永磁同步电机模糊多矢量模型预测控制*

doi:10.11985/2022.04.018

摘要/Abstract

摘要：

针对传统模型预测控制中采用一个最优电压矢量存在抖动的问题，提出了一种基于模糊逻辑的多矢量有限控制集模型预测控制(Multi-vector finite control set model predictive control，MV-FCS-MPC)方案。所提方法基于离散空间矢量调制(Discrete space vector modulation，DSVM)，利用变换器的实际电压矢量和新的虚拟电压矢量，合成并选择每个采样周期的开关序列，提高稳态性能。考虑到传统模型预测控制存在的运算量大，提出了基于无差拍函数直接从参考电流获得参考电压矢量的方法，减少了所提方法的计算量。针对传统PI控制无法适应外部扰动和参数变化对系统的影响，在外环速度中采用了模糊逻辑控制器来控制转子的转速，从而提高了速度的动态响应，避免了PI控制器整定的困难。通过仿真和试验并与传统的FCS-MPC方法进行了比较，表明所提方法动静态性能良好，鲁棒性强。

关键词: 模型预测控制, 模糊控制, 多矢量, 无差拍函数, 永磁同步电机

Abstract:

Aiming at the jitter problem of using an optimal voltage vector in traditional model predictive control, a multi-vector finite control set model predictive control(MV-FCS-MPC) scheme based on fuzzy logic is proposed. Based on discrete space vector modulation, the proposed method synthesizes and selects the switching sequence of each sampling period by using the actual voltage vector and the new virtual voltage vector of the converter to improve the steady-state performance. Considering the large amount of computation of traditional model predictive control, a method of obtaining reference voltage vector directly from reference current based on deadbeat function is proposed, which reduces the amount of calculation of the proposed method. In view of the fact that the traditional PI control cannot adapt to the influence of external disturbance and parameter change on the system, the fuzzy logic controller is used to control the speed of the rotor in the outer loop speed, which improves the dynamic response of the speed and avoids the difficulty of setting the PI controller. Through simulation and experiment, and compared with the traditional FCS-MPC method, it shows that the proposed method has good dynamic and static performance and strong robustness.

Key words: Model predictive control, fuzzy logic controller, multiple-vector, deadbeat function, PMSM

中图分类号:

TM341

周立, 苏美霞, 王杰. 永磁同步电机模糊多矢量模型预测控制^*[J]. 电气工程学报, 2022, 17(4): 181-192.

ZHOU Li, SU Meixia, WANG Jie. Fuzzy Multi-vector Model Predictive Control of Permanent Magnet Synchronous Motor[J]. Journal of Electrical Engineering, 2022, 17(4): 181-192.

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电压矢量	开关矢量			输出电压
电压矢量	S_a	S_b	S_c	μ_α	μ_β
u₀	0	0	0	0	0
u₁	1	0	0	2V_dc/3	0
u₂	1	1	0	V_dc/3	$\sqrt{3}{{V}_{\mathrm{dc}}}/3$
u₃	0	1	0	-V_dc/3	$\sqrt{3}{{V}_{\mathrm{dc}}}/3$
u₄	0	1	1	2V_dc/3	0
u₅	0	0	1	-V_dc/3	$-\sqrt{3}{{V}_{\mathrm{dc}}}/3$
u₆	1	0	1	V_dc/3	$-\sqrt{3}{{V}_{\mathrm{dc}}}/3$
u₇	1	1	1	0	0

e(k)	Δe(k)
		NB	NM	NS	ZO	PS	PM	PB
	NB	PB	PB	PM	PM	PS	ZO	ZO
	NM	PB	PB	PM	PS	PS	ZO	NS
	NS	PM	PM	PM	PS	PS	ZO	NS
	ZO	PM	PM	PS	ZO	NS	NM	NM
	PS	PS	PS	ZO	NS	NS	NM	NM
	PM	PS	ZO	NS	NM	NM	NM	NB
	PB	ZO	ZO	NM	NM	NM	NB	NB

e(k)	Δe(k)
		NB	NM	NS	Z0	PS	PM	PB
	NB	NB	NB	NM	NM	NS	ZO	ZO
	NM	NB	NB	NM	NS	NS	ZO	ZO
	NS	NB	NM	NS	NS	ZO	PS	PS
	ZO	NM	NM	NS	ZO	PS	PM	PM
	PS	NM	NS	ZO	PS	PS	PM	PB
	PM	ZO	ZO	PS	PS	PM	PB	PB
	PB	ZO	ZO	PS	NM	PM	PB	PB

参数	数值
d轴电感L_d/mH	15
q轴电感L_q/mH	15
电磁系数ψ_p/Wb	0.85
磁极对数n_p	3
转动惯量J/(kg/m²)	0.002
摩擦因数B/(N·ms)	0.001 5
定子电阻R_s/Ω	0.2
额定功率P/kW	16
直流电压V_dc/V	560
采样时间T_s/μs	40