CN111600522A - Motor model prediction current control method and device, electronic equipment and medium - Google Patents

Motor model prediction current control method and device, electronic equipment and medium Download PDF

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CN111600522A
CN111600522A CN202010382961.9A CN202010382961A CN111600522A CN 111600522 A CN111600522 A CN 111600522A CN 202010382961 A CN202010382961 A CN 202010382961A CN 111600522 A CN111600522 A CN 111600522A
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voltage vector
dead zone
vector
voltage
motor
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CN111600522B (en
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张晓光
程昱
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North China University of Technology
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North China University of Technology
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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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/38—Means for preventing simultaneous conduction of switches
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • H02M7/53876—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output based on synthesising a desired voltage vector via the selection of appropriate fundamental voltage vectors, and corresponding dwelling times
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/38—Means for preventing simultaneous conduction of switches
    • H02M1/385—Means for preventing simultaneous conduction of switches with means for correcting output voltage deviations introduced by the dead time

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

Abstract

One or more embodiments of the present disclosure provide a method and an apparatus for controlling a motor model prediction current, an electronic device, and a medium, where the method selects an optimal voltage vector from non-zero voltage vectors according to a principle of proximity after obtaining a sector where a reference voltage vector is located by means of rapid vector selection, configures a dead zone for each inverter bridge arm, obtains a dead zone voltage vector according to a current direction of a three-phase current of a motor, solves an influence of a high-amplitude common mode voltage generated by a zero vector equivalent to the dead zone voltage vector and a zero vector in a vector to be selected on a life of the motor, and optimizes a duration of the dead zone voltage vector as a variable, thereby improving a control effect.

Description

Motor model prediction current control method and device, electronic equipment and medium
Technical Field
One or more embodiments of the present disclosure relate to the field of technology, and in particular, to a method and an apparatus for controlling a motor model prediction current, an electronic device, and a medium.
Background
The most mature control strategy of the speed regulating system of the alternating current motor is vector control. In the vector control method, an outer ring controls the rotating speed, and an inner ring controls the current. The method comprises the steps of firstly collecting a rotor position angle and a stator current measured by a Hall through an encoder, converting a three-phase static coordinate system into a two-phase rotating coordinate system through coordinate transformation, and then acting on an inverter control motor through a Space Vector Pulse Width Modulation (SVPWM) technology. Vector control has good steady-state effect, but dynamic effect is general, and three PI regulators are provided, which increases the difficulty of system regulation. A Model Predictive Control (MPC) technique is a technique of discretizing a mathematical Model of a controlled object, predicting a change of a controlled variable at a future time by using the discretized prediction Model, and selecting an operation optimal to the controlled object based on a preset cost function. The model predictive control is widely applied to various industrial fields due to the advantages of simple structure of a control algorithm, good dynamic effect, strong applicability and the like.
However, due to the dead zone effect in the inverter application, an error exists between the ideal inverter switching state at the next moment and the switching state actually acting on the motor, and the control precision is affected. Meanwhile, in an actual system, the inverter has common-mode voltage, so that larger shaft voltage can be induced on a motor rotating shaft, bearing current is formed, motor aging is accelerated, and the service life of the motor is shortened. In a conventional Model Predictive Current Control (MPCC) method, an inverter generates a high-amplitude common-mode voltage under the action of a zero vector. Therefore, the existence of the dead zone and the action of the zero vector in the vector to be selected can cause the existence of the common mode voltage with high amplitude, and the service life of the motor is influenced.
Disclosure of Invention
In view of this, one or more embodiments of the present disclosure are directed to a method and an apparatus for controlling a motor model prediction current, an electronic device, and a medium, so as to solve the problem that the existence of a dead zone and the existence of a high-amplitude common-mode voltage due to the action of a zero vector in a candidate vector affect the service life of a motor. According to the method, after a sector where a reference voltage vector is located is obtained through a rapid vector selection mode, an optimal voltage vector is selected from non-zero voltage vectors according to the principle of the neighborhood, a dead zone is configured for each inverter bridge arm, the dead zone voltage vector is obtained according to the flow direction of three-phase current of the motor, the influence of the zero vector equivalent to the dead zone voltage vector and high-amplitude common-mode voltage generated by the zero vector in a vector to be selected on the service life of the motor is solved, the duration time of the dead zone voltage vector is used as a variable to be optimized, and the control effect is improved.
In view of the above, one or more embodiments of the present specification provide:
a motor model prediction current control method is characterized by comprising the following steps:
s1, collecting the actual current at the moment k and the reference currents of two rotating shafts in a two-phase synchronous rotating coordinate system;
s2, calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts;
dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and a proximity principle;
in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor;
s3, acting the dead zone voltage vector and the optimal voltage vector on an inverter in a preset time combination mode, and acting the dead zone voltage vector and the optimal voltage vector on a motor by the inverter;
returning to step S1, the k time is replaced with the k +1 time in step S1.
Further, in step S1, the acquiring the actual current at the time k includes: collecting the actual current subjected to time delay compensation at the moment k; the acquiring of the actual current subjected to delay compensation at the time k comprises the following steps: and acquiring the actual current at the k moment, and performing one-beat delay compensation on the actual current to obtain the actual current at the k moment after one-beat delay compensation.
Further, in step S2, there are 6 non-zero voltage vectors, which are U1(100), U2(110), U3(010), U4(011), U5(001), and U6 (100);
the voltage vector plane formed by the non-zero voltage vectors is divided into a plurality of sectors, wherein the plurality of sectors are 12 sectors;
the obtaining of the optimal voltage vector according to the sector where the reference voltage vector is located and according to the principle of proximity includes: calculating to obtain sectors where the reference voltage vectors of the two rotating shafts are located according to the reference voltage vectors of the two rotating shafts, and respectively selecting non-zero voltage vectors with included angles smaller than a preset threshold value with the sectors where the reference voltage vectors of the two rotating shafts are located as optimal voltage vectors according to a proximity principle;
the preset threshold is 30 °.
Further, in step S2, the obtaining the dead-band voltage vector according to the flowing direction of the three-phase current of the motor includes: and converting the reference currents of two rotating shafts in the two-phase synchronous rotating coordinate system into three-phase reference currents in the three-phase static coordinate system through coordinate transformation, and obtaining dead zone voltage vectors according to the flow directions of the three-phase reference currents.
Further, step S2 further includes: and S21, obtaining a voltage vector actually acting on the motor according to the optimal voltage vector and the dead zone voltage vector within a preset dead zone duration.
Further, after step S21, the method further includes: step S22, comparing the voltage error between the reference voltage vector and the optimal voltage vector with the voltage error between the reference voltage vector and the voltage vector actually acting on the motor, and dividing the dead zone voltage vector into a first group and a second group according to the comparison result and the sector where the reference voltage is located; the first group has a promoting effect on a traditional model predictive current control Method (MPCC), the second group has a weakening effect on the MPCC, the dead zone duration of the dead zone voltage vectors of the first group is calculated according to a preset formula, the dead zone duration of the dead zone voltage vectors of the second group is set to a preset fixed value, the fixed value is 2.5 microseconds, and the duty ratio of the dead zone voltage vectors is calculated according to the dead zone duration of the dead zone voltage vectors of the first group and the dead zone duration of the dead zone voltage vectors of the second group.
Further, in step S3, the applying the dead zone voltage vector and the optimal voltage vector to the inverter in combination with a preset time and applying the dead zone voltage vector to the motor by the inverter includes:
and combining the dead zone voltage vector and the optimal voltage vector according to the duty ratio of the dead zone voltage vector to act on the inverter, and acting the inverter on the motor.
A motor model predictive current control apparatus, comprising:
the data acquisition module is used for acquiring the actual current at the moment k and the reference currents of the two rotating shafts in the two-phase synchronous rotating coordinate system;
the data processing module is used for calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts; dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and a proximity principle; in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor;
and the execution module is used for acting the dead zone voltage vector and the optimal voltage vector on the inverter in a preset time combination mode and acting the dead zone voltage vector and the optimal voltage vector on the motor by the inverter.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method according to the above embodiments when executing the program.
A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method according to the above embodiment.
The invention has the technical effects that:
from the foregoing, it can be seen that the motor model predictive current control method and apparatus, the electronic device, and the medium, in particular, the permanent magnet synchronous motor model predictive current control method and apparatus based on the dead zone voltage vector, the electronic device, and the non-transitory computer readable storage medium provided by one or more embodiments of the present specification, the optimal voltage vector is selected from the non-zero vectors according to the sector where the reference voltage vector is located and the proximity principle by means of rapid vector selection, the optimal voltage vector is obtained by the rapid vector selection mode, so that eight candidate vectors are prevented from being enumerated in each period, the calculated amount is reduced, two zero vectors are excluded from the candidate vectors in the determination process of the optimal voltage vector, the vector to be selected only comprises a reserved non-zero voltage vector, so that the high-amplitude common-mode voltage caused when the selected optimal voltage vector is a zero vector is avoided; in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of the three-phase current of the motor, wherein the flow direction of the three-phase current of the motor is not simultaneously greater than zero or less than zero, so that the dead zone voltage vector does not have a zero vector condition within the dead zone duration time; the obtained dead zone voltage vector and the optimal voltage vector act on the inverter in a preset time combination mode, namely the acting time of the dead zone voltage vector is used as a variable to be optimized, the dead zone voltage vector existing in a control period is fully utilized, the current control performance of a traditional Model Prediction Current Control (MPCC) method is improved, the dead zone configuration mode of the traditional Model Prediction Current Control (MPCC) method is changed, the common mode voltage peak value is reduced, and the influence of high-amplitude common mode voltage generated by a zero vector equivalent to the dead zone voltage vector and a zero vector in a vector to be selected is overcome.
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the following description are only one or more embodiments of the present specification, and that other drawings may be obtained by those skilled in the art without inventive effort from these drawings.
Fig. 1 is a flowchart illustrating a motor model predictive current control method according to an embodiment of the present disclosure.
Fig. 2 is a flow chart of a motor model predictive current control method according to a preferred embodiment of the present disclosure.
Fig. 3 is a schematic spatial arrangement diagram of a plane where a non-zero voltage vector is located and divided into 6 sectors in half according to an embodiment of the present disclosure.
Fig. 4 is a schematic diagram of a spatial arrangement in which a plane in which a non-zero voltage vector is located is divided into 12 sectors in half according to an embodiment of the present disclosure.
Fig. 5(a) is a schematic diagram of a switching state of an inverter in a k-1 th cycle according to an embodiment of the present disclosure.
Fig. 5(b) is a schematic diagram of a switching state of the inverter in the k-th cycle according to an embodiment of the present disclosure.
FIGS. 6(a) - (f) show the dead band voltage vector and the selected voltage vector as U1(100) The vector diagram of (1); (a) dead zone voltage vector is U2(110) (ii) a (b) Dead zone voltage vector is U3(010) (ii) a (c) Dead zone voltage vector is U4(011) (ii) a (d) Dead zone voltage vector is U5(001) (ii) a (e) Dead zone voltage vector is U6(101) (ii) a (f) Dead zone voltage vector is U0(000)。
FIG. 7 is a flow diagram illustrating a method of motor model predictive current control, in accordance with an overall embodiment of the present disclosure;
fig. 8 is a block diagram of a motor predictive current control apparatus according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram illustrating a hardware structure of an electronic device according to an embodiment of the present disclosure.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The invention discloses a motor model prediction current control method and device, electronic equipment and a medium, which aim at solving the problems of dead zone effect of a traditional Model Prediction Current Control (MPCC) and high-amplitude common-mode voltage caused by a zero vector, and pertinently improve the motor model prediction current control method and device, the electronic equipment and the medium, and are embodied in the motor model prediction current control method and comprise the following three steps: s1, a data acquisition step; s2, a data processing step; and S3, executing the step.
In an embodiment of the present invention, as shown in fig. 1, fig. 1 is a schematic flowchart of a motor model prediction current control method according to the present invention, in which a current value at a next time is predicted according to an actual sampled current of a motor at the current time, specifically, first, an actual current at a time k and reference currents of two rotating shafts in a two-phase synchronous rotating coordinate system are collected through step S1; then, processing the acquired data through step S2, specifically, calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts; dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and the principle of proximity; in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor; finally, executing the result of the data processing in the step S2 according to a preset program in a step S3, specifically, applying the dead zone voltage vector and the optimal voltage vector obtained in the step S2 to the inverter in a preset time combination manner, and applying the dead zone voltage vector and the optimal voltage vector to the motor by the inverter; returning to step S1, the k time is replaced by the k +1 time in step S1, and steps S2 and S3 are continued until the motor stops operating.
Specifically, as shown in fig. 2, in this embodiment, the step S1 is to perform one-beat delay compensation when acquiring the actual current at the time k, so as to obtain the actual current at the time k after the one-beat delay compensation. This is because the model predictive current control method is based on the actual sampled current (i) of the motor at this timed(k) And iq(k) Estimate the current value at the next time (i is set asd p(k +1) and iq p(k +1)), however, since there is a delay in the actual hardware system, the voltage vector predicted at this time to be applied at the next time lags behind by one cycle before being applied to the motor. Therefore, in the system, the actual sampling current of the motor is processed, the sampling current at the moment is subjected to one-beat delay compensation, and the obtained current id(k +1) and iq(k +1) for replacing the actual current i at this time without delay compensationd(k) And iq(k) In that respect One-beat delay compensation is performed by substantially processing the sampled current at the current moment (the flow direction of the sampled current has a specific correspondence with the switching state of the inverter, for example, 1 represents the upper bridge conduction of the bridge arm, 0 represents the lower bridge conduction of the bridge arm, the positive flow direction of the sampled current flows to the motor, the lower bridge conduction, the switching state of the inverter of the bridge arm of the phase is 0, and the negative flow direction of the sampled current flows to the inverterThe upper bridge is conducted, the switching state of the inverter of the phase bridge arm is 1, for example, when the current i is sampledA<0，iB>0，iC<At 0, the switching state of the inverter of the corresponding a-phase arm is 1, the switching state of the inverter of the corresponding B-phase arm is 0, and the switching state of the inverter of the corresponding C-phase arm is 1, so that the switching state of the inverter at this time is 101, and the vector U is associated with the vector U6(101) Same) to reduce the error between the ideal inverter switching state and the switching state actually acting on the motor at the next moment, and improve the control precision of the inverter.
Specifically, in this embodiment, when one of the non-zero voltage vectors is applied to the motor, a corresponding actual current value is generated, and this current value is considered as the actual current of the motor. The essence of the model prediction current control is to select a proper non-zero voltage vector through the actual current at the moment, so that the actual current at the next moment and the reference current value are generated when the non-zero voltage vector acts on the motor (the
Figure BDA0002482741480000071
And
Figure BDA0002482741480000072
) The error is minimal. Specifically, the reference current values of the two rotating shafts are obtained by inputting preset motor rotating speeds into the operating device, the preset motor rotating speeds are less than or equal to a motor rotating speed threshold value, the preset motor rotating speeds are different from the actual rotating speeds of the motor at the moment (the actual rotating speeds are zero at the beginning), and the difference value is processed by a PI regulator to obtain d-axis reference currents (i)d *) And q-axis reference current (i)q *)。
Specifically, as shown in fig. 2, in this embodiment, in step S2, the actual current value i acquired after one-beat delay compensation is performed at time kd(k +1) and iq(k +1) instead of the dq-axis current value i without delay compensation in equation (1)d(k) And iq(k) And with d-axis reference current (i)d *) And q-axis reference current
Figure BDA0002482741480000073
In place of i in the formula (1)d(k) And iq(k) Obtaining the reference voltage vectors u of two rotation axesd(k +1) and uq(k +1), equation (1) is as follows:
Figure BDA0002482741480000081
in the formula ud(k +1) and uq(k +1) represents an inverter voltage vector to be applied at the next time; i.e. id(k) And iq(k) Using an actual current value i obtained after one-beat delay compensation for the current value of the dq axis at the current momentd(k +1) and iq(k +1) instead, R is the stator resistance, ωeRepresenting the Motor rotating speed, because the dq-axis synchronous inductances of Surface-mounted Permanent magnet synchronous motors (SPMSM) are equal, L is equal to Ld＝Lq。
Specifically, in step S2 in this embodiment, two zero vectors (U)0(000) And U7(111) Excluded from the candidate voltage vector, i.e., the candidate vector includes only six non-zero voltage vectors. In this way, high amplitude common mode voltages caused when the selected optimal voltage vector is a zero vector are avoided. The common-mode voltage is a voltage value of a neutral point of the output end of the inverter to the ground, and the high-frequency common-mode voltage can form bearing current, so that the bearing aging of the motor is accelerated, and the service life of the motor is shortened. The common mode voltage is related to the switching states of the three-phase bridge arms of the inverter, and specifically, the switching states and the common mode voltage corresponding to the inverter voltage vectors are shown in table 1:
TABLE 1
Figure BDA0002482741480000082
As can be seen from table 1, when the inverter voltage vector is a zero vector, the common mode voltage generated by the inverter is the largest, and the amplitude is Udc/2. Thus, a zero vector equivalent to the dead time duration (e.g., as illustrated in FIGS. 5(a) and 5(b),FIG. 5(a) shows an upper bridge IGBT (S) having an A-phase arm1) On-state upper bridge IGBT (S) of B-phase bridge arm3) Lower bridge IGBT (S) of conductive C-phase bridge arm6) Conducting, the upper bridge IGBT (S) of the A-phase bridge arm is shown in FIG. 5(b)1) On-state upper bridge IGBT (S) of B-phase bridge arm3) Upper bridge IGBT (S) of conducting C-phase bridge arm5) Conducting, assuming that the switching states of the AB phase in the k-th and k-1 cycles are both 1, and the C phase in the k-th and k-1 cycles are different, configuring a dead zone, and the bridge arm current of the C phase is negative, i.e. the switching state of the C phase is equivalent to 1, in the dead zone time under this condition, the switching state of the ABC three-phase of the inverter is 111, i.e. equivalent to a zero vector), and a zero vector in the candidate vector will both cause the amplitude U to be the amplitude UdcA common mode voltage of/2. Therefore, the dead zones are arranged in the three-phase bridge arms of the inverter, so that zero vectors are prevented from being equivalent within the dead zone duration time, the zero vectors are excluded from the to-be-selected voltage vectors, the optimal voltage vectors are guaranteed to be non-zero vectors, the high-amplitude common-mode voltage is prevented from occurring, and the service life of the motor is prolonged.
Specifically, in step S2 in this embodiment, there are 6 non-zero voltage vectors, each of which is U1(100)、U2(110)、U3(010)、U4(011)、U5(001) And U6(100). The spatial arrangement of the non-zero voltage vectors is shown in fig. 3, the voltage vector plane is divided into 6 sectors, and in order to further determine the optimal voltage vector, the non-zero voltage vector plane divided into 6 sectors is further divided into 12 sectors as shown in fig. 4, and each of the 12 sectors corresponds to a unique optimal voltage vector. Specifically, the optimal voltage vector is determined by a method of fast vector selection. The principle of fast vector selection is: and selecting a non-zero candidate voltage vector closest to the reference voltage vector, namely the optimal voltage vector. Specifically, after the reference voltage vector is obtained, its phase angle is calculated according to equations (2) and (3):
Figure BDA0002482741480000091
Figure BDA0002482741480000092
obtaining the vector phase angle theta of the reference voltagerefThen, the sector where the voltage vector is located can be determined, as shown in fig. 2, in step S2, according to the rule of proximity, non-zero voltage vectors having an angle smaller than 30 ° with the sector where the reference voltage vectors of the two rotating shafts are located are respectively selected as optimal voltage vectors, specifically, only one non-zero voltage vector having an angle smaller than 30 ° with the sector where the reference voltage vectors of the two rotating shafts are located is respectively selected, that is, a unique non-zero voltage vector corresponding to the sector where each reference voltage vector is located, that is, a unique optimal voltage vector is corresponding to the unique non-zero voltage vector, so that the influence of the high-amplitude common mode voltage caused when the selected optimal voltage vector is a zero vector on the service life of the motor is avoided. Specifically, the zero vector represents two cases, one is that the upper bridge IGBT is all on and the lower bridge IGBT is all off, i.e., S as shown in fig. 5(a) and 5(b)1、S3、S5Are all 1; the other is that the lower bridge IGBT is fully switched on, and the upper bridge IGBT is fully switched off, namely S1、S3、S5Are all 0. E.g. U0(000) And U7(111) Is a zero vector. The inverter voltage vector cannot be a zero vector.
In the above embodiments, for example: if the reference voltage vector is in sector 1, the optimal voltage vector selected from the non-zero voltage vectors U1-U6 is U according to the rule of proximity1(100) (ii) a If the reference voltage vector is located in sector 12, the optimal voltage vector is also U1(100) (ii) a When the reference voltage vector is located in sector 2, the optimal voltage vector is U2(110)。
Specifically, in this embodiment, as shown in fig. 2, in step S2, a dead zone, i.e., upper and lower IGBTs of the C-phase arm, is configured for the three-phase arm in each control cycle (S2) (S)5And S6) All the current is turned off in the dead time, and the current flow direction is judged by using the three-phase reference current because the current sampled by the motor has harmonic waves and the current flow direction is influenced when the phase current crosses zero. As shown in FIG. 3, two phases are combinedReference current i of two rotating shafts in synchronous rotating coordinate systemq *,id *Conversion into three-phase reference current i in a three-phase stationary coordinate system by programmed coordinate transformationA，iB，iCAnd obtaining a dead zone voltage vector according to the flow direction of the three-phase reference current.
The dead zone voltage vector discriminated according to the reference current flow direction is shown in table 2:
TABLE 2
Reference phase current flow direction Dead zone voltage vector
iA＜0，iB＞0，iC＞0 U1(100)
iA＜0，iB＜0，iC＞0 U2(110)
iA＞0，iB＜0，iC＞0 U3(010)
iA＞0，iB＜0，iC＜0 U4(011)
iA＞0，iB＞0，iC＜0 U5(001)
iA＜0，iB＞0，iC＜0 U6(101)
As shown in table 2, there is no zero vector in the dead-zone voltage vector, and neither the dead-zone voltage vector nor the optimal voltage vector selected by the fast vector selection method is a zero vector, so that the magnitude of the common-mode voltage of the MPCC method is reduced, and the method has a positive effect on prolonging the service life of the motor.
Specifically, as shown in fig. 2, in step S21 in this embodiment, the voltage vector actually acting on the motor is obtained from the optimum voltage vector and the dead zone voltage vector for the preset dead zone duration, that is, when the dead zone voltage vector exists when the dead zone is configured in the control cycle, the voltage vector actually acting on the motor is a combination of the selected optimum voltage vector and the dead zone voltage vector. The combined action of the two is shown in formula (4):
Figure BDA0002482741480000111
in the formula ud rAnd uq rRepresenting the voltage vector, u, actually acting on the motordoptAnd uqoptFor an optimum voltage vector, Ud(deadtime)And Uq(deadtime)Representing the dead zone voltage vector, tdRepresenting the dead time duration.
Specifically, in order to analyze the specific influence of the dead-zone voltage vector on the conventional MPCC method, it is assumed that the optimal voltage vector selected in one control cycle is U1(100) And a dead zone exists in this control period, and the specific influence of the dead zone voltage vector on the MPCC method in this case is analyzed in the form of a vector diagram, as shown in fig. 6(a), for example, assuming that the selected optimum voltage vector is U1(100) And assume that during this control period, the dead band voltage vector is U2(110). Therefore, during this control period, the voltage vector actually applied to the motor is selected from the optimum powerPressure vector U1(100) And dead band voltage vector U2(110) And (4) forming. In the vector diagrams in fig. 6(a) to (f), Δ UoptRepresenting a reference voltage vector UrefVoltage error from the optimum voltage vector, and Δ UrRepresenting the voltage error between the reference voltage vector and the actual applied voltage vector. When the dead zone voltage vector is U, as shown in FIG. 6(a)2(110) Time, Delta UrLess than Δ Uopt. The control precision of the dead zone voltage vector and the selected optimal voltage vector which are combined to act on the motor is better than the control precision of the selected optimal vector which acts on the motor alone, the existence of the dead zone voltage vector is indicated, and the control effect of the MPCC method can be improved. Similarly, as shown in FIGS. 6(b), (c) and (f), when the dead zone voltage vector is U3(010)、U4(011) And U0(000) In time, the conclusion that the dead zone voltage vectors can improve the control effect of the MPCC method can also be obtained.
However, as shown in fig. 6(d) and 6(e), when the dead zone voltage vector is U5(001) And U6(101) In this case, results different from those in FIGS. 6(a), (b), (c) and (f) are obtained. In FIGS. 6(d) and (e), Δ UrIs significantly greater than Delta UoptThis indicates the dead band voltage vector U5(001) And U6(101) Due to the existence of the MPCC method, the control precision of the MPCC method is reduced, and the control performance of the MPCC is weakened. Therefore, when the selected optimal vector is U1(100) Different dead zone voltage vectors may increase and decrease the control accuracy of the MPCC method. However, since most dead zone voltage vectors with an effect of improving the control accuracy of the MPCC method are occupied, the existence of the dead zone voltage vectors has an effect of improving the control performance of the MPCC method in general, that is, the dead zone is configured, so that the current control effect of the MPCC method can be improved.
In the embodiment, when a dead zone is configured in a control cycle of the MPCC method, a dead zone voltage vector exists in the control cycle, the control precision of the traditional MPCC method can be improved by the proper dead zone voltage vector, and a zero vector equivalent to the dead zone voltage vector and a zero vector in a to-be-selected voltage vector can both cause the existence of high-amplitude common-mode voltage.
Specifically, in this embodiment, as shown in step S22 in fig. 2, a specific implementation scheme for optimizing the acting time of the dead-zone voltage vector as a variable is as follows:
dividing the non-zero voltage vector plane into 12 sectors according to the reference voltage vector phase angle thetarefThe method comprises the following steps of obtaining a sector where an obtained reference voltage vector is located so as to obtain a unique optimal voltage vector corresponding to the sector where the reference voltage vector is located, comparing a voltage error between the reference voltage vector and the optimal voltage vector with a voltage error between the reference voltage vector and a voltage vector actually acting on a motor, and dividing dead zone voltage vectors into a first group and a second group according to a comparison result and the sector where the reference voltage vector is located, wherein the first group and the second group are marked as an A group and a B group, the grouped marks are not specifically limited, the dead zone voltage vectors in the A group have a promoting effect on the control accuracy of the MPCC method, the dead zone voltage vectors in the B group have a weakening effect on the control accuracy of the MPCC method, and the dead zone voltage vectors of different specific sectors are grouped as shown in a table 3:
TABLE 3
Sector area The dead time may vary (group A) Dead time fixed (B group)
1 U4(011)，U5(001)，U6(101) U2(110)，U3(010)
2 U2(110)，U3(010)，U4(011) U5(001)，U6(101)
3 U1(100)，U5(001)，U6(101) U3(010)，U4(011)
4 U3(010)，U4(011)，U5(001) U1(100)，U6(101)
5 U1(100)，U2(110)，U6(101) U4(011)，U5(001)
6 U4(011)，U5(001)，U6(101) U1(100)，U2(110)
7 U1(100)，U2(110)，U3(010) U5(001)，U6(101)
8 U1(100)，U5(001)，U6(101) U2(110)，U3(010)
9 U2(110)，U3(010)，U4(011) U1(100)，U6(101)
10 U1(100)，U2(110)，U6(101) U3(010)，U4(011)
11 U3(010)，U4(011)，U5(001) U1(100)，U2(110)
12 U1(100)，U2(110)，U3(010) U4(011)，U5(001)
In table 3, the dead-zone voltage vector of group a, whose duration is treated as a variable, is calculated in a current dead-beat manner, and the dead-zone duration, i.e., the dead-zone voltage vector acting time, is also divided into two types, and the specific calculation is as shown in equation (5):
Figure BDA0002482741480000141
in equation (5): x is the number ofd＝[id *-id(k)-Sd_deadtime[](Sd_opt-Sd_deadtime())]，xq＝[iq *-iq(k)-Sq_deadtime[](Sq_opt-Sq_deadtime())]。
In the formula (5), Sd_opt，Sq_optAnd Sd_deadtime，Sq_deadtimeThe current slopes of the selected voltage vector and the dead-zone voltage vector are represented, respectively, as shown in equations (6), (7):
Figure BDA0002482741480000142
Figure BDA0002482741480000151
and for the dead zone voltage vector in the B group, the control precision of the MPCC method is weakened because the dead zone voltage vector is determined after the reference voltage vector sector is determined. Therefore, the dead zone voltage vector action time of the group B is fixed to be 2.5 microseconds.
In this embodiment, as shown in fig. 2, in step S3, the duty ratio of the dead-time voltage vector is calculated from the action time of the dead-time voltage vectors of the group a and the group B, the dead-time voltage vector is applied to the inverter and finally to the motor in combination with the optimum voltage vector according to the obtained duty ratio of the dead-time voltage vector, and the prediction of the optimum voltage vector and the dead-time voltage vector to be applied to the inverter at the next time and the current and the required action at the next time is continued.
In an overall embodiment of the present invention, in order to make the technical solution of the present invention clearer and clearer, an overall solution of the motor model prediction current control method of the present invention is described as follows, as shown in fig. 7:
firstly, inputting a preset motor rotating speed omega*The preset motor rotating speed does not exceed the rotating speed threshold value of the motor, and the preset motor rotating speed omega is controlled by a program*Making a difference with the actual rotating speed of the motor at the moment (the actual rotating speed is zero at the beginning), and obtaining a q-axis reference current (i) by the difference through a PI regulatorq *) And d-axis reference current (i)d *) Reference d-axis current (i)d *) Setting the reference current to zero, substituting the dq-axis reference current and the real current of the dq-axis at the current moment collected by one-beat time delay compensation into a reference voltage vector prediction formula (1), and calculating a reference voltage vector ud(k +1) and uq(k +1), adding ud(k +1) and uqSubstituting (k +1) into the sector selection formulas (2) and (3) to judge the calculated ud(k +1) and uqThe sector where (k +1) is located, and find ud(k +1) and uqAnd (k +1) is located in the sector corresponding to the optimal voltage vector uniquely. Two-phase synchronous rotation of reference currents i of two rotation axes in a coordinate systemq *,id *Conversion into three-phase reference current i in a three-phase stationary coordinate system by programmed coordinate transformationA，iB，iCAccording to the dead zone voltage vectors listed in the table 2, dead zone voltage vectors of dq axes are judged, the dead zone voltage vectors are grouped according to sectors where the reference voltage vectors of the dq axes are located, the sectors are divided into two groups AB shown in the table 3, the dead zone voltage vectors of the dq axes are calculated according to current dead beat modes of formulas (5), (6) and (7), and the duration of the dead zone voltage vectors of the group A is fixed to be 2.5 microseconds. Obtaining the duty ratios of the AB two groups of dead zone voltage vectors according to the dead zone voltage vector duration of the AB two groups, and combining the dead zone voltage vectors and the dq axis optimal voltage vector u according to the duty ratios of the AB two groups of dead zone voltage vectorsd refAnd uq refAnd combining the reference phase currents of the iA, iB and iC acting on the inverter, Sa, Sb and Sc to flow to the corresponding switch state of the inverter, and then applying the combined actual voltage vector to the motor (PMSM) by the inverter, and continuing to predict the current at the next moment, the optimal voltage vector needing to act on the inverter and the dead zone voltage vector. In addition, the encoder in fig. 7 is used for acquiring the position of the rotor of the motor, calculating the actual rotating speed of the motor according to the change of the position of the rotor, and calculating the actual rotating speed againAnd obtaining q-axis reference current through a PI regulator by making difference with the preset input motor rotating speed.
The present invention also provides a motor model prediction current control apparatus, which can be understood as a device for implementing the motor model prediction current control method described in the above embodiment, as shown in fig. 8, the apparatus includes: the data acquisition module is used for acquiring the actual current at the moment k and the reference currents of the two rotating shafts in the two-phase synchronous rotating coordinate system; the data processing module is used for calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts; dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and the principle of proximity; in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor; and the execution module is used for applying the dead zone voltage vector and the optimal voltage vector to the inverter in a preset time combination mode and applying the dead zone voltage vector and the optimal voltage vector to the motor through the inverter.
Specifically, in this embodiment, the data acquisition module is further configured to perform one-beat delay compensation when acquiring the actual current at the time k, so as to obtain the actual current at the time k after the one-beat delay compensation.
Specifically, in this embodiment, when the data processing module performs data processing, there are 6 non-zero voltage vectors, which are U respectively1(100)、U2(110)、U3(010)、U4(011)、U5(001) And U6(100). When the data processing module obtains the optimal voltage vector, calculating to obtain the sector where the reference voltage vectors of the two rotating shafts are located according to the reference voltage vectors of the two rotating shafts, and respectively selecting a non-zero voltage vector with an included angle smaller than a preset threshold value with the sector where the reference voltage vectors of the two rotating shafts are located as the optimal voltage vector according to a nearby principle; the preset threshold is 30 degrees, and the angle of the preset threshold is not specifically limited by the invention.
Specifically, in this embodiment, when acquiring the dead zone voltage vector, the data processing module converts the reference currents of the two rotating shafts in the two-phase synchronous rotating coordinate system into three-phase reference currents in the three-phase stationary coordinate system through coordinate transformation, and obtains the dead zone voltage vector according to the flow direction of the three-phase reference currents.
Specifically, in this embodiment, the data processing module is further configured to obtain a voltage vector actually acting on the motor according to the optimal voltage vector and the dead zone voltage vector within a preset dead zone duration.
Specifically, in this embodiment, the data processing module is further configured to compare a voltage error between the reference voltage vector and the optimal voltage vector with a voltage error between the reference voltage vector and a voltage vector actually acting on the motor, and divide the dead zone voltage vectors into a first group and a second group according to a comparison result and a sector in which the reference voltage is located; the first group has a promoting effect on a traditional model prediction current control Method (MPCC), the second group has a weakening effect on the MPCC, the dead zone duration of the dead zone voltage vectors of the first group is calculated according to a preset formula, the dead zone duration of the dead zone voltage vectors of the second group is set to be a preset fixed value, the fixed value is 2.5 microseconds, and the duty ratio of the dead zone voltage vectors is calculated according to the dead zone duration of the dead zone voltage vectors of the first group and the dead zone duration of the dead zone voltage vectors of the second group.
Specifically, in this embodiment, the execution module applies the dead band voltage vector to the inverter in combination with the optimum voltage vector according to the duty ratio of the dead band voltage vector, and applies the dead band voltage vector to the motor by the inverter.
The technical carrier involved in payment in the embodiments of the present specification may include Near Field Communication (NFC), WIFI, 3G/4G/5G, POS machine card swiping technology, two-dimensional code scanning technology, barcode scanning technology, bluetooth, infrared, Short Message Service (SMS), Multimedia Message (MMS), and the like, for example.
The biometric features related to biometric identification in the embodiments of the present specification may include, for example, eye features, voice prints, fingerprints, palm prints, heart beats, pulse, chromosomes, DNA, human teeth bites, and the like. Wherein the eye pattern may include biological features of the iris, sclera, etc.
It should be noted that the method of one or more embodiments of the present disclosure may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may perform only one or more steps of the method of one or more embodiments of the present disclosure, and the devices may interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present description.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Fig. 9 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.
The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.
It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present description as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures, for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present description, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
It is intended that the one or more embodiments of the present specification embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.

Claims (10)

1. A motor model prediction current control method is characterized by comprising the following steps:
s1, collecting the actual current at the moment k and the reference currents of two rotating shafts in a two-phase synchronous rotating coordinate system;
s2, calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts;
dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and a proximity principle;
in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor;
s3, acting the dead zone voltage vector and the optimal voltage vector on an inverter in a preset time combination mode, and acting the dead zone voltage vector and the optimal voltage vector on a motor by the inverter;
returning to step S1, the k time is replaced with the k +1 time in step S1.
2. The method according to claim 1, wherein in step S1, the acquiring the actual current at the time k comprises: collecting the actual current subjected to time delay compensation at the moment k; the acquiring of the actual current subjected to delay compensation at the time k comprises the following steps: and acquiring the actual current at the k moment, and performing one-beat delay compensation on the actual current to obtain the actual current at the k moment after one-beat delay compensation.
3. The method according to claim 2, wherein in step S2, there are 6 non-zero voltage vectors, each of which is U1(100)、U2(110)、U3(010)、U4(011)、U5(001) And U6(100)；
The voltage vector plane formed by the non-zero voltage vectors is divided into a plurality of sectors, wherein the plurality of sectors are 12 sectors;
the obtaining of the optimal voltage vector according to the sector where the reference voltage vector is located and according to the principle of proximity includes: calculating to obtain sectors where the reference voltage vectors of the two rotating shafts are located according to the reference voltage vectors of the two rotating shafts, and respectively selecting non-zero voltage vectors with included angles smaller than a preset threshold value with the sectors where the reference voltage vectors of the two rotating shafts are located as optimal voltage vectors according to a proximity principle;
the preset threshold is 30 °.
4. The method according to claim 3, wherein, in step S2,
the obtaining of the dead zone voltage vector according to the flow direction of the three-phase current of the motor comprises the following steps: and converting the reference currents of two rotating shafts in the two-phase synchronous rotating coordinate system into three-phase reference currents in the three-phase static coordinate system through coordinate transformation, and obtaining dead zone voltage vectors according to the flow directions of the three-phase reference currents.
5. The method according to claim 1, further comprising, at step S2: and S21, obtaining a voltage vector actually acting on the motor according to the optimal voltage vector and the dead zone voltage vector within a preset dead zone duration.
6. The method according to claim 5, further comprising, after step S21: step S22, comparing the voltage error between the reference voltage vector and the optimal voltage vector with the voltage error between the reference voltage vector and the voltage vector actually acting on the motor, and dividing the dead zone voltage vector into a first group and a second group according to the comparison result and the sector where the reference voltage is located; the first group has a promoting effect on a traditional model predictive current control Method (MPCC), the second group has a weakening effect on the MPCC, the dead zone duration of the dead zone voltage vectors of the first group is calculated according to a preset formula, the dead zone duration of the dead zone voltage vectors of the second group is set to a preset fixed value, the fixed value is 2.5 microseconds, and the duty ratio of the dead zone voltage vectors is calculated according to the dead zone duration of the dead zone voltage vectors of the first group and the dead zone duration of the dead zone voltage vectors of the second group.
7. The method of claim 6, wherein in step S3, the applying the dead band voltage vector and the optimal voltage vector to the inverter in combination with a preset time and applying the dead band voltage vector to the motor by the inverter comprises:
and combining the dead zone voltage vector and the optimal voltage vector according to the duty ratio of the dead zone voltage vector to act on the inverter, and acting the inverter on the motor.
8. A motor model predictive current control apparatus, comprising:
the data acquisition module is used for acquiring the actual current at the moment k and the reference currents of the two rotating shafts in the two-phase synchronous rotating coordinate system;
the data processing module is used for calculating reference voltage vectors of the two rotating shafts according to the actual current and the reference currents of the two rotating shafts; dividing a voltage vector plane consisting of non-zero voltage vectors into a plurality of sectors in an average manner, and obtaining an optimal voltage vector according to the sector where the reference voltage vector is located and a proximity principle; in each control period, configuring a dead zone for the three-phase bridge arm, and obtaining a dead zone voltage vector according to the flow direction of three-phase current of the motor;
and the execution module is used for acting the dead zone voltage vector and the optimal voltage vector on the inverter in a preset time combination mode and acting the dead zone voltage vector and the optimal voltage vector on the motor by the inverter.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the program.
10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
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