CN112332736B - Asynchronous motor dead beat prediction current control method and device based on current difference - Google Patents
Asynchronous motor dead beat prediction current control method and device based on current difference Download PDFInfo
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Abstract
The invention provides a current difference-based asynchronous motor dead-beat prediction current control method, which comprises the following steps: acquiring a stator current reference value of an asynchronous motor, a current difference at the current moment and a current difference at the previous moment; determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat prediction current model; determining a stator voltage reference value according to the predicted value of the stator voltage; and determining a driving signal of each switching tube in the inverter according to the stator voltage reference value. The invention can realize that the driving signals of each switching tube in the inverter are calculated by using a robust dead-beat prediction current control algorithm based on current difference through a preset dead-beat prediction current model so as to compensate wrong motor parameters and enhance the robustness, and further, the motor can have good dynamic performance and steady-state performance no matter the acquired parameters are accurate or the parameters are inaccurate.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of asynchronous motor control technologies, and in particular, to a robust deadbeat prediction current control method and apparatus for an asynchronous motor based on current difference.
Background
Model Predictive Control (MPC) has emerged in process control in the late industrial field of the 20 th century 70 s and has been widely used in the early process industry applications such as chemical industry. In the 90's of the 20 th century, Holtz, the german scholars, were the earliest to apply model predictive control to the field of power electronic transmissions. In recent years, with the improvement of the performance of digital processors and the reduction of the cost thereof, the large amount of calculation is no longer a barrier for limiting the development of MPC, and MPC gradually becomes a research hotspot with the advantages of simple principle, high response speed, easy processing of multi-constraint multivariable problems and the like. MPC has become an important branch of control methods in the field of power electronics.
MPC, however, relies on the controlled object mathematical model and parameter accuracy. In practical applications, the variation of the operating environment and the operating condition of the motor may cause the variation of the motor parameters, and the inaccuracy of the parameter measurement may affect the performance of the control algorithm. Therefore, the problems of noise, current static error and even divergence in the operation process of the motor can be caused in the prior art, and the control performance and stability of the motor control system are influenced by the problems.
In order to solve the above mentioned problems in the prior art, a model-free predictive control (MFPC) method based on current difference is usually adopted in the prior art, however, the prior art is based on finite state set model predictive control, depends on high sampling rate, and has poor performance when the sampling rate is low, and has high requirements on the performance of the controller; in addition, the conventional method has a problem of current stagnation, and a ripple of torque and current increases. Therefore, a new motor control method is needed.
Disclosure of Invention
In view of this, an object of one or more embodiments of the present disclosure is to provide a current difference-based dead-beat prediction current control method for an asynchronous motor, so as to implement that a robust dead-beat prediction current control algorithm based on a current difference is used to calculate driving signals of each switching tube in an inverter through a preset dead-beat prediction current model, so as to compensate for an incorrect motor parameter, thereby enhancing robustness, and further, the motor may have good dynamic performance and steady-state performance no matter the acquired parameter is accurate or the parameter is inaccurate.
In view of the above objects, one or more embodiments of the present specification provide a current difference-based dead-beat prediction current control method for an asynchronous motor, the method including:
Obtaining a stator current reference value of an asynchronous motor, a current difference at the current moment and a current difference at the previous moment;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model;
determining a stator voltage reference value according to the stator voltage predicted value;
and determining a driving signal of each switching tube in the inverter according to the stator voltage reference value.
Optionally, the manner of obtaining the stator current reference value of the asynchronous motor includes:
calculating q-axis current of the asynchronous motor;
acquiring preset d-axis current of the asynchronous motor;
and determining the stator current reference value according to the q-axis current and the preset d-axis current.
Optionally, the obtaining manner of the current difference at the kth time includes:
obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment;
taking the difference value between the predicted stator current value at the k-1 th moment and the sampled stator current value at the k-1 th moment as the current difference at the k-th moment;
and the kth moment is the current moment or the previous moment.
Optionally, determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment, and a preset dead-beat predicted current model, including:
calculating the difference value of the current difference at the current moment and the current difference at the previous moment;
determining a first coefficient based on the difference;
determining a second coefficient according to the current difference at the current moment and the first coefficient;
and determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat prediction current model.
Optionally, the preset dead-beat prediction current model is as follows:
wherein, the first and the second end of the pipe are connected with each other,
a predicted value of the stator current at the (k +1) time predicted at the k time;
a stator current sampling value at the moment k;
a stator voltage sampling value acting at the moment k; psirIs a rotor flux linkage; rsIs a stator resistor; rrIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; t isscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
Optionally, the determining a stator voltage reference value according to the predicted stator voltage value includes:
And carrying out coordinate transformation on the stator voltage predicted value according to the rotor flux linkage position information to obtain a stator voltage reference value.
Optionally, the determining the driving signal of each switching tube in the inverter according to the stator voltage reference value includes:
and performing PWM modulation on the stator voltage reference value to obtain a driving signal of each switching tube in the inverter.
One or more embodiments of the present specification provide a current differential-based dead-beat prediction current control apparatus for an asynchronous motor, the apparatus including:
the acquisition unit is used for acquiring a stator current reference value of the asynchronous motor, a current difference at the current moment and a current difference at the previous moment;
the first determining unit is used for determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat prediction current model;
the second determining unit is used for determining a stator voltage reference value according to the predicted stator voltage value;
and the third determining unit is used for determining the driving signal of each switching tube in the inverter according to the stator voltage reference value.
Optionally, the obtaining unit is specifically configured to:
calculating q-axis current of the asynchronous motor;
acquiring preset d-axis current of the asynchronous motor;
and determining the stator current reference value according to the q-axis current and the preset d-axis current.
Optionally, the obtaining unit is specifically configured to:
obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment;
taking the difference value between the predicted stator current value at the k-1 th moment and the sampled stator current value at the k-1 th moment as the current difference at the k-th moment;
and the kth moment is the current moment or the previous moment.
Optionally, the first determining unit is specifically configured to:
calculating the difference value of the current difference at the current moment and the current difference at the previous moment;
determining a first coefficient based on the difference;
determining a second coefficient according to the current difference at the current moment and the first coefficient;
and determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat prediction current model.
Optionally, the preset dead-beat prediction current model is as follows:
Wherein, the first and the second end of the pipe are connected with each other,
a stator current predicted value at (k +1) time predicted at k time;
a stator current sampling value at the k moment;
a stator voltage sampling value acting at the moment k; psirIs a rotor flux linkage; rsIs a stator resistor; rrIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; t isscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
Optionally, the second determining unit is specifically configured to:
and carrying out coordinate transformation on the predicted value of the stator voltage according to the rotor flux linkage position information to obtain a stator voltage reference value.
Optionally, the third determining unit is specifically configured to:
and performing PWM modulation on the stator voltage reference value to obtain a driving signal of each switching tube in the inverter.
One or more embodiments of the present specification provide an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the above mentioned current differential based asynchronous motor dead-beat prediction current control method.
One or more embodiments of the present specification provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the current differential-based asynchronous motor dead-beat prediction current control method mentioned above.
As can be seen from the foregoing description, in one or more embodiments of the present disclosure, a current difference-based dead-beat prediction current control method for an asynchronous motor is provided, where a stator current reference value, a current difference at a current time, and a current difference at a previous time of the asynchronous motor are obtained first; then, determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model; then, determining a stator voltage reference value according to the predicted stator voltage value; then, according to the stator voltage reference value, the driving signal of each switching tube in the inverter is determined. In this way, in the embodiment, the driving signals of each switching tube in the inverter are calculated by using a current difference-based robust dead-beat prediction current control algorithm through a preset dead-beat prediction current model, so that wrong motor parameters can be compensated, the robustness is enhanced, and further, the motor can have good dynamic performance and steady-state performance no matter the acquired parameters are accurate or the parameters are inaccurate; in addition, the embodiment has low requirement on the data sampling frequency, can realize a good control effect under a lower sampling frequency, and solves the problem that the traditional current differential model-free control method is limited by a hardware platform.
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, it is obvious that the drawings in the description below 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.
Fig. 1 is a hardware structure diagram of an asynchronous motor speed regulation control system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a current control method for dead-beat prediction of an asynchronous motor based on current difference according to an embodiment of the present invention;
fig. 3 is a schematic structural block diagram of robust deadbeat prediction current control of an asynchronous motor based on current difference according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an experimental result of a conventional asynchronous motor with rated load when dead-beat prediction current is controlled at a sampling rate of 10kHz, parameters are accurate, and the motor operates at 1500rpm according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an experimental result of the dead-beat prediction current control method for the asynchronous motor provided by the present invention with a rated load when the motor operates at 1500rpm and the parameters are accurate and under a sampling rate of 10kHz according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an experimental result of a conventional asynchronous motor with a rated load when the deadbeat prediction current is controlled at a sampling rate of 10kHz, parameters are inaccurate, and the motor operates at 1500rpm according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an experimental result of the dead-beat prediction current control method for the asynchronous motor provided by the present invention with a rated load when the motor operates at 1500rpm and the parameters are inaccurate at a sampling rate of 10kHz according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a current differential-based dead-beat prediction current control apparatus for an asynchronous motor according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
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 inventor finds that MPC depends on the controlled object mathematical model and parameter accuracy. In practical applications, the variation of the operating environment and the operating condition of the motor may cause the variation of the motor parameters, and the inaccuracy of the parameter measurement may affect the performance of the control algorithm. Therefore, the problems of noise, current static error and even divergence in the operation process of the motor can be caused in the prior art, and the control performance and stability of the motor control system are influenced by the problems. Therefore, the problems of noise, static error of current and even divergence in the operation process of the motor can be caused in the prior art, and the control performance and stability of the motor control system are influenced by the problems.
Therefore, the invention provides a current difference-based asynchronous motor dead-beat prediction current control method, which can firstly obtain a stator current reference value of an asynchronous motor, a current difference at the current moment and a current difference at the previous moment; then, determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model; then, according to the predicted value of the stator voltage, a reference value of the stator voltage is determined; then, according to the stator voltage reference value, the driving signal of each switching tube in the inverter is determined. In this way, in the embodiment, the driving signals of each switching tube in the inverter are calculated by using a current difference-based robust dead-beat prediction current control algorithm through a preset dead-beat prediction current model, so that wrong motor parameters can be compensated, the robustness is enhanced, and further, the motor can have good dynamic performance and steady-state performance no matter the acquired parameters are accurate or the parameters are inaccurate; in addition, the embodiment has low requirement on the data sampling frequency, can realize a good control effect under a lower sampling frequency, and solves the problem that the traditional current differential model-free control method is limited by a hardware platform.
For example, the embodiment of the present invention may be applied to a hardware circuit as shown in fig. 1, where the circuit shown in fig. 1 includes an asynchronous motor, a three-phase inverter bridge, a dc-side capacitor, a three-phase diode rectification circuit, a three-phase voltage source, a voltage and current sampling circuit, a DSP (digital signal processing) controller, and a driving circuit. The voltage and current sampling circuit can respectively collect the current of the direct current side voltage and the currents of the asynchronous motor a and b by using the voltage Hall sensor and the current Hall sensor, and the sampling signals enter the DSP controller after signal conditioning to be processed by the current differential asynchronous motor dead-beat prediction current control method provided by the invention and are converted into digital signals. The DSP controller completes the operation of the current differential asynchronous motor dead-beat prediction current control method provided by the invention to output multi-path (for example, six-path) switching pulses, and then the final driving signals of the multi-path (for example, six-path) switching tubes of the inverter are obtained after the multi-path (for example, six-path) switching pulses pass through the driving circuit.
The technical solution of the embodiments of the present invention is described in detail below with reference to the accompanying drawings.
Referring to fig. 2, a current difference-based dead-beat prediction current control method for an asynchronous motor in an embodiment of the present invention is shown, where the method includes:
S201: and acquiring a stator current reference value of the asynchronous motor, a current difference at the current moment and a current difference at the previous moment.
In this embodiment, the reference value of the stator current of the asynchronous motor, the current difference at the current time, and the current difference at the previous time may be obtained first. Next, how to obtain the stator current reference value of the asynchronous motor, the current difference at the present time, and the current difference at the previous time will be specifically described.
First, the way of obtaining a stator current reference value of an asynchronous machine is described. Specifically, the stator current reference value of the asynchronous motor is obtained in the following manner: firstly, calculating q-axis current of the asynchronous motor; then, acquiring a preset d-axis current of the asynchronous motor; and then, determining the stator current reference value according to the q-axis current and the preset d-axis current.
Specifically, as shown in fig. 3, the q-axis current of the asynchronous motor can be obtained according to the outer ring rotation speed PI regulator
The q-axis current
Can be specifically expressed as
Wherein k ispAnd kiProportional gain and integral gain in the PI regulator, s is a complex parameter variable in pull-type transformation,
and ωrRespectively the rotational speedCommand and actual speed. In this mode, the preset d-axis current can be directly set according to the requirement 
I.e. preset d-axis current of the asynchronous machine
Can be preset according to actual requirements. Then, the q-axis current may be used
And a predetermined d-axis current
Synthesizing stator current reference values under synchronous rotating coordinate system
Next, a manner of obtaining the current difference at the present time and the current difference at the previous time of the asynchronous motor will be described.
In this embodiment, since the current difference at the current time and the current difference at the previous time are obtained in the same manner, the current difference at the current time and the current difference at the previous time are taken as an example, and the current difference at the current time is determined, the current difference at the current time is taken as the kth time, the current difference at the previous time is determined, and the kth time is taken as the previous time at the current time, that is, the kth time is taken as the time required to be calculated.
In this embodiment, the manner of obtaining the current difference at the kth time includes: obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment; and taking the difference value between the predicted stator current value at the k-1 th moment and the sampled stator current value at the k-1 th moment as the current difference at the k-th moment. And the kth moment is the current moment or the previous moment.
As an example, as shown in fig. 3, a current difference at the kth time (i.e., the current time) in the synchronous rotation coordinate system is defined
Equal to the predicted value of the stator current at the (k-1) th time (i.e., the time immediately before the present time)
Sampling value of stator current at kth moment
A difference of (i) that
Defining the current difference at the kth time (i.e. the time before the present time) in the synchronous rotating coordinate system
Equal to the predicted value of the stator current at the (k-1) th time (i.e., the time immediately before the previous time)
Sampling value of stator current at k-th moment
A difference of (i) that
S202: and determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model.
In this embodiment, after the stator current reference value, the current difference at the current moment, and the current difference at the previous moment are obtained, the predicted value of the stator voltage at the next moment may be determined according to the stator current reference value, the current difference at the current moment, the current difference at the previous moment, and a preset dead-beat prediction current model.
Specifically, a difference between the current difference at the present time and the current difference at the previous time may be calculated; then, a first coefficient may be determined based on the difference; then, a second coefficient may be determined according to the current difference at the present time and the first coefficient; and then, determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat prediction current model.
As an example, as shown in fig. 3, a difference between the current difference at the current time and the current difference at the previous time, that is, a current difference at a kth time (that is, the current time) under a synchronous rotating coordinate system may be calculated
Current difference from the (k-1) th time (i.e., the time immediately before the present time)
Is Δ, i.e.
Then, the stator voltage applied to the (k-1) th time (i.e., the time immediately before the present time) and the (k-2) th time (i.e., the time immediately before the present time) in the synchronous rotation coordinate system can be calculated based on the difference Δ and the stator voltage applied to the synchronous rotation coordinate system
And
the first coefficient K1 is determined, for example, K1 may be determined by the following formula:
wherein the content of the first and second substances,
for stators acting at (k-1) th time under a synchronous rotating coordinate systemThe voltage is applied to the surface of the substrate,
is the stator voltage applied at the (k-2) th time under the synchronous rotating coordinate system. Then, the current difference according to the current moment
The first coefficient K1 and the stator voltage acting at the (K-1) th time under the synchronous rotation coordinate system
The second coefficient K2 is determined, for example, K2 may be determined by the following formula:
wherein the content of the first and second substances,
the stator voltage applied at the (k-1) th time under the synchronous rotating coordinate system,
is the current difference at the kth time (i.e. the current time) in the synchronous rotating coordinate system. Then, the stator current reference value in the synchronous rotation coordinate system is used 
The first coefficient k1 and the second coefficient k2 are input into the preset dead-beat prediction current model to determine the predicted value of the stator voltage at the next moment
Specifically, the preset dead-beat prediction current model is as follows:
wherein the content of the first and second substances,
a predicted value of the stator current at the (k +1) time predicted at the k time;
a stator current sampling value at the moment k;
a stator voltage sampling value acting at the moment k; psirIs a rotor flux linkage; rsIs a stator resistor; rrIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; t is a unit ofscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
S203: and determining a stator voltage reference value according to the predicted stator voltage value.
In this embodiment, after the predicted value of the stator voltage is obtained, the reference value of the stator voltage may be determined according to the predicted value of the stator voltage. Specifically, the predicted stator voltage value may be subjected to coordinate transformation according to rotor flux linkage position information to obtain a stator voltage reference value.
As an example, as shown in FIG. 3, the predicted value of the stator voltage may be predicted based on the rotor flux linkage position information θ
Coordinate transformation is carried out to obtain a voltage reference value under a static coordinate system 
S204: and determining the driving signal of each switching tube in the inverter according to the stator voltage reference value.
After the stator voltage reference value is determined, the drive signal of each switching tube in the inverter can be determined according to the stator voltage reference value. Specifically, the stator voltage reference value may be PWM-modulated to obtain a driving signal of each switching tube in the inverter.
As an example, as shown in FIG. 3, based on the stator voltage reference value
And constructing a driving signal of each switching tube of the inverter by using space vector modulation (SVPWM), so that the driving signal of each switching tube is subjected to a driving circuit to obtain a final driving signal of a plurality of switching tubes of the inverter.
As can be seen from the above description, one or more embodiments of the present disclosure provide a current difference-based dead-beat prediction current control method for an asynchronous motor, which may first obtain a stator current reference value of the asynchronous motor, a current difference at a current time, and a current difference at a previous time; then, determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat prediction current model; then, according to the predicted value of the stator voltage, a reference value of the stator voltage is determined; then, according to the stator voltage reference value, the driving signal of each switching tube in the inverter is determined. In this way, in the embodiment, the driving signals of each switching tube in the inverter are calculated by using a current difference-based robust dead-beat prediction current control algorithm through a preset dead-beat prediction current model, so that wrong motor parameters can be compensated, the robustness is enhanced, and further, the motor can have good dynamic performance and steady-state performance no matter the acquired parameters are accurate or the parameters are inaccurate; in addition, the embodiment has low requirement on the data sampling frequency, can realize a good control effect under a lower sampling frequency, and solves the problem that the traditional current differential model-free control method is limited by a hardware platform.
The effectiveness of the method of the present invention can be obtained by comparing the experimental results shown in fig. 4 and 5 with those shown in fig. 6 and 7. Fig. 4 is an experimental result of a motor with a rated load when the traditional asynchronous motor is operated at 1500rpm when the dead-beat prediction current is controlled at a sampling rate of 10kHz and the parameters are accurate, and fig. 5 is an experimental result of the method of the present invention at a sampling rate of 10kHz under the same conditions. In fig. 4 and 5, waveforms of the rotation speed, the shaft current and the motor stator terminal a-phase current are sequentially shown from top to bottom. From the comparison between fig. 4 and fig. 5, it can be found that, in the case of accurate parameters, when the sampling rate of the method of the present invention is equal to that of the conventional scheme, the steady-state effect is very close. Fig. 6 and 7 show experimental results of the motor when parameters are inaccurate at a sampling rate of 10kHz (showing that all motor parameters are accurate values, showing that stator resistance becomes 2 times accurate values, showing that rotor resistance becomes 2 times accurate values, showing that stator inductance, rotor inductance and mutual inductance of the motor become 2 times accurate values, and showing that all motor parameters become 2 times accurate), fig. 6 corresponds to an experimental result of conventional asynchronous motor dead-beat prediction current control, and fig. 7 corresponds to an experimental result of the method in the present invention. As can be seen from fig. 6 and 7, when the motor parameter changes, the conventional scheme has current bias and the current contains a large amount of harmonics; the method described in the present invention enables a good tracking of a given current and a smoother current.
Corresponding to the above described asynchronous motor dead-beat prediction current control method based on current difference, an embodiment of the present invention provides an asynchronous motor dead-beat prediction current control apparatus based on current difference, which has a structure shown in fig. 8 and includes:
an obtaining unit 801, configured to obtain a stator current reference value of an asynchronous motor, a current difference at a current moment, and a current difference at a previous moment;
a first determining unit 802, configured to determine a predicted value of a stator voltage at a next time according to the stator current reference value, the current difference at the current time, the current difference at the previous time, and a preset dead-beat prediction current model;
a second determining unit 803, configured to determine a stator voltage reference value according to the predicted stator voltage value;
a third determining unit 804, configured to determine a driving signal of each switching tube in the inverter according to the stator voltage reference value.
Optionally, the obtaining unit 801 is specifically configured to:
calculating q-axis current of the asynchronous motor;
acquiring preset d-axis current of the asynchronous motor;
and determining the stator current reference value according to the q-axis current and the preset d-axis current.
Optionally, the obtaining unit 801 is specifically configured to:
obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment;
taking the difference value between the predicted stator current value at the k-1 th moment and the sampled stator current value at the k-1 th moment as the current difference at the k-th moment;
and the kth moment is the current moment or the previous moment.
Optionally, the first determining unit 802 is specifically configured to:
calculating the difference value of the current difference at the current moment and the current difference at the previous moment;
determining a first coefficient based on the difference;
determining a second coefficient according to the current difference at the current moment and the first coefficient;
and determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat prediction current model.
Optionally, the preset dead-beat prediction current model is as follows:
wherein the content of the first and second substances,
a predicted value of the stator current at the (k +1) time predicted at the k time;
a stator current sampling value at the moment k;
a stator voltage sampling value acting at the moment k; psirIs a rotor flux linkage; rsIs a stator resistor; r rIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; t isscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
Optionally, the second determining unit 803 is specifically configured to:
and carrying out coordinate transformation on the predicted value of the stator voltage according to the rotor flux linkage position information to obtain a stator voltage reference value.
Optionally, the third determining unit 804 is specifically configured to:
and performing PWM modulation on the stator voltage reference value to obtain a driving signal of each switching tube in 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 involved in 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 executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and is 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 in the foregoing embodiment is used for implementing 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 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 within the device (not shown) or may be external to the device to provide corresponding functionality. 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).
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, including both permanent and non-permanent, removable and non-removable media, for storing information may be implemented in 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 Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which 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; 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 the 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 within the provided figures for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the description. 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 will 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 thereof will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the embodiments discussed.
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 (6)
1. The asynchronous motor dead beat prediction current control method based on the current difference is characterized by comprising the following steps:
acquiring a stator current reference value of an asynchronous motor, a current difference at the current moment and a current difference at the previous moment;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model;
determining a stator voltage reference value according to the predicted stator voltage value;
determining a driving signal of each switching tube in the inverter according to the stator voltage reference value;
the method for acquiring the stator current reference value of the asynchronous motor comprises the following steps:
calculating q-axis current of the asynchronous motor;
acquiring preset d-axis current of the asynchronous motor;
Determining the stator current reference value according to the q-axis current and the preset d-axis current;
the method for obtaining the current difference at the kth time comprises the following steps:
obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment;
taking the difference value between the predicted stator current value at the k-1 moment and the sampled stator current value at the k moment as the current difference at the k moment;
wherein the kth moment is the current moment or the previous moment;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model, wherein the method comprises the following steps:
calculating the difference value of the current difference at the current moment and the current difference at the previous moment;
on the basis of this difference, a first coefficient K1 is determined,
wherein, the first and the second end of the pipe are connected with each other,
the stator voltage applied at the k-1 th moment in the synchronous rotating coordinate system,
the stator voltage acting at the kth-2 th moment under the synchronous rotating coordinate system;
current difference according to the current moment
And the first coefficient K1, determining a second coefficient K2,
wherein the content of the first and second substances,
the stator voltage applied at the k-1 th moment in the synchronous rotating coordinate system, 
The current difference at the kth moment under the synchronous rotation coordinate system is obtained;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat prediction current model;
the preset dead-beat prediction current model is as follows:
wherein the content of the first and second substances,
the predicted value of the stator current at the k +1 moment predicted at the k moment;
a stator current sampling value at the moment k;
acting at time kThe stator voltage sample value of (1);
predicting the stator voltage predicted value at the k +1 moment predicted at the k moment; psirIs a rotor flux linkage; rsIs a stator resistor; rrIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; omegarThe motor rotor speed; t isscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
2. The current differential-based dead-beat predictive current control method for an asynchronous motor according to claim 1, wherein said determining a stator voltage reference value based on said predicted stator voltage value comprises:
and carrying out coordinate transformation on the predicted value of the stator voltage according to the rotor flux linkage position information to obtain a stator voltage reference value.
3. The asynchronous motor dead-beat prediction current control method based on the current difference as recited in claim 1, wherein the determining the driving signals of each switching tube in the inverter according to the stator voltage reference value comprises:
and PWM modulation is carried out on the stator voltage reference value to obtain driving signals of each switching tube in the inverter.
4. Asynchronous machine dead beat prediction current control device based on current difference, characterized in that the device includes:
the acquisition unit is used for acquiring a stator current reference value of the asynchronous motor, a current difference at the current moment and a current difference at the previous moment;
the first determining unit is used for determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model;
the second determining unit is used for determining a stator voltage reference value according to the predicted stator voltage value;
the third determining unit is used for determining a driving signal of each switching tube in the inverter according to the stator voltage reference value;
the method for obtaining the stator current reference value of the asynchronous motor comprises the following steps:
Calculating q-axis current of the asynchronous motor;
acquiring preset d-axis current of the asynchronous motor;
determining the stator current reference value according to the q-axis current and the preset d-axis current;
the method for obtaining the current difference at the kth time comprises the following steps:
obtaining a stator current sampling value at the kth moment and a stator current predicted value at the kth-1 moment;
taking the difference value between the predicted stator current value at the k-1 th moment and the sampled stator current value at the k-1 th moment as the current difference at the k-th moment;
wherein the kth moment is the current moment or the previous moment;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the current difference at the current moment, the current difference at the previous moment and a preset dead-beat predicted current model, wherein the method comprises the following steps:
calculating the difference value of the current difference at the current moment and the current difference at the previous moment;
on the basis of this difference, a first coefficient K1 is determined,
wherein the content of the first and second substances,
to rotate the coordinate system in synchronismThe stator voltage applied at the next time instant k-1,
the stator voltage acting at the kth-2 th moment under the synchronous rotating coordinate system;
current difference according to the current moment 
And the first coefficient K1, determining a second coefficient K2,
wherein, the first and the second end of the pipe are connected with each other,
for the stator voltage acting at the time k-1 under the synchronous rotating coordinate system,
the current difference at the kth moment under the synchronous rotation coordinate system is obtained;
determining a predicted value of the stator voltage at the next moment according to the reference value of the stator current, the first coefficient, the second coefficient and the preset dead-beat predicted current model;
the preset dead-beat prediction current model comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
the predicted value of the stator current at the k +1 moment predicted at the k moment;
a stator current sampling value at the moment k;
a stator voltage sampling value acting at the moment k;
stator voltage prediction value at time k +1 predicted for time k, psirIs a rotor flux linkage; rsIs a stator resistor; rrIs the rotor resistance; l issIs a stator inductance; l isrIs a rotor inductance; l ismIs mutual inductance; omegaeThe synchronous rotating speed of the motor is obtained; omegarThe motor rotor speed; t isscIs a sampling period;
ψrall are vectors in a synchronous rotating coordinate system.
5. 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 current differential based dead-beat predictive current control method according to any one of claims 1 to 3 when executing the program.
6. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the current differential based dead-beat predictive current control method according to any one of claims 1 to 3.
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