CN112491318B - Permanent magnet synchronous motor system predicted torque control method - Google Patents
Permanent magnet synchronous motor system predicted torque control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
Abstract
The invention discloses a control method for predicting torque of a permanent magnet synchronous motor system, which comprises the following steps: 1) Sampling basic data of the motor at the moment k; 2) Calculating to obtain a predicted value of motor torque, a predicted value of stator flux amplitude, a predicted value of stator flux d-axis component and a predicted value of stator flux q-axis component by adopting a formula calculation method according to basic data of the motor; 3) Calculating to obtain a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method according to basic data of a motor; 4) Through the compensation and correction of the obtained data, an alpha axis component of the controlled variable voltage and a beta axis component of the controlled variable voltage at the moment of k +1 are obtained; 5) SVPWM modulates and outputs the reference voltage. The dynamic and stable state performance of the permanent magnet synchronous motor control system in the high-speed area under the low control frequency can be greatly improved through the invention.
Description
Technical Field
The invention relates to a permanent magnet synchronous motor. In particular to a control method for predicting torque under high-speed and low-control frequency of a permanent magnet synchronous motor system.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the advantages of small volume, light weight, high power density, strong torque output capability, high reliability and the like, and is widely applied to the fields of ships, aerospace, railway transportation, electric automobiles, robot control and the like. The permanent magnet synchronous motor is a multivariable nonlinear system with complex internal electromagnetic relation, and the performance of the permanent magnet synchronous motor is closely related to the control strategy of the motor. With the development of computer technology and digital signal processors, modern control algorithms are applied to PMSM control systems to solve complex dead reckoning problems. Among them, model Predictive Torque Control (MPTC) is receiving more and more attention in the field of permanent magnet synchronous motor Control due to its advantages of flexible Control, good dynamic performance, and easy consideration of nonlinear constraints.
When the motor runs in a high-speed area, the motor is limited by the switching frequency of the inverter, the ratio of the control frequency to the running frequency of the motor is small, the rotor position changes greatly in control delay, the influence on the performance of a control system under an original motor discrete model is large, the phenomena of current loop instability, static difference existing in torque following and the like can occur, and the motor stops working due to the instability of the performance of a controller, the working efficiency is reduced, the dynamic performance is poor and the like.
Disclosure of Invention
Aiming at the prior art, the invention provides a permanent magnet synchronous motor system predicted torque control method which can greatly improve the dynamic and steady state performance of a permanent magnet synchronous motor control system in a high-speed region under low control frequency.
In order to solve the technical problem, the invention provides a method for controlling a predicted torque of a permanent magnet synchronous motor system, which mainly comprises the following steps:
step one, sampling basic data of a motor at a moment k;
calculating a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component by adopting a formula calculation method according to basic data of the motor;
calculating to obtain a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method according to basic data of the motor;
step four, obtaining an alpha axis component of the controlled variable voltage and a beta axis component of the controlled variable voltage at the moment of k +1 through compensation and correction of the obtained data;
and step five, SVPWM modulation and output of reference voltage are carried out, so that the permanent magnet synchronous motor system prediction torque control in a high-speed area under low control frequency is realized.
Further, the method for controlling the predicted torque of the permanent magnet synchronous motor system of the present invention comprises:
step one, at the moment k, the contents of sampling basic data of the motor are as follows: and at the moment k, sampling the angular speed of the motor rotor, the position angle of the rotor, the voltage of a direct-current bus, the three-phase current of the motor ABC and the duty ratio information of the three-phase upper bridge arm of the inverter.
The contents of a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component which are calculated according to basic data of a motor by adopting a formula calculation method comprise the following steps: according to the ABC three-phase current of the motor and the rotor position angle sampling value, the d-axis component and the q-axis component of the actual current of the motor at the moment k are solvedA component; calculating to obtain a d-axis component, a q-axis component and a load angle of a stator flux linkage at the moment k according to known motor parameters and the d-axis component and the q-axis component of the actual current of the motor at the moment k; obtaining M of the stator flux linkage at the moment k according to the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k 0 Axial component sum T 0 An axial component; according to the duty ratio and the rotor position angle of the three-phase upper bridge arm of the inverter obtained by sampling at the moment k, calculating to obtain the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k, and obtaining the M of the motor side voltage at the moment k 0 Axial component sum T 0 An axial component; m of stator flux linkage according to time k 0 Axial component sum T 0 M of axial component and motor side voltage 0 Axial component sum T 0 And when the shaft component and the angular speed of the motor rotor are used for obtaining the k +1 moment, the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component are obtained by adopting a formula calculation method.
The method comprises the following steps of calculating and obtaining the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component according to basic data of the motor by adopting a power conservation method, wherein the contents of the predicted values comprise: enabling a d-axis component and a q-axis component of the stator current and a d-axis component and a q-axis component of the stator voltage at the moment k to pass through a first-order low-pass filter to obtain the d-axis component and the q-axis component of the stator current and the d-axis component and the q-axis component of the stator voltage at the moment k after filtering; according to the d-axis component and the q-axis component of the filtered stator current at the k moment, the tube voltage drop of the transistor and the rotor position angle, obtaining a d-axis component and a q-axis component of the compensated stator voltage at the k moment; and obtaining a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method at the time of k +1 according to the d-axis component and the q-axis component of the filtered stator current at the time of k and the compensated stator voltage d-axis component and the q-axis component.
The fourth step of obtaining the contents of the alpha axis component and the beta axis component of the control variable voltage at the k +1 moment through the compensation and the correction of the obtained data comprises the following steps: according to the moment k +1, two sets of data which respectively comprise a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component are calculated by adopting a formula calculation and a power conservation method, and a predicted value of motor torque, a predicted value of compensated stator flux linkage d-axis component, a predicted value of compensated stator flux linkage q-axis component, a compensated stator flux linkage amplitude and a compensated load angle at the moment k +1 are obtained; obtaining a modulation degree at the moment k according to a d-axis component and a q-axis component of the stator flux linkage at the moment k and the direct-current bus voltage; at the moment k, looking up a table to obtain a stator flux linkage set value according to the motor rotor angular speed, the motor torque set value and the used motor table; meanwhile, according to the torque set value, the flux linkage set value and the modulation degree at the moment k, the predicted value of the motor torque at the moment k +1 after compensation and the amplitude of the stator flux linkage after compensation, the corrected torque set value and the corrected flux linkage set value at the moment k +1 are obtained; and calculating to obtain an alpha axis component and a beta axis component of the control variable voltage at the k +1 moment according to the corrected torque set value, the corrected stator flux linkage set value, the angular speed of the motor rotor at the k moment, the rotor position angle, the direct-current bus voltage, the compensated predicted value of the motor torque at the k +1 moment and the compensated load angle.
The fifth step of SVPWM modulation and output of reference voltage is as follows: the method comprises the steps that a traditional seven-segment two-level SVPWM modulation strategy is adopted, duty ratios of six paths of PWM pulses for driving a six-bridge arm inverter are calculated according to an alpha axis component and a beta axis component of a calculated control quantity voltage, the six paths of PWM pulses are output at a k +1 moment and act on the six-bridge arm inverter, and then corresponding reference voltages are actually output and act on a motor; and meanwhile, starting the next cycle at the moment of k +1, and repeating the steps from the first step to the fourth step to cycle.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention constructs a novel predicted torque control model suitable for the high-speed state operation of the permanent magnet synchronous motor, and establishes a differential equation on the basis of the model, so that the state of the motor in the high-speed operation can be more accurately described.
(2) According to the invention, through processes of solving differential equations, transforming coordinates and the like under the new model, switching signals of each bridge arm of the inverter when the motor runs at high speed are obtained, so that more accurate control quantity acts on the motor, and the control performance of a control system is improved.
(3) When the feedback value is obtained, the two calculation modes are firstly used for calculation respectively, and then the calculation modes are switched according to the error, so that the torque following error is effectively reduced, the dynamic performance of the system under the low switching frequency is improved, and the robustness of the control system is improved.
(4) The invention corrects the given value after the difference between the feedback value and the given value is processed by the PI controller, so that the given value of the control system is more accurate, the error is smaller, and the transient performance of the system is effectively improved.
Drawings
FIG. 1 is a control block diagram of the present invention;
FIG. 2-1 is an enlarged view of the left portion of FIG. 1;
FIG. 2-2 is an enlarged view of the right portion of FIG. 1;
FIG. 3 is a simulation diagram of the tracking behavior of the load torque and the feedback torque with respect to the given torque at steady operation at a high speed of 4500r/min, wherein (a) the simulation diagram of the tracking behavior in the conventional method and (b) the simulation diagram of the tracking behavior in the method of the present invention;
fig. 4 is a simulation diagram of the tracking condition of the feedback stator flux linkage and the given stator flux linkage, wherein (a) the simulation diagram of the tracking condition in the conventional method, and (b) the simulation diagram of the tracking condition in the method of the present invention.
Detailed Description
The method for predicting torque control at low control frequency in a high speed region of a permanent magnet synchronous motor system according to the present invention is described in detail below with reference to the embodiments and the accompanying drawings.
The block diagram of the predicted torque control system of the permanent magnet synchronous motor system in the high-speed area under the low control frequency is shown in the figure 1, the figure 2-1 and the figure 2-2; in the figure, LPF represents a low pass filter, and the motor speed and position information are obtained by an incremental encoder.
As shown in fig. 1, fig. 2-1 and fig. 2-2, the method for controlling the predicted torque of the permanent magnet synchronous motor system in the high-speed region under the low control frequency comprises the following specific processes:
1) At time k, the electrical angular velocity omega of the motor rotor e (k) Rotor position angle theta e (k) ABC three-phase current i of motor A (k)、i B (k) And i C (k) DC bus voltage U dc (k) And the duty ratio d of an ABC three-phase upper bridge arm of the inverter A (k)、d B (k) And d C (k) Sampling is carried out; wherein, the inner part k in the parentheses indicates k =1,2,3, 8230, at the k-th time.
2) According to the ABC three-phase current of the motor and the rotor position angle sampling value, the actual current d and q axis components of the motor at the moment k are solved, and the solving mode is as follows:
wherein i d (k) And i q (k) D-and q-axis components of the motor stator current at time k, C ABC/αβ Is a transformation matrix from ABC three-phase stationary coordinate system to alpha beta two-phase stationary coordinate system, C αβ/dq The specific expression of a transformation matrix from an alpha beta two-phase stationary coordinate system to a dq two-phase rotating coordinate system is as follows:
in the formula, p is the pole pair number of the motor.
3) According to known motor parameters and the actual current d and q axis components of the motor at the moment k, the d and q axis components and the load angle of the stator flux linkage at the moment k are obtained through calculation, and the expression is as follows:
on the basis, the formula for calculating the load angle at the available k time is as follows:
where δ (k) is the load angle at time k, # f Is a permanent magnet flux linkage of the motor, L d And L q The inductors of d and q axes of the motor are respectively.
4) Obtaining M of the stator flux linkage at the k moment according to the d and q axis components and the load angle of the stator flux linkage at the k moment 0 、T 0 The axis component, the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
rotating the coordinate system to M for two phases 0 -T 0 The transformation matrix of the coordinate system can be written in the form:
in the formula (I), the compound is shown in the specification,
for the moment k stator flux linkage M 0 、T 0 An axial component. (ii) a
5) Obtaining M of motor side voltage at the moment k according to the duty ratio, the rotor position angle and the load angle of the three-phase upper bridge arm of the inverter sampled at the moment k 0 、T 0 The axis component solving formula is as follows:
in the formula (I), the compound is shown in the specification,
m being motor side voltage at time k 0 、T 0 An axial component.
6) M of stator flux linkage according to time k 0 、T 0 M of axial component and motor side voltage 0 、T 0 When the shaft component and the angular speed of the motor rotor are obtained at the moment k +1, a formula calculation method is adopted to obtain a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component, and the calculation process is as follows:
in the formula, T e1 The (k + 1) is a predicted value of the motor torque obtained by the formula calculation method, and δ (k + 1) is a load angle at the time of k +1, and can be obtained by the following formula:
δ(k+1)＝δ(k)+Δδ(k) (10)
in the formula, Δ δ (k) is a change amount of the load angle at the time k, and is obtained by the following formula:
in the formula (I), the compound is shown in the specification,
motor stator flux linkage M at the moment of k +1 0 、T 0 A predicted value of the axis component, and can be obtained by the following formula:
on the basis, the predicted value of the stator flux linkage amplitude
Stator flux linkage d-axis component prediction value
Stator flux linkage q-axis component prediction value
The solving formula of (2) is as follows;
7) Enabling d and q axis components of the stator current and d and q axis components of the stator voltage at the moment k to pass through a first-order low-pass filter, and solving the filtered d and q axis components of the stator current and d and q axis components of the stator voltage at the moment k through the following formulas:
in the formula u d (k)、u q (k) The stator voltage d and q axis components at time k are shown.
8) According to the filtered stator voltage d and q axis components at the time k, the tube voltage drop of the transistor and the rotor position angle, the compensated stator voltage d and q axis components at the time k are obtained and calculated by the following formula:
u dq_av (k)＝u dqm_av (k)-u dq_deadtime (k) (15)
in the formula u dq_deadtime (k) D, q-axis components of the dead-zone pressure drop at time k, u dqm_av (k) The intermediate variable represents the average value of the d-axis component and the q-axis component of the filtered stator voltage in the kth control period, and the solving mode is as follows:
9) According to the d and q axis components of the filtered stator current at the time k and the compensated stator voltage d and q axis components, when the time k +1 is obtained, a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d axis component predicted value and a stator flux linkage q axis component predicted value which are obtained by a power conservation method are solved according to the following formulas:
wherein the content of the first and second substances,
in the formula, T e2 (k + 1) is a predicted value of motor torque obtained by a power conservation method at the time of k +1, omega m Is the mechanical angular velocity of the motor at time k.
Prediction value of stator flux linkage amplitude
Stator flux d-axis component prediction value
Stator flux linkage q-axis component prediction value
The solving formula of (2) is as follows:
10 The predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the d-axis component of the stator flux linkage and the predicted value of the q-axis component of the stator flux linkage, which are obtained by calculation according to the formula at the time of k +1 and calculation by a power conservation method, are respectively adopted, so that the predicted value of the motor torque, the predicted value of the d-axis component of the stator flux linkage, the predicted value of the q-axis component of the stator flux linkage, the amplitude of the stator flux linkage and the load angle after compensation at the time of k +1 are obtained and calculated according to the following formulas:
wherein, the first and the second end of the pipe are connected with each other,
in the formula (I), the compound is shown in the specification,
and
respectively a predicted value of the motor torque compensated at the moment of k +1, a predicted value of a d-axis component of the stator flux linkage compensated, a predicted value of a q-axis component of the stator flux linkage compensated, a magnitude of the stator flux linkage compensated and a load angle compensated,
is an intermediate variable which respectively represents the compensation values of torque at the moment k +1, stator d-axis flux linkage and stator q-axis flux linkage, the superscript pre represents a predicted value, the subscript com represents a compensation value, alpha is a filter parameter, T threshold Is the torque threshold.
11 According to the d and q axis components of the stator flux linkage at the time k and the direct-current bus voltage, the modulation degree at the time k is obtained by the following formula:
12 According to motor torqueThe given value of stator flux linkage is obtained by looking up the table of given value, rotor angular speed and motor e_ref 、ψ s_ref ；
13 According to the torque given value, the flux linkage given value, the predicted value of the compensated motor torque, the amplitude and the modulation degree of the compensated stator flux linkage, the corrected torque given value and the corrected flux linkage given value are calculated according to the following formulas:
wherein the content of the first and second substances,
wherein, T e_mref And psi s_mref Respectively a corrected torque set value and a corrected flux linkage set value, T e_mod (k + 1) and ψ s_mod (k + 1) is an intermediate variable representing the correction of the torque setpoint and the correction of the flux linkage setpoint at the moment k +1, respectively, the subscript mod representing the correction, β being the controller parameter, M threshold Is a modulation degree threshold.
14 According to the corrected torque set value, the corrected flux linkage set value, the angular speed of the motor rotor at the time k, the rotor position angle, the direct-current bus voltage, the compensated predicted value of the motor torque at the time k +1 and the compensated load angle, the alpha and beta axis components of the control quantity voltage at the time k +1 are calculated and obtained through the following formula:
in the formula (I), the compound is shown in the specification,
is the alpha and beta axis components of the stator voltage control quantity,
for intermediate variables, the following formula can be used.
In the formula u Mz 、u Tz For intermediate variables, we get the following formula:
15 A traditional seven-segment two-level SVPWM (space vector pulse width modulation) strategy is adopted, the duty ratios of six paths of PWM (pulse width modulation) pulses for driving the six-bridge-arm inverter are calculated according to the alpha and beta axis components of the calculated control quantity voltage, the six paths of PWM pulses are output at the moment of k +1 and act on the six-bridge-arm inverter, and then the corresponding reference voltage is actually output and acts on the motor; while repeating the above steps 1) to 14) at the time k + 1), thereby circulating.
Next, MATLAB/Simulink simulation software is adopted to simulate a traditional deadbeat model predicted torque control method and a permanent magnet synchronous motor system predicted torque control method provided by the invention, motor parameters and controller parameters adopted are shown in table 1, and steady-state operation characteristics of a control target under different rotating speed and torque working conditions are compared and analyzed, so that the beneficial effects of the invention are verified.
TABLE 1 simulation parameters
FIG. 3 is a simulation diagram of the tracking of the load torque and the feedback torque with the given torque at steady operation at a high speed of 4500r/min, where (a) the simulation diagram of the tracking in the conventional method and (b) the present inventionSimulation diagram of tracking situation under the method; in FIG. 3, T e_ref For a given torque, T e_fb For feedback of torque, T e Is the load torque.
FIG. 4 is a simulation diagram of the tracking behavior of the feedback stator flux linkage with a given stator flux linkage, wherein (a) the simulation diagram of the tracking behavior under the conventional method, and (b) the simulation diagram of the tracking behavior under the method of the present invention; in the context of figure 4, it is shown,
for a given stator flux linkage the flux linkage is,
to feed back the stator flux linkage.
In fig. 3 and 4, as can be seen from the comparison of (a) and (b), when the motor is in a high-speed region and the control frequency is relatively low, the tracking errors of the load torque and the feedback torque and the given torque, and the tracking errors of the feedback stator flux linkage and the given stator flux linkage are obviously reduced by adopting the method.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (7)
1. A method for controlling a predicted torque of a permanent magnet synchronous motor system is characterized by comprising the following steps:
step one, sampling basic data of a motor at a moment k;
calculating a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component by adopting a formula calculation method according to basic data of the motor;
calculating to obtain a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method according to basic data of the motor;
and step four, obtaining an alpha axis component of the controlled variable voltage and a beta axis component of the controlled variable voltage at the moment of k +1 through compensation and correction of the obtained data, wherein the content comprises the following steps:
the two sets of data obtained by calculating at the moment k +1 by adopting a formula and a power conservation method respectively comprise a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component, and according to the two sets of data, a predicted value of motor torque compensated at the moment k +1, a predicted value of compensated stator flux linkage d-axis component, a predicted value of compensated stator flux linkage q-axis component, a compensated stator flux linkage amplitude and a compensated load angle are obtained, wherein the calculation formula is as follows:
calculating by the formula:
in the formula (20), the reaction mixture is,
respectively predicting a stator flux linkage d-axis component value and a stator flux linkage q-axis component value;
in formula (21), formula (22), and formula (23):
the superscript pre represents the predicted value, the subscript com represents the compensation value, α is the filter parameter, T threshold Is a torque threshold;
the modulation degree at the k moment is obtained by the following formula:
u α (k)、u β (k) And U dc (k) The voltage of the direct current bus at the k moment is respectively an alpha axis component of the stator voltage at the k moment, a beta axis component of the stator voltage at the k moment and the direct current bus voltage at the k moment;
the corrected torque set value and the corrected flux linkage set value are calculated according to the following formulas:
in the formula (25), the reaction mixture,
in formulae (26) and (27), T e_mref And psi s_mref Respectively setting a corrected torque set value and a corrected flux linkage set value;
T e_mod (k + 1) and ψ s_mod (k + 1) is an intermediate variable which represents a correction amount of the torque set value at the time of k +1 and a correction amount of the flux linkage set value, respectively;
the subscript mod represents the correction, β is the controller parameter, M threshold Is a modulation threshold;
the α -axis component and the β -axis component of the stator voltage control amount at the time k +1 can be obtained by:
in the formula (28), the reaction mixture is,
an alpha axis component and a beta axis component of the stator voltage control amount,
as an intermediate variable, obtained by the following formula,
in the formula (25), u Mz 、u Tz Is an intermediate variable, obtained by the following formula:
obtaining a modulation degree at the moment k according to a d-axis component and a q-axis component of the stator flux linkage at the moment k and the direct-current bus voltage;
at the moment k, looking up a table to obtain a stator flux linkage set value according to the motor rotor angular speed, the motor torque set value and the used motor table;
meanwhile, according to the torque set value, the flux linkage set value and the modulation degree at the moment k, the predicted value of the motor torque at the moment k +1 after compensation and the amplitude of the stator flux linkage after compensation, the corrected torque set value and the corrected flux linkage set value at the moment k +1 are obtained;
calculating to obtain an alpha axis component and a beta axis component of the control quantity voltage at the k +1 moment according to the corrected torque set value, the corrected stator flux linkage set value, the motor rotor angular speed at the k moment, the rotor position angle, the direct current bus voltage, the predicted value of the motor torque compensated at the k +1 moment after compensation and the compensated load angle;
and step five, SVPWM modulates and outputs reference voltage, thereby realizing the predicted torque control of the permanent magnet synchronous motor system in the high-speed area and low control frequency.
2. The method for predicting torque control of a permanent magnet synchronous motor system according to claim 1, wherein the step one is to sample basic data of the motor at the time k as follows: and at the moment k, sampling the angular speed of the motor rotor, the position angle of the rotor, the voltage of a direct-current bus, the three-phase current of the motor ABC and the duty ratio information of the three-phase upper bridge arm of the inverter.
3. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 1, wherein the contents of the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component which are obtained by calculating according to the basic data of the motor by using a formula calculation method in the second step comprise:
according to the ABC three-phase current of the motor and the rotor position angle sampling value, solving d-axis components and q-axis components of the actual current of the motor at the moment k;
calculating to obtain a d-axis component, a q-axis component and a load angle of a stator flux linkage at the moment k according to known motor parameters and the d-axis component and the q-axis component of the actual current of the motor at the moment k;
obtaining M of the stator flux linkage at the moment k according to the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k 0 Axial component sum T 0 An axial component;
according to the duty ratio of the three-phase upper bridge arm of the inverter sampled at the moment k, the rotor position angle, the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k, and the M of the motor side voltage at the moment k 0 Axial component sum T 0 An axial component;
m of stator flux linkage according to time k 0 Axial component sum T 0 M of shaft component and motor side voltage 0 Axial component sum T 0 And when the shaft component and the angular speed of the motor rotor are obtained at the moment k +1, a formula calculation method is adopted to obtain a predicted value of the motor torque, a predicted value of the stator flux linkage amplitude, a predicted value of the stator flux linkage d-axis component and a predicted value of the stator flux linkage q-axis component.
4. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 1, wherein the third step of calculating the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component according to the basic data of the motor by using a power conservation method comprises the following steps:
enabling a d-axis component and a q-axis component of the stator current and a d-axis component and a q-axis component of the stator voltage at the moment k to pass through a first-order low-pass filter to obtain the d-axis component and the q-axis component of the stator current and the d-axis component and the q-axis component of the stator voltage at the moment k after filtering;
according to the d-axis component and the q-axis component of the filtered stator current at the k moment, the tube voltage drop of the transistor and the rotor position angle, obtaining a d-axis component and a q-axis component of the compensated stator voltage at the k moment;
and obtaining a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method at the time of k +1 according to the d-axis component and the q-axis component of the filtered stator current at the time of k and the compensated stator voltage d-axis component and the q-axis component.
5. The predicted torque control method of the permanent magnet synchronous motor system according to claim 1, wherein the content of the five-step SVPWM modulation and output reference voltage is: the method comprises the steps that a traditional seven-segment two-level SVPWM modulation strategy is adopted, duty ratios of six paths of PWM pulses for driving a six-bridge arm inverter are calculated according to an alpha axis component and a beta axis component of a calculated control quantity voltage, the six paths of PWM pulses are output at a k +1 moment and act on the six-bridge arm inverter, and then corresponding reference voltages are actually output and act on a motor; and meanwhile, starting the next cycle at the moment of k +1, and repeating the steps from the first step to the fourth step to circulate.
6. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 3, wherein in the second step:
the solving mode of the d-axis component and the q-axis component of the actual current of the motor at the moment k is as follows:
in the formula (1), i d (k) And i q (k) Are each kT s D-and q-axis components of the stator current of the time of day motor, i A (k)、i B (k) And i C (k) ABC three-phase current of motor at k moment ABC/αβ Is a transformation matrix from ABC three-phase stationary coordinate system to alpha beta two-phase stationary coordinate system, C αβ/dq The specific expression of a transformation matrix from an alpha beta two-phase stationary coordinate system to a dq two-phase rotating coordinate system is as follows:
in the formula (3), θ e (k) The rotor position angle at the moment k is shown, and p is the pole pair number of the motor;
the expression of the d-axis component and the q-axis component of the stator flux linkage at the moment k is as follows:
on the basis, the formula for calculating the load angle at the available k time is as follows:
in equations (3) and (4), δ (k) is the load angle at time k, ψ f Is a permanent magnet flux linkage of the motor, L d And L q The inductors of d and q axes of the motor are respectively;
stator flux linkage M at time k 0 、T 0 The calculation formula of the axis component is as follows:
in the formula (6), the reaction mixture is,
and
respectively stator flux linkage M 0 、T 0 An axial component;
rotating the coordinate system to M for two phases 0 -T 0 The transformation matrix of the coordinate system can be written in the form of:
in the formulae (6) and (7),
for the moment k stator flux linkage M 0 Axial component sum T 0 An axial component;
m of motor side voltage at time k 0 Axial component sum T 0 The solution formula for the axial components is as follows:
in the formula (d) A (k)、d B (k) And d C (k) Duty ratios and U of three-phase upper bridge arms of the inverters A, B and C, which are respectively obtained by sampling at the moment k dc (k) The resulting dc bus voltage is sampled for time k,
m being motor side voltage at time k 0 、T 0 An axial component;
at the moment k +1, the predicted value of the motor torque is obtained by adopting a formula calculation method, wherein the calculation formula is as follows:
in the formula (9), the reaction mixture is,
representing the stator flux linkage vector, T e1 (k + 1) is a predicted value of the motor torque obtained by the formula calculation method, and δ (k + 1) is a load angle at the time of k +1, and can be obtained by the following formula:
δ(k+1)＝δ(k)+Δδ(k) (10)
in equation (10), Δ δ (k) is a change amount of the load angle at the time k, and is obtained by the following equation:
in the formula (11), the reaction mixture is,
motor stator flux linkage M at the time of k +1 0 Axial component sum T 0 A predicted value of the axis component, and can be obtained by the following formula:
wherein, T s For the sampling period, on the basis of which the stator flux linkage amplitude is predicted
Stator flux linkage d-axis component prediction value
Stator flux linkage q-axis component prediction value
The solving formula of (2) is as follows;
in formula (13), ω e (k) The resulting rotor angular velocity is sampled for time k.
7. The predicted torque control method of the permanent magnet synchronous motor system according to claim 4, characterized in that in step three:
the d-axis component and the q-axis component of the stator voltage at time k can be solved by the following equations:
in the formula (14), u d (k)、u q (k) The d-axis component and the q-axis component of the stator voltage at the moment k are respectively; d A (k)、d B (k) And d C (k) The duty ratios of the three-phase upper bridge arms of the inverters A, B and C are respectively;
the d-axis component and the q-axis component of the stator voltage compensation value at the moment k can be calculated by the following formulas:
u dq_av (k)＝u dqm_av (k)-u dq_deadtime (k) (15)
in formula (15), u dq_deadtime (k) D-and q-components of the dead-zone pressure drop at time k, u dqm_av (k) And the intermediate variable represents the average value of the d-axis component and the q-axis component of the filtered stator voltage in the kth control period, and the solving mode is as follows:
wherein, T s Is a sampling period;
at the moment k +1, the solving formula of the predicted value of the motor torque calculated by the power conservation method is as follows:
wherein the content of the first and second substances,
in formulae (17) and (18), T e2 (k + 1) is a predicted value of motor torque, ω, obtained by the power conservation method at the time of k +1 m Mechanical angular velocity of the motor at time k, P m Is the mechanical power, and p is the number of pole pairs of the motor;
prediction value of stator flux linkage amplitude
Stator flux d-axis component prediction value
Stator flux linkage q-axis component prediction value
The solution formula of (c) is as follows:
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