CN110492813B - Torque ripple suppression method of open-winding permanent magnet synchronous motor - Google Patents

Torque ripple suppression method of open-winding permanent magnet synchronous motor Download PDF

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CN110492813B
CN110492813B CN201910744561.5A CN201910744561A CN110492813B CN 110492813 B CN110492813 B CN 110492813B CN 201910744561 A CN201910744561 A CN 201910744561A CN 110492813 B CN110492813 B CN 110492813B
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张硕
李雪萍
宫振杰
张承宁
周莹
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Baotou Tiangong Motor Co ltd
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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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention provides a torque ripple suppression method of an open-winding permanent magnet synchronous motor, which is used for effectively suppressing the torque ripple of the motor under the condition of parameter mismatch by estimating and compensating a disturbance term of the motor and combining dead-beat control, does not need real-time parameter identification, and overcomes the defect of high requirement of the dead-beat control on parameter accuracy. The method can inhibit the torque ripple generated under the condition of zero-sequence motor parameter mismatch and can also well inhibit the harmonic torque ripple generated under the condition of d-axis and q-axis motor parameter mismatch, so that the motor can have a better steady-state motion state under the condition of motor parameter mismatch, the robustness is good, and the working efficiency of the open-winding permanent magnet synchronous motor can be effectively improved.

Description

Torque ripple suppression method of open-winding permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of torque control of permanent magnet synchronous motors, in particular to a torque ripple suppression technology of an open-winding permanent magnet synchronous motor.
Background
The harmonic torque ripple is generated by parameter mismatch, particularly inductance mismatch, in the operation process of the open-winding permanent magnet synchronous motor, and the magnitude of the torque ripple reflects the quality of the steady-state performance of the motor, so that the suppression of the motor torque ripple is an important aspect in the field of motor control. Establishing a suitable state observer is a common method for suppressing the motor torque ripple at present, but most of the establishment of the state observer needs precise motor parameters, such as a Longeberg observer and a Kalman filter state observer, which causes difficulty in implementing the scheme. Zhang Xiaooguang et al in Deadbed preliminary Current Control of Permanent-Magnet Synchronous Motors with State Current and Disturbance Observer achieve suppression of torque ripple caused by motor parameter change by constructing a suitable slip film Observer, but this is for a conventional Permanent Magnet Synchronous motor. In the open-winding permanent magnet synchronous motor, the influence of zero-sequence current on torque pulsation cannot be ignored due to the existence of a zero-sequence current loop. Yuan Xin et al, in Torque Ripple Suppression for Open-end Winding performance-magnetic Synchronous Machine drive with Predictive Current Control, proposed a q-axis Current reverse injection method to suppress Torque Ripple, but only consider the mismatch of zero sequence parameters, and the Torque Ripple cannot be effectively suppressed under the mismatch of d and q axis parameters, and the motor operation performance is affected.
The dead beat control is widely applied as a motor control method at the present stage, has small calculated amount and good following characteristic, and is also suitable for an open winding permanent magnet synchronous motor. However, the dead-beat control also requires precise motor parameters, which otherwise results in inaccurate estimated voltage and poor motor running performance. The motor parameters inevitably change during the operation of the motor, which deteriorates the effect of the dead-beat control, and therefore, the estimated voltage of the motor needs to be corrected based on the dead-beat control. Therefore, there is a need in the art for a method that can suppress harmonic torque ripple caused by mismatch of d-axis and q-axis parameters of a motor and also suppress harmonic torque ripple caused by mismatch of zero-sequence parameters.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a torque ripple suppression method of an open-winding permanent magnet synchronous motor, which specifically comprises the following steps:
the method comprises the following steps of firstly, acquiring data information of three-phase current, rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current k moment in real time;
step two, establishing a dead-beat control model of the open-winding permanent magnet synchronous motor, and respectively calculating d-axis, q-axis and 0-sequence voltage compensation values f of the motor by using the extended observer in consideration of the problem that the estimated voltage is inaccurate under the condition of mismatch of motor parametersd，fq，f0(ii) a Meanwhile, predicting the motor current at the k +1 moment;
step three, calculating the voltage required by the motor at the moment k +1 by using the current prediction result in the step two, and performing feedforward compensation on the basis of each voltage compensation value obtained in the step two;
and step four, carrying out SVPWM modulation based on the voltage required by the motor calculated in the step three.
Further, the creating of the dead-beat control model of the open-winding permanent magnet synchronous motor in the second step includes creating an equivalent mathematical model based on dq0 axis for the open-winding permanent magnet synchronous motor:
Figure BDA0002165121980000021
Figure BDA0002165121980000022
Figure BDA0002165121980000023
in the formula, RSIs the motor stator winding resistance value, Ld、LqAnd L0D-and q-axis inductances and zero-sequence inductances of the machine, respectively, in e.g. surface-mounted permanent-magnet synchronous machines, Ls＝Ld＝Lq，wrIs the electrical angular velocity, wr＝p*wm，wmIs the angular velocity of the machine, and,
Figure BDA0002165121980000024
respectively permanent magnet flux linkage and third harmonic flux linkage components of the motor, theta is the position angle of the rotor of the motor, Vd、VqAnd V0D, q-axis and zero sequence voltage, i0Representing zero sequence current.
Further, the dilation scope is specifically established by:
the expander can expand an N-order uncertain nonlinear system into an N + 1-order system, the voltage vector which needs additional compensation and is caused by the mismatch of motor parameters can be expanded into a single physical quantity by applying the expansion observer, and a state space expression is established as follows:
Figure BDA0002165121980000025
Figure BDA0002165121980000026
Figure BDA0002165121980000027
Figure BDA0002165121980000028
wherein,
Figure BDA0002165121980000029
x3＝i0，x4＝f0，
Figure BDA00021651219800000210
Figure BDA00021651219800000211
i.e. the error between the current estimate and the actual value, gamma1，γ2，γ3，γ4，α1，α2ξ1，ξ2Is an extended observer parameter, which needs to be determined according to actual conditions. sat (x) is a saturation function whose value is determined as follows:
Figure BDA0002165121980000031
for simplicity, let sat (x) sign (x).
Further, the predicting the motor current at the k +1 time in the second step specifically includes:
Figure BDA0002165121980000032
Figure BDA0002165121980000033
Figure BDA0002165121980000034
wherein, TkIs the sampling time interval, wrIs the electrical angular velocity of the motor, e1(k),e2(k),e3(k)The differences between the estimated values of the d-axis, the q-axis and the 0-sequence current and the actual values are respectively as follows:
Figure BDA0002165121980000035
Figure BDA0002165121980000036
Figure BDA0002165121980000037
further, the third step specifically includes:
based on the assumption that the motor will reach the reference current at time k +2, the required voltage at time k +1 is calculated as:
Figure BDA0002165121980000038
Figure BDA0002165121980000039
Figure BDA00021651219800000310
wherein id ref，iq ref，i0 refIs the reference current at time k.
The method provided by the invention at least comprises the following beneficial effects:
1. the method has the advantages that the torque pulsation of the motor under the condition of parameter mismatch is effectively inhibited by estimating and compensating the disturbance term of the motor and combining the dead beat control, real-time parameter identification is not needed, and the defect that the dead beat control has high requirement on parameter accuracy is overcome;
2. the method can inhibit the torque pulsation generated under the condition of zero sequence motor parameter mismatch, so that the motor has small torque fluctuation under the condition of zero sequence parameter mismatch; harmonic torque ripple generated under the condition of mismatch of parameters of the d-axis motor and the q-axis motor can be well inhibited, so that the motor can have a better steady-state motion state under the condition of mismatch of the parameters of the motor, the robustness is good, and the working efficiency of the open-winding permanent magnet synchronous motor can be effectively improved.
3. The extended observer adopted in the method has the advantages of simple principle, simple algorithm and simple calculation process.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention
FIG. 2 is a schematic diagram of split winding PMSM control based on the method provided by the present invention
FIG. 3 is a torque ripple diagram without the mismatch of motor parameters by the method of the present invention
FIG. 4 is a torque pulse diagram of the motor without parameter mismatch by using the method of the present invention
FIG. 5 is a torque ripple diagram of a motor without the method of the present invention and with a mismatch in motor parameters
FIG. 6 is a torque ripple diagram of the motor with mismatch of motor parameters by using the method of the present invention
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the method for suppressing torque ripple of an open-winding permanent magnet synchronous motor provided by the present invention specifically includes the following steps:
the method comprises the following steps of firstly, acquiring data information of three-phase current, rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current k moment in real time;
step two, establishing a dead-beat control model of the open-winding permanent magnet synchronous motor, and respectively calculating d-axis, q-axis and 0-sequence voltage compensation values f of the motor by using the extended observer in consideration of the problem that the estimated voltage is inaccurate under the condition of mismatch of motor parametersd，fq，f0(ii) a Meanwhile, predicting the motor current at the k +1 moment;
step three, calculating the voltage required by the motor at the moment k +1 by using the current prediction result in the step two, and performing feedforward compensation on the basis of each voltage compensation value obtained in the step two;
and step four, carrying out SVPWM modulation based on the voltage required by the motor calculated in the step three.
And establishing a dead-beat control model of the open-winding permanent magnet synchronous motor in the second step, wherein the dead-beat control model comprises an equivalent mathematical model based on a dq0 axis established for the open-winding permanent magnet synchronous motor:
Figure BDA0002165121980000041
Figure BDA0002165121980000042
Figure BDA0002165121980000043
in the formula, RSIs the motor stator winding resistance value, Ld、LqAnd L0Respectively a d-axis inductor, a q-axis inductor and a zero sequence inductor of the motorIn the surface-mounted permanent magnet synchronous motor adopted in the scheme, Ls＝Ld＝Lq，wrIs the electrical angular velocity, wr＝p*wm，wmIs the angular velocity of the machine, and,
Figure BDA0002165121980000044
respectively permanent magnet flux linkage and third harmonic flux linkage components of the motor, theta is the position angle of the rotor of the motor, Vd、VqAnd V0D, q-axis and zero sequence voltage, i0Representing zero sequence current.
And additionally compensating the estimated voltage in the running process of the motor by utilizing an extended observer algorithm in consideration of the inaccuracy of the estimated voltage under the condition of the mismatching of the motor parameters.
Figure BDA0002165121980000051
Figure BDA0002165121980000052
Figure BDA0002165121980000053
In the formula (f)d，fq，f0Respectively are d-axis, q-axis and 0-sequence voltage compensation values. The arithmetic expression is as follows:
Figure BDA0002165121980000054
Figure BDA0002165121980000055
Figure BDA0002165121980000056
wherein,
ΔRs＝R'-R
ΔLd＝Ld'-Ld
Figure BDA00021651219800000510
ΔLq＝Lq'-Lq
ΔL0＝L0'-L0
Figure BDA0002165121980000057
wherein, R', Ld′，
Figure BDA0002165121980000058
Lq' actual resistance, d-axis inductance, flux linkage, tertiary flux linkage, and q-axis inductance ratings, respectively, during motor operation. R, Ld,Lq,L0,
Figure BDA0002165121980000059
The rated values of the motor resistor, the d-axis inductor, the q-axis inductor, the 0-sequence inductor, the flux linkage and the 3-time flux linkage are respectively.
The dilation scope is specifically established by:
the extended observer can expand an uncertain nonlinear system of an N order into a system of an N +1 order, can expand a voltage vector which needs additional compensation due to the mismatch of motor parameters into a single physical quantity by applying the extended observer, and establishes a state space expression as follows:
Figure BDA0002165121980000061
Figure BDA0002165121980000062
Figure BDA0002165121980000063
Figure BDA0002165121980000064
wherein,
Figure BDA0002165121980000065
x3＝i0，x4＝f0，
Figure BDA0002165121980000066
Figure BDA0002165121980000067
i.e. the error between the current estimate and the actual value, gamma1，γ2，γ3，γ4，α1，α2ξ1，ξ2Is an extended observer parameter, which needs to be determined according to actual conditions. sat (x) is a saturation function whose value is determined as follows:
Figure BDA0002165121980000068
for simplicity, let sat (x) sign (x).
Further, the predicting the motor current at the k +1 time in the second step specifically includes:
Figure BDA0002165121980000069
Figure BDA00021651219800000610
Figure BDA00021651219800000611
wherein, TkIs the sampling time interval, wrIs the electrical angular velocity of the motor, e1(k),e2(k),e3(k)The differences between the estimated values of the d-axis, the q-axis and the 0-sequence current and the actual values are respectively as follows:
Figure BDA00021651219800000612
Figure BDA00021651219800000613
Figure BDA00021651219800000614
similarly, the motor current at time k +2 can be estimated:
Figure BDA0002165121980000071
Figure BDA0002165121980000072
Figure BDA0002165121980000073
suppose that the motor reaches the reference current at time k +2, i.e.
Figure BDA0002165121980000074
Figure BDA0002165121980000075
Figure BDA0002165121980000076
The voltage required by the motor at time k +1 can be calculated:
Figure BDA0002165121980000077
Figure BDA0002165121980000078
Figure BDA0002165121980000079
then, the required voltage is transmitted to the SVPWM unit for modulation, so that the motor obtains the required voltage.
In some examples of the invention, torque maps without mismatch of motor parameters are compared separately for the case where no torque ripple suppression method is applied. As shown in fig. 3-4, the torque ripple is very small without mismatch of the motor parameters. However, by comparing the motor running torque diagram without applying the torque ripple suppression method in the case where the mismatch of the d, q and 0-order inductances of the motor becomes 2.5 times the rated value, as shown in fig. 5, and the torque diagram with applying the torque ripple suppression method explained in the present invention, as shown in fig. 6, it is obvious that the torque ripple is significantly reduced after the method of the present embodiment is applied. The motor has important significance for improving the working stability and the working efficiency of the motor.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (3)

1. A torque ripple suppression method of an open-winding permanent magnet synchronous motor is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the following steps of firstly, acquiring data information of three-phase current, rotating speed and rotor position angle of a permanent magnet synchronous motor with a winding opened at the current k moment in real time;
step two, establishing a dead-beat control model of the open-winding permanent magnet synchronous motor,
the method comprises the following steps of establishing an equivalent mathematical model based on a dq0 shaft for the open winding permanent magnet synchronous motor:
Figure FDA0002746120620000011
Figure FDA0002746120620000012
Figure FDA0002746120620000013
in the formula, RSIs the motor stator winding resistance value, Ld、LqAnd L0D and q axis inductances and zero sequence inductance, w, of the motor respectivelyrIn order to be the electrical angular velocity,
Figure FDA0002746120620000014
respectively permanent magnet flux linkage and third harmonic flux linkage components of the motor, theta is the position angle of the rotor of the motor, Vd、VqAnd V0D, q-axis and zero sequence voltage, i0Represents a zero sequence current;
considering the problem of inaccurate estimated voltage under the condition of motor parameter mismatch, the d-axis, q-axis and 0-sequence voltage compensation values f of the motor are respectively calculated by using the extended observerd，fq，f0(ii) a Meanwhile, predicting the motor current at the k +1 moment;
the dilation scope is specifically established by:
the extended observer can expand an uncertain nonlinear system of an N order into a system of an N +1 order, expand a voltage vector which needs additional compensation due to the mismatch of motor parameters into a single physical quantity by applying the extended observer, and establish a state space expression as follows:
Figure FDA0002746120620000015
Figure FDA0002746120620000016
Figure FDA0002746120620000017
Figure FDA0002746120620000018
wherein,
Figure FDA0002746120620000019
x3＝i0，x4＝f0，
Figure FDA00027461206200000110
i.e. the error between the current estimate and the actual value, Ls＝Ld＝Lq，γ1，γ2，γ3，γ4，α1，α2，ξ1，ξ2The observer expansion parameters are determined according to actual conditions; sat (x) is the saturation function:
Figure FDA0002746120620000021
step three, calculating the voltage required by the motor at the moment k +1 by using the current prediction result in the step two, and performing feedforward compensation on the basis of each voltage compensation value obtained in the step two;
and step four, carrying out SVPWM modulation based on the voltage required by the motor calculated in the step three.
2. The method of claim 1, wherein: the predicting the motor current at the k +1 moment in the second step specifically comprises the following steps:
Figure FDA0002746120620000022
Figure FDA0002746120620000023
Figure FDA0002746120620000024
wherein, TkIs the sampling time interval, wrIs the electrical angular velocity of the motor, e1(k),e2(k),e3(k)The differences between the estimated values of the d-axis, the q-axis and the 0-sequence current and the actual values are respectively as follows:
Figure FDA0002746120620000025
Figure FDA0002746120620000026
Figure FDA0002746120620000027
3. the method of claim 2, wherein: the third step specifically comprises:
based on the assumption that the motor will reach the reference current at time k +2, the required voltage at time k +1 is calculated as:
Figure FDA0002746120620000028
Figure FDA0002746120620000029
Figure FDA00027461206200000210
wherein id ref，iq ref，i0 refIs the reference current at time k.
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CN111193447B (en) * 2020-03-16 2021-07-16 北京理工大学 Torque ripple suppression method of open-winding permanent magnet synchronous motor
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CN112234889B (en) * 2020-10-09 2022-02-11 北京理工大学 Single-vector control method of open-winding permanent magnet synchronous motor
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