基于非线性扰动补偿的超局部无模型永磁同步电机电流预测控制

doi:10.12382/bgxb.2022.1059

摘要/Abstract

摘要：

在电机运转过程中,电机参数会发生变化,产生参数漂移,同时电机会受到内外部未知扰动,导致控制性能下降,抗干扰性和鲁棒性较差。为解决这些问题,提出非线性扰动补偿的超局部无模型电流预测控制方法。只利用电流环的输入和输出,建立超局部无模型电流预测控制模型,不涉及任何电机参数,解决了因参数变化导致的模型失配问题。针对系统总扰动,建立非线性扰动补偿模型,能够较为准确和稳定地估计系统总扰动,并进行前馈补偿,实时更新控制信息,仅需调节两个控制参数。为防止产生较大的电流,建立电流限幅控制,提高电机控制性能。仿真和实验结果表明,提出的控制方法对于参数变化和外部扰动,具有较强的鲁棒性、抗干扰能力,能够实现较快的动态响应,减小电流纹波,降低电流静差,获得较优的电流环动静态性能;抑制转速脉动和超调量,稳定跟踪额定转速,有利于电机的平稳运行。

关键词: 永磁同步电机, 超局部, 无模型电流预测控制, 电流限幅, 非线性扰动补偿

Abstract:

During motor operation, the motor parameters change to cause parameter drift, and the motor is affected by the internal and external unknown disturbances, which leads to reduced motor control performance, poor anti-interference performance, and low robustness. To solve these problems, an ultra-local model-free current predictive control (MFCPC) method of permanent magnet synchronous motor (PMSM) based on nonlinear disturbance compensation (NDC) is proposed. The proposed method only uses the input and output current loop to establish MFCPC without involving any motor parameters, thus solving the problem of model mismatch caused by parameter changes. For the total disturbance of the system, a NDC model is established, which can estimate the total disturbance accurately and stably, make a feedforward compensation, update the control information in real time, and adjust only two control parameters. To prevent the generation of large current, a current-limiting control is established to improve motor control performance. Simulated and experimental results show that the proposed control method has strong robustness and anti-interference ability against parameter change and external disturbance. It can realize the fast dynamic response, reduce the current ripple and current static difference, and achieve the better dynamic and static performances of current loop. Moreover, it can suppress the speed pulsation and overshoot, and track the rated speed stably, which is conducive to the smooth operation of the motor.

Key words: permanent magnet synchronous motor, ultra-local, model-free current predictive control, current limiting, nonlinear disturbance compensation

中图分类号:

TM341

陈桂明, 许令亮. 基于非线性扰动补偿的超局部无模型永磁同步电机电流预测控制[J]. 兵工学报, 2024, 45(4): 1129-1140.

CHEN Guiming, XU Lingliang. Ultra-local Model-free Current Predictive Control of Permanent Magnet Synchronous Motor Based on Nonlinear Disturbance Compensation[J]. Acta Armamentarii, 2024, 45(4): 1129-1140.

图/表 11

图1 d轴、q轴电流误差与电阻、电感、磁链失配的关系

Fig.1 Relationships among d and q axis current errors and the resistance, inductance and flux mismatches

图2 基于MFCPC+NDC方法的PMSM系统控制框图

Fig.2 PMSM system control structure based on MFCPC+NDC method

表1 PMSM系统和控制参数

Table 1 PMSM system and control parameters

参数	数值	参数	数值
p	4	J/(kg·m²)	0.003
R₀/Ω	0.958	P/kW	1.5
Ψ_f0/Wb	0.1827	α	[120,120]^T
L₀/mH	8.5	l	[1000,1000]^T

图3 在精确参数和无负载条件下3种方法的仿真结果对比

Fig.3 Simulated results of three control methods under the condition of precise parameters and no-load

图4 在变参数和负载扰动条件下3种方法的仿真结果对比

Fig.4 Simulated results of three control methods under the condition of variable parameters and load disturbance

图5 在精确参数和无负载条件下,d-q轴总扰动估计仿真结果对比

Fig.5 Comparison of simulated results of total disturbance estimation of d-q axis under the condition of precise parameters and no-load

图6 在变参数和负载条件下d、q轴总扰动估计仿真结果对比

Fig.6 Comparison of simulated results of total disturbance estimation of d-q axis under the condition of variable parameters and load

图7 PMSM实验平台

Fig.7 PMSM experimental platform

图8 在精确参数和无负载条件下3种方法的实验结果

Fig.8 Experimental results of three control methods under the condition of precise parameters and no-load

图9 在变参数和负载扰动条件下3种方法的实验结果

Fig.9 Experimental results of three control methods under the condition of variable parameters and load disturbance

表2 静态和动态工况下3种控制方法性能比较

Table 2 Performance comparison of three control methods under static and dynamic conditions

工况	参数	PI方法	MFCPC 方法	MFCPC+NDC 方法
	转速脉动/%	3.60	2.61	1.60
静态工况	d轴电流波动	1.268	0.405	0.445
	q轴电流波动	1.428	5.899	1.201
	转速响应时间/s	0.35	0.31	0.18
动态工况	d轴电流波动	1.638	1.405	0.450
	q轴电流波动	1.430	6.422	1.447

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