CN110224655A - A kind of optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection - Google Patents
A kind of optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection Download PDFInfo
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- CN110224655A CN110224655A CN201910603996.8A CN201910603996A CN110224655A CN 110224655 A CN110224655 A CN 110224655A CN 201910603996 A CN201910603996 A CN 201910603996A CN 110224655 A CN110224655 A CN 110224655A
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- 238000006467 substitution reaction Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005457 optimization Methods 0.000 title claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 4
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 238000010187 selection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010021703 Indifference Diseases 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of optimization methods of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection, the present invention derives the ideal angle and amplitude for applying voltage vector for calculating magnetic linkage and torque track with zero error first, then it determines that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector, Zero voltage vector or nonzero voltage space vector is finally applied according to the amplitude judgement substitution voltage vector selection for applying voltage 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, the complexity and calculation amount of algorithm are significantly reduced, and more succinct easy-to-use for the selection method of voltage vector, improves the control performance of motor.
Description
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
For the optimization method of voltage vector selection.
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 choosings of dead beat PREDICTIVE CONTROL approximate substitution voltage vector
Prediction operation times can be decreased to 2 times by 7 times, significantly reduce the complexity and calculation amount of algorithm, mention by the optimization method selected
The high control performance of motor.
In order to achieve the above object, the present invention the following steps are included:
Step 1 is 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: judge that the ideal applies sector locating for voltage vector according to the ideal angle for applying voltage vector, really
Fixed alternative voltage vector collection is combined into the voltage vector and Zero voltage vector；
Step 3: according to the ideal amplitude judgement substitution voltage vector selection for applying voltage vector apply Zero voltage vector or
Nonzero voltage space vector: it is closer apart from Zero voltage vector if desired voltage vector is in the circle of pre-set radius, i.e., it should use zero
Voltage vector replaces, if outside the circle of pre-set radius, it is closer apart from nonzero voltage space vector, that is, use nonzero voltage space vector
To replace.
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 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 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 the ideal application voltage arrow for calculating magnetic linkage and torque track with zero error first
Then the angle and amplitude of amount determine that alternative voltage vector collection is combined into the voltage vector and Zero voltage vector, finally according to application
The amplitude judgement substitution voltage vector selection of voltage vector applies Zero voltage vector or nonzero voltage space vector.The present invention is without traversal
All basic voltage vectors can select optimal voltage vector, and prediction operation times are decreased to 2 times by 7 times, are significantly reduced
The complexity and calculation amount of algorithm, and it is more succinct easy-to-use for the selection method of voltage vector, improve the control of motor
Performance processed.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is voltage vector and sector schematic diagram in space plane in the present invention；
Fig. 3 is that substitution voltage simplifies selection method schematic diagram in the present invention.
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 are such as public
Shown in formula 1.1 and formula 1.2.
In formula, It is the amplitude of current K moment stator magnetic linkage,It is determining for k+1 moment
Sub- 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 electricity
Press the angle between 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.
In step 2, two level three-phase inverters can export eight voltage vectors, swear including six non-zero voltages
Amount and two Zero voltage vectors, positional relationship of eight voltage vectors in space plane are as shown in Figure 2.In figure, entire space
Plane is bisected into six parts, and [- 30 °, 30 °] are the first sector, and [30 °, 90 °] are the second sector, and so on, each section
For a 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.
In step 3, from the figure 3, it may be seen that can be approximately considered: if desired voltage vector in the circle using Udc/3 as radius,
Then it is closer apart from Zero voltage vector, i.e., should be replaced with Zero voltage vector, if outer in circle, swears apart from non-zero voltage
It measures closer, i.e., should be replaced with nonzero voltage space vector.
Claims (6)
1. a kind of optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection, which is characterized in that including following step
It is rapid:
Step 1 is based on surface permanent magnetic synchronous motor dead beat PREDICTIVE CONTROL, derives and calculates magnetic linkage and torque track with zero error
The ideal angle and amplitude for applying voltage vector；
Step 2: judge that the ideal applies sector locating for voltage vector according to the ideal angle for applying voltage vector, determine standby
Voltage vector collection is selected to be combined into the voltage vector and Zero voltage vector；
Step 3: Zero voltage vector or non-zero are applied according to the ideal amplitude judgement substitution voltage vector selection for applying voltage vector
Voltage vector: it is closer apart from Zero voltage vector if desired voltage vector is in the circle of pre-set radius, i.e., it should use no-voltage
Vector replaces, if outside the circle of pre-set radius, it is closer apart from nonzero voltage space vector, i.e., with nonzero voltage space vector come generation
It replaces.
2. a kind of optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection according to claim 1,
It is characterized in that, in step 1, under stator magnetic linkage coordinate system, the magnetic linkage simplified model such as following formula of surface permanent magnetic synchronous motor
Shown in 1.1:
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 optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection according to claim 1,
It is characterized in that, 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,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:
The periodic function that it is 180 ° in the period that α ∈ [0 °, 360 °] 1.13 is cut to anyway, acquires two α during [0 °, 360 °],
It needs to judge to be accepted or rejected；Due toThen pass throughWith cos α whether jack per line come judge angle Selection α or α+
180°；
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 optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection according to claim 1,
It being characterized in that, in step 2, sector locating for voltage vector uses two level three-phase inverters, eight voltage vectors are exported,
In include six nonzero voltage space vectors and two Zero voltage vectors, [- 30 °, 30 °] be the first sector, [30 °, 90 °] for 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 optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection according to claim 4,
It is characterized in that, judges sector locating for ideal application voltage vector to judge which non-zero electricity desired voltage vector angle is located at
It presses in the section of vector ± 30 °.
6. a kind of optimization method of dead beat PREDICTIVE CONTROL approximate substitution voltage vector selection according to claim 1,
It is characterized in that, in step 3, the circle of pre-set radius is the circle that radius is Udc/3, wherein Udc is DC bus-bar voltage.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5334923A (en) * | 1990-10-01 | 1994-08-02 | Wisconsin Alumni Research Foundation | Motor torque control method and apparatus |
| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
| CN106936356A (en) * | 2017-04-24 | 2017-07-07 | 东南大学盐城新能源汽车研究院 | Vector is screened and dutycycle is combined motor model Predictive Control System and method |
| CN207166388U (en) * | 2017-04-24 | 2018-03-30 | 东南大学盐城新能源汽车研究院 | The motor model Predictive Control System that vector screens and dutycycle combines |
-
2019
- 2019-07-05 CN CN201910603996.8A patent/CN110224655B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5334923A (en) * | 1990-10-01 | 1994-08-02 | Wisconsin Alumni Research Foundation | Motor torque control method and apparatus |
| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
| CN106936356A (en) * | 2017-04-24 | 2017-07-07 | 东南大学盐城新能源汽车研究院 | Vector is screened and dutycycle is combined motor model Predictive Control System and method |
| CN207166388U (en) * | 2017-04-24 | 2018-03-30 | 东南大学盐城新能源汽车研究院 | The motor model Predictive Control System that vector screens and dutycycle combines |
Non-Patent Citations (1)
| Title |
|---|
| YAOHUA LI等: "Predictive Control with Variable Amplitude of", 《2018 IEEE STUDENT CONFERENCE ON ELECTRIC MACHINES AND SYSTEMS》 * |
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