基于改进型重复控制器的永磁同步电机电流谐波抑制方法研究
|
摘要
重复控制技术由于具有极低的总谐波失真,在谐波抑制领域得到了广泛的应用。然而在电机控制系统中,系统采样频率与电流谐波频率的比值不为整数时,将导致重复控制器的谐振频率偏离电机电流实际的谐波频率,从而造成传统重复控制器的电流谐波抑制能力显著降低。该文提出一种基于拉格朗日插值法的改进型重复控制器,采用基于拉格朗日插值法的分数阶延时环节,对频率比值小数部分构成的延时环节进行逼近,从而使重复控制器的谐振频率和电机电流实际谐波频率相吻合;为进一步减小电流谐波的跟踪误差,将低通滤波器移出传统重复控制内模,并通过加入相位补偿器保证了系统的稳定性。仿真与实验结果验证了该方法的正确性和有效性。
The repetitive control technique is widely adopted in the field of harmonic suppression, due to its low total harmonic distortion. However in the motor control system, when the ratio of the system sampling frequency to the current harmonic frequency is not an integer, the resonant frequencies of the repetitive control deviate from the practical harmonic frequencies of motor current. As a result, the performance of these systems will be significantly degraded using the conventional repetitive control. In this paper, an improved repetitive controller based on Lagrangian interpolation method was proposed, which adopted a fractional-order delay link based on Lagrange interpolation. The fractional-order delay link can approximate the delay function of the frequency ratio's fractional part, and then the resonant frequencies of the repetitive control will match the practical harmonic frequencies well. In order to further reduce the tracking error of the current harmonics, the low-pass filter located inside the traditional repetitive control module was removed and the stability of the system was ensured by adding a phase compensator. The validity and effectiveness of the proposed method were demonstrated by simulation and experimental results.
The repetitive control technique is widely adopted in the field of harmonic suppression, due to its low total harmonic distortion. However in the motor control system, when the ratio of the system sampling frequency to the current harmonic frequency is not an integer, the resonant frequencies of the repetitive control deviate from the practical harmonic frequencies of motor current. As a result, the performance of these systems will be significantly degraded using the conventional repetitive control. In this paper, an improved repetitive controller based on Lagrangian interpolation method was proposed, which adopted a fractional-order delay link based on Lagrange interpolation. The fractional-order delay link can approximate the delay function of the frequency ratio's fractional part, and then the resonant frequencies of the repetitive control will match the practical harmonic frequencies well. In order to further reduce the tracking error of the current harmonics, the low-pass filter located inside the traditional repetitive control module was removed and the stability of the system was ensured by adding a phase compensator. The validity and effectiveness of the proposed method were demonstrated by simulation and experimental results.
引文
[1]王贺超,夏长亮,阎彦,等.基于谐振控制的表贴式永磁同步电机弱磁区电流谐波抑制[J].电工技术学报,2014,29(9):83-91.Wang Hechao,Xia Changliang,Yan Yan,et al.Current harmonic suppression in the flux-weakening control of surface permanent magnet synchronous motors using resonant controllers[J].Transactions of China Electrotechnical Society,2014,29(9):83-91.
[2]Tang Zhuangyao,Akin B.Suppression of dead-time distortion through revised repetitive controller in PMSM drives[J].IEEE Transactions on Energy Conversion,2017,32(3):918-930.
[3]Miyama Y,Hazeyama M,Hanioka S,et al.PWMcarrier harmonic iron loss reduction technique of permanent-magnet motors for electric vehicles[J].IEEE Transactions on Industry Applications,2016,52(4):2865-2871.
[4]方程,许海平,薛劭申,等.直驱型多相永磁同步电机转矩脉动及损耗特性[J].电工技术学报,2014,29(5):149-159.Fang Cheng,Xu Haiping,Xue Shaoshen,et al.Torque ripple and losses of direct-drive multi-phase permanent magnet synchronous machines[J].Transactions of China Electrotechnical Society,2014,29(5):149-159.
[5]黄克峰,李槐树,周羽.利用辅助槽削弱齿槽力的方法研究[J].电机与控制学报,2014,18(3):54-59.Huang Kefeng,Li Huaishu,Zhou Yu.Method research for reducing the cogging force by auxiliary slots[J].Electric Machines and Control,2014,18(3):54-59.
[6]方程,许海平,薛劭申,等.直驱型多相永磁同步电机定子磁动势与气隙磁密特性分析[J].中国电机工程学报,2013,33(24):106-113.Fang Cheng,Xu Haiping,Xue Shaoshen,et al.Analysis of stator MMF and air gap flux density characteristics of direct-drive multi-phase permanent magnet synchronous machines[J].Proceedings of the CSEE,2013,33(24):106-113.
[7]刘刚,孙庆文,肖烨然.永磁同步电机用坐标变换的电流谐波抑制方法[J].电机与控制学报,2015,19(5):30-36.Liu Gang,Sun Qingwen,Xiao Yeran.Permanent magnet synchronous motor current harmonics suppression based on coordinate transformation[J].Electric Machines and Control,2015,19(5):30-36.
[8]张学广,马彦,李瑞,等.两相静止坐标系下并网逆变器的重复控制策略[J].电工技术学报,2016,31(9):85-91.Zhang Xueguang,Ma Yan,Li Rui,et al.Repetitive control strategy for grid-connected converters in stationary frame[J].Transactions of China Electrotechnical Society,2016,31(9):85-91.
[9]张海洋,许海平,方程,等.基于比例积分-准谐振控制器的直驱式永磁同步电机转矩脉动抑制方法[J].电工技术学报,2017,32(19):41-51.Zhang Haiyang,Xu Haiping,Fang Cheng,et al.Torque ripple suppression method of direct-drive permanent magnet synchronous motor based on resonant digital filter[J].Transactions of China Electrotechnical Society,2017,32(19):41-51.
[10]Zhang Ming,Huang Long,Yao Wenxi,et al.Circulating harmonic current elimination of a CPS-PWM-based modular multilevel converter with a plugin repetitive controller[J].IEEE Transactions on Power Electronics,2013,29(4):2083-2097.
[11]Tsai Mi-Ching,Yao Wu-Sung.Design of a plug-in type repetitive controller for periodic inputs[J].IEEETransactions on Control Systems Technology,2002,10(4):547-555.
[12]陈东,张军明,钱照明.一种具有频率变化适应性的并网逆变器改进型重复控制方法[J].电工技术学报,2014,29(6):64-70.Chen Dong,Zhang Junming,Qian Zhaoming.An improved repetitive control scheme for grid-connected inverter with frequency-varying adaptability[J].Transactions of China Electrotechnical Society,2014,29(6):64-70.
[13]Escobar G,Mattavelli P,Hernandez-Gomez M,et al.Filters with linear-phase properties for repetitive feedback[J].IEEE Transactions on Industrial Electronics,2014,61(1):405-413.
[14]李毅拓,陆海峰,瞿文龙,等.基于谐振调节器的永磁同步电机电流谐波抑制方法[J].中国电机工程学报,2014,34(3):423-430.Li Yituo,Lu Haifeng,Qu Wenlong,et al.A permanent magnet synchronous motor current suppression method based on resonant controllers[J].Proceedings of the CSEE,2014,34(3):423-430.
[15]韩邦成,王鹏,陈彦鹏.改进滑模观测器的磁悬浮高速PMSM转子位置预测方法[J].电机与控制学报,2013,17(9):42-47.Han Bangcheng,Wang Peng,Chen Yanpeng.Rotor position estimation of magnetic suspension high speed permanent magnet synchronous motor based on modified sliding-mode observer[J].Electric Machines and Control,2013,17(9):42-47.
[16]郑诗程,徐礼萍,郎佳红,等.基于重复PI控制和前馈控制的静止无功发生器[J].电工技术学报,2016,31(6):219-225.Zheng Shicheng,Xu Liping,Lang Jiahong,et al.Static var generator based on repetitive PI control and feedforward control[J].Transactions of China Electrotechnical Society,2016,31(6):219-225.
[17]Cui Peiling,Wang Qirui,Zhang Guoxi,et al.Hybrid fractional repetitive control for magnetically suspended rotor systems[J].IEEE Transactions on Industrial Electronics,2018,65(4):3491-3498.
[2]Tang Zhuangyao,Akin B.Suppression of dead-time distortion through revised repetitive controller in PMSM drives[J].IEEE Transactions on Energy Conversion,2017,32(3):918-930.
[3]Miyama Y,Hazeyama M,Hanioka S,et al.PWMcarrier harmonic iron loss reduction technique of permanent-magnet motors for electric vehicles[J].IEEE Transactions on Industry Applications,2016,52(4):2865-2871.
[4]方程,许海平,薛劭申,等.直驱型多相永磁同步电机转矩脉动及损耗特性[J].电工技术学报,2014,29(5):149-159.Fang Cheng,Xu Haiping,Xue Shaoshen,et al.Torque ripple and losses of direct-drive multi-phase permanent magnet synchronous machines[J].Transactions of China Electrotechnical Society,2014,29(5):149-159.
[5]黄克峰,李槐树,周羽.利用辅助槽削弱齿槽力的方法研究[J].电机与控制学报,2014,18(3):54-59.Huang Kefeng,Li Huaishu,Zhou Yu.Method research for reducing the cogging force by auxiliary slots[J].Electric Machines and Control,2014,18(3):54-59.
[6]方程,许海平,薛劭申,等.直驱型多相永磁同步电机定子磁动势与气隙磁密特性分析[J].中国电机工程学报,2013,33(24):106-113.Fang Cheng,Xu Haiping,Xue Shaoshen,et al.Analysis of stator MMF and air gap flux density characteristics of direct-drive multi-phase permanent magnet synchronous machines[J].Proceedings of the CSEE,2013,33(24):106-113.
[7]刘刚,孙庆文,肖烨然.永磁同步电机用坐标变换的电流谐波抑制方法[J].电机与控制学报,2015,19(5):30-36.Liu Gang,Sun Qingwen,Xiao Yeran.Permanent magnet synchronous motor current harmonics suppression based on coordinate transformation[J].Electric Machines and Control,2015,19(5):30-36.
[8]张学广,马彦,李瑞,等.两相静止坐标系下并网逆变器的重复控制策略[J].电工技术学报,2016,31(9):85-91.Zhang Xueguang,Ma Yan,Li Rui,et al.Repetitive control strategy for grid-connected converters in stationary frame[J].Transactions of China Electrotechnical Society,2016,31(9):85-91.
[9]张海洋,许海平,方程,等.基于比例积分-准谐振控制器的直驱式永磁同步电机转矩脉动抑制方法[J].电工技术学报,2017,32(19):41-51.Zhang Haiyang,Xu Haiping,Fang Cheng,et al.Torque ripple suppression method of direct-drive permanent magnet synchronous motor based on resonant digital filter[J].Transactions of China Electrotechnical Society,2017,32(19):41-51.
[10]Zhang Ming,Huang Long,Yao Wenxi,et al.Circulating harmonic current elimination of a CPS-PWM-based modular multilevel converter with a plugin repetitive controller[J].IEEE Transactions on Power Electronics,2013,29(4):2083-2097.
[11]Tsai Mi-Ching,Yao Wu-Sung.Design of a plug-in type repetitive controller for periodic inputs[J].IEEETransactions on Control Systems Technology,2002,10(4):547-555.
[12]陈东,张军明,钱照明.一种具有频率变化适应性的并网逆变器改进型重复控制方法[J].电工技术学报,2014,29(6):64-70.Chen Dong,Zhang Junming,Qian Zhaoming.An improved repetitive control scheme for grid-connected inverter with frequency-varying adaptability[J].Transactions of China Electrotechnical Society,2014,29(6):64-70.
[13]Escobar G,Mattavelli P,Hernandez-Gomez M,et al.Filters with linear-phase properties for repetitive feedback[J].IEEE Transactions on Industrial Electronics,2014,61(1):405-413.
[14]李毅拓,陆海峰,瞿文龙,等.基于谐振调节器的永磁同步电机电流谐波抑制方法[J].中国电机工程学报,2014,34(3):423-430.Li Yituo,Lu Haifeng,Qu Wenlong,et al.A permanent magnet synchronous motor current suppression method based on resonant controllers[J].Proceedings of the CSEE,2014,34(3):423-430.
[15]韩邦成,王鹏,陈彦鹏.改进滑模观测器的磁悬浮高速PMSM转子位置预测方法[J].电机与控制学报,2013,17(9):42-47.Han Bangcheng,Wang Peng,Chen Yanpeng.Rotor position estimation of magnetic suspension high speed permanent magnet synchronous motor based on modified sliding-mode observer[J].Electric Machines and Control,2013,17(9):42-47.
[16]郑诗程,徐礼萍,郎佳红,等.基于重复PI控制和前馈控制的静止无功发生器[J].电工技术学报,2016,31(6):219-225.Zheng Shicheng,Xu Liping,Lang Jiahong,et al.Static var generator based on repetitive PI control and feedforward control[J].Transactions of China Electrotechnical Society,2016,31(6):219-225.
[17]Cui Peiling,Wang Qirui,Zhang Guoxi,et al.Hybrid fractional repetitive control for magnetically suspended rotor systems[J].IEEE Transactions on Industrial Electronics,2018,65(4):3491-3498.