CN114172423A - Current prediction control system of permanent magnet synchronous motor - Google Patents

Current prediction control system of permanent magnet synchronous motor Download PDF

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CN114172423A
CN114172423A CN202010840996.2A CN202010840996A CN114172423A CN 114172423 A CN114172423 A CN 114172423A CN 202010840996 A CN202010840996 A CN 202010840996A CN 114172423 A CN114172423 A CN 114172423A
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current
axis
voltage
motor
module
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林环城
罗继涛
章勇
李育
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Shanghai Automobile Gear Works
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Shanghai Automobile Gear Works
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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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A permanent magnet synchronous motor current predictive control system comprising: the system comprises a current instruction generation module, a current prediction control module, two coordinate transformation modules and a position sensor, wherein the position sensor acquires a rotor position signal and a motor rotating speed signal of a motor and respectively sends the rotor position signal and the motor rotating speed signal to the two coordinate transformation modules, the current instruction generation module and the current prediction control module, the first coordinate transformation module generates a current feedback value according to the rotor position signal and outputs the current feedback value to the current prediction control module, the current instruction generation module generates d-axis and q-axis current reference values according to the motor rotating speed signal and outputs the d-axis and q-axis current reference values to the current prediction control module, the second coordinate transformation module generates instruction voltage under a static two-phase coordinate system according to the d-axis and q-axis instruction voltages of the current prediction control module and outputs the instruction voltage to a PWM inverter module to control the motor, and the d-axis and q-axis instruction voltages are sampled by the current prediction control module according to a sampling value, a sampling value and a sampling value of a bus voltage, which are fed back by the PWM inverter module, And obtaining a motor rotating speed signal, a current feedback value and d and q axis current reference values. The invention can effectively compensate the nonlinear characteristic of the motor driving system, reduce current harmonic wave, improve the output torque stability so as to improve the electromagnetic noise characteristic, adapt to the change of the prediction model parameter and keep good control precision when the model parameter is disturbed.

Description

Current prediction control system of permanent magnet synchronous motor
Technical Field
The invention relates to a technology in the field of motor control, in particular to a current prediction control system of a permanent magnet synchronous motor.
Background
The Permanent Magnet Synchronous Motor (PMSM) system has the characteristics of high control precision, high torque density, good torque stability and the like, and is widely applied to a motor driving system of a new energy automobile. In general, in order to realize good decoupling control of torque and flux linkage, a permanent magnet synchronous motor driving system adopts vector control to perform current loop control, that is, three-phase current is subjected to coordinate transformation and is converted into alternating-direct axis current components under a rotating coordinate system, and then the alternating-direct axis current components are respectively controlled by a proportional-integral controller. However, due to the influence of the dead zone effect of the inverter and the nonlinear characteristics such as the on-state voltage drop of the power device, the driving voltage generated by the vector control system contains higher harmonics, and the closed-loop control system formed by the proportional-integral controller is difficult to effectively compensate the nonlinear characteristics, so that the higher harmonics are generated in the phase current of the motor, and the motor outputs electromagnetic torque to generate unexpected torque ripple and electromagnetic noise.
Model Predictive Control (MPC) can flexibly accommodate the nonlinear characteristics and constraint conditions of a complex Control system, and gradually becomes an emerging Control means in the field of motor Control along with the improvement of the performance of a digital Control system. The model prediction control considers the influence of control setting on system output based on a prediction model, so the control performance depends on the accuracy of system modeling, and model parameter mismatch can deteriorate the control system performance and even cause the system to lose stability
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a current prediction control system of a permanent magnet synchronous motor, which can effectively compensate the nonlinear characteristic of a motor driving system, reduce current harmonic waves, improve the stability of output torque so as to improve the electromagnetic noise characteristic, adapt to the change of prediction model parameters and keep good control precision when the model parameters are disturbed.
The invention is realized by the following technical scheme:
the invention relates to a current prediction control system of a permanent magnet synchronous motor, which comprises: the permanent magnet synchronous motor drive control system includes: the device comprises a current instruction generation module, a current prediction control module, a first coordinate transformation module, a second coordinate transformation module and a position sensor, wherein: the position sensor collects a rotor position signal and a motor rotating speed signal of a motor and respectively sends the rotor position signal and the motor rotating speed signal to the first coordinate transformation module, the second coordinate transformation module, the current instruction generation module and the current prediction control module, the first coordinate transformation module generates a current feedback value according to the rotor position signal and outputs the current feedback value to the current prediction control module, the current instruction generation module generates d-axis and q-axis current reference values according to the motor rotating speed signal and outputs the d-axis and q-axis current reference values to the current prediction control module, the second coordinate transformation module generates instruction voltage under a static two-phase coordinate system according to the d-axis and q-axis instruction voltages of the current prediction control module and outputs the instruction voltage to the PWM inverter module to control the motor, and the d-axis and q-axis instruction voltages are obtained by the current prediction control module according to a sampling value of bus voltage, the motor rotating speed signal, the current feedback value and the d-axis and q-axis current reference values fed back by the PWM inverter module.
The current prediction control module comprises: two feedback correction units, voltage prediction units, two clipping units and linear correction units connected in parallel, wherein: two parallel feedback correction units respectively according to d-axis and q-axis current reference values
Figure BDA0002641432490000021
And a current feedback value id、iqAnd obtaining corrected d and q axis current reference values i after correction calculationd_ref、iq_refAnd sending the voltage to a voltage prediction unit; the voltage prediction unit is used for predicting the current reference value i according to the corrected d and q axesd_ref、iq_refAnd a current feedback value id、iqAnd predicting according to a motor voltage model equation to obtain an initial command voltage
Figure BDA0002641432490000022
And respectively sent to two amplitude limiting units connected in parallel; two amplitude limiting units are respectively based on the initial command voltage
Figure BDA0002641432490000023
The amplitude limiting processing is carried out on the signal and then the signal is sent to a linear correction unit; the linear correction unit is used for correcting the sampling value U according to the instruction voltage and the bus voltage after amplitude limiting processingdcAfter linear correction calculation, the final command voltage is generated
Figure BDA0002641432490000024
And the command voltage is sent to the PWM inverter module after coordinate transformation processing, and a driving voltage is generated to drive the motor to operate.
Technical effects
The invention effectively compensates and corrects the non-linear characteristics of the dead zone effect of the inverter, the conduction voltage drop of the power device and the like in the motor vector control system, and simultaneously avoids the adverse effect of model parameter mismatch on the performance of the predictive control system.
Compared with the prior art, the invention can compensate the nonlinear characteristic of the motor driving system, reduce the current harmonic wave, remarkably improve the electromagnetic noise characteristic and simultaneously keep good control precision when the motor parameter changes; and the disturbance of the command and feedback signals is further prevented from influencing the stable operation of the system through amplitude limiting and linear correction calculation.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous motor drive control system;
FIG. 2 is a schematic diagram of a current prediction control unit;
FIG. 3 is a flow chart of a current feedback correction system employed by an embodiment;
FIG. 4 is a graph of motor dq axis current waveform without feedback correction;
FIG. 5 is a diagram of three-phase current waveforms of the motor without feedback correction;
FIG. 6 is a schematic diagram of the results of harmonic analysis of motor phase currents without feedback correction;
FIG. 7 is a graph of the current waveform of the dq axis of the motor using the current predictive control system of the present invention;
FIG. 8 is a waveform of three-phase current of a motor when the current predictive control system of the present invention is employed;
FIG. 9 is a schematic diagram of the results of motor phase current harmonic analysis when the current predictive control system of the present invention is employed.
Detailed Description
As shown in fig. 1, the permanent magnet synchronous motor drive control system according to the present embodiment includes: a current command generation module 201, a current prediction control module 202, first and second coordinate transformation modules 204, 203, and a position sensor 207, wherein: the position sensor 207 collects a rotor position signal and a motor rotating speed signal of the motor 206 and respectively sends the signals to the first and second coordinate transformation modules 204 and 203, the current instruction generation module 201 and the current prediction control module 202, the first coordinate transformation module 204 generates a current feedback value according to the rotor position signal and outputs the current feedback value to the current prediction control module 207, the current instruction generation module 201 generates d and q axis current reference values according to the motor rotating speed signal and outputs the d and q axis current reference values to the current prediction control module 207, the second coordinate transformation module 203 generates an instruction voltage under a static two-phase coordinate system according to the d and q axis instruction voltages of the current prediction control module 207 and outputs the instruction voltage to the PWM inverter module to control the motor, and the d and q axis instruction voltages are sampled by the current prediction control module according to a bus voltage sampling value, a motor rotating speed signal, a current feedback value and d, fed back by the PWM inverter module, A q-axis current reference value is obtained.
As shown in fig. 2, the current prediction control module includes: feedback correction units 101 and 102, voltage prediction unit 103, clipping units 104 and 105, linear modification unit 106, where: feedback correction units 101 and 102 respectively based on d-axis and q-axis current reference values
Figure BDA0002641432490000031
Current feedback value id、iqAnd obtaining corrected d and q axis currents after correction calculationReference value id_ref、iq_refAnd sent to the voltage prediction unit 103; the voltage prediction unit 103 is based on the corrected d and q axis current reference values id_ref、iq_refAnd a current feedback value id、iqAnd predicting according to a motor voltage model equation to obtain an initial command voltage
Figure BDA0002641432490000032
And sent to clipping units 104 and 105, respectively; the clipping units 104 and 105 are respectively based on the initial command voltage
Figure BDA0002641432490000033
The amplitude limiting processing is performed on the signal and then the signal is sent to a linear correction unit 106; the linear correction unit 106 performs the amplitude limiting processing on the instruction voltage and the sampling value U of the bus voltagedcAfter linear correction calculation, the final command voltage is generated
Figure BDA0002641432490000034
And the command voltage is sent to the PWM inverter module after coordinate transformation processing, and a driving voltage is generated to drive the motor to operate.
The feedback correction units 101 and 102 perform feedback correction by means of moving average filtering, specifically as shown in fig. 3, where the corresponding expressions are as follows:
Figure BDA0002641432490000035
wherein:
Figure BDA0002641432490000036
is a d, q axis current reference value, id_ref、iq_refFor corrected d, q-axis current reference values, id、iqD and q axis current feedback values, N represents sampling time, j is sampling step length, kjIs the filter coefficient, kcIs a correction factor.
In this example, k0＝0.85，k1＝0.05，k2＝0.05，k3＝0.05，kc＝1。
The motor voltage model equation is as follows:
Figure BDA0002641432490000037
wherein:
Figure BDA0002641432490000038
is an initial command voltage, id_ref、iq_refFor corrected d, q-axis current reference values, id、iqIs d, q axis current feedback value, Rs、Ld、Lq、
Figure BDA0002641432490000039
Phase resistance, d-axis inductance, q-axis inductance and permanent magnet flux linkage parameter, omega, of the motoreIndicating the rotational speed, T, of the motorsFor sampling the time interval, T in this embodiments＝100us。
The linear correction is calculated as:
Figure BDA00026414324900000310
wherein:
Figure BDA00026414324900000311
the command voltages of the d axis and the q axis,
Figure BDA00026414324900000312
is an initial command voltage UdcFor the sampled value of the bus voltage, min () is the minimum function, kmFor the modulation factor, in the present embodiment,
Figure BDA0002641432490000041
the coordinate transformation is performed by converting the d-axis and q-axis command voltages outputted from the linear correction unit 106 by the coordinate transformation module 203
Figure BDA0002641432490000042
Converted into command voltage under static two-phase coordinate system
Figure BDA0002641432490000043
Sent to the PWM inverter module 205, and the coordinate transformation module 204 converts the three-phase current i of the motora、ib、icConverted into d and q axis current feedback values id、iqTo the current prediction control module 202; PWM inverter module receives command voltage
Figure BDA0002641432490000044
After modulation, three-phase driving voltage is generated to drive the motor 206 to output electromagnetic torque to drive the load to operate.
In this embodiment, the dead time of the PWM inverter module is 2 us.
As shown in fig. 4 to 9, when the time t is 0, the motor is accelerated from rest to 1000rpm, and when t is 0.5s, the load is applied suddenly.
As shown in fig. 4 to 6, it can be seen that the dq-axis current fluctuates due to the presence of the dead zone effect of the inverter, the corresponding phase current is distorted, and the current has a significant harmonic distribution, because the current waveform and the harmonic analysis result are obtained only when prediction control is performed without feedback correction.
As shown in fig. 6 to 9, it can be seen that the dq-axis current is more stable and the content of each higher harmonic is significantly reduced, in order to use the operation result of the present system. The combination of the above results shows that the system can well compensate the nonlinear characteristic of the motor driving system, reduce the current harmonic wave and improve the electromagnetic noise characteristic.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (6)

1. A permanent magnet synchronous motor current predictive control system, comprising: the permanent magnet synchronous motor drive control system includes: the device comprises a current instruction generation module, a current prediction control module, a first coordinate transformation module, a second coordinate transformation module and a position sensor, wherein: the position sensor collects a rotor position signal and a motor rotating speed signal of a motor and respectively sends the rotor position signal and the motor rotating speed signal to the first coordinate transformation module, the second coordinate transformation module, the current instruction generation module and the current prediction control module, the first coordinate transformation module generates a current feedback value according to the rotor position signal and outputs the current feedback value to the current prediction control module, the current instruction generation module generates d-axis and q-axis current reference values according to the motor rotating speed signal and outputs the d-axis and q-axis current reference values to the current prediction control module, the second coordinate transformation module generates instruction voltage under a static two-phase coordinate system according to the d-axis and q-axis instruction voltages of the current prediction control module and outputs the instruction voltage to the PWM inverter module to control the motor, and the d-axis and q-axis instruction voltages are obtained by the current prediction control module according to a sampling value of bus voltage, the motor rotating speed signal, the current feedback value and the d-axis and q-axis current reference values fed back by the PWM inverter module.
2. The system of claim 1, wherein the current predictive control module comprises: two feedback correction units, voltage prediction units, two clipping units and linear correction units connected in parallel, wherein: two parallel feedback correction units respectively according to d-axis and q-axis current reference values
Figure FDA0002641432480000011
And a current feedback value id、iqAnd obtaining corrected d and q axis current reference values i after correction calculationd_ref、iq_refAnd sending the voltage to a voltage prediction unit; the voltage prediction unit is used for predicting the current reference value i according to the corrected d and q axesd_ref、iq_refAnd a current feedback value id、iqAnd predicting according to a motor voltage model equation to obtain an initial command voltage
Figure FDA0002641432480000012
And respectively sent to two amplitude limiting units connected in parallel; two amplitude limiting units are respectively based on the initial command voltage
Figure FDA0002641432480000013
The amplitude limiting processing is carried out on the signal and then the signal is sent to a linear correction unit; the linear correction unit is used for correcting the sampling value U according to the instruction voltage and the bus voltage after amplitude limiting processingdcAfter linear correction calculation, the final command voltage is generated
Figure FDA0002641432480000014
And the command voltage is sent to the PWM inverter module after coordinate transformation processing, and a driving voltage is generated to drive the motor to operate. .
3. The system of claim 1, wherein the feedback correction unit performs feedback correction by means of moving average filtering, and specifically comprises:
Figure FDA0002641432480000015
wherein:
Figure FDA0002641432480000016
is a d, q axis current reference value, id_ref、iq_refFor corrected d, q-axis current reference values, id、iqD and q axis current feedback values, N represents sampling time, j is sampling step length, kjIs the filter coefficient, kcIs a correction factor.
4. The system of claim 2, wherein the motor voltage model equation is:
Figure FDA0002641432480000021
wherein:
Figure FDA0002641432480000022
is an initial command voltage, id_ref、iq_refFor corrected d, q-axis current reference values, id、iqIs d, q axis current feedback value, Rs、Ld、Lq、
Figure FDA0002641432480000029
Phase resistance, d-axis inductance, q-axis inductance and permanent magnet flux linkage parameter, omega, of the motoreIndicating the rotational speed, T, of the motorsIs the sampling time interval.
5. The system of claim 2, wherein the linear correction is:
Figure FDA0002641432480000023
wherein:
Figure FDA0002641432480000024
the command voltages of the d axis and the q axis,
Figure FDA0002641432480000025
is an initial command voltage UdcFor the sampled value of the bus voltage, min () is the minimum function, kmIs the modulation factor.
6. The system of claim 2, wherein the coordinate transformation process is performed by: d-axis and q-axis command voltages output by the linear correction unit through the coordinate transformation module
Figure FDA0002641432480000026
Converted into command voltage under static two-phase coordinate system
Figure FDA0002641432480000027
Sending the three-phase signals to a PWM inverter module, and a coordinate transformation module converting the three-phase signals into three-phase signalsPhase current ia、ib、icConverted into d and q axis current feedback values id、iqSending the current to a current prediction control module; PWM inverter module receives command voltage
Figure FDA0002641432480000028
After modulation, three-phase driving voltage is generated to drive the motor to output electromagnetic torque to drive the load to operate.
CN202010840996.2A 2020-08-20 2020-08-20 Current prediction control system of permanent magnet synchronous motor Pending CN114172423A (en)

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