Robust Predictive Torque Control of PMSM Using Self-correcting Model

doi:10.11985/2021.03.002

Abstract

Abstract:

In finite control set-model predictive torque control of permanent magnet synchronous motor, the predictive model is usually obtained by directly discretizing the continuous state equations. This method is an open-loop prediction model. In the case of parameter mismatch, the prediction error will be introduced, which will lead to the decrease of control performance and even the system instability. To solve this problem, a robust predictive torque control of PMSM using self-correcting model is proposed. The open-loop stator current prediction equation is abandoned, and the closed-loop stator current prediction equation is proposed using the feedback mechanism. In the stator flux prediction equations, the voltage model and current model are integrated, and the switching between them is controlled by PI regulator. In addition, the stability theory and parameter design method of closed-loop current model and closed-loop flux model are studied. The experimental results verify the effectiveness of the proposed method.

Key words: Permanent magnet synchronous motor, model predictive control, self-correcting model, robustness

CLC Number:

TM341

GUO Xin, YAN Liming, TIAN Shun, YANG Yang. Robust Predictive Torque Control of PMSM Using Self-correcting Model[J]. Journal of Electrical Engineering, 2021, 16(3): 9-16.

Figures/Tables 13

References 24

[1]	杨雄, 张凤阁, 王秀平. 轨道交通用初级永磁型直线电机电磁特性分析[J]. 电气工程学报, 2018, 13(5):1-7.
	YANG Xiong, ZHANG Fengge, WANG Xiuping. Electromagnetic characteristics analysis of primary permanent magnet linear motor for rail transit[J]. Journal of Electrical Engineering, 2018, 13(5):1-7.
[2]	程明, 张邦富, 王飒飒, 等. 模块化细轭部磁通切换永磁直线电机及其控制[J]. 电气工程学报, 2021, 16(1):1-8.
	CHENG Ming, ZHANG Bangfu, WANG Sasa, et al. Modular thin yoke linear flux-switching permanent magnet machine and control system[J]. Journal of Electrical Engineering, 2021, 16(1):1-8.
[3]	金石, 朱熙, 金无痕, 等. 基于谐波提取器的永磁同步电机谐波抑制方法[J]. 电气工程学报, 2021, 16(1):9-15.
	JIN Shi, ZHU Xi, JIN Wuhen, et al. Harmonic suppression method of permanent magnet synchronous motor based on harmonic extractor[J]. Journal of Electrical Engineering, 2021, 16(1):9-15.
[4]	周国华, 赵泓博, 毛桂华, 等. 开关变换器调制技术的分类与综述[J]. 中国电机工程学报, 2018, 38(21):6383-6400.
	ZHOU Guohua, ZHAO Hongbo, MAO Guihua, et al. Overview and classification of modulation techniques of switching converters[J]. Proceedings of the CSEE, 2018, 38(21):6383-6400.
[5]	刘丛伟, 林跻云. 三相PWM整流器模型预测控制的研究[J]. 电气工程学报, 2017, 12(3):16-23.
	LIU Congwei, LIN Jiyun. Research on three-phase PWM rectifier model predictive control[J]. Journal of Electrical Engineering, 2017, 12(3):16-23.
[6]	柳志飞, 杜贵平, 杜发达. 有限集模型预测控制在电力电子系统中的研究现状和发展趋势[J]. 电工技术学报, 2017, 32(22):58-69.
	LIU Zhifei, DU Guiping, DU Fada. Research status and development trend of finite control set model predictive control in power electronics[J]. Transactions of China Electrotechnical Society, 2017, 32(22):58-69.
[7]	夏长亮, 仇旭东, 王志强, 等. 基于矢量作用时间的新型预测转矩控制[J]. 中国电机工程学报, 2016, 36(11):3045-3053.
	XIA Changliang, QIU Xudong, WANG Zhiqiang, et al. Predictive torque control based on optimal operating time of vector[J]. Proceedings of the CSEE, 2016, 36(11):3045-3053.
[8]	张永昌, 杨海涛, 魏香龙. 基于快速矢量选择的永磁同步电机模型预测控制[J]. 电工技术学报, 2016, 31(6):66-73.
	ZHANG Yongchang, YANG Haitao, WEI Xianglong. Model predictive control of permanent magnet synchronous motors based on fast vector selection[J]. Transactions of China Electrotechnical Society, 2016, 31(6):66-73.
[9]	张晓光, 张亮, 侯本帅. 永磁同步电机优化模型预测转矩控制[J]. 中国电机工程学报, 2017, 37(16):4800-4809.
	ZHANG Xiaoguang, ZHANG Liang, HOU Benshuai. Improved model predictive torque control of permanent magnet synchronous motor[J]. Proceedings of the CSEE, 2017, 37(16):4800-4809.
[10]	齐昕, 吴文昊, 吴琳, 等. 基于时间辅助信息的感应电机预测电流控制[J]. 中国电机工程学报, 2019, 39(16):4927-4934.
	QI Xin, WU Wenhao, WU Lin, et al. Predictive current control of induction machines based on time auxiliary information[J]. Proceedings of the CSEE, 2019, 39(16):4927-4934.
[11]	徐艳平, 张保程, 周钦. 永磁同步电机双矢量模型预测电流控制[J]. 电工技术学报, 2017, 32(20):222-230.
	XU Yanping, ZHANG Baocheng, ZHOU Qin. Two-vector based model predictive current control for permanent magnet synchronous motor[J]. Transactions of China Electrotechnical Society, 2017, 32(20):222-230.
[12]	张永昌, 焦健, 刘杰. 电压型PWM整流器无模型预测电流控制[J]. 电气工程学报, 2018, 13(6):1-6.
	ZHANG Yongchang, JIAO Jian, LIU Jie. Model-free predictive current control of the voltage source PWM rectifier[J]. Journal of Electrical Engineering, 2018, 13(6):1-6.
[13]	张永昌, 蔡倩, 彭玉宾, 等. 带参数辨识功能的三电平变换器高效模型预测控制方法[J]. 电气工程学报, 2018, 13(4):1-10.
	ZHANG Yongchang, CAI Qian, PENG Yubin, et al. An efficient model predictive control for three-level converters with the function of parameter identification[J]. Journal of Electrical Engineering, 2018, 13(4):1-10.
[14]	ZHANG Z, LI Z, KAZMIERKOWSKI M P, et al. Robust predictive control of three-level NPC back-to-back power converter PMSG wind turbine systems with revised predictions[J]. IEEE Transactions on Power Electronics, 2018, 33(11):9588-9598. doi: 10.1109/TPEL.63
[15]	DAVARI S A, WANG F, KENNEL R M. Robust deadbeat control of an induction motor by stable MRAS speed and stator estimation[J]. IEEE Transactions on Industrial Informatics, 2018, 14(1):200-209. doi: 10.1109/TII.2017.2756900
[16]	牛里, 杨明, 王庚, 等. 基于无差拍控制的永磁同步电机鲁棒电流控制算法研究[J]. 中国电机工程学报, 2013, 33(15):78-85.
	NIU Li, YANG Ming, WANG Geng, et al. Research on the robust current control algorithm of permanent magnet synchronous motor based on deadbeat control principle[J]. Proceedings of the CSEE, 2013, 33(15):78-85.
[17]	YOUNG H A, PEREZ M A, 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):3100-3107. doi: 10.1109/TIE.2016.2515072
[18]	ZHANG X, ZHANG L, ZHANG Y. Model predictive current control for PMSM drives with parameter robustness improvement[J]. IEEE Transactions on Power Electronics, 2019, 34(2):1645-1657. doi: 10.1109/TPEL.2018.2835835
[19]	WANG J, WANG F, WANG G, et al. Generalized proportional integral observer based robust finite control set predictive current control for induction motor systems with time-varying disturbances[J]. IEEE Transactions on Industrial Informatics, 2018, 14(9):4159-4168.
[20]	ZHOU Z, XIA C, YAN Y, et al. Disturbances attenuation of permanent magnet synchronous motor drives using cascaded predictive-integral-resonant controllers[J]. IEEE Transactions on Power Electronics, 2018, 33(2):1514-1527. doi: 10.1109/TPEL.2017.2679126
[21]	DING X, WANG S, ZOU M, et al. Predictive current control for permanent magnet synchronous motor based on MRAS parameter identification[C]//in 2018 IEEE International Power Electronics and Application Conference and Exposition (PEAC), Nov., 2018:1-5.
[22]	YUAN X, ZHANG S, ZHANG C. Improved model predictive current control for SPMSM drives with parameter mismatch[J]. IEEE Transactions on Industrial Electronics, 2020, 67(2):852-862. doi: 10.1109/TIE.41
[23]	HANKE S, PEITZ S, WALLSCHEID O, et al. Finite control-set model predictive control for a permanent magnet synchronous motor application with online least squares system identification[C]//in 2019 IEEE International Symposium on Predictive Control of Electrical Drives and Power Electronics (PRECEDE), May, 2019:1-6.
[24]	王宏佳, 徐殿国, 杨明. 永磁同步电机改进无差拍电流预测控制[J]. 电工技术学报, 2011, 26(6):39-45.
	WANG Hongjia, XU Dianguo, YANG Ming. Improved deadbeat predictive current control strategy of permanent magnet motor drives[J]. Transactions of China Electrotechnical Society, 2011, 26(6):39-45.

参数	数值
直流电压V_DC/V	520
额定功率P_N/kW	2.1
额定电压U_N/V	304
额定速度ω_nom/(r/min)	1 500
额定转矩T_N/(N·m)	13.2
极对数p	4
定子电阻R_S/Ω	2.826
定子电感L_S/mH	14.69
永磁磁链ψ_f/Wb	0.321