CN112234889A - Single-vector control method of open-winding permanent magnet synchronous motor - Google Patents

Single-vector control method of open-winding permanent magnet synchronous motor Download PDF

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CN112234889A
CN112234889A CN202011072114.9A CN202011072114A CN112234889A CN 112234889 A CN112234889 A CN 112234889A CN 202011072114 A CN202011072114 A CN 202011072114A CN 112234889 A CN112234889 A CN 112234889A
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voltage
zero sequence
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张硕
李雪萍
张承宁
周莹
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Beijing Institute of Technology BIT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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Abstract

The invention provides a single vector control method of an open-winding permanent magnet synchronous motor, which can accurately judge the vector plane interval of the required voltage by combining the ideas of single voltage vector control and dead beat control of the open-winding permanent magnet synchronous motor, temporarily does not consider zero sequence voltage when calculating a cost function, so that the number of voltages required to be substituted into the cost function is less, and the calculated amount can be obviously reduced. When the cost function is calculated, proper voltage is selected after zero sequence voltage is ignored, and then the finally required switching state is output by combining positive and negative of the zero sequence voltage, so that the calculated amount is further reduced, and meanwhile, a good control effect can be still kept.

Description

Single-vector control method of open-winding permanent magnet synchronous motor
Technical Field
The invention relates to the field of single-voltage vector control in permanent magnet synchronous motor control, in particular to a control technology for reducing single-vector control calculated amount of an open-winding permanent magnet synchronous motor.
Background
The open-winding permanent magnet synchronous motor adopting the single power supply has the advantage of saving space, so that the open-winding permanent magnet synchronous motor is more adopted. The single voltage vector control technique has been widely studied by researchers because it has a fast dynamic and static response and does not require a voltage modulator. However, the single vector control technology needs to introduce a cost function for optimal voltage selection, and often has a problem of large calculation amount. Even without considering zero sequence voltage, there are 18 non-zero voltage vectors and 1 zero voltage vector. If following the conventional single vector control technique, 19 cost function calculations are required. If zero sequence voltage is considered, 27 cost function calculations are required. Therefore, how to reduce the calculation amount of the single vector control technology is a problem worthy of study. Yuan Xin et al put forward a Finite set Control technology for Zero-Sequence Current Suppression in Improved finish-State Model Predictive Control with Zero-Sequence Current Suppression for OEW-SPMSM Drives, and the voltage vectors that can be selected after considering the Zero-Sequence voltage are 27, and the calculated amount is large. Wei Xie et al in Finite-Control-Set Model Predictive Torque Control With a dead beat Solution for PMSM Drives, for a conventional permanent magnet synchronous motor, propose a single vector Control technique combined With dead beat Control in terms of Torque prediction, but the conventional motor has no zero sequence loop and less voltage selectivity. Therefore, there is a need in the art for a control strategy that can implement a better control effect while reducing the amount of calculation for a single vector control technique of an open-winding motor.
Disclosure of Invention
In order to solve the defects of the single-voltage vector control strategy of the existing open winding motor, in particular to the problem of large calculated amount in the control process, the invention provides a single-vector control method of the open winding permanent magnet synchronous motor, which specifically comprises the following steps:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle parameters of the permanent magnet synchronous motor at the current moment in real time, and converting the parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, and predicting and calculating a voltage value required by the next moment according to a dead-beat control idea by combining the current moment parameter acquired based on the step one;
converting the voltage value under the d-q coordinate system obtained by calculation in the step two into an alpha-beta coordinate system, and judging the voltage vector plane interval in which the voltage is synthesized;
step four, the interval boundary and the internal voltage value judged in the step three are substituted into a cost function for neglecting the zero sequence voltage, and the non-zero sequence voltage is selected by utilizing the minimization principle of the cost function; simultaneously, the zero sequence voltage is considered independently, and a corresponding switch sequence is selected according to the positive value and the negative value of the required zero sequence voltage; and finally outputting an optimal voltage vector by combining the result of the cost function calculation, thereby realizing the control of the motor.
Further, in the second step, the mathematical model established for the permanent magnet synchronous motor in the d-q coordinate system is specifically:
Figure BDA0002715340190000021
Figure BDA0002715340190000022
Figure BDA0002715340190000023
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; rsIs a stator resistor; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; l isd、Lq、L0D-axis, q-axis and zero sequence inductance respectively; omegarIs the electrical angular velocity of the rotor; ΨfA permanent magnet flux linkage of a motor rotor; Ψ3fIs a tertiary magnetic linkage; theta is a rotor position angle; t is time; in the model based on the surface-mounted open winding permanent magnet synchronous motor, Ld＝Lq＝LsThe relationship of (1); and carrying out discretization processing on the model.
Further, in the second step, the voltage value required for the next time is predicted and calculated according to the dead-beat control concept, and firstly, the dead-beat current prediction control model is used to predict the quadrature-axis voltage and the direct-axis voltage at the next time, based on the following formula:
Figure BDA0002715340190000024
Figure BDA0002715340190000025
Figure BDA0002715340190000026
in the formula, k represents the current time, and k +1 is the next time;
Figure BDA0002715340190000027
respectively predicting values of a direct axis, a quadrature axis and a zero sequence current at the next moment; t iskIs a control cycle;
the voltage required at the next moment is calculated as follows:
Figure BDA0002715340190000028
Figure BDA0002715340190000029
Figure BDA00027153401900000210
wherein id ref(k)，iq ref(k)，i0 ref(k) Respectively the actual reference currents at time k.
Further, in the third step, the voltages required by the d axis and the q axis are converted into the alpha-beta coordinate system based on the following relations:
Uα(k+1)＝Ud(k+1)cosθ-Uq(k+1)sinθ
Uβ(k+1)＝Ud(k+1)sinθ+Uq(k+1)cosθ
after the voltage is converted into an alpha-beta coordinate system, judging the voltage vector plane interval where the voltage is located;
further, in the fourth step, in order to further reduce the calculation amount, the zero sequence voltage is omitted first, and a cost function of the following form is established:
g(i)＝|Ud(k+1)-Ud(i)|+|Uq(k+1)-Uq(i)|
wherein, i ═ {1,2,3,4,5 }.
Considering the zero sequence voltage separately, and aiming at the positive and negative values of the required zero sequence voltage, when the required zero sequence voltage U is0And if the required zero sequence voltage is less than 0, selecting the switching sequence which can generate the negative zero sequence voltage. And finally, outputting the optimal voltage vector to control the motor to operate.
Compared with the prior art, the method provided by the invention at least has the following beneficial effects:
the method can accurately calculate the required voltage by combining the ideas of single-voltage vector control and dead-beat control of the open-winding permanent magnet synchronous motor, directly substitutes the boundary of the interval where the required voltage is located, the internal voltage and the required voltage into a cost function for calculation by a reasonable plane interval division method, ignores zero-sequence voltage firstly when calculating the cost function, selects proper voltage, combines the positive and negative of the zero-sequence voltage, and outputs the final required switching state. Although some schemes for outputting the optimal voltage vector based on the cost function from the flux linkage exist in the prior art, the number of the calculated voltages still needs to be at least 7 times, and the number of the voltages which need to be substituted into the cost function in each control period is only 5 through reasonable interval division and independent consideration of zero sequence voltage, so that the calculated amount is greatly reduced, and a good control effect is still achieved.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a schematic diagram of split winding PMSM control based on the method provided by the present invention;
FIG. 3 is a voltage vector plane interval division diagram according to the present invention;
fig. 4 is a graph of the effects of motor speed, torque and three-phase current in an example based on the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a single vector control method of an open winding permanent magnet synchronous motor, which specifically comprises the following steps as shown in figures 1-2:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle parameters of the permanent magnet synchronous motor at the current moment in real time, and converting the parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, and predicting and calculating a voltage value required by the next moment according to a dead-beat control idea by combining the current moment parameter acquired based on the step one;
converting the voltage value under the d-q coordinate system obtained by calculation in the step two into an alpha-beta coordinate system, and judging the voltage vector plane interval in which the voltage is synthesized;
step four, the interval boundary and the internal voltage value judged in the step three are substituted into a cost function for neglecting the zero sequence voltage, and the non-zero sequence voltage is selected by utilizing the minimization principle of the cost function; simultaneously, the zero sequence voltage is considered independently, and a corresponding switch sequence is selected according to the positive value and the negative value of the required zero sequence voltage; and finally outputting an optimal voltage vector by combining the result of the cost function calculation, thereby realizing the control of the motor.
In the existing scheme about model prediction control, the mathematical model of the open-winding permanent magnet synchronous motor in a d-q coordinate system is discretized, and meanwhile, the higher harmonics except the third harmonic which occupy the minimum part are ignored, so that the d-axis, the q-axis and the zero-sequence current at the (k +1) moment can be predicted according to the measured motor information at the k moment:
in the second step, the mathematical model established for the permanent magnet synchronous motor under the d-q coordinate system is specifically as follows:
Figure BDA0002715340190000041
Figure BDA0002715340190000042
Figure BDA0002715340190000043
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; rsIs a stator resistor; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; l isd、Lq、L0D-axis, q-axis and zero sequence inductance respectively; omegarIs the electrical angular velocity of the rotor; ΨfA permanent magnet flux linkage of a motor rotor; Ψ3fIs a tertiary magnetic linkage; theta is a rotor position angle; t is time; in the model based on the surface-mounted open winding permanent magnet synchronous motor, Ld＝Lq＝LsThe relationship of (1); and carrying out discretization processing on the model.
Predicting and calculating a voltage value required by the next moment according to a dead-beat control idea, firstly predicting quadrature-axis and direct-axis voltages of the next moment by adopting a dead-beat current prediction control model, and based on the following formula:
Figure BDA0002715340190000044
Figure BDA0002715340190000045
Figure BDA0002715340190000046
in the formula, k represents the current time, and k +1 is the next time;
Figure BDA0002715340190000047
respectively predicting values of a direct axis, a quadrature axis and a zero sequence current at the next moment; t iskIs a control cycle;
the voltage required at the next moment is calculated as follows:
Figure BDA0002715340190000048
Figure BDA0002715340190000049
Figure BDA00027153401900000410
wherein id ref(k)，iq ref(k)，i0 ref(k) Respectively the actual reference currents at time k.
In the traditional single-voltage vector control, the cost function can be composed of three parts, namely d-axis current, q-axis current and zero-sequence current, and 27 voltage vectors needing to participate in calculation are required. Even if the zero sequence voltage is omitted, 19 voltage vectors are needed to participate in the calculation. In a preferred embodiment of the present invention, the voltages required for d-axis and q-axis are converted to α - β coordinate system based on the following relations in step three:
Uα(k+1)＝Ud(k+1)cosθ-Uq(k+1)sinθ
Uβ(k+1)＝Ud(k+1)sinθ+Uq(k+1)cosθ
after the voltage is converted into an alpha-beta coordinate system, judging the voltage vector plane interval where the voltage is located;
as shown in fig. 3, the entire voltage vector plane is divided into 6 intervals, i-vi. And determining an interval where the required voltage is located according to the voltage value under the alpha-beta coordinate system, then introducing the interval boundary and the voltage inside the interval into a cost function, and selecting a proper voltage vector. Therefore, to further reduce the amount of computation, the zero sequence voltage is first omitted in step four, and a cost function of the following form is established:
g(i)＝|Ud(k+1)-Ud(i)|+|Uq(k+1)-Uq(i)|
wherein, i ═ {1,2,3,4,5 }.
For example, when the required voltage vector is in the interval i, the appropriate voltages to be substituted are vectors 18, 1,2,3, and 19 in fig. 3. In the invention, zero sequence voltage is considered independently, and the required zero sequence voltage U is used as the required zero sequence voltage according to the positive and negative values of the required zero sequence voltage0And if the required zero sequence voltage is less than 0, selecting the switching sequence which can generate the negative zero sequence voltage. And finally, outputting the optimal voltage vector to control the motor to operate. It can be found that in the voltage selection process, only 5 times of cost function calculation is needed, and the calculation amount is greatly reduced compared with the traditional single vector control.
In the control strategy proposed by the present invention, the motor can run smoothly as shown in fig. 4. This shows that the strategy proposed by the scheme is effective, and can still realize the smooth running of the motor while reducing the calculation amount to a great extent.
It should be understood that, the sequence numbers of the steps in the embodiments of the present invention do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. A single vector control method of an open winding permanent magnet synchronous motor is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the following steps of firstly, collecting three-phase stator current, motor rotating speed and rotor position angle parameters of the permanent magnet synchronous motor at the current moment in real time, and converting the parameters into a form in a quadrature-direct axis d-q coordinate system;
step two, establishing a mathematical model for the permanent magnet synchronous motor under the d-q coordinate system, and predicting and calculating a voltage value required by the next moment according to a dead-beat control idea by combining the current moment parameter acquired based on the step one;
converting the voltage value under the d-q coordinate system obtained by calculation in the step two into an alpha-beta coordinate system, and judging the voltage vector plane interval in which the voltage is synthesized;
step four, the interval boundary and the internal voltage value judged in the step three are substituted into a cost function for neglecting the zero sequence voltage, and the non-zero sequence voltage is selected by utilizing the minimization principle of the cost function; simultaneously, the zero sequence voltage is considered independently, and a corresponding switch sequence is selected according to the positive value and the negative value of the required zero sequence voltage; and finally outputting an optimal voltage vector by combining the result of the cost function calculation, thereby realizing the control of the motor.
2. The method of claim 1, wherein: in the second step, the mathematical model established for the permanent magnet synchronous motor under the d-q coordinate system is specifically as follows:
Figure FDA0002715340180000011
Figure FDA0002715340180000012
Figure FDA0002715340180000013
in the formula of Ud、Uq、U0The direct axis, quadrature axis and zero sequence voltage of the motor under a d-q coordinate system are respectively; rsIs a stator resistor; i.e. id、iq、i0Direct axis, quadrature axis and zero sequence current respectively; l isd、Lq、L0D-axis, q-axis and zero sequence inductance respectively; omegarIs the electrical angular velocity of the rotor; ΨfA permanent magnet flux linkage of a motor rotor; Ψ3fIs a tertiary magnetic linkage; theta is a rotor position angle; t is time; in the model based on the surface-mounted open winding permanent magnet synchronous motor, Ld＝Lq＝LsThe relationship of (1); and carrying out discretization processing on the model.
3. The method of claim 2, wherein: predicting and calculating a voltage value required by the next moment according to the dead-beat control idea in the second step, firstly predicting quadrature axis and direct axis voltages of the next moment by adopting a dead-beat current prediction control model, and based on the following formula:
Figure FDA0002715340180000014
Figure FDA0002715340180000015
Figure FDA0002715340180000016
in the formula, k represents the current time, and k +1 is the next time;
Figure FDA0002715340180000021
respectively predicting values of a direct axis, a quadrature axis and a zero sequence current at the next moment; t iskIs a control cycle;
the voltage required at the next moment is calculated as follows:
Figure FDA0002715340180000022
Figure FDA0002715340180000023
Figure FDA0002715340180000024
wherein id ref(k)，iq ref(k)，i0 ref(k) Respectively the actual reference currents at time k.
4. The method of claim 1, wherein: in the third step, the voltages required by the d axis and the q axis are converted into an alpha-beta coordinate system based on the following relations:
Uα(k+1)＝Ud(k+1)cosθ-Uq(k+1)sinθ
Uβ(k+1)＝Ud(k+1)sinθ+Uq(k+1)cosθ。
5. the method of claim 1, wherein: in the fourth step, a cost function for neglecting the zero sequence voltage is firstly established:
g(i)＝|Ud(k+1)-Ud(i)|+|Uq(k+1)-Uq(i)|
wherein, i ═ {1,2,3,4,5}
Considering the zero sequence voltage separately, and aiming at the positive and negative values of the required zero sequence voltage, when the required zero sequence voltage U is0If the required zero sequence voltage is less than 0, selecting a switching sequence generating a negative zero sequence voltage; the selection of the voltage vector requires only 5 calculations of the cost function per control period.
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