CN113949320B - Induction motor prediction control driving method and system - Google Patents
Induction motor prediction control driving method and system Download PDFInfo
- Publication number
- CN113949320B CN113949320B CN202111265602.6A CN202111265602A CN113949320B CN 113949320 B CN113949320 B CN 113949320B CN 202111265602 A CN202111265602 A CN 202111265602A CN 113949320 B CN113949320 B CN 113949320B
- Authority
- CN
- China
- Prior art keywords
- motor
- flux linkage
- active power
- rotor flux
- reactive power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The invention provides a prediction control driving method and a system of an induction motor, which are used for acquiring the voltage, the current and the rotating speed of a motor end; calculating an observed value and a predicted value of a rotor flux linkage and a predicted value of a stator current according to the obtained motor state parameters; calculating the predicted values of the output active power and the output reactive power according to the predicted values of the rotor flux linkage and the stator current and the motor rotating speed; calculating and outputting reference values of active power and reactive power according to the reference value and the actual value of the rotating speed and the reference value and the actual value of the rotor flux linkage; constructing a cost function based on the output active power and the reactive power; determining a switching vector corresponding to the minimum cost function, and punching a corresponding switching vector in a frequency converter to realize motor control; the invention utilizes the advantage that the weight coefficient is not needed in the prediction current control to make up for the defect that the design of the weight coefficient of the prediction torque control is complex. Meanwhile, the advantage that the magnetic field orientation is not needed in the prediction torque control is utilized, and the defect that the prediction current control is easily influenced by the detection error of the magnetic field position angle is overcome.
Description
Technical Field
The invention belongs to the technical field of induction motor control, and particularly relates to a method and a system for predictive control driving of an induction motor.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The induction motor plays a great role in industrial production of deep sea resource exploitation, port machines, well drilling and the like, and the control problem is also a classic difficult problem in the field of power electronics.
At present, the classical induction motor control strategies include magnetic field directional control, direct torque control and the like. The magnetic field orientation control can realize decoupling control of torque and flux linkage by using a rotating coordinate system, the control difficulty is reduced, the steady-state performance is good, but the magnetic field position angle deviation can seriously influence the strategy control effect. The direct torque control directly controls flux linkage and torque by using a hysteresis system, and improves the dynamic response speed, but the strategy has the problems of large steady-state torque ripple and unfixed switching frequency. In order to improve the control effect, researchers also put forward various advanced control strategies such as impatience-free control, sliding mode control, model predictive control and the like, wherein the predictive control becomes a research hotspot due to the advantages of flexible design and high dynamic response speed.
Currently, predictive control strategies for induction machines mainly include predictive current control and predictive torque control. The predictive current control can effectively control the load current and has good dynamic response. Similar to the field orientation control, the control performance of this strategy is also affected by the accuracy of the rotor position angle detection. The predicted torque control strategy incorporates a proportional integral controller, steady state performance is superior to direct torque control, and torque dynamic response is faster. Since the control variable torque and flux linkage have different dimensions, a weight coefficient needs to be introduced into the cost function, however, the weight coefficient is usually very complicated to design.
Disclosure of Invention
The invention aims to solve the problems and provides a method and a system for predicting, controlling and driving an induction motor. Meanwhile, the advantage that the magnetic field orientation is not needed in the prediction torque control is utilized, and the defect that the prediction current control is easily influenced by the detection error of the magnetic field position angle is overcome.
According to some embodiments, the invention adopts the following technical scheme:
an induction motor predictive control driving method, comprising the steps of:
acquiring the terminal voltage, current and rotating speed of a motor;
calculating reference values and predicted values of output active power and reactive power according to the acquired motor state parameters;
constructing a cost function based on the reference value and the predicted value;
and determining a switching vector corresponding to the minimum cost function, and using the corresponding switching vector in the frequency converter to realize motor control.
As an alternative embodiment, according to the acquired motor state parameters, reference values of the stator current and the rotor flux linkage of the motor are respectively calculated, and predicted values of the stator current and the rotor flux linkage are calculated. The motor speed can also be obtained by observing motor state parameters.
As an alternative embodiment, the predicted value of the output active power of the motor is the product of the induced electromotive force on the rotor side and the stator current of the motor; or the product of the cross multiplication of the stator flux linkage and the stator current and the rotation speed and the correlation coefficient; or the product of the cross multiplication of the rotor flux linkage and the stator current and the rotation speed and the correlation coefficient; or the product of the cross product of the rotor flux linkage and the stator flux linkage and the rotation speed and the correlation coefficient.
As an alternative embodiment, the output active power reference value of the electric machine is the product of a reference value of the rotation speed and a reference value of the torque.
As an alternative embodiment, the cost function is a sum of squares of differences between predicted values of the active power and the reactive power output by the motor and corresponding reference values thereof, respectively.
An induction motor predictive control drive system comprising:
the state parameter acquisition module is configured to acquire the voltage, the current and the rotating speed of the motor terminal;
the variable calculation module is configured to calculate an observed value and a predicted value of the rotor flux linkage and a predicted value of the stator current according to the acquired motor state parameters;
the power prediction module is configured to calculate and output predicted values of active power and reactive power according to the obtained predicted values of the rotor flux linkage and the stator current and the motor rotating speed;
the reference generation module is configured to calculate reference values of output active power and reactive power according to the reference value and the actual value of the rotating speed and the reference value and the actual value of the flux linkage respectively;
a cost function calculation module configured to construct a cost function based on the output active power and reactive power reference values and the predicted values;
and the control module is configured to determine a switching vector corresponding to the minimum cost function, and use the corresponding switching vector in the frequency converter to realize motor control.
As an alternative embodiment, the motor control device further comprises a pi controller for obtaining a torque reference value and a reference value of the d-axis component of the stator current according to the difference between the motor speed and the actual value of the rotor flux linkage and the reference value.
A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor of a terminal device and to carry out the steps of the above-mentioned method.
A terminal device comprising a processor and a computer readable storage medium, the processor for implementing instructions; the computer readable storage medium is used for storing a plurality of instructions adapted to be loaded by a processor and to perform the steps of the above-described method.
An induction motor drive system comprising the steps of an induction motor predictive control drive system or using the method described above.
An induction motor comprises the drive system.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an induction motor prediction power control strategy, which combines the advantages of prediction current control and prediction torque control, can realize torque and flux linkage decoupling under a static coordinate system on the basis of not carrying out magnetic field positioning and rotating coordinate transformation, and avoids the influence of magnetic field positioning errors; meanwhile, the cost function does not need a weight coefficient, and the workload of weight coefficient adjustment is reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a topological diagram of an induction motor drive system in accordance with at least one embodiment of the present invention;
FIG. 2 is a block diagram of an induction motor predictive control drive system in accordance with at least one embodiment of the present disclosure;
fig. 3 is a flow chart of predictive power control in accordance with at least one embodiment of the present disclosure.
The specific implementation mode is as follows:
the invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention utilizes the advantage that the weight coefficient is not needed in the prediction current control to make up for the defect that the design of the weight coefficient of the prediction torque control is complex. Meanwhile, the advantage that the magnetic field orientation is not needed in the prediction torque control is utilized, and the defect that the prediction current control is easily influenced by the detection error of the magnetic field position angle is overcome. On the basis of the existing scheme, the invention finds the corresponding relation between the torque and the output active power and between the rotor flux linkage and the output reactive power by analyzing the essence of motor control theoretically, and provides a predictive power control strategy which takes the output active power and the reactive power as control targets and does not need a weight coefficient and a rotor position angle.
The invention selects the active power and the reactive power output by the induction motor as control targets to realize predictive power control. The cost function of the prediction power control of the induction motor is the active power P output by the motor e And reactive power Q e The predicted values are respectively compared with the reference values
The sum of the squares of the differences.
Namely, it is
Wherein, the active power of motor output is:
P e ＝e·i s ，
where e is the rotor side induced electromotive force, i s Is the motor stator current. Further, the equation can also be expressed as a product of the output torque and the rotational speed; or the product of the cross multiplication of the stator flux linkage and the stator current and the rotation speed and the correlation coefficient; or the product of the cross multiplication of the rotor flux linkage and the stator current and the rotation speed and the correlation coefficient; or the product of the cross product of the rotor flux linkage and the stator flux linkage and the rotating speed and the correlation coefficient, and the like. Namely:
P e ＝e·i s ＝T e ·ω m ＝C 1 ·ψ s ×i s ·ω＝C 2 ·ψ r ×i s ·ω＝C 3 ·ψ r ×ψ s ·ω，
wherein, T e To output torque, ω m Is the motor speed, omega is the electrical angular velocity of the motor, psi s 、ψ r Respectively a motor stator flux linkage and a rotor flux linkage, C 1 ～C 3 Is a coefficient related to a motor parameter. In addition, in the expression of the output active power, the reference value of the rotating speed can be used for replacing the actual value of the rotating speed, and the calculated amount is reduced. Namely:
wherein the content of the first and second substances,
is a reference value of the motor rotating speed, p is the pole pair number of the motor, L r Is the motor rotor inductance, L m The motor mutual inductance is used. />
The output reactive power corresponding to the active power output by the motor is as follows:
Q e ＝e×i s ＝C 1 ·ψ s ·i s ·ω＝C 2 ·ψ r ·i s ·ω＝C 3 ·ψ r ·ψ s ·ω，
in the expression of the output reactive power, the reference value of the rotation speed can be used to replace the actual value of the rotation speed, and the calculation amount can be reduced. Namely:
the reference value of the active power output by the motor is as follows:
wherein, T * Is a reference value of the torque output by the outer ring of the rotating speed,
is a reference value of the rotation speed.
The reference value of the output reactive power corresponding to the active power output by the motor is
Wherein, the first and the second end of the pipe are connected with each other,
for a reference value of the rotor flux linkage>
The reference value of the d-axis stator current output by the flux linkage outer ring, where the d-axis component is a scalar quantity, is used only to calculate the reactive power reference value, and the rotor field orientation is not required.
Of course, in other embodiments, the cost function has multiple expression forms, and a suitable cost function expression mode may be selected according to different working conditions.
That is, the actual cost function is:
among them, there are various methods for calculating P and Q.
The following description will be made in terms of specific embodiments.
As an application object, the topology of the induction motor driving system is shown in fig. 1, which sequentially includes a power grid or a generator, a rectifier, an inverter and an induction motor from left to right, fig. 2 is a control block diagram and a T-type equivalent circuit diagram of a controlled induction motor in this embodiment, where R is s 、R r Respectively, motor stator resistance and rotor resistance, L s 、L r Stator inductance and rotor inductance of the motor, L m The motor mutual inductance is used. The active power and the reactive power output by the motor are the active power and the reactive power in the actual motor corresponding to the frame part in the equivalent circuit.
The theoretical derivation process comprises the following steps:
the relationship between the rotation speed, the torque and the output active power of the motor can be deduced as follows:
according to the formula, the torque and the output active power have one-to-one correspondence, so that the purpose of controlling the torque and further controlling the rotating speed can be achieved by utilizing the output active power.
Based on the above equation, the expression of the back emf can be deduced as:
next, the relation between the output reactive power and the rotor flux linkage is deduced by using an expression of the back electromotive force, and it is proved that the method can realize the control of the torque and the rotor flux linkage by respectively controlling the active power and the reactive power.
Rotor voltage equation based on d-axis
Rotor field orientation psi rq And =0, the rotor current is expressed by the rotor flux and the stator current by using a rotor flux equation, and the above formula can be simplified as follows:
where s is a differential operator, the rotor flux linkage is controlled by the d-axis component of the stator current, which can be derived from this equation. Due to Q e ＝i s X e, wherein
The reactive power can thus be expressed in the rotating coordinate system as:
because the rotor flux linkage is controlled by the d-axis component of the stator current, the rotor flux linkage can be controlled by controlling the output reactive power under the condition of constant rotating speed. Because the vector psi r And i sd In the same direction, therefore ψ r ·i sd ＝ψ r ·i s Therefore, the calculation formula of the reactive power can be further simplified as follows:
in the cost function of practical realization, the active power P is output e And reactive power Q e Are predicted values and take into account delay compensationIn the case of both beats, i.e. the predicted values are two beats
And &>
The calculation method for outputting the active power predicted value comprises the following steps:
the output reactive power calculation method comprises the following steps:
wherein the content of the first and second substances,
for a prediction of the alpha, beta axis component of the rotor flux linkage>
And predicting the alpha and beta axis components of the stator current.
Thus, the actual cost function is:
as shown in fig. 3, the control flow includes:
1. and obtaining the stator current, the stator voltage and the motor rotating speed of the motor by using a sensor or an observer, and then calculating the stator flux linkage, the rotor flux linkage and the synchronous speed of the motor by using the values and motor parameters.
2. And predicting the stator flux linkage, the rotor flux linkage and the stator current of the motor by using the motor state value, and selecting different active power and reactive power calculation methods according to different working conditions so as to avoid the variable which is difficult to obtain or has large variation. And predicting the active power and the reactive power output by the motor by using an active power and reactive power calculation formula in combination with the predicted value.
3. And respectively subtracting the measured value and the reference value of the rotor flux linkage from the rotating speed of the motor, adding the difference value into a PI controller to obtain reference values of the d-axis components of the torque and the stator current, and obtaining the reference values of the active power and the reactive power output by the motor according to an active power and reactive power reference value formula by combining the rotating speed of the motor and the reference values of the rotor flux linkage.
4. And subtracting the predicted values of the active power and the reactive power output by the motor from the reference value to obtain a cost function. And selecting the switching vector which minimizes the cost function according to the cost function minimization principle.
5. And (4) punching a corresponding switch vector in the frequency converter to realize motor control.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A predictive control driving method of an induction motor is characterized in that: the method comprises the following steps:
acquiring the terminal voltage, current and rotating speed of a motor;
calculating and outputting reference values and predicted values of active power and reactive power according to the acquired motor state parameters; respectively calculating reference values of the stator current and the rotor flux linkage of the motor according to the acquired state parameters of the motor, and calculating predicted values of the stator current and the rotor flux linkage;
constructing a cost function, and calculating the cost function based on the reference value and the predicted value; the cost function is the sum of squares of differences between predicted values of active power and reactive power output by the motor and corresponding reference values respectively; the control of the rotating speed of the motor is realized by controlling the output active power, and the control of the rotor flux linkage is realized by controlling the output reactive power;
determining a switching vector corresponding to the minimum cost function as a final control quantity;
the relationship between the rotating speed, the torque and the output active power of the motor is used for deducing that:
wherein, P e Outputting active power for the motor; omega m The motor rotating speed; j is the rotational inertia of the motor;
the torque and the output active power have a one-to-one correspondence relationship, and the purpose of controlling the torque and further controlling the rotating speed is realized by utilizing the output active power;
based on the above equation, the expression for the back emf is derived as:
wherein L is m The motor mutual inductance is adopted; l is r Is a motor rotor inductance; omega is the electrical angular velocity of the motor; psi r A motor rotor flux linkage;
deducing the relation between the output reactive power and the rotor flux linkage by using an expression of the back electromotive force, and realizing the control of the torque and the rotor flux linkage by respectively controlling the active power and the reactive power;
rotor voltage equation based on d-axis
Wherein R is s Is a motor stator resistor;
rotor field orientation psi rq And =0, the rotor current is expressed by the rotor flux and the stator current by using a rotor flux equation, and the above formula can be simplified as follows:
wherein s is a differential operator, and the rotor flux linkage is controlled by the d-axis component of the stator current; l is a radical of an alcohol m The motor mutual inductance is adopted; due to Q e ＝i s X e, wherein
The reactive power can thus be expressed in the rotating coordinate system as:
wherein i s Is the motor stator current; l is m The motor mutual inductance is adopted; l is r Is a motor rotor inductance; omega is the electrical angular velocity of the motor;
because the rotor flux linkage is controlled by the d-axis component of the stator current, the rotor flux linkage can be controlled by controlling the output reactive power under the condition of constant rotating speed; because the vector psi r And i sd In the same direction, therefore ψ r ·i sd ＝ψ r ·i s Therefore, the calculation formula of the reactive power can be further simplified as follows:
in the cost function of practical realization, the active power P is output e And reactive power Q e Are all predicted values, and in the case of taking into account the delay compensation, are all two-beat predicted values, i.e.
And &>
The calculation method for outputting the active power predicted value comprises the following steps:
the output reactive power calculation method comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
for the predicted value of the alpha, beta axis component of the rotor flux linkage>
Predicting values of the alpha and beta axis components of the stator current; />
Is a reference value of the rotation speed;
thus, the actual cost function is:
wherein the content of the first and second substances,
is an active power reference value; />
As a reference value of reactive power。
2. The predictive control driving method of an induction motor according to claim 1, wherein: the motor speed is obtained by a measuring device.
3. The predictive control driving method of an induction motor according to claim 1, wherein: the motor rotating speed is obtained by observing the motor state.
4. The predictive control driving method of an induction motor according to claim 1, wherein: the predicted value of the output active power of the motor is the product of the induced electromotive force at the rotor side and the current of the stator of the motor; or the product of the cross multiplication of the stator flux linkage and the stator current and the rotation speed and the correlation coefficient; or the product of the rotor flux linkage and the stator current cross-multiplied with the rotating speed and the correlation coefficient; or the product of the cross product of the rotor flux linkage and the stator flux linkage and the rotation speed and the correlation coefficient.
5. The predictive control driving method of an induction motor according to claim 1, wherein: the output active power predicted value of the motor is the product of a reference value of the rotating speed, a reference value of the rotor flux linkage, a reference value of q-axis stator current output by the flux linkage outer ring, the pole pair number of the motor and a correlation coefficient.
6. The predictive control driving system of the induction motor is characterized in that: the method comprises the following steps: the state parameter acquisition module is configured to acquire the voltage, the current and the rotating speed of the motor terminal; the variable calculation module is configured to calculate an observed value and a predicted value of the rotor flux linkage and a predicted value of the stator current according to the acquired motor state parameters;
the power prediction module is configured to calculate predicted values of output active power and reactive power according to the obtained predicted values of the rotor flux linkage and the stator current;
the reference generation module is configured to calculate reference values of output active power and reactive power according to the reference value and the actual value of the rotating speed and the reference value and the actual value of the flux linkage respectively;
a cost function calculation module configured to construct a cost function based on the output active power and reactive power reference values and the predicted values;
the cost function is the sum of squares of differences between predicted values of active power and reactive power output by the motor and corresponding reference values respectively; the control of the rotating speed of the motor is realized by controlling the output active power, and the control of the rotor flux linkage is realized by controlling the output reactive power;
the control module is configured to determine a switching vector corresponding to the minimum cost function, and the corresponding switching vector is used in the frequency converter to realize motor control;
the relationship among the rotating speed, the torque and the output active power of the motor is obtained by the following steps:
wherein, P e Outputting active power for the motor; omega m The motor rotation speed; j is the rotational inertia of the motor;
the torque and the output active power have a one-to-one correspondence relationship, and the purpose of controlling the torque and further controlling the rotating speed is realized by utilizing the output active power;
based on the above equation, the expression for deducing the back electromotive force is:
wherein L is m The motor mutual inductance is adopted; l is r Is a motor rotor inductance; omega is the electrical angular velocity of the motor; psi r A motor rotor flux linkage;
deducing the relation between the output reactive power and the rotor flux linkage by using an expression of the back electromotive force, and realizing the control of the torque and the rotor flux linkage by respectively controlling the active power and the reactive power;
rotor voltage equation based on d-axis
Wherein R is s Is a motor stator resistor;
rotor magnetic field orientation psi rq And =0, the rotor current is expressed by the rotor flux and the stator current by using a rotor flux equation, and the above formula can be simplified as follows:
wherein s is a differential operator, and the rotor flux linkage is controlled by the d-axis component of the stator current; l is m For mutual inductance of motor due to Q e ＝i s X e, wherein
The reactive power can thus be expressed in the rotating coordinate system as:
wherein i s Is the motor stator current; l is m The motor mutual inductance is adopted; l is a radical of an alcohol r Is a motor rotor inductance; omega is the electrical angular velocity of the motor;
because the rotor flux linkage is controlled by the d-axis component of the stator current, the rotor flux linkage can be controlled by controlling the output reactive power under the condition of constant rotating speed; because the vector psi r And i sd In the same direction, therefore ψ r ·i sd ＝ψ r ·i s Therefore, the calculation formula of the reactive power can be further simplified as follows:
in the cost function of practical realization, the active power P is output e And reactive power Q e Are all predicted values and, in the case of taking into account the delay compensation, are all two-beat predicted values, i.e.
And &>
The calculation method for outputting the active power predicted value comprises the following steps:
the output reactive power calculation method comprises the following steps:
wherein the content of the first and second substances,
for the predicted value of the alpha, beta axis component of the rotor flux linkage>
Predicting values of the alpha and beta axis components of the stator current; />
Is a reference value of the rotation speed;
thus, the actual cost function is:
wherein, the first and the second end of the pipe are connected with each other,
is an active power reference value; />
Is a reactive power reference value.
7. The predictive control drive system for an induction motor of claim 6, wherein: the motor control system further comprises a PI controller, wherein the PI controller is used for obtaining reference values of the torque and the d axis of the stator current according to the difference value between the actual value of the motor rotating speed and the rotor flux linkage and the reference values.
8. A terminal device is characterized in that: the system comprises a processor and a computer readable storage medium, wherein the processor is used for realizing instructions; a computer readable storage medium for storing a plurality of instructions adapted to be loaded by a processor and for performing the steps of the method according to any of claims 1-5.
9. An induction motor drive system, characterized by: comprising the structure of claim 6 or 7
An induction motor predictive control drive system or using the steps of a method as claimed in any one of claims 1 to 5.
10. An induction machine, characterized by: comprising a drive system according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111265602.6A CN113949320B (en) | 2021-10-28 | 2021-10-28 | Induction motor prediction control driving method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111265602.6A CN113949320B (en) | 2021-10-28 | 2021-10-28 | Induction motor prediction control driving method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113949320A CN113949320A (en) | 2022-01-18 |
| CN113949320B true CN113949320B (en) | 2023-03-28 |
Family
ID=79337291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111265602.6A Active CN113949320B (en) | 2021-10-28 | 2021-10-28 | Induction motor prediction control driving method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113949320B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114614719B (en) * | 2022-05-16 | 2022-08-19 | 山东大学 | Control method and system for predicting power factor of motor driving system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107017810B (en) * | 2017-04-24 | 2023-04-07 | 东南大学盐城新能源汽车研究院 | Permanent magnet synchronous motor weight-free model prediction torque control system and method |
| CN113533998A (en) * | 2021-07-20 | 2021-10-22 | 南京工程学院 | Predictive control method for three-phase alternating current electronic load |
-
2021
- 2021-10-28 CN CN202111265602.6A patent/CN113949320B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113949320A (en) | 2022-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4712638B2 (en) | Electric motor control device | |
| CN107017810A (en) | Permagnetic synchronous motor is without weights model prediction moment controlling system and method | |
| CN108631672B (en) | Permanent magnet synchronous motor prediction flux linkage control method considering optimal duty ratio modulation | |
| CN109660170A (en) | A kind of permanent magnet synchronous motor high reliability current predictive control method and its system | |
| CN110350838B (en) | BDFIM direct torque control method without speed sensor | |
| CN107612446A (en) | A kind of internal permanent magnet synchronous motor model prediction method for controlling torque | |
| CN110086383B (en) | Model prediction control method and device for twelve-phase driving system | |
| CN110429891B (en) | Position-sensor-free permanent magnet motor direct-drive power generation control method | |
| CN104052360B (en) | Controller for motor | |
| CN102647144B (en) | Method and apparatus for estimating rotor angle of synchronous reluctance motor | |
| CN105340173A (en) | Motor control device | |
| CN113949320B (en) | Induction motor prediction control driving method and system | |
| CN101946136A (en) | Refrigeration equipment | |
| CN108521246B (en) | Method and device for predictive control of current of single current sensor of permanent magnet synchronous motor | |
| CN116961512B (en) | Model prediction-based current control method, device and storage medium | |
| Comanescu et al. | Reduced order observers for rotor position estimation of nonsalient PMSM | |
| CN113098348A (en) | Double three-phase permanent magnet synchronous motor predicted torque control method | |
| CN109861606B (en) | Model prediction current control method and device for twelve-phase permanent magnet synchronous motor | |
| CN203590111U (en) | Control system of synchronous motor | |
| CN114301361B (en) | Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control | |
| CN113708673B (en) | High-speed switch motor driving control method | |
| JP6604436B2 (en) | Motor control device and control method | |
| JP2018023203A (en) | Motor controller | |
| CN108880369B (en) | Motor anti-interference control method, system and device based on fractional order sliding mode control | |
| WO2020227891A1 (en) | Electric motor control method, controller, storage medium and electric motor driving system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Zhenbin Inventor after: Zhang Jin Inventor after: Wang Yongdu Inventor after: Sun Yuanxiang Inventor after: Li Zhen Inventor after: Wang Fengxiang Inventor before: Zhang Zhenbin Inventor before: Zhang Jin Inventor before: Wang Yongdu Inventor before: Sun Yuanxiang Inventor before: Li Zhen |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |