 is obtainedαi(k+1)、iβi(k+1) and the obtained equivalent counter electromotive force e of step 2α、
eβSubstitute into the stator magnetic linkage ψ at the stator magnetic linkage prediction model prediction k+1 moment of permanent magnet synchronous motorαi(k+1)、ψβi(k+1) it and counts
Calculate stator magnetic linkage amplitude ψsi(k+1)；
Step 7: the output electric current i that step 5 is obtainedαi(k+1)、iβi(k+1) and the obtained stator magnetic linkage ψ of step 6αi(k+
1)、ψβi(k+1) the torque prediction model for substituting into permanent magnet synchronous motor calculates the torque T of permanent magnet synchronous motorei(k+1)；
Step 8: referring to motor torque according to load requirement settingAnd according to reference motor torqueIt calculates and refers to stator magnet
Chain
Motor torque is referred to Step 9: calculatingSubtract the torque T that step 7 obtainsei(k+1) thoroughly deserve torque target
Function gTi, calculate and refer to stator magnetic linkageSubtract the stator magnetic linkage amplitude ψ that step 6 obtainssi(k+1) thoroughly deserve stator
Magnetic linkage objective function gψi, then respectively to eight torque target function gTiWith eight stator magnetic linkage objective function gψiIt is averaging
Obtain torque target mean value functionsWith stator magnetic linkage objective function average value
Step 10: the torque target function g obtained according to step 9TiWith stator magnetic linkage objective function gψiAnd torque target function
Average valueWith stator magnetic linkage objective function average valueTorque target functional standard difference g is calculatedTσWith magnetic linkage target letter
Number standard deviation gψσ；
Step 11: the torque target function g obtained according to step 8Ti, stator magnetic linkage objective function gψi, torque target function it is flat
Mean valueStator magnetic linkage objective function average valueThe torque target functional standard difference g obtained with step 10Tσ, magnetic linkage target
Functional standard difference gψσThe mathematical model for substituting into the objective function changed based on mark, is calculated new objective function Gi；
Step 12: comparing objective function GiValue, by the smallest objective function GiCorresponding voltage vector Vi(SaSbSc) conduct
Optimal vector, and be used for optimal vector to control permanent magnet synchronous motor.
2. the permanent magnet synchronous motor according to claim 1 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the three-phase current i in the step 1a、ib、icThe output under static α β coordinate system is obtained by coordinate transform
Electric current iαAnd iβAre as follows:
3. the permanent magnet synchronous motor according to claim 1 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the electric current i of d axis and q axis in the step 2dWith electric current iqPreparation method are as follows:
Wherein, θrFor the rotor position angle of permanent magnet synchronous motor；
The equivalent counter electromotive force mathematical model of the permanent magnet synchronous motor are as follows:
Wherein, ωrFor the angular speed of permanent magnet synchronous motor, ψfFor permanent-magnet synchronous
The permanent magnet flux linkage of motor, LdAnd LqIt is the stator inductance of permanent magnet synchronous motor.
4. the permanent magnet synchronous motor according to claim 1 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the voltage vector V in the step 3i(SaSbSc) preparation method are as follows:
Sa=1 indicates two-way AC/DC convertor a phase bridge arm upper tube conducting, down tube shutdown；
Sa=0 indicates two-way AC/DC convertor a phase bridge arm upper tube shutdown, down tube conducting；
Sb=1 indicates two-way AC/DC convertor b phase bridge arm upper tube conducting, down tube shutdown；
Sb=0 indicates two-way AC/DC convertor b phase bridge arm upper tube shutdown, down tube conducting；
Sc=1 indicates two-way AC/DC convertor c phase bridge arm upper tube conducting, down tube shutdown；
Sc=0 indicates two-way AC/DC convertor c phase bridge arm upper tube shutdown, down tube conducting；
If Sa=0, Sb=0, Sc=0, voltage vector is denoted as V0(000)；
If Sa=1, Sb=0, Sc=0, voltage vector is denoted as V1(100)；
If Sa=1, Sb=1, Sc=0, voltage vector is denoted as V2(110)；
If Sa=0, Sb=1, Sc=0, voltage vector is denoted as V3(010)；
If Sa=0, Sb=1, Sc=1, voltage vector is denoted as V4(011)；
If Sa=0, Sb=0, Sc=1, voltage vector is denoted as V5(001)；
If Sa=1, Sb=0, Sc=1, voltage vector is denoted as V6(101)；
If Sa=1, Sb=1, Sc=1, voltage vector is denoted as V7(111)。
5. the permanent magnet synchronous motor according to claim 1 or 4 changed based on mark is without weight coefficient prediction direct torque side
Method, which is characterized in that the stator voltage u of the permanent magnet synchronous motor in the step 4αiAnd uβiPreparation method are as follows:
Wherein, i=0,1,2,3,4,5,6,7, SaiFor electricity
Press vector Vi(SaSbSc) corresponding switch state Sa, SbiFor voltage vector Vi(SaSbSc) corresponding switch state Sb, SciFor voltage
Vector Vi(SaSbSc) corresponding switch state Sc。
6. the permanent magnet synchronous motor according to claim 5 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the stray currents prediction model of the permanent magnet synchronous motor in the step 5 are as follows:
Wherein, eαAnd eβIt is the equivalent counter electromotive force of permanent magnet synchronous motor,
TsFor sampling period, RsFor the stator resistance of permanent magnet synchronous motor, LqFor the stator inductance of permanent magnet synchronous motor；
The stator magnetic linkage prediction model of permanent magnet synchronous motor in the step 6 are as follows:
Wherein, ωrFor the angular speed of permanent magnet synchronous motor；
Stator magnetic linkage amplitude ψ in the step 6si(k+1) preparation method are as follows:
The torque prediction model of permanent magnet synchronous motor in the step 7 are as follows:
Wherein, npFor the extremely right of permanent magnet synchronous motor
Number.
7. permanent magnet synchronous motor according to claim 6 is without weight coefficient prediction method for controlling torque, which is characterized in that institute
It states in step 8 using with reference to motor torqueCalculate Reference Stator Flux LinkageMethod are as follows:
Wherein, ψfFor the permanent magnet flux linkage of permanent magnet synchronous motor.
8. the permanent magnet synchronous motor according to claim 7 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the torque target function g in the step 9TiWith stator magnetic linkage objective function gψiPreparation method are as follows:
The torque target mean value functionsWith stator magnetic linkage objective function average valuePreparation method are as follows:
9. the permanent magnet synchronous motor according to claim 8 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the torque target functional standard difference g in the step 10TσWith magnetic linkage objective function standard deviation gψσAcquisition side
Method are as follows:
10. the permanent magnet synchronous motor according to claim 9 changed based on mark is without weight coefficient prediction method for controlling torque,
It is characterized in that, the mathematical model of the objective function changed based on mark in the step 11 are as follows:
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| CN110995072A (en) * | 2019-12-19 | 2020-04-10 | 华中科技大学 | Motor rotor position estimation method |
| CN111224604A (en) * | 2019-11-21 | 2020-06-02 | 西安理工大学 | Simplified model prediction control method for asynchronous motor |
| CN112688587A (en) * | 2020-12-28 | 2021-04-20 | 珠海创芯科技有限公司 | Robust prediction control method of impedance source inverter |
| CN112821832A (en) * | 2021-02-10 | 2021-05-18 | 北方工业大学 | Control method and device of permanent magnet synchronous motor and motor controller |
| CN112865654A (en) * | 2021-04-13 | 2021-05-28 | 山东大学 | Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor |
| CN113411028A (en) * | 2021-06-28 | 2021-09-17 | 珠海创芯科技有限公司 | Permanent magnet synchronous motor model prediction control method and device, electronic equipment and medium |
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| CN111224604A (en) * | 2019-11-21 | 2020-06-02 | 西安理工大学 | Simplified model prediction control method for asynchronous motor |
| CN110995072A (en) * | 2019-12-19 | 2020-04-10 | 华中科技大学 | Motor rotor position estimation method |
| CN112688587A (en) * | 2020-12-28 | 2021-04-20 | 珠海创芯科技有限公司 | Robust prediction control method of impedance source inverter |
| CN112821832A (en) * | 2021-02-10 | 2021-05-18 | 北方工业大学 | Control method and device of permanent magnet synchronous motor and motor controller |
| CN112865654A (en) * | 2021-04-13 | 2021-05-28 | 山东大学 | Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor |
| CN112865654B (en) * | 2021-04-13 | 2022-09-09 | 山东大学 | Torque maximum utilization control system and method for permanent magnet magnetic concentration type synchronous reluctance motor |
| CN113411028A (en) * | 2021-06-28 | 2021-09-17 | 珠海创芯科技有限公司 | Permanent magnet synchronous motor model prediction control method and device, electronic equipment and medium |
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