CN115378324A - Permanent magnet synchronous motor control method, system, medium and electronic equipment - Google Patents
Permanent magnet synchronous motor control method, system, medium and electronic equipment Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 70
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- 238000004364 calculation method Methods 0.000 claims abstract description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 162
- 229910052742 iron Inorganic materials 0.000 claims description 81
- 239000011159 matrix material Substances 0.000 claims description 53
- 238000005070 sampling Methods 0.000 claims description 26
- 230000004907 flux Effects 0.000 claims description 24
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- 230000008569 process Effects 0.000 description 5
- 230000001052 transient effect Effects 0.000 description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 4
- 230000006698 induction Effects 0.000 description 3
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- 238000007796 conventional method Methods 0.000 description 1
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- JJYKJUXBWFATTE-UHFFFAOYSA-N mosher's acid Chemical compound COC(C(O)=O)(C(F)(F)F)C1=CC=CC=C1 JJYKJUXBWFATTE-UHFFFAOYSA-N 0.000 description 1
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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
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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
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/022—Synchronous motors
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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
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention belongs to the technical field of electric digital data processing, and provides a permanent magnet synchronous motor control method, a system, a medium and electronic equipment, which comprise the following steps: acquiring the current-time operation parameters of the permanent magnet synchronous motor; obtaining the stator current effective component at the next moment according to the current-moment operation parameters of the permanent magnet synchronous motor and a preset prediction control model; controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time; the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule, the prediction control model with accurate stator current effective components and a calculation method is obtained by detailed design and optimization of the submodules, the problem that errors exist in the current effective component calculation mode in the prior art is solved, and the problem that errors exist in the current effective component calculation mode in the prior art is solved by using the accurate prediction control model.
Description
Technical Field
The invention belongs to the technical field of electric digital data processing, and particularly relates to a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control system, a permanent magnet synchronous motor control medium and electronic equipment.
Background
The model predictive control of the permanent magnet synchronous motor is a new generation of control technology in the field of motor driving, has good dynamic performance, is easy to process various constraint conditions, is convenient to implement in a control object of a nonlinear model, and has great development potential in the future. Losses in permanent magnet synchronous motors include copper losses, iron losses, mechanical losses, and stray losses. The mechanical loss and the stray loss belong to uncontrollable loss and change along with different rotating speeds and working conditions. The copper loss and the iron loss belong to controllable loss. The existing motor model prediction control technology mostly does not consider motor loss.
The inventor finds that the existing permanent magnet synchronous motor model prediction control method considering the iron loss has the following defects: the calculation modes of the stator current effective component under the rectangular coordinate system and the stator current effective component under the orthogonal coordinate system have errors, and the prediction control model is inaccurate. In the traditional control method, an analytical expression of a direct-axis current reference value when the controllable loss is minimum is solved, and the motor three-phase stator current under a direct-axis coordinate system tracks the direct-axis current reference value in a cost function, so that the purposes of minimizing the controllable loss and improving the efficiency are achieved; however, for motors with more complicated structures such as a built-in permanent magnet synchronous motor and an induction motor, the direct-axis current reference value expression with the minimum controllable loss cannot be solved. The controllable loss expression is deduced according to the assumption that the current of the three-phase stator of the motor is unchanged under a rectangular coordinate system and a cross-axis coordinate system in a steady state; during transient operation, the three-phase stator current of the motor is not a constant value, and at the moment, the controllable loss expression is to(ii) inaccuracy; when the proportion of the transient process time to the total operation time of the system is large, the control deviation of the loss is large. The traditional model prediction control method considering loss always sets a direct-axis current reference value by taking minimum loss as a control target, and the direct-axis current reference value is not equal to zero at the moment; on the other hand, the maximum torque current ratio (c) of the motor is desired in the controlMaximum Torque Per Ampere，MTPA) The control capability is maximum; for an ideal permanent magnet synchronous motor, namely, the direct-axis inductance is equal to the quadrature-axis inductance, when the maximum torque-current ratio capacity is maximum, the corresponding direct-axis current reference value is equal to zero; therefore, the controllable loss of the system is minimized in the traditional model prediction control method considering the loss at the cost of sacrificing partial maximum torque-current ratio capability, and the method cannot be used under the working condition with a large load.
Disclosure of Invention
The invention provides a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control system, a permanent magnet synchronous motor control medium and electronic equipment, wherein the permanent magnet synchronous motor control method, the permanent magnet synchronous motor control system, the permanent magnet synchronous motor control medium and the electronic equipment use accurate stator current effective components and a calculation method, and solve the problems that errors exist in a current effective component calculation mode in the prior art, and the control deviation of loss is large when the proportion of transient process time to total operation time of the system is large. The controllable loss is used as a punishment item to be added into a cost function instead of solving the direct-axis current reference value, so that the problem that the direct-axis current reference value expression with the minimum controllable loss can not be solved for motors with more complex structures, such as a built-in permanent magnet synchronous motor, an induction motor and the like. By configuring the weight coefficient of the controllable loss penalty term, the problem that the traditional control method cannot be adjusted according to the actual working condition is solved.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for controlling a permanent magnet synchronous motor, including:
acquiring the current operating parameters of the permanent magnet synchronous motor;
obtaining the stator current effective component at the next moment according to the current-moment operation parameters of the permanent magnet synchronous motor and a preset prediction control model;
controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator current at the current moment, the first matrix is a two-row matrix, a first element and a fourth element which are positioned on a first diagonal line are negative numbers after the ratio of the product of the stator resistance and the iron loss resistance to the sum of the stator resistance and the iron loss resistance is compared with an upper inductance value, a second element which is positioned on a second diagonal line is an electric angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electric angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix comprises two rows of two columns of matrixes, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance to the sum of the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
Further, the stator current effective component at the next moment comprises a stator current effective component under a rectangular axis coordinate system at the next moment and a stator current effective component under an orthogonal axis coordinate system at the next moment; the stator current effective component at the current moment comprises a stator current effective component under a rectangular axis coordinate system at the current moment and a stator current effective component under an orthogonal axis coordinate system at the current moment.
Further, the effective component of the stator current is the difference value between the three-phase stator current of the motor and the iron loss component of the stator current.
Further, the stator current iron loss component comprises a stator current iron loss component in a rectangular coordinate system and a stator current iron loss component in an orthogonal coordinate system; the stator current iron loss component under the rectangular coordinate system is the ratio of the iron loss resistance to the summation of a first addend and a second addend, the first addend is the negative number of the product of an inductance value, an electrical angular velocity and a stator current effective component under the rectangular coordinate system, and the second addend is the product of the derivation of the inductance value and the stator current effective component under the rectangular coordinate system; the stator current iron loss component under the cross-axis coordinate system is the ratio of the third addend and the fourth addend to the iron loss resistor after summing, the third addend is the product of the inductance value and the stator current effective component under the cross-axis coordinate system and the product of the permanent magnet magnetic flux after summing and the product of the electrical angular velocity, and the fourth addend is the product of the inductance value and the stator current effective component under the cross-axis coordinate system after derivation.
Further, the effective component of the stator current at the next time is evaluated and optimized by using a cost function, and the total loss with the weight coefficient is added into the cost function as a penalty term.
Furthermore, the intensity of the controllable loss punishment is adjusted through the weight coefficient, and the operation efficiency and the maximum torque current ratio capability are balanced.
Further, the cost function includes a first term, a second term, a third term and a fourth term; the first term is an electromagnetic torque tracking reference value; the second term is a stator current effective component; the third term is the total loss with weight coefficient; the fourth term is current limiting.
In a second aspect, the present invention further provides a permanent magnet synchronous motor control system, including:
a data acquisition module configured to: acquiring the current operating parameters of the permanent magnet synchronous motor;
a stator current effective component calculation module configured to: obtaining the effective component of the stator current at the next moment according to the current-moment operating parameters of the permanent magnet synchronous motor and a preset predictive control model;
a control module configured to: controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator, the first matrix is two rows of two columns of matrices, a first element and a fourth element which are positioned on a first diagonal line are negative numbers obtained by comparing a product of stator resistance and iron loss resistance with a ratio of the product of the stator resistance and the iron loss resistance with an upper inductance value, a second element which is positioned on a second diagonal line is an electrical angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electrical angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix comprises two rows of two columns of matrixes, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance to the sum of the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
In a third aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, realizes the steps of the permanent magnet synchronous 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 computer program, the steps of the permanent magnet synchronous 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, a predictive control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first submodule is a stator current effective component at the current moment; the second sub-module is the product of the sampling period, the first matrix and the effective component of the current stator, the first matrix is two rows of two columns of matrixes, the first element and the fourth element on the first diagonal line are the negative number of the product of the stator resistance and the iron loss resistance and the ratio of the product of the stator resistance and the iron loss resistance to the sum of the stator resistance and the iron loss resistance after the comparison of the inductance value, the second element on the second diagonal line is the electrical angular velocity, and the third element on the second diagonal line is the negative number of the electrical angular velocity; the third sub-module is a sampling period, a second matrix and stator voltage, the first matrix is a two-row two-column matrix, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance and the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value; by using an accurate predictive control model, the problem that an error exists in a current effective component calculation mode in the prior art is solved;
in the invention, the stator current iron loss component under the rectangular coordinate system is the ratio of the iron loss resistance after summing a first addend and a second addend, wherein the first addend is the negative number of the product of an inductance value, an electric angular velocity and a stator current effective component under the rectangular coordinate system, and the second addend is the product of the inductance value and the stator current effective component under the rectangular coordinate system after derivation; the stator current iron loss component under the cross-axis coordinate system is the ratio of the summation of a third addend and a fourth addend to the iron loss resistor, the third addend is the product of the inductance value and the stator current effective component under the cross-axis coordinate system, the summation of the third addend and the permanent magnet magnetic flux is the product of the summation and the multiplication of the summation and the electrical angular velocity, and the fourth addend is the product of the derivation of the inductance value and the stator current effective component under the cross-axis coordinate system; by adding the stator current effective component derivative value under the rectangular coordinate system, the problem of large control deviation of loss when the proportion of the transient process time to the total operation time of the system is large is solved.
According to the invention, the total loss with the weight coefficient is used as a penalty term to be added into a cost function, and the strength of controllable loss penalty is adjusted through the weight coefficient, so that the running efficiency and the maximum torque-current ratio capability are balanced, namely, the controllable loss is used as the penalty term to be added into the cost function instead of solving a direct-axis current reference value, and the problem that for motors with more complex structures such as a built-in permanent magnet synchronous motor and an induction motor, the direct-axis current reference value expression with the minimum controllable loss can not be solved is solved; meanwhile, the problem that the traditional control method cannot be adjusted according to the actual working condition is solved by configuring the weight coefficient of the controllable loss penalty term.
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 direct-axis equivalent circuit of a permanent magnet synchronous motor regardless of iron loss according to embodiment 1 of the present invention;
fig. 2 is a quadrature-axis equivalent circuit of a permanent magnet synchronous motor without considering iron loss according to embodiment 1 of the present invention;
fig. 3 is a direct-axis equivalent circuit of a permanent magnet synchronous motor considering iron loss according to embodiment 1 of the present invention;
fig. 4 is a quadrature-axis equivalent circuit of a permanent magnet synchronous motor considering iron loss according to embodiment 1 of the present invention;
fig. 5 is a control block diagram of 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.
Crossed axes, also calledqA shaft; straight axis, also calleddA shaft; the quadrature and direct axes are in fact coordinate axes, not actual axes. In the permanent magnet synchronous motor control, in order to obtain the control characteristics similar to a direct current motor, a coordinate system is established on a motor rotor, the coordinate system and the rotor synchronously rotate, and the direction of a rotor magnetic field is taken as a direct axis, and the direction vertical to the rotor magnetic field is taken as an alternate axis.
Example 1:
the embodiment provides a control method of a permanent magnet synchronous motor, which comprises the following steps:
acquiring the current operating parameters of the permanent magnet synchronous motor; it can be understood that the operating parameters of the permanent magnet synchronous motor at the current moment may include the stator current effective component at the current moment, and parameters or known parameters that need to be measured, such as the sampling period, the stator resistance, the iron loss resistance, the inductance value, and the electrical angular velocity;
obtaining the stator current effective component at the next moment according to the current-moment operation parameters of the permanent magnet synchronous motor and a preset prediction control model;
controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator current at the current moment, the first matrix is a two-row matrix, a first element and a fourth element which are positioned on a first diagonal line are negative numbers after the ratio of the product of the stator resistance and the iron loss resistance to the sum of the stator resistance and the iron loss resistance is compared with an upper inductance value, a second element which is positioned on a second diagonal line is an electric angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electric angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix comprises two rows of two columns of matrixes, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance to the sum of the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
The stator current effective component at the next moment comprises a stator current effective component under a rectangular axis coordinate system at the next moment and a stator current effective component under an orthogonal axis coordinate system at the next moment; the stator current effective component at the current moment comprises a stator current effective component under a current moment rectangular axis coordinate system and a stator current effective component under a current moment orthogonal axis coordinate system; the stator voltage comprises stator voltage under a rectangular coordinate system and stator voltage under an orthogonal coordinate system.
Specifically, the derivation process of the predictive control model is as follows:
as shown in fig. 1 and fig. 2, in order to obtain an equivalent circuit of a conventional permanent magnet synchronous motor without considering iron loss, a state equation of the permanent magnet synchronous motor is:
wherein,
the current derivative value of the three-phase stator of the motor under a rectangular coordinate system is obtained;
the current derivative value of the three-phase stator of the motor under a cross-axis coordinate system;i d the three-phase stator current of the motor under a rectangular coordinate system;i q the three-phase stator current of the motor under a cross-axis coordinate system;Las an inductance value, in the surface-mounted permanent magnet synchronous motor,L d =L q =L，L d is a straight-axis inductor and is characterized in that,L q is a quadrature axis inductor;
in order to be the electrical angular velocity,
equal to the speed of rotation of the motor
Number of pole pairsN p ；R s The stator resistance corresponds to the copper loss of the motor;u d the stator voltage under a rectangular coordinate system;u q the stator voltage is under a cross-axis coordinate system;
is the magnitude of the magnetic flux of the permanent magnet.
As shown in fig. 3 and 4, in order to consider the equivalent circuit of the conventional permanent magnet synchronous motor with iron loss, the corresponding equation of state of the permanent magnet synchronous motor is:
wherein,
the stator current effective component derivative value under a rectangular coordinate system is obtained;
the stator current effective component derivative value under a cross-axis coordinate system;i wd the effective component of the stator current under a rectangular coordinate system;i wq the effective component of the stator current under a cross-axis coordinate system;Lis an inductance value;R s is a stator resistor;R c is an iron loss resistor;
is the electrical angular velocity;u d the stator voltage under a rectangular coordinate system;u q the stator voltage is under a cross-axis coordinate system;
is the magnetic flux of the permanent magnet.
Three-phase stator current of motor under rectangular axis coordinate system in traditional permanent magnet synchronous motor considering iron lossi d Three-phase stator current of motor under cross-axis coordinate systemi q Each consists of two parts:
wherein,i wd the effective component of the stator current under a rectangular coordinate system;i wq the effective component of the stator current under a cross-axis coordinate system;i cd the stator current iron loss component under a rectangular coordinate system;i cd is a stator current iron loss component under a cross-axis coordinate system; the effective component of the stator current can be obtained as the difference value of the three-phase stator current of the motor and the iron loss component of the stator current.
The current in a torque equation and a flux linkage equation in the traditional predictive control model is updated to be the effective component of the stator current under a rectangular coordinate systemi wd Stator current effective component under cross-axis coordinate systemi wq ：
Wherein,T e is the torque;
the magnetic flux linkage under the rectangular coordinate system is called as the rectangular magnetic flux linkage;
the magnetic linkage under the cross-axis coordinate system is called cross-axis magnetic linkage;N p is the number of pole pairs;
the magnetic flux of the permanent magnet is obtained;i wd the effective component of the stator current under a rectangular coordinate system;i wq the effective component of the stator current under a cross-axis coordinate system;Lis an inductance value.
When the iron loss resistance is very large, the influence of iron loss is small, and the model considering the iron loss is degenerated into a traditional model, including:
discretizing a state equation considering iron loss to obtain an accurate prediction equation, namely an accurate prediction control model:
wherein,
the effective component of the stator current under the rectangular coordinate system at the next moment is obtained;
predicting the stator current effective component under the cross-axis coordinate system at the next moment;i wd （k) The effective component of the stator current under the rectangular coordinate system at the current moment is taken as the effective component of the stator current under the rectangular coordinate system;i wq （k) The effective component of the stator current under the cross-axis coordinate system at the current moment;T s is a sampling period, a sampling time or a control period;Lis an inductance value;R s is a stator resistor;R c is an iron loss resistor;
is the electrical angular velocity;u d the stator voltage under a rectangular coordinate system;u q the stator voltage is under a cross-axis coordinate system;
is the magnetic flux of the permanent magnet.
Stator current effective component under rectangular coordinate systemi wd Stator current under cross-axis coordinate systemEffective component prediction valuei wq Calculated by the following formula:
wherein,i d the three-phase stator current of the motor under a rectangular coordinate system;i q the three-phase stator current of the motor under the cross-axis coordinate system.
In the traditional prediction control model considering iron loss, the effective component of the stator current under a rectangular coordinate systemi wd Stator current effective component under cross axis coordinate systemi wq By passingi wd =i d -i cd Andi wq =i q -i cq this relationship is calculated, and the stator current iron loss component is calculated under a rectangular coordinate systemi cd Stator current iron loss component under cross axis coordinate systemi cq Neglecting the voltage on the inductor
And
the accuracy of the predictive control model is lost, and the error is particularly obvious when the transient operation time of the system is long. In this embodiment, the effective component of the stator current in the rectangular coordinate systemi wd There is no error in the calculation method of the effective component of the stator current in the orthogonal coordinate system, specifically, in this embodiment, the iron loss component of the stator current in the orthogonal coordinate system is calculatedi cd Stator current iron loss component under cross-axis coordinate systemi cq Not neglecting the voltage on the inductor
And
：
specifically, the iron loss component of the stator current in the rectangular coordinate systemi cd Summing the first addend and the second addend and then adding the sum to the iron loss resistorR c The first addend is an inductance valueLElectrical angular velocity
And stator current effective component under a rectangular coordinate systemi wd The negative of the product of the three, the second addend being the inductance valueLAnd stator current effective component under a rectangular coordinate systemi wd The derived product; stator current iron loss component under cross-axis coordinate systemi cq The third addend and the fourth addend are summed and then are compared with the iron lossR c The ratio of the resistance, the third addend is the effective component of the stator current under the inductance value L and the cross-axis coordinate systemi wq Product and permanent magnet flux
After summing, multiplying by the electrical angular velocity
The fourth addend is the inductance valueLStator current effective component under cross-axis coordinate systemi wq The derived product.
Then calculating the copper lossP Cu Iron lossP Fe Total loss, total lossP loss ：
In the prediction control model, three-phase stator currents of the motor under a rectangular coordinate system are assumedi q Three-phase stator current of motor under cross-axis coordinate systemi q The stator current iron loss component under a rectangular coordinate system is unchangedi cd Stator current iron loss component under cross axis coordinate systemi cq The expression is simplified as follows:
thus, a loss expression with error is obtained:
the torque equation is arranged into the effective component of the stator current under the cross-axis coordinate systemi wq And assuming electrical angular velocity at steady state
And torqueT e Unchanged, the total loss expression is obtained:
based on these assumptions, the conventional method considers the total lossP loss Is about the effective component of the stator current under the cross-axis coordinate systemi wq Second order function of
The minimum loss operating point including the error is found:
wherein,
and the effective component of the stator current under the rectangular coordinate system corresponding to the minimum loss operating point containing the error.
In the embodiment, the cost function is used for evaluating and optimizing the obtained effective component of the stator current at the next time, and the total loss with the weight coefficient is used as a penalty term and added into the cost function; specifically, after the total loss Ploss is accurately calculated, the total loss Ploss is used as a penalty term to be added into the cost function and the weight coefficient is configured, and calculation is not needed
：
Wherein,
is a reference value of the electromagnetic torque; the first term is an electromagnetic torque tracking reference value; the second term is a stator current effective component; the third term is the total loss with weight coefficient; item four
Is a current limit; specifically, a first item in the cost function controls an electromagnetic torque tracking reference value; the second term isMTPAPrinciple control of stator current effective component under cross-axis coordinate systemi wq The size of (d); the third punishment is carried out on the controllable loss of the motor; the fourth term comes fromThe current limit is limited in safety consideration, and the specific size is determined according to actual motor parameters; weight coefficient
The penalty to controllable loss can be adjusted, so that the operation efficiency and the operation efficiency of the system can be improvedMTPAA trade-off between capabilities.
i wd （k+ 1) andi wq （k+ 1) is: setting the current control period askIs shown byi wd Andi wq in the first placekA predicted value of +1 control cycles;i wd （k+ 2) andi wq （k+ 2) is: setting the current control period askA is showni wd Andi wq in the first placekA predicted value of +2 control cycles; in the context of figure 3, it is shown,
is a reference value of the motor rotating speed;
the measured motor speed;V opt inputting the optimal voltage vector obtained by screening according to the principle of minimum cost function into the motor in the next sampling period;
is an angle value which represents the current position of the motor rotor rotation;i a 、i b andi c are respectively asa、bAndcthe three-phase stator current of the motor under the coordinate system can be obtained by sampling through a current sensor.
Example 2:
the embodiment provides a permanent magnet synchronous motor control system, includes:
a data acquisition module configured to: acquiring the current operating parameters of the permanent magnet synchronous motor;
a stator current effective component calculation module configured to: obtaining the stator current effective component at the next moment according to the current-moment operation parameters of the permanent magnet synchronous motor and a preset prediction control model;
a control module configured to: controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator, the first matrix is two rows of two columns of matrices, a first element and a fourth element which are positioned on a first diagonal line are negative numbers obtained by comparing a product of stator resistance and iron loss resistance with a ratio of the product of the stator resistance and the iron loss resistance with an upper inductance value, a second element which is positioned on a second diagonal line is an electrical angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electrical angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix comprises two rows of two columns of matrixes, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance to the sum of the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
The working method of the system is the same as the control method of the permanent magnet synchronous motor in embodiment 1, and details are not repeated 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 permanent magnet synchronous 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, where the processor executes the computer program to implement the steps of the method for controlling a permanent magnet synchronous motor according to embodiment 1.
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 shall be included in the protection scope of the present embodiment.
Claims (10)
1. A permanent magnet synchronous motor control method is characterized by comprising the following steps:
acquiring the current operating parameters of the permanent magnet synchronous motor;
obtaining the effective component of the stator current at the next moment according to the current-moment operating parameters of the permanent magnet synchronous motor and a preset predictive control model;
controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
wherein the predictive control model is a sum of a first sub-module, a second sub-module, a third sub-module and a fourth sub-module; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator, the first matrix is two rows of two columns of matrices, a first element and a fourth element which are positioned on a first diagonal line are negative numbers obtained by comparing a product of stator resistance and iron loss resistance with a ratio of the product of the stator resistance and the iron loss resistance with an upper inductance value, a second element which is positioned on a second diagonal line is an electrical angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electrical angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix is a two-row two-column matrix, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistors multiplied by the ratio of the stator resistors to the sum of the iron loss resistors, and then are compared to obtain an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
2. The control method of a permanent magnet synchronous motor according to claim 1, wherein the stator current effective component at the next time includes a stator current effective component in a rectangular coordinate system at the next time and a stator current effective component in an orthogonal coordinate system at the next time; the stator current effective component at the current moment comprises a stator current effective component under a rectangular axis coordinate system at the current moment and a stator current effective component under an orthogonal axis coordinate system at the current moment.
3. The method of claim 1, wherein the stator current effective component is a difference between three phases of stator current and a stator current iron loss component of the motor.
4. The permanent magnet synchronous motor control method according to claim 3, wherein the stator current iron loss component includes a stator current iron loss component in a rectangular coordinate system and a stator current iron loss component in an orthogonal coordinate system; the stator current iron loss component under the rectangular coordinate system is the ratio of a first addend and a second addend which are summed and then the ratio is compared with the iron loss resistor, the first addend is the negative number of the product of the inductance value, the electric angular velocity and the stator current effective component under the rectangular coordinate system, and the second addend is the product of the inductance value and the stator current effective component under the rectangular coordinate system after derivation; the stator current iron loss component under the cross-axis coordinate system is the ratio of the third addend and the fourth addend to the iron loss resistor after summing, the third addend is the product of the inductance value and the stator current effective component under the cross-axis coordinate system and the product of the permanent magnet magnetic flux after summing and the product of the electrical angular velocity, and the fourth addend is the product of the inductance value and the stator current effective component under the cross-axis coordinate system after derivation.
5. The permanent magnet synchronous motor control method according to claim 3, wherein the obtained stator current effective component at the next time is evaluated and optimized by using a cost function, and the total loss with a weight coefficient is added to the cost function as a penalty term.
6. The permanent magnet synchronous motor control method of claim 5, wherein the operating efficiency and the maximum torque to current ratio capability are balanced by adjusting the strength of the controllable loss penalty through a weighting coefficient.
7. The permanent magnet synchronous motor control method of claim 5, wherein the cost function includes a first term, a second term, a third term, and a fourth term; the first term is an electromagnetic torque tracking reference value; the second term is a stator current effective component; the third term is the total loss with weight coefficient; the fourth term is current limiting.
8. A permanent magnet synchronous motor control system, comprising:
a data acquisition module configured to: acquiring the current operating parameters of the permanent magnet synchronous motor;
a stator current effective component calculation module configured to: obtaining the stator current effective component at the next moment according to the current-moment operation parameters of the permanent magnet synchronous motor and a preset prediction control model;
a control module configured to: controlling the permanent magnet synchronous motor by using the obtained stator current effective component at the next time;
the prediction control model is the sum of a first submodule, a second submodule, a third submodule and a fourth submodule; the first sub-module is a stator current effective component at the current moment; the second sub-module is a product of a sampling period, a first matrix and an effective component of the current stator, the first matrix is two rows of two columns of matrices, a first element and a fourth element which are positioned on a first diagonal line are negative numbers obtained by comparing a product of stator resistance and iron loss resistance with a ratio of the product of the stator resistance and the iron loss resistance with an upper inductance value, a second element which is positioned on a second diagonal line is an electrical angular velocity, and a third element which is positioned on the second diagonal line is a negative number of the electrical angular velocity; the third sub-module comprises a sampling period, a second matrix and a stator voltage, the first matrix comprises two rows of two columns of matrixes, a first element and a fourth element which are positioned on a first diagonal line are iron loss resistance multiplied by the ratio of the stator resistance to the sum of the iron loss resistance, the first element and the fourth element are compared with an inductance value, and a second element and a third element which are positioned on a second diagonal line are zero; the fourth sub-module is the product of the sampling period and a third matrix, the third matrix is a matrix with two rows and one column, the first row is zero, and the product of the electrical angular velocity and the magnetic flux of the permanent magnet of the second row is more negative than the product of the electrical angular velocity and the magnetic flux of the permanent magnet after the electrical inductance value is added.
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 permanent magnet synchronous motor control method according to any one of claims 1 to 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 steps of the permanent magnet synchronous motor control method according to any of claims 1-7 are implemented when the processor executes the program.
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