CN110224654A - A kind of simplified selection method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector - Google Patents

A kind of simplified selection method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector Download PDF

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CN110224654A
CN110224654A CN201910603585.9A CN201910603585A CN110224654A CN 110224654 A CN110224654 A CN 110224654A CN 201910603585 A CN201910603585 A CN 201910603585A CN 110224654 A CN110224654 A CN 110224654A
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voltage vector
magnetic linkage
torque
voltage
vector
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CN110224654B (en
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李耀华
赵承辉
周逸凡
秦玉贵
苏锦仕
秦辉
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Changan University
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Changan University
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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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vectors to simplify selection method, the present invention derives the angle and amplitude for calculating magnetic linkage and torque track with zero error ideal application voltage vector first, determine that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector again, finally according to the amplitude of desired voltage vector, selection applies Zero voltage vector or nonzero voltage space vector, the present invention can select optimal voltage vector without traversing all basic voltage vectors, prediction operation times are decreased to 2 times by 7 times, significantly reduce the complexity and calculation amount of algorithm, improve the control performance of motor.

Description

A kind of simplified selection method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector
Technical field
The invention belongs to surface permanent magnetic synchronous motor control fields, and in particular to a kind of dead beat PREDICTIVE CONTROL approximation is replaced Simplify selection method for voltage vector.
Background technique
Study on direct torque control technology is based on stator magnetic linkage coordinate system and directly using torque as control object, avoids rotation A large amount of calculating when coordinate transform and the dependence to the parameter of electric machine, dynamic property is good, and the torque response time is short.
Track with zero error theory has been widely used in the various occasions of Industry Control, indifference since being suggested It claps control and is also referred to as minimum tempo control, be the optimum control scheme of time a kind of, in permanent magnet synchronous motor, track with zero error Theory is directly to be calculated for control target with zero tracking error of electromagnetic torque and magnetic linkage and be applied to the optimal of motor stator end Voltage vector, so that the error on the control system time cycle is eliminated, to meet real-time, high-precision control.
But the ideal voltage vector that applies that dead beat PREDICTIVE CONTROL is calculated synthesizes difficulty, therefore uses fundamental voltage The method of the vector approximate substitution desired voltage vector is chosen that is, from 7 voltage vectors of inverter and applies voltage arrow with ideal Measure immediate voltage vector.But directly adopt track with zero error and realize more control targets, algorithm is difficult to realize, while It is difficult to realize nonlinear Control link, and the advantage of Model Predictive Control is that control target can be increased by cost function And realize nonlinear Control, therefore, Model Predictive Control can be used, constructs voltage vector error cost function, compare inverter 7 The error of a voltage vector and desired voltage vector, the smallest alternative voltage vector of Select Error are replaced as output voltage vector Agency thinks voltage vector.
But it is under selecting optimal alternative voltage vector to need to act on all basic voltage vectors by enumerative technique System dynamic behaviour is predicted, therefore the calculation amount of algorithm is larger, seriously limits the practicability of Model Predictive Control.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector letters Change selection method, prediction operation times can be decreased to 2 times by 7 times, significantly reduce the complexity and calculation amount of algorithm, improve The control performance of motor.
In order to achieve the above object, the present invention the following steps are included:
Step 1: being based on surface permanent magnetic synchronous motor dead beat PREDICTIVE CONTROL, derives and calculates magnetic linkage and torque dead beat The ideal angle and amplitude for applying voltage vector of control；
Step 2: after obtaining ideal application voltage vector, which is judged according to the angle that the ideal applies voltage vector Want to apply sector locating for voltage vector, it is determined that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector；
Step 3: the projection judgement substitution voltage according to the amplitude of the desired voltage vector in alternative nonzero voltage space vector is sweared Amount selection applies Zero voltage vector or nonzero voltage space vector: if projection value is less than or equal to threshold value, exporting Zero voltage vector It substitutes desired voltage vector, if projection value is greater than threshold value, exports nonzero voltage space vector substitution and think voltage vector.
In step 1, under stator magnetic linkage coordinate system, the magnetic linkage simplified model of surface permanent magnetic synchronous motor such as following formula 1.1 It is shown:
In formula, It is the amplitude of current K moment stator magnetic linkage,It is the k+1 moment Stator magnetic linkage amplitude,It is the voltage vector magnitude currently to be applied, Δ t is the action time that the voltage vector applies, and α is Angle between voltage vector and stator magnetic linkage vector；
The torque prediction simplified model of surface permanent magnetic synchronous motor is as shown in following formula 1.2:
In formula, Te(k+1) be the k+1 moment motor torque, p is the number of pole-pairs of motor, ψfIt is permanent magnet flux linkage, It is the amplitude of current K moment stator magnetic linkage, LdFor d axis stator inductance, α is the folder between voltage vector and stator magnetic linkage vector Angle, δ (k) are the angles of torsion at current K moment.
In step 1, under magnetic linkage and torque track with zero error, ideal subsequent time magnetic linkage and torque are subsequent time magnetic Chain and torque reference value, as shown in following formula 1.3:
WithIt is the reference value of subsequent time magnetic linkage and torque；
Under conditions of sample frequency height, subsequent time magnetic linkage and torque reference value are current time magnetic linkage and torque reference Value, as shown in following formula 1.4:
WithIt is the reference value of current K moment magnetic linkage and torque；
It follows that magnetic linkage and torque deviation relative are as shown in following formula 1.5:
And Te(k) be the current K moment magnetic linkage and torque value,WithBe the ideal of magnetic linkage and torque partially Difference；
The magnetic linkage and torque prediction simplified model of surface permanent magnetic synchronous motor obtain, and magnetic linkage and torque prediction deviation are as follows Shown in formula 1.6:
It is defined by magnetic linkage and torque track with zero error it is found that magnetic linkage and torque deviation relative should be inclined with magnetic linkage and torque prediction Difference is equal, then obtains:
It is obtained by formula 1.7:
Formula 1.9 is substituting to formula 1.8 to obtain:
It is obtained by formula 1.10:
It is obtained by formula 1.11:
Voltage vector angle is as shown in following formula 1.13:
α∈[0°,360°] 1.13
Anyway it is cut to the periodic function that the period is 180 °, acquires two α during [0 °, 360 °], needs to judge to be taken House；Due toThen pass throughWhether jack per line judges+180 ° of α or α of angle Selection with cos α；
It determines and obtains the ideal angle for applying voltage vector, then acquire the ideal amplitude for applying voltage vector, such as following formula 1.14 shown:
Therefore, magnetic linkage and the unique ideal application voltage vector of torque track with zero error are acquired.
In step 2, sector locating for voltage vector uses two level three-phase inverters, exports eight voltage vectors, wherein Including six nonzero voltage space vectors and two Zero voltage vectors, [- 30 °, 30 °] are the first sector, and [30 °, 90 °] are the second fan Area, and so on, every 60 ° are a sector, and six nonzero voltage space vectors [V1, V2, V3, V4, V5, V6] are respectively six sectors Angular bisector.
Sector locating for ideal application voltage vector is judged to judge which non-zero electricity desired voltage vector angle is located at It presses in the section of vector ± 30 °.
In step 3, the circle of pre-set radius is the circle that radius is Udc/3, wherein Udc is DC bus-bar voltage.
Compared with prior art, the present invention derives first calculates magnetic linkage and torque track with zero error ideal application voltage vector Angle and amplitude, then determine that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector, finally according to desired voltage The amplitude of vector, selection apply Zero voltage vector or nonzero voltage space vector, and the present invention is without traversing all basic voltage vectors Can select optimal voltage vector, prediction operation times be decreased to 2 times by 7 times, significantly reduce algorithm complexity and Calculation amount improves the control performance of motor.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure；
Fig. 2 is voltage vector and sector schematic diagram in gross space plane of the present invention；
Fig. 3 is to substitute voltage in the present invention to simplify selection method schematic diagram.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Referring to Fig. 1, the present invention the following steps are included:
Step 1:
Under stator magnetic linkage coordinate system, surface permanent magnetic synchronous motor magnetic linkage and torque prediction simplified model such as 1.1 He of formula Shown in formula 1.2.
In formula, It is the amplitude of current K moment stator magnetic linkage,It is the k+1 moment Stator magnetic linkage amplitude,It is the voltage vector magnitude currently to be applied, Δ t is the action time that the voltage vector applies, and α is Angle between voltage vector and stator magnetic linkage vector.
Te(k+1) be the k+1 moment motor torque, p is the number of pole-pairs of motor, ψfIt is permanent magnet flux linkage,It is current K The amplitude of moment stator magnetic linkage, LdFor d axis stator inductance, α is the angle between voltage vector and stator magnetic linkage vector, and δ (k) is The angle of torsion at current K moment.
Under magnetic linkage and torque track with zero error, ideal subsequent time magnetic linkage and torque are that subsequent time magnetic linkage and torque are joined Value is examined, as shown in formula 1.3.
WithIt is the reference value of subsequent time magnetic linkage and torque.
Under sample frequency higher strip part, subsequent time magnetic linkage and torque reference value can be approximately current time magnetic linkage and turn Square reference value, as shown in formula 1.4.
WithIt is the reference value of current K moment magnetic linkage and torque.
It follows that magnetic linkage and torque deviation relative are as shown in formula 1.5.
And Te(k) be the current K moment magnetic linkage and torque value,WithBe the ideal of magnetic linkage and torque partially Difference.
As formula 1.1 and formula 1.2 it is found that magnetic linkage and torque prediction deviation are as shown in formula 1.6:
It is defined by magnetic linkage and torque track with zero error it is found that magnetic linkage and torque deviation relative should be inclined with magnetic linkage and torque prediction Difference is equal, then can obtain:
From formula 1.7:
Formula 1.9 is substituting to known to formula 1.8:
It can be obtained by formula 1.10:
It can be obtained by formula 1.11:
Voltage vector angle is as shown in formula 1.13.
α∈[0°,360°] 1.13
Arc tangent trigonometric function is the periodic function for being 180 ° the period, can acquire two α during [0 °, 360 °], need Judgement is accepted or rejected.Due toCan then it pass throughWhether jack per line judges+180 ° of α or α of angle Selection with cos α.
It determines and obtains the ideal angle for applying voltage vector, then can acquire the ideal amplitude for applying voltage vector, such as formula 1.14 shown.
Therefore, magnetic linkage and the unique ideal application voltage vector of torque track with zero error can be acquired.
Step 2, two level three-phase inverters can export eight voltage vectors, including six nonzero voltage space vectors With two Zero voltage vectors, positional relationship of eight voltage vectors in space plane be as shown in Figure 2.In figure, entire space is flat Face is bisected into six parts, and [- 30 °, 30 °] are the first sector, and [30 °, 90 °] are the second sector, and so on, each section is One sector, six nonzero voltage space vectors [V1, V2, V3, V4, V5, V6] are respectively the angular bisector of six sectors.
According to the angle of desired voltage vector judge the desired voltage vector locating for sector, that is, judge the desired voltage swear Which nonzero voltage space vector ± 30 ° section measuring angle is located at, then alternative voltage vector collection is combined into the voltage vector and no-voltage Vector.
Step 3, from the figure 3, it may be seen that if the amplitude of desired voltage vector is located at an alternative nonzero voltage space vector bisector left side Side, then it is closer apart from Zero voltage vector, i.e., should be replaced with Zero voltage vector, if being located at right side, apart from non-zero electricity It presses vector closer, i.e., should be replaced with nonzero voltage space vector.
Therefore, can be judged by desired voltage vector in the projection of alternative nonzero voltage space vector.If projection value is small In being equal to Udc/3, then Zero voltage vector is exported, if projection value is greater than Udc/3, nonzero voltage space vector is exported, to reduce The operation times of Model Predictive Control.

Claims (6)

1. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector simplifies selection method, which comprises the following steps:
Step 1: being based on surface permanent magnetic synchronous motor dead beat PREDICTIVE CONTROL, derives and calculates magnetic linkage and torque track with zero error Ideal applies the angle and amplitude of voltage vector；
Step 2: after obtaining ideal application voltage vector, judge that the ideal is applied according to the angle that the ideal applies voltage vector Sector locating for making alive vector, it is determined that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector；
Step 3: the projection judgement substitution voltage vector according to the amplitude of the desired voltage vector in alternative nonzero voltage space vector selects It selects and applies Zero voltage vector or nonzero voltage space vector: if projection value is less than or equal to threshold value, exporting Zero voltage vector to replace Agency thinks voltage vector, if projection value is greater than threshold value, exports nonzero voltage space vector substitution desired voltage vector.
2. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector according to claim 1 simplifies selection method, special Sign is, in step 1, under stator magnetic linkage coordinate system, and the magnetic linkage simplified model of surface permanent magnetic synchronous motor such as following formula 1.1 It is shown:
In formula, It is the amplitude of current K moment stator magnetic linkage,It is the stator magnet at k+1 moment Chain amplitude,It is the voltage vector magnitude currently to be applied, Δ t is the action time that the voltage vector applies, and α is voltage arrow Angle between amount and stator magnetic linkage vector；
The torque prediction simplified model of surface permanent magnetic synchronous motor is as shown in following formula 1.2:
In formula, Te(k+1) be the k+1 moment motor torque, p is the number of pole-pairs of motor, ψfIt is permanent magnet flux linkage,It is to work as The amplitude of preceding K moment stator magnetic linkage, LdFor d axis stator inductance, α is the angle between voltage vector and stator magnetic linkage vector, δ (k) be the current K moment angle of torsion.
3. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector according to claim 1 simplifies selection method, special Sign is, in step 1, under magnetic linkage and torque track with zero error, ideal subsequent time magnetic linkage and torque are subsequent time magnetic linkage And torque reference value, as shown in following formula 1.3:
WithIt is the reference value of subsequent time magnetic linkage and torque；
Under conditions of sample frequency height, subsequent time magnetic linkage and torque reference value are current time magnetic linkage and torque reference value, As shown in following formula 1.4:
WithIt is the reference value of current K moment magnetic linkage and torque；
It follows that magnetic linkage and torque deviation relative are as shown in following formula 1.5:
And Te(k) be the current K moment magnetic linkage and torque value,WithIt is the deviation relative of magnetic linkage and torque；
The magnetic linkage and torque prediction simplified model of surface permanent magnetic synchronous motor obtain, magnetic linkage and torque prediction deviation such as following formula Shown in 1.6:
Defined by magnetic linkage and torque track with zero error it is found that magnetic linkage and torque deviation relative should and magnetic linkage and torque prediction deviation phase Deng then obtaining:
It is obtained by formula 1.7:
Formula 1.9 is substituting to formula 1.8 to obtain:
It is obtained by formula 1.10:
It is obtained by formula 1.11:
Voltage vector angle is as shown in following formula 1.13:
α∈[0°,360°] 1.13
Anyway it is cut to the periodic function that the period is 180 °, acquires two α during [0 °, 360 °], needs to judge to be accepted or rejected；By InThen pass throughWhether jack per line judges+180 ° of α or α of angle Selection with cos α；
It determines and obtains the ideal angle for applying voltage vector, then the ideal amplitude for applying voltage vector is acquired, such as 1.14 institute of following formula Show:
Therefore, magnetic linkage and the unique ideal application voltage vector of torque track with zero error are acquired.
4. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector according to claim 1 simplifies selection method, special Sign is, in step 2, sector locating for voltage vector uses two level three-phase inverters, exports eight voltage vectors, wherein Including six nonzero voltage space vectors and two Zero voltage vectors, [- 30 °, 30 °] are the first sector, and [30 °, 90 °] are the second fan Area, and so on, every 60 ° are a sector, and six nonzero voltage space vectors [V1, V2, V3, V4, V5, V6] are respectively six sectors Angular bisector.
5. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector according to claim 4 simplifies selection method, special Sign is, judges sector locating for ideal application voltage vector to judge which non-zero voltage desired voltage vector angle is located at In the section of vector ± 30 °.
6. a kind of dead beat PREDICTIVE CONTROL approximate substitution voltage vector according to claim 1 simplifies selection method, special Sign is, in step 3, the circle of pre-set radius is the circle that radius is Udc/3, wherein Udc is DC bus-bar voltage.
CN201910603585.9A 2019-07-05 2019-07-05 Simplified selection method for approximate alternative voltage vector under dead-beat predictive control Expired - Fee Related CN110224654B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116915096A (en) * 2023-09-14 2023-10-20 武汉商学院 Dead-beat prediction voltage control method of PMSM three-level NPC inverter

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CN116915096A (en) * 2023-09-14 2023-10-20 武汉商学院 Dead-beat prediction voltage control method of PMSM three-level NPC inverter
CN116915096B (en) * 2023-09-14 2023-12-15 武汉商学院 Dead-beat prediction voltage control method of PMSM three-level NPC inverter

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