基于铁耗在线计算的最小损耗预测电流控制方法
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摘要
为通过改进控制方法进一步提高表贴式永磁同步电机运行效率,该文提出一种基于铁耗在线计算的最小损耗预测电流控制方法。该方法首先通过理论分析推导出能够使损耗最小的定子d轴电流给定值关于铁耗值与定子磁链幅值的表达式,而后设计卡尔曼观测器对定子电流铁耗分量进行观测以便计算当前运行状况下电机的铁耗值与定子磁链幅值。同时,为保证损耗抑制效果,该文将定子电流铁耗分量的观测结果引入电流预测过程中,以消除传统预测电流控制方法忽略铁耗引起的电流跟踪误差。实验结果表明,所提方法具有良好的动态性能、电流跟踪效果及损耗抑制效果。
In order to improve the efficiency of surface-mounted permanent magnet synchronous motor by control methods, this paper presented a novel loss minimization control method based on iron loss on-line calculation. The proposed method calculated the optimal d-axis current which can minimize the loss by the value of the iron loss and the flux modulus. A Kalman observer was designed to observe the stator current iron loss variable, and then the result was used to calculate the value of the iron loss and the flux modulus. At the same time, to ensure the performance of the loss minimization algorithm,the stator current iron loss variable was introduced to the current prediction process of the predictive current control, thus the current tracking errors caused by neglecting the iron loss can be eliminated. Thus, the proposed loss minimization predictive current control method can obtain a better current tracking performance and efficiency improvement ability than ordinary model based loss minimization predictive current control. Finally, the experiment results validated the performance of the proposed method.
In order to improve the efficiency of surface-mounted permanent magnet synchronous motor by control methods, this paper presented a novel loss minimization control method based on iron loss on-line calculation. The proposed method calculated the optimal d-axis current which can minimize the loss by the value of the iron loss and the flux modulus. A Kalman observer was designed to observe the stator current iron loss variable, and then the result was used to calculate the value of the iron loss and the flux modulus. At the same time, to ensure the performance of the loss minimization algorithm,the stator current iron loss variable was introduced to the current prediction process of the predictive current control, thus the current tracking errors caused by neglecting the iron loss can be eliminated. Thus, the proposed loss minimization predictive current control method can obtain a better current tracking performance and efficiency improvement ability than ordinary model based loss minimization predictive current control. Finally, the experiment results validated the performance of the proposed method.
引文
[1]沈建新,李鹏,郝鹤,等.高速永磁无刷电机电磁损耗的研究概况(英文)[J].中国电机工程学报,2013,33(3):62-74.Shen Jianxin,Li Peng,Hao He,et al.Study on electromagnetic losses in high-speed permanent magnet brushless machines-the state of the art[J].Proceedings of the CSEE,2013,33(3):62-74(in Englishi).
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[5]Vaez S,John V I,Rahman M A.An on-line loss minimization controller for interior permanent magnet motor drives[J].IEEE Transactions on Energy Conversion,1999,14(4):1435-1440.
[6]Uddin M N,Zou H B,Azevedo F.Online lossminimization-based adaptive flux observer for direct torque and flux control of PMSM drive[J].IEEE Transactions on Industry Applications,2016,52(1):425-431.
[7]张立伟,温旭辉,郑琼林.异步电机用混合式模糊搜索效率优化控制研究[J].中国电机工程学报,2007,27(27):83-87.Zhang Liwei,Wen Xuhui,Zheng Qionglin.Fuzzy logic based hybrid search control strategy for efficiency optimization control of induction motors[J].Proceedings of the CSEE,2007,27(27):83-87(in Chinese).
[8]张兴华,孙振兴,王德明.电动汽车用感应电机直接转矩控制系统的效率最优控制[J].电工技术学报,2013,28(4):255-260.Zhang Xinghua,Sun Zhenxing,Wang Deming.Optimal efficiency control of direct torque controlled induction motor drives for electric vehicles[J].Transactions of China Electrotechnical Society,2013,28(4):255-260(in Chinese).
[9]Frias A,Kedous-Lebouc A,Chillet C,et al.Loss minimization of an electrical vehicle machine considering its control and iron losses[J].IEEE Transactions on Magnetics,2016,52(5):8102904.
[10]Borisevich A,Schullerus G.Energy efficient control of an induction machine under torque step changes[J].IEEE Transactions on Energy Conversion,2016,31(4):1295-1303.
[11]Ni Ronggang,Xu Dianguo,Wang Gaolin,et al.Maximum efficiency per ampere control of permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2015,62(4):2135-2143.
[12]Xie Wei,Wang Xiaocan,Wang Fengxiang,et al.Dynamic loss minimization of finite control set-model predictive torque control for electric drive system[J].IEEE Transactions on Power Electronics,2016,31(1):849-860.
[13]Xu Wei,Lorenz R D.Dynamic loss minimization using improved deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2014,50(2):1053-1065.
[14]Lee J S,Lorenz R D,Valenzuela M A.Time-optimal and loss-minimizing deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2014,50(3):1880-1890.
[15]Pairo H,Shoulaie A.Effective and simplified method in maximum efficiency control of interior permanent magnet synchronous motors[J].IET Electric Power Applications,2017,11(3):447-459.
[16]Ranta M,Hinkkanen M,Dlala E,et al.Inclusion of hysteresis and eddy current losses in dynamic induction machine models[C]//Proceedings of IEEE International Electric Machines and Drives Conference.Miami,FL,USA:IEEE,2009:1387-1392.
[17]Urasaki N,Senjyu T,Uezato K.Investigation of influences of various losses on electromagnetic torque for surface-mounted permanent magnet synchronous motors[J].IEEE Transactions on Power Electronics,2003,18(1):131-139.
[18]Deng Weitao,Xia Changliang,Yan Yan,et al.Online multiparameter identification of surface-mounted PMSM considering inverter disturbance voltage[J].IEEE Transactions on Energy Conversion,2017,32(1):202-212.
[19]易伯瑜,康龙云,陶思念,等.基于两段卡尔曼滤波器的内置式永磁电机观测器设计[J].电工技术学报,2014,29(9):110-118.Yi Boyu,Kang Longyun,Tao Sinian,et al.Observer design of interior permanent magnet synchronous motors based on two-stage Kalman filter[J].Transactions of China Electrotechnical Society,2014,29(9):110-118(in Chinese).
[20]佘致廷,邹薇,董旺华,等.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计[J].控制理论与应用,2016,33(10):1312-1318.She Zhiting,Zou Wei,Dong Wanghua,et al.Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation[J].Control Theory&Applications,2016,33(10):1312-1318(in Chinese).
[21]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045-3053.Xia Changliang,Qiu Xudong,Wang Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045-3053(in Chinese).
[22]张晓光,张亮,侯本帅.永磁同步电机优化模型预测转矩控制[J].中国电机工程学报,2017,37(16):4800-4809.Zhang Xiaoguang,Zhang Liang,Hou Benshuai.Improved model predictive torque control of permanent magnet synchronous motor[J].Proceedings of the CSEE,2017,37(16):4800-4809(in Chinese).
[2]Denis N,Inoue M,Fujisaki K,et al.Iron loss reduction in permanent magnet synchronous motor by using stator core made of nanocrystalline magnetic material[J].IEEE Transactions on Magnetics,2017,53(11):8110006.
[3]陈晨,王又珑.基于效率及温升的轴向磁通永磁电机优化设计[J].中国电机工程学报,2016,36(6):1686-1694.Chen Chen,Wang Youlong.Optimal design of axial-flux permanent magnet motors based on the efficiency and temperature rise[J].Proceedings of the CSEE,2016,36(6):1686-1694(in Chinese).
[4]黄允凯,周涛.基于等效磁路法的轴向永磁电机效率优化设计[J].电工技术学报,2015,30(2):73-79.Huang Yunkai,Zhou Tao.Efficiency optimization design of axial flux permanent magnet machines using magnetic equivalent circuit[J].Transactions of China Electrotechnical Society,2015,30(2):73-79(in Chinese).
[5]Vaez S,John V I,Rahman M A.An on-line loss minimization controller for interior permanent magnet motor drives[J].IEEE Transactions on Energy Conversion,1999,14(4):1435-1440.
[6]Uddin M N,Zou H B,Azevedo F.Online lossminimization-based adaptive flux observer for direct torque and flux control of PMSM drive[J].IEEE Transactions on Industry Applications,2016,52(1):425-431.
[7]张立伟,温旭辉,郑琼林.异步电机用混合式模糊搜索效率优化控制研究[J].中国电机工程学报,2007,27(27):83-87.Zhang Liwei,Wen Xuhui,Zheng Qionglin.Fuzzy logic based hybrid search control strategy for efficiency optimization control of induction motors[J].Proceedings of the CSEE,2007,27(27):83-87(in Chinese).
[8]张兴华,孙振兴,王德明.电动汽车用感应电机直接转矩控制系统的效率最优控制[J].电工技术学报,2013,28(4):255-260.Zhang Xinghua,Sun Zhenxing,Wang Deming.Optimal efficiency control of direct torque controlled induction motor drives for electric vehicles[J].Transactions of China Electrotechnical Society,2013,28(4):255-260(in Chinese).
[9]Frias A,Kedous-Lebouc A,Chillet C,et al.Loss minimization of an electrical vehicle machine considering its control and iron losses[J].IEEE Transactions on Magnetics,2016,52(5):8102904.
[10]Borisevich A,Schullerus G.Energy efficient control of an induction machine under torque step changes[J].IEEE Transactions on Energy Conversion,2016,31(4):1295-1303.
[11]Ni Ronggang,Xu Dianguo,Wang Gaolin,et al.Maximum efficiency per ampere control of permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2015,62(4):2135-2143.
[12]Xie Wei,Wang Xiaocan,Wang Fengxiang,et al.Dynamic loss minimization of finite control set-model predictive torque control for electric drive system[J].IEEE Transactions on Power Electronics,2016,31(1):849-860.
[13]Xu Wei,Lorenz R D.Dynamic loss minimization using improved deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2014,50(2):1053-1065.
[14]Lee J S,Lorenz R D,Valenzuela M A.Time-optimal and loss-minimizing deadbeat-direct torque and flux control for interior permanent-magnet synchronous machines[J].IEEE Transactions on Industry Applications,2014,50(3):1880-1890.
[15]Pairo H,Shoulaie A.Effective and simplified method in maximum efficiency control of interior permanent magnet synchronous motors[J].IET Electric Power Applications,2017,11(3):447-459.
[16]Ranta M,Hinkkanen M,Dlala E,et al.Inclusion of hysteresis and eddy current losses in dynamic induction machine models[C]//Proceedings of IEEE International Electric Machines and Drives Conference.Miami,FL,USA:IEEE,2009:1387-1392.
[17]Urasaki N,Senjyu T,Uezato K.Investigation of influences of various losses on electromagnetic torque for surface-mounted permanent magnet synchronous motors[J].IEEE Transactions on Power Electronics,2003,18(1):131-139.
[18]Deng Weitao,Xia Changliang,Yan Yan,et al.Online multiparameter identification of surface-mounted PMSM considering inverter disturbance voltage[J].IEEE Transactions on Energy Conversion,2017,32(1):202-212.
[19]易伯瑜,康龙云,陶思念,等.基于两段卡尔曼滤波器的内置式永磁电机观测器设计[J].电工技术学报,2014,29(9):110-118.Yi Boyu,Kang Longyun,Tao Sinian,et al.Observer design of interior permanent magnet synchronous motors based on two-stage Kalman filter[J].Transactions of China Electrotechnical Society,2014,29(9):110-118(in Chinese).
[20]佘致廷,邹薇,董旺华,等.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计[J].控制理论与应用,2016,33(10):1312-1318.She Zhiting,Zou Wei,Dong Wanghua,et al.Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation[J].Control Theory&Applications,2016,33(10):1312-1318(in Chinese).
[21]夏长亮,仇旭东,王志强,等.基于矢量作用时间的新型预测转矩控制[J].中国电机工程学报,2016,36(11):3045-3053.Xia Changliang,Qiu Xudong,Wang Zhiqiang,et al.Predictive torque control based on optimal operating time of vector[J].Proceedings of the CSEE,2016,36(11):3045-3053(in Chinese).
[22]张晓光,张亮,侯本帅.永磁同步电机优化模型预测转矩控制[J].中国电机工程学报,2017,37(16):4800-4809.Zhang Xiaoguang,Zhang Liang,Hou Benshuai.Improved model predictive torque control of permanent magnet synchronous motor[J].Proceedings of the CSEE,2017,37(16):4800-4809(in Chinese).