WO2021017237A1 - Deadbeat control system and method for permanent magnet synchronous motor under low carrier ratio - Google Patents
Deadbeat control system and method for permanent magnet synchronous motor under low carrier ratio Download PDFInfo
- Publication number
- WO2021017237A1 WO2021017237A1 PCT/CN2019/115172 CN2019115172W WO2021017237A1 WO 2021017237 A1 WO2021017237 A1 WO 2021017237A1 CN 2019115172 W CN2019115172 W CN 2019115172W WO 2021017237 A1 WO2021017237 A1 WO 2021017237A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- time
- current
- axis
- permanent magnet
- magnet synchronous
- Prior art date
Links
Images
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/34—Modelling or simulation for control purposes
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Definitions
- the invention relates to a low carrier ratio deadbeat control system and method for a permanent magnet synchronous motor, and belongs to the technical field of motor control.
- a low switching frequency (such as about 500 Hz) has to be used to control the drive motor, which makes the ratio of switching frequency to current frequency, that is, the carrier ratio, lower.
- stator current prediction model is established by using the model of the motor in the discrete domain, and the reference stator current at the next time and the stator current collected at this time are input to the prediction model In order to directly calculate the command voltage that makes the motor reach the reference current at the next moment, the control process is simple and easier to implement.
- the traditional deadbeat control is directly based on the motor state equation and uses the forward differential discrete method to establish the discrete model of the motor, and does not consider the delay of the inverter.
- the switching frequency is high, the delay of this part is small, so the deadbeat control is The effect is not significant, and the delay of this part is relatively large at low switching frequency, which makes it difficult for the traditional deadbeat control strategy to achieve good control results.
- the purpose of the present invention is to provide a permanent magnet synchronous motor low carrier ratio deadbeat control system and method, which solves the control effect of the traditional permanent magnet synchronous motor deadbeat control system at low switching frequency Problems such as large current static difference and large output torque pulsation can realize the good control effect of deadbeat control strategy at low switching frequency, and the current control static difference is also small.
- a permanent magnet synchronous motor low carrier ratio deadbeat control system which is characterized by including permanent magnet synchronous motor, encoder, abc-dq coordinate conversion unit, speed outer loop PI controller, 1/2 time current estimation unit , Current deadbeat controller, dq- ⁇ coordinate conversion unit, SVPWM modulation module, inverter;
- the encoder is used to obtain the rotor position angle ⁇ of the permanent magnet synchronous motor and the real-time speed n of the permanent magnet synchronous motor;
- the abc-dq coordinate conversion unit collects the real-time AB phase currents i a (k), i b (k) of the stator of the permanent magnet synchronous motor and the motor rotor position angle ⁇ at the input moment k, and obtains the stator current through calculation The components i d (k) and i q (k) on the dq axis;
- the speed outer loop PI controller calculates the q-axis given current at the next moment by inputting the permanent magnet synchronous motor given speed n * and the real-time speed n at time k
- the current estimation unit at 1/2 moment is given by the stator current at the next moment And the real-time stator current dq axis components i d (k) and i q (k) collected at time k, calculate Dq axis current component at time
- the current deadbeat controller is given by inputting the stator current at the next moment at time k And the real-time stator current dq axis components i d (k), i q (k) collected at time k, and calculate the dq axis voltage command
- the dq- ⁇ coordinate conversion unit inputs the dq axis voltage command And the motor rotor position angle ⁇ is calculated to obtain the ⁇ - ⁇ axis voltage command
- the SVPWM modulation module is based on the input of the ⁇ - ⁇ axis voltage command Calculate the inverter switch control signal at this time;
- the inverter is used to generate a stator voltage for controlling the permanent magnet synchronous motor according to the switch control signal.
- the aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the conversion equation of the abc-dq coordinate conversion unit is: In the formula, ⁇ e is the angle from the stator current vector to the ⁇ axis, ⁇ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor.
- the aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the formula required by the current estimation unit at 1/2 time is In the formula, T s is the system sampling period, ⁇ s is the electromagnetic time constant of the permanent magnet synchronous motor, and ⁇ e (k) is the motor speed collected at time k, Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively.
- the aforementioned dead-beat control system for a permanent magnet synchronous motor with a low carrier ratio is characterized in that the current dead-beat controller includes a current prediction model module and a current error decoupling integration module;
- the current prediction model module 2 establishes a current prediction model through the discrete model of the permanent magnet synchronous motor, so that the stator current is referenced at the next moment Equal to the predicted current in the current prediction model, a command voltage equation is derived, and the next moment is referenced to the stator current And the real-time stator current i d (k), i q (k) and the estimated current at time 1/2 Substitute into the command voltage equation to obtain the command voltages u dpre (k) and u qpre (k) of the dq axis prediction model;
- the current error decoupling integral module is to give the stator current dq axis component at the next moment Subtract the real-time stator currents i d (k) and i q (k) collected at this time, respectively, to obtain the dq axis stator current errors ⁇ i d (k), ⁇ i q (k), and then remove the coupling components between the dq axis current errors .
- the current error obtained after decoupling is passed through an integral regulator, and the dq axis compensation voltage u dcom (k) and u qcom (k) are output.
- the aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the conversion equation of the dq- ⁇ coordinate conversion unit is as follows: In the formula, ⁇ e is the angle from the stator current vector to the ⁇ axis, ⁇ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor.
- a control method of a permanent magnet synchronous motor low carrier ratio deadbeat control system which is characterized in that:
- Step 1) At time k, the encoder obtains the motor speed n and the rotor position angle ⁇ ;
- Step 2 At time k, input the given speed n * and collect the motor speed n to the speed outer loop PI controller, and output the q axis component of the reference stator current at the next time after calculation
- Step 3 At time k, input the rotor position angle ⁇ and the collected AB phase stator currents i a (k), i b (k) to the abc-dq coordinate conversion unit, and output the real-time stator current dq axis component collected at this moment i d (k), i q (k);
- Step 6 At time k, give the d-axis component of the stator current at the next time Subtract the real-time stator current i d (k), remove the coupling component between it and the q-axis current error, and output the d-axis compensation voltage u dcom (k) through an integral regulator;
- Step 7) At time k, refer to the q-axis component of the stator current at the next time Subtract the real-time stator current i q (k), remove the coupling component between it and the d-axis current error, and output the q-axis compensation voltage u qcom (k) through the integral regulator;
- Step 8) Add u dpre (k) and u qpre (k) to u dcom (k) and u qcom (k) respectively, and output the dq axis command voltage
- Step 9) Change the dq axis command voltage described in step 8) And the rotor position angle ⁇ is input to the dq- ⁇ coordinate conversion unit to output the command voltage ⁇ - ⁇ axis component
- Step 10) Change the command voltage ⁇ - ⁇ axis component described in step 9) Input to the SVPWM modulation module to obtain a switch control signal for controlling the inverter;
- Step 11 The inverter receives the switch control signal in step 10) to produce a permanent magnet synchronous motor stator voltage.
- the aforementioned method for low carrier ratio deadbeat control of a permanent magnet synchronous motor is characterized in that the formula of the current estimation unit at 1/2 time in step 4) is The formula of the current estimation unit at time 1/2 is derived from the following command voltage equation: Where T s is the system sampling period, ⁇ s is the electromagnetic time constant of the permanent magnet synchronous motor, ⁇ e (k) is the motor speed collected at time k, Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively.
- the aforementioned method for low carrier ratio deadbeat control of a permanent magnet synchronous motor is characterized in that the command voltage equation of the current prediction model in step 5) is among them,
- R s is the stator resistance of the permanent magnet synchronous motor
- ⁇ f is the permanent magnet flux linkage of the permanent magnet synchronous motor rotor
- Is the reference stator current dq axis component at k+1
- I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively
- the beneficial effects achieved by the present invention in the modeling process of the current prediction model, the inverter and the motor are regarded as a whole modeling, and the delay effect of the inverter is considered; the current prediction correction discretization at 1/2 time is added Deviation, the model built is more accurate than the traditional current prediction model;
- a current error decoupling integral compensation module is added to the deadbeat controller to remove the coupling component between the dq axis current error, so that the motor speed control and the current error compensation at a lower carrier ratio can be more stable and fast
- the results show that the motor speed and stator current are well controlled, and the motor stator current control static error is small.
- the output torque ripple has also been improved.
- Figure 1 is a block diagram of the principle of a dead-beat control system for a permanent magnet synchronous motor with low carrier ratio in the present invention
- FIG. 2 is a block diagram of the deadbeat controller in the present invention.
- Figure 3 is a block diagram of the scalar model of a permanent magnet synchronous motor
- Figure 4 is the waveform diagram of the low carrier ratio deadbeat control speed of the permanent magnet synchronous motor, (a) is the speed waveform when the switching frequency is 5000Hz, (b) is the speed waveform when the switching frequency is 500Hz;
- Figure 5 is the stator current waveform diagram of the permanent magnet synchronous motor low carrier ratio deadbeat control, (a) is the stator current waveform diagram when the switching frequency is 5000Hz, (b) is the stator current waveform diagram when the switching frequency is 500Hz;
- Figure 6 is the output torque waveform diagram of the permanent magnet synchronous motor low carrier ratio deadbeat control, (a) is the output torque waveform diagram when the switching frequency is 5000Hz, (b) is the output torque waveform diagram when the switching frequency is 500Hz.
- a permanent magnet synchronous motor low carrier ratio deadbeat control system mainly includes: permanent magnet synchronous motor (PMSM), encoder, abc-dq coordinate conversion unit, speed outer loop PI controller, 1/ 2 Time current estimation unit, current deadbeat controller, dq- ⁇ coordinate conversion unit, SVPWM modulation module, inverter. specifically:
- the encoder is used to obtain the rotor position angle ⁇ of the permanent magnet synchronous motor and the real-time speed n of the permanent magnet synchronous motor;
- the abc-dq coordinate conversion unit collects the real-time AB-phase currents i a (k), i b (k) of the stator of the permanent magnet synchronous motor and the motor rotor position angle ⁇ at the input moment k, and calculates the stator current at dq Axis components i d (k), i q (k);
- the speed outer loop PI controller calculates the q-axis given current at the next moment by inputting the permanent magnet synchronous motor's given speed n * and the real-time speed n at time k
- the current estimation unit at 1/2 moment is given by the stator current at the next moment And the real-time stator current dq axis components i d (k) and i q (k) collected at time k, calculate Dq axis current component at time
- the current deadbeat controller is given by inputting the stator current at the next moment at time k And the real-time stator current dq axis components i d (k), i q (k) and the estimated current at time 1/2 collected at time k Calculate the dq axis voltage command
- the dq- ⁇ coordinate conversion unit inputs the dq axis voltage command And the motor rotor position angle ⁇ is calculated to obtain the ⁇ - ⁇ axis voltage command
- the inverter is used to generate and control the stator voltage of the permanent magnet synchronous motor according to the switch control signal.
- Figure 2 is a block diagram of the principle of the current deadbeat controller.
- the next time will refer to the d-axis component of the stator current And the reference stator current q-axis component at the next moment And the collected real-time stator currents i d (k) and i q (k) are input into the prediction model 1 in Figure 2 to obtain the estimated current at 1/2
- the command voltage equation is as follows: among them In the formula, T s is the system sampling period, ⁇ s is the electromagnetic time constant of the permanent magnet synchronous motor, ⁇ e (k) is the motor speed collected at time k, R s is the stator resistance of the permanent magnet synchronous motor, and ⁇ f is the permanent magnet synchronous motor Permanent magnet flux linkage of motor rotor,
- T s is the system sampling period
- ⁇ s is the electromagnetic time constant of the permanent magnet synchronous motor
- ⁇ e (k) is the motor speed collected at time k
- R s is the stator resistance of the permanent magnet synchronous motor
- ⁇ f is the permanent magnet synchronous motor Permanent magnet flux linkage of motor rotor
- the current error decoupling integral compensation unit is added to the current deadbeat controller of the present invention.
- the stator current dq axis component is given at the next time
- the current error obtained after decoupling is passed through an integral regulator to obtain the voltage command compensation amounts u dcom (k), u qcom (k), and finally u dpre (k) and u qpre (k) are respectively compared with u dcom (k) ), u qcom (k) are added together to output dq axis command voltage
- the coupling term generated by the permanent magnet flux linkage of the rotor is often obtained by parameter identification, and assuming its value is unchanged, this term can be ignored in the current regulator design, and then this term is added to the voltage command as compensation.
- the complex vector transfer function of the permanent magnet synchronous motor complex vector model in the ⁇ static coordinate system is:
- the inverter can usually be regarded as a zero-order keeper, and the transfer function of the zero-order keeper is as follows:
- the complex vector model of the permanent magnet synchronous traction motor in the ⁇ coordinate system is discretized, and the zero-order keeper discretization method is used.
- ⁇ can be obtained from equations (6) and (7)
- the discrete domain complex vector ⁇ -dq coordinate transformation is as follows:
- Figure 4 is the speed simulation result of the permanent magnet synchronous motor adopting the low carrier ratio deadbeat control method of the present invention.
- the outer speed loop adopts a conventional PI controller, where (a) is the speed waveform when the switching frequency is 5000Hz, ( b) It is the speed waveform at the low switching frequency of 500Hz. After the motor is started, it ramps up to 1000r/min.
- the simulation results show that the control method of the present invention is used to control the motor speed more stable, and the motor speed ripple is relatively low at low switching frequency. Small and fast dynamic response speed.
- Fig. 5 is a waveform diagram of the stator current dq axis component of the permanent magnet synchronous motor using the low carrier ratio deadbeat control method of the present invention.
- the current inner loop uses the current deadbeat controller of the present invention, where (a) is The stator current waveform at a switching frequency of 5000 Hz, (b) is the stator current waveform at a low switching frequency of 500 Hz.
- the simulation results show that the stator current control is stable at 5000Hz, the current ripple is small, and the control static error is approximately 0; at a low switching frequency of 500Hz, the stator current tracking reference current dynamic response speed is faster, and the stator current ripple and control static error are also The control is small, which shows that the present invention is helpful to solve the problems of large current ripple and control static error that occur under the traditional deadbeat control low switching frequency.
- Fig. 6 is the simulation result of the output torque waveform of the permanent magnet synchronous motor using the low carrier ratio deadbeat control method of the present invention, where T L is the load torque, (a) is the output torque waveform when the switching frequency is 5000 Hz, (b) is the output torque waveform at a low switching frequency of 500 Hz.
- the simulation results show that the output torque torque is relatively stable at 5000Hz, and the pulsation is small; at the low switching frequency of 500Hz, due to the larger current harmonics at this time, the motor output torque pulsation is larger than when the switching frequency is 5000Hz, but it is not the same as the traditional one.
- the output torque of the beat control low switching frequency has been improved, and the average value of the output torque is close to the load torque, which also ensures the stable operation of the motor.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Disclosed are a deadbeat control system and method for a permanent magnet synchronous motor under a low carrier ratio. Said system comprises a permanent magnet synchronous motor, an encoder, an abc-dq coordinate conversion unit, an outer-loop rotation speed PI controller, a half-time current estimation unit, a deadbeat current controller, a dq-αβ coordinate conversion unit, an SVPWM modulation module and an inverter. In the present invention, during modeling of a current estimation model, an inverter and a motor are regarded as a whole for modeling, the delay effect of the inverter is considered, and a half-time current estimation correction discretization error is added, so that the established model is more accurate than a traditional current prediction model. A current error decoupling, integration and compensation module is added into a deadbeat controller, so that stator current control static error is greatly improved, ultimately achieving the objective of good deadbeat control under a low carrier ratio. The result shows that the motor rotation speed and stator current are controlled well, the motor stator current control static error is small, and the output torque pulsation is also improved.
Description
本发明涉及一种永磁同步电机低载波比无差拍控制***及方法，属于电机控制技术领域。The invention relates to a low carrier ratio deadbeat control system and method for a permanent magnet synchronous motor, and belongs to the technical field of motor control.
大功率永磁同步牵引电机驱动***，由于开关损耗的限制，在现实中不得不使用低开关频率(如500Hz左右)控制驱动电机，这使得开关频率与电流频率比值，即载波比，较低。In the high-power permanent magnet synchronous traction motor drive system, due to the limitation of switching loss, in reality, a low switching frequency (such as about 500 Hz) has to be used to control the drive motor, which makes the ratio of switching frequency to current frequency, that is, the carrier ratio, lower.
目前，永磁同步电机一般使用双PI矢量控制策略，而在低开关频率下，***采样延迟将大大加大，破坏了矢量控制***中的动态解耦，电机控制难以满足控制要求，且输出定子电流含有大量谐波，使得电机输出转矩波动较大，甚至造成电机损坏。无差拍控制策略无需滞后一拍控制，具有较好的动态响应特点，利用电机在离散域的模型建立定子电流预测模型，将下一时刻参考定子电流和本时刻采集的定子电流输入到预测模型中，从而直接计算出使得电机下一时刻达到参考电流的命令电压，控制过程简单，且较容易实现。At present, permanent magnet synchronous motors generally use dual PI vector control strategies. At low switching frequencies, the system sampling delay will be greatly increased, destroying the dynamic decoupling in the vector control system. The motor control is difficult to meet the control requirements, and the output stator The current contains a large number of harmonics, which makes the motor output torque fluctuate greatly, and even damages the motor. The deadbeat control strategy does not require one-beat lag control, and has better dynamic response characteristics. The stator current prediction model is established by using the model of the motor in the discrete domain, and the reference stator current at the next time and the stator current collected at this time are input to the prediction model In order to directly calculate the command voltage that makes the motor reach the reference current at the next moment, the control process is simple and easier to implement.
然而，传统无差拍控制直接基于电机状态方程采用前向差分离散方法建立电机离散模型，并没有考虑逆变器的延迟，在开关频率较高时由于该部分延迟较小，对无差拍控制影响不大，而在低开关频率时该部分延迟较大，使得传统无差拍控制策略难以达到很好的控制效果，将会出现定子电流控制静差大，电机输出转矩脉动大的控制结果。However, the traditional deadbeat control is directly based on the motor state equation and uses the forward differential discrete method to establish the discrete model of the motor, and does not consider the delay of the inverter. When the switching frequency is high, the delay of this part is small, so the deadbeat control is The effect is not significant, and the delay of this part is relatively large at low switching frequency, which makes it difficult for the traditional deadbeat control strategy to achieve good control results. There will be a large stator current control static difference and large motor output torque ripple. .
所以现在亟待需要提出一种适应低载波比的永磁同步电机无差拍控制***及控制方法。Therefore, there is an urgent need to propose a dead-beat control system and control method for permanent magnet synchronous motors that adapt to low carrier ratio.
发明内容Summary of the invention
为解决现有技术的不足，本发明的目的在于提供一种永磁同步电机低载波比无差拍控制***及方法，解决传统永磁同步电机无差拍控制***在低开关频率下出现控制效果差，电流静差大，输出转矩脉动大等问题，实现无差拍控制策略在低开关频率下的良好控制效果，且电流控制静差也较小。In order to solve the shortcomings of the prior art, the purpose of the present invention is to provide a permanent magnet synchronous motor low carrier ratio deadbeat control system and method, which solves the control effect of the traditional permanent magnet synchronous motor deadbeat control system at low switching frequency Problems such as large current static difference and large output torque pulsation can realize the good control effect of deadbeat control strategy at low switching frequency, and the current control static difference is also small.
为了实现上述目标，本发明采用如下的技术方案：In order to achieve the above objectives, the present invention adopts the following technical solutions:
一种永磁同步电机低载波比无差拍控制***，其特征是，包括永磁同步电机、编码器、abc-dq坐标转换单元、转速外环PI控制器、1/2时刻电流预估单元、电流无差拍控制器、dq-αβ坐标转换单元、SVPWM调制模块、逆变器；A permanent magnet synchronous motor low carrier ratio deadbeat control system, which is characterized by including permanent magnet synchronous motor, encoder, abc-dq coordinate conversion unit, speed outer loop PI controller, 1/2 time current estimation unit , Current deadbeat controller, dq-αβ coordinate conversion unit, SVPWM modulation module, inverter;
所述编码器用于获取永磁同步电机的转子位置角θ以及永磁同步电机的实时转速n；The encoder is used to obtain the rotor position angle θ of the permanent magnet synchronous motor and the real-time speed n of the permanent magnet synchronous motor;
所述abc-dq坐标转换单元将输入的k时刻采集永磁同步电机的定子的AB相实时电流 i
a(k)、i
b(k)以及所述电机转子位置角θ，通过计算得到定子电流在d-q轴的分量i
d(k)、i
q(k)；
The abc-dq coordinate conversion unit collects the real-time AB phase currents i a (k), i b (k) of the stator of the permanent magnet synchronous motor and the motor rotor position angle θ at the input moment k, and obtains the stator current through calculation The components i d (k) and i q (k) on the dq axis;
所述转速外环PI控制器通过在k时刻输入永磁同步电机给定转速n
*和实时转速n计算下一时刻的q轴给定电流
The speed outer loop PI controller calculates the q-axis given current at the next moment by inputting the permanent magnet synchronous motor given speed n * and the real-time speed n at time k
所述1/2时刻电流预估单元通过下一时刻定子电流给定
以及k时刻采集的实时定子电流d-q轴分量i
d(k)、i
q(k)，计算出
时刻d-q轴电流分量
The current estimation unit at 1/2 moment is given by the stator current at the next moment And the real-time stator current dq axis components i d (k) and i q (k) collected at time k, calculate Dq axis current component at time
所述电流无差拍控制器通过在k时刻输入下一时刻定子电流给定
以及k时刻采集的实时定子电流d-q轴分量i
d(k)、i
q(k)，计算出d-q轴电压命令
The current deadbeat controller is given by inputting the stator current at the next moment at time k And the real-time stator current dq axis components i d (k), i q (k) collected at time k, and calculate the dq axis voltage command
所述dq-αβ坐标转换单元通过输入所述d-q轴电压命令
以及电机转子位置角θ计算得到α-β轴电压命令
The dq-αβ coordinate conversion unit inputs the dq axis voltage command And the motor rotor position angle θ is calculated to obtain the α-β axis voltage command
所述SVPWM调制模块根据输入的所述α-β轴电压命令
计算出此时逆变器开关控制信号；
The SVPWM modulation module is based on the input of the α-β axis voltage command Calculate the inverter switch control signal at this time;
所述逆变器用于根据所述开关控制信号生成控制永磁同步电机的定子电压。The inverter is used to generate a stator voltage for controlling the permanent magnet synchronous motor according to the switch control signal.
前述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述abc-dq坐标转换单元的转换方程为：
式中，θ
e为定子电流矢量到α轴角度，θ为转子位置角，n
p为永磁同步电机极对数。
The aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the conversion equation of the abc-dq coordinate conversion unit is: In the formula, θ e is the angle from the stator current vector to the α axis, θ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor.
前述的一种永磁同步电机低载波比无差拍控制***，其特征是，1/2时刻电流预估单元所需要的公式为
式中，T
s为***采样周期，τ
s为永磁同步电机电磁时间常数，ω
e(k)为k时刻采集的电机转速，
为k+1时刻参考定子电流d-q轴分量，I
d(k)、I
q(k)分别为k时刻采集定子电流d-q轴分量。
The aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the formula required by the current estimation unit at 1/2 time is In the formula, T s is the system sampling period, τ s is the electromagnetic time constant of the permanent magnet synchronous motor, and ω e (k) is the motor speed collected at time k, Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively.
前述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述电流无差拍控制器包括电流预测模型模块和电流误差解耦积分模块；The aforementioned dead-beat control system for a permanent magnet synchronous motor with a low carrier ratio is characterized in that the current dead-beat controller includes a current prediction model module and a current error decoupling integration module;
所述电流预测模型模块2通过永磁同步电机离散模型建立一个电流预测模型，令下一时刻参考定子电流
等于电流预测模型中的预测电流，推导出一个命令电压方程，通过将下一时刻参考定子电流
以及本时刻采集的实时定子电流i
d(k)、i
q(k)和1/2时刻预估电流
代入到命令电压方程中求出d-q轴预测模型命令电压u
dpre(k)、u
qpre(k)；
The current prediction model module 2 establishes a current prediction model through the discrete model of the permanent magnet synchronous motor, so that the stator current is referenced at the next moment Equal to the predicted current in the current prediction model, a command voltage equation is derived, and the next moment is referenced to the stator current And the real-time stator current i d (k), i q (k) and the estimated current at time 1/2 Substitute into the command voltage equation to obtain the command voltages u dpre (k) and u qpre (k) of the dq axis prediction model;
所述电流误差解耦积分模块是通过在k时刻，将下一时刻给定定子电流d-q轴分量
分别减去该时刻采集的实时定子电流i
d(k)、i
q(k)，得到d-q轴定子电流误差Δi
d(k),Δi
q(k),再去除dq轴电流误差间的耦合成分，将解耦后得到的电流误差经过积分调节器，输出d-q轴补偿电压u
dcom(k)、u
qcom(k)。
The current error decoupling integral module is to give the stator current dq axis component at the next moment Subtract the real-time stator currents i d (k) and i q (k) collected at this time, respectively, to obtain the dq axis stator current errors Δi d (k), Δi q (k), and then remove the coupling components between the dq axis current errors , The current error obtained after decoupling is passed through an integral regulator, and the dq axis compensation voltage u dcom (k) and u qcom (k) are output.
前述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述dq-αβ坐标转换单元的转换方程如下：
式中，θ
e为定子电流矢量到α轴角度，θ为转子位置角，n
p为永磁同步电机极对数。
The aforementioned permanent magnet synchronous motor low carrier ratio deadbeat control system is characterized in that the conversion equation of the dq-αβ coordinate conversion unit is as follows: In the formula, θ e is the angle from the stator current vector to the α axis, θ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor.
一种永磁同步电机低载波比无差拍控制***的控制方法，其特征是，A control method of a permanent magnet synchronous motor low carrier ratio deadbeat control system, which is characterized in that:
步骤1)在k时刻，所述编码器获取电机转速n和转子位置角θ；Step 1) At time k, the encoder obtains the motor speed n and the rotor position angle θ;
步骤2)在k时刻，输入给定转速n
*和采集电机转速n到转速外环PI控制器中，经过计算输出下一时刻参考定子电流q轴分量
Step 2) At time k, input the given speed n * and collect the motor speed n to the speed outer loop PI controller, and output the q axis component of the reference stator current at the next time after calculation
步骤3)在k时刻，将转子位置角θ和采集的AB相定子电流i
a(k)、i
b(k)输入到abc-dq坐标转换单元，输出本时刻采集的实时定子电流d-q轴分量i
d(k)、i
q(k)；
Step 3) At time k, input the rotor position angle θ and the collected AB phase stator currents i a (k), i b (k) to the abc-dq coordinate conversion unit, and output the real-time stator current dq axis component collected at this moment i d (k), i q (k);
步骤4)在k时刻，将下一时刻参考定子电流d轴分量
按i
d＝0控制策略设为0 与转速外环输出的下一时刻参考定子电流q轴分量
以及实时定子电流i
d(k)、i
q(k)输入到1/2时刻电流预估单元中，得到1/2时刻的预估电流
Step 4) At time k, refer to the d-axis component of the stator current at the next time According to i d =0, the control strategy is set to 0 and the next moment the output of the speed outer loop refers to the q-axis component of the stator current And the real-time stator current i d (k) and i q (k) are input into the current estimation unit at time 1/2 to obtain the estimated current at time 1/2
步骤5)在k时刻，将下一时刻参考定子电流d轴分量
按i
d＝0控制策略设为0输入到无差拍控制器中的电流预测模型模块，与此同时，将转速外环输出的下一时刻参考定子电流q轴分量
以及实时定子电流i
d(k)、i
q(k)和1/2时刻的预估电流
输入到电流预测模型模块中，6个变量代入到预测模型模块中的命令电压方程计算得到d-q轴预测模型命令电压u
dpre(k)、u
qpre(k)；
Step 5) At time k, refer to the d-axis component of the stator current at the next time According to i d =0, the control strategy is set to 0 and input to the current prediction model module in the deadbeat controller. At the same time, the next moment of the outer speed loop output is referred to the stator current q axis component And real-time stator current i d (k), i q (k) and the estimated current at time 1/2 Input into the current prediction model module, and substitute 6 variables into the command voltage equation in the prediction model module to calculate the command voltages u dpre (k) and u qpre (k) of the dq axis prediction model;
步骤6)在k时刻，将下一时刻给定定子电流d轴分量
减去实时定子电流i
d(k)，将其与q轴电流误差之间的耦合成分去除，经过积分调节器，输出d轴补偿电压u
dcom(k)；
Step 6) At time k, give the d-axis component of the stator current at the next time Subtract the real-time stator current i d (k), remove the coupling component between it and the q-axis current error, and output the d-axis compensation voltage u dcom (k) through an integral regulator;
步骤7)在k时刻，将下一时刻参考定子电流q轴分量
减去实时定子电流i
q(k)，将其与d轴电流误差之间的耦合成分去除，经过积分调节器，输出q轴补偿电压u
qcom(k)；
Step 7) At time k, refer to the q-axis component of the stator current at the next time Subtract the real-time stator current i q (k), remove the coupling component between it and the d-axis current error, and output the q-axis compensation voltage u qcom (k) through the integral regulator;
步骤8)将u
dpre(k)、u
qpre(k)分别与u
dcom(k)、u
qcom(k)相加，输出d-q轴命令电压
Step 8) Add u dpre (k) and u qpre (k) to u dcom (k) and u qcom (k) respectively, and output the dq axis command voltage
步骤9)将步骤8)中所述d-q轴命令电压
以及转子位置角θ输入到所述dq-αβ坐标转换单元输出命令电压α-β轴分量
Step 9) Change the dq axis command voltage described in step 8) And the rotor position angle θ is input to the dq-αβ coordinate conversion unit to output the command voltage α-β axis component
步骤10)将步骤9)中所述命令电压α-β轴分量
输入到所述SVPWM调制模块，得到控制逆变器的开关控制信号；
Step 10) Change the command voltage α-β axis component described in step 9) Input to the SVPWM modulation module to obtain a switch control signal for controlling the inverter;
步骤11)所述逆变器接收到步骤10)中的开关控制信号生产永磁同步电机定子电压。Step 11) The inverter receives the switch control signal in step 10) to produce a permanent magnet synchronous motor stator voltage.
前述的一种永磁同步电机低载波比无差拍控制方法，其特征是，所述步骤4)中的1/2时刻电流预估单元的公式为
该1/2时刻电流预估单元的公式是由如下命令电压方程演变而来：
式中，
T
s为***采样周期，τ
s为永磁同步电机电磁时间常数，ω
e(k)为k时刻采集的电机转速，
为k+1时刻参考定子电流d-q轴分量，I
d(k)、I
q(k)分别为k时刻采集定子电流d-q轴分量。
The aforementioned method for low carrier ratio deadbeat control of a permanent magnet synchronous motor is characterized in that the formula of the current estimation unit at 1/2 time in step 4) is The formula of the current estimation unit at time 1/2 is derived from the following command voltage equation: Where T s is the system sampling period, τ s is the electromagnetic time constant of the permanent magnet synchronous motor, ω e (k) is the motor speed collected at time k, Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively.
前述的一种永磁同步电机低载波比无差拍控制方法，其特征是，所述步骤5)中电流预测模型的命令电压方程为
其中，
式中，R
s为永磁同步电机定子电阻，ψ
f为永磁同步电机转子永磁体磁链，
分别为命令电压d-q轴分量，
为k+1时刻参考定子电流d-q轴分量，I
d(k)、I
q(k)分别为k时刻采集定子电流d-q轴分量，
为1/2时刻的预估电流。
The aforementioned method for low carrier ratio deadbeat control of a permanent magnet synchronous motor is characterized in that the command voltage equation of the current prediction model in step 5) is among them, In the formula, R s is the stator resistance of the permanent magnet synchronous motor, ψ f is the permanent magnet flux linkage of the permanent magnet synchronous motor rotor, Are the command voltage dq axis components, Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively, It is the estimated current at 1/2 time.
本发明所达到的有益效果：在电流预测模型建模过程中，将逆变器和电机看作一个整体建模，考虑了逆变器的延迟作用；加入1/2时刻电流预估矫正离散化偏差，所建模型较传统电流预测模型更为准确；The beneficial effects achieved by the present invention: in the modeling process of the current prediction model, the inverter and the motor are regarded as a whole modeling, and the delay effect of the inverter is considered; the current prediction correction discretization at 1/2 time is added Deviation, the model built is more accurate than the traditional current prediction model;
在无差拍控制器中加入了电流误差解耦积分补偿模块，去除了dq轴电流误差间的耦合成分，使得电机调速再较低载波比下的电流误差补偿得到更高的稳定性和快速性，使得定子电流控制静差得到了很大改善，最终实现了无差拍控制在低载波比下控制良好的目的，结果显示电机转速和定子电流控制良好，电机定子电流控制静差较小，输出转矩脉动也得到了改善。A current error decoupling integral compensation module is added to the deadbeat controller to remove the coupling component between the dq axis current error, so that the motor speed control and the current error compensation at a lower carrier ratio can be more stable and fast This makes the stator current control static error greatly improved, and finally achieves the goal of good control of deadbeat control at low carrier ratio. The results show that the motor speed and stator current are well controlled, and the motor stator current control static error is small. The output torque ripple has also been improved.
图1为本发明中永磁同步电机低载波比无差拍控制***原理框图；Figure 1 is a block diagram of the principle of a dead-beat control system for a permanent magnet synchronous motor with low carrier ratio in the present invention;
图2为本发明中无差拍控制器原理框图；Figure 2 is a block diagram of the deadbeat controller in the present invention;
图3为永磁同步电机标量模型原理框图；Figure 3 is a block diagram of the scalar model of a permanent magnet synchronous motor;
图4为永磁同步电机低载波比无差拍控制转速波形图，(a)为开关频率为5000Hz时转速波形图，(b)为开关频率为500Hz时转速波形图；Figure 4 is the waveform diagram of the low carrier ratio deadbeat control speed of the permanent magnet synchronous motor, (a) is the speed waveform when the switching frequency is 5000Hz, (b) is the speed waveform when the switching frequency is 500Hz;
图5为永磁同步电机低载波比无差拍控制定子电流波形图，(a)为开关频率为5000Hz时定子电流波形图，(b)为开关频率为500Hz时定子电流波形图；Figure 5 is the stator current waveform diagram of the permanent magnet synchronous motor low carrier ratio deadbeat control, (a) is the stator current waveform diagram when the switching frequency is 5000Hz, (b) is the stator current waveform diagram when the switching frequency is 500Hz;
图6为永磁同步电机低载波比无差拍控制输出转矩波形图，(a)为开关频率为5000Hz时输出转矩波形图，(b)为开关频率为500Hz时输出转矩波形图。Figure 6 is the output torque waveform diagram of the permanent magnet synchronous motor low carrier ratio deadbeat control, (a) is the output torque waveform diagram when the switching frequency is 5000Hz, (b) is the output torque waveform diagram when the switching frequency is 500Hz.
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the drawings. The following embodiments are only used to explain the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
如图1所示，一种永磁同步电机低载波比无差拍控制***主要包括：永磁同步电机(PMSM)、编码器、abc-dq坐标转换单元、转速外环PI控制器、1/2时刻电流预估单元、电流无差拍控制器、dq-αβ坐标转换单元、SVPWM调制模块、逆变器。具体地：As shown in Figure 1, a permanent magnet synchronous motor low carrier ratio deadbeat control system mainly includes: permanent magnet synchronous motor (PMSM), encoder, abc-dq coordinate conversion unit, speed outer loop PI controller, 1/ 2 Time current estimation unit, current deadbeat controller, dq-αβ coordinate conversion unit, SVPWM modulation module, inverter. specifically:
编码器用于获取永磁同步电机的转子位置角θ以及永磁同步电机的实时转速n；The encoder is used to obtain the rotor position angle θ of the permanent magnet synchronous motor and the real-time speed n of the permanent magnet synchronous motor;
abc-dq坐标转换单元将输入的k时刻采集永磁同步电机的定子的AB相实时电流i
a(k)、i
b(k)以及所述电机转子位置角θ，通过计算得到定子电流在d-q轴的分量i
d(k)、i
q(k)；
The abc-dq coordinate conversion unit collects the real-time AB-phase currents i a (k), i b (k) of the stator of the permanent magnet synchronous motor and the motor rotor position angle θ at the input moment k, and calculates the stator current at dq Axis components i d (k), i q (k);
转速外环PI控制器通过在k时刻输入永磁同步电机给定转速n
*和实时转速n计算下一时刻的q轴给定电流
The speed outer loop PI controller calculates the q-axis given current at the next moment by inputting the permanent magnet synchronous motor's given speed n * and the real-time speed n at time k
所述1/2时刻电流预估单元通过下一时刻定子电流给定
以及k时刻采集的实时定子电流d-q轴分量i
d(k)、i
q(k)，计算出
时刻d-q轴电流分量
The current estimation unit at 1/2 moment is given by the stator current at the next moment And the real-time stator current dq axis components i d (k) and i q (k) collected at time k, calculate Dq axis current component at time
所述电流无差拍控制器通过在k时刻输入下一时刻定子电流给定
以及k时刻采集的实时定子电流d-q轴分量i
d(k)、i
q(k)和1/2时刻预估电流
计算出d-q轴电压命令
The current deadbeat controller is given by inputting the stator current at the next moment at time k And the real-time stator current dq axis components i d (k), i q (k) and the estimated current at time 1/2 collected at time k Calculate the dq axis voltage command
dq-αβ坐标转换单元通过输入所述d-q轴电压命令
以及电机转子位置角θ计 算得到α-β轴电压命令
The dq-αβ coordinate conversion unit inputs the dq axis voltage command And the motor rotor position angle θ is calculated to obtain the α-β axis voltage command
SVPWM调制模块根据输入的所述α-β轴电压命令
计算出此时逆变器开关控制信号；
SVPWM modulation module according to the input of the α-β axis voltage command Calculate the inverter switch control signal at this time;
逆变器用于根据所述开关控制信号生成控制永磁同步电机的定子电压。The inverter is used to generate and control the stator voltage of the permanent magnet synchronous motor according to the switch control signal.
图2为电流无差拍控制器原理框图，在k时刻时，将下一时刻参考定子电流d轴分量
和下一时刻参考定子电流q轴分量
以及采集的实时定子电流i
d(k)、i
q(k)输入到图2中的预测模型1中，得到1/2时刻预估电流
其中电流预估单元表达式：
Figure 2 is a block diagram of the principle of the current deadbeat controller. At time k, the next time will refer to the d-axis component of the stator current And the reference stator current q-axis component at the next moment And the collected real-time stator currents i d (k) and i q (k) are input into the prediction model 1 in Figure 2 to obtain the estimated current at 1/2 The current estimation unit expression:
将
i
d(k)，i
q(k)，
个变量代入到电流预测模型中的命令电压方程计算得到d-q轴预测模型命令电压u
dpre(k)、u
qpre(k)，命令电压方程如下：
其中
式中，T
s为***采样周期，τ
s为永磁同步电机电磁时间常数，ω
e(k)为k时刻采集的电机转速，R
s为永磁同步电机定子电阻，ψ
f为永磁同步电机转子永磁体磁链，
分别为命令电压d-q轴分量，
为k+1时刻参考定子电流d-q轴分量，i
d(k)、i
q(k)分别为k时刻采集定子电流d-q轴分量。
will i d (k), i q (k), These variables are substituted into the command voltage equation of the current prediction model to calculate the command voltages u dpre (k) and u qpre (k) of the dq axis prediction model. The command voltage equation is as follows: among them In the formula, T s is the system sampling period, τ s is the electromagnetic time constant of the permanent magnet synchronous motor, ω e (k) is the motor speed collected at time k, R s is the stator resistance of the permanent magnet synchronous motor, and ψ f is the permanent magnet synchronous motor Permanent magnet flux linkage of motor rotor, Are the command voltage dq axis components, Refer to the dq axis component of the stator current at time k+ 1, i d (k) and i q (k) are the dq axis components of the stator current collected at time k respectively.
为了减小电流控制静差，如图2所示，本发明中电流无差拍控制器内加入电流误差解耦积分补偿单元，在k时刻时，将下一时刻给定定子电流d-q轴分量
分别减去该时刻采集的实时定子电流i
d(k)、i
q(k)，得到d-q轴定子电流误差Δi
d(k),Δi
q(k),再去除dq轴电流误差间的耦合成分，将解耦后得到的电流误差经过积分调节器，得到电压命令补偿量 u
dcom(k)、u
qcom(k)，最后将u
dpre(k)、u
qpre(k)分别与u
dcom(k)、u
qcom(k)相加，输出d-q轴命令电压
In order to reduce the current control static error, as shown in Fig. 2, the current error decoupling integral compensation unit is added to the current deadbeat controller of the present invention. At time k, the stator current dq axis component is given at the next time Subtract the real-time stator currents i d (k) and i q (k) collected at this time, respectively, to obtain the dq axis stator current errors Δi d (k), Δi q (k), and then remove the coupling components between the dq axis current errors , The current error obtained after decoupling is passed through an integral regulator to obtain the voltage command compensation amounts u dcom (k), u qcom (k), and finally u dpre (k) and u qpre (k) are respectively compared with u dcom (k) ), u qcom (k) are added together to output dq axis command voltage
下面结合图3永磁同步电机标量模型原理图来介绍本发明中采用的电流预测模型命令电压方程的推导过程:The following describes the derivation process of the command voltage equation of the current prediction model used in the present invention with reference to the schematic diagram of the scalar model of the permanent magnet synchronous motor in FIG. 3:
由图3可得永磁同步电机电压方程：
定义复矢
From Figure 3, the voltage equation of the permanent magnet synchronous motor can be obtained: Define complex vector
量为：
在αβ静止坐标系下的永磁同步电机复矢量模型可写
The amount is: The complex vector model of permanent magnet synchronous motor in αβ static coordinate system can be written
成：U
αβ＝R
sI
αβ+LpI
αβ+jω
eψ
f。
Result: U αβ =R s I αβ +LpI αβ +jω e ψ f .
其中，转子永磁磁链产生的耦合项经常由参数辨识得到，并且假设其值不变，在电流调节器设计中可以先忽略此项，之后再在电压指令中加入此项作为补偿。αβ静止坐标系下的永磁同步电机复矢量模型复矢量传递函数为：Among them, the coupling term generated by the permanent magnet flux linkage of the rotor is often obtained by parameter identification, and assuming its value is unchanged, this term can be ignored in the current regulator design, and then this term is added to the voltage command as compensation. The complex vector transfer function of the permanent magnet synchronous motor complex vector model in the αβ static coordinate system is:
通常可将逆变器看作一个零阶保持器，零阶保持器传递函数如下：The inverter can usually be regarded as a zero-order keeper, and the transfer function of the zero-order keeper is as follows:
将逆变器和电机看作一个整体，对αβ坐标系下永磁同步牵引电机复矢量模型进行离散化，采用零阶保持器离散化法，由式(6)和式(7)可得αβ坐标系下永磁同步电机离散域复矢量模型传递函数：Regarding the inverter and the motor as a whole, the complex vector model of the permanent magnet synchronous traction motor in the αβ coordinate system is discretized, and the zero-order keeper discretization method is used. αβ can be obtained from equations (6) and (7) The transfer function of the discrete domain complex vector model of the permanent magnet synchronous motor in the coordinate system:
由式(4)可以得到静止坐标系下永磁同步电机的差分方程模型：From equation (4), the differential equation model of the permanent magnet synchronous motor in the stationary coordinate system can be obtained:
将k至k+1拍等分为M份，列写公式如下：Divide k to k+1 beats into M equal parts, and write the formula as follows:
将以上M项相加，可得：Adding the above M items, we can get:
若M足够大的时候则可得：If M is large enough, then:
其中
可由公式(5)得到。
among them It can be obtained by formula (5).
由于控制器控制的量是dq坐标系下的量，需要利用坐标变换将αβ坐标系转换为dq坐标系，离散域复矢量αβ-dq坐标变换如下：Since the quantity controlled by the controller is in the dq coordinate system, the αβ coordinate system needs to be transformed into the dq coordinate system by coordinate transformation. The discrete domain complex vector αβ-dq coordinate transformation is as follows:
由上式可得dq坐标系下永磁同步电机离散域复矢量模型传递函数：The transfer function of the discrete domain complex vector model of the permanent magnet synchronous motor in the dq coordinate system can be obtained from the above formula:
由于转速变化较电流变化慢的多,不妨在预测模型中令ω
e(k)≈ω
e(k-1)则有:
Since the speed change is much slower than the current change, we might as well let ω e (k)≈ω e (k-1) in the prediction model:
I
dq＝i
d+ji
q,U
dq＝u
d+ju
q (13)
I dq =i d +ji q ,U dq =u d +ju q (13)
将式(12)、式(13)、式(14)代入式(11)中，并写成差分形式可得：Substituting formula (12), formula (13), and formula (14) into formula (11) and writing them in difference form can be obtained:
其中
分别为下一时刻定子电流d-q轴分量预测值，在无差拍控制中，令：
among them Are the predicted values of the dq axis component of the stator current at the next moment. In deadbeat control, let:
并加入永磁体磁链产生的耦合项可以得到预测模型命令电压方程：And adding the coupling term generated by the permanent magnet flux linkage can get the predicted model command voltage equation:
以上就是预测模型命令电压方程的推导过程。The above is the derivation process of the predicted model command voltage equation.
为了验证本发明中的低载波比无差拍控制方法能够达到本发明的发明目的，搭建了一个永磁同步电机MATLAB/simulink仿真，仿真参数如下：In order to verify that the low carrier ratio deadbeat control method of the present invention can achieve the objective of the present invention, a MATLAB/simulink simulation of a permanent magnet synchronous motor is built. The simulation parameters are as follows:
表1Table 1
下面结合图4、图5、图6来介绍上述仿真的仿真结果。The simulation results of the above simulation are introduced below in conjunction with Figure 4, Figure 5, and Figure 6.
图4为永磁同步电机采用本发明中的低载波比无差拍控制方法的转速仿真结果，转速外环采用了常规PI控制器，其中(a)为开关频率为5000Hz时的转速波形，(b)为低开关频率500Hz 时的转速波形，电机启动后斜坡上升至1000r/min，仿真结果显示采用本发明中的控制方法，电机转速控制较稳定，且在低开关频率时电机转速纹波较小，动态响应速度也较快。Figure 4 is the speed simulation result of the permanent magnet synchronous motor adopting the low carrier ratio deadbeat control method of the present invention. The outer speed loop adopts a conventional PI controller, where (a) is the speed waveform when the switching frequency is 5000Hz, ( b) It is the speed waveform at the low switching frequency of 500Hz. After the motor is started, it ramps up to 1000r/min. The simulation results show that the control method of the present invention is used to control the motor speed more stable, and the motor speed ripple is relatively low at low switching frequency. Small and fast dynamic response speed.
图5为永磁同步电机采用本发明中的低载波比无差拍控制方法的定子电流d-q轴分量波形图，电流内环采用了本发明中的电流无差拍控制器，其中(a)为开关频率5000Hz时的定子电流波形，(b)为低开关频率500Hz时的定子电流波形。仿真结果显示：5000Hz时定子电流控制稳定，电流纹波小，控制静差近似为0；在低开关频率500Hz时，定子电流跟踪参考电流动态响应速度较快，定子电流纹波和控制静差也控制的较小，从而说明本发明有助于解决传统无差拍控制低开关频率下出现的电流纹波和控制静差都较大的问题。Fig. 5 is a waveform diagram of the stator current dq axis component of the permanent magnet synchronous motor using the low carrier ratio deadbeat control method of the present invention. The current inner loop uses the current deadbeat controller of the present invention, where (a) is The stator current waveform at a switching frequency of 5000 Hz, (b) is the stator current waveform at a low switching frequency of 500 Hz. The simulation results show that the stator current control is stable at 5000Hz, the current ripple is small, and the control static error is approximately 0; at a low switching frequency of 500Hz, the stator current tracking reference current dynamic response speed is faster, and the stator current ripple and control static error are also The control is small, which shows that the present invention is helpful to solve the problems of large current ripple and control static error that occur under the traditional deadbeat control low switching frequency.
图6为永磁同步电机采用本发明中的低载波比无差拍控制方法的输出转矩波形仿真结果，其中T
L为负载转矩，(a)为开关频率5000Hz时的输出转矩波形，(b)为低开关频率500Hz时的输出转矩波形。仿真结果显示：5000Hz时输出转矩转矩较稳定，脉动较小；低开关频率500Hz时由于此时电流谐波较大，电机输出转矩脉动较开关频率为5000Hz时大一些，但与传统无差拍控制低开关频率时输出转矩相比已经得到了很好的改善，且输出转矩平均值接近负载转矩，也保证了电机的稳定运行。
Fig. 6 is the simulation result of the output torque waveform of the permanent magnet synchronous motor using the low carrier ratio deadbeat control method of the present invention, where T L is the load torque, (a) is the output torque waveform when the switching frequency is 5000 Hz, (b) is the output torque waveform at a low switching frequency of 500 Hz. The simulation results show that the output torque torque is relatively stable at 5000Hz, and the pulsation is small; at the low switching frequency of 500Hz, due to the larger current harmonics at this time, the motor output torque pulsation is larger than when the switching frequency is 5000Hz, but it is not the same as the traditional one. The output torque of the beat control low switching frequency has been improved, and the average value of the output torque is close to the load torque, which also ensures the stable operation of the motor.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and modifications can be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.
Claims (8)
- 一种永磁同步电机低载波比无差拍控制***，其特征是，包括永磁同步电机、编码器、abc-dq坐标转换单元、转速外环PI控制器、1/2时刻电流预估单元、电流无差拍控制器、dq-αβ坐标转换单元、SVPWM调制模块、逆变器；A permanent magnet synchronous motor low carrier ratio deadbeat control system, which is characterized by including permanent magnet synchronous motor, encoder, abc-dq coordinate conversion unit, speed outer loop PI controller, 1/2 time current estimation unit , Current deadbeat controller, dq-αβ coordinate conversion unit, SVPWM modulation module, inverter;所述编码器用于获取永磁同步电机的转子位置角θ以及永磁同步电机的实时转速n；The encoder is used to obtain the rotor position angle θ of the permanent magnet synchronous motor and the real-time speed n of the permanent magnet synchronous motor;所述abc-dq坐标转换单元将输入的k时刻采集永磁同步电机的定子的AB相实时电流i a(k)、i b(k)以及所述电机转子位置角θ，通过计算得到定子电流在d-q轴的分量i d(k)、i q(k)； The abc-dq coordinate conversion unit collects the real-time AB phase currents i a (k), i b (k) of the stator of the permanent magnet synchronous motor and the motor rotor position angle θ at the input moment k, and obtains the stator current through calculation The components i d (k) and i q (k) on the dq axis;所述转速外环PI控制器通过在k时刻输入永磁同步电机给定转速n *和实时转速n计算下一时刻的q轴给定电流The speed outer loop PI controller calculates the q-axis given current at the next moment by inputting the permanent magnet synchronous motor given speed n * and the real-time speed n at time k
所述1/2时刻电流预估单元通过下一时刻定子电流给定以及k时刻采集的实时定子电流d-q轴分量i d(k)、i q(k)，计算出
时刻d-q轴电流分量
The current estimation unit at 1/2 moment is given by the stator current at the next moment
And the real-time stator current dq axis components i d (k) and i q (k) collected at time k, calculateDq axis current component at time所述电流无差拍控制器通过在k时刻输入下一时刻定子电流给定以及k时刻采集的实时定子电流d-q轴分量i d(k)、i q(k)和1/2时刻预估电流
计算出d-q轴电压命令
The current deadbeat controller is given by inputting the stator current at the next moment at time k
And the real-time stator current dq axis components i d (k), i q (k) and the estimated current at time 1/2 collected at time kCalculate the dq axis voltage command所述dq-αβ坐标转换单元通过输入所述d-q轴电压命令以及电机转子位置角θ计算得到α-β轴电压命令
The dq-αβ coordinate conversion unit inputs the dq axis voltage command
And the motor rotor position angle θ is calculated to obtain the α-β axis voltage command所述SVPWM调制模块根据输入的所述α-β轴电压命令计算出此时逆变器开关控制信号； The SVPWM modulation module is based on the input of the α-β axis voltage command
Calculate the inverter switch control signal at this time;所述逆变器用于根据所述开关控制信号生成控制永磁同步电机的定子电压。The inverter is used to generate a stator voltage for controlling the permanent magnet synchronous motor according to the switch control signal. - 根据权利要求1所述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述abc-dq坐标转换单元的转换方程为：式中， θ e为定子电流矢量到α轴角度，θ为转子位置角，n p为永磁同步电机极对数。 The permanent magnet synchronous motor low carrier ratio deadbeat control system according to claim 1, wherein the conversion equation of the abc-dq coordinate conversion unit is:
In the formula, θ e is the angle from the stator current vector to the α axis, θ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor. - 根据权利要求1所述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述1/2时刻电流预估单元的数学模型为式中，T s为***采样周期，τ s为永磁同步电机电磁时间常数，ω e(k)为k时刻采集的电机转速，
为k+1时刻参考定子电流d-q轴分量，I d(k)、I q(k)分别为k时刻采集定子电流d-q轴分量。 A permanent magnet synchronous motor low carrier ratio deadbeat control system according to claim 1, wherein the mathematical model of the 1/2 time current estimation unit is
In the formula, T s is the system sampling period, τ s is the electromagnetic time constant of the permanent magnet synchronous motor, and ω e (k) is the motor speed collected at time k,Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively. - 根据权利要求1所述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述电流无差拍控制器包括电流预测模型模块和电流误差解耦积分补偿模块；A permanent magnet synchronous motor low carrier ratio deadbeat control system according to claim 1, wherein the current deadbeat controller includes a current prediction model module and a current error decoupling integral compensation module;所述电流预测模型模块的数学模型为命令电压方程，命令电压方程的输入为下一时刻参考定子电流以及本时刻采集的实时定子电流i d(k)、i q(k)和1/2时刻预估电流
输出为d-q轴预测模型命令电压u dpre(k)、u qpre(k)； The mathematical model of the current prediction model module is the command voltage equation, and the input of the command voltage equation is the reference stator current at the next moment
And the real-time stator current i d (k), i q (k) and the estimated current at time 1/2The output is the dq axis prediction model command voltage u dpre (k), u qpre (k);所述电流误差解耦积分模块是通过在k时刻，将下一时刻给定定子电流d-q轴分量分别减去该时刻采集的实时定子电流i d(k)、i q(k)，得到d-q轴定子电流误差Δi d(k)，Δi q(k)，再去除dq轴电流误差间的耦合成分，将解耦后得到的电流误差经过积分调节器，输出d-q轴补偿电压u dcom(k)、u qcom(k)。 The current error decoupling integral module is to give the stator current dq axis component at the next moment
Subtract the real-time stator currents i d (k) and i q (k) collected at this moment, respectively, to obtain the dq axis stator current errors Δi d (k), Δi q (k), and then remove the coupling components between the dq axis current errors , The current error obtained after decoupling is passed through an integral regulator, and the dq axis compensation voltage u dcom (k) and u qcom (k) are output. - 根据权利要求1所述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述dq-αβ坐标转换单元的转换方程如下：式中，θ e为定子电流矢量到α轴角度，θ为转子位置角，n p为永磁同步电机极对数。 A permanent magnet synchronous motor low carrier ratio deadbeat control system according to claim 1, wherein the conversion equation of the dq-αβ coordinate conversion unit is as follows:
In the formula, θ e is the angle from the stator current vector to the α axis, θ is the rotor position angle, and n p is the number of pole pairs of the permanent magnet synchronous motor. - 根据权利要求4所述的一种永磁同步电机低载波比无差拍控制***，其特征是，所述命令电压方程为其中，
式中，R s为永磁同步电机定子电阻，ψ f为永磁同步电机转子永磁体磁链，
分别为命令电压d-q轴分量，
为k+1时刻参考定子电流d-q轴分量，I d(k)、I q(k)分别为k时刻采集定子电流d-q轴分量，
为1/2时刻的预估电流。 A permanent magnet synchronous motor low carrier ratio deadbeat control system according to claim 4, wherein the command voltage equation is
among them,In the formula, R s is the stator resistance of the permanent magnet synchronous motor, ψ f is the permanent magnet flux linkage of the permanent magnet synchronous motor rotor,Are the command voltage dq axis components,Is the reference stator current dq axis component at k+1, I d (k) and I q (k) are the dq axis components of the stator current collected at time k respectively,It is the estimated current at 1/2 time. - 一种基于权利要求1-6任意一项所述的永磁同步电机低载波比无差拍控制***的控制方法，其特征是，包括如下步骤：A control method based on the low carrier ratio deadbeat control system of a permanent magnet synchronous motor according to any one of claims 1 to 6, characterized in that it comprises the following steps:步骤1)在k时刻，所述编码器获取电机转速n和转子位置角θ；Step 1) At time k, the encoder obtains the motor speed n and the rotor position angle θ;步骤2)在k时刻，输入给定转速n *和采集电机转速n到转速外环PI控制器中，经过计算输出下一时刻参考定子电流q轴分量Step 2) At time k, input the given speed n * and collect the motor speed n to the speed outer loop PI controller, and output the q axis component of the reference stator current at the next time after calculation
步骤3)在k时刻，将转子位置角θ和采集的AB相定子电流i a(k)、i b(k)输入到abc-dq坐标转换单元，输出本时刻采集的实时定子电流d-q轴分量i d(k)、i q(k)； Step 3) At time k, input the rotor position angle θ and the collected AB phase stator currents i a (k), i b (k) to the abc-dq coordinate conversion unit, and output the real-time stator current dq axis component collected at this moment i d (k), i q (k);步骤4)在k时刻，将下一时刻定子电流给定以及k时刻采集的实时定子电流d-q轴分量i d(k)、i q(k)输入到1/2时刻电流预估单元，得到1/2时刻的预估电流
Step 4) At time k, set the stator current at the next time
And the real-time stator current dq axis components i d (k) and i q (k) collected at time k are input to the current estimation unit at time 1/2 to obtain the estimated current at time 1/2步骤5)在k时刻，将下一时刻定子电流给定以及k时刻采集的实时定子电流d-q轴分量i d(k)、i q(k)和1/2时刻预估电流
输入电流无差拍控制器，计算出d-q轴电压命令
Step 5) At time k, set the stator current at the next time
And the real-time stator current dq axis components i d (k), i q (k) and the estimated current at time 1/2 collected at time kInput current deadbeat controller, calculate dq axis voltage command步骤6)将步骤5)中所述d-q轴命令电压以及转子位置角θ输入到所述dq-αβ坐标转换单元输出命令电压α-β轴分量
Step 6) Change the dq axis command voltage described in step 5)
And the rotor position angle θ is input to the dq-αβ coordinate conversion unit to output the command voltage α-β axis component步骤7)将步骤6)中所述命令电压α-β轴分量输入到所述SVPWM调制模块，得到控制逆变器的开关控制信号； Step 7) Change the command voltage α-β axis component described in step 6)
Input to the SVPWM modulation module to obtain a switch control signal for controlling the inverter;步骤8)所述逆变器接收到步骤9)中的开关控制信号生产永磁同步电机定子电压。Step 8) The inverter receives the switch control signal in step 9) to produce a permanent magnet synchronous motor stator voltage. - 根据权利要求7所述的一种永磁同步电机低载波比无差拍控制方法，其特征是，步骤5)包括：A permanent magnet synchronous motor low carrier ratio deadbeat control method according to claim 7, wherein step 5) comprises:步骤5.1)将下一时刻参考定子电流d轴分量按i d＝0控制策略设为0输入到无差拍控制器中的电流预测模型模块，与此同时，将转速外环输出的下一时刻参考定子电流q轴分量
以及实时定子电流i d(k)、i q(k)和1/2时刻的预估电流
输入到电流预测模型模块中，6个变量代入到电流预测模型模块中的命令电压方程计算得到d-q轴预测模型命令电压u dpre(k)、u qpre(k)； Step 5.1) Refer to the d-axis component of the stator current at the next moment
According to i d =0, the control strategy is set to 0 and input to the current prediction model module in the deadbeat controller. At the same time, the next moment of the outer speed loop output is referred to the stator current q axis componentAnd real-time stator current i d (k), i q (k) and the estimated current at time 1/2Input into the current prediction model module, the 6 variables are substituted into the command voltage equation in the current prediction model module to calculate the command voltages u dpre (k), u qpre (k) of the dq axis prediction model;步骤5.2)在k时刻，将下一时刻给定定子电流d轴分量减去实时定子电流i d(k)，将其与q轴电流误差之间的耦合成分去除，经过积分调节器，输出d轴补偿电压u dcom(k)； Step 5.2) At time k, give the d-axis component of the stator current at the next time
Subtract the real-time stator current i d (k), remove the coupling component between it and the q-axis current error, and output the d-axis compensation voltage u dcom (k) through an integral regulator;步骤5.3)在k时刻，将下一时刻参考定子电流q轴分量减去实时定子电流i q(k)，将其与d轴电流误差之间的耦合成分去除，经过积分调节器，输出q轴补偿电压u qcom(k)； Step 5.3) At time k, refer to the q-axis component of the stator current at the next time
Subtract the real-time stator current i q (k), remove the coupling component between it and the d-axis current error, and output the q-axis compensation voltage u qcom (k) through the integral regulator;步骤5.4)将u dpre(k)、u qpre(k)分别与u dcom(k)、u qcom(k)相加，输出d-q轴命令电压
Step 5.4) Add u dpre (k) and u qpre (k) to u dcom (k) and u qcom (k) respectively, and output the dq axis command voltage
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910692648.2 | 2019-07-30 | ||
| CN201910692648.2A CN110323988B (en) | 2019-07-30 | 2019-07-30 | Permanent magnet synchronous motor low carrier ratio dead beat control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021017237A1 true WO2021017237A1 (en) | 2021-02-04 |
Family
ID=68125012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2019/115172 WO2021017237A1 (en) | 2019-07-30 | 2019-11-02 | Deadbeat control system and method for permanent magnet synchronous motor under low carrier ratio |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110323988B (en) |
| LU (1) | LU102407B1 (en) |
| WO (1) | WO2021017237A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113131816A (en) * | 2021-04-07 | 2021-07-16 | 沈阳工业大学 | Maximum torque current ratio control system and method for hybrid rotor double-stator synchronous motor |
| CN113809966A (en) * | 2021-05-18 | 2021-12-17 | 西安工业大学 | Permanent magnet synchronous motor MRAS control method based on hybrid approach law |
| CN113809967A (en) * | 2021-07-22 | 2021-12-17 | 上海电力大学 | Permanent magnet synchronous motor modulation model prediction control method based on matrix converter |
| CN114094892A (en) * | 2021-09-30 | 2022-02-25 | 湖南科技大学 | Sliding-mode observer and current prediction permanent magnet synchronous motor control device and method |
| CN114488866A (en) * | 2021-07-05 | 2022-05-13 | 哈尔滨理工大学 | CTV mode power electronic load system simulating OW-PMSM |
| CN114499325A (en) * | 2022-01-17 | 2022-05-13 | 北京理工大学 | PMSM (permanent magnet synchronous motor) position-sensorless three-closed-loop vector control method based on MRAS (minimum Performance analysis) |
| CN114759854A (en) * | 2022-04-24 | 2022-07-15 | 北京理工大学 | Voltage modulation method for isolated bus type open winding permanent magnet synchronous motor |
| CN115113541A (en) * | 2022-06-28 | 2022-09-27 | 佛山仙湖实验室 | MATLAB-based harmonic current analysis system for permanent magnet synchronous motor |
| CN115441787A (en) * | 2022-09-30 | 2022-12-06 | 东风商用车有限公司 | Motor feedforward decoupling control method |
| CN115622457A (en) * | 2022-09-26 | 2023-01-17 | 陕西航空电气有限责任公司 | Permanent magnet starting/generator starting control method based on model predictive control |
| CN117669175A (en) * | 2023-11-27 | 2024-03-08 | 山东大学 | Fast response photovoltaic simulation device based on dead beat prediction current control |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110323988B (en) * | 2019-07-30 | 2023-05-26 | 中国矿业大学 | Permanent magnet synchronous motor low carrier ratio dead beat control system and method |
| CN111641363A (en) * | 2020-06-18 | 2020-09-08 | 浙江工业大学 | Dead-beat control method for permanent magnet synchronous motor under low carrier ratio |
| CN111682823B (en) * | 2020-06-29 | 2022-04-05 | 潍柴动力股份有限公司 | Control method and device for permanent magnet synchronous motor |
| CN112436769A (en) * | 2020-11-09 | 2021-03-02 | 浙江大学 | Control system and method for low carrier ratio operation of permanent magnet synchronous motor |
| CN114665764A (en) * | 2022-04-21 | 2022-06-24 | 湖南工业大学 | High-robustness model-free predictive control method for permanent magnet synchronous wind driven generator |
| CN114785210B (en) * | 2022-06-04 | 2022-10-11 | 中国矿业大学 | Permanent magnet synchronous motor current controller parameter setting method, device and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150084555A1 (en) * | 2012-02-22 | 2015-03-26 | Denso Corporation | Motor control apparatus and motor control method |
| CN105915135A (en) * | 2016-05-16 | 2016-08-31 | 北方工业大学 | Motor control method based on dead-beat optimization and double vector model prediction |
| CN107154763A (en) * | 2017-05-27 | 2017-09-12 | 东南大学 | Permagnetic synchronous motor dead beat direct Torque Control and control method |
| CN107888119A (en) * | 2016-09-29 | 2018-04-06 | 操纵技术Ip控股公司 | The current forecasting of delay compensation in motor control system |
| CN108768233A (en) * | 2018-06-28 | 2018-11-06 | 中车株洲电力机车有限公司 | The permanent magnet synchronous motor track with zero error system and method for discrete domain complex vector modeling |
| CN110323988A (en) * | 2019-07-30 | 2019-10-11 | 中国矿业大学 | Permanent magnet synchronous motor low carrier is than track with zero error system and method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103780187B (en) * | 2012-10-19 | 2017-02-08 | 东菱技术有限公司 | Permanent magnet synchronous motor high-dynamic response current method and system |
| CN107317532B (en) * | 2017-06-26 | 2019-07-05 | 华中科技大学 | Permanent magnet synchronous motor predictive-current control method and system based on sliding formwork |
| CN110022105A (en) * | 2019-04-25 | 2019-07-16 | 西安理工大学 | Permanent magnet synchronous motor predictive-current control method and system based on FOSMC |
-
2019
- 2019-07-30 CN CN201910692648.2A patent/CN110323988B/en active Active
- 2019-11-02 WO PCT/CN2019/115172 patent/WO2021017237A1/en active Application Filing
- 2019-11-02 LU LU102407A patent/LU102407B1/en active IP Right Grant
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150084555A1 (en) * | 2012-02-22 | 2015-03-26 | Denso Corporation | Motor control apparatus and motor control method |
| CN105915135A (en) * | 2016-05-16 | 2016-08-31 | 北方工业大学 | Motor control method based on dead-beat optimization and double vector model prediction |
| CN107888119A (en) * | 2016-09-29 | 2018-04-06 | 操纵技术Ip控股公司 | The current forecasting of delay compensation in motor control system |
| CN107154763A (en) * | 2017-05-27 | 2017-09-12 | 东南大学 | Permagnetic synchronous motor dead beat direct Torque Control and control method |
| CN108768233A (en) * | 2018-06-28 | 2018-11-06 | 中车株洲电力机车有限公司 | The permanent magnet synchronous motor track with zero error system and method for discrete domain complex vector modeling |
| CN110323988A (en) * | 2019-07-30 | 2019-10-11 | 中国矿业大学 | Permanent magnet synchronous motor low carrier is than track with zero error system and method |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113131816A (en) * | 2021-04-07 | 2021-07-16 | 沈阳工业大学 | Maximum torque current ratio control system and method for hybrid rotor double-stator synchronous motor |
| CN113131816B (en) * | 2021-04-07 | 2023-10-17 | 沈阳工业大学 | Maximum torque current ratio control system and method for hybrid rotor double-stator synchronous motor |
| CN113809966A (en) * | 2021-05-18 | 2021-12-17 | 西安工业大学 | Permanent magnet synchronous motor MRAS control method based on hybrid approach law |
| CN114488866A (en) * | 2021-07-05 | 2022-05-13 | 哈尔滨理工大学 | CTV mode power electronic load system simulating OW-PMSM |
| CN113809967B (en) * | 2021-07-22 | 2024-01-16 | 上海电力大学 | Permanent magnet synchronous motor modulation model prediction control method based on matrix converter |
| CN113809967A (en) * | 2021-07-22 | 2021-12-17 | 上海电力大学 | Permanent magnet synchronous motor modulation model prediction control method based on matrix converter |
| CN114094892A (en) * | 2021-09-30 | 2022-02-25 | 湖南科技大学 | Sliding-mode observer and current prediction permanent magnet synchronous motor control device and method |
| CN114094892B (en) * | 2021-09-30 | 2023-10-20 | 湖南科技大学 | Permanent magnet synchronous motor control device and method for sliding mode observer and current prediction |
| CN114499325A (en) * | 2022-01-17 | 2022-05-13 | 北京理工大学 | PMSM (permanent magnet synchronous motor) position-sensorless three-closed-loop vector control method based on MRAS (minimum Performance analysis) |
| CN114499325B (en) * | 2022-01-17 | 2024-05-28 | 北京理工大学 | PMSM (permanent magnet synchronous motor) position-free sensor three-closed-loop vector control method based on MRAS (MRAS) |
| CN114759854A (en) * | 2022-04-24 | 2022-07-15 | 北京理工大学 | Voltage modulation method for isolated bus type open winding permanent magnet synchronous motor |
| CN115113541A (en) * | 2022-06-28 | 2022-09-27 | 佛山仙湖实验室 | MATLAB-based harmonic current analysis system for permanent magnet synchronous motor |
| CN115622457A (en) * | 2022-09-26 | 2023-01-17 | 陕西航空电气有限责任公司 | Permanent magnet starting/generator starting control method based on model predictive control |
| CN115441787A (en) * | 2022-09-30 | 2022-12-06 | 东风商用车有限公司 | Motor feedforward decoupling control method |
| CN117669175A (en) * | 2023-11-27 | 2024-03-08 | 山东大学 | Fast response photovoltaic simulation device based on dead beat prediction current control |
| CN117669175B (en) * | 2023-11-27 | 2024-05-24 | 山东大学 | Fast response photovoltaic simulation device based on dead beat prediction current control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110323988B (en) | 2023-05-26 |
| LU102407A1 (en) | 2021-02-09 |
| LU102407B1 (en) | 2021-03-15 |
| CN110323988A (en) | 2019-10-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021017237A1 (en) | Deadbeat control system and method for permanent magnet synchronous motor under low carrier ratio | |
| CN108768233B (en) | System and method for dead-beat control of permanent magnet synchronous motor based on discrete domain complex vector modeling | |
| CN109428525B (en) | Parameter self-correction-based maximum torque current ratio control method for permanent magnet synchronous motor | |
| US11081992B2 (en) | Virtual voltage injection-based speed sensor-less driving control method for induction motor | |
| CN110350835B (en) | Permanent magnet synchronous motor position sensorless control method | |
| CN109660170B (en) | High-reliability current prediction control method and system for permanent magnet synchronous motor | |
| CN209844868U (en) | Dead beat current prediction control system of permanent magnet synchronous motor | |
| WO2020108173A1 (en) | Permanent magnet synchronous motor control method | |
| CN109004669B (en) | Improved passive control method of three-phase grid-connected inverter based on interference observer compensation | |
| CN112422004B (en) | Disturbance suppression method for permanent magnet synchronous motor in weak magnetic control mode | |
| CN112713834B (en) | Permanent magnet synchronous motor position sensorless control method and system | |
| CN115864928A (en) | PMSM model reference self-adaptive rotation speed estimation method based on correction current prediction | |
| CN112436769A (en) | Control system and method for low carrier ratio operation of permanent magnet synchronous motor | |
| US20170264225A1 (en) | Power conversion device | |
| CN110912480A (en) | Permanent magnet synchronous motor model-free predictive control method based on extended state observer | |
| CN110112980B (en) | Control method and system for closed-loop iterative learning based on fractional calculus | |
| Wu et al. | An optimized PLL with time delay and harmonic suppression for improved position estimation accuracy of PMSM based on Levenberg–Marquardt | |
| JP2019083672A (en) | Inverter, and drive control method for motor | |
| CN106712629B (en) | A kind of current control method of permanent magnet synchronous motor | |
| CN117220553A (en) | Permanent magnet synchronous motor current control method | |
| Wang et al. | An improved deadbeat predictive current control based on parameter identification for PMSM | |
| CN114301361B (en) | Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control | |
| CN115347841A (en) | Dead-beat prediction current loop control method for permanent magnet synchronous motor | |
| RU2667477C1 (en) | Device for controlling synchronization of power converter | |
| JP5708373B2 (en) | Rotating machine control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19939485 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19939485 Country of ref document: EP Kind code of ref document: A1 |