高速低载波比下永磁同步电机预测电流控制
Predictive Current Control of PMSM with High Speed and Low-frequency-ratio
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摘要: 永磁同步电机系统预测电流控制具有动态响应快、易于数字实现等优点,但是当永磁同步电机速度较高时,受限于逆变器开关频率、采样时间、算法执行时间等约束限制,此时的控制频率与电机工作频率比值(即载波比)较低,传统方法中常用的由前向欧拉法推导的离散模型存在较大的模型误差,导致电流控制器难以控制d、q轴电流,使其跟随给定值。为此,提出一种适用于低载波比下的预测电流控制方法,其由考虑转子位置变化的离散模型和电流补偿方案组成。其中,考虑转子位置变化的离散模型相比于前向欧拉近似得到的离散模型,前者在低载波比下的模型误差较小,具有明显的优势;电流补偿方案加强了控制器抗模型误差和参数失配的鲁棒性。所提预测电流方法可以实现低载波比下的电流控制,实验结果验证了所提方法的可行性及有效性。Abstract: Predictive current control of PMSM drive systems has the characteristics such as good dynamic performances and easy digital implementation. However, when the speed of permanent magnet synchronous motor(PMSM) is high, the ratio of the control frequency to the working frequency that is the frequency ratio, of PMSM tends to be low limited by the switching frequency of the inverter, sampling time or algorithm execution time. At this time, there is greater model inaccuracy in the forward Euler approximation based discrete model commonly used in traditional predictive current control, which makes it hard for current controllers to control the d-q currents to follow their references. For this purpose, this article proposed a modified predictive current control method for the case of low frequency ratio, which consisted of a discrete model considering rotor movement and a current compensation scheme. Compared with the discrete model obtained by forward Euler approximation, the discrete model considering rotor movement has obvious advantages in less model inaccuracy at lower frequency ratio. The current compensation scheme enhances the robustness of the controller against model inaccuracy and parameter mismatch. The proposed method is able to realize current control in low frequency ratio. The experiment results show the feasibility and effectiveness of proposed method.