WO2021210274A1 - Système de conversion de puissance et procédé de commande de système de conversion de puissance - Google Patents

Système de conversion de puissance et procédé de commande de système de conversion de puissance Download PDF

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WO2021210274A1
WO2021210274A1 PCT/JP2021/006994 JP2021006994W WO2021210274A1 WO 2021210274 A1 WO2021210274 A1 WO 2021210274A1 JP 2021006994 W JP2021006994 W JP 2021006994W WO 2021210274 A1 WO2021210274 A1 WO 2021210274A1
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current
voltage vector
output
axis
voltage
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Japanese (ja)
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隆一 小川
昌司 滝口
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株式会社明電舎
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • 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
    • 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

Definitions

  • the present invention relates to a current control method in a power conversion system that outputs a voltage using a power converter.
  • current control may be used to obtain the desired value of the output current.
  • ACR Auto Current Regulator
  • PWM Pulse Width Modulation
  • MPC Model Predictive Control: model prediction control
  • the MPC predicts the change in current with respect to each assumed output voltage, and adopts a voltage as the actual output so that the locus of the output current follows the command current most.
  • the feature of MPC is that the discrete output voltage is considered in advance and the instantaneous current can be predicted.
  • Non-Patent Document 1 describes a basic control configuration of MPC, a method of predicting current using a motor state equation, and a method of evaluating predicted current and voltage vector.
  • the evaluation method by considering items such as the deviation between the command current and each predicted current, the maximum value of the total deviation, and the number of changes in the voltage vector, an output current close to the command current can be obtained and the number of voltage changes. The output voltage with a small (number of switchings) can be determined.
  • Patent Document 1 describes an MPC control method for performing current prediction calculation up to i (n + 2).
  • the detection time is set to n, and the current change during the calculation time is predicted to obtain i (n + 1).
  • i (n + 2) is calculated from i (n + 1) in consideration of the voltage vector branch of the inverter, and the voltage vector is determined by the evaluation of i (n + 2).
  • Non-Patent Document 1 does not consider the change in current during the calculation time.
  • the detected current is i (n), and the current change during the calculation time is predicted from the detected current to calculate the current i (n + 1). Then, i (n + 2) is calculated using i (n + 1). In this way, the predicted current of the previous current is obtained.
  • a general and specific calculation method such as a case where a voltage vector for a plurality of cycles is determined by one calculation when predicting n + 2 or later.
  • the present invention has been devised in view of the above-mentioned conventional problems, and one aspect thereof is an upper control unit that generates a command current based on a command value and each output cycle during the prediction period by model prediction control.
  • a plurality of assumed voltage vectors are set in, the predicted current of the assumed voltage vector is calculated based on the correction current value obtained by adding the amount of change in the current during the calculation cycle to the detected current, and the assumed voltage vector and the predicted current are evaluated.
  • the function is calculated, the combination of the assumed voltage vectors whose evaluation function is the highest is determined from the combination of the assumed voltage vectors in the prediction period, and the combination of the assumed voltage vectors whose evaluation function is the highest is determined.
  • a predictor that outputs the assumed voltage vector that is actually output from, as a command voltage vector, a gate signal determination unit that outputs a gate signal for outputting the voltage expressed by the command voltage vector from the power converter, and a gate signal. It is characterized by being equipped with a power converter that is driven and controlled based on the above.
  • the amount of change in current during the calculation cycle is calculated by the following equation (5).
  • ⁇ idc Current change amount during calculation cycle (d-axis)
  • ⁇ iqc Current change amount during calculation cycle (q-axis)
  • id Detected d-axis current
  • iq Detected q-axis current
  • vdz d-axis voltage vector
  • Previous value vqz: q-axis voltage vector
  • R Winding resistance
  • Ld d-axis inductance
  • Lq q-axis inductance
  • ⁇ r Detected electrical angular velocity
  • ⁇ Permanent magnet interlinkage magnetic flux number.
  • a plurality of output cycles during the prediction period are provided by a host control unit that generates a command current based on the command value and model prediction control that determines voltage vectors of a plurality of output cycles in one calculation cycle.
  • the assumed voltage vector is set, the predicted current of the assumed voltage vector is calculated based on the correction current value obtained by adding the amount of change in the current during the calculation cycle to the detected current, and the evaluation function of the assumed voltage vector and the predicted current is calculated. Then, from the prediction unit that outputs the combination of the assumed voltage vectors having the highest evaluation function as the command voltage vector matrix from the combinations of the assumed voltage vectors in the prediction period, and the command voltage vector matrix having a plurality of output cycles.
  • a read unit that selects the voltage vector of the output cycle and outputs it as an output voltage vector
  • a gate signal determination unit that outputs a gate signal for outputting the voltage expressed by the output voltage vector from the power converter, and a gate. It is characterized by being equipped with a power converter that is driven and controlled based on a signal.
  • the current change amount during the calculation cycle is calculated by calculating the current change amount during each output cycle by the following equation (21), and adding the current change amounts of all the output cycles during the calculation cycle. It is characterized in that the value is set to the value.
  • ⁇ idc Current change amount during output cycle (d-axis)
  • ⁇ iqc Current change amount during output cycle (q-axis)
  • Tc Output cycle id': Detected d-axis current or d-axis current
  • iq' Detected q-axis current or q-axis current
  • vdz d-axis voltage vector Previous value
  • vqz q-axis voltage vector Previous value
  • R Winding Resistance
  • Ld d-axis inductance
  • Lq q-axis inductance
  • ⁇ r Detected electric angular velocity
  • ⁇ Permanent magnet interlinkage magnetic flux number.
  • the correction current value is characterized by adding the amount of change in the current during the calculation cycle and the amount of change in the current in the timing shift period of the output voltage change with respect to the current detection to the detected current. do.
  • the amount of current change in the timing shift period of the output voltage change with respect to the current detection is calculated by the following equation (17).
  • ⁇ iddel Current change amount (d-axis) during the timing shift period of the output voltage change with respect to the current detection
  • ⁇ iqdel Current change amount (q-axis) during the timing shift period of the output voltage change with respect to the current detection
  • Tdel Timing shift period of output voltage change with respect to current detection
  • id Detected d-axis current
  • iq Detected q-axis current
  • vdzz d-axis voltage vector
  • Pre-previous value vqz q-axis voltage vector
  • R Winding resistance
  • Ld d-axis inductance
  • Lq q-axis inductance
  • ⁇ r detected electric angular velocity
  • ⁇ permanent magnet interlinkage magnetic flux number.
  • the block diagram of the power conversion system in Embodiments 1 to 4. The figure which shows the relationship between the voltage vector of a two-level inverter and a phase voltage. The figure which shows the relationship between the detected current and the predicted current.
  • the block diagram which shows the MPC in Embodiment 1. FIG. The flowchart which shows the processing of the prediction part in Embodiment 1.
  • the block diagram which shows the MPC in Embodiment 2. The flowchart which shows the action of the prediction part in Embodiment 2.
  • the block diagram which shows the MPC in Embodiment 4. The flowchart which shows the processing of the prediction part in Embodiment 4.
  • FIG. 1 shows a configuration diagram of the power conversion system according to the first embodiment.
  • the upper control unit 1 indicates a control existing upstream of the MPC 2. For example, a speed control calculation is performed using a speed command and a detection speed based on information such as the operation amount of the panel / panel and the accelerator opening, and the command is given. Generates current i *.
  • the command current i * , the detection current i, and the detection phase ⁇ output from the upper control unit 1 are input to the MPC (model prediction control unit) 2.
  • the detection phase ⁇ is an electric angle.
  • the conversion is appropriately performed using the number of pole pairs.
  • MPC2 performs an operation to predict the current from the next time onward based on the model parameters, and determines the voltage vector based on the result.
  • a gate signal g for outputting according to the determined voltage vector is output from the MPC 2, and the power converter (for example, an inverter, hereinafter referred to as an inverter) 3 is driven by the gate signal g.
  • the inverter 3 is connected to a load 4 such as a motor, and a voltage corresponding to the gate signal g is applied to the load 4.
  • FIG. 1 is a typical system configuration example of a power conversion system using MPC, and the application target of the present invention is not limited to this.
  • a DC / AC converter that regenerates a power source may have a configuration in which current control is performed based on model prediction, a configuration in which an electric angle is estimated by a PLL (Phase Locked Loop) and used in an MPC, or a single-phase configuration may be used.
  • PLL Phase Locked Loop
  • Predicted step Predicted step time of current (time width from time i (n) to time i (n + 1))
  • Prediction period Time width of the earliest time for predicting current and time of i (n)
  • Output cycle Cycle for switching voltage output
  • Calculation cycle Cycle for performing prediction calculation.
  • the prediction step and the output cycle are treated as the same time width below. Further, in the first embodiment, the calculation cycle and the output cycle are the same.
  • the voltage vector of the inverter 3 is assumed, the predicted current when the assumed voltage vector is output is obtained, and the voltage vector that gives the optimum prediction result is adopted and used as the actual output.
  • the current prediction operation is based on the equation of state.
  • PMSM Permanent Magnet Synchronous Motor
  • Ld is the d-axis inductance
  • Lq is the q-axis inductance
  • R is the winding resistance
  • ⁇ is the number of permanent magnet interlinkage magnetic fluxes
  • ⁇ r is the detected electric angular velocity.
  • the equation (1) that is, PMSM will be used as a reference, but from the essence of the present invention, the present invention may be applied to other than the case where the equation of state is the equation (1).
  • Equation (1) is a continuous equation of state, but if it is made into a discrete equation of state in order to handle it in a discrete control system, it becomes equation (2).
  • Equation I in Eq. (2) represents an identity matrix.
  • the product of the slope and the output period Tc may be simply taken and treated as an approximate amount of change, and the equation (3) may be used.
  • the current id (n), iq (n) and voltage corresponding to the current time are used to predict the current id (n + 1) and iq (n + 1) one cycle ahead of the output cycle.
  • vd (n) and vq (n) are required.
  • the voltage vectors assumed in the previous stage of the prediction calculation are used.
  • the voltage vector is shown in FIG. 2, so that the assumed voltage vector can be converted into a voltage on the dq axis by the calculation of Eq. (4).
  • ⁇ (n) is the motor phase. The phase may be advanced and compensated according to the angular frequency, but detailed calculation will be described later.
  • the detected values are used as a reference for the currents id (n) and iq (n).
  • the n + a-th predicted value can be used for the calculation of obtaining the current id (n + a + 1) and iq (n + a + 1) from the current id (n + a) and iq (n + a) in the middle of prediction, but the n-th predicted value is the prediction start point.
  • the currents id (n) and iq (n) cannot be assumed and must be based on the detected value.
  • Figure 3 shows the relationship between the detected current and the predicted current.
  • the solid line shows the output current
  • the dotted line shows the predicted current.
  • Tc is the output cycle.
  • the predicted current i (n) is the d-axis and q-axis currents, but the notation of d and q is omitted because it shows the property of being applicable to both the d-axis and q-axis currents.
  • the current after the third cycle is predicted based on the voltage vector assumed to be the current detected at the end of the first cycle. Moreover, since there are a plurality of types of voltage vectors to be assumed, the predicted current of the dotted line is branched into a plurality of types.
  • FIG. 3A shows a case where the detected value is used for i (n). Looking at FIG. 3, there is a time difference of the output cycle Tc between the detection time and the time of i (n). This time difference is the calculation time from the detected value to the determination of the output voltage from the next time onward, and it is impossible to make the detection time and the time of i (n) the same time.
  • the voltage vector determined in the previous output cycle is output, and the current changes from the detected value from the detection time to the time of i (n). Therefore, if the detected value is used for i (n), the value of i (n) used in the control and the value of the actual output current at the time of i (n) will be different. As a result, there is a concern that the current prediction accuracy will decrease. If the current prediction accuracy is lowered, the validity of the subsequent current evaluation is also lowered, which causes an increase in current ripple and an increase in switching frequency.
  • FIG. 3B shows a case where the value obtained by adding the amount of change in current during the calculation time to the detected value is used as i (n).
  • the current prediction calculation from the detection time to the time i (n) is performed using the voltage vector determined in the previous cycle, and the current change during the calculation time is predicted.
  • the broken line shows the change in current.
  • the current prediction accuracy can be improved, and effects such as reduction of current ripple and reduction of switching frequency can be obtained.
  • FIG. 4 shows a configuration diagram of MPC2 according to the first embodiment.
  • the command current i * is divided into a command d-axis current id * and a command q-axis current iq *.
  • the three-phase two-phase conversion unit 5 converts the three-phase detection current i into UVW / dq based on the detection phase ⁇ , and converts it into the detection d-axis current id and the detection q-axis current iq.
  • the differentiator 6 outputs the detected electric angular velocity ⁇ r by differentiating the detection phase ⁇ or pseudo-differentiating processing.
  • the command d-axis current id * , command q-axis current iq * , detected d-axis current id, detected q-axis current iq, detected phase ⁇ , detected electric angular velocity ⁇ r, and command voltage vector previous value Vz * are input to the prediction unit 7. ..
  • the prediction unit 7 performs a current prediction calculation and evaluates the prediction result, and outputs a command voltage vector V * which is an output voltage vector from the next time onward.
  • the command voltage vector V * is input to the prediction unit 7 as the command voltage vector previous value Vz * after one delay, and is used for the next prediction calculation.
  • the gate signal determination unit 8 determines the gate signal g for outputting the voltage represented by the command voltage vector V * from the inverter based on the circuit configuration of the system, and inserts the dead time. Then, the gate signal g becomes the output of MPC2.
  • the configuration of the gate signal determination unit 8 is not particularly limited as long as the voltage according to the command voltage vector V * is output.
  • the prediction unit 7 dynamically performs the current prediction calculation, and the configuration is not limited to FIG. For example, a configuration in which the estimated electric angular velocity is used without using the detected electric angular velocity ⁇ r is also allowed.
  • FIG. 5 is a flowchart showing the processing of the prediction unit 7.
  • the prediction unit 7 performs the following processing.
  • (A) Predict the change in current during the calculation time.
  • (B) Assuming the voltage vector of the output cycle from the next time onward, the predicted current in that case is obtained.
  • (C) Evaluate the voltage vector assumed to be the predicted current.
  • (D) A voltage vector with a good evaluation result is adopted and used as an output.
  • the process (A) is the essence of the present invention, and the processes (B), (C), and (D) are basic processes in the MPC.
  • the command d-axis current id * , the command q-axis current iq * , the detected d-axis current id, the detected q-axis current iq, the detected phase ⁇ , the detected electric angular velocity ⁇ r, and the command voltage vector previous value Vz * are input. ..
  • the calculation time is obtained from the command voltage vector previous value Vz * , the detected d-axis current id, and the detected q-axis current iq, and here, the current changes ⁇ idc and ⁇ iqc during the output cycle Tc are obtained.
  • This operation may be performed as in Eq. (5) based on Eq. (3).
  • the matrices A and B and the vector e ⁇ are the same as in Eq. (1)
  • vdz and vqz are values obtained by converting the command voltage vector previous value Vz * into the dq axis voltage.
  • the current change amounts ⁇ idc and ⁇ iqc during the calculation time obtained in 1-2 are added to the detected d-axis current id and the detected q-axis current iq, and these are added to the id (n), which is the starting point of the prediction calculation. Let it be iq (n). Let these id (n) and iq (n) be the correction current values.
  • the setting method is not particularly limited. That is, it may be a voltage vector that changes with little switching according to the output up to the previous time, or one may be selected from all the voltage vectors that can be output.
  • 1-5 is a prediction of the amount of current change when the assumed voltage vector is output. From the hypothetical voltage vectors V'(n + a), id (n + a), and iq (n + a), the current change amounts ⁇ id and ⁇ iq during the output period Tc are obtained. id (n + a) and iq (n + a) are correction current values when a is 0, and predicted currents when a is 1 or more. Similar to 1-2, the calculation may be as shown in Eq. (6).
  • vd'(n + a) and vq'(n + a) are obtained by converting the assumed voltage vector v'(n + a) into a voltage on the dq axis.
  • the phase lead compensation may be performed for the motor phase according to the angular velocity. In this case, the calculation is in Eq. (7).
  • ⁇ is the detection phase
  • ⁇ r is the detected electrical angular velocity
  • Tc is the output period.
  • the adjustment term K ⁇ and the adjustment term K ⁇ are added.
  • K ⁇ is determined by Eq. (8).
  • the current change amounts ⁇ id and ⁇ iq during the calculation time obtained in 1-5 are added to id (n + a) and iq (n + a), and the predicted current id (1 cycle ahead, that is, the output cycle Tc ahead) ( n + a + 1) and iq (n + a + 1) are calculated. If there is a previous branch, this current is used to obtain the next n + a + second predicted current.
  • the first embodiment evaluates the assumed voltage vector V'(n + a), the predicted current id (n + a + 1), and iq (n + a + 1).
  • the first embodiment can be applied to any evaluation method, and may be evaluated as follows, for example.
  • the evaluation function J is calculated using the assumed voltage vector V'(n + a), the predicted current id (n + a + 1), and the iq (n + a + 1).
  • the evaluation function J is a loss function that becomes a large value when it is an undesired prediction, and is calculated by weighting a plurality of evaluation criteria. Equations (9) and (10) on condition that the deviation between the predicted current and the command current is small, equations (11) and (12) for preventing the deviation between the predicted current and the command current from exceeding a certain level, switching. Eq. (13), which gives a penalty to the voltage vector change so that the number of times does not increase, is each evaluation standard.
  • idmax and iqmax are the maximum tolerances of the d-axis current and the q-axis current, respectively.
  • the evaluation function J is obtained by the equation (14) using the weighting coefficients Wid, Wiq, Widmax, Wiqmax, and Wv.
  • the evaluation function described above is an example, and is not limited to the calculation method of the first embodiment. Even with the same evaluation content, for example, Qd and Qq in Eqs. (11) and (12) may not be set to two values of 0 and 1, but continuous values may be given so that the larger the deviation from the command, the larger the value. .. Further, in the case of PMSM, from the derivation of the motor torque T of the equation (15), the equation (16) may be used as an evaluation standard instead of the equation (9). However, Pn in Eq. (15) is the pole logarithm, and T * in Eq. (16) is the command torque.
  • control performance can be changed by adjusting the weighting factor. For example, if Wv is made smaller, the current control performance can be improved instead of increasing the switching frequency, and if Wiq is made larger than Wid, the ripple of iq can be made smaller instead of increasing the ripple of id.
  • the process of 1-7 corresponds to the above (C).
  • 1-8 is a branching process of whether or not the calculation is performed assuming all the voltage vectors.
  • the voltage vector to be considered is up to V'(n + N-1), so if prediction calculation and evaluation are performed for all V'(n + N-1) to be considered, all branches are considered. If so, proceed to 1-9. If there is still a voltage vector to consider, go back to 1-4 and assume the next voltage vector.
  • the evaluation results are compared to determine the best combination of voltage vectors.
  • the evaluation function J is defined as in Eq. (14), V (n) to V (n + N-1), which is the minimum J, is the best combination of voltage vectors V (n) to V (n + N-1). ).
  • FIG. 5 is an example of voltage vector determination based on model prediction.
  • the detailed calculation procedure of the prediction unit 7 of the first embodiment is not limited to the flowchart of FIG. What is important is that the current values id (n) and iq (n), which are the starting points of the predicted current calculation / evaluation, are not the detected values, but the current values obtained by adding the current change amount during the calculation cycle to the detected values.
  • control that achieves high current control performance and low switching frequency by performing MPC that predicts the current change during the calculation time based on FIGS. 4 and 5. It can be performed.
  • the current id (n) and iq (n), which are the starting points of the prediction calculation, are set in consideration of the current change during the calculation time, and the current prediction accuracy is improved.
  • the current detection interrupt may be set at a timing shifted from the output cycle interrupt.
  • the timing of the detected current and the predicted current may be different. Although this deviation is due to a plurality of reasons as described above, in the present specification, it is collectively referred to as a delay time Tdel.
  • the delay in this case is the delay of the predicted current change with respect to the detection timing, but the predicted current change timing can be regarded as the change timing of the output voltage. That is, the timing shift period of the output voltage change with respect to the current detection is the delay time Tdel.
  • FIG. 6 shows a configuration diagram of MPC2 according to the second embodiment. Since the voltage determined two times before is output instead of the voltage determined last time during the delay time Tdel, the command voltage vector two times before the previous value Vzz * is added to the input of the prediction unit 7. Other configurations are the same as those in the first embodiment.
  • FIG. 7 shows a flowchart of the prediction unit 7 in the second embodiment.
  • Current obtained by adding not only the amount of current change during the calculation cycle but also the amount of current change during the timing shift period (delay time Tdel) of the output voltage change with respect to current detection to id (n) and iq (n), which are the starting points of the prediction calculation.
  • the process is the same as in FIG. 5 except that the value is used.
  • the added process is the prediction of the amount of current change during the delay time Tdel.
  • the current change amounts ⁇ iddel and ⁇ iqdel in the delay time Tdel are calculated from the command voltage vector pre-previous value Vzz * , the detected d-axis current id, and the detected q-axis current iq. Based on the equation (3), the calculation may be performed as in the equation (17). However, vdzz and vqzz are conversion values of the command voltage vector pre-previous value Vzz * to the dq-axis voltage.
  • the current change amounts ⁇ iddel and ⁇ iqdel are added to the detected d-axis current id and the detected q-axis current iq to obtain the current values id'and iq'.
  • phase lead correction The phase lead for the delay time Tdel is taken into consideration by using Eq. (18) for the correction motor phase ⁇ 'used for 2-4 and 2-7 and Eq. (19) for the motor phase ⁇ (n + a) used for 2-7. be able to.
  • the MPC is performed based on FIGS. 6 and 7 in which the current change during the calculation time is predicted and the timing difference between the current detection and the output voltage change is taken into consideration. Therefore, it is possible to perform control that achieves high current control performance, low switching frequency, and current detection at a timing that is not affected by ringing.
  • the prior literature has the advantage of considering the difference between the detection time and the output voltage change time, which is applicable when the prediction period is general.
  • FIG. 8 shows a configuration diagram of MPC2 according to the third embodiment.
  • the prediction unit 7 determines a voltage vector having a plurality of output cycles and uses it as a command. Therefore, unlike the first embodiment, V *, which is the output of the prediction unit 7, is not a single voltage vector but a command voltage vector matrix. Similarly, the previous value Vz * is also the previous value of the command voltage vector matrix.
  • a reading unit 9 is provided between the prediction unit 7 and the gate signal determination unit 8.
  • the reading unit 9 selects the voltage vector of the output cycle this time from the command voltage vector matrix V * for a plurality of output cycles, and determines the output voltage vector V **.
  • the input of the reading unit 9 is the command voltage vector matrix V * and the counter previous value Cz, and the output is the output voltage vector V ** and the counter value C.
  • the one-time delay block also means one-time delay in each cycle of the input destination.
  • An important point of the third embodiment is that a mechanism for determining and reading out voltage vectors for a plurality of cycles is provided for the first embodiment, and the detailed mounting configuration is not limited to FIG.
  • the first and second embodiments describe a current prediction calculation method when the calculation cycle and the output cycle are equal, that is, when the output voltage of the inverter 3 does not change during the calculation time.
  • shortening the output cycle is expected to improve the current control performance, and considering the calculation load of the current prediction calculation, shortening the calculation cycle may make it impossible to implement. It is desirable to be able to support configurations that determine voltage vectors with multiple output cycles.
  • the output of the prediction unit 7 is used as the matrix information of the plurality of voltage vectors as shown in FIG. It is necessary to add a mechanism to read one. In addition, consideration of the current change during the calculation time, which is the essence of the present invention, must be taken for the voltage vector for a plurality of cycles.
  • FIG. 9 shows a flowchart of the prediction unit 7 in the third embodiment.
  • the output of the prediction unit 7 is a voltage vector for a plurality of output cycles, and the method of predicting the current change during the calculation time is also different accordingly.
  • FIG. 9 operates at the calculation cycle Tcalc.
  • 3-1 is the same as 1-1 in FIG. However, the command voltage vector previous value Vz * is changed to the command voltage vector matrix previous value Vz *.
  • the b-th of the command voltage vector matrix previous value Vz * is Vz'.
  • the command voltage vector matrix previous value Vz * has voltage vectors from the first to the Ncalc th, and the reading unit 9 outputs the command voltage vector matrix previous value Vz * in order from the first.
  • the current change amounts ⁇ idc and ⁇ iqc during the output cycle Tc are obtained from Vz', id'and iq'.
  • the calculation may be performed as in the equation (21).
  • vdz'and vqz' are converted values of Vz'to the dq axis voltage.
  • ⁇ idc and ⁇ iqc which are the amounts of current changes during the output cycle Tc, are added to id'and iq'.
  • the correction current values id'and iq' which are obtained by adding the current change amounts ⁇ idc and ⁇ iqc for all the output cycles during the calculation time, are substituted into the currents id (n) and iq (n) which are the starting points of the prediction calculation.
  • 3-9 to 3-14 are the same processes as 1-4 to 1-9 of the first embodiment, and determine the assumption of the voltage vector and the prediction / evaluation of the current.
  • FIG. 10 shows a flowchart of the reading unit 9 in the third embodiment.
  • a counter is used to determine the output voltage vector V ** , which is the voltage vector of the current output cycle, from the command voltage vector matrix V * having voltage vector information for a plurality of cycles.
  • the configuration is not limited to FIG. 10 as long as the voltage vector of the current output cycle can be read from the voltage vectors of a plurality of cycles.
  • FIG. 10 operates with an output cycle Tc.
  • R-1 the command voltage vector matrix V * and the counter previous value Cz are input.
  • the counter previous value Cz is substituted for the counter value C.
  • R-3 the voltage vector V * [C] of the counter value C (Cth) in the command voltage vector matrix V * is substituted into the output voltage vector V **.
  • R-4 is a branch process based on the counter value C. If the counter value C has reached the number of output cycles Ncalc in the calculation cycle, the counter value C is returned to 1 by R-5. If the counter value C is not Ncalc, the counter value C is incremented by 1 at R-6.
  • the output voltage vector V ** and the counter value C are output by R-7.
  • the current change during the calculation time is predicted based on FIGS. 8, 9 and 10, and the voltage vector for a plurality of cycles is determined by one prediction calculation.
  • the MPC it is possible to perform control that achieves high current control performance, low switching frequency, and securement of a calculation time longer than that of the first and second embodiments.
  • FIG. 11 shows a configuration diagram of MPC2 according to the fourth embodiment.
  • the third embodiment has a configuration corresponding to the case where the voltage vector for a plurality of cycles is handled in the first embodiment.
  • the third embodiment can be used in combination with the second embodiment, which is referred to as the fourth embodiment.
  • the output of the prediction unit 7 is set to a command voltage vector matrix V * which is a voltage vector for a plurality of output cycles, a read-out unit 9 is provided in the subsequent stage, and the prediction unit 7 has a value two times before the command voltage vector matrix. Vzz * is substituted. It is assumed that the reading unit 9 operates in the same manner as in FIG. 10 of the third embodiment.
  • FIG. 12 shows a flowchart of the prediction unit 7 in the fourth embodiment.
  • FIG. 12 is a combination of the functions of the flowcharts of FIGS. 7 and 9, that is, the second and third embodiments.
  • the current change amounts ⁇ iddel and ⁇ iqdel in the delay time Tdel are obtained for the Ncalcth voltage vector which is the final output cycle of the command voltage vector matrix two times before the previous value Vzz *.
  • the calculation may be performed as in the equation (22).
  • vdzz1 and vqzz1 are conversion values of the command voltage vector matrix two times before the previous value Vzz * [Ncalc] to the dq-axis voltage.
  • the current id'and iq' which are the sums of the detected d-axis current id and the detected q-axis current iq and the current changes ⁇ iddel and ⁇ iqdel, are set as the initial values of repetition in consideration of the current change during the calculation time. .. This means that the delay time Tdel of the output change from the detection is taken into consideration.
  • the delay time Tdel is equal to or less than the output cycle Tc, and only the Ncalcth from the command voltage vector matrix pre-previous value Vzz * is used.
  • only the Ncalcth value may be input instead of all the command voltage vector matrix pre-previous value Vzz *.
  • the processing may be divided into a plurality of processes as in the case of repeating the current change amount calculation during the calculation time.
  • the current change amounts ⁇ iddel and ⁇ iqdel in the delay time Tdel can be considered.
  • vdzz2 and vqzz2 are conversion values of Vzz * [Ncalc-1] to the dq-axis voltage.
  • 4-4 to 4-17 are the same as 3-3 to 3-16 in FIG.
  • the second and third embodiments are combined, that is, the amount of change in current during the calculation time is predicted and the amount of change during the calculation time is predicted based on FIGS. 10, 11, and 12.
  • High current control performance, low switching frequency, Embodiments 1 and 2 by determining the voltage vector for a plurality of cycles with one prediction calculation and performing MPC in consideration of the timing difference between current detection and output voltage change. It is possible to secure a longer calculation time and perform control that achieves current detection at a timing that is not affected by ringing.

Abstract

Dans une unité de prédiction (7), une pluralité de vecteurs de tension provisoires sont définis pour chaque cycle de sortie pendant une période de prédiction, et des courants prédits pour les vecteurs de tension provisoires sont calculés sur la base d'une valeur de courant de correction obtenue par addition d'une quantité de variation de courant (Δidc, Δiqc) au courant détecté pendant un cycle de calcul. L'unité de prédiction (7) : calcule les vecteurs de tension provisoires et une fonction d'évaluation (J) du courant prédit ; détermine une combinaison de vecteurs de tension provisoires pour lesquels la fonction d'évaluation (J) est à un niveau maximal parmi les combinaisons des vecteurs de tension provisoires de la période de prédiction ; et délivre, sous forme de vecteur de tension de commande (V*), le vecteur de tension provisoire devant réellement être délivré, parmi les combinaisons de vecteurs de tension provisoires pour lesquels la fonction d'évaluation (J) est au niveau maximal. Une unité (8) de détermination de signal de grille délivre un signal de grille (g) pour délivrer la tension représentée par le vecteur de tension de commande (V*) émanant d'un convertisseur de puissance (3). Une commande présentant des performances de commande de courant élevées et une fréquence de commutation basse est ainsi réalisée dans un système de conversion de puissance à l'aide d'une commande de prédiction de modèle (MPC).
PCT/JP2021/006994 2020-04-16 2021-02-25 Système de conversion de puissance et procédé de commande de système de conversion de puissance WO2021210274A1 (fr)

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CN114157171A (zh) * 2021-12-07 2022-03-08 中国矿业大学(北京) 一种基于热管理的改进型模型预测电流控制方法

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Publication number Priority date Publication date Assignee Title
JPH08317699A (ja) * 1995-05-12 1996-11-29 Nippon Soken Inc 誘導モータの制御装置
JP2012070469A (ja) * 2010-09-21 2012-04-05 Denso Corp 回転機の制御装置
JP2012236531A (ja) * 2011-05-12 2012-12-06 Jtekt Corp 電動パワーステアリング装置
JP2012253943A (ja) * 2011-06-03 2012-12-20 Denso Corp 回転機の制御装置
JP2020031485A (ja) * 2018-08-22 2020-02-27 サンデンホールディングス株式会社 電力変換装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08317699A (ja) * 1995-05-12 1996-11-29 Nippon Soken Inc 誘導モータの制御装置
JP2012070469A (ja) * 2010-09-21 2012-04-05 Denso Corp 回転機の制御装置
JP2012236531A (ja) * 2011-05-12 2012-12-06 Jtekt Corp 電動パワーステアリング装置
JP2012253943A (ja) * 2011-06-03 2012-12-20 Denso Corp 回転機の制御装置
JP2020031485A (ja) * 2018-08-22 2020-02-27 サンデンホールディングス株式会社 電力変換装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114157171A (zh) * 2021-12-07 2022-03-08 中国矿业大学(北京) 一种基于热管理的改进型模型预测电流控制方法

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