基于全维状态观测器的永磁同步电机无差拍直接转矩控制
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摘要
永磁同步电机传统的直接转矩控制存在磁链幅值和转矩脉动大的缺点。文中研究了基于状态观测器的无差拍直接转矩控制方案,通过构造全维状态观测器的方法来观测定子磁链幅值,消除了初始磁链误差以及电机参数对传统的观测方法影响的问题。此外针对传统控制系统产生的时滞现象,文中的研究提前一个周期计算出所需的电压矢量,实现了转矩和磁链无差拍控制。仿真结果表明,所提出的基于全维状态观测器的无差拍控制能较好地抑制磁链和转矩脉动,具有良好的控制性能。
The traditional direct torque control of permanent magnet synchronous motor has the disadvantages of large flux amplitude and torque ripple. This thesis proposes a scheme of no-beat direct torque control based on state observer. The scheme can eliminate the problem of the initial flux linkage error and the influence of the motor parameters on the traditional observation method by constructing a full-dimensional state observer to observe the amplitude of the stator flux linkage. In addition, for the real lag phenomenon generated by the traditional control system, the thesis proposes to calculate the required voltage vector one cycle ahead of time, realising the deadbeat control of Torque and flux linkage. The results showed that the proposed dead-beat control based on full-dimensional state observer can suppress the flux linkage and torque ripple better and has good control performance.
The traditional direct torque control of permanent magnet synchronous motor has the disadvantages of large flux amplitude and torque ripple. This thesis proposes a scheme of no-beat direct torque control based on state observer. The scheme can eliminate the problem of the initial flux linkage error and the influence of the motor parameters on the traditional observation method by constructing a full-dimensional state observer to observe the amplitude of the stator flux linkage. In addition, for the real lag phenomenon generated by the traditional control system, the thesis proposes to calculate the required voltage vector one cycle ahead of time, realising the deadbeat control of Torque and flux linkage. The results showed that the proposed dead-beat control based on full-dimensional state observer can suppress the flux linkage and torque ripple better and has good control performance.
引文
[1] 辛晓楠,贺莉,王宏洲.永磁同步电动机交流伺服系统控制策略综述[J].微特电机,2010(2):67-70. Xin Xiaonan,He Li,Wang Hongzhou.Summary for control strategies of permanent magnet synchronous motor AC servo system[J].Micro Motor,2010(2):67-70.
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[14] 王伟华,肖曦,丁有爽.永磁同步电机改进电流预测控制[J].电工技术学报,2013,28(3):50-55. Wang Weihua,Xiao Xi,Ding Youshuang.Improved current prediction control for permanent magnet synchronous motor[J].Journal of Electrical Technology, 2013,28(3):50-55
[15] 牛里,杨明,刘可述,等.永磁同步电机电流预测控制算法[J].中国电机工程学报,2012,32(6):131-137. Niu Li,Yang Ming,Liu Keshu,et al.Permanent magnet synchronous motor current prediction control algorithm[J].Chinese Journal of Electrical Engineering, 2012,32(6):131-137.
[16] El-Sousy F F M.Intelligent optimal recurrent wavelet elman neural network control system for permanent-magnet synchronous motor servo drive[J]. IEEE Transactions on Industrial Informatics,2013,9(4):1986-2003.
[17] 孔小兵,刘向杰.永磁同步电机高效非线性模型预测控制[J].自动化学报,2014,40(9):1958-1966. Kong Xiaobing,Liu Xiangjie.High efficiency nonlinear model predictive control for permanent magnet synchronous motor[J].Journal of Automation,2014,40(9):1958-1966.
[2] 王成元,夏加宽,孙宜标.现代电机控制技术[M].2版.北京:机械工业出版社,2014. Wang Chengyuan,Xia Jiakuan,Sun Yibiao.Modern control technology for electric machines[M].Beijing:Mechanical Industry Press,2014.
[3] 宋争光,夏长亮,王志强,等.基于超扭曲算法的永磁同步电机直接转矩控制[J].电工技术学报,2017,32(15):89-99. Song Zhengguang,Xia Changliang,Wang Zhiqiang,et al.Direct torque control for permanent magnet synchronous motor using super twisting algorithm [J].Transactions of China Electrotechnical Society,2017,32(15):89-99.
[4] 张晓光,张亮,侯本帅.永磁同步电机优化模型预测转矩控制[J].中国电机工程学报,2017,37(16):4800-4809,4905. Zhang Xiaoguang, Zhang Liang, Hou Benshuai. Permanent magnet synchronous motor optimization model predictive torque control[J].Proceedings of the CSEE,2017,37(16):4800-4809,4905.
[5] 张永昌,杨海涛.异步电机无速度传感器模型预测控制[J].中国电机工程学报,2014,34(15):2422-2429. Zhang Yongchang,Yang Haitao.Asynchronous motor speed sensorless model predictive control[J].Proceedings of the CSEE,2014,34(15):2422-2429.
[6] Feng Guang,Liu Yanfei,Huang Lipei.A new robust algorithm to Improve the dynamic performance on the speed control of induction motor drive[J].IEEE Transactions on Power Electronics,2004,19(6):1614-1627.
[7] 包西平,吉智,朱涛.高性能永磁同步伺服系统研究现状及发展[J].微电机,2014,47(7):84-88. Bao Xiping,Ji Zhi,Zhu Tao.Research status and development of high performance permanent magnet synchronous servo system[J]. Micro-motor,2014,19(6):1614-1627.
[8] 季传坤,钱俊兵.基于重复滑膜控制的PWSM的矢量控制系统[J].电子科技,2019,32(1):52-57. Ji Chuankun,Qian Junbing.Vector control system of PWSM based on repetitive synovial control[J]. Electronic Science and Technology,2019,32(1):52-57.
[9] 刘露咪,吕振华.PMSM稳速控制系统中电流环控制策略研究[J].微电机,2018(3):37-42. Liu Lumi,Lv Zhenhua.Research on current loop control strategy of PMSM steady speed control system[J].Micro-motor,2018(3):37-42.
[10] 刘豹,唐万生.现代控制理论[M].北京:机械工业出版社,2007. Liu Bao,Tang Wansheng.Modern control theory[M].Beijing:Machinery Industry Press,2007.
[11] 阮毅,陈伯时.电力拖动自动控制系统—运动控制系统[M].北京:机械工业出版社,2012. Ruan Yi,Chen Boshi.Electric drive automatic control system-motion control system[M].Beijing:Machinery Industry Press,2012.
[12] 胡育文,高瑾,杨建飞,等.永磁同步电动机直接转矩控制系统[M].北京:机械工业出版社,2015. Hu Yuwen,Gao Jin,Yang Jianfei.Permanent magnet synchronous motor direct torque control system[M].Beijing:Machinery Industry Press,2015.
[13] 袁登科,徐延东.永磁同步电机变频调速系统及其控制[M].北京:机械工业出版社,2015. Yuan Dengke,Xu Yandong.Permanent magnet synchronous motor frequency control system and its control[M].Beijing:Machinery Industry Press,2015.
[14] 王伟华,肖曦,丁有爽.永磁同步电机改进电流预测控制[J].电工技术学报,2013,28(3):50-55. Wang Weihua,Xiao Xi,Ding Youshuang.Improved current prediction control for permanent magnet synchronous motor[J].Journal of Electrical Technology, 2013,28(3):50-55
[15] 牛里,杨明,刘可述,等.永磁同步电机电流预测控制算法[J].中国电机工程学报,2012,32(6):131-137. Niu Li,Yang Ming,Liu Keshu,et al.Permanent magnet synchronous motor current prediction control algorithm[J].Chinese Journal of Electrical Engineering, 2012,32(6):131-137.
[16] El-Sousy F F M.Intelligent optimal recurrent wavelet elman neural network control system for permanent-magnet synchronous motor servo drive[J]. IEEE Transactions on Industrial Informatics,2013,9(4):1986-2003.
[17] 孔小兵,刘向杰.永磁同步电机高效非线性模型预测控制[J].自动化学报,2014,40(9):1958-1966. Kong Xiaobing,Liu Xiangjie.High efficiency nonlinear model predictive control for permanent magnet synchronous motor[J].Journal of Automation,2014,40(9):1958-1966.