CN115347835B - Weight-adaptive motor control method, system, medium and electronic device - Google Patents
Weight-adaptive motor control method, system, medium and electronic device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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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
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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Abstract
The invention belongs to the technical field of control or regulation systems, and provides a weight self-adaptive motor control method, a weight self-adaptive motor control system, a weight self-adaptive motor control medium and electronic equipment; a plurality obtained according to the calculationJ 1 AndJ 2 obtaining a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkA stator flux linkage predicted value and an electromagnetic torque predicted value at +3 moment; according tokPredicted value of electromagnetic torque at time +3, andkcalculating to obtain a plurality of numerical values according to the predicted value of the stator flux linkage at the moment + 3; the obtained multiple numerical values are substituted into the evaluation function, so that two weight coefficients with the minimum value of the evaluation function are used as the next momentkA weight coefficient of +1, which is to be used at the next timekThe minimum voltage vector corresponding to the weight coefficient of + 1; the two weight coefficients in the predictive control algorithm of the induction machine model can be reasonably changed, and the problem of poor control effect when the predictive control algorithm of the induction machine model meets the condition that the reference value is changed is solved.
Description
Technical Field
The invention belongs to the technical field of control or regulation systems, and particularly relates to a weight adaptive motor control method, system, medium and electronic equipment.
Background
The control of the induction motor is a key industry developed at present and is widely applied to industries such as offshore wind power generation and new energy automobiles. The model predictive control is a new generation control technology in the field of induction motor drive, has the characteristics of good dynamic performance, easiness in processing various constraint conditions and the like, is convenient to implement in a control object of a nonlinear model, and has great development potential in the future.
The model predictive control comprises 2 control targets, wherein one control target is that the electromagnetic torque of the induction motor can quickly and accurately track an electromagnetic torque reference value, and the other control target is that the stator flux linkage of the induction motor can quickly and accurately track a stator flux linkage reference value; the method comprises the steps that a cost function is designed in a traditional induction machine model predictive control algorithm, the value of the cost function is calculated in each control period, a voltage vector enabling the cost function to be minimum is selected and used as the input of the induction machine model predictive control algorithm in the next control period, wherein the first item of the cost function corresponds to a control target electromagnetic torque; and the second term of the cost function corresponds to the stator flux linkage of the control target.
The inventor finds that in a cost function of a conventional induction motor model predictive control algorithm, a first term weighting coefficient and a second term weighting coefficient are designed to adjust the relative importance degree of a control target electromagnetic torque and a control target stator flux linkage, so that the overall control effect is influenced, the first term weighting coefficient and the second term weighting coefficient are values set empirically in advance and are not changed all the time in the whole control process, and the problem that the control effect is poor when the electromagnetic torque reference value or the stator flux linkage reference value is changed in the conventional induction motor model predictive control algorithm is caused.
Disclosure of Invention
The invention provides a weight self-adaptive motor control method, a system, a medium and electronic equipment for solving the problems, can reasonably change a first weight coefficient and a second weight coefficient in a predictive control algorithm of an induction motor model, improves the predictive control algorithm of the induction motor model, solves the problem of poor control effect of the conventional predictive control algorithm of the induction motor model when an electromagnetic torque reference value or a stator flux linkage reference value is changed, can change the first weight coefficient and the second weight coefficient in real time in the operation process of the induction motor, and improves the control performance.
In order to realize the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a weight adaptive motor control method, including:
acquiring a plurality of voltage vectors of a three-phase two-level inverter in an induction motor under different switching states;
based on multiple voltage vectors, calculatingkPredicted value of electromagnetic torque at +2 time andkand a stator flux linkage prediction value at +2, wherein,kis the current time;
by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 ；
Discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment;
by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
；
Will be provided with
And
two weight coefficients that are brought into the evaluation function so that the value of the evaluation function is minimized are used as the next timek+1 weight coefficient, will be at the next timekMinimum voltage vector corresponding to weight coefficient of +1；
According to the obtained next momentkA weight coefficient of +1, and the next timekAnd controlling the induction motor according to the minimum voltage vector corresponding to the weight coefficient of + 1.
Further, stator current under a three-phase coordinate at the current moment is obtained;
converting the stator current under the three-phase coordinate into the stator current under the direct-axis and quadrature-axis coordinate system at the current moment;
calculating according to the stator current under the current moment direct axis and quadrature axis coordinate system, and according to the stator current under the current moment direct axis and quadrature axis coordinate system and the voltage vector at the previous moment to obtain the stator flux linkage at the current moment and the rotor flux linkage at the current moment;
calculating to obtain a stator flux linkage predicted value at the next moment according to the stator flux linkage at the current moment and the stator current under the rectangular-axis and cross-axis coordinate system at the current moment; calculating to obtain a stator current predicted value at the next moment according to the stator current under the direct-axis and quadrature-axis coordinate system at the current moment and the rotor flux linkage at the current moment; and calculating to obtain the predicted value of the electromagnetic torque at the next moment according to the predicted value of the stator flux linkage at the next moment and the predicted value of the stator current at the next moment.
Further, according to the predicted value of the stator flux linkage at the next moment and the predicted value of the stator current at the next moment, calculation is carried out to obtain the predicted valuekThe predicted value of the stator flux linkage at the moment + 2; according to the predicted value of the stator current at the next moment and the predicted value of the rotor flux linkage at the next moment, the predicted value is calculatedkPredicting the stator current at +2 moment; according tokPredicted value of stator flux linkage at +2 time andkcalculating to obtain the predicted value of the stator current at the moment +2kThe predicted value of the electromagnetic torque at +2 moment;
according tokPredicted value of stator flux linkage at +2 time andkcalculating to obtain the predicted value of the stator current at +2 momentkThe predicted value of the stator flux linkage at the moment + 3; according tokPredicted value of stator current at +2 time andkthe predicted value of the rotor flux linkage at the moment +2 is calculatedkPredicting the stator current at +3 moment; according tokPredicted value of stator flux linkage at +3 time andkcalculating to obtain the predicted value of the stator current at the moment of +3kPredicted electromagnetic torque value at time + 3.
Further, calculating the stator flux linkage at the current time as follows:
wherein, the first and the second end of the pipe are connected with each other,
the stator flux linkage at the previous moment;T s is a sampling period or a control period;
is the voltage vector at the last moment;R s is an induction motor stator resistor;
the stator current is the stator current under the direct axis and quadrature axis coordinate system at the previous moment;kis the current time;k-1 is the last moment;
calculating the rotor flux linkage at the current moment as follows:
wherein the content of the first and second substances,L r 、L s andL m the inductance values are respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;
the stator flux linkage at the current moment;
the stator current is under a direct axis and orthogonal axis coordinate system at the current moment;kis the current time.
Further, the predicted value of the stator flux linkage at the next moment is:
wherein the content of the first and second substances,
the stator flux linkage at the current moment;
the voltage vector at the current moment;R s is an induction motor stator resistor;T s is a sampling period or a control period;
the stator current is under a direct axis and orthogonal axis coordinate system at the current moment;kis the current time;k+1 is the next moment;
the predicted value of the stator current at the next moment is:
wherein the content of the first and second substances,
，
，
，
，
，
；T s to adoptA sample period or a control period;
the stator current is under a direct axis and orthogonal axis coordinate system at the current moment;jis a twiddle factor;
is the electrical angular velocity;R s is an induction motor stator resistor;
the stator flux linkage at the current moment;L r 、L s andL m the inductance values are respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;R r is the rotor resistance of the induction motor;
the rotor flux linkage at the current moment;
the voltage vector at the current moment;
the predicted value of the electromagnetic torque at the next moment is:
wherein, the symbol
Representing the outer product operation of the vector;
the predicted value of the stator flux linkage at the next moment is obtained;
the predicted value of the stator current at the next moment is obtained;pis the pole pair number of an induction machine。
Further, the merit function is:
wherein, the first and the second end of the pipe are connected with each other,
is a first term weight coefficient;
is the second term weight coefficient.
Further, the induction motor is a squirrel cage induction motor.
In a second aspect, the present invention also provides a weight adaptive motor control system, including:
a data acquisition module configured to: acquiring a plurality of voltage vectors of a three-phase two-level inverter in an induction motor under different switching states;
ka +2 time prediction module configured to: based on a plurality of voltage vectors, calculatingkPredicted value of electromagnetic torque at +2 time andka stator flux linkage prediction value at time +2, wherein,kis the current time;
a first computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 ；
kA +3 time prediction module configured to: discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; according to the minimum voltage vector under each new cost functionMeasuring to obtainkStator flux linkage predicted value at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment;
a second computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
；
A weight coefficient and voltage vector determination module configured to: will be provided with
And
two weight coefficients that are brought into the evaluation function so that the value of the evaluation function is minimized are used as the next timekA weight coefficient of +1, which is to be used at the next timekA minimum voltage vector corresponding to the weight coefficient of + 1;
a control module configured to: according to the obtained next momentkA weight coefficient of +1, and the next timekAnd controlling the induction motor according to the minimum voltage vector corresponding to the weight coefficient of + 1.
In a third aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the weight adaptive motor control method according to the first aspect.
In a fourth aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the steps of the weight adaptive motor control method according to the first aspect are implemented.
Compared with the prior art, the invention has the beneficial effects that:
in the invention, the electromagnetic torque reference value is calculatedkObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 (ii) a Discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; a plurality ofJ 1 AndJ 1 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment; and by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
(ii) a Will be provided with
And
two weight coefficients that are brought into the evaluation function so that the value of the evaluation function is minimized are used as the next timekA weight coefficient of +1, which is to be used at the next timekA minimum voltage vector corresponding to the weight coefficient of + 1; the two weight coefficients in the induction machine model predictive control algorithm can be reasonably changed, and the problem of poor control effect of the conventional induction machine model predictive control algorithm when the electromagnetic torque reference value or the stator flux linkage reference value is changed is solved.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the present embodiments, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present embodiments and together with the description serve to explain the present embodiments without unduly limiting the present embodiments.
FIG. 1 is a control flowchart of embodiment 1 of the present invention;
fig. 2 is a discretization process of the weight parameter in embodiment 1 of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. 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 application belongs.
Two-level, refers to a two-level inverter.
kIs the current time;k+1 is the next moment;k-1 is the last moment;k+2 andk+3 is relative to the current timekAnd the next momentk+ 1.
Example 1:
as noted in the background, a conventional induction machine model predictive control algorithm contains 2 control targets, one being the electromagnetic torque of the induction machineT e Can quickly and accurately track the electromagnetic torque reference value
And the other is the stator flux linkage of the induction motor
Can quickly and accurately track the stator flux linkage reference value
；
The inventor finds that a cost function is designed in the traditional induction machine model predictive control algorithm, the value of the cost function is calculated in each control period, the minimum voltage vector of the cost function is selected as the input of the induction machine model predictive control algorithm in the next control period, and the cost function is as follows:
wherein the content of the first and second substances,Jpredicting a cost function of a control algorithm for a conventional induction motor model;
is a first term weight coefficient;
is the second term weight coefficient;
the electromagnetic torque reference value is obtained through a proportional-integral link;
is a preset stator flux linkage reference value.
The first term of the cost function corresponds to the control target electromagnetic torque; the second item of the cost function corresponds to the control target stator flux linkage; first term weight coefficient
Second term weight coefficient
The relative importance degree of the electromagnetic torque and the stator flux linkage of the control target is adjusted, so that the overall control effect is influenced. In the predictive control algorithm of the conventional induction motor model, the first term weight coefficient
And a second term weight coefficient
Is a value set empirically in advance, and the first term weight coefficient is set during the entire control process
And a second term weight coefficient
The value of the sensor model is not changed all the time, so that the problem that the control effect of the predictive control algorithm of the traditional sensor model is poor when the following three working conditions are met is caused; the first operating mode being an electromagnetic torque reference value
Constant, stator flux linkage reference value
A change occurs; the second working condition is the stator flux linkage reference value
Constant, electromagnetic torque reference value
A change occurs; the third working condition is an electromagnetic torque reference value
And a stator flux linkage reference value
All change.
In view of the above problems, the present embodiment provides a weight adaptive motor control method, which mainly includes:
s1, obtaining by samplingabcStator current under three-phase coordinate at present time under three-phase coordinate system
、
And
。
s2, mixingabcStator current in three-phase coordinate system
、
And
coordinate transformation is stator current under the rectangular axis and cross axis coordinate system at present moment
(ii) a The direct axis is called by the axis coordinate systemdqThe coordinate system, the transformation process, is prior art and will not be described in detail herein.
S3, calculating current values of all variables and calculating predicted values of all variables:
calculating according to the stator current under the current moment direct axis and quadrature axis coordinate system, and according to the stator current under the current moment direct axis and quadrature axis coordinate system and the voltage vector at the previous moment to obtain the stator flux linkage at the current moment and the rotor flux linkage at the current moment; the method specifically comprises the following steps:
the stator flux linkage at the present moment is:
wherein the content of the first and second substances,
the stator flux linkage at the current moment;
the stator flux linkage at the previous moment;T s is a sampling period or a control period;
is the voltage vector of the last moment;R s is an induction motor stator resistor;
the stator current is the stator current under the direct axis and quadrature axis coordinate system at the previous moment;kis the current time;k-1 is the last time instant.
The rotor flux linkage at the current moment is:
wherein, the first and the second end of the pipe are connected with each other,L r 、L s andL m the mutual inductance is respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;
the stator flux linkage at the current moment;
the stator current is under a direct axis and quadrature axis coordinate system at the current moment;kis the current time.
Calculating to obtain a stator flux linkage predicted value at the next moment according to the stator flux linkage at the current moment and the stator current under the rectangular-axis and cross-axis coordinate system at the current moment; calculating to obtain a stator current predicted value at the next moment according to the stator current under the orthogonal axis coordinate system at the current moment and the rotor flux linkage at the current moment; calculating to obtain a predicted value of the electromagnetic torque at the next moment according to the predicted value of the stator flux linkage at the next moment and the predicted value of the stator current at the next moment; the method specifically comprises the following steps:
the predicted value of the stator flux linkage at the next moment is as follows:
wherein the content of the first and second substances,
the stator flux linkage at the current moment;
the voltage vector at the current moment;R s is an induction motor stator resistor;T s is a sampling period or a control period;
the stator current is the stator current under the rectangular axis and the cross axis coordinate system at the current moment.
The predicted value of the stator current at the next moment is:
wherein the content of the first and second substances,
，
，
，
，
，
；T s is a sampling period or a control period;
the stator current is under a direct axis and orthogonal axis coordinate system at the current moment;jis a twiddle factor;
is the electrical angular velocity;R s is an induction motor stator resistor;
the stator flux linkage at the current moment;L r 、L s andL m the mutual inductance is respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;R r is the rotor resistance of the induction motor;
the rotor flux linkage at the current moment;
is the voltage vector at the present moment.
The predicted value of the electromagnetic torque at the next moment is:
wherein, the symbol
Representing the outer product operation of the vector;pis the pole pair number of the induction motor.
According to the predicted value of the stator flux linkage at the next moment and the predicted value of the stator current at the next moment, calculating to obtainkThe stator flux linkage predicted value at +2 moments; according to the predicted value of the stator current at the next moment and the predicted value of the rotor flux linkage at the next moment, the predicted value is calculatedkPredicting the stator current at +2 moment; according tokPredicted value of stator flux linkage at +2 time andkstator current prediction value at +2 timeIs calculated to obtainkPredicting the electromagnetic torque at +2 moments; specifically, willkEach prediction equation subscript of +1 time]Adding 1 to the part ofkEach prediction equation at +2 time;
according tokPredicted value of stator flux linkage at +2 time andkcalculating to obtain the predicted value of the stator current at +2 momentkThe predicted value of the stator flux linkage at the moment + 3; according tokPredicted value of stator current at +2 time andkthe predicted value of the rotor flux linkage at the moment +2 is calculatedkPredicting the stator current at +3 moment; according tokPredicted value of stator flux linkage at +3 time andkcalculating to obtain the predicted value of the stator current at the moment of +3kThe predicted value of the electromagnetic torque at the +3 moment; specifically, willkEach prediction equation subscript of +1 time "", "" C "", and "", "" C "", are defined for each prediction equation at time]Adding 2 to the part ofkThe prediction equations at time + 3.
S4, acquiring a plurality of voltage vectors of the three-phase two-level inverter in the induction motor under different switching states; based on a plurality of voltage vectors, calculatingkPredicted value of electromagnetic torque at time +2, andka stator flux linkage prediction value at time +2, wherein,kis the current time; by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 (ii) a Specifically, 8 voltage vectors can be substituted into each of the voltage vectorskThe prediction equation at +2 time points is obtained in 8
And 8 are
(ii) a Then 8 are calculatedJ 1 Value and 8J 2 A value; the 8 voltage vectors are shown in table 1; wherein the content of the first and second substances,V dc is a dc bus voltage;S a 、S b andS c the switching state of the three-phase two-level inverter is as follows:
S a =1 denotesaThe upper bridge arm of the phase is connected, and the lower bridge arm is disconnected;
S a =0 denotesaThe upper bridge arm is turned off, and the lower bridge arm is turned on;
S b =1 denotesbThe upper bridge arm of the phase is connected, and the lower bridge arm is disconnected;
S b =0 meansbThe upper bridge arm is turned off, and the lower bridge arm is turned on;
S c =1 representscThe upper bridge arm of the phase is connected, and the lower bridge arm is disconnected;
S c =0 denotescThe upper bridge arm is turned off, and the lower bridge arm is turned on;
TABLE 1 value ranges of Voltage vectors
S5, discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; specifically, the weight coefficient of the current time is determined
According to the interval
Discretizing to obtain 9 weight coefficients to form 9 cost functionsg1、g2、g3、g4、g5、g6、g7、g8 andg9。
weight coefficient at current time:
the 9 sets of weight coefficients are:
the 9 new cost functions are:
as shown in fig. 2, when discretizing the weight parameters, the grid of a field font, which is created with the weight parameters at the current time as the center, represents 9 sets of weight coefficients after discretization; each point on the grid of the shape of the Chinese character 'tian',represents a set of weight coefficients; each group of weight coefficients is a vector, and each group of weight coefficients consists of two weight coefficients; in thatkAt the moment, the weight coefficient is discretized and optimized to be foundkThe optimal weight coefficient at time + 1; in thatkAt the moment +1, the new weight coefficient is discretized and optimized to obtainkAnd the optimal weight at the +2 moment is continuously and dynamically optimized.
S6, mixing a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; specifically, 8 areJ 1 Value and 8J 2 Value substitutiong1, selecting to makeg1 minimum optimum voltage vector
。
S7, use ofg2、g3、g4、g5、g6、g7、g8 andg9, repeating the step S5 to obtain the optimal voltage vector
、
、
、
、
、
、
And
。
s8, obtaining a minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment; specifically, 9 voltage vectors are selected in total in step S6 and step S7, and the 9 voltage vectors are used to calculate the variables inkThe predicted value at time + 3.
S9, calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
(ii) a Will be provided with
And
two weight coefficients that are brought into the evaluation function so that the value of the evaluation function is minimized are used as the next timekA weight coefficient of +1, which is to be used at the next timekThe minimum voltage vector corresponding to the weight coefficient of + 1; specifically, an evaluation function is calculatedFIs selected to beFThe set of weight coefficients with the smallest value of (D) is recorded as
And selecting an optimum voltage vector corresponding to the weight coefficient
。
S10, obtaining the next moment according to the obtained datakA weight coefficient of +1, and the next timekControlling the induction motor by the minimum voltage vector corresponding to the weight coefficient of + 1; specifically, the weight coefficients in the control algorithm are updated to
. And is arranged atkAt +1 time, the two-level inverter is enabled to generate the optimal voltage vector
And then sent to the squirrel-cage induction motor for control.
Example 2:
the present embodiment provides a weight adaptive motor control system, including:
a data acquisition module configured to: acquiring a plurality of voltage vectors of a three-phase two-level inverter in an induction motor under different switching states;
ka +2 time prediction module configured to: based on a plurality of voltage vectors, calculatingkPredicted value of electromagnetic torque at time +2, andkand a stator flux linkage prediction value at +2, wherein,kis the current time;
a first computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 ；
kA +3 time prediction module configured to: discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining the weight parameters according to the plurality of groups of weight parametersA plurality of corresponding new cost functions; a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment;
a second computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
；
A weight coefficient and voltage vector determination module configured to: will be provided with
And
two weight coefficients that are brought into the evaluation function so that the value of the evaluation function is minimized are used as the next timekA weight coefficient of +1, which is to be used at the next timekA minimum voltage vector corresponding to the weight coefficient of + 1;
a control module configured to: according to the obtained next momentk+1 weighting factor, and the next time instantkAnd controlling the induction motor according to the minimum voltage vector corresponding to the weight coefficient of + 1.
The working method of the system is the same as the weight adaptive motor control method of embodiment 1, and is not described again here.
Example 3:
the present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the steps of the weight-adaptive motor control method described in embodiment 1.
Example 4:
this embodiment provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the steps of the weight adaptive motor control method described in embodiment 1 are implemented.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. A weight-adaptive motor control method, comprising:
acquiring a plurality of voltage vectors of a three-phase two-level inverter in an induction motor under different switching states;
based on a plurality of voltage vectors, calculatingkPredicted value of electromagnetic torque at +2 time andka stator flux linkage prediction value at time +2, wherein,kis the current time;
by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at +2 momentsJ 2 ；
Discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment;
by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the predicted value difference of the stator flux linkage at +3 moment
；
Will be provided with
And
substituting the evaluation function so that the two weight coefficients with the minimum evaluation function value are used as the next timek+1 weight coefficient, will be at the next timekA minimum voltage vector corresponding to the weight coefficient of + 1;
according to the obtained next momentkA weight coefficient of +1, and the next timekAnd controlling the induction motor according to the minimum voltage vector corresponding to the weight coefficient of + 1.
2. The weight-adaptive motor control method according to claim 1,
obtaining stator current under a three-phase coordinate at the current moment;
converting the stator current under the three-phase coordinate into the stator current under the direct axis and quadrature axis coordinate system at the current moment;
calculating according to the stator current under the current moment direct axis and quadrature axis coordinate system, and according to the stator current under the current moment direct axis and quadrature axis coordinate system and the voltage vector at the previous moment to obtain the stator flux linkage at the current moment and the rotor flux linkage at the current moment;
calculating to obtain a stator flux linkage predicted value at the next moment according to the stator flux linkage at the current moment and the stator current under the rectangular-axis and cross-axis coordinate system at the current moment; calculating to obtain a stator current predicted value at the next moment according to the stator current under the direct-axis and quadrature-axis coordinate system at the current moment and the rotor flux linkage at the current moment; and calculating to obtain the predicted value of the electromagnetic torque at the next moment according to the predicted value of the stator flux linkage at the next moment and the predicted value of the stator current at the next moment.
3. The weight-adaptive motor control method according to claim 2, wherein the weight-adaptive motor control method is calculated based on the predicted value of the stator flux linkage at the next time and the predicted value of the stator current at the next timekThe predicted value of the stator flux linkage at the moment + 2; according to the predicted value of the stator current at the next moment and the predicted value of the rotor flux linkage at the next moment, the predicted value is calculatedkPredicting the stator current at +2 moment; according tokPredicted value of stator flux linkage at +2 time andkcalculating to obtain the predicted value of the stator current at +2 momentkThe predicted value of the electromagnetic torque at +2 moment;
according tokPredicted value of stator flux linkage at +2 time andkcalculating to obtain the predicted value of the stator current at the moment +2kThe predicted value of the stator flux linkage at the moment + 3; according tokPredicted value of stator current at time +2, andkthe predicted value of the rotor flux linkage at the moment +2 is calculatedkPredicting the stator current at +3 moment; according tokPredicted value of stator flux linkage at +3 time andkcalculating to obtain the predicted value of the stator current at the moment of +3kPredicted electromagnetic torque value at time + 3.
4. The weight adaptive motor control method according to claim 2, wherein the stator flux linkage at the present time is calculated as:
wherein the content of the first and second substances,
the stator flux linkage at the previous moment;T s for sampling period or controlA period;
is the voltage vector of the last moment;R s is an induction motor stator resistor;
the stator current is the stator current under the direct axis and quadrature axis coordinate system at the previous moment;kis the current time;k-1 is the last moment;
calculating the rotor flux linkage at the current moment as follows:
wherein the content of the first and second substances,L r 、L s andL m the mutual inductance is respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;
the stator flux linkage at the current moment;
the stator current is under a direct axis and quadrature axis coordinate system at the current moment;kis the current time.
5. The weight adaptive motor control method according to claim 2, wherein the predicted value of the stator flux linkage at the next time is:
wherein the content of the first and second substances,
for the stator at the present momentA flux linkage;
the voltage vector at the current moment;R s is an induction motor stator resistor;T s is a sampling period or a control period;
the stator current is under a direct axis and orthogonal axis coordinate system at the current moment;kis the current time;k+1 is the next moment;
the predicted value of the stator current at the next moment is as follows:
wherein the content of the first and second substances,
，
，
，
，
，
；T s is a sampling period or a control period;
the stator current is under a direct axis and quadrature axis coordinate system at the current moment;jis a twiddle factor;
is the electrical angular velocity;R s is an induction motor stator resistor;
the stator flux linkage at the current moment;L r 、L s andL m the mutual inductance is respectively the stator inductance of the induction motor, the rotor inductance of the induction motor and the mutual inductance between the stator and the rotor of the induction motor;R r is the rotor resistance of the induction motor;
the rotor flux linkage at the current moment;
the voltage vector at the current moment is obtained;
the predicted value of the electromagnetic torque at the next moment is:
wherein, the symbol
Representing the outer product operation of the vector;
the predicted value of the stator flux linkage at the next moment is obtained;
the predicted value of the stator current at the next moment is obtained;pis the pole pair number of the induction motor.
6. A weight adaptive motor control method according to claim 1, characterized in that the evaluation function is:
wherein the content of the first and second substances,
is a first term weight coefficient;
is the second term weight coefficient.
7. A weight adaptive motor control method according to claim 1, wherein the induction motor is a squirrel cage induction motor.
8. A weight adaptive motor control system, comprising:
a data acquisition module configured to: acquiring a plurality of voltage vectors of a three-phase two-level inverter in an induction motor under different switching states;
ka +2 time prediction module configured to: based on a plurality of voltage vectors, calculatingkPredicted value of electromagnetic torque at +2 time andka stator flux linkage prediction value at time +2, wherein,kis the current time;
a first computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +2 momentsJ 1 (ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the predicted value difference of the stator flux linkage at +2 momentJ 2 ；
kA +3 time prediction module configured to: discretizing the weight parameters of the cost function in the predictive control algorithm of the preset induction machine model to obtain a plurality of groups of weight parameters, and obtaining a plurality of corresponding new cost functions according to the plurality of groups of weight parameters; a plurality ofJ 1 AndJ 2 respectively substituting each new cost function to obtain a minimum voltage vector under each new cost function; obtaining the minimum voltage vector under each new cost functionkPredicted value of stator flux linkage at +3 time andkthe predicted value of the electromagnetic torque at the +3 moment;
a second computing module configured to: by calculating an electromagnetic torque reference valuekObtaining the absolute value of the difference value of the predicted values of the electromagnetic torque at +3 moments
(ii) a By calculating a stator flux linkage reference valuekObtaining the absolute value of the difference value of the predicted values of the stator flux linkage at the moment +3 to obtain a plurality of values
；
A weight coefficient and voltage vector determination module configured to: will be provided with
And
substituting the evaluation function so that the two weight coefficients with the minimum evaluation function value are used as the next timekA weight coefficient of +1, which is to be used at the next timekThe minimum voltage vector corresponding to the weight coefficient of + 1;
a control module configured to: according to the obtained next momentkA weight coefficient of +1, and the next timekAnd controlling the induction motor according to the minimum voltage vector corresponding to the weight coefficient of + 1.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the weight adaptive motor control method according to any one of claims 1-7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the weight adaptive motor control method according to any of claims 1-7 when executing the program.
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| CN114614719A (en) * | 2022-05-16 | 2022-06-10 | 山东大学 | Control method and system for predicting power factor of motor driving system |
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