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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (3): 607-612    DOI: 10.3785/j.issn.1008-973X.2022.03.020
电气工程     
用于SPMSM的自适应增量式无差拍预测电流控制算法
李博群(),杨家强*()
浙江大学 电气工程学院，浙江 杭州 310027
Adaptive incremental deadbeat predictive current control algorithm for surface-mounted permanent magnet synchronous motor
Bo-qun LI(),Jia-qiang YANG*()
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
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摘要：

针对表贴式永磁同步电机（SPMSM）传统无差拍预测电流控制在参数失配时易扩大电流静差的问题，提出自适应增量式无差拍预测电流控制算法. 基于给定电压增量、给定电流增量以及实际电流增量建立增量式预测方程，结合定子电阻远小于定子电感与采样时间之比，消去定子电阻和永磁体磁链. 基于转子机械角速度误差对电流误差进行自适应加权组合，用该组合对增量式预测方程中的给定电压增量进行自适应补偿以减少预测误差. 实验结果表明，所提算法在设置的参数失配情况中，电流静差消除能力均高于传统算法；当转速变化时，在所提算法控制下电流内环的动态性能优于传统算法，转速外环的动态性能有效提高.
关键词： 表贴式永磁同步电机(SPMSM);  无差拍预测电流控制;  参数失配;  增量式预测方程;  自适应补偿    
Abstract:

An adaptive incremental deadbeat predictive current control algorithm was proposed to solve the problem of static current error caused by parameter mismatch in conventional deadbeat predictive current control of surface-mounted permanent magnet synchronous motor (SPMSM). The incremental prediction equation was established based on the reference voltage increment, the reference current increment and the actual current increment, and the relationship that the stator resistance is far less than the ratio of stator inductance to sampling time was also combined to eliminate stator resistance and permanent magnet flux. Then, the current errors were combined with adaptive weights based on the error of rotor mechanical angular speed, and the combination was taken to adaptively compensate the reference voltage increment in the incremental prediction equation, so as to reduce the prediction error. Experimental results show that the proposed algorithm has higher capacity of eliminating static current error than the conventional algorithm under the set conditions of parameter mismatch. When the speed changes, the dynamic performance of the current inner loop controlled by the proposed algorithm is better than that of the conventional algorithm, which effectively improves the dynamic performance of the speed outer loop.
Key words: surface-mounted permanent magnet synchronous motor(SPMSM)    deadbeat predictive current control    parameter mismatch    incremental predictive equation    adaptive compensation
收稿日期: 2021-04-21 出版日期: 2022-03-29
CLC:  TM 351  
基金资助: 国家自然科学基金资助项目(51777191)；浙江省自然科学基金资助项目(LCZ19E070001)
通讯作者: 杨家强     E-mail: 2284088765@qq.com;yjq1998@163.com
作者简介: 李博群 （1997—），男，硕士生，从事永磁同步电机控制研究. orcid.org/0000-0003-0386-3234. E-mail： 2284088765@qq.com
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引用本文:

李博群,杨家强. 用于SPMSM的自适应增量式无差拍预测电流控制算法[J]. 浙江大学学报(工学版), 2022, 56(3): 607-612.

Bo-qun LI,Jia-qiang YANG. Adaptive incremental deadbeat predictive current control algorithm for surface-mounted permanent magnet synchronous motor. Journal of ZheJiang University (Engineering Science), 2022, 56(3): 607-612.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.03.020    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I3/607

图 1  传统无差拍预测电流控制系统框图
图 2  自适应调整函数 $ {{f}}_{\text{A}} $的图像
图 3  表贴式永磁同步电机实验平台
参数 数值 参数 数值
额定电压/V 36 转动惯量/(kg· $ {\text{m}}^{\text{2}} $) 5.88×10?6
额定电流/A 4.6 定子电阻/Ω 0.375
额定功率/W 100 定子电感/H 0.001
额定转速/(r·min?1) 3000 永磁体磁链/Wb 0.010 4
额定转矩/(N·m) 0.318 极对数 4
表 1  表贴式永磁同步电机参数
图 4  无差拍预测电流控制在参数失配时电机q轴电流波形
图 5  自适应增量式无差拍预测电流控制在参数失配时电机q轴电流波形
参数失配情况 $E_q^{\rm{I}}/A$
DPCC AIDPCC
${{R} }_{{0} }{=}{5}{{R} }_{\text{s} }$ 0.254 8 0.019 9
${{R} }_{{0} }{=}{0.2}{{R} }_{\text{s} }$ 0.053 0 0.019 9
${{R} }_{{0} }{=}{5}{{R} }_{\text{s} }$， ${\textit{ψ} }_{{0} }{=}{5}{\textit{ψ} }_{\text{f} }$ 1.438 1 0.019 9
${{R} }_{{0} }{=}{0.2}{{R} }_{\text{s} }$， ${\textit{ψ} }_{{0} }{=}{0.2}{\textit{ψ} }_{\text{f} }$ 0.314 8 0.019 9
${{R} }_{{0} }{=}{5}{{R} }_{\text{s} }$， ${\textit{ψ} }_{{0} }{=}{5}{\textit{ψ} }_{\text{f} }$， ${{L} }_{{0} }{=}{5}{{L} }_{\text{s} }$ 0.150 0 0.102 3
${{R} }_{{0} }{=}{0.2}{{R} }_{\text{s} }$， ${\textit{ψ} }_{{0} }{=}{0.2}{\textit{ψ} }_{\text{f} }$， ${{L} }_{{0} }{=}{0.2}{{L} }_{\text{s} }$ 1.318 0 0.032 6
表 2  2种算法在参数失配时的q轴电流静差对比
图 6  电机带载加减速时的状态变量波形
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