一拍滞后对三相异步电机模型预测电流控制的影响及补偿方法
|
摘要
模型预测控制概念清晰且易于处理包含约束条件的多变量控制问题,已经成为电力传动领域研究的热点。该文利用系统闭环模型及闭环极点分布等方法,研究了一拍滞后对三相异步电机连续控制集模型预测电流控制(CCS-MPCC)的影响,并从预测的动、静态特性以及电机参数敏感性等方面比较了四种基于模型的滞后补偿方法。首先,介绍了三相异步电机CCS-MPCC的基本原理;其次,利用系统闭环模型分析了一拍滞后对CCS-MPCC的影响,并给出了四种基于模型的预测补偿方法;最后,通过仿真和实验验证了一拍滞后对模型预测控制的影响,并比较了四种滞后补偿方法的特性。实验结果表明,改进降阶观测器具有良好的一拍滞后补偿特性,可以有效降低电流控制的超调、振荡以及纹波,提高CCS-MPCC的动态响应速度和控制稳定性。
Recently, model predictive control(MPC) has been a hot research topic in electric drives for its advantages of clear concepts and easy consideration of multivariable case with constraints. In this paper, the effect of one-step delay on continuous control set model predictive current control(CCSMPCC) for three-phase induction machine is investigated by the closed-loop system and the distribution of the closed-loop poles. Four model-based delay compensation methods are compared from the static and dynamic characteristics of the prediction, and the sensitivity to the motor parameters. Firstly, the basic principle of CCS-MPCC for three-phase induction machine is introduced. Then, the effect of onestep delay on CCS-MPCC is analyzed by using closed-loop model of the system, and four model-based prediction compensation methods are presented. Finally, the effect of one-step delay on CCS-MPCC characteristics is verified by simulation and experiment, and the characteristics of four compensation methods are compared. The experimental results show that the improved reduced order observer can effectively reduce the current overshoot, oscillation and current ripple, improve dynamic response speed and control stability of CCS-MPCC.
Recently, model predictive control(MPC) has been a hot research topic in electric drives for its advantages of clear concepts and easy consideration of multivariable case with constraints. In this paper, the effect of one-step delay on continuous control set model predictive current control(CCSMPCC) for three-phase induction machine is investigated by the closed-loop system and the distribution of the closed-loop poles. Four model-based delay compensation methods are compared from the static and dynamic characteristics of the prediction, and the sensitivity to the motor parameters. Firstly, the basic principle of CCS-MPCC for three-phase induction machine is introduced. Then, the effect of onestep delay on CCS-MPCC is analyzed by using closed-loop model of the system, and four model-based prediction compensation methods are presented. Finally, the effect of one-step delay on CCS-MPCC characteristics is verified by simulation and experiment, and the characteristics of four compensation methods are compared. The experimental results show that the improved reduced order observer can effectively reduce the current overshoot, oscillation and current ripple, improve dynamic response speed and control stability of CCS-MPCC.
引文
[1]Morel F,Lin-Shi X,Retif J M,et al.A comparative study of predictive current control schemes for a permanent-magnet synchronous machine drive[J].IEEE Transactions on Industrial Electronics,2009,56(7):2715-2728.
[2]Kazmierkowski M P,Malesani L.Current control techniques for three-phase voltage-source PWMconverters:a survey[J].IEEE Transactions on Industrial Electronics,1998,45(5):691-703.
[3]Scoltock J,Geyer T,Madawala U K.A model predictive direct current control strategy with predictive references for MV grid-connected converters with LCL filters[J].IEEE Transactions on Power Electronics,2015,30(10):5926-5937.
[4]Rawlings J B,Mayne D Q.Model predictive control:theory and design[M].Madison:Nob Hill Publishing,LLC,2009.
[5]李春鹏,孙绍华.数字控制对并网逆变系统稳定性和动态性能的影响[J].电力自动化设备,2012,32(3):23-27.Li Chunpeng,Sun Shaohua.Influence of digital control on stability and dynamic performance of gridconnected inverter system[J].Electric Power Automation Equipment,2012,32(3):23-27.
[6]童力,邹旭东,丰树帅,等.基于预测无差拍算法的永磁同步发电机无传感器控制[J].电工技术学报,2013,28(3):17-26.Tong Li,Zou Xudong,Feng Shushuai,et al.A sensorless control scheme for permanent magnet synchronous generators using predictive dead-beat algorithm[J].Transactions of China Electrotechnical Society,2013,28(3):17-26.
[7]王伟华,肖曦.考虑一拍滞后的PMSM电流环改进PI调节器[J].中国电机工程学报,2014,34(12):1882-1888.Wang Weihua,Xiao Xi.An improved PI regulator for current loop of PMSM taking one-step-delay into consideration[J].Proceedings of the CSEE,2014,34(12):1882-1888.
[8]王宏佳,杨明,牛里,等.永磁交流伺服系统电流环带宽扩展研究[J].中国电机工程学报,2010,30(12):56-62.Wang Hongjia,Yang Ming,Niu Li,et al.Current loop bandwidth expansion for permanent magnet AC servo system[J].Proceedings of the CSEE,2010,30(12):56-62.
[9]Zhang Yongchang,Zhu Jianguo,Xu Wei.Analysis of one step delay in direct torque control of permanent magnet synchronous motor and its remedies[C]//International Conference on Electrical Machines and Systems(ICEMS),Incheon,South Korea,2010:792-797.
[10]马宏伟.双馈风电系统模型预测控制与电网故障不间断运行研究[D].北京:清华大学,2013.
[11]Zhang Yongchang,Yang Haitao.Two-vector-based model predictive torque control without weighting factors for induction motor drives[J].IEEE Transactions on Power Electronics,2016,31(2):1381-1390.
[12]Papafotiou G,Kley J,Papadopoulos K G,et al.Model predictive direct torque control-part II:implementation and experimental evaluation[J].IEEE Transactions on Industrial Electronics,2009,56(6):1906-1915.
[13]Miskovic V,Blasko V,Jahns T M,et al.Model predictive current control of voltage source converters with back-emf estimation via synchronous reference frame observer[C]//IEEE International Conference on Industrial Technology(ICIT),Seville,Spain,2015:2302-2307.
[14]Cortes P,Rodriguez J,Silva C,et al.Delay compensation in model predictive current control of a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2012,59(2):1323-1325.
[15]Zhang Yongchang,Xia Bo,Yang Haitao.Performance evaluation of an improved model predictive control with field oriented control as a benchmark[J].IETElectric Power Applications,2017,11(5):677-687.
[16]Miranda H,Cortes P,Yuz J I,et al.Predictive torque control of induction machines based on state-space models[J].IEEE Transactions on Industrial Electronics,2009,56(6):1916-1924.
[17]何英杰,刘进军,王兆安,等.基于重复预测原理的三电平APF无差拍控制方法[J].电工技术学报,2010,25(2):114-120.He Yingjie,Liu Jinjun,Wang Zhaoan,et al.Adeadbeat control algorithm based on repetitive predictor theory for three-level active power filter[J].Transactions of China Electrotechnical Society,2010,25(2):114-120.
[18]牛里,杨明,王庚,等.基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J].中国电机工程学报,2013,33(15):78-85.Niu Li,Yang Ming,Wang Geng,et al.Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle[J].Proceedings of the CSEE,2013,33(15):78-85.
[19]贺明智,许建平,游小杰,等.环路延时对数字峰值电压控制开关变换器瞬态性能的影响[J].中国电机工程学报,2009,29(6):1-7.He Mingzhi,Xu Jianping,You Xiaojie,et al.Time delay effect on transient performance of digital peak voltage controlled switching converter[J].Proceedings of the CSEE,2009,29(6):1-7.
[20]Wang Yukai,Tobayashi S,Lorenz R D.A lowswitching-frequency flux observer and torque model of deadbeat-direct torque and flux control on induction machine drives[J].IEEE Transactions on Industry Applications,2015,51(3):2255-2267.
[21]West N T,Lorenz R D.Digital implementation of stator and rotor flux-linkage observers and a statorcurrent observer for deadbeat direct torque control of induction machines[J].IEEE Transactions on Industry Applications,2009,45(2):729-736.
[22]Wang Liuping.Model predictive control system design and implementation using MATLAB[M].London:Springer Publishing Company,Incorporated,2009.
[23]Wang Zhiguo,Zheng Zedong,Li Yongdong,et al.Predictive current control for induction motor using online optimization algorithm with constrains[C]//IEEE Energy Conversion Congress and Exposition(ECCE),Cincinnati,Ohio,2017:4720-4725.
[2]Kazmierkowski M P,Malesani L.Current control techniques for three-phase voltage-source PWMconverters:a survey[J].IEEE Transactions on Industrial Electronics,1998,45(5):691-703.
[3]Scoltock J,Geyer T,Madawala U K.A model predictive direct current control strategy with predictive references for MV grid-connected converters with LCL filters[J].IEEE Transactions on Power Electronics,2015,30(10):5926-5937.
[4]Rawlings J B,Mayne D Q.Model predictive control:theory and design[M].Madison:Nob Hill Publishing,LLC,2009.
[5]李春鹏,孙绍华.数字控制对并网逆变系统稳定性和动态性能的影响[J].电力自动化设备,2012,32(3):23-27.Li Chunpeng,Sun Shaohua.Influence of digital control on stability and dynamic performance of gridconnected inverter system[J].Electric Power Automation Equipment,2012,32(3):23-27.
[6]童力,邹旭东,丰树帅,等.基于预测无差拍算法的永磁同步发电机无传感器控制[J].电工技术学报,2013,28(3):17-26.Tong Li,Zou Xudong,Feng Shushuai,et al.A sensorless control scheme for permanent magnet synchronous generators using predictive dead-beat algorithm[J].Transactions of China Electrotechnical Society,2013,28(3):17-26.
[7]王伟华,肖曦.考虑一拍滞后的PMSM电流环改进PI调节器[J].中国电机工程学报,2014,34(12):1882-1888.Wang Weihua,Xiao Xi.An improved PI regulator for current loop of PMSM taking one-step-delay into consideration[J].Proceedings of the CSEE,2014,34(12):1882-1888.
[8]王宏佳,杨明,牛里,等.永磁交流伺服系统电流环带宽扩展研究[J].中国电机工程学报,2010,30(12):56-62.Wang Hongjia,Yang Ming,Niu Li,et al.Current loop bandwidth expansion for permanent magnet AC servo system[J].Proceedings of the CSEE,2010,30(12):56-62.
[9]Zhang Yongchang,Zhu Jianguo,Xu Wei.Analysis of one step delay in direct torque control of permanent magnet synchronous motor and its remedies[C]//International Conference on Electrical Machines and Systems(ICEMS),Incheon,South Korea,2010:792-797.
[10]马宏伟.双馈风电系统模型预测控制与电网故障不间断运行研究[D].北京:清华大学,2013.
[11]Zhang Yongchang,Yang Haitao.Two-vector-based model predictive torque control without weighting factors for induction motor drives[J].IEEE Transactions on Power Electronics,2016,31(2):1381-1390.
[12]Papafotiou G,Kley J,Papadopoulos K G,et al.Model predictive direct torque control-part II:implementation and experimental evaluation[J].IEEE Transactions on Industrial Electronics,2009,56(6):1906-1915.
[13]Miskovic V,Blasko V,Jahns T M,et al.Model predictive current control of voltage source converters with back-emf estimation via synchronous reference frame observer[C]//IEEE International Conference on Industrial Technology(ICIT),Seville,Spain,2015:2302-2307.
[14]Cortes P,Rodriguez J,Silva C,et al.Delay compensation in model predictive current control of a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2012,59(2):1323-1325.
[15]Zhang Yongchang,Xia Bo,Yang Haitao.Performance evaluation of an improved model predictive control with field oriented control as a benchmark[J].IETElectric Power Applications,2017,11(5):677-687.
[16]Miranda H,Cortes P,Yuz J I,et al.Predictive torque control of induction machines based on state-space models[J].IEEE Transactions on Industrial Electronics,2009,56(6):1916-1924.
[17]何英杰,刘进军,王兆安,等.基于重复预测原理的三电平APF无差拍控制方法[J].电工技术学报,2010,25(2):114-120.He Yingjie,Liu Jinjun,Wang Zhaoan,et al.Adeadbeat control algorithm based on repetitive predictor theory for three-level active power filter[J].Transactions of China Electrotechnical Society,2010,25(2):114-120.
[18]牛里,杨明,王庚,等.基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J].中国电机工程学报,2013,33(15):78-85.Niu Li,Yang Ming,Wang Geng,et al.Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle[J].Proceedings of the CSEE,2013,33(15):78-85.
[19]贺明智,许建平,游小杰,等.环路延时对数字峰值电压控制开关变换器瞬态性能的影响[J].中国电机工程学报,2009,29(6):1-7.He Mingzhi,Xu Jianping,You Xiaojie,et al.Time delay effect on transient performance of digital peak voltage controlled switching converter[J].Proceedings of the CSEE,2009,29(6):1-7.
[20]Wang Yukai,Tobayashi S,Lorenz R D.A lowswitching-frequency flux observer and torque model of deadbeat-direct torque and flux control on induction machine drives[J].IEEE Transactions on Industry Applications,2015,51(3):2255-2267.
[21]West N T,Lorenz R D.Digital implementation of stator and rotor flux-linkage observers and a statorcurrent observer for deadbeat direct torque control of induction machines[J].IEEE Transactions on Industry Applications,2009,45(2):729-736.
[22]Wang Liuping.Model predictive control system design and implementation using MATLAB[M].London:Springer Publishing Company,Incorporated,2009.
[23]Wang Zhiguo,Zheng Zedong,Li Yongdong,et al.Predictive current control for induction motor using online optimization algorithm with constrains[C]//IEEE Energy Conversion Congress and Exposition(ECCE),Cincinnati,Ohio,2017:4720-4725.