基于三电平逆变器和模型预测的电机控制方法

微特电机 ›› 2022, Vol. 50 ›› Issue (12): 34-42.

基于三电平逆变器和模型预测的电机控制方法

姜泽超¹, 朱蕴璞¹, 孙乐², 高鹏¹

1.南京理工大学机械工程学院,南京 210014;
2.南京理工大学自动化学院,南京 210014

收稿日期:2022-07-08 出版日期:2022-12-28 发布日期:2022-12-15
作者简介:姜泽超(1977—)男,硕士研究生,研究方向为电机控制。朱蕴璞 (1964—)女,副教授,研究方向包括运动控制、电机驱动系统、测试计量技术。孙乐(1987—) 男,副教授,研究方向包括伺服系统永磁电机的设计和控制,电动汽车。高鹏(1998—) 男,硕士研究生,研究方向为电机控制。

Motor Control Method Based on Three-level Inverter and Model Prediction

JIANG Zechao¹, ZHU Yunpu¹, SUN Le², GAO Peng¹

1. School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing 210014,China;
2. School of Automation, Nanjing University of Science and Technology,Nanjing 210014, China

Received:2022-07-08 Online:2022-12-28 Published:2022-12-15

摘要/Abstract

摘要： 提出一种基于NPC三电平逆变器驱动的摆臂结构伺服方法,以优化在大惯量随动系统中永磁同步电机伺服系统的控制性能。使用三电平逆变器驱动,同传统的两电平逆变器相比,减小了电流谐波。在速度环中加入模型预测控制(MPC)算法,来改善系统的动态性能。引入了扩展状态观测器来估计集中扰动,并在MPC速度控制器中添加了基于估计扰动的前馈补偿项以在强扰动的情况下保证控制稳定性。在由永磁同步电机构成的实验台上对该方案的控制效果进行了验证。

关键词: 伺服驱动, NPC三电平逆变器, 模型预测控制, 超大惯量负载, 扩展状态观测器

Abstract: A swing arm structure servo method based on NPC three-level inverter was proposed to optimize the control performance of permanent magnet synchronous motor servo system in large inertia servo system.The three-level inverter was used to drive, the current harmonic was reduced by comparing with traditional two-level inverter. Model predictive control (MPC) algorithm was added to the speed loop to improve the dynamic performance of the system. An extended state observer (ESO) was introduced to estimate the centralized disturbance, and a feedforward compensation term based on the estimated disturbance was added to the MPC speed controller to ensure the control stability in the case of strong disturbance. The control effect of the proposed scheme was verified on the experimental platform composed of permanent magnet synchronous motor.

Key words: servo drive, neutral point clamped(NPC) three-level inverter, model predictive control(MPC), large inertia load, extended state observer(ESO)

中图分类号:

TM351
TM464

姜泽超, 朱蕴璞, 孙乐, 高鹏. 基于三电平逆变器和模型预测的电机控制方法[J]. 微特电机, 2022, 50(12): 34-42.

JIANG Zechao, ZHU Yunpu, SUN Le, GAO Peng. Motor Control Method Based on Three-level Inverter and Model Prediction[J]. Small & Special Electrical Machines, 2022, 50(12): 34-42.

参考文献

[1] 唐丽婵,齐亮.永磁同步电机的应用现状与发展趋势[J].装备机械,2011(1):7-12.
[2] SANT A V,RAJAGOPAL K R.PM synchronous motor speed control using hybrid fuzzy-PI with novel switching functions[J].IEEE Transactions on Magnetics,2009,45(10):4672-4675.
[3] ZARCHI H A, MARKADEH G R A,SOLTANI J.Direct torque and fluxregulation of synchronous reluctance motor drives based on input-output feedback linearization[J].Energy Conversion & Management,2010,51(1):71-80.
[4] RIBEIRO R,ARAIIJO A D,OLIVEIRA A C,et al.A high performance permanent magnet synchronous motor drive by using a robust adaptive control strategy[C]//Power Electronics Specialists Conference,IEEE,2007:2260-2266.
[5] LIN F J,LEE T S,LIN C H.Robust H controller design with recurrent neural network for linear synchronous motor drive[J].IEEE Transactions on Industrial Electronics, 2003,50(3):456-470.
[6] LAI C K,SHYU K K.A novel motor drive design for incremental motion system via sliding-mode control method[J].IEEE Transactions on Industrial Electronics,2005,52(2):499-507.
[7] WAI R J.Hybrid fuzzy neural-network control for nonlinear motor-toggle servomechanism[J].Fuzzy Sets & Systems,2003,139(1):185-208.
[8] EWANCHUK J,SALMON J,KNIGHT A M.Performance of a high speed motor drive system using a novel multi-level inverter topology[J].IEEE Transactions on Industry Applications,2009,45(5):1706-1714.
[9] 赵星晨.永磁同步电机的多电平驱动技术[D].南京:南京航空航天大学,2018.
[10] 李仪,郭宏,蔚永强.永磁同步电动机大惯量负载的滑模变结构控制[J].北京航空航天大学学报,2007(10):1208-1211.
[11] 邵立伟,廖晓钟,张宇河,等.自抗扰控制器在永磁同步电机控制中的应用[J].北京理工大学学报,2006(4):326-329.
[12] CAMACHO E F.Predictive control with constraints[J].Automatica,2003,39(6):1117-1118.
[13] CHEN W H,BALLANCE D J,GAWTHROP P J.Optimal control of nonlinear systems:a predictive control approach[J].Automatica,2003,39(4):633-641.
[14] LINE C,MANZIE C,GOOD M C.Electromechanical brake modeling and control:From PI to MPC[J].IEEE Transactions on Control Systems Technology,2008,16(3):446-457.
[15] SONAWANE R,APTE A A.Extended state observer based speed control scheme for PMSM drives[C]//International Conference on Advances in Communication and Computing Technology (ICACCT).2018:524-527.
[16] 汪正军,王军政,马立玲,等.大惯量随动系统解析模型预测控制[J].北京理工大学学报,2011,31(11):1307-1312.
[17] LIU H,LI S.Speed control for PMSM servo system using predictive functional control and extended state observer[J].IEEE Transactions on Industrial Electronics,2012,59(2):1171-1183.
[18] 岳路.交流永磁同步伺服电机控制系统研究[D].大连:大连海事大学,2015.
[19] JANOUS S,JANIK D,KOSAN T,et al.Comparative study of vector PWM and FS-MPC for 3-level neutral point clamped converter[C]//Proceedings of the 16th International Conference on Mechatronics -Mechatronika ,2014 :158-163.
[20] YANG Y,WEN H,FAN M,et al.Fast Finite-switching-state model predictive control method without weighting factors for t-type three-level three-phase inverters[J] IEEE Transactions on Industrial Informatics,2019,15(3):1298-1310.
[21] CHEN Y,YANG M,LONG J,et al.Analysis of oscillation frequency deviation in elastic coupling digital drive system and robust notch filter strategy[J].IEEE Transactions on Industrial Electronics,2019,66(1):90-101.
[22] ZHU J,XUE B,YU H,Distributed model predictive control for linear constrained systems based on time-varying terminal sets[J].IEEE Access,2021(9):119675-119683.
[23] LIU H,LI S.Speed control for PMSM servo system using predictive functional control and extended state observer[J].IEEE Transactions on Industrial Electronics,2012(2):1171-1183.
[24] MIKLOSOVIC R,GAO Z.A robust two-degree-of-freedom control design technique and its practical application[C]//39th IAS Annual Meeting Conference Record of the 2004 IEEE Industry Applications Conference,IEEE,2004:1495-1502.
[25] 赵起问,李俊杰,姜建国.三电平NPC逆变器改进虚拟空间矢量调制策略[J].电力电子技术,2018,52(12):69-72.
[26] 石欢,孙乐,李志刚,等.基于模型预测的双电机驱动系统协调控制方法[J/OL].中国电机工程学报:1-10[2022-07-08].DOI:10.13334/j.0258-8013.pcsee.211824.