CN113972877A - Simplified permanent magnet synchronous motor model prediction current control method - Google Patents

Simplified permanent magnet synchronous motor model prediction current control method Download PDF

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CN113972877A
CN113972877A CN202111164269.XA CN202111164269A CN113972877A CN 113972877 A CN113972877 A CN 113972877A CN 202111164269 A CN202111164269 A CN 202111164269A CN 113972877 A CN113972877 A CN 113972877A
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CN113972877B (en
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赵文祥
王晨
吉敬华
和阳
陶涛
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Jiangsu University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

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Abstract

The invention discloses a simplified permanent magnet synchronous motor model prediction current control method. The traditional model prediction current control needs to evaluate a voltage vector corresponding to each switching state of the inverter by using a cost function, so that the system is complicated in calculation. In addition, only one vector is acted on in one control period, so that the steady-state performance of the system is poor. In order to solve the problems, the method only needs to use the cost function to evaluate three non-adjacent non-zero vectors, and two non-zero vectors are determined in a complete control set according to the magnitude relation of the three non-adjacent non-zero vectors corresponding to the cost function. The final action vector can be obtained by calculating the two non-zero vectors through the twice current dead beat principle, and the range of the final action vector covers the whole hexagon. Compared with the traditional model prediction current control, the method effectively reduces the calculation burden and improves the steady-state performance of the system.

Description

Simplified permanent magnet synchronous motor model prediction current control method
Technical Field
The invention relates to the field of model prediction current control of a permanent magnet synchronous motor, in particular to a simplified model prediction current control method. The method is favorable for reducing the calculation burden of the system and improving the steady-state performance of the system.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, small volume, simple structure and the like, and is applied to the fields of transportation, aerospace, national defense and the like.
At present, the traditional vector control and direct torque control are mainly adopted in the field of drive control of permanent magnet synchronous motors. Vector control involves complex coordinate transformation and PI parameters of the outer and inner speed and current loops require complex debugging processes, while direct torque control, although fast in response to torque changes, has poor steady-state performance. With the continuous enhancement of the computing power of modern microprocessors, model predictive control is beginning to be applied to the field of permanent magnet synchronous motor control.
The model predictive control has the advantages of simple control structure, capability of combining different constraint conditions and the like. Model predictive control of a permanent magnet synchronous motor can be divided into model predictive torque control and model predictive current control. The model prediction current control of the permanent magnet synchronous motor utilizes the discretization characteristic of an inverter output vector, calculates the prediction current value of a vector corresponding to the switching state of each inverter, then respectively brings the prediction current value into a preset value function, and selects the switching state corresponding to the minimum value of the value function as the control quantity of the inverter in the next period. Since the current value corresponding to each vector needs to be predicted and substituted into the cost function calculation in the process of selecting the vector, the calculation load of the system is large. Only one vector is applied in each control period, which makes the error of current tracking large, resulting in poor steady-state performance of the system.
Disclosure of Invention
The invention provides a simplified permanent magnet synchronous motor model predictive control method aiming at the two problems of large calculated amount and poor steady-state performance of the permanent magnet synchronous motor model predictive control. Two non-zero vectors are selected in the complete control set by comparing the magnitude of the cost function corresponding to the three non-adjacent non-zero vectors. The two non-zero vectors are calculated by the current dead beat principle twice, and the final action vector with the range capable of covering the whole hexagon can be obtained.
In order to achieve the purpose, the invention adopts the following technical scheme:
the simplified permanent magnet synchronous motor model prediction current control method comprises the following steps:
step 1: firstly, deducing a mathematical model and a discretized predicted current control model of the permanent magnet synchronous motor under a rotating coordinate system;
step 2: secondly, respectively calculating the value functions corresponding to the three non-adjacent non-zero vectors, and selecting two non-zero vectors in the complete control set according to the magnitude relation of the value functions;
and step 3: and (3) calculating the action time of the two non-zero vectors and the action time of the zero vector obtained in the step (2) according to the principle of current dead beat twice, so that the final action vector range can cover the whole hexagon.
Further, the specific process of step 1 is as follows:
the voltage equation of the permanent magnet synchronous motor under the dq coordinate system is as follows:
Figure BDA0003290867720000021
wherein u isdAnd uqThe voltages of the motor under the dq coordinate system are respectively; i.e. idAnd iqRespectively, the currents in the dq coordinate system; l isdAnd LqRespectively, the inductances under dq coordinate system; psifIs the permanent magnet flux linkage amplitude; r is a motor phase resistance; omegaeIs the electrical frequency of the motor;
the state equation of a permanent magnet synchronous machine can be expressed as:
Figure BDA0003290867720000022
using a forward difference discretization formula, the current equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003290867720000023
Figure BDA0003290867720000024
wherein id(k) And iq(k) Respectively are currents under a dq coordinate system at the k moment; i.e. id(k +1) and iq(k +1) are currents in a dq coordinate system at the moment k +1 respectively; u. ofd(k) And uq(k) Voltages at the time k and dq in a coordinate system respectively; e.g. of the typed(k) And eq(k) Respectively, the estimated value of the back electromotive force at the k moment in dq coordinate system, TsIs the sampling time.
Further, the specific process of step 2 is as follows:
the basic idea of the permanent magnet synchronous motor model prediction current control is to select an optimal voltage vector through a cost function, then use the switching state of the optimal voltage vector as the control quantity of an inverter, and the cost function g of the permanent magnet synchronous motor model prediction current control can be expressed as:
Figure BDA0003290867720000025
wherein id *And iq *Respectively setting d-axis reference current as zero and q-axis reference current obtained by a PI controller under dq coordinate system;
calculate u separately1、u3、u5The predicted current values of the three non-adjacent non-zero vectors at time k +1, where u1Vector u representing inverter switching state as 1003Vector u corresponding to the inverter switching state 0105Representing a vector corresponding to the inverter switch state of 001, the components of the predicted current values of the three vectors in the dq coordinate system can be respectively represented as:
Figure BDA0003290867720000031
Figure BDA0003290867720000032
Figure BDA0003290867720000033
wherein id 1(k+1)、iq 1(k +1) represents a non-zero vector u, respectively1Component of the predicted current value at time k +1 in dq coordinate system, id 3(k+1)、iq 3(k +1) represents a non-zero vector u, respectively3Component of the predicted current value at time k +1 in dq coordinate system, id 5(k+1)、iq 5(k +1) represents a non-zero vector u, respectively5The component of the predicted current value at time k +1 in the dq coordinate system; u. ofd 1、uq 1Representing non-zero vectors u1Component in dq coordinate system, ud 3、uq 3Representing non-zero vectors u3Component in dq coordinate system, ud 5、uq 5Representing non-zero vectors u5Components in dq coordinate system;
will u1、u3、u5The predicted current values of the three non-adjacent non-zero vectors at the moment of k +1 are substituted into a cost function for calculation, and g can be obtained1、g3、g5Three different value of merit functions; wherein g is1Representing non-zero vectors u1The value of the cost function is calculated after the corresponding predicted current value is substituted into the value function, wherein g3Representing non-zero vectors u3The value of the cost function is calculated after the corresponding predicted current value is substituted into the value function, wherein g5Representing non-zero vectors u5Substituting the corresponding predicted current value into the value function and calculating to obtain a value function value;
comparing the magnitudes of the three cost function values, if g1＜g3＜g5Then the vector u is selected in the control set1、u2(ii) a If g is1＜g5＜g3Then the vector u is selected in the control set1、u6(ii) a If g is3＜g1＜g5Then the vector u is selected in the control set2、u3(ii) a If g is3＜g5＜g1Then the vector u is selected in the control set3、u4(ii) a If g is5＜g1＜g3Then the vector u is selected in the control set5、u6(ii) a If g is5＜g3＜g1Then the vector u is selected in the control set4、u5(ii) a Wherein u is2Vector u representing inverter switching state 1104Vector, u, representing inverter switching state 0116A vector representing the inverter switching state as 101.
Further, the specific steps of step 3 are as follows:
according to the principle of current dead beat, the current i at the end of a control periods(k +1) can be represented as:
is(k+1)＝is(k)+sid1Ts+sj(1-d1)Ts
wherein is(k) Current value i at time ks(k +1) represents the current value at the time of k +1, uiAnd ujRepresenting the two non-zero vectors, s, selected in step 2iIndicating the motor in a non-zero vector uiRate of change of current under influence, sjIndicating the motor in a non-zero vector ujRate of change of current under influence, d1Is uiProportion of active time in one control cycle to the total control cycle, 1-d1Then represents ujRepresenting the proportion of the action time in one control period to the whole control period; d1Can be expressed as:
Figure BDA0003290867720000041
Figure BDA0003290867720000042
wherein is *Represents a reference current value;
at this time uiAnd ujThe resultant vector after a certain duty cycle assignment can be expressed as:
usyn＝d1×ui+(1-d1)×uj
after the first current dead beat calculation, the range of the resultant vector is limited to the connecting line of the two vectors, in order to further expand the range of the action vector, the second current dead beat calculation is performed, and the range of the action vector is expanded by introducing a zero vector, and the second current dead beat calculation can be represented as:
is(k+1)＝is(k)+ssynd2Ts+s0(1-d2)Ts＝is *
wherein s issynIndicating the motor in a resultant vector usynRate of change of current under influence, s0Representing the rate of change of current of the motor under the action of the zero vector, d2As a resultant vector usynProportion of active time in one control cycle to the total control cycle, 1-d2Then represents the proportion of the action time of the zero vector in one control period to the whole control period, d2Can be expressed as:
Figure BDA0003290867720000043
Figure BDA0003290867720000051
at this time usynAnd u0、u7The resultant vector after a certain duty cycle assignment can be expressed as:
Figure BDA0003290867720000052
wherein u isappliedRepresenting the vector, u, ultimately acting on the motor through the inverter0Vector, u, representing inverter switching state 0007A vector representing the inverter switching state as 111. Through the calculation of two current dead beats, the final action vector uappliedThe two non-zero vectors and the zero vector are synthesized in a certain proportion, the range of the final action vector can cover the whole hexagonal area, the current tracking error is greatly reduced, and the steady-state performance of the system is improved.
The invention has the beneficial effects that:
1. according to the invention, by comparing the magnitude of the corresponding cost function of the three non-adjacent non-zero vectors, two non-zero vectors in a complete control set can be determined, and the evaluation of vectors corresponding to all switch states is avoided, so that the calculated amount of the system is reduced.
2. According to the invention, through twice current dead beat principle calculation, the final action vector is synthesized by two non-zero vectors and a zero vector, the vector range covers the whole hexagon, and the steady state performance of the system is improved.
3. The invention can further improve the competitiveness of model prediction current control in the field of permanent magnet synchronous motor control.
Drawings
FIG. 1 is a block diagram of a simplified PMSM model predictive current control method;
FIG. 2 is a schematic diagram of three non-adjacent non-zero vectors;
FIG. 3 is a schematic view of the range of action vectors; wherein, (a) is the action vector range after the primary current is not beat, and (b) is the action vector range after the secondary current is not beat;
FIG. 4 is a schematic diagram of a three-phase current waveform; wherein, (a) is the three-phase current waveform predicted by the traditional model, and (b) is the three-phase current waveform of the invention;
FIG. 5 is a graph illustrating harmonic content of phase currents; wherein, (a) is the harmonic content of the current control phase current predicted by the traditional model, and (b) is the harmonic content of the phase current of the invention.
Detailed description of the invention
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in a structural block diagram of FIG. 1, the invention relates to a simplified permanent magnet synchronous motor model prediction current control method, which mainly comprises an efficient vector selection method and a method for reducing a current tracking error by expanding an action vector range.
The invention takes a three-phase permanent magnet synchronous motor as a control object, carries out simplified model prediction current control on the three-phase permanent magnet synchronous motor, and has the following concrete measures:
step 1, deducing a mathematical model and a discretized predicted current control model of the permanent magnet synchronous motor.
The voltage equation of the permanent magnet synchronous motor under the dq coordinate system is as follows:
Figure BDA0003290867720000061
wherein u isdAnd uqThe voltages of the motor under the dq coordinate system are respectively; i.e. idAnd iqRespectively, the currents in the dq coordinate system; l isdAnd LqRespectively, the inductances under dq coordinate system; psifIs the permanent magnet flux linkage amplitude; r is a motor phase resistance; omegaeThe electrical frequency of the motor.
The state equation of a permanent magnet synchronous machine can be expressed as:
Figure BDA0003290867720000062
using a forward difference discretization formula, the current equation of the permanent magnet synchronous motor is as follows:
Figure BDA0003290867720000063
Figure BDA0003290867720000064
wherein id(k) And iq(k) Respectively are currents under a dq coordinate system at the k moment; i.e. id(k +1) and iq(k +1) are currents in a dq coordinate system at the moment k +1 respectively; u. ofd(k) And uq(k) Voltages at the time k and dq in a coordinate system respectively; e.g. of the typed(k) And eq(k) Respectively, the estimated value of the back electromotive force at the k moment in dq coordinate system, TsIs the sampling time.
And 2, selecting two non-zero vectors in the complete control set according to the magnitude relation of the value functions corresponding to the three non-adjacent non-zero vectors.
The basic idea of the permanent magnet synchronous motor model prediction current control is to select an optimal voltage vector through a cost function, and then use the switching state of the optimal voltage vector as the control quantity of the inverter. The cost function g of the permanent magnet synchronous motor model prediction current control can be expressed as:
Figure BDA0003290867720000071
wherein id *And iq *And d-axis reference current is set to be zero, and q-axis reference current is obtained by a PI controller.
Calculate u separately1、u3、u5The three non-adjacent non-zero vectors predict the current values at time k +1, as shown in fig. 2. Component i of the predicted current values of the three vectors in dq coordinate systemd 1、iq 1、id 3、iq 3、id 5、iq 5Can be respectively expressed as:
Figure BDA0003290867720000072
Figure BDA0003290867720000073
Figure BDA0003290867720000074
will u1、u3、u5The predicted current values of the three non-adjacent non-zero vectors at the moment of k +1 are substituted into a cost function to be calculated to obtain g1、g3、g5Three different value of the cost function.
The magnitude of the three cost function values are compared. If g is1＜g3＜g5Then the vector u is selected in the control set1、u2. If g is1＜g5＜g3Then the vector u is selected in the control set1、u6. If g is3＜g1＜g5Then the vector u is selected in the control set2、u3. If g is3＜g5＜g1Then the vector u is selected in the control set3、u4. If g is5＜g1＜g3Then the vector u is selected in the control set5、u6. If g is5＜g3＜g1Then the vector u is selected in the control set4、u5。
And 3, calculating the action time of the two non-zero vectors and the action time of the zero vector obtained in the step 2 according to the principle of current dead beat twice, so that the final action vector range can cover the whole hexagon.
At the end of a control period, according to the principle of current dead beatCurrent is(k +1) can be represented as:
is(k+1)＝is(k)+sid1Ts+sj(1-d1)Ts
Figure BDA0003290867720000081
wherein u isiAnd ujRepresenting the two non-zero vectors selected in step 2. d1Is uiProportion of active time in one control cycle to the total control cycle, 1-d1Then represents ujWhich represents the proportion of the active time in one control cycle to the total control cycle. d1Can be expressed as:
Figure BDA0003290867720000082
Figure BDA0003290867720000083
at this time uiAnd ujThe resultant vector after a certain duty cycle assignment can be expressed as:
usyn＝d1×ui+(1-d1)×uj
after the current dead beat is calculated, the range of the resultant vector is limited to the line connecting the two vectors, as shown in fig. 3 (a). To further expand the range of the action vector, a further current dead beat calculation is performed, which is expanded by introducing a null vector, and the second current dead beat calculation can be expressed as:
is(k+1)＝is(k)+ssynd2Ts+s0(1-d2)Ts＝is *
Figure BDA0003290867720000084
d2is usynProportion of active time in one control cycle to the total control cycle, 1-d2It represents the proportion of the action time of the zero vector in one control period to the whole control period. d2Can be expressed as:
Figure BDA0003290867720000085
Figure BDA0003290867720000086
at this time usynAnd u0、u7The resultant vector after a certain duty cycle assignment can be expressed as:
Figure BDA0003290867720000087
wherein u isappliedRepresenting the vector ultimately acting on the motor through the inverter, the resultant vector range extends into the triangle of the two non-zero vectors and their connecting lines after the second current dead-beat calculation, as shown in fig. 3 (b). Because the combination of the two non-zero vectors has six conditions, the range of the final action vector can cover the whole hexagonal area, the current tracking error is greatly reduced, and the steady-state performance of the system is improved.
FIG. 4(a) is a waveform diagram of a conventional model-predicted current-controlled three-phase current having a THD of 3.11%, as shown in FIG. 5 (a); fig. 4(b) is a waveform diagram of three-phase current of the present invention, and the THD of the phase current is 0.87%, as shown in fig. 5 (b). It can be seen that the simplified model provided by the invention has good tracking performance of the predicted current control current and the steady-state performance of the system is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. The simplified permanent magnet synchronous motor model prediction current control method is characterized by comprising the following steps:
step 1: firstly, deducing a mathematical model and a discretized predicted current control model of the permanent magnet synchronous motor under a rotating coordinate system;
step 2: secondly, respectively calculating the value functions corresponding to the three non-adjacent non-zero vectors, and selecting two non-zero vectors in the complete control set according to the magnitude relation of the value functions;
and step 3: and (3) calculating the action time of the two non-zero vectors and the action time of the zero vector obtained in the step (2) according to the principle of current dead beat twice, so that the final action vector range can cover the whole hexagon.
2. The simplified permanent magnet synchronous motor model prediction current control method according to claim 1, characterized in that the specific process of step 1 is as follows:
the voltage equation of the permanent magnet synchronous motor under the dq coordinate system is as follows:
Figure FDA0003290867710000011
wherein u isdAnd uqThe voltages of the motor under the dq coordinate system are respectively; i.e. idAnd iqRespectively, the currents in the dq coordinate system; l isdAnd LqRespectively, the inductances under dq coordinate system; psifIs the permanent magnet flux linkage amplitude; r is a motor phase resistance; omegaeIs the electrical frequency of the motor;
the state equation of a permanent magnet synchronous machine can be expressed as:
Figure FDA0003290867710000012
using a forward difference discretization formula, the current equation of the permanent magnet synchronous motor is as follows:
Figure FDA0003290867710000013
Figure FDA0003290867710000014
wherein id(k) And iq(k) Respectively are currents under a dq coordinate system at the k moment; i.e. id(k +1) and iq(k +1) are currents in a dq coordinate system at the moment k +1 respectively; u. ofd(k) And uq(k) Voltages at the time k and dq in a coordinate system respectively; e.g. of the typed(k) And eq(k) Respectively, the estimated value of the back electromotive force at the k moment in dq coordinate system, TsIs the sampling time.
3. The simplified permanent magnet synchronous motor model predictive current control method according to claim 1, characterized in that the specific process of step 2 is as follows:
the basic idea of the permanent magnet synchronous motor model prediction current control is to select an optimal voltage vector through a cost function, then use the switching state of the optimal voltage vector as the control quantity of an inverter, and the cost function g of the permanent magnet synchronous motor model prediction current control can be expressed as:
Figure FDA0003290867710000021
wherein id *And iq *Respectively setting d-axis reference current as zero and q-axis reference current obtained by a PI controller under dq coordinate system;
calculate u separately1、u3、u5The predicted current values of the three non-adjacent non-zero vectors at time k +1, where u1Vector u representing inverter switching state as 1003Vector u corresponding to the inverter switching state 0105A vector representing that the inverter switching state is 001;
will u1、u3、u5The predicted current values of the three non-adjacent non-zero vectors at the moment of k +1 are substituted into a cost function for calculation, and g can be obtained1、g3、g5Three different value of merit functions; wherein g is1Representing non-zero vectors u1The value of the cost function is calculated after the corresponding predicted current value is substituted into the value function, wherein g3Representing non-zero vectors u3The value of the cost function is calculated after the corresponding predicted current value is substituted into the value function, wherein g5Representing non-zero vectors u5Substituting the corresponding predicted current value into the value function and calculating to obtain a value function value;
comparing the magnitudes of the three cost function values, if g1＜g3＜g5Then the vector u is selected in the control set1、u2(ii) a If g is1＜g5＜g3Then the vector u is selected in the control set1、u6(ii) a If g is3＜g1＜g5Then the vector u is selected in the control set2、u3(ii) a If g is3＜g5＜g1Then the vector u is selected in the control set3、u4(ii) a If g is5＜g1＜g3Then the vector u is selected in the control set5、u6(ii) a If g is5＜g3＜g1Then the vector u is selected in the control set4、u5(ii) a Wherein u is2Vector u representing inverter switching state 1104Vector, u, representing inverter switching state 0116A vector representing the inverter switching state as 101.
4. The simplified PMSM model predicted current control method of claim 3, wherein the components of the predicted current values of three non-adjacent non-zero vectors in dq coordinate system can be expressed as:
Figure FDA0003290867710000022
Figure FDA0003290867710000031
Figure FDA0003290867710000032
wherein id 1(k+1)、iq 1(k +1) represents a non-zero vector u, respectively1Component of the predicted current value at time k +1 in dq coordinate system, id 3(k+1)、iq 3(k +1) represents a non-zero vector u, respectively3Component of the predicted current value at time k +1 in dq coordinate system, id 5(k+1)、iq 5(k +1) represents a non-zero vector u, respectively5The component of the predicted current value at time k +1 in the dq coordinate system; u. ofd 1、uq 1Representing non-zero vectors u1Component in dq coordinate system, ud 3、uq 3Representing non-zero vectors u3Component in dq coordinate system，ud 5、uq 5Representing non-zero vectors u5Components in dq coordinate system.
5. The simplified permanent magnet synchronous motor model predictive current control method of claim 1, characterized in that the specific steps of step 3 are as follows:
according to the principle of current dead beat, the current i at the end of a control periods(k +1) can be represented as:
is(k+1)＝is(k)+sid1Ts+sj(1-d1)Ts
wherein is(k) Current value i at time ks(k +1) represents the current value at the time of k +1, uiAnd ujRepresenting the two non-zero vectors, s, selected in step 2iIndicating the motor in a non-zero vector uiRate of change of current under influence, sjIndicating the motor in a non-zero vector ujRate of change of current under influence, d1Is uiProportion of active time in one control cycle to the total control cycle, 1-d1Then represents ujRepresenting the proportion of the action time in one control period to the whole control period; d1Can be expressed as:
Figure FDA0003290867710000033
Figure FDA0003290867710000034
wherein is *Represents a reference current value;
at this time uiAnd ujThe resultant vector after a certain duty cycle assignment can be expressed as:
usyn＝d1×ui+(1-d1)×uj
after the first current dead beat calculation, the range of the resultant vector is limited to the connecting line of the two vectors, in order to further expand the range of the action vector, the second current dead beat calculation is performed, and the range of the action vector is expanded by introducing a zero vector, and the second current dead beat calculation can be represented as:
is(k+1)＝is(k)+ssynd2Ts+s0(1-d2)Ts＝is *
wherein s issynIndicating the motor in a resultant vector usynRate of change of current under influence, s0Representing the rate of change of current of the motor under the action of the zero vector, d2As a resultant vector usynProportion of active time in one control cycle to the total control cycle, 1-d2Then represents the proportion of the action time of the zero vector in one control period to the whole control period, d2Can be expressed as:
Figure FDA0003290867710000041
Figure FDA0003290867710000042
at this time usynAnd u0、u7The resultant vector after a certain duty cycle assignment can be expressed as:
Figure FDA0003290867710000043
wherein u isappliedRepresenting the vector, u, ultimately acting on the motor through the inverter0Vector, u, representing inverter switching state 0007A vector representing the inverter switching state as 111.
6.The simplified PMSM model predictive current control method of claim 5, further comprising calculating a final action vector u by two current dead-beat calculationsappliedThe two non-zero vectors and the zero vector are synthesized in a certain proportion, the range of the final action vector can cover the whole hexagonal area, the current tracking error is greatly reduced, and the steady-state performance of the system is improved.
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CN111600522A (en) * 2020-05-08 2020-08-28 北方工业大学 Motor model prediction current control method and device, electronic equipment and medium
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation
CN112803861A (en) * 2021-03-19 2021-05-14 哈尔滨理工大学 Zero-vector-free algorithm for predictive control of three-vector model of permanent magnet synchronous motor
CN113098349A (en) * 2021-04-28 2021-07-09 杭州电子科技大学 Discrete space vector modulation permanent magnet synchronous motor model prediction control method

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Publication number Priority date Publication date Assignee Title
CN111600522A (en) * 2020-05-08 2020-08-28 北方工业大学 Motor model prediction current control method and device, electronic equipment and medium
CN112054736A (en) * 2020-09-11 2020-12-08 南通大学 Permanent magnet synchronous motor model prediction current overmodulation control method for optimizing zone modulation
CN112803861A (en) * 2021-03-19 2021-05-14 哈尔滨理工大学 Zero-vector-free algorithm for predictive control of three-vector model of permanent magnet synchronous motor
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