基于无电流传感器的永磁同步电机系统模型预测控制
|
摘要
针对无任何相电流传感器的三相永磁同步电机(PMSM)驱动系统,提出基于扩张状态观测器(ESO)的无电流传感器模型预测转矩控制(MPTC)策略。为了进行电流反馈以实现高精度控制,两个相电流传感器是必不可少的,为此采用ESO技术构造无电流传感器,以实现对PMSM驱动系统相电流和时变定子电阻的快速准确估计;为了减小转矩和磁链脉动、提高控制性能,给出PMSM驱动系统的MPTC设计方法。所设计基于ESO无电流传感器的MPTC策略能够使PMSM驱动系统不仅可靠稳定运行,而且具有满意的动态性能和较强的鲁棒性。仿真结果验证了所提方法的正确性和有效性。
Based on extended state observer( ESO),a novel model predictive torque control( MPTC)strategy was developed for three phase permanent magnet synchronous motor( PMSM) drive system with current sensorless. To achieve high precision control,generally two phase current sensors are indispensable for successful operation of the feedback control. For this purpose,by use of technique of ESO,a new observer for estimating three phase currents and time-varying stator resistance was put forward. Moreover,to reduce torque and flux ripples and improve the performance of the torque and speed,MPTC strategy was employed. The resultant ESO-based MPTC strategy enables PMSM drive system not only to run stably and reliably but also to have satisfactory control performance and strong robustness. The simulation results validate the feasibility and effectiveness of the proposed scheme.
Based on extended state observer( ESO),a novel model predictive torque control( MPTC)strategy was developed for three phase permanent magnet synchronous motor( PMSM) drive system with current sensorless. To achieve high precision control,generally two phase current sensors are indispensable for successful operation of the feedback control. For this purpose,by use of technique of ESO,a new observer for estimating three phase currents and time-varying stator resistance was put forward. Moreover,to reduce torque and flux ripples and improve the performance of the torque and speed,MPTC strategy was employed. The resultant ESO-based MPTC strategy enables PMSM drive system not only to run stably and reliably but also to have satisfactory control performance and strong robustness. The simulation results validate the feasibility and effectiveness of the proposed scheme.
引文
[1] BOYS J T. Novel current sensor for PWM AC drives[J]. IEE Proceedings of Electric Power Applications,1988,135(1):27.
[2] GREEN T C,WILLIAMS B W. Derivation of motor line-current waveforms from the DC-link current of an inverter[J]. IEE Proceedings B:Electric Power Applications. 1989,136(4):196.
[3] LEE W C,HYUN D S,LEE T K. A novel control method for three-phase PWM rectifiers using a single current sensor[J].IEEE Transactions on Power Electronics,2000,15(5):861.
[4]顾义坤,倪风雷,杨大鹏等.基于母线电流传感器的相电流重构方法[J].电机与控制学报,2009,13(6):811.GU Yikun,NI Fenglei,YANG Dapeng,et al. Novel method for phase current reconstruction using a single DC-link current sensor[J]. Electric Machines and Control,2009,13(6):811.
[5]王伟,程明,张邦富,等.电流滞环型永磁同步电机驱动系统的相电流传感器容错控制[J].中国电机工程学报,2012,32(33):59.WANG Wei,CHENG Ming,ZHANG Bangfu,et al. Fault-tolerant control focusing on phase current sensors of permanent magnet synchronous machine drive systems based on hysteresis current control[J]. Proceedings of the CSEE,2012,32(33):59.
[6] GU Y K,NI F L,YANG D P,et al. Switching-state phase shift method for three-phase-current reconstruction with a single DCLink current sensor[J]. IEEE Transactions on Industrial Electronics,2011,58(11):5186.
[7] CHO Y H,LABELLA T,Lai J S. A three-phase current reconstruction strategy with online current offset compensation using a single current sensor[J]. IEEE Transactions on Industrial Electronics,2012,59(7):2924.
[8] LU H,CHENG X,QU W,et al. A three-phase current reconstruction technique using single DC current sensor based on TSPWM[J]. IEEE Transactions on Power Electronics,2014,29(3):1542.
[9] YANG S C. Saliency-based position estimation of permanent-magnet synchronous machines using square-wave voltage injection with a single current sensor[J]. IEEE Transactions on Industry Applications,2015,51(2):1561.
[10] XU Y,YAN H,ZOU J,et al. Zero voltage vector sampling method for PMSM three-phase current reconstruction using single current sensor[J]. IEEE Transactions on Power Electronics,2016,32(5):3797.
[11] JARZEBOWICZ L,OPALINSKI A,CISEK M. Improving control dynamics of PMSM drive by estimating zero-delay current value[J]. Elektronika ir Elektrotechnika,2015,21(2):20.
[12] VERMA V,CHAKRABORTY C,MAITI S,et al. Speed sensorless vector controlled induction motor drive using single current sensor[J]. IEEE Transactions on Energy Conversion,2013,28(4):938.
[13] MORIMOTO S,SANADA M,TAKEDA Y. High-performance current-sensorless drive for PMSM and synRM with only low-resolution position sensor[J]. IEEE Transactions on Industry Applications,2003,39(3):792.
[14] SALMASI F R,NAJAFABADI T A. An adaptive observer with online rotor and stator resistance estimation for induction motors with one phase current sensor[J]. IEEE Transactions on Energy Conversion,2011,26(3):959.
[15] TENG Qingfang,Bai Jianyong,ZHU Jianguo,et al. Current sensorless model predictive torque control based on adaptive backstepping observer for PMSM drives[J]. WSEAS Transactions on Systems,2014,13(1):959.
[16]韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008:174-213.
[17]滕青芳,李国飞,朱建国,等.基于扩张状态观测器的无速度传感器容错逆变器驱动永磁同步电机系统自抗扰模型预测转矩控制[J].控制理论与应用,2016,33(5):676.TENG Qingfang,LI Guofei,ZHU Jianguo,et al. Sensorless active disturbance rejection model predictive torque control using extended state observer for PMSMs fed by three-phase four-switch inverter[J]. Control Theory&Applications,2016,33(5):676.
[18]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373.HUANG Yi,HAN Jingqing. Analysis and design of nonlinear continuous second-order ESO[J]. Science Bulletin,2000,45(13):1373.
[19] CORTES P,KAZMIERKOWSKI M P,KENNEL R M,et al.Predictive control in power electronics and drives[J] IEEE Transactions on Industrial Electronics,2008,55(12):4312.
[20]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.ZHANG Yongchang,YANG Haitao. Model predictive control for speed sensorless induction motor drive[J]. Proceedings of the CSEE,2014,34(15):2422.
[21]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 predictive control of permanent magnet synchronous motors based on fast vector selection[J]. Transactions of china electrotechnical society,2016,31(6):66.
[22]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,19(4):470.HAN Jingqing,ZHANG Rong. Error analysis of the second order ESO[J],Journal of Systems Science and Mathematical Sciences,1999,19(4):470.
[23]孙彪,孙秀霞,陈琳,等.基于幂次函数的离散滑模控制算法[J].控制与决策,2011,26(2):285.SUN Biao,SUN Xiuxia,CHEN Lin,et al. Algorithm of discretetime sliding mode control based on power-function[J]. Control and Decision,2011,26(2):285.
[24] SU Y X,ZHENG C H,DUAN B Y. Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors[J]. IEEE Transactions on Industrial Electronics,2005,52(3):817.
[25]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):16.HAN Jingqing. From PID technique to active disturbance rejection control technique[J]. Control Engineering of China,2002,9(3):16.
[2] GREEN T C,WILLIAMS B W. Derivation of motor line-current waveforms from the DC-link current of an inverter[J]. IEE Proceedings B:Electric Power Applications. 1989,136(4):196.
[3] LEE W C,HYUN D S,LEE T K. A novel control method for three-phase PWM rectifiers using a single current sensor[J].IEEE Transactions on Power Electronics,2000,15(5):861.
[4]顾义坤,倪风雷,杨大鹏等.基于母线电流传感器的相电流重构方法[J].电机与控制学报,2009,13(6):811.GU Yikun,NI Fenglei,YANG Dapeng,et al. Novel method for phase current reconstruction using a single DC-link current sensor[J]. Electric Machines and Control,2009,13(6):811.
[5]王伟,程明,张邦富,等.电流滞环型永磁同步电机驱动系统的相电流传感器容错控制[J].中国电机工程学报,2012,32(33):59.WANG Wei,CHENG Ming,ZHANG Bangfu,et al. Fault-tolerant control focusing on phase current sensors of permanent magnet synchronous machine drive systems based on hysteresis current control[J]. Proceedings of the CSEE,2012,32(33):59.
[6] GU Y K,NI F L,YANG D P,et al. Switching-state phase shift method for three-phase-current reconstruction with a single DCLink current sensor[J]. IEEE Transactions on Industrial Electronics,2011,58(11):5186.
[7] CHO Y H,LABELLA T,Lai J S. A three-phase current reconstruction strategy with online current offset compensation using a single current sensor[J]. IEEE Transactions on Industrial Electronics,2012,59(7):2924.
[8] LU H,CHENG X,QU W,et al. A three-phase current reconstruction technique using single DC current sensor based on TSPWM[J]. IEEE Transactions on Power Electronics,2014,29(3):1542.
[9] YANG S C. Saliency-based position estimation of permanent-magnet synchronous machines using square-wave voltage injection with a single current sensor[J]. IEEE Transactions on Industry Applications,2015,51(2):1561.
[10] XU Y,YAN H,ZOU J,et al. Zero voltage vector sampling method for PMSM three-phase current reconstruction using single current sensor[J]. IEEE Transactions on Power Electronics,2016,32(5):3797.
[11] JARZEBOWICZ L,OPALINSKI A,CISEK M. Improving control dynamics of PMSM drive by estimating zero-delay current value[J]. Elektronika ir Elektrotechnika,2015,21(2):20.
[12] VERMA V,CHAKRABORTY C,MAITI S,et al. Speed sensorless vector controlled induction motor drive using single current sensor[J]. IEEE Transactions on Energy Conversion,2013,28(4):938.
[13] MORIMOTO S,SANADA M,TAKEDA Y. High-performance current-sensorless drive for PMSM and synRM with only low-resolution position sensor[J]. IEEE Transactions on Industry Applications,2003,39(3):792.
[14] SALMASI F R,NAJAFABADI T A. An adaptive observer with online rotor and stator resistance estimation for induction motors with one phase current sensor[J]. IEEE Transactions on Energy Conversion,2011,26(3):959.
[15] TENG Qingfang,Bai Jianyong,ZHU Jianguo,et al. Current sensorless model predictive torque control based on adaptive backstepping observer for PMSM drives[J]. WSEAS Transactions on Systems,2014,13(1):959.
[16]韩京清.自抗扰控制技术:估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2008:174-213.
[17]滕青芳,李国飞,朱建国,等.基于扩张状态观测器的无速度传感器容错逆变器驱动永磁同步电机系统自抗扰模型预测转矩控制[J].控制理论与应用,2016,33(5):676.TENG Qingfang,LI Guofei,ZHU Jianguo,et al. Sensorless active disturbance rejection model predictive torque control using extended state observer for PMSMs fed by three-phase four-switch inverter[J]. Control Theory&Applications,2016,33(5):676.
[18]黄一,韩京清.非线性连续二阶扩张状态观测器的分析与设计[J].科学通报,2000,45(13):1373.HUANG Yi,HAN Jingqing. Analysis and design of nonlinear continuous second-order ESO[J]. Science Bulletin,2000,45(13):1373.
[19] CORTES P,KAZMIERKOWSKI M P,KENNEL R M,et al.Predictive control in power electronics and drives[J] IEEE Transactions on Industrial Electronics,2008,55(12):4312.
[20]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.ZHANG Yongchang,YANG Haitao. Model predictive control for speed sensorless induction motor drive[J]. Proceedings of the CSEE,2014,34(15):2422.
[21]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 predictive control of permanent magnet synchronous motors based on fast vector selection[J]. Transactions of china electrotechnical society,2016,31(6):66.
[22]韩京清,张荣.二阶扩张状态观测器的误差分析[J].系统科学与数学,1999,19(4):470.HAN Jingqing,ZHANG Rong. Error analysis of the second order ESO[J],Journal of Systems Science and Mathematical Sciences,1999,19(4):470.
[23]孙彪,孙秀霞,陈琳,等.基于幂次函数的离散滑模控制算法[J].控制与决策,2011,26(2):285.SUN Biao,SUN Xiuxia,CHEN Lin,et al. Algorithm of discretetime sliding mode control based on power-function[J]. Control and Decision,2011,26(2):285.
[24] SU Y X,ZHENG C H,DUAN B Y. Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors[J]. IEEE Transactions on Industrial Electronics,2005,52(3):817.
[25]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):16.HAN Jingqing. From PID technique to active disturbance rejection control technique[J]. Control Engineering of China,2002,9(3):16.