本文選題：永磁同步電機 + 魯棒電流預(yù)測控制��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：電流預(yù)測控制憑借其良好的動態(tài)響應(yīng)性能成為電機控制領(lǐng)域近年來研究熱點之一,特別是帶有PWM調(diào)制模塊的電流預(yù)測控制(本文中簡稱為PPC)。PPC是一種模型預(yù)測控制策略,控制性能依賴于電機模型參數(shù)的準確性,尤其是定子電感和轉(zhuǎn)子磁鏈。當PPC控制器中電感和實際電感失配時,會造成電流的震蕩,偏差較大時甚至會導(dǎo)致電流環(huán)的不穩(wěn)定。當PPC控制器中磁鏈和實際轉(zhuǎn)子磁鏈失配時,會造成電流靜差,使控制系統(tǒng)過流或削弱系統(tǒng)的帶負載能力。因此,在保證電流預(yù)測控制優(yōu)點的同時,提高磁鏈和電感的參數(shù)魯棒性是電流預(yù)測控制的首要挑戰(zhàn)。目前的魯棒電流預(yù)測控制算法通常比較復(fù)雜,需要包含多種觀測器。此外,將算法移植到不同實驗平臺時,由于電機本體參數(shù)的不同,需要對多個參數(shù)進行調(diào)試才能獲得滿意的性能。針對以上問題,本文提出了一種無需轉(zhuǎn)子磁鏈參數(shù)的魯棒電流預(yù)測控制策略,稱為R-PPC。首先,在永磁同步電機數(shù)學(xué)模型的基礎(chǔ)上,推導(dǎo)出增量式數(shù)學(xué)模型,基于增量式模型設(shè)計了無需磁鏈參數(shù)的R-PPC控制器。并對R-PPC的權(quán)重矩陣和電流指令的選擇進行分析。此外,還對R-PPC的控制器穩(wěn)定性和電流靜差進行了分析,從理論上證明了本文提出算法的有效性和可行性。接下來,在無需磁鏈參數(shù)的基礎(chǔ)上,本文引入擴展狀態(tài)觀測器ESO以提高電感參數(shù)魯棒性。根據(jù)帶有電感誤差的電機數(shù)學(xué)模型,建立了連續(xù)和離散的ESO。本文還對ESO進行了穩(wěn)定性分析,并給出了觀測器增益的選擇方法。仿真結(jié)果驗證了ESO可以準確的觀測由于電感誤差造成的電壓誤差,通過電壓補償,R-PPC可以有效提高電感參數(shù)魯棒性。之后,在參數(shù)魯棒性提高的基礎(chǔ)上,為進一步提高電流性能,本文采用了自適應(yīng)死區(qū)補償策略。仿真和實驗結(jié)果表明,該補償方法與R-PPC結(jié)合可以實現(xiàn)良好的補償效果。諧波含量大大減小,零電流鉗位現(xiàn)象幾乎消除。最后,對PPC和R-PPC進行了充分的對比仿真和實驗驗證,結(jié)果表明R-PPC可以無需磁鏈運行且對電感參數(shù)有很強的魯棒性,突出了R-PPC相比于PPC的優(yōu)勢。此外,還在廣州數(shù)控的伺服平臺上進行了R-PPC的算法移植和實驗驗證,證明R-PPC算法的通用性和可移植性。
[Abstract]:Current predictive control has become one of the research hotspots in the field of motor control with its good dynamic response performance in recent years, especially the current predictive control with PWM modulation module (in this paper, PPC).PPC is a model predictive control strategy).The control performance depends on the accuracy of motor model parameters, especially stator inductance and rotor flux.When the inductance in the PPC controller mismatches with the actual inductor, it will cause the current oscillation, and even lead to the instability of the current loop when the deviation is large.When the flux in the PPC controller is mismatched with the actual rotor flux, the current static difference will be caused, which will make the control system overcurrent or weaken the load capacity of the system.Therefore, while ensuring the advantages of current predictive control, improving the robustness of flux and inductor parameters is the primary challenge of current predictive control.The current robust current predictive control algorithms are usually complex and require a variety of observers.In addition, when the algorithm is transplanted to different experimental platforms, because of the different parameters of motor body, it is necessary to debug many parameters in order to obtain satisfactory performance.To solve the above problems, a robust current predictive control strategy, called R-PPC, is proposed without rotor flux parameters.Firstly, based on the permanent magnet synchronous motor (PMSM) mathematical model, the incremental mathematical model is derived, and the R-PPC controller without flux parameters is designed based on the incremental model.The weight matrix and current instruction selection of R-PPC are analyzed.In addition, the stability and current statics of R-PPC controller are analyzed, and the validity and feasibility of the proposed algorithm are proved theoretically.Then, the extended state observer (ESO) is introduced to improve the robustness of inductance parameters without flux parameters.According to the mathematical model of motor with inductance error, continuous and discrete ESOs are established.The stability of ESO is also analyzed, and the method of observer gain selection is given.The simulation results show that ESO can accurately observe the voltage error caused by inductance error, and the robustness of inductor parameters can be improved effectively by voltage compensation.Then, based on the improvement of parameter robustness, an adaptive dead-time compensation strategy is proposed to further improve the current performance.Simulation and experimental results show that the compensation method combined with R-PPC can achieve a good compensation effect.The harmonic content is greatly reduced and the zero current clamping phenomenon is almost eliminated.Finally, PPC and R-PPC are compared and verified by experiments. The results show that R-PPC can run without flux linkage and has strong robustness to inductance parameters, which highlights the advantage of R-PPC compared with PPC.In addition, the R-PPC algorithm is transplanted and verified by experiments on the servo platform of Guangzhou NC, which proves the generality and portability of the R-PPC algorithm.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM341

【參考文獻】

相關(guān)期刊論文 前3條

1 王庚;楊明;牛里;貴獻國;徐殿國;;永磁同步電機電流預(yù)測控制電流靜差消除算法[J];中國電機工程學(xué)報;2015年10期

2 肖海峰;劉海龍;賀昱w，

本文編號：1733383