基于滑模观测器与预测控制的永磁同步电机优化控制研究

发布时间：2018-05-06 00:22

本文选题：无差拍直接转矩控制 + 模型预测转矩控制　；参考：《北方工业大学》2017年硕士论文

【摘要】：永磁同步电机(permanent magnet synchronous motor,PMSM)因其具有高效率、高功率密度与高功率因数等优点,在各个领域均得到了推广应用。目前,广泛采用的高性能PMSM控制技术主要有矢量控制和直接转矩控制。直接转矩控制以电磁转矩和定子磁链作为直接控制目标,无需电流调节器和坐标变换。具有结构简单、动态响应快等优点。但直接转矩控制存在转矩脉动大的缺点,需要较高采样频率才能保证其较好的稳态性能。为了进一步提高直接转矩控制系统性能,本文在传统预测转矩控制基础上,提出了两种优化控制方法。首先,为了减小电机参数扰动对无差拍直接转矩控制(deadbeat direct torque control,DBDTC)计算参考电压矢量的影响,本文提出一种基于滑模扰动观测器(sliding mode disturbance observer,SMDO)的 PMSM 无差拍直接转矩控制方法(DBDTC+SMDO)。此方法通过构建d、q轴SMDO对电机参数(定子相电阻、电感和永磁体磁链)扰动所导致的参考电压变化量进行观测。利用观测值对电机参数扰动进行辨识和补偿,不仅大大减小了电机参数扰动对计算参考电压矢量的影响,而且提高了 DBDTC对参数扰动的鲁棒性。其次,为了减少传统模型预测转矩控制(model predictive torque control,MPTC)的计算量并消除转矩和磁链之间的权重系数,本文提出一种基于参考电压追踪误差(reference voltage tracking error,RVTE)的PMSM模型预测转矩控制方法(MPTC+RVTE)。此方法利用DBDTC控制原理计算下一周期预施加的参考电压矢量。根据参考电压矢量所处扇区位置,缩小最优电压矢量选择范围,从而达到减小计算量的目的。并在其基础上,电压误差代价函数取代传统转矩误差与磁链误差所构成的代价函数,消除了传统MPTC的权重系数设计,简化了系统结构。本文不仅将MPTC+RVTE方法应用在单矢量MPTC中,又扩展应用在双矢量MPTC中。最后,分别对DBDTC+SMDO与传统DBDTC,MPTC+RVTE与传统MPTC进行了仿真和实验。仿真和实验结果证明了所提方法的正确性和有效性。
[Abstract]:Permanent magnet synchronous motor (PMSM) has been widely used in various fields because of its high efficiency, high power density and high power factor. At present, the widely used high performance PMSM control technology mainly includes vector control and direct torque control. Direct torque control (DTC) takes electromagnetic torque and stator flux as the direct control target without current regulator and coordinate transformation. It has the advantages of simple structure and fast dynamic response. However, direct torque control (DTC) has the disadvantage of large torque ripple, which requires a high sampling frequency to ensure its good steady-state performance. In order to further improve the performance of direct torque control system, this paper proposes two optimal control methods based on the traditional predictive torque control. Firstly, in order to reduce the effect of motor parameter disturbance on the deadbeat direct torque control (DBDTC) calculation reference voltage vector, this paper presents a novel PMSM deadbeat direct torque control method based on sliding mode disturbance observer SMDO (sliding mode disturbance observer). In this method, the reference voltage variation caused by the disturbance of stator phase resistance, inductance and permanent magnet flux is observed by constructing dq-axis SMDO. The effect of parameter disturbance on the reference voltage vector is greatly reduced and the robustness of DBDTC to the parameter disturbance is improved by using the observed values to identify and compensate the parameter disturbance of the motor. Secondly, in order to reduce the computational complexity of the traditional predictive torque control model predictive torque control system and eliminate the weight coefficient between the torque and flux, a PMSM model predictive torque control method based on reference voltage tracking error (reference voltage tracking error) is proposed in this paper. The DBDTC control principle is used to calculate the reference voltage vector pre-applied in the next period. According to the sector position of the reference voltage vector, the selection range of the optimal voltage vector is reduced so as to reduce the amount of calculation. On the basis of it, the cost function of voltage error replaces the cost function of traditional torque error and flux error, which eliminates the weight coefficient design of traditional MPTC and simplifies the system structure. In this paper, MPTC RVTE method is not only applied to single vector MPTC, but also extended to double vector MPTC. Finally, the simulation and experiment of DBDTC SMDO and traditional DBDTCU MPTC RVTE and traditional MPTC are carried out. Simulation and experimental results show that the proposed method is correct and effective.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TM341

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