WO2020133980A1 - 一种永磁同步电机预测转矩控制方法 - Google Patents

一种永磁同步电机预测转矩控制方法 Download PDF

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WO2020133980A1
WO2020133980A1 PCT/CN2019/093152 CN2019093152W WO2020133980A1 WO 2020133980 A1 WO2020133980 A1 WO 2020133980A1 CN 2019093152 W CN2019093152 W CN 2019093152W WO 2020133980 A1 WO2020133980 A1 WO 2020133980A1
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permanent magnet
synchronous motor
magnet synchronous
torque
control
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PCT/CN2019/093152
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French (fr)
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李占江
高超
蒋元广
李麟
陈晨
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南京越博电驱动系统有限公司
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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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  • the invention relates to the technical field of permanent magnet synchronous motors, in particular to a method for predicting torque control of permanent magnet synchronous motors.
  • Permanent magnet synchronous motors have the advantages of wide speed range, large power density and high reliability. They are widely used in electric vehicles, machinery manufacturing and other fields. In recent years, the continuous development of power electronic technology has made the control technology of permanent magnet synchronous motors more and more mature. Among them, the finite control set model predictive control is a novel control method for permanent magnet synchronous motors after vector control and direct torque control.
  • the predictive control of the finite control set model can predict the next control cycle of the motor at the end of the action of different inverter voltage vectors according to the motor state at the beginning of the current control cycle and the candidate voltage vector that the inverter can output. Motor status. According to these motor states and evaluation functions designed to meet expectations, voltage vectors that meet expectations can be obtained and act on the motor at the beginning of the next control cycle to achieve the desired control effect. This method has the advantages of good dynamic response and strong expansibility. Among them, the finite control set model predicts torque control as a more commonly used method.
  • Its evaluation function consists of two parts, one part is the torque component, the absolute value of the expected torque and the predicted torque error; the other part is the flux linkage component , Is the absolute value of the expected flux linkage and the predicted flux linkage error. Since the two have different dimensions, corresponding weight coefficients need to be designed to make the two control balanced. However, to stabilize the system control, the weight coefficients need to be controlled within a range. However, the control effects of different weight coefficients are different. To meet the control requirements, it is necessary to set and modify the weight coefficients many times, which greatly increases the complexity of the control.
  • the Chinese patent application number: CN201610197283.2 patent discloses a model predictive control method of permanent magnet synchronous motor, which includes the following steps: (1) Convert the collected three-phase current to ⁇ coordinate system at the current time k; (2 ) Predict the current value at the time of k+1 and the current reference value at the time of k+2 according to the current value of the ⁇ coordinate system; (3) Take the current reference value at the time of k+2 as the control target and calculate according to the current value at the time of k+1 The reference value of the voltage control vector at time k+1; (4) Analyze the angle corresponding to the reference value of the voltage control vector at time k+1, determine the sector to which the angle belongs, and extract the candidate voltage control vector from the sector; (5) The candidate voltage control vector is substituted into the objective function, and the candidate voltage control vector corresponding to the smallest objective function value is selected as the optimal voltage control vector.
  • the predictive control method of the finite control set model requires multiple adjustments and modifications on the
  • the purpose of the present invention is to provide a method for predicting torque control of a permanent magnet synchronous motor in order to eliminate the weight coefficients of the torque component and the flux linkage.
  • the method for predicting torque control of a permanent magnet synchronous motor includes the following steps:
  • Step 1 Use the motor encoder to obtain the rotor mechanical angular velocity ⁇ (k) and electrical angular velocity ⁇ e (k) and rotor position electrical angle ⁇ (k) of the permanent magnet synchronous motor at the beginning of the kth control cycle; collect the permanent magnet synchronous motor DC bus voltage u dc (k) and three-phase stator currents i a (k), i b (k), i c (k), and coordinate transformation to obtain the current component i ⁇ ( ⁇ ) in the two-phase static coordinate system ⁇ - ⁇ ( k), i ⁇ (k) and the current components i d (k) and i q (k) in the rotating coordinate system dq;
  • Step 2 Use the voltage-current signal and speed signal after coordinate transformation, including the current components i d (k), i q (k) and electrical angular velocity ⁇ e (k), and the voltage vector V( k)
  • the voltage components V d (k) and V q (k) in the rotating coordinate system dq can be predicted to obtain the rotating coordinate system dq at the beginning of the k+1th control cycle through the formula of the permanent magnet synchronous motor delay compensation model Lower current component
  • Step 3 The difference e(k) between the mechanical angular velocity ⁇ (k) of the rotor of the permanent magnet synchronous motor and the desired speed ⁇ * is obtained by the PI controller the electromagnetic torque of the kth control cycle of the permanent magnet synchronous motor Expected value T * (k); According to the expected value of electromagnetic torque T * (k), the maximum torque-current ratio method is used to obtain the expected values of current components i d * (k) and i q * (k) in the rotating coordinate system dq , And according to the expected value of the current component i d * (k) and i q * (k) to obtain the expected value of the permanent magnet synchronous motor stator flux linkage ⁇ s * (k);
  • Step 4 predict the current component in the rotating coordinate system dq at the beginning of the k+1 control cycle of the permanent magnet synchronous motor with And 8 voltage vectors V 0 , V 1 , V 2 ,..., V 7 in the inverter of the permanent magnet synchronous motor control system, which are brought into the permanent magnet synchronous motor delay compensation model formula and the permanent magnet synchronous stator flux desired value ⁇ s * (k) of the equation predicted 1, V 2, ising, V 7 under the action of the control cycle k + 2 start permanent magnet synchronous motor stator magnetic moment voltage vector V 0, V chain And torque Since the voltage vector V 0 and the voltage vector V 7 have the same effect, the relevant calculation of the voltage vector V 0 is discarded;
  • Step 5 The flux linkage and torque of the permanent magnet synchronous motor acting on the predicted voltage vectors V 1 , V 2 , ..., V 7 are the same as the desired flux linkage ⁇ s * (k) and torque of the permanent magnet synchronous motor T * (k) makes a difference to obtain the absolute value of the error under the action of different voltage vectors V n , which are
  • Step 6 Establish an evaluation function g(n) for the control effect of the motor under the action of the voltage vectors V 1 , V 2 , ..., V 7. According to the calculation result of the evaluation function g(n), find the evaluation function g(n) The minimum value g(n) min , then the voltage vector V n corresponding to the minimum value g(n) min is the optimal voltage vector V opt ;
  • step 1 the current components i ⁇ (k), i ⁇ (k) in the two-phase stationary coordinate system ⁇ - ⁇ and the current components i d (k) and i q (k) in the rotating coordinate system dq
  • the transformation formula is as follows:
  • i a (k), i b (k) and i c (k) are the three-phase stator currents of the permanent magnet synchronous motor
  • i ⁇ (k) and i ⁇ (k) are the two-phase static of the permanent magnet synchronous motor
  • the current components in the coordinate system ⁇ - ⁇ , i d (k) and i q (k) are the current components in the rotating coordinate system dq of the permanent magnet synchronous motor
  • ⁇ (k) is the electrical angle of the rotor position of the synchronous motor
  • step 2 the formula of the delay compensation model of the permanent magnet synchronous motor is as follows:
  • L d and L q are the direct-axis and cross-axis inductances of the permanent magnet synchronous motor
  • R s is the stator resistance
  • T s is the duration of the control period
  • ⁇ f is the rotor permanent magnet flux linkage
  • V d (k) and V q (k) are the voltage components of the voltage vector V(k) applied in the kth control cycle under the rotating coordinate system dq
  • i d (k) and i q (k ) Are the current components of the permanent magnet synchronous motor rotating coordinate system dq, Respectively, the current components under the rotating coordinate system dq at the predicted start time of the k+1th control cycle;
  • step 3 the PI controller uses the following formula:
  • K p is the proportional link coefficient in the PI controller
  • K i is the integral link coefficient in the PI controller
  • T s is the control period
  • T * (k-1) is the PI controller output in the previous control period The expected value of electromagnetic torque of the k-1 control period of the permanent magnet synchronous motor
  • i s * is the stator current value corresponding to T * (k) under the maximum torque-current ratio algorithm
  • L d and L q are the direct-axis inductance and cross-axis inductance of the synchronous motor, respectively, and ⁇ f is the permanent magnet flux linkage of the synchronous motor rotor;
  • step 4 the prediction model of the permanent magnet synchronous motor is as follows:
  • L d and L q are the direct-axis inductance and cross-axis inductance of the permanent magnet synchronous motor
  • R s is the stator resistance
  • T s is the duration of the control period
  • p is the number of pole pairs of the permanent magnet synchronous motor
  • n is the number of the variable related to the voltage vector V n
  • V dn and V qn are the inverter voltage vector V, respectively n voltage component in the rotating coordinate system dq
  • ⁇ f is the permanent magnet flux linkage of the rotor of the permanent magnet synchronous motor
  • ⁇ e the current components in the rotating coordinate system dq at the predicted (k+1)th control cycle start
  • step 6 the formula of the evaluation function g(n) is as follows:
  • ⁇ ⁇ n and ⁇ Tn are the error offset coefficients corresponding to the absolute values of flux linkage error and torque error
  • J is the equilibrium coefficient
  • the range is (0, 1)
  • V argming(n) is The voltage vector corresponding to the minimum value in the sequence ⁇ g(0), g(1), ..., g(n) ⁇ .
  • step 4 since the mechanical time constant of the permanent magnet synchronous motor is much larger than the electrical time constant, it is stipulated that the rotation speed does not change in two adjacent control cycles.
  • step 6 J takes a value of 0.5.
  • the method for predicting torque control of the permanent magnet synchronous motor of the present invention by designing the error offset coefficient, makes the dimensions in the evaluation function of the model predictive torque control unified, eliminates the weight coefficient, and solves the difficulty of setting the weight coefficient problem.
  • FIG. 1 is a flowchart of a method for predicting torque control of a permanent magnet synchronous motor according to the present invention
  • FIG. 2 is a space voltage vector diagram of the method for predicting torque control of the permanent magnet synchronous motor of the present invention.
  • the method for predicting torque control of a permanent magnet synchronous motor includes the following steps:
  • Step 1 Use the motor encoder to obtain the rotor mechanical angular velocity ⁇ (k) and electrical angular velocity ⁇ e (k) and rotor position electrical angle ⁇ (k) of the permanent magnet synchronous motor at the beginning of the kth control cycle; collect the permanent magnet synchronous motor DC bus voltage u dc (k) and three-phase stator currents i a (k), i b (k), i c (k), and coordinate transformation to obtain the current component i ⁇ ( ⁇ ) in the two-phase static coordinate system ⁇ - ⁇ ( k), i ⁇ (k) and the current components i d (k) and i q (k) in the rotating coordinate system dq, the transformation formula is as follows:
  • i a (k), i b (k) and i c (k) are the three-phase stator currents of the permanent magnet synchronous motor
  • i ⁇ (k) and i ⁇ (k) are the two-phase static of the permanent magnet synchronous motor
  • the current components in the coordinate system ⁇ - ⁇ , i d (k) and i q (k) are the current components in the rotating coordinate system dq of the permanent magnet synchronous motor
  • ⁇ (k) is the electrical angle of the rotor position of the synchronous motor
  • Step 2 Use the voltage-current signal and speed signal after coordinate transformation, including the current components i d (k), i q (k) and electrical angular velocity ⁇ e (k), and the voltage vector V( k)
  • the voltage components V d (k) and V q (k) in the rotating coordinate system dq can be predicted to obtain the rotating coordinate system dq at the beginning of the k+1th control cycle through the formula of the permanent magnet synchronous motor delay compensation model Lower current component
  • the formula of the permanent magnet synchronous motor delay compensation model is as follows:
  • L d and L q are the direct-axis and cross-axis inductances of the permanent magnet synchronous motor
  • R s is the stator resistance
  • T s is the duration of the control period
  • ⁇ f is the rotor permanent magnet flux linkage
  • V d (k) and V q (k) are the voltage components of the voltage vector V(k) applied in the kth control cycle under the rotating coordinate system dq
  • i d (k) and i q (k ) Are the current components of the permanent magnet synchronous motor rotating coordinate system dq, Respectively, the current components under the rotating coordinate system dq at the predicted start time of the k+1th control cycle;
  • Step 3 The difference e(k) between the mechanical angular velocity ⁇ (k) of the rotor of the permanent magnet synchronous motor and the desired speed ⁇ * is obtained by the PI controller the electromagnetic torque of the kth control cycle of the permanent magnet synchronous motor Expected value T * (k); According to the expected value of electromagnetic torque T * (k), the maximum torque-current ratio method is used to obtain the expected values of current components i d * (k) and i q * (k) in the rotating coordinate system dq , And according to the expected value of the current component i d * (k) and i q * (k) to obtain the expected value of the permanent magnet synchronous motor stator flux linkage ⁇ s * (k);
  • the PI controller uses the following formula:
  • K p is the proportional link coefficient in the PI controller
  • K i is the integral link coefficient in the PI controller
  • T s is the control period
  • T * (k-1) is the PI controller output in the previous control period The expected value of electromagnetic torque of the k-1 control period of the permanent magnet synchronous motor
  • i s * is the stator current value corresponding to T * (k) under the maximum torque-current ratio algorithm
  • L d and L q are the direct-axis inductance and cross-axis inductance of the synchronous motor, respectively, and ⁇ f is the permanent magnet flux linkage of the synchronous motor rotor;
  • Step 4 predict the current component in the rotating coordinate system dq at the beginning of the k+1 control cycle of the permanent magnet synchronous motor with And 8 voltage vectors V 0 , V 1 , V 2 ,..., V 7 in the inverter of the permanent magnet synchronous motor control system, which are brought into the permanent magnet synchronous motor delay compensation model formula and the permanent magnet synchronous stator flux desired value ⁇ s * (k) of the equation predicted 1, V 2, ising, V 7 under the action of the control cycle k + 2 start permanent magnet synchronous motor stator magnetic moment voltage vector V 0, V chain And torque
  • the formula of the prediction model of permanent magnet synchronous motor is as follows:
  • L d and L q are the direct-axis inductance and cross-axis inductance of the permanent magnet synchronous motor
  • R s is the stator resistance
  • T s is the duration of the control period
  • p is the number of pole pairs of the permanent magnet synchronous motor
  • n is the number of the variable related to the voltage vector V n
  • V dn and V qn are the inverter voltage vector V, respectively n voltage component in the rotating coordinate system dq
  • ⁇ f is the permanent magnet flux linkage of the rotor of the permanent magnet synchronous motor
  • ⁇ e the current components in the rotating coordinate system dq at the predicted (k+1)th control cycle start
  • Step 5 The flux linkage and torque of the permanent magnet synchronous motor acting on the predicted voltage vectors V 1 , V 2 , ..., V 7 are the same as the desired flux linkage ⁇ s * (k) and torque of the permanent magnet synchronous motor T * (k) makes a difference to obtain the absolute value of the error under the action of different voltage vectors V n , which are
  • Step 6 Establish an evaluation function g(n) for the control effect of the motor under the action of the voltage vectors V 1 , V 2 , ..., V 7. According to the calculation result of the evaluation function g(n), find the evaluation function g(n) The minimum value g(n) min , then the voltage vector V n corresponding to the minimum value g(n) min is the optimal voltage vector V opt ;
  • ⁇ ⁇ n and ⁇ Tn are the error offset coefficients corresponding to the absolute values of flux linkage error and torque error
  • J is the equilibrium coefficient
  • the range is (0, 1)
  • J is 0.5
  • V argming(n) is the voltage vector corresponding to the minimum value in the sequence ⁇ g(0), g(1), ..., g(n) ⁇ .

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Abstract

本发明公开了一种永磁同步电机预测转矩控制方法，属于永磁同步电机技术领域，首先根据速度PI控制器获得转矩参考值，通过最大转矩电流比算法求出对应的磁链参考值；利用第k个控制周期开始时刻采集的电流和电机位置信号，通过电机模型预测公式求出不同控制电压矢量作用电机后第(k+2)个控制周期开始时刻的永磁同步电机定子磁链（I）及转矩（II）根据参考值和预测值求出下个控制周期不同电压矢量V n作用下对应的误差量和误差系数；将误差系数带入到设计好的评价函数中便可求出最优的电压矢量V n，本发明在恒转矩区和恒功率区均能适用。

Description

一种永磁同步电机预测转矩控制方法 技术领域
本发明涉及永磁同步电机技术领域，具体涉及一种永磁同步电机预测转矩控制方法。
背景技术
随着新能源政策的不断提出和完善，人们对新能源行业的期望越来越高。永磁同步电机具有调速范围广，功率密度大，可靠性高等优点被广泛应用于电动汽车、机械制造等领域。近年来电力电子技术的不断发展，使得永磁同步电机的控制技术也越来越成熟。其中有限控制集模型预测控制是继矢量控制和直接转矩控制之后提出的一种较为新颖的永磁同步电机控制方法。
有限控制集模型预测控制根据当前控制周期开始时刻的电机状态和逆变器所能输出的备选电压矢量，利用电机模型能够预测出电机下一控制周期在不同逆变器电压矢量作用结束时刻的电机状态。根据这些电机状态和为满足期望而设计好的评价函数，可以求出满足期望的电压矢量并于下一控制周期开始时刻作用于电机从而达到理想的控制效果。这种方法具有动态响应好，拓展性强等优点。其中有限控制集模型预测转矩控制作为一种较为常用的方法它的评价函数由两部分组成，一部分为转矩分量，为期望转矩和预测转矩误差的绝对值；另一部分为磁链分量，为期望磁链和预测磁链误差的绝对值。由于二者具有不同的量纲，需要设计相应的权重系数来使得二者控制均衡。然而要使系统控制稳定需要将权重系数控制在一个范围之内，然而不同的权重系数的控制效果又不相同，为满足控制要求需要多次整定和修改权重系数大大增加了控制的复杂程度。
如中国专利申请号为：CN201610197283.2的专利公布了一种永磁同步电机模型预测控制方法，包括以下步骤：(1)在当前时刻k将采集的三相电流转换到αβ坐标系；(2)依据αβ坐标系的电流值预测k+1时刻的电流值和k+2时刻的电流参考值；(3)以k+2时刻的电流参考值为控制目标，依据k+1时刻电流值计算k+1时刻的电压控制矢量参考值；(4)解析k+1时刻的电压控制矢量参考值对应的角度，判定该角度所属的扇区，从扇区中提取候选电压控制矢量；(5)将候选电压控制矢量代入目标函数，选取使得目标函数值最小对应的候选电压控制矢量作为最佳电压控制矢量。但是其没有解决有限控制集模型预测控制方法在转矩分量和磁链分量权重系数上需要多次整定和修改的问题。
发明内容
本发明的目的是针对现有技术的不足，提供一种永磁同步电机预测转矩控制方法，省 去转矩分量和磁链分的权重系数。
本发明所述永磁同步电机预测转矩控制方法，包括如下步骤：
步骤1，利用电机编码器获取永磁同步电机第k个控制周期开始时刻的转子机械角速度ω(k)和电角速度ω e(k)以及转子位置电角度θ(k)；采集永磁同步电机直流母线电压u dc(k)和三相定子电流i a(k)、i b(k)、i c(k)，并进行坐标变换得到两相静止坐标系α-β下电流分量i α(k)、i β(k)以及旋转坐标系d-q下的电流分量i d(k)和i q(k)；
步骤2，利用坐标变换后的电压电流信号以及转速信号，包括电流分量i d(k)、i q(k)和电角速度ω e(k)，以及第k个控制周期施加的电压矢量V(k)在旋转坐标系d-q下的电压分量V d(k)、V q(k)，通过永磁同步电机延时补偿模型公式，预测得到第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量
Figure PCTCN2019093152-appb-000001
步骤3，将所述永磁同步电机转子机械角速度ω(k)与期望转速ω *之间的差值e(k)，经PI控制器得到永磁同步电机第k个控制周期的电磁转矩期望值T *(k)；根据电磁转矩期望值T *(k)，采用最大转矩电流比的方法，得到旋转坐标系d-q下电流分量的期望值i d *(k)和i q *(k)，并据电流分量的期望值i d *(k)和i q *(k)求出永磁同步电机定子磁链的期望值ψ s *(k)；
步骤4，将预测得到永磁同步电机第k+1个控制周期开始时刻的旋转坐标系d-q下的电流分量
Figure PCTCN2019093152-appb-000002
和
Figure PCTCN2019093152-appb-000003
以及永磁同步电机控制系统逆变器中的8个电压矢量V 0、V 1、V 2、……、V 7，带入到所述永磁同步电机延时补偿模型公式和所述永磁同步电机定子磁链期望值ψ s *(k)的公式，预测出电压矢量V 0、V 1、V 2、……、V 7作用下，第k+2控制周期开始时刻永磁同步电机定子磁链
Figure PCTCN2019093152-appb-000004
及转矩
Figure PCTCN2019093152-appb-000005
由于电压矢量V 0和电压矢量V 7的作用效果相同，舍去电压矢量V 0的相关计算；
步骤5，将预测出的电压矢量V 1、V 2、……、V 7作用的永磁同步电机磁链和转矩，同期望的永磁同步电机磁链ψ s *(k)和转矩T *(k)做差，求得不同电压矢量V n作用下的误差绝对值，分别为|Δψ sn|和|ΔT n|；
将所述的7个磁链误差|Δψ sn|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的磁链误差偏移系数φ ψn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
将所述的7个转矩误差|ΔT n|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的转矩误差偏移系数φ Tn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
步骤6，针对电压矢量V 1、V 2、……、V 7作用下电机的控制效果建立评价函数g(n)，根据评价函数g(n)的计算结果，找到评价函数g(n)的最小值g(n) min，则与所述最小值g(n) min对应的电压矢量V n为最优电压矢量V opt；
进一步的，步骤1中，两相静止坐标系α-β下电流分量i α(k)、i β(k)以及旋转坐标系d-q 下的电流分量i d(k)和i q(k)的变换公式如下：
Figure PCTCN2019093152-appb-000006
Figure PCTCN2019093152-appb-000007
式中i a(k)、i b(k)、i c(k)分别为永磁同步电机三相定子电流，i α(k)、i β(k)分别为永磁同步电机两相静止坐标系α-β下的电流分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，θ(k)为同步电机转子位置电角度；
进一步地，步骤2中，所述永磁同步电机延时补偿模型公式如下：
Figure PCTCN2019093152-appb-000008
式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，ψ f为转子永磁体磁链，ω e(k)为电角速度，V d(k)、V q(k)分别为第k个控制周期施加的电压矢量V(k)在旋转坐标系d-q下的电压分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，
Figure PCTCN2019093152-appb-000009
分别为预测得到的第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量；
进一步地，步骤3中，所述的PI控制器是采用如下公式：
T *(k)＝K pe(k)+K ie(k)T s+T *(k-1)   (4)
式中，K p为PI控制器中的比例环节系数，K i为PI控制器中的积分环节系数，T s为控制周期，T *(k-1)为PI控制器在上一个控制周期输出的永磁同步电机第k-1个控制周期的电磁转矩期望值；
所述最大转矩电流比的计算方法公式如下：
Figure PCTCN2019093152-appb-000010
式中，i s *为最大转矩电流比算法下与T *(k)对应的定子电流值；
所述永磁同步电机定子磁链期望值ψ s *(k)的公式如下：
Figure PCTCN2019093152-appb-000011
式中，L d，L q分别为同步电机的直轴电感和交轴电感，ψ f为同步电机转子永磁体磁链；
进一步地，步骤4中，永磁同步电机预测模型公式如下：
Figure PCTCN2019093152-appb-000012
Figure PCTCN2019093152-appb-000013
Figure PCTCN2019093152-appb-000014
式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，p为永磁同步电机的极对数，
Figure PCTCN2019093152-appb-000015
分别为预测得到的第(k+1)个控制周期开始时刻的旋转坐标系d-q下电流分量，n为与电压矢量V n相关变量的序号，V dn、V qn分别为逆变器电压矢量V n在旋转坐标系d-q下的电压分量，
Figure PCTCN2019093152-appb-000016
为电压矢量V n作用后第(k+2)控制周期开始时刻同步电机定子磁链ψ s在旋转坐标系d-q下的分量，
Figure PCTCN2019093152-appb-000017
为电压矢量V n作用后第k+2个控制周期开始时刻永磁同步电机输出的转矩，ψ f为永磁同步电机转子永磁体磁链，ω e(k+1)为第k+1个控制周期中的转速，由于电压矢量V 0和电压矢量V 7的作用效果相同，舍去电压矢量V 0的相关计算；
进一步地，步骤6中，评价函数g(n)公式如下：
Figure PCTCN2019093152-appb-000018
式中φ ψn和φ Tn分别为磁链误差绝对值和转矩误差绝对值排序后所对应的误差偏移系数，J为均衡系数，范围为(0，1)，V argming(n)为求数列{g(0)，g(1)，……，g(n)}中最小值所对应的电压矢量。
进一步地，步骤4中，由于永磁同步电机的机械时间常数远大于电气时间常数，规定两个相邻控制周期中转速不变。
进一步地，步骤6中，J取值为0.5。
本发明的有益效果是：
本发明所述永磁同步电机预测转矩控制方法，通过设计误差偏移系数，使得模型预测转矩控制的评价函数中的量纲得以统一，省去了权重系数，解决了权重系数整定困难的问题。
附图说明
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明所述永磁同步电机预测转矩控制方法的流程图；
图2是本发明所述永磁同步电机预测转矩控制方法的空间电压矢量图。
具体实施方式
下面结合说明书附图对本发明做进一步说明。
本发明所述永磁同步电机预测转矩控制方法，包括如下步骤：
步骤1，利用电机编码器获取永磁同步电机第k个控制周期开始时刻的转子机械角速度ω(k)和电角速度ω e(k)以及转子位置电角度θ(k)；采集永磁同步电机直流母线电压u dc(k)和三相定子电流i a(k)、i b(k)、i c(k)，并进行坐标变换得到两相静止坐标系α-β下电流分量i α(k)、i β(k)以及旋转坐标系d-q下的电流分量i d(k)和i q(k)，变换公式如下：
Figure PCTCN2019093152-appb-000019
Figure PCTCN2019093152-appb-000020
式中i a(k)、i b(k)、i c(k)分别为永磁同步电机三相定子电流，i α(k)、i β(k)分别为永磁同步电机两相静止坐标系α-β下的电流分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，θ(k)为同步电机转子位置电角度；
步骤2，利用坐标变换后的电压电流信号以及转速信号，包括电流分量i d(k)、i q(k)和电角速度ω e(k)，以及第k个控制周期施加的电压矢量V(k)在旋转坐标系d-q下的电压分量V d(k)、V q(k)，通过永磁同步电机延时补偿模型公式，预测得到第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量
Figure PCTCN2019093152-appb-000021
所述永磁同步电机延时补偿模型公式如下：
Figure PCTCN2019093152-appb-000022
式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，ψ f为转子永磁体磁链，ω e(k)为电角速度，V d(k)、V q(k)分别为第k个控制周期施 加的电压矢量V(k)在旋转坐标系d-q下的电压分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，
Figure PCTCN2019093152-appb-000023
分别为预测得到的第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量；
步骤3，将所述永磁同步电机转子机械角速度ω(k)与期望转速ω *之间的差值e(k)，经PI控制器得到永磁同步电机第k个控制周期的电磁转矩期望值T *(k)；根据电磁转矩期望值T *(k)，采用最大转矩电流比的方法，得到旋转坐标系d-q下电流分量的期望值i d *(k)和i q *(k)，并据电流分量的期望值i d *(k)和i q *(k)求出永磁同步电机定子磁链的期望值ψ s *(k)；
所述的PI控制器是采用如下公式：
T *(k)＝K pe(k)+K ie(k)T s+T *(k-1)   (4)
式中，K p为PI控制器中的比例环节系数，K i为PI控制器中的积分环节系数，T s为控制周期，T *(k-1)为PI控制器在上一个控制周期输出的永磁同步电机第k-1个控制周期的电磁转矩期望值；
所述最大转矩电流比的计算方法公式如下：
Figure PCTCN2019093152-appb-000024
式中，i s *为最大转矩电流比算法下与T *(k)对应的定子电流值；
所述永磁同步电机定子磁链期望值ψ s *(k)的公式如下：
Figure PCTCN2019093152-appb-000025
式中，L d，L q分别为同步电机的直轴电感和交轴电感，ψ f为同步电机转子永磁体磁链；
步骤4，将预测得到永磁同步电机第k+1个控制周期开始时刻的旋转坐标系d-q下的电流分量
Figure PCTCN2019093152-appb-000026
和
Figure PCTCN2019093152-appb-000027
以及永磁同步电机控制系统逆变器中的8个电压矢量V 0、V 1、V 2、……、V 7，带入到所述永磁同步电机延时补偿模型公式和所述永磁同步电机定子磁链期望值ψ s *(k)的公式，预测出电压矢量V 0、V 1、V 2、……、V 7作用下，第k+2控制周期开始时刻永磁同步电机定子磁链
Figure PCTCN2019093152-appb-000028
及转矩
Figure PCTCN2019093152-appb-000029
永磁同步电机预测模型公式如下：
Figure PCTCN2019093152-appb-000030
Figure PCTCN2019093152-appb-000031
Figure PCTCN2019093152-appb-000032
式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，p为永磁同步电机的极对数，
Figure PCTCN2019093152-appb-000033
分别为预测得到的第(k+1)个控制周期开始时刻的旋转坐标系d-q下电流分量，n为与电压矢量V n相关变量的序号，V dn、V qn分别为逆变器电压矢量V n在旋转坐标系d-q下的电压分量，
Figure PCTCN2019093152-appb-000034
为电压矢量V n作用后第(k+2)控制周期开始时刻同步电机定子磁链ψ s在旋转坐标系d-q下的分量，
Figure PCTCN2019093152-appb-000035
为电压矢量V n作用后第k+2个控制周期开始时刻永磁同步电机输出的转矩，ψ f为永磁同步电机转子永磁体磁链，ω e(k+1)为第k+1个控制周期中的转速，由于永磁同步电机的机械时间常数远大于电气时间常数，规定两个相邻控制周期中转速不变；由于电压矢量V 0和电压矢量V 7的作用效果相同，舍去电压矢量V 0的相关计算；
步骤5，将预测出的电压矢量V 1、V 2、……、V 7作用的永磁同步电机磁链和转矩，同期望的永磁同步电机磁链ψ s *(k)和转矩T *(k)做差，求得不同电压矢量V n作用下的误差绝对值，分别为|Δψ sn|和|ΔT n|；
将所述的7个磁链误差|Δψ sn|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的磁链误差偏移系数φ ψn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
将所述的7个转矩误差|ΔT n|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的转矩误差偏移系数φ Tn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
步骤6，针对电压矢量V 1、V 2、……、V 7作用下电机的控制效果建立评价函数g(n)，根据评价函数g(n)的计算结果，找到评价函数g(n)的最小值g(n) min，则与所述最小值g(n) min对应的电压矢量V n为最优电压矢量V opt；
评价函数g(n)公式如下：
Figure PCTCN2019093152-appb-000036
式中φ ψn和φ Tn分别为磁链误差绝对值和转矩误差绝对值排序后所对应的误差偏移系数，J为均衡系数，范围为(0，1)，J取值为0.5，V argming(n)为求数列{g(0)，g(1)，……，g(n)}中最小值所对应的电压矢量。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种永磁同步电机预测转矩控制方法，其特征在于，包括如下步骤：
    步骤1，利用电机编码器获取永磁同步电机第k个控制周期开始时刻的转子机械角速度ω(k)和电角速度ω e(k)以及转子位置电角度θ(k)；采集永磁同步电机直流母线电压u dc(k)和三相定子电流i a(k)、i b(k)、i c(k)，并进行坐标变换得到两相静止坐标系α-β下电流分量i α(k)、i β(k)以及旋转坐标系d-q下的电流分量i d(k)和i q(k)；
    步骤2，利用坐标变换后的电压电流信号以及转速信号，包括电流分量i d(k)、i q(k)和电角速度ω e(k)，以及第k个控制周期施加的电压矢量V(k)在旋转坐标系d-q下的电压分量V d(k)、V q(k)，通过永磁同步电机延时补偿模型公式，预测得到第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量
    Figure PCTCN2019093152-appb-100001
    步骤3，将所述永磁同步电机转子机械角速度ω(k)与期望转速ω *之间的差值e(k)，经PI控制器得到永磁同步电机第k个控制周期的电磁转矩期望值T *(k)；根据电磁转矩期望值T *(k)，采用最大转矩电流比的方法，得到旋转坐标系d-q下电流分量的期望值i d *(k)和i q *(k)，并据电流分量的期望值i d *(k)和i q *(k)求出永磁同步电机定子磁链的期望值ψ s *(k)；
    步骤4，将预测得到永磁同步电机第k+1个控制周期开始时刻的旋转坐标系d-q下的电流分量
    Figure PCTCN2019093152-appb-100002
    和
    Figure PCTCN2019093152-appb-100003
    以及永磁同步电机控制系统逆变器中的8个电压矢量V 0、V 1、V 2、……、V 7，带入到所述永磁同步电机延时补偿模型公式和所述永磁同步电机定子磁链期望值ψ s *(k)的公式，预测出电压矢量V 0、V 1、V 2、……、V 7作用下，第k+2控制周期开始时刻永磁同步电机定子磁链
    Figure PCTCN2019093152-appb-100004
    及转矩
    Figure PCTCN2019093152-appb-100005
    由于电压矢量V 0和电压矢量V 7的作用效果相同，舍去电压矢量V 0的相关计算；
    步骤5，将预测出的电压矢量V 1、V 2、……、V 7作用的永磁同步电机磁链和转矩，同期望的永磁同步电机磁链ψ s *(k)和转矩T *(k)做差，求得不同电压矢量V n作用下的误差绝对值，分别为|Δψ sn|和|ΔT n|；
    将所述的7个磁链误差|Δψ sn|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的磁链误差偏移系数φ ψn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
    将所述的7个转矩误差|ΔT n|由小到大进行排序，定义电压矢量V 1、V 2、……、V 7作用下的转矩误差偏移系数φ Tn，根据其由小到大的顺序依次赋值为0，1，2，3，4，5，6；
    步骤6，针对电压矢量V 1、V 2、……、V 7作用下电机的控制效果建立评价函数g(n)，根据评价函数g(n)的计算结果，找到评价函数g(n)的最小值g(n) min，则与所述最小值g(n) min对应的电压矢量V n为最优电压矢量V opt。
  2. 根据权利要求1中所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤1中，两相静止坐标系α-β下电流分量i α(k)、i β(k)以及旋转坐标系d-q下的电流分量i d(k)和i q(k)的变换公式如下：
    Figure PCTCN2019093152-appb-100006
    Figure PCTCN2019093152-appb-100007
    式中i a(k)、i b(k)、i c(k)分别为永磁同步电机三相定子电流，i α(k)、i β(k)分别为永磁同步电机两相静止坐标系α-β下的电流分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，θ(k)为同步电机转子位置电角度；
  3. 根据权利要求1或2中所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤2中，所述永磁同步电机延时补偿模型公式如下：
    Figure PCTCN2019093152-appb-100008
    式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，ψ f为转子永磁体磁链，ω e(k)为电角速度，V d(k)、V q(k)分别为第k个控制周期施加的电压矢量V(k)在旋转坐标系d-q下的电压分量，i d(k)、i q(k)分别为永磁同步电机旋转坐标系d-q下的电流分量，
    Figure PCTCN2019093152-appb-100009
    分别为预测得到的第k+1个控制周期开始时刻的旋转坐标系d-q下电流分量；
  4. 根据权利要求1-3中任一项所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤3中，所述的PI控制器是采用如下公式：
    T *(k)＝K pe(k)+K ie(k)T s+T *(k-1)             (4)
    式中，K p为PI控制器中的比例环节系数，K i为PI控制器中的积分环节系数，T s为控制周期，T *(k-1)为PI控制器在上一个控制周期输出的永磁同步电机第k-1个控制周期的电磁转矩期望值；
    所述最大转矩电流比的计算方法公式如下：
    Figure PCTCN2019093152-appb-100010
    式中，i s *为最大转矩电流比算法下与T *(k)对应的定子电流值；
    所述永磁同步电机定子磁链期望值ψ s *(k)的公式如下：
    Figure PCTCN2019093152-appb-100011
    式中，L d，L q分别为同步电机的直轴电感和交轴电感，ψ f为同步电机转子永磁体磁链；
  5. 根据权利要求1-4中任一项所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤4中，永磁同步电机预测模型公式如下：
    Figure PCTCN2019093152-appb-100012
    Figure PCTCN2019093152-appb-100013
    Figure PCTCN2019093152-appb-100014
    式中L d，L q分别为永磁同步电机的直轴电感和交轴电感，R s为定子电阻，T s为控制周期的时长，p为永磁同步电机的极对数，
    Figure PCTCN2019093152-appb-100015
    分别为预测得到的第(k+1)个控制周期开始时刻的旋转坐标系d-q下电流分量，n为与电压矢量V n相关变量的序号，V dn、V qn分别为逆变器电压矢量V n在旋转坐标系d-q下的电压分量，
    Figure PCTCN2019093152-appb-100016
    为电压矢量V n作用后第(k+2)控制周期开始时刻同步电机定子磁链ψ s在旋转坐标系d-q下的分量，
    Figure PCTCN2019093152-appb-100017
    为电压矢量V n作用后第k+2个控制周期开始时刻永磁同步电机输出的转矩，ψ f为永磁同步电机转子永磁体磁链，ω e(k+1)为第k+1个控制周期中的转速，由于电压矢量V 0和电压矢量V 7的作用效果相同，舍去电压矢量V 0的相关计算；
  6. 根据权利要求1-5中任一项所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤6中，评价函数g(n)公式如下：
    Figure PCTCN2019093152-appb-100018
    式中φ ψn和φ Tn分别为磁链误差绝对值和转矩误差绝对值排序后所对应的误差偏移系数，J为均衡系数，范围为(0，1)，V argming(n)为求数列{g(0)，g(1)，……，g(n)}中最小值所对应的电压矢量。
  7. 根据权利要求1-6中任一项所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤4中，由于永磁同步电机的机械时间常数远大于电气时间常数，规定两个相邻控制周期中转速不变。
  8. 根据权利要求1-7中任一项所述的一种永磁同步电机预测转矩控制方法，其特征在于，所述步骤6中，J取值为0.5。
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