CN116599412A - Synchronous motor prediction current control method, system, electronic equipment and storage medium - Google Patents

Synchronous motor prediction current control method, system, electronic equipment and storage medium Download PDF

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Publication number
CN116599412A
CN116599412A CN202310860690.7A CN202310860690A CN116599412A CN 116599412 A CN116599412 A CN 116599412A CN 202310860690 A CN202310860690 A CN 202310860690A CN 116599412 A CN116599412 A CN 116599412A
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China
Prior art keywords
current
motor
moment
alpha
voltage
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CN202310860690.7A
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Chinese (zh)
Inventor
肖继峰
刘云
王明昊
梁海深
张海丰
李国栋
谢学磊
宗志阔
俞璐
付倩文
赵岩
韩幢幢
宋红宇
孙继友
吕根
舒可心
梁特
王晰
韩晖
刘树丰
刘政
郝金娜
邹荣宇
关婧莹
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State Grid Corp of China SGCC
State Grid Tianjin Electric Power Co Ltd
Electric Power Research Institute of State Grid Tianjin Electric Power Co Ltd
Baodi Power Supply Co of State Grid Tianjin Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
State Grid Tianjin Electric Power Co Ltd
Electric Power Research Institute of State Grid Tianjin Electric Power Co Ltd
Baodi Power Supply Co of State Grid Tianjin Electric Power Co Ltd
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Application filed by State Grid Corp of China SGCC, State Grid Tianjin Electric Power Co Ltd, Electric Power Research Institute of State Grid Tianjin Electric Power Co Ltd, Baodi Power Supply Co of State Grid Tianjin Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN202310860690.7A priority Critical patent/CN116599412A/en
Publication of CN116599412A publication Critical patent/CN116599412A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention belongs to the field of synchronous motor control, and relates to a synchronous motor prediction current control method, a synchronous motor prediction current control system, electronic equipment and a storage medium, wherein a discrete synchronous motor model suitable for low control frequency is established, a dead beat prediction control is subjected to delay compensation to obtain an improved current prediction model, a reference voltage prediction value is obtained, and the first calculation is performedkThree-phase PWM duty cycle of front half period and rear half period of each control period and single-phase PWM duty cycle of excitation frequency converterAnd comparing the three-phase PWM duty cycle calculated at each moment with a triangular carrier after delaying for half a period, outputting PWM pulses to act on a power switch device, and then actually outputting corresponding reference voltages to act on a motor. The invention samples the bus voltage, the three-phase current, the exciting current and the rotor position angle of the motor twice in one period, and obtains the predicted voltage value through an improved model prediction algorithmα、βThe shafting component and the predicted exciting voltage improve the dynamic response of the control system.

Description

Synchronous motor prediction current control method, system, electronic equipment and storage medium
Technical Field
The invention belongs to the field of synchronous motor control, and relates to a control algorithm and a modulation strategy of a synchronous motor, in particular to a method, a system, electronic equipment and a storage medium for controlling predictive current of the synchronous motor.
Background
The synchronous motor is a heart of an electric power system, the dynamic performance of the synchronous motor is very complex, the dynamic performance of the synchronous motor has great influence on the dynamic performance of the whole electric power system, the power factor of the synchronous motor can be adjusted, and the running efficiency can be improved by applying the high-power synchronous motor in occasions without speed regulation. The synchronous motor can also be connected to the power grid to serve as a synchronous compensator, and the motor does not have any mechanical load at this time, and the required inductive or capacitive reactive power is sent to the power grid by adjusting exciting current in a rotor so as to achieve the purposes of improving the power factor of the power grid or adjusting the voltage of the power grid.
Currently, model predictive control (Model Predictive Control, abbreviated as MPC) is widely used in industrial process control (e.g., chemical, petroleum, etc.) in that it can achieve nonlinear system control, consider complex constraints, and have advantages of simple design. In the synchronous motor system, the algorithm predicts state solutions under the action of different control amounts by using an accurate mathematical model of the motor, and selects the optimal control amount to be acted in the next control period, thereby realizing that the motor current can accurately follow the command current value. The predictive current control can make the motor current obtain good dynamic and steady state response, but has a certain problem that for a high-power synchronous motor, the switching speed of a power device is limited, the switching speed is influenced by sampling time, noise and the like, the sampling frequency of a system cannot be further improved, and at the moment, the establishment of a discrete model has a great influence on the dynamic and steady state performance of a control module. In addition, under low control frequency, the fluctuation of three-phase current is larger, the harmonic content of the current is more, and the stability of the whole system is affected.
Disclosure of Invention
The invention aims to solve the technical problem of providing a synchronous motor prediction current control method, a system, electronic equipment and a storage medium, which can improve the current control quality of a high-power synchronous motor under low control frequency.
The technical scheme adopted by the invention is as follows:
according to the method, a discrete model of the synchronous motor suitable for low control frequency is built, delay compensation is carried out on dead beat prediction control to obtain an improved current prediction model, a reference voltage prediction value is obtained through the improved current prediction model, three-phase PWM duty ratios of a front half period and a rear half period of a kth control period and a single-phase PWM duty ratio of an excitation frequency converter are calculated, the three-phase PWM duty ratio calculated at each moment is delayed by half period and then compared with a triangular carrier wave, PWM pulses are output to act on a power switching device, and corresponding reference voltages are output to act on the motor actually.
Further, the method comprises the following specific steps:
1) Updating PWM duty cycle once every half carrier period, atTime and->At the moment, the control system controls the motor ABC three-phase current +.>Sampling exciting current, direct current bus voltage, motor rotor electric angular speed and rotor position angle; in (1) the->Is one carrier period;
2) Calculating the d-axis component of the motor reference current through a voltage feedback closed-loop PI regulatorCalculating the q-axis component of the motor reference current by means of a speed loop PI controller>Calculating a motor excitation voltage reference value through an excitation current feedback closed-loop PI regulator>；
3) At the kth moment, the d and q axis reference currents of the motor are subjected to Park inverse transformation module to obtain the alpha and beta axis electricity of the motorStream component reference valueThe method comprises the steps of carrying out a first treatment on the surface of the At the kth time, the excitation current reference value is given +.>The method comprises the steps of carrying out a first treatment on the surface of the And compensating given reference values in two control periods, wherein the reference values are specifically solved as follows:
；
wherein T is a control period of，/>The included angle between the d axis and the alpha axis at the moment of k+2T is obtained by adopting angle compensation, and is +.>，/>Compensating the motor alpha-axis current component at the kth moment with two control period back reference values, +.>Compensating the motor beta-axis current component at the kth moment with two control-period-later reference values, +.>Is the reference value of d-axis current of the motor at the kth moment, and the like>The reference value is the q-axis current of the motor at the kth moment;
4) Sampling ABC three-phase current of motor at kth timeExciting current +.>Solving forTime motor ABC three-phase actual current alpha, beta shafting component +.>、/>；
5) Doing the following stepsObtaining an improved current prediction model; />Time and->At the moment, the predicted values of the alpha and beta shafting components and the exciting current predicted value of the motor are obtained according to the improved current prediction model, wherein the predicted values comprise the predicted +.>Time and->Time alpha, beta shafting current and exciting current +.>Andas the delay compensation of the voltage prediction model, the specific solution is as follows:
；
in the method, in the process of the invention,is->Predicted value of alpha-axis voltage applied at moment, +.>Is->Predicted value of beta-axis voltage applied at moment, +.>Is->Predicted value of the excitation voltage applied at the moment, +.>Is thatPredicted value of alpha-axis voltage applied at moment,/->Is->Predicted value of beta-axis voltage applied at moment, +.>Is thatA predicted value of the exciting voltage applied at a moment; r is stator resistance, ">Is the excitation winding resistance, L is the stator inductance, < >>For exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>For the actual current alpha-axis component of the motor at the k-0.5 th moment,for the actual current beta-axis component of the motor at the k-0.5 th moment, < >>For the actual excitation current of the motor at the k-0.5 th moment,/->For the electrical angle of the rotor position of the motor at time k-0.5 +.>The electric angle is the electric angle of the rotor position of the motor at the kth moment;
6) Obtaining a voltage prediction model from the improved current prediction model, respectively according toTime and->The predicted values of the motor rotor electric angular speed, the motor reference current alpha, beta shafting components and the motor actual current alpha, beta shafting components at the moment, and the predicted values of the excitation reference current and the motor actual excitation current are obtained so that the predicted current is within +.>Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>The method comprises the steps of carrying out a first treatment on the surface of the At->Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>；
；
In the middle ofAnd->The predicted current is +.>Predicted voltage alpha, beta axis component of time tracking reference current,/->For predicting the excitation voltage T is a control period with a value of +.>The method comprises the steps of carrying out a first treatment on the surface of the R is stator resistance, L is stator inductance, < ->For exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>For the motor alpha-axis current reference at time k+0.5, < >>Beta-axis electricity of motor at k+0.5 timeStream reference value->For the motor excitation current reference value at time k+0.5,/for>For the motor alpha-axis current reference at time k+1,>is the reference value of the beta-axis current of the motor at the k+1 moment,a motor excitation current reference value at the k+1th moment;
7) In each carrier period, an asymmetric five-segment type two-level SVPWM modulation method is adopted to calculate the PWM duty ratio of the two-time three-phase inverter、/>And->The method comprises the steps of carrying out a first treatment on the surface of the And they are marked as maximum phase +.>Mesophase->And minimum phase->The method comprises the steps of carrying out a first treatment on the surface of the The minimum phase is always clamped to a bus low level in a switching period; among the three-phase modulated waves, the modulated waves of the maximum phase and the minimum phase have been determined so far as to be +.>And->The method comprises the steps of carrying out a first treatment on the surface of the Mesophase ofModulated wave of +.>The value of which is adjusted in 5) to reduce current fluctuation caused by the effective vector when the modulation degree is high;
；
8) Will be、/>、/>Input into an FPGA (Field Programmable Gate Array ); the frequency of triangle wave generated by FPGA is +.>The method comprises the steps of carrying out a first treatment on the surface of the Calculating in the FPGA, and translating the conduction time of the intermediate phase; the distance d of translation is 0.5 times the difference between the intermediate phase and the smallest phase, in which case two modulation waves are required, each +.>And->；
；
9) In FPGA pairAnd->The intermediate phase can be split by logic judgment, and modulated waves with asymmetric carrier periods before and after the output are outputted; if the value of the triangular wave is equal to or greater than +.>At the same time less than or equal to->Opening the corresponding upper bridge arm, or turning off the upper bridge arm; and the maximum phase and the minimum phase are directly compared with triangular waves and output, and finally act on the inverter.
At the position ofTime of day according to->Calculating reference voltage, exciting voltage and alpha and beta shafting components at momentCalculating the three-phase PWM duty ratio of the front half period of the kth control period and the single-phase PWM duty ratio of the excitation frequency converter according to the rotor position angle at the moment; at->Time of day according to->Calculating reference voltage, exciting voltage and +.>Calculating the three-phase PWM duty ratio and the single-phase PWM duty ratio of the second half period of the kth control period according to the rotor position angle at the moment; delay of the three-phase PWM duty cycle calculated at each instant +.>Then comparing the pulse with a triangular carrier wave and outputting 6 paths of PWM pulses to act on a power device of the static frequency converter, wherein the single-phase PWM duty cycle is delayed +.>Then comparing the PWM pulse with the triangular carrier wave and outputting 2 paths of PWM pulses to act on the power device of the excitation frequency converter so as to realize actual transmissionAnd (3) applying corresponding reference voltage to the motor, and returning to the step 1) for circulation.
The second aspect of the present invention provides a synchronous motor prediction current control system based on the above method, comprising:
the system comprises a space vector pulse width modulator, a three-phase bridge type inversion module, a single-phase bridge type inversion module, a synchronous motor and a signal acquisition module for acquiring feedback signals, wherein the signal acquisition module acquires the angular speed of a motor rotor, the position angle of the rotor, three-phase current at the input side of the motor, exciting current at the input side of the motor, direct current bus voltage of the inversion module and the duty ratio output by the space vector pulse width modulator; the control system further includes: the Clark conversion module is used for converting the motor rotor angular speed sampling value, the rotor position angular sampling value and the motor input side three-phase current sampling value into motor current alpha and beta axis component sampling values, the delay compensation module and the improved voltage prediction module are used for calculating delay one-beat compensation, and the prediction space vector pulse width modulator output duty ratio adjustment module is used for changing the modulation frequency; the control system is also provided with a compound multistage module for outputting given current of the rotating speed ring, wherein the compound multistage module is provided with a Park conversion module for converting the acquired alpha and beta axis prediction voltage into d and q axis voltages, a voltage feedback field weakening module for calculating field weakening current, a PI module and a Park inverse conversion module for converting the given d and q axis current into alpha and beta axis current; wherein:
the delay compensation module is used for preliminarily predicting the alpha and beta axis components and exciting current of the motor at the next moment; the delay compensation module comprises a motor discrete prediction model; the motor discrete predictive model has inputs comprising: the current alpha and beta axis component sampling values, the motor exciting winding current sampling value and the motor rotor angular speed sampling value of the motor voltage at the current moment; the output is the predicted value of the motor current alpha and beta axis component current and the predicted value of exciting current at the next moment;
the voltage prediction module is used for predicting alpha and beta axis voltages and exciting voltages applied at the next moment by using a voltage prediction model; which is a kind ofThe input is: the motor current alpha, beta axis component sampling value and exciting current sampling value at the current moment, and the motor current alpha, beta axis component and exciting current component at the current moment from the delay compensation module; the current angle theta with the motor and the electric angular velocity sampling value of the motorThe method comprises the steps of carrying out a first treatment on the surface of the The output is the motor voltage alpha and beta axis components and the exciting voltage value at the next moment of the motor.
A third aspect of the invention provides an electronic device comprising a memory and a processor; wherein:
a memory: for storing processor-executable instructions;
a processor: the processor is configured to perform: and (3) establishing a discrete model of the synchronous motor suitable for low control frequency, performing delay compensation on dead beat prediction control to obtain an improved current prediction model, obtaining a reference voltage prediction value by the improved current prediction model, calculating the three-phase PWM duty ratio of the front half period and the rear half period of the kth control period and the single-phase PWM duty ratio of the excitation frequency converter, comparing the three-phase PWM duty ratio calculated at each moment with a triangular carrier wave after delaying for half period, and outputting PWM pulses to act on a power switching device so as to actually output corresponding reference voltage to act on the motor.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program for causing the computer to execute the synchronous motor predictive current control method.
The invention relates to an improved synchronous motor predictive current control method, which can greatly improve the dynamic and steady state performance of a synchronous motor control system under the condition of keeping the average switching frequency unchanged. The technical scheme of the invention has the beneficial effects that:
(1) According to the invention, the bus voltage, the three-phase current, the exciting current and the rotor position angle of the motor are sampled twice in one period, and the predicted voltage values alpha and beta shafting components and the predicted exciting voltage are obtained through an improved model prediction algorithm, so that the dynamic response of the control system is improved.
(2) According to the invention, by means of an asymmetric SVPWM modulation method, the PWM duty ratio is updated twice in one carrier period, and a reference basis is provided for improving the dynamic performance of the system.
(3) According to the invention, the effective vector is divided into a plurality of sections by clamping and switching the modulation wave, so that the current fluctuation caused by the effective vector when the modulation degree is high is effectively reduced, and the dynamic performance of the system under low switching frequency is improved.
Drawings
FIG. 1 is a block diagram of a main circuit and control system of a three-phase two-level PWM converter;
FIG. 2 is a timing diagram of synchronous motor control system current sampling and PWM duty cycle update;
fig. 3 is a flowchart of a synchronous motor system oversampling predictive current control method in accordance with the present invention.
Detailed Description
The following describes a method for controlling predicted current of a synchronous motor according to the present invention in detail with reference to the embodiment and the accompanying drawings; the detailed description is as follows:
referring to fig. 1, a synchronous motor predictive current control system includes a space vector pulse width modulator, a three-phase bridge inverter module, a single-phase bridge inverter module, a synchronous motor, and a signal acquisition module for acquiring feedback signals, wherein the signal acquisition module acquires a motor rotor angular speed, a rotor position angle, a motor input side three-phase current, a motor input side excitation current, and a dc bus voltage of the inverter moduleDC bus voltage of excitation module>And the duty cycle of the space vector pulse width modulator output; the control system further includes: for converting motor rotor angular velocity sampling value, rotor position angular sampling value and motor input side three-phase current sampling value into motor current alpha, beta axis component samplingThe Clark conversion module is used for calculating a delay compensation module for delay one beat compensation, an improved voltage prediction module and a prediction space vector pulse width modulator output duty ratio adjustment module for changing the modulation frequency; the control system is also provided with a compound multistage module for outputting given current of the rotating speed ring, wherein the compound multistage module is provided with a Park conversion module for converting the acquired alpha and beta axis prediction voltage into d and q axis voltages, a voltage feedback field weakening module for calculating field weakening current, a PI module and a Park inverse conversion module for converting the given d and q axis current into alpha and beta axis current; wherein:
the delay compensation module is used for preliminarily predicting the alpha and beta axis components and exciting current of the motor at the next moment; the delay compensation module comprises a motor discrete prediction model; the motor discrete predictive model has inputs comprising: the current alpha and beta axis component sampling values, the motor exciting winding current sampling value and the motor rotor angular speed sampling value of the motor voltage at the current moment; the output is the predicted value of the motor current alpha and beta axis component current and the predicted value of exciting current at the next moment;
the voltage prediction module is used for predicting alpha and beta axis voltages and exciting voltages applied at the next moment by using a voltage prediction model; the input is as follows: the motor current alpha, beta axis component sampling value and exciting current sampling value at the current moment, and the motor current alpha, beta axis component and exciting current component at the current moment from the delay compensation module; the current angle theta with the motor and the electric angular velocity sampling value of the motorThe method comprises the steps of carrying out a first treatment on the surface of the The output is the motor voltage alpha and beta axis components and the exciting voltage value at the next moment of the motor.
As shown in fig. 3, the method for controlling the predicted current of the synchronous motor of the invention comprises the following steps:
1) Updating PWM duty cycle once every half carrier period, atTime of day and time of day/>At moment, sampling three-phase current, exciting current, DC bus voltage, electric angular speed of motor rotor and rotor position angle of motor ABC by a control system, and performing->Is one carrier period;
2) Calculating the d-axis component of the motor reference current through a voltage feedback closed-loop PI regulatorCalculating the q-axis component of the motor reference current by means of a speed loop PI controller>Directly giving an exciting current reference value through an exciting current counter electromotive force curve. The method comprises the following steps:
（1）；
wherein,,respectively the d-axis component and the q-axis component of motor reference current, < >>Is the proportion coefficient of the PI regulator of the weak magnetic ring,
integration coefficient of PI regulator for weak magnetic ring, +.>For the proportional coefficient of the speed loop PI regulator, +.>For turning aroundIntegration coefficient of speed loop PI regulator, +.>For bus voltage +.>Multiple of (I)>The output voltage of the current loop has a value +.>，/>For the d-axis component of the motor stator voltage, for example>For the q-axis component of the motor stator voltage, +.>The reference value of the rotating speed is omega, and the mechanical angular speed of the motor rotor is omega;
3) Because dead beat prediction control has control delay of a switching period, dead beat tracking can be realized only at the end time of the next period; according to the given current of the motor at time kAfter being converted by a Park inverse transformation module, the current becomes alpha and beta axis components of the motor current, and the current can track the given current at the end of the next period due to the delay of one beat of dead beat control, so the angle is needed to be equal to->Compensating, and specifically solving the reference value as follows:
（2）；
wherein T is a control period of，/>The included angle between the d axis and the alpha axis at the moment of k+2T is obtained by adopting angle compensation, and is +.>，/>Compensating the motor alpha-axis current component at the kth moment with two control period back reference values, +.>Compensating the motor beta-axis current component at the kth moment with two control-period-later reference values, +.>Is the reference value of d-axis current of the motor at the kth moment, and the like>The reference value is the q-axis current of the motor at the kth moment;
4) According to the motor ABC three-phase current, solving the actual current alpha and beta shafting components of the motor, and specifically solving the components as follows:
（3）；
wherein x is 0 in the first half of each carrier period and 0 in the second half，/>And->Alpha and beta axis components of the actual current of the motor, < >>、/>And->ABC three-phase current for motor, < >>The transformation matrix is from a three-phase static shafting to a two-phase static shafting;
5) The PWM duty cycle is updated every half carrier period, thus requiring current to be doneDelay compensation of (a); integrating the variation of the current to obtain an improved current prediction model; />Time and->At moment, according to the improved current prediction model, the predicted values of the alpha and beta shafting components and the excitation current of the motor are obtained, including the steps of respectively predictingTime and->Time current->And->And +.>、/>And +.>As a delay compensation of the voltage prediction model;
in the method, in the process of the invention,is->Predicted value of alpha-axis voltage applied at moment, +.>Is->Predicted value of beta-axis voltage applied at moment, +.>Is->Predicted value of the excitation voltage applied at the moment, +.>Is thatPredicted value of alpha-axis voltage applied at moment,/->Is->Predicted value of beta-axis voltage applied at moment, +.>Is thatA predicted value of the exciting voltage applied at a moment; r is stator resistance, ">Is the excitation winding resistance, L is the stator inductance, < >>For exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>For the actual current alpha-axis component of the motor at the k-0.5 th moment,for the actual current beta-axis component of the motor at the k-0.5 th moment, < >>For the actual excitation current of the motor at the k-0.5 th moment,/->For the electrical angle of the rotor position of the motor at time k-0.5 +.>The electric angle is the electric angle of the rotor position of the motor at the kth moment;
6) Obtaining a voltage prediction model from the improved current prediction model, respectively according toTime and->The predicted values of the motor rotor electric angular speed, the motor reference current alpha, beta shafting components and the motor actual current alpha, beta shafting components at the moment, and the predicted values of the excitation reference current and the motor actual excitation current are obtained so that the predicted current is within +.>Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>The method comprises the steps of carrying out a first treatment on the surface of the At->Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>；
In the middle ofAnd->The predicted current is +.>Predicted voltage alpha, beta axis component of time tracking reference current,/->For predicting the excitation voltage T is a control period with a value of +.>The method comprises the steps of carrying out a first treatment on the surface of the R is stator resistance, L is stator inductance, < ->For exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>For the motor alpha-axis current reference at time k+0.5, < >>For the motor beta-axis current reference at time k+0.5, < >>For the motor excitation current reference value at time k+0.5,/for>For the motor alpha-axis current reference at time k+1,>is the reference value of the beta-axis current of the motor at the k+1 moment,a motor excitation current reference value at the k+1th moment;
7) In each carrier period, an asymmetric five-segment type two-level SVPWM modulation method is adopted to calculate the PWM duty ratio of the two-time three-phase inverter、/>And->The method comprises the steps of carrying out a first treatment on the surface of the And they are marked as maximum phase +.>Mesophase->And minimum phase->The method comprises the steps of carrying out a first treatment on the surface of the The minimum phase is always clamped to a bus low level in a switching period; among the three-phase modulated waves, the modulated waves of the maximum phase and the minimum phase have been determined so far as to be +.>And->The method comprises the steps of carrying out a first treatment on the surface of the The modulation wave of the intermediate phase is +.>The value of which is adjusted in 8) to reduce current fluctuation caused by the effective vector when the modulation degree is high;
（8）；
8) Will be、/>、/>Inputting into an FPGA; the frequency of triangle wave generated by FPGA is +.>The method comprises the steps of carrying out a first treatment on the surface of the Calculating in an FPGA, and translating the conduction time of the intermediate phase, please refer to fig. 1-2; the distance d of translation is 0.5 times the difference between the intermediate phase and the smallest phase, in which case two modulation waves are required, each +.>And->；
（9）；
9) In FPGA pairAnd->The intermediate phase can be split by logic judgment, and modulated waves with asymmetric carrier periods before and after the output are output, as shown in fig. 2; if the value of the triangular wave is equal to or greater than +.>At the same time less than or equal to->Opening the corresponding upper bridge arm, or turning off the upper bridge arm; and the maximum phase and the minimum phase are directly compared with triangular waves and output, and finally act on the inverter.
Further, the invention provides an electronic device comprising a memory and a processor; wherein:
a memory: for storing processor-executable instructions;
a processor: the processor is configured to perform: and (3) establishing a discrete model of the synchronous motor suitable for low control frequency, performing delay compensation on dead beat prediction control to obtain an improved current prediction model, obtaining a reference voltage prediction value by the improved current prediction model, calculating the three-phase PWM duty ratio of the front half period and the rear half period of the kth control period and the single-phase PWM duty ratio of the excitation frequency converter, comparing the three-phase PWM duty ratio calculated at each moment with a triangular carrier wave after delaying for half period, and outputting PWM pulses to act on a power switching device so as to actually output corresponding reference voltage to act on the motor.
Further, the present invention provides a computer-readable storage medium having stored thereon a computer program for causing the computer to execute the synchronous motor predictive current control method.
Although the embodiments of the present invention and the accompanying drawings have been disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.

Claims (5)

1. A synchronous motor predictive current control method is characterized in that:
the method comprises the steps of establishing a discrete model of a synchronous motor suitable for low control frequency, performing delay compensation on dead beat prediction control to obtain an improved current prediction model, obtaining a reference voltage prediction value by the improved current prediction model, calculating three-phase PWM duty ratios of a front half period and a rear half period of a kth control period and a single-phase PWM duty ratio of an excitation frequency converter, comparing the three-phase PWM duty ratio calculated at each moment with a triangular carrier after delaying by half period, outputting PWM pulses to act on a power switch device, and further actually outputting corresponding reference voltages to act on the motor.
2. The synchronous motor predictive current control method as recited in claim 1, comprising the steps of:
1) Updating PWM duty cycle once every half carrier period, atTime and->At the moment, the control system controls the motor ABC three-phase current +.>Exciting electricitySampling current, direct current bus voltage, motor rotor electric angular speed and rotor position angle; in (1) the->Is one carrier period;
2) Calculating the d-axis component of the motor reference current through a voltage feedback closed-loop PI regulatorCalculating the q-axis component of the motor reference current by means of a speed loop PI controller>Calculating a motor excitation voltage reference value through an excitation current feedback closed-loop PI regulator；
3) At the kth moment, the d and q axis reference currents of the motor are subjected to Park inverse transformation module to obtain the alpha and beta axis current component reference value of the motorThe method comprises the steps of carrying out a first treatment on the surface of the At the kth time, the excitation current reference value is given +.>The method comprises the steps of carrying out a first treatment on the surface of the And compensating given reference values in two control periods, wherein the reference values are specifically solved as follows:
;
wherein T is a control period of，/>The included angle between the d axis and the alpha axis at the moment of k+2T is obtained by adopting angle compensation, and is +.>，/>Compensating the motor alpha-axis current component at the kth moment with two control period back reference values, +.>The reference value after two control periods is compensated for the motor beta-axis current component at the kth moment,is the reference value of d-axis current of the motor at the kth moment, and the like>The reference value is the q-axis current of the motor at the kth moment;
4) Sampling ABC three-phase current of motor at kth timeExciting current +.>Solving for->Time motor ABC three-phase actual current alpha, beta shafting component +.>、/>；
5) Doing the following stepsObtaining an improved current prediction model; />Time and->At the moment, the predicted values of the alpha and beta shafting components and the exciting current predicted value of the motor are obtained according to the improved current prediction model, wherein the predicted values comprise the predicted +.>Time and->Time alpha, beta shafting current and exciting current +.>Andas the delay compensation of the voltage prediction model, the specific solution is as follows:
;
in the method, in the process of the invention,is->Predicted value of alpha-axis voltage applied at moment, +.>Is->Predicted value of beta-axis voltage applied at moment, +.>Is->Predicted value of the excitation voltage applied at the moment, +.>Is->Predicted value of alpha-axis voltage applied at moment,/->Is->Predicted value of beta-axis voltage applied at moment, +.>Is->A predicted value of the exciting voltage applied at a moment; r is stator resistance, ">Is the excitation winding resistance, L is the stator inductance, < >>For exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>For the alpha-axis component of the actual current of the motor at the k-0.5 th moment, < >>For the actual current beta-axis component of the motor at the k-0.5 th moment, < >>For the actual excitation current of the motor at the k-0.5 th moment,/->For the electrical angle of the rotor position of the motor at time k-0.5 +.>The electric angle is the electric angle of the rotor position of the motor at the kth moment;
6) Obtaining a voltage prediction model from the improved current prediction model, respectively according toTime and->The predicted values of the motor rotor electric angular speed, the motor reference current alpha, beta shafting components and the motor actual current alpha, beta shafting components at the moment, and the predicted values of the excitation reference current and the motor actual excitation current are obtained so that the predicted current is within +.>Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>The method comprises the steps of carrying out a first treatment on the surface of the At->Predicted voltage alpha, beta axis component of time tracking reference current +.>、/>And predicting the excitation voltage>；
;
In the middle ofAnd->The predicted current is +.>Predicted voltage alpha, beta axis component of time tracking reference current,/->For predicting the excitation voltage T is a control period with a value of +.>The method comprises the steps of carrying out a first treatment on the surface of the R is the stator resistance, L is the stator inductance,for exciting winding inductance>For the electrical angular velocity of the motor rotor, and (2)>Is the motor alpha-axis current reference value at the k+0.5 moment,for the motor beta-axis current reference at time k+0.5, < >>The motor exciting current reference value at the k+0.5 moment,for the motor alpha-axis current reference at time k+1,>for the motor beta-axis current reference at time k+1,>a motor excitation current reference value at the k+1th moment;
7) In each carrier period, an asymmetric five-segment type two-level SVPWM modulation method is adopted to calculate the PWM duty ratio of the two-time three-phase inverter、/>And->The method comprises the steps of carrying out a first treatment on the surface of the And they are marked as maximum phase +.>Mesophase->And minimum phase->The method comprises the steps of carrying out a first treatment on the surface of the The minimum phase is always clamped to a bus low level in a switching period; among the three-phase modulated waves, the modulated waves of the maximum phase and the minimum phase have been determined so far as to be +.>And->The method comprises the steps of carrying out a first treatment on the surface of the The modulation wave of the intermediate phase is +.>The value of which is adjusted in 5) to reduce current fluctuation caused by the effective vector when the modulation degree is high;
;
8) Will be、/>、/>Inputting into an FPGA; the frequency of triangle wave generated by FPGA is +.>The method comprises the steps of carrying out a first treatment on the surface of the Calculating in the FPGA, and translating the conduction time of the intermediate phase; the distance d of translation is 0.5 times the difference between the intermediate phase and the smallest phase, in which case two modulation waves are required, each +.>And->；
;
9) In FPGA pairAnd->The intermediate phase can be split by logic judgment, and modulated waves with asymmetric carrier periods before and after the output are outputted; if the value of the triangular wave is equal to or greater than +.>At the same time less than or equal to->Opening the corresponding upper bridge arm, or turning off the upper bridge arm; and the maximum phase and the minimum phase are directly compared with triangular waves and output, and finally act on the inverter.
3. A synchronous motor predictive current control system according to the method of claim 1 or 2 comprises a space vector pulse width modulator, a three-phase bridge inverter module, a single-phase bridge inverter module, a synchronous motor and a signal acquisition module for acquiring feedback signals, wherein the signal acquisition module acquires the angular speed of a motor rotor, the rotor position angle, three-phase current at the input side of the motor, exciting current at the input side of the motor, DC bus voltage of the inverter module and the duty ratio of the output of the space vector pulse width modulator; the control system further includes: the Clark conversion module is used for converting the motor rotor angular speed sampling value, the rotor position angular sampling value and the motor input side three-phase current sampling value into motor current alpha and beta axis component sampling values, the delay compensation module and the improved voltage prediction module are used for calculating delay one-beat compensation, and the prediction space vector pulse width modulator output duty ratio adjustment module is used for changing the modulation frequency; the control system is also provided with a compound multistage module for outputting given current of the rotating speed ring, wherein the compound multistage module is provided with a Park conversion module for converting the acquired alpha and beta axis prediction voltage into d and q axis voltages, a voltage feedback field weakening module for calculating field weakening current, a PI module and a Park inverse conversion module for converting the given d and q axis current into alpha and beta axis current; wherein:
the delay compensation module is used for preliminarily predicting the alpha and beta axis components and exciting current of the motor at the next moment; the delay compensation module comprises a motor discrete prediction model; the motor discrete predictive model has inputs comprising: the current alpha and beta axis component sampling values, the motor exciting winding current sampling value and the motor rotor angular speed sampling value of the motor voltage at the current moment; the output is the predicted value of the motor current alpha and beta axis component current and the predicted value of exciting current at the next moment;
the voltage prediction module is used for predicting alpha and beta axis voltages and exciting voltages applied at the next moment by using a voltage prediction model; the input is as follows: the motor current alpha, beta axis component sampling value and exciting current sampling value at the current moment, and the motor current alpha, beta axis component and exciting current component at the current moment from the delay compensation module; the current angle theta with the motor and the electric angular velocity sampling value of the motorThe method comprises the steps of carrying out a first treatment on the surface of the The output is the motor voltage alpha and beta axis components and the exciting voltage value at the next moment of the motor.
4. An electronic device comprising a memory and a processor; wherein:
a memory: for storing processor-executable instructions;
a processor: the processor is configured to perform: and (3) establishing a discrete model of the synchronous motor suitable for low control frequency, performing delay compensation on dead beat prediction control to obtain an improved current prediction model, obtaining a reference voltage prediction value by the improved current prediction model, calculating the three-phase PWM duty ratio of the front half period and the rear half period of the kth control period and the single-phase PWM duty ratio of the excitation frequency converter, comparing the three-phase PWM duty ratio calculated at each moment with a triangular carrier wave after delaying for half period, and outputting PWM pulses to act on a power switching device so as to actually output corresponding reference voltage to act on the motor.
5. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program for causing the computer to execute the synchronous motor predictive current control method according to any one of claims 1-2.
CN202310860690.7A 2023-07-14 2023-07-14 Synchronous motor prediction current control method, system, electronic equipment and storage medium Pending CN116599412A (en)

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JP2006034027A (en) * 2004-07-20 2006-02-02 Nissan Motor Co Ltd Control unit of field winding electric motor
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