CN113098348A - Double three-phase permanent magnet synchronous motor predicted torque control method - Google Patents
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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Abstract
The invention provides a method for controlling the predicted torque of a double three-phase permanent magnet synchronous motor, and relates to the technical field of control of multiphase motors. The invention applies the synthesized vector to model prediction control, simplifies the prediction model by omitting the item with smaller value in the control model, judges the approximate position of the flux linkage according to the system states and the selected voltage vectors at the previous two moments, and judges the voltage vector to be selected at the next moment according to different system states and flux linkage positions, thereby reducing the voltage vector to be predicted and reducing the calculated amount of the system.
Description
Technical Field
The invention relates to the technical field of control of multiphase motors, in particular to a method for controlling the predicted torque of a double three-phase permanent magnet synchronous motor.
Background
Compared with a three-phase motor, the multi-phase motor has the advantages of small torque pulsation, high power density, stable operation and the like, so that the multi-phase motor is developed rapidly. Meanwhile, due to the increase of the number of phases of the motor, the voltage vector is increased exponentially, and the control difficulty of the motor is greatly increased. The model prediction control is gradually distinguished from a plurality of control methods due to the characteristics of variable control variables, high reaction speed, simple control principle and the like. Different from the traditional control method, the model prediction control needs to optimize the cost function, and different control targets have different cost functions. The model predictive control comprises a continuous control set (CCS-MPC) and a limited control set (FCS-MPC), wherein the continuous control set model predictive control needs to obtain a reference voltage vector, and constraints are contained in a predictive model. The main characteristic of the finite control set model predictive control is that the voltage vector does not need PWM modulation, firstly, the voltage vector meeting the control target is screened out, then all the switch states are brought into the predictive model, and the switch state with the minimum objective function is selected through iteration, so that the rapid current dynamic response can be obtained. However, the large number of voltage vectors of the multi-phase motor causes a large amount of calculation for predictive control, and makes selection of the voltage vectors difficult. Therefore, for model predictive control of a multi-phase motor, reducing the amount of calculation, optimizing the weight coefficient, and the like are still important and difficult points of research.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for controlling the predicted torque of a double three-phase permanent magnet synchronous motor, aiming at the defects of the prior art, and the problem of large current harmonic in the motor running process is solved by utilizing the advantage of a synthetic vector while reducing the calculated amount of model prediction control of a multi-phase motor.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a double three-phase permanent magnet synchronous motor predicted torque control method comprises the following steps:
step 1: mapping 64 voltage vectors of the six-phase voltage source inverter into three spaces according to the spatial decoupling matrix; wherein the voltage vector of the alpha beta space can generate electromagnetic torque in the motor operation process, the voltage vector of the z1z2 space can generate harmonic waves and can not generate electromagnetic torque, and the voltage distribution of the alpha beta space and the z1z2 space is calculated according to the following formula:
where s denotes the switching function of the inverter, s i1 stands for upper arm on and lower arm off, siThe opposite is true when 0, i is a, B, C, U, V, W; vdcRepresenting the inverter dc bus voltage; v. ofαβAnd vz1z2The amplitude in α β space and z1z2 space;
the voltage vectors are divided into four groups according to the difference of the voltage vector amplitudes: vM、VL、VBAnd VSThe magnitudes of the four vectors are as follows:
wherein, VM、VL、VBAnd VSThe amplitudes of the voltage vectors are respectively;
step 2: selecting amplitude value V in the same direction in alpha beta spaceLAnd VMThe action time of the two voltage vectors is calculated by distributing the action time of the two voltage vectors so that the voltage component of the z1z2 plane of the two voltage vectors in one control period is zero, as follows:
wherein, T1Is of amplitude VLThe action time, T, of the voltage vector in a control cycle2Is of amplitude VMThe action time of the voltage vector in a control cycle, | vv1_αβI is the amplitude in the alpha beta space after the voltage vector is synthesized, | vv1_z1z2I is the amplitude in z1z2 space after the voltage vector is synthesized;
substituting the voltage amplitude of the formula (2) into the formula (3), calculating the action time and the voltage amplitude of the two voltage vectors, wherein the calculation result is as follows:
and step 3: constructing a new prediction model according to a model prediction control algorithm; substituting the voltage vector synthesized in the step 2 into a prediction model to construct a prediction model based on the synthesized vector, which is shown as the following formula;
wherein id1And iq1The current value after the first voltage vector is applied, id(k) And id(k) Current value at time k, RsIs the resistance of the stator winding, Ld＝LqFor winding inductance, ω is flux linkage angular velocity, ud1(k)、ud2(k)、uq1(k) And uq2(k) Dq-axis components of the two voltage vectors, respectively, id1And iq1Substitution into id(k +1) and iqThe complete current prediction model based on the synthetic vector is obtained in (k +1), as follows:
and 4, step 4: simplifying the current prediction model based on the synthetic vector in the step 3; expanding a current prediction model based on the resultant vector, TS＝T1+T2，TSTo adopt the period, T1And T2The value of (A) is small, the value obtained by multiplying the two is negligible, the value containing T is ignored1、T2The multiplied terms result in a simplified current prediction model, as follows:
the simplified model of flux linkage prediction based on the synthetic vector is calculated according to the same method as follows:
and 5: judging the state change of the system according to the torque difference value at the previous moment and the torque difference value at the current moment;
step 6: judging the approximate position of the stator flux linkage at the current moment according to the states of the two moments of the system and the effect of the voltage vector on the physical quantity of the system; the effect of the voltage vector on stator flux linkage and torque is shown in the following equation:
wherein p is the number of pole pairs of the motor, psifFor rotor flux linkage psiSIs stator flux linkage, LsIs stator inductance, TeIs an electromagnetic torque, VsyIs the perpendicular component of the voltage vector, IsyIs the vertical component of the stator current, δ is the torque angle;
if the torque error of the system k-1 is larger than BTThe included angle between the voltage vector selected at the moment k-1 and the flux linkage is about 90 degrees, and the position of the flux linkage is vertical to the voltage vector at the moment; if the torque error of the system k-1 is less than BTThe included angle between the voltage vector selected at the moment k-1 and the flux linkage is about 30 degrees, and the position of the flux linkage is approximately in parallel with the position of the voltage vector at the moment;
and 7: judging a voltage vector to be selected at the next moment according to the torque error and the flux linkage position at the moment k;
when the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at the moment k-1 is vertical to the voltage vector, selecting a voltage vector vertical to the flux linkage;
when the torque error of the system at the k moment is less than BTIf the position of the flux linkage at the moment k-1 is perpendicular to the voltage vector, selecting a voltage vector parallel to the flux linkage;
when the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at the moment k-1 is parallel to the voltage vector, selecting a voltage vector vertical to the flux linkage;
when the torque error of the system at the k moment is less than BTIf the position of the flux linkage at the moment k-1 is parallel to the voltage vector, selecting a voltage vector parallel to the flux linkage;
by analyzing, the position of the voltage vector to be selected at the next moment can be roughly judged;
and 8: selecting 6 voltage vectors corresponding to the system state according to a new vector selection mode, and selecting an optimal voltage vector by combining an evaluation function of model predictive control;
when selecting a voltage vector perpendicular to the flux linkage, the evaluation function is selected as:
when selecting a voltage vector parallel to the flux linkage, the evaluation function is selected as:
wherein, Te *And psis *Respectively the expected values of the electromagnetic torque and the stator flux linkage;
and step 9: and selecting the most reasonable voltage vector according to the evaluation function to act on the next control period.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the invention provides a method for controlling the predictive torque of a double-three-phase permanent magnet synchronous motor, which is a novel model predictive control method of a double-Y30-degree double-three-phase motor, wherein a synthetic vector is applied to model predictive control, the characteristic of short control period of a motor control system is utilized, an item with a smaller numerical value in a control model is omitted, meanwhile, the approximate position of a flux linkage is judged according to the system states at the first two moments, and a voltage vector to be selected at the next moment is judged according to different system states and flux linkage positions, so that the voltage quantity to be predicted is reduced, and the calculated quantity of the system is reduced.
Drawings
Fig. 1 is a voltage vector distribution diagram of α β space according to an embodiment of the present invention;
FIG. 2 is a voltage vector distribution diagram of z1z2 space provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a composite vector provided by an embodiment of the present invention;
FIG. 4 is a composite vector space distribution diagram provided by an embodiment of the present invention;
FIG. 5 is a first method for selecting a voltage vector according to an embodiment of the present invention;
fig. 6 is a second voltage vector selection method according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The rated power of the motor used in the embodiment is 28KW, the rated rotating speed is 3000r/min, the number of pole pairs is 4, and the direct-current voltage is 350V. The specific method is as follows.
Step 1: the 64 voltage vectors of the six-phase voltage source inverter are mapped into three spaces according to the spatial decoupling matrix. Wherein the voltage vector of the alpha beta space can generate electromagnetic torque during the operation of the motor, the voltage vector of the z1z2 space can generate harmonic waves and can not generate electromagnetic torque, and the voltage distribution of the alpha beta space and the z1z2 space can be calculated according to the formula (1).
The calculated voltage distribution is shown in fig. 1 and 2. The voltage vector can be divided into four groups according to different amplitudes: vM、VL、 VBAnd VSThe magnitudes of the four vectors are as follows:
step 2: selecting amplitude value V in the same direction in alpha beta spaceLAnd VMAre synthesized, fig. 3 at V43And V9By distributing the action time of the two voltage vectors so that the voltage component of the z1z2 plane in one control period of the two voltage vectors is zero, the action time of the two voltage vectors can be calculated according to the formula (3).
Wherein T is1Is of amplitude VLTime of action of the voltage vector of (1), T2Is of amplitude VMThe action time of the voltage vector, | vv1_αβI is the amplitude in the alpha beta space after the voltage vector is synthesized, | vv1_z1z2And | is the magnitude in z1z2 space after the voltage vector is synthesized. By substituting the voltage amplitude of the formula (2) into the formula (3), the action time and the voltage amplitude of the two voltage vectors can be calculated, and the calculation result is as follows:
according to the synthesis method, 12 voltage vectors with equal amplitude and different directions can be synthesized. Fig. 4 shows the vector distribution after synthesis.
And step 3: a new prediction model is constructed from the model predictive control algorithm by means of the 12 synthetic vectors shown in fig. 4.
The resultant vector-based current prediction model is shown in equation (5).
Wherein id1And iq1For the current value after the first voltage vector is applied, id1And iq1Substitution into id(k +1) and iqThe complete current prediction model based on the resultant vector can be obtained in (k + 1). Equation (6) gives the complete current prediction model based on the resultant vector.
And 4, step 4: the current prediction model based on the resultant vector is simplified. Due to the adoption of the period TSIs small, and TS＝T1+T2. So T1And T2The value of (A) is small, and the value obtained by multiplying the two can be ignored. Neglecting T contained in the formula (6)1And T2The simplified current prediction model can be obtained by the product term of (2). Equation (7) is a simplified current prediction model.
The flux linkage prediction model constructed according to the same method is shown in formula (8):
and 5: and judging the state change of the system according to the torque difference value at the previous moment and the torque difference value at the current moment. Table 1 is a system status determination table.
TABLE 1 System status determination
| System state | Torque error at time k-1 | Torque error at time k |
| From dynamic to steady state | Greater than BT | Is less than BT |
| Dynamic state | Greater than BT | Greater than BT |
| Steady state | Is less than BT | Is less than BT |
| From steady state to dynamic state | Is less than BT | Greater than BT |
Wherein B isTThe bandwidth of the torque controller for the system is set to five percent of the rated torque of the motor.
Step 6: and judging the approximate position of the stator flux linkage at the current moment according to the states of the two moments of the system and the effect of the voltage vector on the physical quantity of the system. Equation (9) gives the effect of the voltage vector on stator flux linkage and torque:
according to the formula (9), if the torque error at the time of k-1 is larger than BTThe angle between the voltage vector selected at time k-1 and the flux linkage is about 90 deg., at which time the flux linkage is positioned with respect to the electrical pathThe pressure vectors are in a perpendicular relationship. If the torque error of the system k-1 is less than BTThe voltage vector selected at time k-1 makes an angle of about 30 with the flux linkage, where the position of the flux linkage is substantially parallel to the position of the voltage vector.
And 7: and determining the voltage vector to be selected at the next moment according to the torque error and the flux linkage position at the moment k.
When the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at time k-1 is perpendicular to the voltage vector, then a voltage vector perpendicular to the flux linkage should be selected.
When the torque error of the system at the k moment is less than BTIf the position of the flux linkage at time k-1 is perpendicular to the voltage vector, then a voltage vector parallel to the flux linkage should be selected.
When the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at time k-1 is parallel to the voltage vector, then a voltage vector perpendicular to the flux linkage should be selected.
When the torque error of the system at the k moment is less than BTIf the position of the flux linkage at time k-1 is parallel to the voltage vector, then a voltage vector parallel to the flux linkage should be selected.
Through the above analysis, the position of the voltage vector to be selected at the next time can be roughly determined. Table 2 shows the voltage vector selection method corresponding to the system state, fig. 5 shows the vector selection method 1, and fig. 6 shows the vector selection method 2.
TABLE 2 vector selection approach
| System state | Vector selection method |
| From dynamic to steady state | |
| Dynamic state | |
| Steady state | |
| From steady state to dynamic state | |
And 8: and 6 voltage vectors corresponding to the system state are selected according to the new vector selection mode and are substituted into the improved prediction model. And selecting different evaluation functions for judgment according to different proper quantity selection modes.
When the vector selection mode is 1, the evaluation function is as follows:
when the vector selection mode is 2, the evaluation function is as follows:
and step 9: the voltage vector that minimizes the evaluation function is selected to act on the next time.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.
Claims (1)
1. A method for controlling the predicted torque of a double three-phase permanent magnet synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
step 1: mapping 64 voltage vectors of the six-phase voltage source inverter into three spaces according to the spatial decoupling matrix; wherein the voltage vector of the alpha beta space can generate electromagnetic torque in the motor operation process, the voltage vector of the z1z2 space can generate harmonic waves and can not generate electromagnetic torque, and the voltage distribution of the alpha beta space and the z1z2 space is calculated according to the following formula:
where s denotes the switching function of the inverter, si1 stands for upper arm on and lower arm off, siThe opposite is true when 0, i is a, B, C, U, V, W; vdcRepresenting the inverter dc bus voltage; v. ofαβAnd vz1z2The amplitude in α β space and z1z2 space;
the voltage vectors are divided into four groups according to the difference of the voltage vector amplitudes: vM、VL、VBAnd VSThe magnitudes of the four vectors are as follows:
wherein, VM、VL、VBAnd VSThe amplitudes of the voltage vectors are respectively;
step 2: selecting amplitude value V in the same direction in alpha beta spaceLAnd VMThe action time of the two voltage vectors is calculated by distributing the action time of the two voltage vectors so that the voltage component of the z1z2 plane of the two voltage vectors in one control period is zero, as follows:
wherein, T1Is of amplitude VLThe action time, T, of the voltage vector in a control cycle2Is of amplitude VMThe action time of the voltage vector in a control cycle, | vv1_αβI is the amplitude in the alpha beta space after the voltage vector is synthesized, | vv1_z1z2I is the amplitude in z1z2 space after the voltage vector is synthesized;
substituting the voltage amplitude of the formula (2) into the formula (3), calculating the action time and the voltage amplitude of the two voltage vectors, wherein the calculation result is as follows:
and step 3: constructing a new prediction model according to a model prediction control algorithm; substituting the voltage vector synthesized in the step 2 into a prediction model to construct a prediction model based on the synthesized vector, which is shown as the following formula;
wherein id1And iq1The current value after the first voltage vector is applied, id(k) And id(k) Current value at time k, RsIs the resistance of the stator winding, Ld＝LqFor winding inductance, ω is flux linkage angular velocity, ud1(k)、ud2(k)、uq1(k) And uq2(k) Dq-axis components of the two voltage vectors, respectively, id1And iq1Substitution into id(k +1) and iqThe complete current prediction model based on the synthetic vector is obtained in (k +1), as follows:
and 4, step 4: simplifying the current prediction model based on the synthetic vector in the step 3; expanding a current prediction model based on the resultant vector, TS＝T1+T2，TSTo adopt the period, T1And T2The value of (A) is small, the value obtained by multiplying the two is negligible, the value containing T is ignored1、T2The multiplied terms result in a simplified current prediction model, as follows:
the simplified model of flux linkage prediction based on the synthetic vector is calculated according to the same method as follows:
and 5: judging the state change of the system according to the torque difference value at the previous moment and the torque difference value at the current moment;
step 6: judging the approximate position of the stator flux linkage at the current moment according to the states of the two moments of the system and the effect of the voltage vector on the physical quantity of the system; the effect of the voltage vector on stator flux linkage and torque is shown in the following equation:
wherein p is the number of pole pairs of the motor, psifFor rotor flux linkage psiSIs stator flux linkage, LsIs stator inductance, TeIs an electromagnetic torque, VsyIs the perpendicular component of the voltage vector, IsyIs the vertical component of the stator current, δ is the torque angle;
if the torque error of the system k-1 is larger than BTSelected at time k-1The included angle between the voltage vector and the flux linkage is about 90 degrees, and the position of the flux linkage is vertical to the voltage vector; if the torque error of the system k-1 is less than BTThe included angle between the voltage vector selected at the moment k-1 and the flux linkage is about 30 degrees, and the position of the flux linkage is approximately in parallel with the position of the voltage vector at the moment;
and 7: judging a voltage vector to be selected at the next moment according to the torque error and the flux linkage position at the moment k;
when the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at the moment k-1 is vertical to the voltage vector, selecting a voltage vector vertical to the flux linkage;
when the torque error of the system at the k moment is less than BTIf the position of the flux linkage at the moment k-1 is perpendicular to the voltage vector, selecting a voltage vector parallel to the flux linkage;
when the torque error of the system at the k moment is larger than BTIf the position of the flux linkage at the moment k-1 is parallel to the voltage vector, selecting a voltage vector vertical to the flux linkage;
when the torque error of the system at the k moment is less than BTIf the position of the flux linkage at the moment k-1 is parallel to the voltage vector, selecting a voltage vector parallel to the flux linkage;
by analyzing, the position of the voltage vector to be selected at the next moment can be roughly judged;
and 8: selecting 6 voltage vectors corresponding to the system state according to a new vector selection mode, and selecting an optimal voltage vector by combining an evaluation function of model predictive control;
when selecting a voltage vector perpendicular to the flux linkage, the evaluation function is selected as:
when selecting a voltage vector parallel to the flux linkage, the evaluation function is selected as:
wherein, Te *And psis *Respectively the expected values of the electromagnetic torque and the stator flux linkage;
and step 9: and selecting the most reasonable voltage vector according to the evaluation function to act on the next control period.
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| CN113659898A (en) * | 2021-07-14 | 2021-11-16 | 江苏大学 | Double three-phase permanent magnet synchronous motor model prediction torque control method based on multi-vector continuous optimization strategy |
| CN114157206A (en) * | 2021-11-25 | 2022-03-08 | 上大电气科技(嘉兴)有限公司 | Double three-phase permanent magnet synchronous motor model prediction torque control method |
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| 何继爱;李婕妤;郁琪;: "矢量集优化的永磁同步电机转矩预测控制方法", 电测与仪表, no. 08 * |
| 李耀华;苏锦仕;秦辉;刘洋;杨启东;任佳越;: "永磁同步电机有限控制集模型预测转矩控制***研究", 电机与控制应用, no. 12 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113659898A (en) * | 2021-07-14 | 2021-11-16 | 江苏大学 | Double three-phase permanent magnet synchronous motor model prediction torque control method based on multi-vector continuous optimization strategy |
| CN114157206A (en) * | 2021-11-25 | 2022-03-08 | 上大电气科技(嘉兴)有限公司 | Double three-phase permanent magnet synchronous motor model prediction torque control method |
| CN114157206B (en) * | 2021-11-25 | 2023-12-15 | 上大电气科技(嘉兴)有限公司 | Model predictive torque control method for double three-phase permanent magnet synchronous motor |
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