CN116633221A - Minimum voltage vector error control method based on control quantity compensation - Google Patents
Minimum voltage vector error control method based on control quantity compensation Download PDFInfo
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Classifications
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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- Engineering & Computer Science (AREA)
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a control quantity compensation-based minimum voltage vector error control method, wherein in motor vector control, the minimum voltage vector error control adopts the nearest basic voltage vector, and the length of a vector is adjusted by optimizing the duty ratio, so that the error between the actually implemented voltage vector and a reference vector is minimum. In order to further reduce the control error, a model is adopted to predict the current error caused by the error vector at the next moment, the current control reference value is reversely corrected by the prediction error, and finally, the minimum voltage vector error control is recalled based on the current control reference value, so that the actual current with the minimum error with the original current reference value is obtained. The core innovation point of the invention is that vector control errors are transferred to control quantity, and the current control precision is optimized on the basis of keeping low switching times by calling the minimum voltage vector error control method twice.
Description
Technical Field
The invention belongs to a motor variable-current control technology, and particularly relates to a minimum voltage vector error control method based on control quantity compensation.
Background
In the three-ring control of the motor, the current ring control is the basis, and the reliable realization of the motor motion control is ensured. The conventional current loop control is realized based on a two-level space vector modulation algorithm, and the modulation strategy has high accuracy but more switching times, so that the inverter has high switching loss and low efficiency in practical application.
Considering the reduction of the switching times, adjacent basic vectors can be selected to replace the conventional space vector modulation, the duty ratio is selected by a minimum vector method through adjusting the duty ratio, and the basic vector with the minimum error is used to replace the reference vector. Although this method lowers the switching frequency of the inverter, it has an unavoidable problem that vector errors are always present.
To alleviate this problem, the present patent proposes a control amount compensation method of reversely adjusting the current control amount according to the error of the vector modulation, thereby suppressing the influence of the voltage vector error on the current control.
Disclosure of Invention
The invention aims to provide a permanent magnet motor control method based on model predictive control and with minimum voltage vector error compensation.
The technical scheme for realizing the purpose of the invention is as follows: a minimum voltage vector error control method based on control quantity compensation comprises the following specific steps:
step 1: calculating a current instruction reference value in a speed loop according to the error between the rotating speed instruction and the actual rotating speed of the motor;
step 2: calculating a voltage reference vector in a current loop according to the current instruction reference value and the actual current;
step 3: selecting a basic vector adjacent to a voltage reference vector from six non-zero basic vectors inverted at two levels by adopting a minimum voltage vector error control method, finding out candidate voltage basic vectors according to an error minimum principle, and obtaining an implementation vector combination with the minimum error of the reference voltage vector by inserting a zero vector to adjust a duty ratio;
step 4: based on the current motor running state and the minimum error obtained in the step 3, carrying out vector combination, predicting the actual current to be obtained in the next period, namely a current predicted value, and determining the error of the current predicted value and a current instruction reference value;
step 5: reversely correcting the current instruction reference value in the step 1 by using the predicted current error in the step 4;
step 6: repeating the steps 2 to 3 according to the corrected current instruction reference value obtained in the step 5, and obtaining a minimum error implementation vector combination again;
step 7: and (3) performing vector combination application on the minimum error obtained in the step (6) and a two-level inverter to complete current vector control.
Preferably, the specific formula for selecting the candidate voltage base vector is:
wherein,,modulo the error of the adjacent two voltage base vectors and the voltage reference vector for the kth calculation period, +.>For the kth calculation period, voltage reference vector, is->Is the angle between the voltage basic vector and the voltage reference vector of the kth i adjacent.
Preferably, in step 3, the duty ratio is calculated by using a method of minimum voltage vector error for the candidate voltage basic vector, specifically:
wherein,,calculating a cycle candidate voltage vector for the kth timeDuty cycle of>For the kth calculation period, voltage reference vector, is->For the angle between the kth candidate voltage base vector and the voltage reference vector,/th candidate voltage base vector>The voltage is the adopted direct current stabilized power supply voltage.
Preferably, the dead beat is used to predict the d-q axis actual current of the next period in the step 4, and the discretization formula is specifically:
wherein,,and->The d-q axis component of the candidate voltage base vector in the kth calculation period,/, respectively>And->The k+1st current predicted value after the candidate voltage basic vector is adopted in the kth calculation period, +.>And->The actual current of the kth cycle, < >, respectively>And->Respectively d-q axis inductance, < >>Is the stator resistance>Is a permanent magnetic flux linkage->Is the electrical angular velocity of the rotor at the current moment, < >>Is the sampling period.
Preferably, in step 5, the current command reference value is adjusted according to the error between the current predicted value and the current command reference value, specifically:
wherein,,and->The d-q axis current command reference values before adjustment at the kth calculation period,and->The d-q axis current command reference value adjusted at the kth calculation period,/, respectively>And->The weights of the d-q axis current errors, respectively.
The invention adopts a mode of reversely adjusting the control quantity to indirectly correct the voltage vector error, and has the remarkable advantages that: the invention can regulate the reference value of the current command in real time according to the voltage vector error while maintaining low switching times, and inhibit the influence of the voltage vector error on current control.
Drawings
FIG. 1 is a block diagram of a control system of the present invention.
Fig. 2 is a vector diagram of a minimum voltage vector error control method according to the present invention.
Fig. 3 is a graph of the effect of the present invention in a speed control application, namely speed, torque and phase current waveforms.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a permanent magnet motor control method based on model predictive control for minimum voltage vector error compensation specifically comprises the following steps:
step 1: calculating a current instruction reference value in a speed loop according to the error between the rotating speed instruction and the actual rotating speed of the motor;
in a further embodiment, the current command reference value may be obtained by using a speed loop control in a motor control theory, and specific algorithms include model prediction control, proportional integral control (PI control), and the like. Taking PI control as an example, a specific calculation formula is as follows:
wherein,,and->Proportional and integral coefficients of PI control, respectively,/->Is a complex variable +.>And->The rotation speed command of the motor and the actual motor rotation speed are respectively +.>Is the active damping coefficient.
Step 2: calculating a voltage reference vector in a current loop according to the current instruction reference value and the actual current;
in a further embodiment, the voltage reference vector may be obtained by using a current loop in a motor control theory, and specific algorithms include model predictive control, proportional-integral control (PI control), and the like. Taking dead beat control algorithm as an example, the specific calculation formula of the d-q axis voltage reference value is as follows:
wherein,,and->The d-q axis voltage reference values calculated in the kth calculation period,and->The d-q axis current command reference value of the kth time, respectively,/th time>And->Actual current of the kth cycle, respectively, +.>And->Respectively d-q axis inductance, < >>Is the stator resistance>Is a permanent magnetic flux linkage->Is the electrical angular velocity of the rotor at the current moment, < >>Is the sampling period.
Step 3: as shown in fig. 2, a minimum voltage vector error control method is adopted, candidate voltage basic vectors adjacent to a voltage reference vector are selected from six non-zero basic vectors inverted at two levels, the candidate voltage basic vectors are found out according to an error minimum principle, a zero vector is inserted to adjust a duty ratio, and an implementation vector combination with the minimum error of the reference voltage vector is obtained;
in a further embodiment, the candidate voltage base vector is selected according to the error minimization principle, and the specific formula is as follows
Wherein,,modulo the error of the adjacent two voltage base vectors and the voltage reference vector for the kth calculation period, +.>For the kth calculation period, voltage reference vector, is->Is the angle between the voltage basic vector and the voltage reference vector of the kth i adjacent.
According to the trigonometric theorem, the smaller the included angle between the adjacent voltage basic vector and the voltage reference vector is, the smaller the error is, so that the voltage basic vector with the smaller included angle can be selected as the candidate voltage basic vector.
In a further embodiment, the duty cycle is calculated by using a method of minimum voltage vector error for the candidate voltage base vector, specifically:
wherein,,calculating the duty cycle of the periodic candidate voltage vector for the kth time, +.>For the kth calculation period, voltage reference vector, is->For the angle between the kth candidate voltage base vector and the voltage reference vector,/th candidate voltage base vector>The voltage is the adopted direct current stabilized power supply voltage.
In a further embodiment, the duration of the candidate voltage base vector and the zero voltage vector is known according to the duty cycle, and an implementation vector combination is obtained;
step 4: based on the current motor running state and the minimum error obtained in the step 3, carrying out vector combination, predicting the actual current to be obtained in the next period, namely a current predicted value, and determining the error of the current predicted value and a current instruction reference value;
in a further embodiment, the d-q axis actual current of the next period is predicted by dead beat, and the discretization formula is specifically:
wherein,,and->The k+1st current predicted value after the candidate voltage basic vector is adopted in the kth calculation period, +.>And->Respectively the d-q axis inductances.
Step 5: the current instruction reference value in the step 1 is reversely corrected by using the predicted current error in the step 4, specifically:
wherein,,and->The d-q axis current command reference values before adjustment at the kth calculation period,and->The d-q axis current command reference value adjusted at the kth calculation period,/, respectively>And->The weights of the d-q axis current errors, respectively.
Step 6: repeating the steps 2 to 3 according to the corrected current instruction reference value obtained in the step 5, and obtaining a minimum error implementation vector combination again;
step 7: and (3) performing vector combination application on the minimum error obtained in the step (6) and a two-level inverter to complete current vector control.
The current control strategy adopted by the invention only adopts one basic voltage vector and zero vector in each PWM period, pays attention to the error between the predicted current and the current instruction reference value, and dynamically adjusts the current instruction reference value according to the error, thereby inhibiting the influence of the voltage vector error on the current waveform and the rotating speed.
When the two-voltage vector modulation strategy is adopted, the invention provides a new thought that the improvement of the voltage modulation method is not limited to the modulation method, but the control quantity is reversely regulated based on the error.
Fig. 2 illustrates the principle of a basic minimum voltage vector error control method (Minimum voltage vector error, MVE), i.e. using a basic vector adjacent to a reference voltage vector, then calculating the duty cycle by the minimum error principle, and implementing the duty cycle by inserting a zero vector, thereby forming a "minimum voltage error vector" having the same direction as the basic vector but a length controlled by the duty cycle, and implementing the current loop control by replacing the reference vector with the vector. It can be seen that with this method, only one arm has switching action in one switching cycle, so the switching loss can be reduced to 1/3 of the conventional voltage vector control. However, the disadvantage of this approach is also significant, i.e. errors are always present, and especially when the reference voltage vector is in the middle region of the base vector, errors may increase.
Fig. 3 shows a comparison of the proposed scheme of the present invention and the basic minimum voltage vector error control method, and the conventional MVE and the MVE based on control amount compensation proposed by the present invention are applied before and after 0.05 seconds respectively, and it can be found that the current waveform is significantly improved, the rotation speed is also more stable, and no torque pulsation is increased after the proposed method is adopted.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means 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, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 present invention have been shown and described, those of ordinary skill in the art will understand that: numerous variations, changes, substitutions and alterations are possible in those embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The minimum voltage vector error control method based on control quantity compensation is characterized by comprising the following specific steps:
step 1: calculating a current instruction reference value in a speed loop according to the error between the rotating speed instruction and the actual rotating speed of the motor;
step 2: calculating a voltage reference vector in a current loop according to the current instruction reference value and the actual current;
step 3: selecting a basic vector adjacent to a voltage reference vector from six non-zero basic vectors inverted at two levels by adopting a minimum voltage vector error control method, finding out candidate voltage basic vectors according to an error minimum principle, and obtaining an implementation vector combination with the minimum error of the reference voltage vector by inserting a zero vector to adjust a duty ratio;
step 4: based on the current motor running state and the minimum error obtained in the step 3, carrying out vector combination, predicting the actual current to be obtained in the next period, namely a current predicted value, and determining the error of the current predicted value and a current instruction reference value;
step 5: reversely correcting the current instruction reference value in the step 1 by using the predicted current error in the step 4;
step 6: repeating the steps 2 to 3 according to the corrected current instruction reference value obtained in the step 5, and obtaining a minimum error implementation vector combination again;
step 7: and (3) performing vector combination application on the minimum error obtained in the step (6) and a two-level inverter to complete current vector control.
2. The control quantity compensation-based minimum voltage vector error control method according to claim 1, wherein the specific formula for selecting the candidate voltage base vector is:
wherein->Modulo the error of the adjacent two voltage base vectors and the voltage reference vector for the kth calculation period, +.>For the kth calculation period, voltage reference vector, is->Is the angle between the voltage basic vector and the voltage reference vector of the kth i adjacent.
3. The control quantity compensation-based minimum voltage vector error control method according to claim 1, wherein the method of using the minimum voltage vector error for the candidate voltage basic vector in step 3 calculates the duty ratio, specifically:
wherein->The duty cycle of the cycle candidate voltage vector is calculated for the kth time,for the kth calculation period, voltage reference vector, is->For the angle between the kth candidate voltage base vector and the voltage reference vector,/th candidate voltage base vector>The voltage is the adopted direct current stabilized power supply voltage.
4. The control quantity compensation-based minimum voltage vector error control method according to claim 1, wherein the dead beat prediction of the d-q axis actual current of the next period is adopted in the step 4, and the discretization formula is specifically as follows:
wherein->Andthe d-q axis component of the candidate voltage base vector in the kth calculation period,/, respectively>And->The k+1st current predicted value after the candidate voltage basic vector is adopted in the kth calculation period, +.>And->The actual current of the kth cycle, < >, respectively>And->Respectively d-q axis inductance, < >>Is the stator resistance>Is a permanent magnetic flux linkage->Is the electrical angular velocity of the rotor at the current moment, < >>Is the sampling period.
5. The control quantity compensation-based minimum voltage vector error control method according to claim 1, wherein the adjusting the current command reference value according to the error between the current predicted value and the current command reference value in step 5 specifically comprises:
wherein->And->The d-q axis current command reference value before adjustment at the kth calculation period,/, respectively>And->The d-q axis current command reference value adjusted at the kth calculation period,/, respectively>And->The weights of the d-q axis current errors, respectively.
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