CN112202370B - Coaxial double-motor model prediction direct torque control method - Google Patents

Coaxial double-motor model prediction direct torque control method Download PDF

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CN112202370B
CN112202370B CN202011037815.9A CN202011037815A CN112202370B CN 112202370 B CN112202370 B CN 112202370B CN 202011037815 A CN202011037815 A CN 202011037815A CN 112202370 B CN112202370 B CN 112202370B
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motor
master
slave
electromagnetic torque
torque
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CN112202370A (en
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肖雄
武玉娟
张勇军
张飞
李静
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

Abstract

The invention provides a coaxial dual-motor model prediction direct torque control method, and belongs to the field of motor driving and control. The method comprises the following steps: on the basis of two-step prediction direct torque control of a dual motor in a master-slave structure, error accumulation feedback compensation is carried out on electromagnetic torque of a master motor and a slave motor, predicted values of the electromagnetic torque of the master motor and the slave motor obtained by the two-step prediction are corrected according to previous electromagnetic torque tracking error signals, and the corrected predicted values of the torque of the master motor and the slave motor are substituted into a cost function of the master motor and the slave motor; and adding a master-slave motor electromagnetic torque difference limiting item in the master-slave motor cost function to obtain a master-slave motor comprehensive cost function, and selecting an optimal switch to control the PWM inverter by taking the minimized master-slave motor comprehensive cost function as a target. By adopting the invention, the problem of overlarge dynamic and steady torque difference existing in coaxial connection of the master motor and the slave motor can be solved.

Description

Coaxial double-motor model prediction direct torque control method
Technical Field
The invention relates to the field of motor driving and control, in particular to a coaxial double-motor model prediction direct torque control method.
Background
With the continuous improvement of modern industrial production technology, the demand of high-power and high-performance transmission equipment is continuously increased, for some heavy-duty machines such as slurry pumps, recoiling machines, strip steel hot rolling mill group main rolling mills and the like, the conditions that the single motor power is difficult to meet the requirements of high load, high torque and low rotational inertia, or the single motor manufacturing cost is high, and the single-motor and double-motor switching process requirement exist frequently exist, the output power is improved by adopting a multi-motor cooperative operation mode, the rotational inertia of the mechanical equipment can be reduced by adopting multi-motor coaxial driving, the manufacturing cost of a high-power single motor is avoided, and the multi-motor coaxial driving mode gradually becomes a mainstream driving mode. In order to reduce the rotational inertia of mechanical equipment, accelerate the transition process and reduce the energy loss in the transition process, and in consideration of the inherent synchronization performance advantage of mechanical fixation, the multi-motor coaxial operation is generally adopted at present, wherein the master-slave structure operation mode of double motors is the most widely applied one, the mature master-slave structure in the actual operation at present is that a main motor adopts speed loop control, and a slave motor adopts torque loop control, namely, the torque set value of the main motor is used as the torque set value of the slave motor.
In direct torque control, under the condition of small torque error, the selected voltage vector enables the torque to reach a reference value within a short time of a switching period, and the rest time is that inverter switching state conversion does not occur, the selected voltage vector still acts on the motor, so that the torque is continuously changed along the original direction, the torque pulse vibration of the main motor and the auxiliary motor is increased, and the main steady-state torque difference can be further increased by the influence of the discreteness of components and parts and the inconsistency of parameters of the double motors; meanwhile, in a master-slave control mode, the master-slave dynamic control performance is different under the influence of time-varying or uncertain factors such as internal parameter change, load change, power grid fluctuation, control strategies, operation environments and the like under different working conditions, so that the master-slave torque difference in the dynamic process is increased. In conclusion, the master-slave torque difference is a typical problem existing in the coaxial connection operation of the double motors, the dynamic and steady-state performance of the system can be reduced, if the differential oscillation of the system is easily excited and even the stable operation is influenced, the problem of the master-slave torque difference is solved, and the research has important scientific value and practical significance for further improving the control performance of the system.
Disclosure of Invention
The embodiment of the invention provides a direct torque control method for coaxial double-motor model prediction, which can solve the problem of overlarge dynamic and steady torque difference existing in coaxial connection of a master motor and a slave motor.
The embodiment of the invention provides a coaxial double-motor model prediction direct torque control method, which comprises the following steps:
on the basis of two-step prediction direct torque control of a dual motor in a master-slave structure, error accumulation feedback compensation is carried out on electromagnetic torque of a master motor and a slave motor, predicted values of the electromagnetic torque of the master motor and the slave motor obtained by the two-step prediction are corrected according to previous electromagnetic torque tracking error signals, and the corrected predicted values of the torque of the master motor and the slave motor are substituted into a cost function of the master motor and the slave motor;
and adding a master-slave motor electromagnetic torque difference limiting item in the master-slave motor cost function to obtain a master-slave motor comprehensive cost function, and selecting an optimal switch to control the PWM inverter by taking the minimized master-slave motor comprehensive cost function as a target.
Further, on the basis of the two-step prediction direct torque control of the dual motors in the master-slave structure, the error accumulation feedback compensation of the electromagnetic torque of the master-slave motor is performed, so that the predicted value of the electromagnetic torque of the master-slave motor obtained by the two-step prediction is corrected according to the previous tracking error signal of the electromagnetic torque, and the corrected predicted value of the torque of the master-slave motor is substituted into a cost function of the master-slave motor, wherein the cost function comprises the following steps:
according to a mathematical model and a model prediction direct torque control principle of the asynchronous motor, obtaining a stator flux linkage, a rotor flux linkage, a stator current, an electromagnetic torque and a master-slave motor cost function at the moment of k + 2;
through error accumulation feedback compensation of the electromagnetic torque of the master motor and the slave motor, the electromagnetic torque predicted value at the k +2 moment is added with the sum of electromagnetic torque tracking error signals of the previous k +1 sampling periods to obtain a corrected electromagnetic torque predicted value at the k +2 moment;
and substituting the corrected predicted value of the electromagnetic torque at the k +2 moment into a cost function of the master motor and the slave motor.
Further, the obtained expressions of the stator flux linkage, the rotor flux linkage, the stator current and the electromagnetic torque at the time k +2 are as follows:
Figure BDA0002705668390000031
wherein the content of the first and second substances,
Figure BDA0002705668390000032
predicted values of stator flux linkage at the time k +2 and the time k +1, TsIs a sampling period, us(k +1) is the stator voltage value at the time k +1,
Figure BDA0002705668390000033
predicted values of the stator current at the time k +2 and the time k +1 respectively,
Figure BDA0002705668390000034
predicted values of rotor flux linkage at the time k +2 and the time k +1, Rs、Ls、Rr、LrAnd LmRespectively the stator resistance, the stator inductance, the rotor resistance, the rotor inductance and the mutual inductance, R of the motorσIn the form of a short-hand writing,
Figure BDA0002705668390000035
krin shorthand form, kr＝Lm/LrJ is an imaginary unit, ω is the angular velocity of the rotor, p is the pole pair number,
Figure BDA0002705668390000036
is the predicted value of the electromagnetic torque at the moment k +2,
Figure BDA0002705668390000037
the prediction vector of the stator flux linkage at the moment k +1 and the prediction vector of the stator current are respectively.
Further, in model predictive direct torque control, the master-slave motor cost function is:
Figure BDA0002705668390000038
wherein, gnIn order to be a function of the cost,
Figure BDA0002705668390000039
as reference value for electromagnetic torque, TenIs the actual value of the electromagnetic torque,
Figure BDA00027056683900000310
is a stator flux linkage reference value, λ2nIn order to be the weight coefficient,
Figure BDA00027056683900000311
is the predicted value of the electromagnetic torque at the moment k +2,
Figure BDA00027056683900000312
and the subscript n is {1,2}, and is a parameter corresponding to the main motor when the subscript n takes a value of 1 and is a parameter corresponding to the main motor when the subscript n takes a value of 2.
Further, the corrected predicted value of the electromagnetic torque at the time k +2 is expressed as:
Figure BDA00027056683900000313
wherein the content of the first and second substances,
Figure BDA00027056683900000314
and the corrected predicted electromagnetic torque value at the time k +2 is shown.
Further, substituting the corrected predicted value of the electromagnetic torque at the k +2 moment into a master-slave motor cost function, wherein the obtained master-slave motor cost function is as follows:
Figure BDA00027056683900000315
further, a master-slave motor electromagnetic torque difference limiting term is added to the master-slave motor cost function, and the obtained master-slave motor comprehensive cost function is as follows:
Figure BDA0002705668390000041
wherein λ is3Weight factor, T, representing the torque differenceen(k) Is the actual value of the electromagnetic torque at time k.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, on the basis of two-step prediction and direct torque control of a double motor in a master-slave structure, the error accumulation feedback compensation of the electromagnetic torque of a master-slave motor is used for improving the steady state master-slave torque difference, and the corrected predicted value of the master-slave motor torque is substituted into the master-slave motor cost function, so that the zero tracking error is realized theoretically, and the problem of large master-slave torque difference in a steady state is solved; the method is characterized in that a master-slave motor electromagnetic torque difference limiting item is added in a master-slave motor cost function to inhibit the increase of torque difference in dynamic response, so that a master-slave motor comprehensive cost function which enables a master-slave motor to have better dynamic and static tracking performance is obtained, an optimal switch is selected to control a PWM inverter by taking the minimized master-slave motor comprehensive cost function as a target, and the problem of overlarge dynamic and steady state torque difference existing in coaxial connection of a master motor and a slave motor is solved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for predicting direct torque control by a coaxial two-motor model according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a principle of a coaxial two-motor model predictive direct torque control method according to an embodiment of the present invention;
FIG. 3 is a detailed flowchart of a coaxial dual-motor model prediction direct torque control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an error accumulation feedback compensation link according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method for predicting direct torque control by a coaxial two-motor model, where the method includes:
s101, on the basis of direct torque control through two-step prediction of a dual motor in a master-slave structure, through error accumulation feedback compensation of electromagnetic torque of a master motor and a slave motor, correcting the predicted value of the electromagnetic torque of the master motor and the slave motor obtained through two-step prediction according to a previous electromagnetic torque tracking error signal, and substituting the corrected predicted value of the torque of the master motor and the slave motor into a cost function of the master motor and the slave motor;
s102, adding a master-slave motor electromagnetic torque difference limiting item in a master-slave motor cost function to obtain a master-slave motor comprehensive cost function, and selecting an optimal switch control Pulse Width Modulation (PWM) inverter by taking the minimized master-slave motor comprehensive cost function as a target.
According to the coaxial dual-motor model prediction direct torque control method, on the basis of two-step prediction direct torque control of dual motors with a master-slave structure, steady-state master-slave torque difference is improved through error accumulation feedback compensation of electromagnetic torques of the master-slave motors, and corrected torque predicted values of the master-slave motors are substituted into a master-slave motor cost function, so that zero tracking error is realized theoretically, and the problem of large master-slave torque difference in a steady state is solved; the method is characterized in that a master-slave motor electromagnetic torque difference limiting item is added in a master-slave motor cost function to inhibit the increase of torque difference in dynamic response, so that a master-slave motor comprehensive cost function which enables a master-slave motor to have better dynamic and static tracking performance is obtained, an optimal switch is selected to control a PWM inverter by taking the minimized master-slave motor comprehensive cost function as a target, and the problem of overlarge dynamic and steady state torque difference existing in coaxial connection of a master motor and a slave motor is solved.
In a specific embodiment of the foregoing method for direct torque control by coaxial dual-motor model prediction, further, as shown in fig. 2 and 3, on the basis of two-step direct torque control by prediction for dual motors in a master-slave structure, the method corrects predicted values of electromagnetic torques of master-slave motors obtained by prediction in two steps according to previous signals of tracking errors of electromagnetic torques by error accumulation feedback compensation for electromagnetic torques of master-slave motors, and substitutes the corrected predicted values of torques of master-slave motors into a cost function of master-slave motors includes:
a1, according to the mathematical model and model prediction direct torque control principle of the asynchronous motor, obtaining the stator flux linkage, the rotor flux linkage, the stator current and the electromagnetic torque at the moment of k +2 and the cost function of the master motor and the slave motor; the method specifically comprises the following steps:
firstly, according to a physical model of a three-phase symmetrical asynchronous motor, a simplified mathematical model of the asynchronous motor is obtained as follows:
Figure BDA0002705668390000061
in the formula usIs the stator voltage, isIs the stator current, irIs the current of the rotor and is,
Figure BDA0002705668390000062
is a magnetic flux linkage of the stator,
Figure BDA0002705668390000063
is the rotor flux linkage, TeIs the electromagnetic torque, and the electromagnetic torque,
Figure BDA0002705668390000064
isrespectively predicting stator flux linkage vector and stator current vector, omega is rotor angular velocity, t is time, p is pole pair number, Rs、Ls、Rr、LrAnd LmRespectively a stator resistance, a stator inductance, a rotor resistance, a rotor inductance and a mutual inductance of the motor.
Then, according to the mathematical model and the model prediction direct torque control principle of the asynchronous motor, the predicted values of the stator flux linkage and the electromagnetic torque of the single-step prediction (namely: at the k +1 moment) can be obtained as follows:
Figure BDA0002705668390000065
in the formula (I), the compound is shown in the specification,
Figure BDA0002705668390000066
respectively a stator flux linkage predicted value and an electromagnetic torque predicted value at the moment of k +1,
Figure BDA0002705668390000067
is the predicted value of the stator current at the moment k +1,
Figure BDA0002705668390000068
stator flux linkage prediction vector, stator current prediction vector, T at time k +1sIs a sampling period;
equation of rotor flux linkage in equation (1)
Figure BDA0002705668390000069
Discretization can obtain an expression of the rotor flux linkage:
Figure BDA00027056683900000610
the stator current can be derived from the dynamic equation of the stator:
Figure BDA00027056683900000611
wherein, satisfy:
Figure BDA00027056683900000612
discretizing the stator current equation (4)) and substituting the discretized stator current equation into the Euler equation to obtain the predicted value of the stator current at the next sampling moment (k +1)
Figure BDA00027056683900000613
Figure BDA0002705668390000071
Wherein j represents an imaginary unit;
in this embodiment, the stator voltage at the time k +1 is
Figure BDA0002705668390000072
ω' is the grid voltage angular frequency, if TsSmall enough to ignore, us(k+1)≈us(k)。
Therefore, on the basis of the single-step prediction, the expressions of the stator flux linkage, the rotor flux linkage, the stator current and the electromagnetic torque which can be predicted in two steps (namely: at the k +2 moment) are as follows:
Figure BDA0002705668390000073
wherein the content of the first and second substances,
Figure BDA0002705668390000074
predicted values of stator flux linkage at the time k +2 and the time k +1, TsIs a sampling period, us(k +1) is the stator voltage value at the time k +1,
Figure BDA0002705668390000075
predicted values of the stator current at the time k +2 and the time k +1 respectively,
Figure BDA0002705668390000076
predicted values of rotor flux linkage at the time k +2 and the time k +1, Rs、Ls、Rr、LrAnd LmRespectively the stator resistance, the stator inductance, the rotor resistance, the rotor inductance and the mutual inductance, R of the motorσIn the form of a short-hand writing,
Figure BDA0002705668390000077
krin shorthand form, kr＝Lm/LrJ is an imaginary unit, ω is the angular velocity of the rotor, p is the pole pair number,
Figure BDA0002705668390000078
is k +The predicted value of the electromagnetic torque at the time 2,
Figure BDA0002705668390000079
the prediction vector of the stator flux linkage at the moment k +1 and the prediction vector of the stator current are respectively.
In this embodiment, both the master and slave motors use model predictive direct torque control because of TsExtremely small, and can be considered as an electromagnetic torque reference value
Figure BDA00027056683900000710
And a stator flux linkage reference value
Figure BDA00027056683900000711
Approximately constant, the electromagnetic torque reference value of the slave machine being the actual value of the electromagnetic torque of the master machine, i.e.
Figure BDA00027056683900000712
Therefore, in model predictive direct torque control, a master-slave motor cost function can be obtained as:
Figure BDA00027056683900000713
wherein, gnIn order to be a function of the cost,
Figure BDA00027056683900000714
as reference value for electromagnetic torque, TenIs the actual value of the electromagnetic torque,
Figure BDA00027056683900000715
is a stator flux linkage reference value, λ2nIn order to be the weight coefficient,
Figure BDA00027056683900000716
is the predicted value of the electromagnetic torque at the moment k +2,
Figure BDA00027056683900000717
the subscript n is {1,2}, and the subscript n takes the value of nAnd when the subscript n takes the value of 2, the parameter is the parameter corresponding to the main motor.
A2, obtaining a corrected electromagnetic torque predicted value at the k +2 moment by adding the electromagnetic torque predicted value at the k +2 moment to the sum of electromagnetic torque tracking error signals of the previous k +1 sampling periods through error accumulation feedback compensation of the electromagnetic torques of the master motor and the slave motor;
in the embodiment, in a discrete domain, N-beat delay exists in an error accumulation feedback compensation link, and an input error signal can take effect only after one fundamental wave period, so that the dynamic response capability of a system can be improved by connecting the input error signal in parallel with a proportional term with the gain of 1.
As shown in FIG. 4, the transfer function of the error accumulation feedback compensation element is
Figure BDA0002705668390000081
In the formula, k' is a gain coefficient of an error accumulation feedback compensation link; s is a complex frequency, and S is a complex frequency,
Figure BDA0002705668390000082
q (Z) is typically a low pass filter or a constant slightly less than 1; z-1Is a unit delay factor, Z-NFor a cyclic delay element, i.e. representing a delay of N units, N ═ fs/fgIs the number of samples in a cycle, where fsTo sample frequency, fgIs the reference frequency.
The differential discrete form of the transfer function is:
ro(k)＝ri(k)+0.95ro(k-N) (9)
in the formula, riIs an input error signal; r isoTo output an error signal.
In this embodiment, according to the error accumulation feedback compensation link, the sum of the predicted electromagnetic torque value at the time of k +2 and the electromagnetic torque tracking error signal of the previous sampling period of k +1 times is added
Figure BDA0002705668390000083
Figure BDA0002705668390000084
Thus, the corrected predicted electromagnetic torque value at the time k +2 is obtained, namely:
Figure BDA0002705668390000085
wherein the content of the first and second substances,
Figure BDA0002705668390000086
and the corrected predicted electromagnetic torque value at the time k +2 is shown.
A3, substituting the corrected predicted value of the electromagnetic torque at the k +2 moment into a master-slave motor cost function, wherein the obtained master-slave motor cost function is as follows:
Figure BDA0002705668390000087
in this embodiment, according to the obtained expression (11), a zero tracking error can be theoretically realized to solve the problem of a large difference between the master torque and the slave torque in a steady state.
In this embodiment, in order to make the electromagnetic torque difference of the master and slave motors controllable and reach zero difference under the condition of ensuring the consistency of the dynamic trajectories, a master and slave motor electromagnetic torque difference limit term (i.e., T) may be added in the model torque prediction of the master and slave controle1(k)-Te2(k) ) to optimize the selection of the cost function.
In this embodiment, on the basis of two-step prediction, a master-slave motor electromagnetic torque difference limiting term is added, and a master motor cost function may be selected as:
Figure BDA0002705668390000091
the same is true for the slave motor cost function:
Figure BDA0002705668390000092
where λ 3 is a weighting factor for the torque difference.
In summary, the comprehensive cost function of the master-slave motors based on the error accumulation feedback compensation can be obtained as follows:
Figure BDA0002705668390000093
wherein λ is3Weight factor, T, representing the torque differenceen(k) Is the actual value of the electromagnetic torque at time k.
In the present embodiment, as can be seen from fig. 2 and 3, the stator and rotor currents (i) for the master and slave dual motors (M1, M2) are useds1、ir1、is2、ir2) The calculation can obtain the flux linkage of the stator and the rotor of the master-slave motor
Figure BDA0002705668390000094
Figure BDA0002705668390000095
The stator current and the stator voltage (i) of the stator, the rotor flux linkage and the master-slave motor are measureds1(k)、us1(k)、is2(k)、us2(k) Predicted value of torque and stator flux linkage at time k +2 is obtained by two-step prediction
Figure BDA0002705668390000096
Figure BDA0002705668390000097
And obtaining a corrected predicted value of the electromagnetic torque of the master motor and the slave motor through an error accumulation feedback compensation link
Figure BDA0002705668390000098
Reference value of electromagnetic torque for main motor
Figure BDA0002705668390000099
By the outer ring ratio of the rotational speedProportional integral controller (PI) output from the electromagnetic torque reference of the motor
Figure BDA00027056683900000910
Is the output T of the main motore1Thereby realizing master-slave control. In FIG. 2,. omega.*Is a reference value of the angular velocity of the rotor,
Figure BDA00027056683900000911
is a set value of stator flux linkage of a master-slave motor, Te1(k)-Te2(k) For the electromagnetic torque difference limiting term of the master-slave motor, the
Figure BDA00027056683900000912
Te1、
Figure BDA00027056683900000913
Te1(k)-Te2(k)、
Figure BDA00027056683900000914
Figure BDA00027056683900000915
Selecting the required main and auxiliary motor switch (i.e. the optimal main and auxiliary motor switch) by the minimum of the comprehensive cost function of the main and auxiliary motors (S)11,12,13，S21,22,23) And controlling the PWM inverter.
In summary, the method for controlling direct torque by predicting coaxial dual-motor model according to the embodiment is directed to the problem of dynamic and steady-state torque difference under dual-motor master-slave control, and optimizes the master-slave torque difference by designing the master-slave motor comprehensive cost function on the basis of two-step direct torque prediction control of dual motors in master-slave structure, so that the master-slave motor has better dynamic and static tracking performance, and the torque synchronization performance of the master-slave dual-motor system can be improved, thereby realizing the improvement of the overall performance between the master and slave motors; the coaxial dual-motor model direct torque prediction control method is simple in structure, does not need complex theoretical analysis, and is easy to implement in engineering.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (1)

1. A coaxial dual-motor model prediction direct torque control method is characterized by comprising the following steps:
on the basis of two-step prediction direct torque control of a dual motor in a master-slave structure, error accumulation feedback compensation is carried out on electromagnetic torque of a master motor and a slave motor, predicted values of the electromagnetic torque of the master motor and the slave motor obtained by the two-step prediction are corrected according to previous electromagnetic torque tracking error signals, and the corrected predicted values of the torque of the master motor and the slave motor are substituted into a cost function of the master motor and the slave motor;
adding a master-slave motor electromagnetic torque difference limiting item in a master-slave motor cost function to obtain a master-slave motor comprehensive cost function, and selecting an optimal switch to control a PWM inverter by taking the minimized master-slave motor comprehensive cost function as a target;
on the basis of the direct torque control through two-step prediction of the double motors in the master-slave structure, the error accumulation feedback compensation of the electromagnetic torque of the master-slave motor is performed, so that the predicted value of the electromagnetic torque of the master-slave motor obtained through the two-step prediction is corrected according to the previous electromagnetic torque tracking error signal, and the corrected predicted value of the torque of the master-slave motor is substituted into a cost function of the master-slave motor, wherein the cost function comprises the following steps:
according to a mathematical model and a model prediction direct torque control principle of the asynchronous motor, obtaining a stator flux linkage, a rotor flux linkage, a stator current, an electromagnetic torque and a master-slave motor cost function at the moment of k + 2;
through error accumulation feedback compensation of the electromagnetic torque of the master motor and the slave motor, the electromagnetic torque predicted value at the k +2 moment is added with the sum of electromagnetic torque tracking error signals of the previous k +1 sampling periods to obtain a corrected electromagnetic torque predicted value at the k +2 moment;
substituting the corrected predicted value of the electromagnetic torque at the k +2 moment into a cost function of the master motor and the slave motor;
wherein, the obtained expressions of the stator flux linkage, the rotor flux linkage, the stator current and the electromagnetic torque at the moment k +2 are as follows:
Figure FDA0003426590310000011
wherein the content of the first and second substances,
Figure FDA0003426590310000012
predicted values of stator flux linkage at the time k +2 and the time k +1, TsIs a sampling period, us(k +1) is the stator voltage value at the time k +1,
Figure FDA0003426590310000013
predicted values of the stator current at the time k +2 and the time k +1 respectively,
Figure FDA0003426590310000021
predicted values of rotor flux linkage at the time k +2 and the time k +1, Rs、Ls、Rr、LrAnd LmRespectively the stator resistance, the stator inductance, the rotor resistance, the rotor inductance and the mutual inductance, R of the motorσIn the form of a short-hand writing,
Figure FDA0003426590310000022
krin shorthand form, kr＝Lm/LrJ is an imaginary unit, ω is the angular velocity of the rotor, p is the pole pair number,
Figure FDA0003426590310000023
is the predicted value of the electromagnetic torque at the moment k +2,
Figure FDA0003426590310000024
respectively a stator flux linkage prediction vector and a stator current prediction vector at the moment k + 1;
in the model prediction direct torque control, the cost function of the master motor and the slave motor is as follows:
Figure FDA0003426590310000025
wherein, gnIn order to be a function of the cost,
Figure FDA0003426590310000026
as reference value for electromagnetic torque, TenIs the actual value of the electromagnetic torque,
Figure FDA0003426590310000027
is a stator flux linkage reference value, λ2nIn order to be the weight coefficient,
Figure FDA0003426590310000028
is the predicted value of the electromagnetic torque at the moment k +2,
Figure FDA0003426590310000029
the predicted value of the stator flux linkage at the moment k +2 is shown, a subscript n is {1,2}, when the value of the subscript n is 1, the parameter corresponds to the main motor, and when the value of the subscript n is 2, the parameter corresponds to the main motor;
the corrected predicted electromagnetic torque value at the time k +2 is expressed as:
Figure FDA00034265903100000210
wherein the content of the first and second substances,
Figure FDA00034265903100000211
the predicted value of the electromagnetic torque at the corrected k +2 moment is shown;
substituting the corrected predicted value of the electromagnetic torque at the k +2 moment into a master-slave motor cost function in the model prediction direct torque control to obtain an updated master-slave motor cost function, wherein the updated master-slave motor cost function is as follows:
Figure FDA00034265903100000212
adding a master-slave motor electromagnetic torque difference limiting term in the updated master-slave motor cost function to obtain a master-slave motor comprehensive cost function as follows:
Figure FDA00034265903100000213
wherein λ is3Weight factor, T, representing the torque differenceen(k) Is the actual value of the electromagnetic torque at time k.
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