永磁同步电机有限集无参数模型预测控制
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摘要
针对常规有参数有限集模型预测控制(FCS-MPC)在参数失配时性能下降的问题,提出一种用于永磁同步电机电流预测控制的有限集无参数模型预测控制(NMPC)。NMPC基于局部建模思想,采用集总参数模型进行预测控制,将任何影响稳态误差的因素折合在集总电势中,任何影响电流变化率的因素折合在集总动态电感中,并在线估计更新模型,从而无需任何电机参数实现预测控制。采用包含电流预测误差的代价函数推导了用于两种集总参数在线估计的自适应律。仿真和实验结果表明,集总参数模型预测精度高,在参数和工况未知或时变的情况下,NMPC仍能达到模型精确FCS-MPC的控制性能,证明了方法的有效性。
To solve the parameter-dependent problem of the conventional finite control set model predictive control( FCS-MPC),a finite control set nonparametric model predictive control( NMPC) method was proposed for the current control of permanent magnet synchronous machines. The lumped-parameter predictive model in NMPC was designed based on the model-on-demand methodology. All factors that cause steady-state error were taken into account in the lumped electromotive forces( EMFs),while all factors that influence the current rate of change were taken into account in the lumped dynamic inductances. Also,the lumped parameters were updated online,thus no system parameter knowledge is necessary. The adaptive laws for these two types of lumped parameters were derived through cost functions containing the current prediction errors. The effectiveness of the proposed method was verified by the simulation and experimental results. The results demonstrate that,even if the actual parameters are unknown or changing,the lumped-parameter predictive model in NMPC has adequate prediction accuracy,and the NMPC has equivalent performance compared with accurately modeled FCS-MPC.
To solve the parameter-dependent problem of the conventional finite control set model predictive control( FCS-MPC),a finite control set nonparametric model predictive control( NMPC) method was proposed for the current control of permanent magnet synchronous machines. The lumped-parameter predictive model in NMPC was designed based on the model-on-demand methodology. All factors that cause steady-state error were taken into account in the lumped electromotive forces( EMFs),while all factors that influence the current rate of change were taken into account in the lumped dynamic inductances. Also,the lumped parameters were updated online,thus no system parameter knowledge is necessary. The adaptive laws for these two types of lumped parameters were derived through cost functions containing the current prediction errors. The effectiveness of the proposed method was verified by the simulation and experimental results. The results demonstrate that,even if the actual parameters are unknown or changing,the lumped-parameter predictive model in NMPC has adequate prediction accuracy,and the NMPC has equivalent performance compared with accurately modeled FCS-MPC.
引文
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[10]张永昌,杨海涛,魏香龙.基于快速矢量选择的永磁同步电机模型预测控制[J].电工技术学报,2016,31(6):66.ZHANG Yongchang,YANG Haitao,WEI Xianglong. Model pre-dictive control of permanent magnet synchronous motors based onfast vector selection[J]. Transactions of China ElectrotechnicalSociety,2016,31(6):66.
[11] ZHOUY,LI H,ZHANG H. Model-free deadbeat predictive cur-rent control of a surface-mounted permanent magnet synchronousmotor drive system[J]. Journal of Power Electronics,2018,18(1):103.
[12] XIA C,WANG M,SONG Z,et al. Robust model predictive cur-rent control of three-phase voltage source PWM rectifier with on-line disturbance observation[J]. IEEE Transactions on IndustrialInformatics,2012,8(3):459.
[13] LIN C K,LIU T H,FU L C,et al. Model-free predictive currentcontrol for interior permanent-magnet synchronous motor drivesbased on current difference detection technique[J]. IEEE Trans-actions on Industrial Electronics,2014,61(2):667.
[14] CORTES P,RODRIGUEZ J,SILVA C,et al. Delay compensationin model predictive current control of a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2012,59(2):1323.
[15] STENMAN A. Model on demand:Algorithms,analysis and appli-cations[D]. Linkping:Linkping Un-iversity,1999.
[16] MORIMOTO S,SANADA M,TAKEDA Y. Widespeed operationof interior permanent magnet synchronous motors with high-per-formance current regulator[J]. IEEE Transactions on IndustryApplications,1994,30(4):920.
[2] KOURO S,PEREZ M A,RODRIGUEZ J,et al. Model predictivecontrol:MPC's role in the evolution of power electronics[J].IEEE Industrial Electronics Magazine,2015,9(4):8.
[3]牛峰,李奎,王尧.永磁同步电机模型预测直接转矩控制[J].电机与控制学报,2015,19(12):60.NIU Feng,LI Kui,WANG Yao. Model predictive direct torquecontrol for permanent magnet synchronous machines[J]. ElectricMachines and Control,2015,19(12):60.
[4] YOUNG H A,PEREZ M A,RODRIGUEZ J. Analysis of finite-control-set model predictive current control with model parametermismatch in a three-phase inverter[J]. IEEE Transactions on In-dustrial Electronics,2016,63(5):3100.
[5] LIU K,ZHANG Q,CHEN J,et al. Online multiparameter estima-tion of nonsalientpole PM synchronous machines with temperaturevariation tracking[J]. IEEE Transactions on Industrial Electron-ics,2011,58(5):1776.
[6] UNDERWOOD S J,HUSAIN I. Online parameter estimation andadaptive control of permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2010,57(7):2435.
[7]王伟华,肖曦.基于电感辨识的PMSM电流自适应增量预测控制[J].电机与控制学报,2014,18(2):75.WANG Weihua,XIAO Xi. Adaptive incremental predictive controlmethod for current of PMSM based on online identification of in-ductance[J]. Electric Machines and Control,2014,18(2):75.
[8] CHEN Z,QIU J,JIN M. Adaptive finite-control-set model predic-tive current control for IPMSM drives with inductance variation[J]. IET Electric Power Applications,2017,11(5):874.
[9] STUMBERGER B,STUMBERGER G,DOLINAR D,et al. Evalua-tion of saturation and cross-magnetization effects in interior perma-nent-magnet synchronous motor[J]. IEEE Transactions on Indus-try Applications,2003,39(5):1264.
[10]张永昌,杨海涛,魏香龙.基于快速矢量选择的永磁同步电机模型预测控制[J].电工技术学报,2016,31(6):66.ZHANG Yongchang,YANG Haitao,WEI Xianglong. Model pre-dictive control of permanent magnet synchronous motors based onfast vector selection[J]. Transactions of China ElectrotechnicalSociety,2016,31(6):66.
[11] ZHOUY,LI H,ZHANG H. Model-free deadbeat predictive cur-rent control of a surface-mounted permanent magnet synchronousmotor drive system[J]. Journal of Power Electronics,2018,18(1):103.
[12] XIA C,WANG M,SONG Z,et al. Robust model predictive cur-rent control of three-phase voltage source PWM rectifier with on-line disturbance observation[J]. IEEE Transactions on IndustrialInformatics,2012,8(3):459.
[13] LIN C K,LIU T H,FU L C,et al. Model-free predictive currentcontrol for interior permanent-magnet synchronous motor drivesbased on current difference detection technique[J]. IEEE Trans-actions on Industrial Electronics,2014,61(2):667.
[14] CORTES P,RODRIGUEZ J,SILVA C,et al. Delay compensationin model predictive current control of a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2012,59(2):1323.
[15] STENMAN A. Model on demand:Algorithms,analysis and appli-cations[D]. Linkping:Linkping Un-iversity,1999.
[16] MORIMOTO S,SANADA M,TAKEDA Y. Widespeed operationof interior permanent magnet synchronous motors with high-per-formance current regulator[J]. IEEE Transactions on IndustryApplications,1994,30(4):920.