CN113078860A - Seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm - Google Patents
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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
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- 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
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- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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Abstract
The invention discloses a seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm, which comprises the following steps: acquiring the output quantity of the seven-phase permanent magnet synchronous motor, and taking the output quantity and the prediction reference current as the input quantity of a prediction model; equally dividing the space into a plurality of sectors, wherein each sector has an optimal voltage vector; obtaining a voltage predicted value on the current time space through calculation of a prediction model, taking the voltage predicted value as the input of a sector judgment link, and judging the sector number of the current predicted voltage; outputting the optimal voltage vector in the corresponding sector as the optimal voltage vector at the current moment; calculating a pulse sequence required by a seven-phase voltage source inverter for synthesizing the current optimal voltage vector according to a space vector pulse width modulation principle; and applying the synthesized pulse sequence to the voltage source inverter. The invention ensures the rapidity of the speed regulation of the seven-phase permanent magnet synchronous motor and improves the quality of the input electric energy.
Description
Technical Field
The invention relates to the field of control algorithms, in particular to a seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm.
Background
With the development of science and technology, traditional three-phase machines are widely applied to various fields. In the marine industry, conventional three-phase motors are mainly used. Recently, the use of three-phase or more (e.g., seven-phase) motors has increased significantly, especially in high-power applications such as ship propulsion. The seven-phase motor has the advantages of high power density, high torque-inertia ratio and high efficiency, and also has the advantages of small torque ripple and high reliability.
Multiple cameras are powered by a multiphase voltage source inverter (voltage source inverter), and in order to drive the multiphase voltage source inverter, modulation and control schemes such as Space Vector Pulse Width Modulation (SVPWM), Direct Torque Control (DTC), Field Oriented Control (FOC), and Model Predictive Control (MPC) have been developed. The MPCC is considered to be one of the most effective and simplest multiphase voltage source inverter current control schemes because of its simple and intuitive concept, fast dynamic response, flexible control, and its use of an optimization framework that can combine various non-linear and practical constraints. However, when a multiphase power system is powered by a multiphase PWM inverter, a large amount of harmonic current is generated, resulting in a reduction in control performance.
Modern ships mostly adopt electric propulsion systems. The electric propulsion system has the advantages of environmental protection, strong controllability, good speed regulation characteristic, no need of being provided with a traditional reduction gear box and the like. The rotating speed control of the propulsion motor is one of important indexes for measuring the performance of a ship power system, and the speed regulation performance is influenced by a controlled object and the complexity of the system. In the traditional motor double closed-loop control, two PI regulators are adopted to respectively control a rotating speed loop and a current loop. The adjustment of the parameters of the PI regulator is a relatively troublesome problem, and firstly, the parameters need to be adjusted through the transfer functions of all parts by performing mathematical modeling on the whole system. The complexity of the system is increased. Furthermore, parameter misappropriation can greatly affect the rapidity of speed regulation and the dynamic performance of the system.
Disclosure of Invention
The invention aims to provide a seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm, which can solve the dynamic performance of seven-phase permanent magnet synchronous motor rotating speed regulation and optimize the power quality and the PI regulator parameter setting problem.
In order to achieve the purpose, the technical scheme of the invention is as follows: a seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm comprises the following steps:
the method comprises the following steps: acquiring the output quantity of the seven-phase permanent magnet synchronous motor, and taking the output quantity and the prediction reference current as the input quantity of an MPCC prediction model;
step two: equally dividing the space into a plurality of sectors, wherein each sector has an optimal voltage vector;
step three: obtaining a voltage predicted value on the current time space through calculation of an MPCC prediction model, and taking the voltage predicted value as the input of a sector judgment link consisting of an adder, a divider, a remainder operation and an amplitude limiter to judge the sector number of the current predicted voltage;
step four: outputting the sector number of the current predicted voltage, matching the sector number with a plurality of sectors, outputting the optimal voltage vector in the corresponding sector, and taking the optimal voltage vector as the optimal voltage vector at the current moment;
step five: calculating a pulse sequence required by a seven-phase voltage source inverter for synthesizing the current optimal voltage vector according to a space vector pulse width modulation principle;
step six: the synthesized pulse sequence is acted on the voltage source inverter, so that the direct-current voltage can be inverted into the current required seven-phase voltage.
The output quantity of the motor comprises alpha-beta space stator current, a rotor angle and rotor rotating speed.
Wherein the predicted reference current is provided by an outer loop rotating speed PI regulator.
The prediction model of the MPCC is based on load, the load models are different, the mathematical models are different in continuous states, and the prediction models are different.
Further, the algorithm for rapidly controlling the rotating speed of the seven-phase permanent magnet synchronous motor is characterized in that the predicted optimal vector needs to be obtained through calculation in a sampling period through a discretized mathematical model, the discretized mathematical model is obtained through discretizing the mathematical model in a continuous state in the sampling period through a forward Euler method, the mathematical model in the continuous state is different due to different loads, the predicted models are different, the positions and the sizes of the predicted voltage vectors are different, and the output of the predicted models determines the predicted optimal vector.
And each optimal voltage vector is synthesized by 5 basic voltage vectors, and a seven-phase voltage source inverter bridge arm switch synthesis sequence of each optimal voltage vector is obtained under the condition of ensuring minimum common-mode current and harmonic suppression.
Further, when a pulse sequence required by the seven-phase voltage source inverter of the current optimal voltage vector is synthesized, continuous turn-on pulses of a cliff below the pulse sequence are synthesized, and then the inverse sequence of the discontinuous turn-on bridge arm pulse sequence is output by combining judgment of the current sector.
Compared with the prior art, the invention has the following remarkable advantages and effects:
1. the invention ensures the rapidity of the rotating speed regulation of the seven-phase permanent magnet synchronous motor, improves the quality of input electric energy, and avoids the conditions that the real-time performance of a voltage source inverter is reduced due to the fact that the algorithm calculation of a system is too complex and the calculation time is increased, so that the seven-phase permanent magnet synchronous motor cannot be quickly and accurately regulated to a given value, even the seven-phase permanent magnet synchronous motor is out of step and the like.
2. The invention optimizes the input voltage and power quality of the seven-phase permanent magnet synchronous motor, particularly reduces the generation of a large number of low-order harmonics, and greatly reduces the extra loss of the voltage source inverter and the seven-phase permanent magnet synchronous motor caused by the harmonics.
3. The SVPWM is introduced, so that the control system is easier to realize digitization, and the control system only has one speed PI regulator, so that the complexity of parameter setting of the system PI regulator is greatly reduced compared with the traditional double PI regulators.
Drawings
FIG. 1 is a schematic block diagram of a control algorithm of the present invention;
FIG. 2 is a block diagram of a sector judgment module according to the present invention;
FIG. 3 is a schematic diagram of the square of a stationary α - β coordinate system according to the present invention;
FIG. 4 is a diagram of the distribution of the basic voltage vector in the alpha-beta space according to the present invention;
FIG. 5 shows the basic voltage vector of the present invention at x1-y1A spatial distribution map;
FIG. 6 shows the basic voltage vector of the present invention at x2-y2A spatial distribution map;
FIG. 7 shows a voltage vector V according to the present invention2Synthesizing a graph;
FIG. 8 shows the optimum voltage vector V in the present invention2Synthesizing a graph;
FIG. 9 shows an optimum voltage vector V in the present invention2The pulse timing diagram of (1);
FIG. 10 shows an optimum voltage vector V in the present invention2The schematic diagram of the pulse timing adjustment module;
FIG. 11 is a control effect diagram of the control system applied to the seven-phase permanent magnet synchronous motor according to the present invention;
fig. 12 shows the harmonic suppression result of the present invention applied to the seven-phase permanent magnet synchronous electric.
Detailed Description
The technical contents, the structural features, the achieved objects and the effects of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a schematic block diagram of a fast control algorithm for the rotating speed of a seven-phase permanent magnet synchronous motor is provided in the present invention, and the seven-phase permanent magnet synchronous motor is taken as an example, and a mathematical model is first constructed, and a prediction model is solved according to the mathematical model.
A prediction model is constructed by a seven-phase permanent magnet synchronous motor, as shown in fig. 3, the plane of a stationary alpha-beta coordinate system is shown, the alpha-beta coordinate system is not a rotating coordinate system with the same rotating speed as the motor, alpha represents an alpha axis, and beta represents a beta axis.
The output quantities of the motor include alpha-beta space stator current (i), rotor angle (theta), and rotor speed (omega).
Further, an outer loop speed PI regulator provides a predicted reference current.
As shown in fig. 2, the motor output quantity and the prediction reference current will be used as feedback quantities for input to the prediction model of the MPCC algorithm.
As shown in FIG. 4, a total of 2 is obtained from the combination of seven arms of the seven-phase voltage source inverter 7128 voltage vectors in the α - β space.
Further, as shown in fig. 5 and 6, in the third harmonic space x1-y1And fifth harmonic space x2-y2And 128 voltage vectors, and the synthesis method is shown as the formula (1)
Wherein,
Vdcfor the DC side voltage of the voltage source inverter, S is the switching state (0 (closed) or 1 (open)) of the bridge on each bridge arm, and the serial numbers of 128 voltage vectors are unique binary codes which are sequenced by the switching states of the bridge arms according to A-G phases, such as a voltage vector V2And the switching signal of the A-G phase is 0000010, namely the output voltage vector is obtained when the upper bridge arm switch of the F phase is switched on and all other bridge arm switches are switched off.
As shown in fig. 3, by equally dividing the α - β space into 14 sectors, each sector having an optimal voltage vector, there are 14 sectors.
As shown in fig. 4, the optimal voltage vector is the outermost voltage vector with the largest magnitude of the α - β space voltage vector. When the outmost voltage is applied to the voltage source inverter, the common-mode voltage formed between the DC side neutral point of the inverter and the central point of the motor stator winding is minimum, thus having the aim of reducing the motor loss.
And obtaining a voltage predicted value on the alpha-beta space at the current moment through calculation of a prediction model, wherein the voltage predicted value is a voltage vector and comprises the amplitude and the position information of the voltage vector on the alpha-beta space. Because the predicted voltage has no functions of suppressing harmonic waves and reducing common-mode voltage, the predicted voltage is used as the input of a sector judgment link consisting of an adder, a divider, a remainder operation and a limiter to judge the sector of the current predicted voltage, the sector number of the current predicted voltage is output and matched with 14 sectors, and the optimal voltage vector in the corresponding sector is output and used as the optimal voltage vector at the current moment.
And each optimal voltage vector is synthesized by 5 basic voltage vectors, and a seven-phase voltage source inverter bridge arm switch synthesis sequence of each optimal voltage vector is obtained under the condition of ensuring minimum common-mode current and harmonic suppression.
And calculating a pulse sequence required by the seven-phase voltage source inverter for synthesizing the current optimal voltage vector according to an SVPWM (space vector pulse width modulation) principle.
Specifically, because some of the bridge arm switches are turned on intermittently, when synthesizing such bridge arm pulses, it is necessary to synthesize continuous on-pulses of the cliff therebelow first, and then output the inverse sequence of the pulse sequence of the intermittently on-bridge arm in combination with the judgment of the current sector.
And finally, the synthesized pulse sequence is acted on a voltage source inverter, so that the direct-current voltage can be inverted into the current required seven-phase voltage.
Ideally, the mathematical model of the voltage of the motor in the α - β space is as shown in equation (2):
wherein, muαβIs a stator voltage vector in alpha-beta space, iαβIs the stator current vector in alpha-beta space,
is a resistance matrix of the stator in the alpha-beta space,
is an inductance matrix of the stator in an alpha-beta space,
is the flux linkage component of the permanent magnet in the alpha-beta space.
Specifically, the prediction model of the MPCC is based on the load, and the prediction models are different from each other, as shown in formula (2), if the load is an induction heating power supply, the prediction model is in the form of RLC serial or parallel loads.
According to equation (1), the current is used as a state quantity, and can be converted into:
a, B, C, G, H and M are seven-phase permanent magnet synchronous motor prediction model coefficient matrixes, wherein A ═ - (L)αβ)-1Rαβ，B＝(Lαβ)-1，C＝-(Lαβ)-1Φ(θ)
TsToo large, will make the prediction incorrect, TsIf the voltage is too small, prediction is too sensitive, prediction output is unstable, input voltage of the motor contains a large number of harmonic waves, and T in the algorithm is analyzed according to simulationsValue of Ts＝4×10-5s, at the sampling time TsAnd (3) linearizing the formula (3) by a forward Euler method to obtain a formula (4):
iαβ(k+1)＝Giαβ(k)+Huαβ(k)+M(k)…………………(4)
wherein G ═ 1+ A) Ts，H＝BTsM＝CTs
In the hardware implementation process, because the operation speed of the single chip microcomputer is limited, a large amount of operation of model predictive control can cause delay of the output of the optimal voltage vector. To solve this problem, a two-step prediction method is generally applied to the model predictive control segment.
The value of the predicted current at the time (k +2) can be obtained by advancing the equation (4) by one sampling period, and at this time, the prediction model of the MPCC is expressed by the equation (5):
wherein,
is a seven-phase permanent magnet synchronous motor stator phase voltage vector at the next moment predicted by a prediction model under an alpha-beta coordinate system,
is a reference seven-phase permanent magnet synchronous motor stator current vector H given by a current loop under an alpha-beta coordinate system-1Is the inverse of the coefficient matrix H.
Specifically, the predicted optimal vector needs to be calculated in a sampling period through a discretized mathematical model, and the discretized mathematical model is obtained by discretizing the mathematical model in a continuous state in the sampling period through a forward eulerian method.
Due to different loads, mathematical models in continuous states are different, coefficient matrixes in the prediction models are different, or the prediction models are different from the form of the formula (5), the positions and the sizes of predicted voltage vectors are different, and the output of the prediction models determines the predicted optimal vector.
Fig. 2 is a sector determination module, as shown in fig. 2, the angle of the output voltage vector of the prediction model is used as an input quantity, pi/14 is added to adjust the sector, so that the sector is symmetrical about the X axis, pi/7 is divided to calculate the number of the vector occupying one sector, the plane is divided into 14 sectors, and 1 is added after 14 is divided, so as to obtain the position of the sector where the vector is located.
The construction of the virtual voltage vector is the core content of the present invention, and as shown in fig. 4 to 6, the switch combinations of 7 bridge arms have 128 kinds in total, that is, 128 basic voltage vectors, and the common mode current generated when the outermost voltage vector with the largest modulus value among the basic voltage vectors is applied to the voltage source inverter is the smallest, so the present invention uses the outermost basic voltage vector as the basic voltage vector for constructing the virtual voltage vector.
With virtual voltage vector V2For example, it is composed of basic voltage vectors 113, 97, 112, 99, 120, as shown in FIG. 7 as virtual voltage vector V2The resultant diagram in three subspaces is a resultant expression of the virtual voltage vector V2 as shown in equation (6).
In order to suppress harmonics, the virtual voltage vector of other spaces is zero, and under the constraint, the time factor t1，t2And t3Is calculated as shown in equation (7):
solving equation (7) yields: t is t1＝0.198062；t2＝0.158834；t30.286208. Will t1，t2，t3The optimal vector obtained by substituting the equation (6) is V2The resultant plot over the three subspaces, as shown in fig. 8, is seen to have zero values in the other two subspaces, thereby achieving harmonic suppression. Meanwhile, the selection of the optimal voltage vector is determined without loss functions, so that the calculation time is reduced, and the running speed of the system is increased.
FIG. 9 shows the optimum voltage vector V2Timing diagram of the SVPWM pulse of (1). The timing pulses are generated by a pulse generator, using a symmetrical pulse sequence as shown in fig. 9 in order to minimize the generation of harmonics. As can be seen from fig. 9, the upper lane timing diagram of the f and g arms is discontinuous (gray), and therefore, for more convenient generation of the timing diagram of the vector, the reverse timing diagram of the f and g arms (i.e., the timing diagram of the lower arm) is used) And modulating, and performing an inverting operation on the timing diagrams of the two bridge arms when outputting the switching timing diagram of the voltage source inverter, so as to output a correct timing diagram, as shown in fig. 10, the pulse timing adjustment module.
As shown in fig. 11, for dynamic simulation of a seven-phase permanent magnet synchronous motor based on a subfast algorithm, the control algorithm is applied to a speed regulating system of the seven-phase permanent magnet synchronous motor, the motor reaches an idle load steady state after being started for 0.05s in an idle load, the stator current of the motor is a sine waveform, the frequency is 50Hz, and after FFT analysis, as shown in fig. 12, the control algorithm is applied to a seven-phase permanent magnet synchronous electric harmonic suppression result, and the result shows that the total THD is only 3.78% of the fundamental wave component, so that the control algorithm has a good harmonic suppression effect.
Further, when the load torque of the motor changes, such as 0.1s sudden load increase and 0.155s sudden load decrease in fig. 12, the motor quickly reaches a new steady state after being adjusted for only 0.05s through algorithm operation, which indicates that the application of the algorithm improves the dynamic performance of the rotation speed adjustment of the seven-phase permanent magnet synchronous motor.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. A seven-phase permanent magnet synchronous motor rotating speed rapid control algorithm is characterized by comprising the following steps:
the method comprises the following steps: acquiring the output quantity of the seven-phase permanent magnet synchronous motor, and taking the output quantity and the prediction reference current as the input quantity of an MPCC prediction model;
step two: equally dividing the alpha-beta space into a plurality of sectors, wherein each sector has an optimal voltage vector;
step three: obtaining a voltage predicted value on the current time space through calculation of an MPCC prediction model, and taking the voltage predicted value as the input of a sector judgment link consisting of an adder, a divider, a remainder operation and an amplitude limiter to judge the sector number of the current predicted voltage;
step four: outputting the sector number of the current predicted voltage, matching the sector number with a plurality of sectors, outputting the optimal voltage vector in the corresponding sector, and taking the optimal voltage vector as the optimal voltage vector at the current moment;
step five: calculating a pulse sequence required by a seven-phase voltage source inverter for synthesizing the current optimal voltage vector according to a space vector pulse width modulation principle;
step six: the synthesized pulse sequence is acted on the voltage source inverter, so that the direct-current voltage can be inverted into the current required seven-phase voltage.
2. The algorithm for rapidly controlling the rotational speed of a seven-phase permanent magnet synchronous motor according to claim 1, wherein the output quantity of the motor comprises space stator current, rotor angle and rotor rotational speed.
3. The algorithm as claimed in claim 1, wherein the predicted reference current is provided by an outer loop speed PI regulator.
4. The algorithm for fast controlling the rotating speed of the seven-phase permanent magnet synchronous motor according to claim 1, wherein the prediction model is constructed by the seven-phase permanent magnet synchronous motor.
5. The algorithm for fast controlling the rotation speed of a seven-phase permanent magnet synchronous motor according to claim 1, wherein the MPCC prediction model is based on load, the load model is different, the mathematical model is different in the continuous state, and the prediction model is different.
6. The algorithm for rapidly controlling the rotating speed of the seven-phase permanent magnet synchronous motor according to claim 5, wherein the predicted optimal vector is calculated in a sampling period through a discretized mathematical model, the discretized mathematical model is obtained by discretizing the mathematical model in a continuous state through a forward Euler method in the sampling period, and the mathematical model in the continuous state is different due to different loads, and the positions and the sizes of the predicted voltage vectors are different due to different predicting models, that is, the output of the predicting model determines the predicted optimal vector.
7. The algorithm for rapidly controlling the rotating speed of the seven-phase permanent magnet synchronous motor according to claim 1, wherein each optimal voltage vector is synthesized by 5 basic voltage vectors, and a seven-phase voltage source inverter bridge arm switch synthesis sequence of each optimal voltage vector is obtained under the condition that minimum common-mode current and harmonic suppression are ensured.
8. The algorithm for rapidly controlling the rotation speed of a seven-phase permanent magnet synchronous motor according to claim 7, wherein when a pulse sequence required by a seven-phase voltage source inverter with the current optimal voltage vector is synthesized, continuous turn-on pulses of a cliff therebelow are synthesized, and then an inverse sequence of an intermittent turn-on bridge arm pulse sequence is output by combining judgment of a current sector.
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