CN113098351B - Surface-mounted permanent magnet synchronous motor model prediction torque control method - Google Patents

Surface-mounted permanent magnet synchronous motor model prediction torque control method Download PDF

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CN113098351B
CN113098351B CN202110475809.XA CN202110475809A CN113098351B CN 113098351 B CN113098351 B CN 113098351B CN 202110475809 A CN202110475809 A CN 202110475809A CN 113098351 B CN113098351 B CN 113098351B
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torque
motor
permanent magnet
magnet synchronous
axis
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CN113098351A (en
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黄晓艳
刘子轩
李赵凯
俞东
史婷娜
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Zhejiang University ZJU
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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
    • 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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
    • 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
    • H02P2207/055—Surface mounted magnet motors

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  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a surface-mounted permanent magnet synchronous motor model prediction torque control method. In the real-time control process of the surface-mounted permanent magnet synchronous motor, performing prediction calculation to obtain the dynamic response time required by the actual electromagnetic torque to keep up with the torque reference value set by the preceding-stage controller; and judging whether a difference value exists between a torque reference value set by the preceding-stage controller and the actual electromagnetic torque of the motor according to the dynamic response time, further controlling according to a difference value result, controlling by generating an optimal space voltage vector in the dynamic process of the motor torque under the condition that the difference value exists, and acting the optimal space voltage vector on the motor, so that the electromagnetic torque of the motor can keep up with the torque reference value in the shortest time. The invention optimally designs the whole torque dynamic response process of the surface-mounted permanent magnet synchronous motor, optimizes the torque response performance of the motor, and has smaller total calculation amount and higher applicability.

Description

Surface-mounted permanent magnet synchronous motor model prediction torque control method
Technical Field
The invention relates to a motor predicted torque control method in the field of high-performance control of surface-mounted permanent magnet synchronous motors, and particularly provides a surface-mounted permanent magnet synchronous motor model predicted torque control method.
Background
The torque control dynamics of the motor is one of the important factors that measure the overall performance of the servo system. High performance torque control is usually achieved in combination with modern control methods either in field oriented control or direct torque control principles. The model prediction torque control has the advantages of excellent performance and simple principle, and is widely applied to the control of the permanent magnet synchronous motor. Most of the current literature for model-based predictive torque control focuses on reducing torque ripple and reducing the amount of predictive computation, and relatively few studies have been made on improving control dynamics.
Meanwhile, the dynamic process of the motor can last for a plurality of control cycles, the traditional single-step model torque prediction control can only optimize and improve the dynamic response performance in one control cycle, the improvement on the overall response performance is limited, the prediction domain of the multi-step model torque prediction control is influenced by the system computing performance, the whole dynamic response process is not optimized integrally, and the optimal capacity is achieved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide a surface-mounted permanent magnet synchronous motor d-q coordinate system, an alpha-beta coordinate system and a novel predicted rotation coordinate system: control method for achieving optimal dynamic performance by optimizing whole dynamic process of motor through discrete equation of ed-eq coordinate system
As shown in fig. 1, the technical solution of the present invention is as follows:
firstly, in the real-time control process of the surface-mounted permanent magnet synchronous motor, performing prediction calculation to obtain the dynamic response time required by the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor and the torque reference value set by the preceding-stage controller;
and then, judging whether a difference value exists between a torque reference value set by the preceding-stage controller and the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor or not according to the dynamic response time, further controlling according to a difference value result, controlling by generating an optimal space voltage vector in the motor torque dynamic process under the condition that the difference value exists, and applying the optimal space voltage vector to the motor through a space vector modulation technology so that the electromagnetic torque of the motor can keep up with the torque reference value in the shortest time.
The preceding stage controller of the invention is an outer ring closed-loop controller of a torque controller of a control system of a surface-mounted permanent magnet synchronous motor.
In the invention, the three-phase coordinate system is a static coordinate system formed by respectively taking the axes of A, B, C three-phase symmetrical stator windings of the surface-mounted permanent magnet synchronous motor as an a axis, a b axis and a c axis, the alpha-beta coordinate system is a static coordinate system obtained by converting the three-phase coordinate system of the surface-mounted permanent magnet synchronous motor into two phases through constant-phase amplitude, and the d-q coordinate system is a synchronous rotating coordinate system obtained by converting the alpha-beta coordinate system of the surface-mounted permanent magnet synchronous motor into a rotor flux linkage oriented into the d axis through rotation.
The method comprises the following specific processes:
(1) motor stator current i under three-phase coordinate system is obtained through three-phase current samplingα0、ib0、ic0，ia0、ib0、ic0Respectively representing the stator currents of the three phases a, b and c; obtaining rotor position theta by means of sensors mounted on the machine0Rotor speed ω; the motor stator current i under a three-phase coordinate systema0、ib0、ic0Obtaining a current component i under an alpha-beta coordinate system through three-phase to two-phase coordinate transformationα0、iβ0，iα0、iβ0Respectively representing the stator current of an alpha axis and the stator current of a beta axis under an alpha-beta coordinate system; then the stator currents of the alpha axis and the beta axis under the alpha-beta coordinate system are transformed through the rotating coordinate to obtain a current component i under the d-q coordinate systemd0、iq0，id0、iq0Respectively representing the stator current of the d axis and the q axis under a d-q coordinate system;
according to the respective stator current i of the q axis under the d-q coordinate systemq0Obtaining the electromagnetic torque T of the motor according to the following formulae0：
Figure GDA0003490806140000021
Wherein, P represents the pole pair number of the motor,
Figure GDA0003490806140000022
representing the rotor flux linkage of the electrical machine;
(2) and continuously predicting and calculating the dynamic response time T required by the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor and the torque reference value set by the preceding stage controller according to the following formula by an iteration method:
Figure GDA0003490806140000023
Figure GDA0003490806140000024
Figure GDA0003490806140000025
Figure GDA0003490806140000026
wherein the content of the first and second substances,
Figure GDA0003490806140000027
for the predicted electromagnetic torque calculated for the kth iteration,
Figure GDA0003490806140000028
for the predicted dynamic response time obtained by the kth iteration, R and L are respectively a stator resistance and a stator inductance; u shapelimIs the space voltage vector magnitude limit; f. of1() A function for calculating a predicted torque response after the predicted dynamic response time is ended, using the predicted dynamic response time and an initial state of the motor, which is a stator current i obtained at the present timeα0,β0And rotor position θ0，
Figure GDA0003490806140000029
A torque reference value representing a setting of a preceding stage controller; i.e. ied(0)、ieq(0) Representing the respective stator currents of an ed axis and an eq axis under the novel coordinate system at the current moment;
when in use
Figure GDA0003490806140000031
Then, the iteration is finished, and the dynamic response time T is taken as the predicted dynamic response time obtained by the last iteration
Figure GDA0003490806140000032
Namely, it is
Figure GDA0003490806140000033
Wherein epsilon is a preset precision parameter; otherwise, carrying out the next iteration;
(3) after obtaining the dynamic response time T, the following determination is made:
when T is<TsWhen, TsIf the control period is a preset control period, the motor is considered to be in a stable state, a torque reference value set by the preceding stage controller does not have a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and traditional deadbeat control is implemented;
when T is more than or equal to TsAnd then, considering that the motor is in a dynamic process, a torque reference value set by the preceding stage controller has a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and calculating the optimal space voltage vector phase theta according to the following formulaU：
Figure GDA0003490806140000034
Wherein θ (T) is the predicted rotor position of the new coordinate system;
then the optimal space voltage vector phase thetaUAnd the magnitude U of the optimal space voltage vectorlimAnd combining the two to form an optimal space voltage vector and applying the optimal space voltage vector to the surface-mounted permanent magnet synchronous motor.
Therefore, the optimal space voltage vector of the motor torque dynamic process is further obtained according to the dynamic response time and the rotor position information and the rotor speed information of the surface-mounted permanent magnet synchronous motor.
In the step (2), the new coordinate system is obtained by predicting the rotor position orientation, and the predicted rotor position is obtained by predicting the dynamic response time T and the rotor speed by using the following formula:
θ(T)＝ωT+θ0
where θ (T) is the predicted rotor position, ω represents the rotor speed, θ0Indicating the rotor position.
The ed axis of the new coordinate system is along the direction of the predicted rotor position, and the eq axis is obtained by advancing the ed axis by 90 electrical degrees.
In the iteration (2), the initial value of the response time is set according to the following formula:
ud＝-ωLiq0+Rid0
Figure GDA0003490806140000035
Figure GDA0003490806140000036
Figure GDA0003490806140000037
wherein:
Figure GDA0003490806140000038
is a torque reference value output by the preceding stage controller,
Figure GDA0003490806140000039
to input the initial value of the dynamic response time of the iterative algorithm,
Figure GDA00034908061400000310
indicating a reference value of torque
Figure GDA00034908061400000311
The current reference value of the corresponding q axis; u. ofdIndicating maintaining the current d-axis current id0Constant required d-axis voltage uqRepresents the maximum q-axis voltage that can be generated on the premise that the d-axis voltage is supplied, and sign () represents a sign function.
Amplitude of said optimum space voltage vectorValue UlimAnd taking the maximum voltage which can be output by the driver when the modulation ratio is 1, namely the space voltage vector amplitude limit.
The dynamic response optimization is carried out on the surface-mounted permanent magnet synchronous motor, a novel prediction coordinate system, namely an ed-eq coordinate system, is added in the dynamic response process, the current component under the ed-eq coordinate system is obtained, the orientation is carried out according to the rotor position theta (T) after the dynamic response time is over, the dynamic process of torque response optimization can be better realized, and the effect of dynamic performance of the motor is improved.
In the present invention, f1Indicating the maximum torque response that can be achieved after an arbitrarily set response time period for an arbitrarily set initial state of the motor. The meaning of iterating it is: and for the arbitrarily set initial state of the motor and the set torque reference value, the minimum response time required for reaching the set torque reference value is obtained.
The invention optimizes the whole dynamic process by model prediction calculation under the same level of total calculation amount of a single-step method through a discrete model of a surface-mounted permanent magnet synchronous motor in an alpha-beta coordinate system, thereby achieving the model prediction torque control method with optimal dynamic response. The method is different from the traditional multi-step method model prediction calculation for online prediction of a motor model, the total calculation amount of the method increases in a power-order expression along with the increase of a prediction domain, the method starts from the principle of motor torque response in an alpha-beta coordinate system, carries out offline planning on the form of torque response, and combines a d-q coordinate system and a current component in a novel ed-eq coordinate system to obtain the maximum torque response which can be reached from any set response time T to the response time and the mapping of a corresponding control method. In real-time control, the optimal space voltage vector is quickly obtained by performing inverse mapping through an iteration method, and acts on the motor through a space vector modulation technology, so that the whole dynamic process of the motor is ensured to be optimized integrally, and meanwhile, the method has less total calculation amount and stronger robustness.
The invention has the beneficial effects that:
the invention carries out integral optimization on the whole torque response process of the motor based on the principle of motor torque response under an alpha-beta coordinate system, so that the dynamic response performance of the motor is optimal. Meanwhile, the optimal space voltage vector can be obtained only by performing an iterative operation in real-time control, and the required calculated amount is greatly reduced compared with the multi-law model predictive control. The invention does not need complex signal processing, has simple structure, dynamically uses the proposed model to predict torque control through the judgment of the working condition of the motor, uses mature dead-beat current control in a steady state, and reduces the torque fluctuation of steady state operation.
The invention directly optimizes the whole torque dynamic response process of the surface-mounted permanent magnet synchronous motor, optimizes the torque response performance of the motor, and has smaller total calculation amount and higher applicability.
Drawings
FIG. 1 is a block diagram of the overall control of an electric motor embodying the present invention;
FIG. 2 is a space vector diagram of a novel ed-eq coordinate system used in the practice of the present invention;
FIG. 3 is a simulation verification diagram implementing the method of the present invention.
Detailed Description
The technical scheme of the invention is that the overall control block diagram is shown in figure 1 when the surface-mounted permanent magnet synchronous motor driven by a two-level three-phase inverter is applied.
The specific implementation process and conditions of the method of the invention are as follows:
(1) firstly, obtaining motor stator current i under a three-phase coordinate system through three-phase current samplinga0、ib0、ic0，ia0、ib0、ic0Respectively representing the stator currents of the three phases a, b and c; obtaining rotor position theta by means of sensors mounted on the machine0Rotor speed ω; the motor stator current i under a three-phase coordinate systema0、ib0、ic0Obtaining a current component i under an alpha-beta coordinate system through three-phase to two-phase coordinate transformationα0、iβ0，iα0、iβ0Respectively representing the stator current of an alpha axis and the stator current of a beta axis under an alpha-beta coordinate system; then respectively arranging stators of an alpha axis and a beta axis under an alpha-beta coordinate systemThe current is transformed by the rotating coordinate to obtain a current component i under a d-q coordinate systemd0、iq0，id0、iq0Respectively representing the stator current of the d axis and the q axis under a d-q coordinate system;
according to the respective stator current i of the q axis under the d-q coordinate systemq0Obtaining the electromagnetic torque T of the motor according to the following formulae0：
Figure GDA0003490806140000051
The single-step prediction is carried out through the voltage vector applied in the current control period and the motor state variables such as the current fed back by the sensor, the rotor position and the like. For a digital control system taking a microprocessor as a core, the PWM module refreshes and has a control period delay. And predicting the motor state of the next control period by adopting a d-q coordinate system discrete model of the label type permanent magnet synchronous motor according to the output voltage, the stator current and the rotor position of the current control period.
(2) The initial value of the response time is set according to the following formula:
ud＝-ωLiq0+Rid0
Figure GDA0003490806140000052
Figure GDA0003490806140000053
Figure GDA0003490806140000054
amplitude U of optimal space voltage vectorlimAnd taking the maximum voltage which can be output by the driver when the modulation ratio is 1, namely the space voltage vector amplitude limit.
(3) And continuously predicting and calculating the dynamic response time T required by the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor and the torque reference value set by the preceding stage controller according to the following formula by an iteration method:
Figure GDA0003490806140000061
Figure GDA0003490806140000062
Figure GDA0003490806140000063
Figure GDA0003490806140000064
the new coordinate system is obtained with the predicted rotor position orientation, as shown in FIG. 2, ied,eqThe current component in the new coordinate system oriented with the rotor position after the dynamic response process is finished. The predicted rotor position is predicted from the dynamic response time T and rotor speed using the following equation:
θ(T)＝ωT+θ0
then, judging:
when in use
Figure GDA0003490806140000065
Then, the iteration is finished, and the dynamic response time T is taken as the predicted dynamic response time obtained by the last iteration
Figure GDA0003490806140000066
Namely, it is
Figure GDA0003490806140000067
Wherein epsilon is a preset precision parameter; otherwise, carrying out the next iteration;
(3) after obtaining the dynamic response time T, the following determination is made:
when T is<TsWhen, TsIf the control period is a preset control period, the motor is considered to be in a stable state, a torque reference value set by the preceding stage controller does not have a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and traditional deadbeat control is implemented;
when T is more than or equal to TsAnd then, considering that the motor is in a dynamic process, a torque reference value set by the preceding stage controller has a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and calculating the optimal space voltage vector phase theta according to the following formulaU：
Figure GDA0003490806140000068
Then, the optimal space voltage vector phase theta is modulated by the space voltage vector modulation technologyUAnd the magnitude U of the optimal space voltage vectorlimAnd combining the two to form an optimal space voltage vector and applying the optimal space voltage vector to the surface-mounted permanent magnet synchronous motor.
The invention carries out integral optimization on the whole torque response process of the motor based on the principle of motor torque response under an alpha-beta coordinate system, so that the dynamic response performance of the motor is optimal. Meanwhile, the optimal space voltage vector can be obtained only by iteration operation in real-time control, and compared with multi-step model prediction control, the method greatly reduces the required calculation amount. The invention does not need complex signal processing, has simple structure, dynamically uses the proposed model to predict torque control through the judgment of the working condition of the motor, and improves the dynamic response performance of the torque to the maximum extent; and mature dead-beat current control is used in a steady state, so that torque fluctuation in steady state operation is reduced.
Description of specific application example
In order to verify the reliability of the method, a relevant simulation experiment is carried out. The parameters of the surface-mounted permanent magnet synchronous motor used as an example in the experiment are shown in table 1 below.
TABLE 1 Motor parameters
Type of electric machine SPMSM
Number of pole pairs 21
Stator resistor 0.13Ω
Magnetic linkage 0.0029Wb
Inductance 63μH
DC bus voltage 24V
Rated torque 2Nm
Rated speed of rotation 1500rpm
Fig. 3(a) is a torque response curve under the control of the method when the motor speed is the rated speed, and a corresponding current response curve. Compared with the torque response of the ordinary deadbeat control, the torque response under the control of the method is obviously improved, and the current building capability of the q-axis current is enhanced by the larger d-axis current.
FIG. 3(b) is the present method estimated torque response time, corresponding to the torque response curve, and the corresponding control voltage. It is known that the predicted torque response time of each control cycle is longer than that of the previous control cycleReduce TsAnd in the dynamic response process, the applied space voltage vector keeps the phase unchanged, and the amplitude is the maximum voltage which can be output by the inverter. Therefore, the method can predict the torque response time more accurately in real time, and the method can obviously enhance the torque response of the motor.

Claims (4)

1. A surface-mounted permanent magnet synchronous motor model prediction torque control method is characterized by comprising the following steps:
firstly, in the real-time control process of the surface-mounted permanent magnet synchronous motor, performing prediction calculation to obtain the dynamic response time required by the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor and the torque reference value set by the preceding-stage controller;
then, judging whether a torque reference value set by a preceding-stage controller and the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor have a difference value according to the dynamic response time, further controlling according to a difference value result, controlling by generating an optimal space voltage vector in the motor torque dynamic process under the condition that the difference value exists, and acting the optimal space voltage vector on the motor to enable the electromagnetic torque of the motor to follow the torque reference value in the shortest time;
the method comprises the following specific processes:
(1) motor stator current i under three-phase coordinate system is obtained through three-phase current samplinga0、ib0、ic0，ia0、ib0、ic0Respectively representing the stator currents of the three phases a, b and c; obtaining rotor position theta by means of sensors mounted on the machine0Rotor speed ω; the motor stator current i under a three-phase coordinate systema0、ib0、ic0Obtaining a current component i under an alpha-beta coordinate system through three-phase to two-phase coordinate transformationα0、iβ0，iα0、iβ0Respectively representing the stator current of an alpha axis and the stator current of a beta axis under an alpha-beta coordinate system; then the stator currents of the alpha axis and the beta axis under the alpha-beta coordinate system are transformed through the rotating coordinate to obtain a current component i under the d-q coordinate systemd0、iq0，id0、iq0Respectively under d-q coordinate systemStator currents for the d-axis and q-axis, respectively;
according to the respective stator current i of the q axis under the d-q coordinate systemq0Obtaining the electromagnetic torque T of the motor according to the following formulae0：
Figure FDA0003502031910000011
Wherein, P represents the pole pair number of the motor,
Figure FDA0003502031910000012
representing the rotor flux linkage of the electrical machine;
(2) and continuously predicting and calculating the dynamic response time T required by the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor and the torque reference value set by the preceding stage controller according to the following formula by an iteration method:
Figure FDA0003502031910000013
Figure FDA0003502031910000014
Figure FDA0003502031910000015
Figure FDA0003502031910000016
wherein the content of the first and second substances,
Figure FDA0003502031910000021
for the predicted electromagnetic torque calculated for the kth iteration,
Figure FDA0003502031910000022
for the predicted dynamic response time obtained by the kth iteration, R and L are respectively a stator resistance and a stator inductance; u shapelimIs the space voltage vector magnitude limit; f. of1() A function for calculating a predicted torque response after the predicted dynamic response time is ended, using the predicted dynamic response time and an initial state of the motor, which is a stator current i obtained at the present timeα0，β0And rotor position θ0，
Figure FDA0003502031910000023
A torque reference value representing a setting of a preceding stage controller; i.e. ied(0)、ieq(0) Representing the respective stator currents of an ed axis and an eq axis under the novel coordinate system at the current moment;
when in use
Figure FDA0003502031910000024
Then, the iteration is finished, and the dynamic response time T is taken as the predicted dynamic response time obtained by the last iteration
Figure FDA0003502031910000025
Namely, it is
Figure FDA0003502031910000026
Wherein epsilon is a preset precision parameter; otherwise, carrying out the next iteration;
(3) after obtaining the dynamic response time T, the following determination is made:
when T is less than TsWhen, TsIf the control period is the control period, the motor is considered to be in a steady state, the torque reference value set by the preceding stage controller does not have a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and the traditional deadbeat control is implemented;
when T is more than or equal to TsAnd then, considering that the motor is in a dynamic process, a torque reference value set by the preceding stage controller has a difference value with the actual electromagnetic torque of the surface-mounted permanent magnet synchronous motor, and calculating the optimal space voltage vector phase theta according to the following formulaU：
Figure FDA0003502031910000027
Wherein θ (T) is the predicted rotor position of the new coordinate system;
then the optimal space voltage vector phase thetaUAnd the magnitude U of the optimal space voltage vectorlimAnd combining the two to form an optimal space voltage vector and applying the optimal space voltage vector to the surface-mounted permanent magnet synchronous motor.
2. The model predicted torque control method of the surface-mounted permanent magnet synchronous motor according to claim 1, characterized in that: in the step (2), the new coordinate system is obtained by predicting the rotor position orientation, and the predicted rotor position is obtained by predicting the dynamic response time T and the rotor speed by using the following formula:
θ(T)＝ωT+θ0
where θ (T) is the predicted rotor position, ω represents the rotor speed, θ0Indicating rotor position and T dynamic response time.
3. The model predicted torque control method of the surface-mounted permanent magnet synchronous motor according to claim 1, characterized in that: in the iteration (2), the initial value of the response time is set according to the following formula:
ud＝-ωLiq0+Rid0
Figure FDA0003502031910000031
Figure FDA0003502031910000032
Figure FDA0003502031910000033
wherein:
Figure FDA0003502031910000034
is a torque reference value output by the preceding stage controller,
Figure FDA0003502031910000035
indicating a reference value of torque
Figure FDA0003502031910000036
The current reference value of the corresponding q axis; u. ofdIndicating maintaining the current d-axis current id0Constant required d-axis voltage uqRepresents the maximum q-axis voltage generated on the premise of providing d-axis voltage, sign () represents a sign function, omega represents the rotor speed, R and L are respectively the stator resistance and the stator inductance, P represents the pole pair number of the motor, iq0Representing stator current, U, of q-axis in d-q coordinate systemlimRepresents the magnitude of the optimal space voltage vector,
Figure FDA0003502031910000037
showing the rotor flux linkage of the motor.
4. The model predicted torque control method of the surface-mounted permanent magnet synchronous motor according to claim 1, characterized in that: the amplitude U of the optimal space voltage vectorlimAnd taking the maximum voltage which can be output by the driver when the modulation ratio is 1, namely the space voltage vector amplitude limit.
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CN103731084A (en) * 2014-01-10 2014-04-16 西北工业大学 Permanent magnet synchronous motor low inverter power consumption direct torque control method and device
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