永磁同步电机有限控集模型预测电流控制预测误差分析
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摘要
在采用有限控集模型预测电流控制策略的永磁同步电机驱动系统中,预测模型使用的电机参数尤其是定子电感可能与实际值并不匹配,会造成模型预测控制算法存在预测上的误差,进而影响系统稳态控制性能。针对该问题,首先定义了预测误差作为评价指标,然后推导出电流预测误差的数学模型,理论分析表明预测模型使用的d、q轴电感值正向偏差和负向偏差对于d、q轴电流预测误差会产生不一样的影响,且负向偏差影响更大。实验结果验证了上述关于电流预测误差的理论分析,同时对相应的电流稳态跟踪误差进行了实验分析,显示出预测误差对于稳态跟踪性能的影响。得到的预测误差数学模型和分析结论能够为模型预测算法预测误差的降低和控制性能的提升提供理论指导。
For permanent magnet synchronous motor( PMSM) drive systems adopting finite-control-set model predictive current control( FCS-MPCC) strategy,the parameters used in prediction model may not be the same as the actual values during the operation,especially for d-and q-axis stator inductances.Such parameter mismatches can result in prediction error for FCS-MPCC and further deteriorate the steady-state control performance of motor system. In order to solve this problem,the prediction error was firstly defined as an evaluation index and its mathematical model was then derived. The theoretical analysis shows that the same positive deviation and negative deviation of d-or q-axis stator inductance can lead to different effects on the prediction error of d-or q-axis current,especially the negative one. Finally,the experimental results verify the theoretical analysis of prediction error. Besides,the corresponding current tracking errors are also analyzed. It provides effective guidelines for reduction of prediction error and improvement of control performance for model predictive control.
For permanent magnet synchronous motor( PMSM) drive systems adopting finite-control-set model predictive current control( FCS-MPCC) strategy,the parameters used in prediction model may not be the same as the actual values during the operation,especially for d-and q-axis stator inductances.Such parameter mismatches can result in prediction error for FCS-MPCC and further deteriorate the steady-state control performance of motor system. In order to solve this problem,the prediction error was firstly defined as an evaluation index and its mathematical model was then derived. The theoretical analysis shows that the same positive deviation and negative deviation of d-or q-axis stator inductance can lead to different effects on the prediction error of d-or q-axis current,especially the negative one. Finally,the experimental results verify the theoretical analysis of prediction error. Besides,the corresponding current tracking errors are also analyzed. It provides effective guidelines for reduction of prediction error and improvement of control performance for model predictive control.
引文
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[12]SAWMA J,KHATOUNIAN F,MONMASSON E,et al.Analysis of the impact of online identification on model predictive current control applied to permanent magnet synchronous motors[J].IETElectric Power Application,2017,11(5):864.
[13]CHEN Z,QIU J,JIN M.Adaptive finite-control-set model predictive current control for IPMSM drives with inductance variation[J].IET Electric PowerApplication,2017,11(5):874.
[14]NALAKATH S,PREINDL M,EMADI A.Online multi-parameter estimation of interior permanent magnet motor drives with finite control set model predictive control[J].IET Electric Power Application,2017,11(5):944.
[15]YOUNG H,PEREZ M,RODRIGUEZ J.Analysis of finite-control-set model predictive current control with model parameter mismatch in a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2016,63(5):3100.
[16]SIAMI M,KHABURI D,ABBASZADEH A,et al.Robustness improvement of predictive current control using prediction error correction for permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2016,63(6):3458.
[17]RODRIGUEZ J,CORTES P.Predictive control of power converters and electrical drives[M].Hoboken,NJ,USA:Wiley,2012:195-201.
[18]牛峰,李奎,王尧.基于占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2014,29(11):20.NIU Feng,LI Kui,WANG Yao.Model predictive direct torque control for permanent magnet synchronous machines based on duty ratio modulation[J].Transactions of China Electrotechnical Society,2014,29(11):20.
[2]何栋炜,彭侠夫,蒋学程.永磁同步电机模型预测控制的电流控制策略[J].哈尔滨工程大学学报,2013,34(12):1556.HE Dongwei,PENG Xiafu,JIANG Xuecheng.A current control strategy for the permanent magnet synchronous motor based on model predictive control[J].Journal of Harbin Engineering University,2013,34(12):1556.
[3]VAZQUEZ S,RODRIGUEZ J,RIVERA M,et al.Model predictive control for power converters and drives:advances and trends[J].IEEE Transactions on Industrial Electronics,2017,64(2):935.
[4]ERROUISSI R,AL-DURRA A,MUYEEN S,et al.Continuoustime model predictive control of a permanent magnet synchronous motor drive with disturbance decoupling[J].IET Electric Power Applications,2017,11(5):697.
[5]牛峰,李奎,王尧.永磁同步电机模型预测直接转矩控制[J].电机与控制学报,2015,19(12):60.NIU Feng,LI Kui,WANG Yao.Model predictive direct torque control for permanent magnet synchronous machines[J].Electric Machines and Control,2015,19(12):60.
[6]王庚,杨明,牛里,等.永磁同步电机电流预测控制电流静差消除算法[J].中国电机工程学报,2015,35(10):2544.WANG Geng,YANG Ming,NIU Li,et al.A static current error elimination algorithm for PMSM predictive current control[J].Proceeding ofthe CSEE,2015,35(10):2544.
[7]LIN C,LIU T,YU J,et al.Model-free predictive current control for interior permanent-magnet synchronous motor drives based on current difference detection technique[J].IEEE Transactions on Industrial Electronics,2014,61(2):667.
[8]张虎,张永昌,刘家利,等.基于单次电流采样的永磁同步电机无模型预测电流控制[J].电工技术学报,2017,32(2):180.ZHANG Hu,ZHANG Yongchang,LIU Jiali,et al.Model-free predictive current control of permanent magnet synchronous motor based on single current sampling[J].Transactions of China Electrotechnical Society,2017,32(2):180.
[9]BOZORGI A,FARASAT M,JAFARISHIADEH S.Model predictive current control of surface-mounted permanent magnet synchronous motor with low torque and current ripple[J].IET Power E-lectronics,2017,10(10):1120.
[10]KIM K.Model reference adaptive control-based adaptive current control scheme of a PM synchronous motor with an improved servo performance[J].IET Electric Power Application,2009,3(1):8.
[11]YANG M,LANG X,LONG J,et al.Flux immunity robust predictive current control with incremental model and extended state observer for PMSM drive[J].IEEE Transactions on Power Electronics,2017,32(12):9267.
[12]SAWMA J,KHATOUNIAN F,MONMASSON E,et al.Analysis of the impact of online identification on model predictive current control applied to permanent magnet synchronous motors[J].IETElectric Power Application,2017,11(5):864.
[13]CHEN Z,QIU J,JIN M.Adaptive finite-control-set model predictive current control for IPMSM drives with inductance variation[J].IET Electric PowerApplication,2017,11(5):874.
[14]NALAKATH S,PREINDL M,EMADI A.Online multi-parameter estimation of interior permanent magnet motor drives with finite control set model predictive control[J].IET Electric Power Application,2017,11(5):944.
[15]YOUNG H,PEREZ M,RODRIGUEZ J.Analysis of finite-control-set model predictive current control with model parameter mismatch in a three-phase inverter[J].IEEE Transactions on Industrial Electronics,2016,63(5):3100.
[16]SIAMI M,KHABURI D,ABBASZADEH A,et al.Robustness improvement of predictive current control using prediction error correction for permanent-magnet synchronous machines[J].IEEE Transactions on Industrial Electronics,2016,63(6):3458.
[17]RODRIGUEZ J,CORTES P.Predictive control of power converters and electrical drives[M].Hoboken,NJ,USA:Wiley,2012:195-201.
[18]牛峰,李奎,王尧.基于占空比调制的永磁同步电机直接转矩控制[J].电工技术学报,2014,29(11):20.NIU Feng,LI Kui,WANG Yao.Model predictive direct torque control for permanent magnet synchronous machines based on duty ratio modulation[J].Transactions of China Electrotechnical Society,2014,29(11):20.
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