CN114826079A - Current loop control method of permanent magnet synchronous motor based on error feedback model prediction - Google Patents

Current loop control method of permanent magnet synchronous motor based on error feedback model prediction Download PDF

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CN114826079A
CN114826079A CN202210584043.3A CN202210584043A CN114826079A CN 114826079 A CN114826079 A CN 114826079A CN 202210584043 A CN202210584043 A CN 202210584043A CN 114826079 A CN114826079 A CN 114826079A
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current
permanent magnet
voltage
magnet synchronous
synchronous motor
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路峻豪
宋宇宸
李康
邱静
高祥
吴文韬
邱晨
程亚博
王普威
葛宇
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Lianyungang Jierui Electronics Co Ltd
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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
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by 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
    • 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
    • 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
    • H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
    • 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 is based on the current loop control method that model prediction of error feedback, said method is from permanent magnet synchronous motor current measured, rotational speed and rotor position, through calculating the voltage value that should be applied to obtain at present moment, calculate and get the switching command of the inverter according to the voltage value, then apply to the inverter, control the current loop, compare with traditional model prediction control based on vector control, have better decoupling effect and faster dynamic response; the method is based on the SVPWM (space vector pulse width modulation) technology dead beat model prediction control, and has the idea that the switching signal of the inverter at the next moment is predicted according to the mathematical models of the motor and the inverter, so that the method is simple to realize, the dynamic response is fast, the prediction model is calibrated by introducing error feedback, and the response speed and the steady-state precision of the system are improved.

Description

Current loop control method of permanent magnet synchronous motor based on error feedback model prediction
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a current loop control method of a permanent magnet synchronous motor based on error feedback model prediction.
Background
Since the eighties of the twentieth century, the permanent magnet synchronous motor is widely applied to the fields of new energy automobiles, robots, aerospace, wind power generation, high-performance medical instruments and the like due to the advantages of high power density, high efficiency and the like, and meanwhile, due to the breakthrough of relevant supporting technologies such as microprocessor science and technology, power electronic technology, computer technology and the like, the accurate control of the anger of the permanent magnet synchronous motor becomes simple.
However, the requirement on the control performance of the motor is higher and higher in many occasions, the classical PI vector control response speed and overshoot of the permanent magnet synchronous motor are mutually restricted, the problems of poor anti-interference capability and the like are difficult to meet the control requirement of the advanced field, in order to better exert the advantages of the permanent magnet synchronous motor body and adapt to the development requirement of intellectualization, an advanced control strategy is necessarily introduced into a permanent magnet synchronous motor control system, and compared with other control modes, the model prediction control has the advantages of high dynamic response speed, high-precision tracking control and the like.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a current loop control method for error feedback-based model prediction of a permanent magnet synchronous motor, which improves the steady-state performance and the bandwidth and reduces the complexity of a controller.
The technical problem to be solved by the present invention is achieved by the following technical means. The invention relates to a current loop control method for a permanent magnet synchronous motor based on error feedback model prediction, which comprises the steps of obtaining a voltage value to be applied at the current moment through calculation according to the measured current, the measured rotating speed and the measured rotor position of the permanent magnet synchronous motor, obtaining a switching instruction of an inverter according to the calculation of the voltage value, and applying the switching instruction to the inverter to carry out current loop control.
The technical problem to be solved by the present invention can be further solved by the following technical solution, and for the above current loop control method based on error feedback model prediction for a permanent magnet synchronous motor, the specific flow of the method is as follows:
(1) sampling the position, the rotating speed and the three-phase current of the permanent magnet synchronous motor;
(2) performing Clarke-Park transformation on the current obtained by sampling;
(3) calculating a dq axis voltage instruction according to a mathematical model of the permanent magnet synchronous motor;
(4) carrying out SVPWM (space vector pulse width modulation) on the obtained dq-axis voltage command to obtain a switching command;
(5) and outputting a switching command to the inverter.
The technical problem to be solved by the present invention can be further solved by the following technical solution, and for the above-mentioned current loop control method based on error feedback model prediction for a permanent magnet synchronous motor, the specific operation method of the method is as follows:
(1) kth sample s The current value at the moment, and then the voltage value to be applied at the current moment is predicted according to the current prediction model, so that the (k +1) th T s Current at sampling moment can be tracked to kT in a dead beat mode s The given current value at the moment is as follows:
Figure BDA0003665153260000021
in the formula: i.e. i d (k+1)，i q (K +1) represents d-axis current and q-axis current at the moment of K +1 and in a q-coordinate system,
Figure BDA0003665153260000022
d-axis reference current and q-axis reference current under d and q coordinate systems at the moment K;
(2) in kT s Time of day speed loop output
Figure BDA0003665153260000023
The given value is used as the current instruction value i at the next moment d (k+1)、i q (k +1) and the current actual value i obtained by current sampling of the motor d (k)、i q (k) Substituting the formula in the step (1) to calculate a voltage vector u which is required to enable the motor current to accurately follow the command d (k)、u q (k)；
(3) The voltage vector is modulated by SVPWM technology, the required switching signal is generated and acts on the inverter, the motor is controlled, and the equation for calculating the voltage vector is as follows:
Figure BDA0003665153260000031
according to the model prediction control theory, the current feedback is introduced, and the following results can be obtained:
Figure BDA0003665153260000032
in the formula: u. of d (k)，u q (k) D-axis voltage and q-axis voltage in a d and q coordinate system at the moment K,
Figure BDA0003665153260000033
d-axis reference voltage and q-axis reference voltage under d and q coordinate systems at the moment K; r s Is the rotor resistance value; l is d ，L q D-axis inductance and q-axis inductance under a d and q coordinate system; omega r Is the rotor mechanical angular velocity; omega f Is a rotor permanent magnet flux linkage; and h is an error feedback proportion coefficient.
The technical problem to be solved by the present invention can be further solved by the following technical scheme, and for the above current loop control method based on error feedback model prediction for a permanent magnet synchronous motor, h should satisfy the following conditions in order to ensure the system stability:
Figure BDA0003665153260000034
Figure BDA0003665153260000035
in the formula: l is phase inductance, T is sampling period, R 0 Is the phase resistance of the motor, L 0 Is the actual value of the inductance.
The technical problem to be solved by the present invention can be further solved by the following technical scheme, and for the above current loop control method based on error feedback model prediction for a permanent magnet synchronous motor, in order to ensure the system stability, the voltage vector should satisfy the following conditions:
Figure BDA0003665153260000041
in the formula: u is the DC bus voltage.
Compared with the prior art, the invention provides a current loop control method of a permanent magnet synchronous motor based on error feedback model prediction, which leads the current loop of the permanent magnet synchronous motor to be based on SVPWM prediction control, introduces error feedback, calibrates a prediction model and improves the response speed and steady-state precision of a system; and in order to verify the feasibility of the researched model control algorithm, simulation is built on MATLAB/Simulink, a PI control method, a prediction control method and prediction control based on error feedback are analyzed and compared through simulation results under the condition of reference rotating speed and equal interference, the advantages of the permanent magnet synchronous motor in the aspects of dynamic response and load disturbance resistance are reflected by the model prediction control algorithm based on error feedback, and the control performance is better.
Drawings
FIG. 1 is a flow chart of predictive control according to the present invention;
FIG. 2 is a schematic diagram of a PWM inverter model of the present invention;
FIG. 3 is a diagram of the basic voltage space vector distribution of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, a current loop control method for a permanent magnet synchronous motor based on error feedback model prediction includes:
1. system model building
1.1 mathematical model of permanent magnet synchronous motor
For the sake of analysis, a three-phase permanent-magnet synchronous motor is considered to be an ideal motor, that is to say it complies with the following assumptions:
(1) the rotor is not provided with a damping winding; armature resistance and inductance value of each winding in the stator are equal, and the windings of the three-phase stator are distributed in a symmetrical star shape;
(2) the air gap magnetic field obeys sinusoidal distribution, each harmonic is ignored, and the induced electromotive force obeys sinusoidal distribution;
(3) the equivalent excitation current of the permanent magnet is constant and does not change; the effects of eddy current, skin effect, motor iron core saturation and magnetic hysteresis loss in the motor are ignored; the temperature and the frequency do not influence the parameters of the motor;
the mathematical model of the permanent magnet synchronous motor comprises basic equations such as a voltage equation, a flux linkage equation, an electromagnetic torque equation and a motion equation:
(1) voltage equation under three-phase static coordinate system
Figure BDA0003665153260000051
In the formula u A 、u B 、u C Instantaneous values of three-phase voltage i of stator winding A, B, C A 、i B 、i C Phase current instantaneous values of the three-phase windings of the stator are respectively, and R is a phase resistor;
magnetic flux linkage equation
Figure BDA0003665153260000052
In the formula, L AA ，L BB ，L CC Respectively providing self inductance for each phase winding of the stator; l is AB ＝L BA ，L BC ＝L CB ，L AC ＝L CA Mutual inductance is formed between the two phase windings; psi fA ，ψ fB ，ψ fC The mutual inductance flux linkages are respectively generated between the windings of each phase by the permanent magnet magnetic field;
because the air gap is assumed to be uniform and the windings are symmetrical, the mutual inductance and self-inductance between the windings are constant. Let L s For the self-inductance of the winding, there are:
L AA ＝L BB ＝L CC ＝L S (2-3)
m can be made to be mutual inductance of the windings, and because each phase of the windings are 120 electrical angles in space, and armature magnetic fields generated by the stator windings are distributed in a sine mode, the following steps are provided:
L AB ＝L BC ＝L AC ＝M (2-4)
because the mutual inductance flux linkage generated by the excitation magnetic field of the permanent magnet in each phase winding is distributed symmetrically, the following relation is provided:
Figure BDA0003665153260000061
the motor stator winding is designed to adopt a neutral-line-free star connection mode, and the three-phase current of the stator can meet the relation according to the KCL theorem: i all right angle A +i B +i C When the formula (2-2) is substituted by the formula (2-3), (2-4), or (2-5), the magnetic flux linkage equation is as follows:
Figure BDA0003665153260000062
wherein L is 0 ＝L s -M. When the formula (2-6) is substituted for the formula (2-1), the stator voltage can be obtained as follows:
Figure BDA0003665153260000071
in the formula: omega e Is the electrical angular velocity of the rotor and has omega e ＝Pω r Wherein P is the number of pole pairs of the motor, omega r Is the rotor mechanical angular velocity;
therefore, the voltage equation of the permanent magnet synchronous motor under the three-phase static coordinate is a group of linear differential equations with variable coefficients, has the characteristics of multivariable, time-varying, nonlinearity and strong coupling, is difficult to directly solve, and is not beneficial to realizing the control of the motor under the coordinate;
therefore, it is necessary to simplify the mathematical model by coordinate transformation, and change ac control to dc control to realize control performance similar to that of a dc motor, and the voltage equation in the rotating coordinate system is:
Figure BDA0003665153260000072
in the above formula: u. of d 、u q Are stator voltage vectors u, respectively s Dq-axis component of (i) d 、i q Respectively stator current i s Dq axis component of (i) (. omega) e Is the electrical angular velocity of the rotor and has omega e ＝Pω r In which P is n Is the number of pole pairs, omega, of the motor r For mechanical angular velocity, psi, of the rotor f Is a rotor permanent magnet flux linkage, J is the rotational inertia of the motor, T L The motor load torque is used, and B is the motor friction coefficient;
in the control period T s In the case of sufficiently short values, the input voltage u and the back-emf D of the system are present in one control cycle (kT) s To (k +1) T s ) The current prediction model can be obtained by solving the discretization of the above equation (2-13) under the condition that the current prediction model is considered to be constant:
Figure BDA0003665153260000081
2. space vector control SVPWM
The theoretical basis of SVPWM is an average value equivalence principle, namely, the average value of basic voltage vectors is equal to a given voltage vector by combining the basic voltage vectors in a switching period, and the main control aim is to enable the output voltage space vector motion track of an inverter to be close to an ideal circle;
the two-level three-phase inverter widely used in the control system of the permanent magnet synchronous motor is shown in fig. 2, and is actually a discretization system for digitally encoding and outputting analog signal levels, and the inverse transformation of a three-phase voltage source is realized by 6 switching tubes S a 、S b 、S c 、
Figure BDA0003665153260000082
The motor windings are connected in a Y shape, each upper and lower bridge arm consists of an IGBT and a diode, and the upper and lower bridge arms are twoThe on and off of the bridge arm is determined by the state of the IGBT, but two IGBTs of the same bridge arm cannot be simultaneously conducted; three switching tubes are required to be in a conducting state at any moment, and the other three switching tubes are required to be kept in a disconnecting state; the diode is mainly used for providing a follow current channel for current and protecting the IGBT from breakdown;
for convenience of analysis, the switching states of the three legs of the inverter are defined as S A 、S B 、S C ，S A 0 represents that the A-phase lower bridge arm is switched on and the upper bridge arm is switched off, and S A 1 represents that the A phase upper bridge arm is switched on and the lower bridge arm is switched off, and S B 、S C For the same reason, then it has 2 3 8 switching states, including 6 active voltage output states U 1 (001)、U 2 (010)、U 3 (011)、U 4 (100)、U 5 (101)、U 6 (110) 2 invalid voltage output states U 0 (000)、U 7 (111) These 8 voltage space vectors are referred to as basic voltage space vectors. U shape 1 ～U 6 The adjacent vector phase angles are different by 60 degrees, and the amplitudes are all 2U dc /3, wherein U dc When the DC side voltages of the inverter are applied to the motor, a corresponding stator flux linkage vector is formed in the motor, and U is 0 And U 7 When the magnetic flux linkage vector acts on the motor, the magnetic flux linkage vector cannot be formed, and the change speed of the magnetic flux linkage vector can be changed without changing the shape of the magnetic flux linkage track;
one duty cycle of the inverter is divided by 6 non-zero basic voltage space vectors into six regions, called sectors, with two zero voltage space vectors located in the center of the six sectors, as shown in fig. 3, for any given reference voltage vector U, during one control cycle s The vector can be obtained by synthesizing two adjacent basic voltage space vectors of the sector in which the vector is positioned according to respective action time, and as can be seen from the figure, if 6 effective voltage vectors appear only once, the difference between the formed regular hexagonal vector track and the circular track is larger, and if the amplitude of the voltage vector is constant, the higher the switching frequency is, the more vectors are generated in a sine cycle, the closer the vector track is to the circular shape, so that the aim of determining the voltage vector is fulfilledThe sub flux linkage track approaches the target of an ideal flux linkage circle;
3. error feedback based current predictive control
3.1 predictive control Algorithm
According to the basic idea of the deadbeat current predictive control: kT of sampling s The current value at the moment, and then the voltage value to be applied at the current moment is predicted according to the current prediction model, so that the (k +1) th T s Current at sampling time can be dead-beat tracked to kT s The given current value at the moment is as follows:
Figure BDA0003665153260000091
in the formula:
Figure BDA0003665153260000092
is kth s Setting current values of d and q axes at time;
hence, in kT s Time of day speed loop output
Figure BDA0003665153260000093
The given value is used as the current instruction value i at the next moment d (k+1)、i q (k +1) and the current actual value i obtained by current sampling of the motor d (k)、i q (k) Formula (3-20) is substituted to calculate the voltage vector u of the action required to make the motor current follow the command accurately d (k)、u q (k) (ii) a The voltage vector is modulated by SVPWM technology, and the required switching signal is generated and acted on the inverter, so that the motor is controlled, and the equation of calculating the voltage vector by the dead-beat current prediction control is as follows:
Figure BDA0003665153260000101
according to a model prediction control theory, introducing current feedback:
Figure BDA0003665153260000102
because of having a modulation link, the dead beat predictive control has a fixed switching frequency, and the frequency is the same as the control frequency, the control structure of the dead beat predictive control is very close to the traditional vector control, and the dead beat predictive control is easy to be realized on the basis of the original vector control, and the flow chart of the predictive control is shown in fig. 1;
the resistance and the inductance in the expression are identification values, and h should satisfy the following conditions for ensuring the stability of the system:
Figure BDA0003665153260000103
Figure BDA0003665153260000104
3.2 Voltage amplitude limitation
Because an actual system cannot output excessive voltage, the voltage vector calculated by the prediction model needs to be limited to realize effective voltage output, in a coordinate system with constant amplitude, when the direct-current bus voltage is U, the maximum value of the voltage which can be output in a rotating coordinate system is 2U/3, and when the voltage exceeds 2U/3, the calculation is carried out by adopting the formula:
Figure BDA0003665153260000111
4. system simulation and experiment
The current prediction control based on error feedback provided by the application is simulated and tested, and the motor parameter power is 200W, L d ＝L q 0.0373mH, a rated rotation speed of 3000r/min, a phase resistance of 0.265 omega, a pole pair number of 3 and rotary transformer feedback;
the simulation environment is MATLAB/Simulink, and the control cycles of simulation and experiment current loops are both 10 KHz;
the same motor is subjected to comparison test by using current prediction control and PI control based on error feedback, and the test result is shown in Table 1;
TABLE 1
Figure BDA0003665153260000112
Figure BDA0003665153260000121
As can be seen from Table 1, the present application improves the response speed and steady-state accuracy of the system, and the response speed is faster!

Claims (5)

1. A current loop control method of a permanent magnet synchronous motor based on error feedback model prediction is characterized by comprising the following steps: the method comprises the steps of obtaining a voltage value to be applied at the current moment through calculation according to the measured current, the measured rotating speed and the measured rotor position of the permanent magnet synchronous motor, obtaining a switching command of the inverter according to the voltage value, and applying the switching command to the inverter for current loop control.
2. The current loop control method based on error feedback model prediction of the permanent magnet synchronous motor according to claim 1, characterized in that: the method comprises the following specific processes:
(1) sampling the position, the rotating speed and the three-phase current of the permanent magnet synchronous motor;
(2) performing Clarke-Park transformation on the current obtained by sampling;
(3) calculating a dq axis voltage instruction according to a mathematical model of the permanent magnet synchronous motor;
(4) carrying out SVPWM (space vector pulse width modulation) on the obtained dq-axis voltage command to obtain a switching command;
(5) and outputting a switching command to the inverter.
3. The current loop control method of a permanent magnet synchronous motor based on error feedback model prediction according to claim 1 or 2, characterized in that: the specific operation method of the method comprises the following steps:
(1) kth sample s Time of day currentThen, the voltage value to be applied at the present moment is predicted according to the current prediction model, so that the (k +1) th T s Current at sampling time can be dead-beat tracked to kT s The given current value at the moment is as follows:
Figure FDA0003665153250000011
in the formula: i.e. i d (k+1)，i q (K +1) is d-axis current and q-axis current at the moment of K +1 and in a q-coordinate system,
Figure FDA0003665153250000012
d-axis reference current and q-axis reference current under d and q coordinate systems at the moment K;
(2) in kT s Time of day speed loop output
Figure FDA0003665153250000013
The given value is used as the current instruction value i at the next moment d (k+1)、i q (k +1) and the current actual value i obtained by current sampling of the motor d (k)、i q (k) Substituting the formula in the step (1) to calculate a voltage vector u which is required to enable the motor current to accurately follow the command d (k)、u q (k)；
(3) The voltage vector is modulated by SVPWM technology, the required switching signal is generated and acts on the inverter, the motor is controlled, and the equation for calculating the voltage vector is as follows:
Figure FDA0003665153250000021
according to the model prediction control theory, the current feedback is introduced, and the following results can be obtained:
Figure FDA0003665153250000022
in the formula: u. of d (k)，u q (k) D-axis voltage and q-axis voltage in a d and q coordinate system at the moment K,
Figure FDA0003665153250000023
d-axis reference voltage and q-axis reference voltage under d and q coordinate systems at the moment K; r s Is the rotor resistance value; l is d ，L q D-axis inductance and q-axis inductance under d and q coordinate systems; omega r Is the rotor mechanical angular velocity; omega f Is a rotor permanent magnet flux linkage; and h is an error feedback proportion coefficient.
4. The current loop control method based on error feedback model prediction of the permanent magnet synchronous motor according to claim 3, characterized in that: to ensure the system stability, h should satisfy the following conditions:
Figure FDA0003665153250000024
Figure FDA0003665153250000025
in the formula: l is phase inductance, T is sampling period, R 0 Is the phase resistance of the motor, L 0 Is the actual value of the inductance.
5. The current loop control method based on error feedback model prediction of the permanent magnet synchronous motor according to claim 3, characterized in that: to ensure the system stability, the voltage vector should satisfy the following conditions:
Figure FDA0003665153250000031
in the formula: u is the DC bus voltage.
CN202210584043.3A 2022-05-27 2022-05-27 Current loop control method of permanent magnet synchronous motor based on error feedback model prediction Pending CN114826079A (en)

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CN117081448A (en) * 2023-08-31 2023-11-17 重庆理工大学 High-precision dynamic modeling method for built-in permanent magnet synchronous motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117081448A (en) * 2023-08-31 2023-11-17 重庆理工大学 High-precision dynamic modeling method for built-in permanent magnet synchronous motor
CN117081448B (en) * 2023-08-31 2024-03-19 重庆理工大学 High-precision dynamic modeling method for built-in permanent magnet synchronous motor

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