CN112713831A - Model prediction-based voltage control method for three-phase four-switch inverter permanent magnet synchronous motor system - Google Patents
Model prediction-based voltage control method for three-phase four-switch inverter permanent magnet synchronous motor system Download PDFInfo
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- CN112713831A CN112713831A CN202011535563.2A CN202011535563A CN112713831A CN 112713831 A CN112713831 A CN 112713831A CN 202011535563 A CN202011535563 A CN 202011535563A CN 112713831 A CN112713831 A CN 112713831A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a voltage control method of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction, which eliminates the adjustment work of a weight factor in a cost function, reduces the control difficulty, and realizes the effective control of the DC side capacitor voltage balance while ensuring the stable operation of a motor. Firstly, obtaining an electromagnetic torque reference value by using a rotating speed PI regulator; then, obtaining a reference voltage vector according to the change of the load angle increment and a calculation formula of the reference voltage, and obtaining an alternative voltage vector according to the switching signal; and then, obtaining a predicted value of the upper and lower capacitance difference of the direct current side according to the prediction model, finally, constructing a target function, selecting a voltage vector which enables the target function value to be minimum, obtaining a switching signal corresponding to the applied voltage vector, and outputting the switching signal to act on the three-phase four-switch inverter so as to realize the control of the permanent magnet synchronous motor system. The invention realizes the stable operation of the three-phase four-switch inverter permanent magnet synchronous motor system under the condition of completely eliminating the weight factor in the cost function, and simultaneously realizes the effective suppression of the imbalance of the DC side capacitor voltage.
Description
Technical Field
The invention discloses a model prediction-based voltage control method for a three-phase four-switch inverter permanent magnet synchronous motor system, and belongs to the field of motor driving and control.
Background
In recent years, a permanent magnet synchronous motor has the advantages of high torque density, high efficiency, high reliability and the like, and is widely applied to high-power and high-performance application occasions such as motor cars, high-speed rails, aerospace and the like, but the adoption of an inverter in a permanent magnet synchronous motor control system driven by a voltage source inverter is a link which is easy to break down, the torque pulsation of the motor is large due to the failure of the inverter, the performance of the motor is seriously influenced, and the torque pulsation of the motor is also caused due to the unbalanced partial pressure of upper and lower capacitors on a direct current side, so that the stable operation of the motor is maintained, the reliability of the control system is improved, and the fault-tolerant control of the inverter is of great significance. In recent years, model predictive control has been widely used in three-phase four-switch fault-tolerant control because of its advantages of fast dynamic response and easy implementation. At present, most three-phase four-switch fault-tolerant strategies are prediction control over current, electromagnetic torque and magnetic flux linkage, and in the prediction control, in order to realize compensation for capacitor voltage unbalance, weighting factors need to be set in a value function, so that the control difficulty is greatly increased.
Therefore, the invention provides a voltage control method of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction, which avoids the adjustment work of weight coefficients and greatly reduces the control difficulty.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a voltage control method of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction.
The invention adopts the technical scheme that a voltage control method of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction comprises the following steps:
(1) obtaining an electromagnetic torque reference value by using a rotating speed PI regulator;
(2) obtaining a reference voltage vector according to the change of the load angle increment and a calculation formula of the reference voltage, and obtaining an alternative voltage vector according to the switching signal;
(3) forward Euler discrete processing is carried out on a voltage equation and a flux linkage equation under a two-phase synchronous rotating coordinate system, a permanent magnet synchronous motor stator current prediction model can be obtained, and the alternating-direct axis voltages under different switching signals are brought into the prediction model, so that a current prediction value at the next moment can be obtained;
(4) obtaining current flowing into upper and lower capacitors of a direct current bus according to kirchhoff current law, further obtaining a dynamic formula of voltage difference of the upper and lower capacitors, and discretizing the dynamic formula of the voltage difference of the upper and lower capacitors to obtain a prediction model of the voltage difference of the upper and lower capacitors;
(5) and substituting the reference voltage vector, the alternative voltage vectors corresponding to different switching signals and the predicted values of the voltage difference between the upper capacitor and the lower capacitor into a target function, calculating the corresponding function values, selecting the voltage vector which enables the target function value to be minimum, obtaining the switching signals corresponding to the applied voltage vectors, and outputting the switching signals to act on the three-phase four-switch inverter so as to control the permanent magnet synchronous motor system.
In the step (2), the reference voltage vector obtained according to the change of the load angle increment and the calculation formula of the reference voltage is:
in the formula: psirefReference flux linkage vector, ψ, of the α β axissActual flux linkage vector for the α β axis, R is stator winding resistance, UαFor the voltage component of the reference voltage vector on the alpha axis, UβIs the voltage component of the reference voltage vector on the beta axis, thetasDelta is the stator flux angle and delta is the load angle increment.
The current prediction model in the step (3) is as follows:
in the formula: i.e. id、iqBeing d-and q-axis components of the stator current, ud、uqD-and q-axis components, psi, of the stator voltage, respectivelyfIs a permanent magnet flux linkage, omegarIs the electrical angular velocity of the rotor, Ld、LqIs d-axis and q-axis inductance, RsIs stator resistance, TsIs a control cycle.
The prediction model of the voltage difference between the upper capacitor and the lower capacitor in the step (4) is as follows:
in the formula: u. ofc1，uc2The voltages of the upper and lower capacitors are respectively, and C is the capacitance value of the capacitor.
The objective function in the step (5) is as follows:
in the formula:
voltage components, u, of the reference voltage vector on the alpha and beta axes, respectivelyα、uβVoltage components of an alpha axis and a beta axis of the candidate voltage vector are respectively, and delta u is a predicted value of upper and lower capacitance difference.
Has the advantages that: the voltage control method of the three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction can overcome the defects of the existing control method, eliminates the adjustment work of weight factors, and greatly reduces the control difficulty.
Drawings
FIG. 1 is a block diagram of the overall process of the present invention.
FIG. 2 is a stator flux linkage incremental graph of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying figures 1-2 and the detailed description of the invention:
as shown in fig. 1, a method for controlling voltage of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction includes the following steps:
(1) obtaining an electromagnetic torque reference value by using a rotating speed PI regulator;
(2) obtaining a reference voltage vector according to the change of the load angle increment and a calculation formula of the reference voltage, and obtaining an alternative voltage vector according to the switching signal;
(3) carrying out forward Euler discrete processing on a voltage equation and a flux linkage equation under a two-phase synchronous rotating coordinate system to obtain a permanent magnet synchronous motor stator current prediction model, and substituting alternating-direct axis voltages under different switching signals into the prediction model to obtain a current prediction value at the next moment;
(4) obtaining current flowing into upper and lower capacitors of a direct current bus according to kirchhoff current law, further obtaining a dynamic formula of voltage difference of the upper and lower capacitors, and discretizing the dynamic formula of the voltage difference of the upper and lower capacitors to obtain a prediction model of the voltage difference of the upper and lower capacitors;
(5) and substituting the reference voltage vector, the alternative voltage vectors corresponding to different switching signals and the predicted values of the voltage difference between the upper capacitor and the lower capacitor into a target function, calculating the corresponding function values, selecting the voltage vector which enables the target function value to be minimum, obtaining the switching signals corresponding to the applied voltage vectors, and outputting the switching signals to act on the three-phase four-switch inverter so as to control the permanent magnet synchronous motor system.
The above steps are explained below:
step 1: obtaining an electromagnetic torque reference value by using a rotating speed PI regulator;
reference value n of the rotating speed*Difference e from actual speed nnInputting a rotational speed PI controller, and obtaining an electromagnetic torque reference value according to the formula (1)
Comprises the following steps:
in the formula: kpAnd KiRespectively, a proportional gain and an integral gain of the rotating speed PI regulator.
Step 2: obtaining a reference voltage vector according to the change of the load angle increment and a calculation formula of the reference voltage, and obtaining an alternative voltage vector according to the switching signal;
the quadrature axis and direct axis inductances of the non-salient pole permanent magnet synchronous motor are almost equal, and the electromagnetic torque when id is 0 for control is as follows:
in the formula: l issIs stator inductance (permanent magnet synchronous motor L)d＝Lq＝Ls) And δ is the load angle.
The amount of change in the electromagnetic torque can be obtained by differentiating equation (2):
in the formula: delta TeFor torque increments, Δ δ is the load angle increment.
With the control mode of id ═ 0, the reference flux linkage amplitude can be calculated from the reference torque value:
from equation (3), the torque increment Δ T can be derivedeAnd load angle increment Δ δ in a linear relationship:
the load angle increment Δ δ can be obtained from equation (5).
According to the stator flux linkage increment diagram of fig. 2, a stator reference voltage vector can be calculated by utilizing the component of flux linkage on the α β axis:
the reference voltage vector can be obtained from equation (6):
and step 3: carrying out forward Euler discrete processing on a voltage equation and a flux linkage equation under a two-phase synchronous rotating coordinate system to obtain a permanent magnet synchronous motor stator current prediction model, and substituting alternating-direct axis voltages under different switching signals into the prediction model to obtain a current prediction value at the next moment;
under a two-phase rotating coordinate system, the voltage equation of the permanent magnet synchronous motor is
The flux linkage equation is:
in the formula ud、uqD-axis and q-axis components of the stator voltage, respectively; i.e. id、iqD-axis and q-axis components of the stator current; psid、ψqD-axis and q-axis components of the stator flux linkage, respectively; omegarIs the rotor electrical angular velocity; l isd、LqD-axis and q-axis inductances.
The forward Euler method is adopted to carry out discrete processing on the formulas (8) and (9), so that a permanent magnet synchronous motor stator current prediction model can be obtained:
and 4, step 4: obtaining current flowing into upper and lower capacitors of a direct current bus according to kirchhoff current law, further obtaining a dynamic formula of voltage difference of the upper and lower capacitors, and discretizing the dynamic formula of the voltage difference of the upper and lower capacitors to obtain a prediction model of the voltage difference of the upper and lower capacitors;
the dynamic formula of the voltage difference of the upper and lower capacitors on the direct current side is as follows:
in the formula uc1And uc2Is the voltage of the upper and lower capacitors, ic1And ic2Is the current of the upper and lower capacitors.
Discretizing the formula (11) can obtain a prediction model of the upper and lower capacitance voltage difference:
and 5: and substituting the reference voltage vector, the alternative voltage vectors corresponding to different switching signals and the predicted values of the voltage difference between the upper capacitor and the lower capacitor into the objective function, and calculating corresponding function values.
The objective function is set as:
and selecting a voltage vector which enables the objective function value to be minimum, obtaining a switching signal corresponding to the applied voltage vector, and outputting the switching signal to act on the three-phase four-switch inverter so as to realize control of the permanent magnet synchronous motor system.
The invention eliminates the influence of the weight coefficient, is simple and easy to realize, and is a control method capable of effectively improving the safety and reliability of the permanent magnet synchronous motor.
It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should be considered as within the scope of the present invention, and each component which is not explicitly described in the present embodiment can be implemented by using the prior art.
Claims (5)
1. A voltage control method of a three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction is characterized by comprising the following steps: the method comprises the following steps:
(1) obtaining an electromagnetic torque reference value by using a rotating speed PI regulator;
(2) obtaining a reference voltage vector according to the change of the load angle increment and a calculation formula of the reference voltage, and obtaining an alternative voltage vector according to the switching signal;
(3) carrying out forward Euler discrete processing on a voltage equation and a flux linkage equation under a two-phase synchronous rotating coordinate system to obtain a permanent magnet synchronous motor stator current prediction model, and substituting alternating-direct axis voltages under different switching signals into the prediction model to obtain a current prediction value at the next moment;
(4) obtaining current flowing into upper and lower capacitors of a direct current bus according to kirchhoff current law, further obtaining a dynamic formula of voltage difference of the upper and lower capacitors, and discretizing the dynamic formula of the voltage difference of the upper and lower capacitors to obtain a prediction model of the voltage difference of the upper and lower capacitors;
(5) and substituting the reference voltage vector, the alternative voltage vectors corresponding to different switching signals and the predicted values of the voltage difference between the upper capacitor and the lower capacitor into a target function, calculating the corresponding function values, selecting the voltage vector which enables the target function value to be minimum, obtaining the switching signals corresponding to the applied voltage vectors, and outputting the switching signals to act on the three-phase four-switch inverter so as to control the permanent magnet synchronous motor system.
2. The voltage control method of the three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction according to claim 1, characterized in that: in the step (2), the reference voltage vector obtained according to the change of the load angle increment and the calculation formula of the reference voltage is:
in the formula: psirefReference flux linkage vector, ψ, of the α β axissActual flux linkage vector for the α β axis, R is stator winding resistance, UαFor the voltage component of the reference voltage vector on the alpha axis, UβIs the voltage component of the reference voltage vector on the beta axis, thetasDelta is the stator flux angle and delta is the load angle increment.
3. The voltage control method of the three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction according to claim 1, characterized in that: the current prediction model in the step (3) is as follows:
in the formula: i.e. id、iqBeing d-and q-axis components of the stator current, ud、uqD-and q-axis components, psi, of the stator voltage, respectivelyfIs a permanent magnet flux linkage, omegarIs the electrical angular velocity of the rotor, Ld、LqIs d-axis and q-axis inductance, RsIs stator resistance, TsIs a control cycle.
4. The voltage control method of the three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction according to claim 1, characterized in that: the prediction model of the voltage difference between the upper capacitor and the lower capacitor in the step (4) is as follows:
in the formula: u. ofc1，uc2The voltages of the upper and lower capacitors are respectively, and C is the capacitance value of the capacitor.
5. The voltage control method of the three-phase four-switch inverter permanent magnet synchronous motor system based on model prediction according to claim 1, characterized in that: the objective function in the step (5) is as follows:
in the formula:
voltage components, u, of the reference voltage vector on the alpha and beta axes, respectivelyα、uβVoltage components of an alpha axis and a beta axis of the candidate voltage vector are respectively, and delta u is a predicted value of upper and lower capacitance difference.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113285634A (en) * | 2021-06-09 | 2021-08-20 | 哈尔滨工业大学 | Permanent magnet synchronous motor high-speed weak magnetic control method and system based on multi-step zero delay model prediction |
| CN113783490A (en) * | 2021-08-31 | 2021-12-10 | 西南交通大学 | Permanent magnet motor model prediction control method with fixed switching frequency |
| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113285634A (en) * | 2021-06-09 | 2021-08-20 | 哈尔滨工业大学 | Permanent magnet synchronous motor high-speed weak magnetic control method and system based on multi-step zero delay model prediction |
| CN113783490A (en) * | 2021-08-31 | 2021-12-10 | 西南交通大学 | Permanent magnet motor model prediction control method with fixed switching frequency |
| CN113783490B (en) * | 2021-08-31 | 2023-04-11 | 西南交通大学 | Permanent magnet motor model prediction control method with fixed switching frequency |
| CN114337430A (en) * | 2021-12-28 | 2022-04-12 | 徐州中矿大传动与自动化有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
| CN114337430B (en) * | 2021-12-28 | 2023-11-14 | 江苏国传电气有限公司 | Off-line identification method and device for stator resistance of high-power permanent magnet synchronous motor |
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