CN110112979B - Permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit - Google Patents

Permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit Download PDF

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CN110112979B
CN110112979B CN201910399476.XA CN201910399476A CN110112979B CN 110112979 B CN110112979 B CN 110112979B CN 201910399476 A CN201910399476 A CN 201910399476A CN 110112979 B CN110112979 B CN 110112979B
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permanent magnet
magnet synchronous
torque
synchronous motor
flux linkage
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CN110112979A (en
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郭磊磊
金楠
李琰琰
武洁
吴振军
杨小亮
王明杰
章凯旋
王华清
孙怡舒
郭鹏遥
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Zhengzhou University of Light Industry
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Zhengzhou University of Light Industry
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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
    • 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
    • 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 invention provides a permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit, which comprises the following steps: sampling three-phase current, angular speed and rotor position angle of the permanent magnet synchronous motor at the moment k, and obtaining output current and equivalent counter electromotive force through coordinate transformation; calculating an output voltage vector and a stator voltage according to the switching state of the voltage source inverter, and predicting an output current, a stator flux linkage amplitude and a torque at the moment of k +1 according to the stator voltage; calculating a torque target function, a stator flux linkage target function and respective corresponding standard deviations thereof by using the stator flux linkage amplitude and the torque, and further obtaining a new target function; and finally, using the voltage vector corresponding to the minimum objective function to control the permanent magnet synchronous motor. The method realizes the prediction torque control without the weight coefficient of the permanent magnet synchronous motor by performing standard deviation per unit on the torque and flux linkage target functions, simplifies the complexity of the system, reduces the torque ripple and improves the torque control precision.

Description

Permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit
Technical Field
The invention relates to the field of power electronics, in particular to a permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit.
Background
In recent years, new energy electric vehicle technology has been developed vigorously to deal with energy crisis. Compared with an asynchronous Motor, a Permanent Magnet Synchronous Motor (PMSM) is widely applied to the field of electric vehicles due to the advantages of high efficiency, high power density and the like. In order to improve the torque dynamic control characteristic of the permanent magnet synchronous motor, the model prediction control mechanism is widely applied to the drive control of the permanent magnet synchronous motor. However, the conventional method for controlling the predicted torque of the permanent magnet synchronous motor has the disadvantage that the weight coefficient needs to be designed. Although the literature researches a permanent magnet synchronous motor non-weight coefficient prediction torque control method, no better weight coefficient theoretical design method exists so far.
The invention provides a rapid non-weight coefficient model predictive control method, which takes a target voltage vector as a target function to avoid using a weight coefficient, thereby realizing rapid non-weight coefficient control of a multilevel converter. However, this method cannot be used to achieve predicted torque control of a permanent magnet synchronous motor. The application number is 201810724498.4, the name of the invention is a linear induction motor weightless coefficient model prediction thrust control method, and the linear induction motor weightless coefficient model prediction thrust control method taking thrust and conjugate thrust as objective functions is provided. However, the invention is directed to a linear induction motor and cannot be directly applied to a permanent magnet synchronous motor. The invention discloses a non-weight prediction torque control method of a permanent magnet motor system based on discrete duty ratio, which is 201811426304.9 and is characterized in that a reference voltage command is calculated according to a flux linkage and a torque command, and an objective function is established by using the reference voltage, so that a weight coefficient is eliminated. Although the method can realize the non-weight prediction torque control of the permanent magnet motor system, the complicated calculation is required to obtain the target voltage vector. The document [ Xuyanping, Liyuyuan, Zhoujin. permanent magnet synchronous motor double-model prediction torque control strategy [ J ]. power electronic technology, 2018,52(06):37-39] provides permanent magnet synchronous motor double-model prediction torque control, effectively reduces torque pulsation and reduces the calculation amount of an algorithm. However, this method requires the design of weighting factors, which is difficult to design.
Disclosure of Invention
Aiming at the technical problem of complex calculated amount of the existing control method for predicting the torque of the permanent magnet synchronous motor, the invention provides a permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit, two objective functions of torque and flux linkage are established, and a new objective function without a weight coefficient is obtained through per unit of standard deviation, so that the non-weight coefficient prediction torque control of the permanent magnet synchronous motor is finally realized, the algorithm complexity is simplified, and the torque ripple is reduced.
The technical scheme of the invention is realized as follows:
a permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit comprises the following steps:
step one, sampling three-phase current i of permanent magnet synchronous motor at moment ka、ib、icAnd angular velocity omega of permanent magnet synchronous motorrRotor position angle thetarAnd apply three-phase current ia、ib、icObtaining the output current i under a static αβ coordinate system through coordinate transformationαAnd iβ；
Step two, outputting the current iα、iβUsing rotor position angle thetarDetermination of d-axis current i by coordinate transformationdAnd q-axis current iqThen the angular velocity omega in the step one is usedrRotor position angle thetarAnd d-axis current idSubstituting into the equivalent back electromotive force mathematical model of the permanent magnet synchronous motor to calculate the equivalent back electromotive force e of the permanent magnet synchronous motorαAnd eβ；
Step three, according to the switching state S of the voltage source invertera、Sb、ScObtaining the voltage vector V output by the voltage source inverteri(SaSbSc) Where i is 0,1,2,3,4,5,6,7, switch state Sa、Sb、ScIs equal to 0 or 1;
step four, according to the direct current voltage U of the voltage source inverterdcCalculating the voltage vector V in step threei(SaSbSc) The output voltage of the corresponding inverter, i.e. the stator voltage u of the PMSMαiAnd uβi；
Step five, the output current i obtained in the step oneα、iβAnd the equivalent back electromotive force e obtained in the step twoα、eβAnd the stator voltage u obtained in the step fourαi、uβiPredicting output current i at k +1 moment by substituting discrete current prediction model of permanent magnet synchronous motorαi(k +1) and iβi(k+1)；
Step six, the output current i obtained in the step five is usedαi(k+1)、iβi(k +1) and the equivalent back electromotive force e obtained in the second stepα、eβSubstituting the stator flux linkage prediction model of the permanent magnet synchronous motor to predict the stator flux linkage psi at the k +1 momentαi(k+1)、ψβi(k +1) and calculating the stator flux linkage amplitude psisi(k+1)；
Step seven, the output current i obtained in the step five is usedαi(k+1)、iβi(k +1) and the stator flux linkage psi obtained in step sixαi(k+1)、ψβiSubstituting (k +1) into the torque prediction model of the permanent magnet synchronous motor to calculate the torque T of the permanent magnet synchronous motorei(k+1)；
Step eight, setting reference motor torque according to load requirements
Figure GDA0002559031100000021
And according to a reference motor torque
Figure GDA0002559031100000022
Calculation referenceStator flux linkage
Figure GDA0002559031100000023
Step nine, calculating reference motor torque
Figure GDA0002559031100000024
Torque T obtained by subtracting step seveneiThe absolute value of (k +1) yields the torque target function gTiCalculating the reference stator flux linkage
Figure GDA0002559031100000025
Subtracting the stator flux linkage amplitude psi obtained in the step sixsiObtaining a stator flux linkage objective function g by the absolute value of (k +1)ψiThen, for eight torque target functions gTiAnd eight stator flux linkage objective functions gψiAveraging to obtain the average value of the torque target function
Figure GDA0002559031100000026
And stator flux linkage objective function mean
Figure GDA0002559031100000027
Step ten, obtaining a torque target function g according to the step nineTiAnd stator flux linkage objective function gψiAnd torque target function mean
Figure GDA0002559031100000028
And stator flux linkage objective function mean
Figure GDA0002559031100000029
Calculating to obtain a standard deviation g of a torque target functionTσAnd standard deviation g of flux linkage objective functionψσ；
Step eleven, obtaining a torque target function g according to the step nineTiStator flux linkage objective function gψiMean value of torque objective function
Figure GDA0002559031100000031
Mean value of stator flux linkage objective function
Figure GDA0002559031100000032
And the standard deviation g of the torque target function obtained in the step tenTσStandard deviation g of magnetic linkage objective functionψσSubstituting the mathematical model of the target function based on per unit to calculate a new target function Gi；
Twelfth, comparing the target function GiValue of (d), the smallest objective function GiCorresponding voltage vector Vi(SaSbSc) And the optimal vector is used for controlling the permanent magnet synchronous motor.
Preferably, the three-phase current i in the first stepa、ib、icObtaining the output current i under a static αβ coordinate system through coordinate transformationαAnd iβComprises the following steps:
Figure GDA0002559031100000033
preferably, the d-axis and q-axis currents i in the second stepdAnd current iqThe obtaining method comprises the following steps:
Figure GDA0002559031100000034
wherein, thetarIs the rotor position angle of the permanent magnet synchronous motor;
the equivalent back electromotive force mathematical model of the permanent magnet synchronous motor is as follows:
Figure GDA0002559031100000035
wherein, ω isrAngular velocity, psi, of a permanent magnet synchronous machinefIs a permanent magnet flux linkage, L, of a permanent magnet synchronous motordAnd LqAre all stator inductances of the permanent magnet synchronous motor.
Preferably, the voltage vector V in step threei(SaSbSc) The obtaining method comprises the following steps:
Satable 1 (the attached drawings)The upper pipe of the a-phase bridge arm of the bidirectional AC-DC converter is connected, and the lower pipe is disconnected;
Sawhen the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is;
S b1 represents that the upper tube of a b-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Sbwhen the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is;
S c1 represents that the upper tube of the c-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Scwhen the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube is turned on, and when the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the c-phase bridge arm of;
if Sa＝0，Sb＝0，ScVoltage vector is denoted as V when it is 00(000)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V when it is 01(100)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V when it is 02(110)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V when it is 03(010)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V ═ 14(011)；
If Sa＝0，Sb＝0，ScVoltage vector is denoted as V ═ 15(001)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V ═ 16(101)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V ═ 17(111)。
Preferably, the stator voltage u of the permanent magnet synchronous motor in step fourαiAnd uβiThe obtaining method comprises the following steps:
Figure GDA0002559031100000041
wherein i is 0,1,2,3,4,5,6,7, SaiIs a voltage vector Vi(SaSbSc) Corresponding switch state Sa，SbiIs a voltage vector Vi(SaSbSc) Corresponding switch state Sb，SciIs a voltage vector Vi(SaSbSc) Corresponding switch state Sc。
Preferably, the discrete current prediction model of the permanent magnet synchronous motor in the step five is as follows:
Figure GDA0002559031100000042
wherein e isαAnd eβAre all equivalent back electromotive forces, T, of PMSMsFor a sampling period, RsIs the stator resistance, L, of a permanent magnet synchronous machineqIs the stator inductance of the permanent magnet synchronous motor;
the stator flux linkage prediction model of the permanent magnet synchronous motor in the sixth step is as follows:
Figure GDA0002559031100000043
wherein, ω isrThe angular velocity of the permanent magnet synchronous motor;
the stator flux linkage amplitude psi in the sixth stepsiThe method for obtaining (k +1) is as follows:
Figure GDA0002559031100000044
the torque prediction model of the permanent magnet synchronous motor in the step seven comprises the following steps:
Figure GDA0002559031100000045
wherein n ispThe number of pole pairs of the permanent magnet synchronous motor is shown.
Preferably, said step eight uses a reference motor torque Te *Calculating the reference flux linkage psis *The method comprises the following steps:
Figure GDA0002559031100000046
wherein psifIs a permanent magnet flux linkage of a permanent magnet synchronous motor.
Preferably, the torque target function g in the step nineTiAnd stator flux linkage objective function gψiThe obtaining method comprises the following steps:
Figure GDA0002559031100000051
the torque target function mean value
Figure GDA0002559031100000052
And stator flux linkage objective function mean
Figure GDA0002559031100000053
The obtaining method comprises the following steps:
Figure GDA0002559031100000054
preferably, the standard deviation g of the torque target function in the step ten isTσAnd standard deviation g of flux linkage objective functionψσThe obtaining method comprises the following steps:
Figure GDA0002559031100000055
preferably, the mathematical model of the per-unit-based objective function in the step eleven is as follows:
Figure GDA0002559031100000056
the beneficial effect that this technical scheme can produce: by adopting two objective functions of torque and flux linkage, the control of the torque and flux linkage of the permanent magnet synchronous motor can be realized without a weight coefficient, the complexity of system design and debugging is reduced, torque ripples are reduced, and the torque control precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a block diagram of the overall structure of the present invention.
FIG. 2 is a graph of simulation results of a document [ Xuyanping, Liyuan, Zhoujin ] permanent magnet synchronous motor double model predicted torque control strategy [ J ]. Power electronics, 2018,52(06):37-39 ]; (a) the simulation result diagram of the torque error and the torque is shown, and the simulation result diagram of the flux linkage error and the flux linkage is shown.
FIG. 3 is a graph of simulation results for the present invention; (a) the simulation result diagram of the torque error and the torque is shown, and the simulation result diagram of the flux linkage error and the flux linkage is shown.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, a method for predicting torque based on per unit without weighting factor of a permanent magnet synchronous motor includes the following steps:
step one, sampling three-phase current i of permanent magnet synchronous motor at moment ka、ib、icAnd angular velocity omega of permanent magnet synchronous motorrRotor position angle thetarAnd the three-phase current i is converted by using the formula (1)a、ib、icObtaining the output current i under a static αβ coordinate system through coordinate transformationαAnd iβ：
Figure GDA0002559031100000061
Step two, outputting the current i according to a formula (2)α、iβAnd rotor position angle thetarSeparately determining d-axis and q-axis currents i by coordinate transformationdAnd current iq：
Figure GDA0002559031100000062
Then the angular velocity omega is adjustedrRotor position angle thetarAnd d-axis current idSubstituting into the equivalent back electromotive force mathematical model of the permanent magnet synchronous motor to calculate the equivalent back electromotive force e of the permanent magnet synchronous motorαAnd eβAs shown in equation (3):
Figure GDA0002559031100000063
wherein psifIs a permanent magnet flux linkage, L, of a permanent magnet synchronous motordAnd LqAre all stator inductances of the permanent magnet synchronous motor.
Step three, according to the switching state S of the voltage source invertera、Sb、ScObtaining the voltage vector V output by the voltage source inverteri(SaSbSc) Where i is 0,1,2,3,4,5,6,7, switch state Sa、Sb、ScIs equal to 0 or 1:
S a1 represents that an upper tube of a phase bridge arm of a bidirectional alternating current-direct current converter is conducted and a lower tube is turned off;
Sawhen the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is;
S b1 represents that the upper tube of a b-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Sbwhen the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is;
S c1 represents that the upper tube of the c-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Scwhen the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube is turned on, and when the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the c-phase bridge arm of;
if Sa＝0，Sb＝0，ScVoltage vector is denoted as V when it is 00(000)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V when it is 01(100)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V when it is 02(110)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V when it is 03(010)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V ═ 14(011)；
If Sa＝0，Sb＝0，ScVoltage vector is denoted as V ═ 15(001)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V ═ 16(101)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V ═ 17(111)。
Therefore, eight voltage vectors output by the voltage source inverter are respectively marked as V0(000)、V1(100)、V2(110)、V3(010)、V4(011)、V5(001)、V6(101) And V7(111)。
Step four, according to the direct current voltage U of the voltage source inverterdcCalculating the voltage vector V in step threei(SaSbSc) The output voltage of the corresponding inverter, i.e. the stator voltage u of the PMSMαiAnd uβiAs shown in equation (4):
Figure GDA0002559031100000071
wherein i is 0,1,2,3,4,5,6,7, SaiIs equal to the voltage vector Vi(SaSbSc) Corresponding switch state Sa，SbiIs equal to the voltage vector Vi(SaSbSc) Corresponding switch state Sb，SciIs equal to the voltage vector Vi(SaSbSc) Corresponding switch state Sc。
Step five, the output current i obtained in the step oneα、iβAnd the equivalent back electromotive force e obtained in the step twoα、eβAnd the stator voltage u obtained in the step fourαi、uβiPredicting output current i at k +1 moment by substituting discrete current prediction model of permanent magnet synchronous motorαi(k +1) and iβi(k +1) as shown in formula (5):
Figure GDA0002559031100000072
wherein i is 0,1,2,3,4,5,6,7, TsFor a sampling period, RsIs the stator resistance, L, of a permanent magnet synchronous machineqIs the stator inductance of the permanent magnet synchronous motor.
Step six, the output current i obtained in the step five is usedαi(k+1)、iβi(k +1) and the equivalent back electromotive force e obtained in the second stepα、eβSubstituting the stator flux linkage prediction model of the permanent magnet synchronous motor to predict the stator flux linkage psi at the k +1 momentαi(k+1)、ψβi(k +1) and calculating the stator flux linkage amplitude psisi(k +1) as shown in formula (6) and formula (7):
Figure GDA0002559031100000081
Figure GDA0002559031100000082
wherein i is 0,1,2,3,4,5,6,7, eαAnd eβAre all equivalent back electromotive forces, omega, of permanent magnet synchronous motorsrIs the angular velocity of the permanent magnet synchronous motor.
Step seven, obtaining the output current i according to the step fiveαi(k+1)、iβi(k +1), stator flux linkage psi obtained in step sixαi(k+1)、ψβi(k +1) and a torque prediction model of the permanent magnet synchronous motor to calculate the torque T of the permanent magnet synchronous motorei(k +1) as shown in formula (8):
Figure GDA0002559031100000083
wherein i is 0,1,2,3,4,5,6,7, npThe number of pole pairs of the permanent magnet synchronous motor is shown.
Step eight, setting reference motor torque according to load requirements
Figure GDA0002559031100000084
And according to a reference motor torque
Figure GDA0002559031100000085
Obtaining the reference stator flux linkage through the calculation of the formula (9)
Figure GDA0002559031100000086
Figure GDA0002559031100000087
Wherein n ispIs the pole pair number psi of the permanent magnet synchronous motorfIs a permanent magnet flux linkage, L, of a permanent magnet synchronous motorqIs the stator inductance of the permanent magnet synchronous motor.
Step nine, calculating a reference stator flux linkage
Figure GDA0002559031100000088
Subtracting the stator flux linkage amplitude psi obtained in the step sixsiObtaining a stator flux linkage objective function g by the absolute value of (k +1)ψiCalculating a reference motor torque
Figure GDA0002559031100000089
Torque T obtained by subtracting step seveneiThe absolute value of (k +1) yields the torque target function gTiAs shown in equation (10):
Figure GDA00025590311000000810
then, the eight torque target functions g are respectively processed according to the formula (11)TiAnd eight stator flux linkage objective functions gψiAveraging to obtain the average value of the torque target function
Figure GDA00025590311000000811
And stator flux linkage objective function mean
Figure GDA00025590311000000812
Figure GDA0002559031100000091
Step ten, obtaining a torque target function g according to the step nineTiAnd stator flux linkage objective function gψiAnd torque target function mean
Figure GDA0002559031100000092
And stator flux linkage objective function mean
Figure GDA0002559031100000093
Calculating to obtain a standard deviation g of a torque target functionTσAnd standard deviation g of flux linkage objective functionψσAs shown in equation (12):
Figure GDA0002559031100000094
wherein i is 0,1,2,3,4,5,6, 7.
Step eleven, obtaining a torque target function g according to the step nineTiStator flux linkage objective function gψiTorque target function flatMean value
Figure GDA0002559031100000095
Mean value of stator flux linkage objective function
Figure GDA0002559031100000096
Step ten, obtaining a standard deviation g of a torque target functionTσStandard deviation g of magnetic linkage objective functionψσAnd calculating to obtain a new target function G based on the mathematical model of the per-unit target functioniAs shown in equation (13):
Figure GDA0002559031100000097
wherein i is 0,1,2,3,4,5,6, 7.
Twelfth, comparing the target function GiValue of (d), the smallest objective function GiCorresponding voltage vector Vi(SaSbSc) The most vector is used for controlling the permanent magnet synchronous motor.
In order to verify the effectiveness of the invention, simulation verification is carried out on the scheme of the control of the predicted torque of the traditional permanent magnet synchronous motor. During simulation, the direct-current side voltage U of the grid-connected inverterdcIs 600V, and the stator resistance R of the motors0.0154 omega, and a permanent magnet flux linkage psifIs 1.5Wb, d-axis inductance LdIs 4mH, q-axis inductance Lq9mH, the number of pole pairs n of the motorpTo 3, reference is made to the motor torque
Figure GDA0002559031100000098
Is 300 Nm. FIG. 2 shows a bimodal predicted torque control strategy for PMSM [ Xuyanping, Liyuan, Zhoujin ]]Power electronics, 2018,52(06):37-39]Fig. 3 shows the simulation result of the present invention. As shown in fig. 2, in the conventional permanent magnet synchronous motor predicted torque control scheme, because there is no mature weight factor design theory at present, it is difficult to obtain optimal stator flux linkage and torque control effects, that is, torque error and torque waveform, and flux linkage error and flux linkage waveform wave simultaneouslyThe dynamic phase is relatively large; as shown in FIG. 3, two objective functions of torque and flux linkage are established, and a new objective function without weight coefficients is obtained through standard deviation per unit, so that the torque and flux linkage control of the permanent magnet synchronous motor is realized, and the torque error, the torque waveform, the flux linkage error and the flux linkage waveform fluctuation range are reduced. The invention does not need a weight coefficient, thereby not only reducing the complexity of system design and debugging, but also being beneficial to reducing torque ripple and improving the torque control precision.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A permanent magnet synchronous motor non-weight coefficient prediction torque control method based on per unit is characterized by comprising the following steps:
step one, sampling three-phase current i of permanent magnet synchronous motor at moment ka、ib、icAnd angular velocity omega of permanent magnet synchronous motorrRotor position angle thetarAnd apply three-phase current ia、ib、icObtaining the output current i under a static αβ coordinate system through coordinate transformationαAnd iβ；
Step two, outputting the current iα、iβUsing rotor position angle thetarDetermination of d-axis current i by coordinate transformationdAnd q-axis current iqThen the angular velocity omega in the step one is usedrRotor position angle thetarAnd d-axis current idSubstituting into the equivalent back electromotive force mathematical model of the permanent magnet synchronous motor to calculate the equivalent back electromotive force e of the permanent magnet synchronous motorαAnd eβ；
Step three, according to the switching state S of the voltage source invertera、Sb、ScObtaining the voltage vector V output by the voltage source inverteri(SaSbSc) Wherein i is 0,1,2,3,4,5,6,7, KOff state Sa、Sb、ScIs equal to 0 or 1;
step four, according to the direct current voltage U of the voltage source inverterdcCalculating the voltage vector V in step threei(SaSbSc) The output voltage of the corresponding inverter, i.e. the stator voltage u of the PMSMαiAnd uβi；
Step five, the output current i obtained in the step oneα、iβAnd the equivalent back electromotive force e obtained in the step twoα、eβAnd the stator voltage u obtained in the step fourαi、uβiPredicting output current i at k +1 moment by substituting discrete current prediction model of permanent magnet synchronous motorαi(k +1) and iβi(k+1)；
Step six, the output current i obtained in the step five is usedαi(k+1)、iβi(k +1) and the equivalent back electromotive force e obtained in the second stepα、eβSubstituting the stator flux linkage prediction model of the permanent magnet synchronous motor to predict the stator flux linkage psi at the k +1 momentαi(k+1)、ψβi(k +1) and calculating the stator flux linkage amplitude psisi(k+1)；
Step seven, the output current i obtained in the step five is usedαi(k+1)、iβi(k +1) and the stator flux linkage psi obtained in step sixαi(k+1)、ψβiSubstituting (k +1) into the torque prediction model of the permanent magnet synchronous motor to calculate the torque T of the permanent magnet synchronous motorei(k+1)；
Step eight, setting reference motor torque according to load requirements
Figure FDA0002559031090000011
And according to a reference motor torque
Figure FDA0002559031090000012
Calculating reference stator flux linkage
Figure FDA0002559031090000013
Step nine, calculating a reference motorTorque moment
Figure FDA0002559031090000014
Torque T obtained by subtracting step seveneiThe absolute value of (k +1) yields the torque target function gTiCalculating the reference stator flux linkage
Figure FDA0002559031090000015
Subtracting the stator flux linkage amplitude psi obtained in the step sixsiObtaining a stator flux linkage objective function g by the absolute value of (k +1)ψiThen, for eight torque target functions gTiAnd eight stator flux linkage objective functions gψiAveraging to obtain the average value of the torque target function
Figure FDA0002559031090000016
And stator flux linkage objective function mean
Figure FDA0002559031090000017
Step ten, obtaining a torque target function g according to the step nineTiAnd stator flux linkage objective function gψiAnd torque target function mean
Figure FDA0002559031090000018
And stator flux linkage objective function mean
Figure FDA0002559031090000019
Calculating to obtain a standard deviation g of a torque target functionTσAnd standard deviation g of flux linkage objective functionψσ；
Step eleven, obtaining a torque target function g according to the step nineTiStator flux linkage objective function gψiMean value of torque objective function
Figure FDA0002559031090000021
Mean value of stator flux linkage objective function
Figure FDA0002559031090000022
And the standard deviation g of the torque target function obtained in the step tenTσStandard deviation g of magnetic linkage objective functionψσSubstituting the mathematical model of the target function based on per unit to calculate a new target function Gi；
Twelfth, comparing the target function GiValue of (d), the smallest objective function GiCorresponding voltage vector Vi(SaSbSc) And the optimal vector is used for controlling the permanent magnet synchronous motor.
2. The per-unit-based permanent magnet synchronous motor non-weight coefficient prediction torque control method according to claim 1, wherein the three-phase current i in the first stepa、ib、icObtaining the output current i under a static αβ coordinate system through coordinate transformationαAnd iβComprises the following steps:
Figure FDA0002559031090000023
3. the method according to claim 1, wherein the d-axis and q-axis currents i in the second step are currents idAnd current iqThe obtaining method comprises the following steps:
Figure FDA0002559031090000024
wherein, thetarIs the rotor position angle of the permanent magnet synchronous motor;
the equivalent back electromotive force mathematical model of the permanent magnet synchronous motor is as follows:
Figure FDA0002559031090000025
wherein, ω isrAngular velocity, psi, of a permanent magnet synchronous machinefIs a permanent magnet flux linkage, L, of a permanent magnet synchronous motordAnd LqAre all stator inductances of the permanent magnet synchronous motor.
4. The method according to claim 1, wherein the voltage vector V in the third step is a voltage vector Vi(SaSbSc) The obtaining method comprises the following steps:
Sa1 represents that an upper tube of a phase bridge arm of a bidirectional alternating current-direct current converter is conducted and a lower tube is turned off;
Sawhen the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the a-phase bridge arm of the bidirectional alternating current-direct current converter is;
Sb1 represents that the upper tube of a b-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Sbwhen the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is turned on, the upper tube of the b-phase bridge arm of the bidirectional alternating current-direct current converter is;
Sc1 represents that the upper tube of the c-phase bridge arm of the bidirectional AC-DC converter is conducted and the lower tube is turned off;
Scwhen the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube is turned on, and when the upper tube of the c-phase bridge arm of the bidirectional alternating current-direct current converter is turned off, the lower tube of the c-phase bridge arm of;
if Sa＝0，Sb＝0，ScVoltage vector is denoted as V when it is 00(000)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V when it is 01(100)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V when it is 02(110)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V when it is 03(010)；
If Sa＝0，Sb＝1，ScVoltage vector is denoted as V ═ 14(011)；
If Sa＝0，Sb＝0，ScVoltage vector is denoted as V ═ 15(001)；
If Sa＝1，Sb＝0，ScVoltage vector is denoted as V ═ 16(101)；
If Sa＝1，Sb＝1，ScVoltage vector is denoted as V ═ 17(111)。
5. The method according to claim 1 or 4, wherein the stator voltage u of the PMSM in step four is the stator voltage u of the PMSMαiAnd uβiThe obtaining method comprises the following steps:
Figure FDA0002559031090000031
wherein i is 0,1,2,3,4,5,6,7, SaiIs a voltage vector Vi(SaSbSc) Corresponding switch state Sa，SbiIs a voltage vector Vi(SaSbSc) Corresponding switch state Sb，SciIs a voltage vector Vi(SaSbSc) Corresponding switch state Sc。
6. The method for controlling the torque without the weight coefficient prediction of the per unit permanent magnet synchronous motor according to claim 5, wherein the discrete current prediction model of the permanent magnet synchronous motor in the step five is:
Figure FDA0002559031090000032
wherein e isαAnd eβAre all equivalent back electromotive forces, T, of PMSMsFor a sampling period, RsIs the stator resistance, L, of a permanent magnet synchronous machineqIs the stator inductance of the permanent magnet synchronous motor;
the stator flux linkage prediction model of the permanent magnet synchronous motor in the sixth step is as follows:
Figure FDA0002559031090000033
wherein, ω isrBeing corners of permanent-magnet synchronous machinesSpeed;
the stator flux linkage amplitude psi in the sixth stepsiThe method for obtaining (k +1) is as follows:
Figure FDA0002559031090000034
the torque prediction model of the permanent magnet synchronous motor in the step seven comprises the following steps:
Figure FDA0002559031090000035
wherein n ispThe number of pole pairs of the permanent magnet synchronous motor is shown.
7. The PMSM non-weight-coefficient predicted torque control method according to claim 6, wherein reference motor torque is used in step eight
Figure FDA0002559031090000041
Calculating reference flux linkage
Figure FDA0002559031090000042
The method comprises the following steps:
Figure FDA0002559031090000043
wherein psifIs a permanent magnet flux linkage of a permanent magnet synchronous motor.
8. The method according to claim 7, wherein the torque objective function g in the step nine is a torque objective function gTiAnd stator flux linkage objective function gψiThe obtaining method comprises the following steps:
Figure FDA0002559031090000044
the torque target function mean value
Figure FDA0002559031090000045
And stator flux linkage objective function mean
Figure FDA0002559031090000046
The obtaining method comprises the following steps:
Figure FDA0002559031090000047
9. the method according to claim 8, wherein the torque target function standard deviation g in the step ten is the standard deviation gTσAnd standard deviation g of flux linkage objective functionψσThe obtaining method comprises the following steps:
Figure FDA0002559031090000048
10. the method according to claim 9, wherein the mathematical model of the per-unit-based objective function in the step eleven is:
Figure FDA0002559031090000049
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