Ultra-local Model-free Current Predictive Control of Permanent Magnet Synchronous Motor Based on Nonlinear Disturbance Compensation

doi:10.12382/bgxb.2022.1059

Abstract

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

CLC Number:

TM341

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.

Figures/Tables 11

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

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

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

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

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

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

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

Fig.7 PMSM experimental platform

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

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

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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