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CN112491318B - Permanent magnet synchronous motor system predicted torque control method - Google Patents

Permanent magnet synchronous motor system predicted torque control method Download PDF

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CN112491318B
CN112491318B CN202011311070.0A CN202011311070A CN112491318B CN 112491318 B CN112491318 B CN 112491318B CN 202011311070 A CN202011311070 A CN 202011311070A CN 112491318 B CN112491318 B CN 112491318B
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axis component
flux linkage
motor
predicted value
moment
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CN112491318A (en
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阎彦
李敏
王志强
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Tianjin University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/34—Modelling or simulation for control purposes

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  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a control method for predicting torque of a permanent magnet synchronous motor system, which comprises the following steps: 1) Sampling basic data of the motor at the moment k; 2) Calculating to obtain a predicted value of motor torque, a predicted value of stator flux amplitude, a predicted value of stator flux d-axis component and a predicted value of stator flux q-axis component by adopting a formula calculation method according to basic data of the motor; 3) Calculating to obtain a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method according to basic data of a motor; 4) Through the compensation and correction of the obtained data, an alpha axis component of the controlled variable voltage and a beta axis component of the controlled variable voltage at the moment of k +1 are obtained; 5) SVPWM modulates and outputs the reference voltage. The dynamic and stable state performance of the permanent magnet synchronous motor control system in the high-speed area under the low control frequency can be greatly improved through the invention.

Description

一种永磁同步电机系统预测转矩控制方法A Predictive Torque Control Method for Permanent Magnet Synchronous Motor System

技术领域technical field

本发明涉及一种永磁同步电机。特别是涉及一种永磁同步电机系统高速低控制频率下预测转矩控制方法。The invention relates to a permanent magnet synchronous motor. In particular, it relates to a predictive torque control method for a permanent magnet synchronous motor system at high speed and low control frequency.

背景技术Background technique

永磁同步电机(Permanent Magnet Synchronous Motor,PMSM)具有体积小、质量轻、功率密度高、转矩输出能力强、可靠性高等优点，目前已广泛应用于船舶、航空航天、铁路运输、电动汽车以及机器人控制等领域。永磁同步电机是一个包含多变量、内部电磁关系复杂的非线性系统，其性能与电机的控制策略息息相关。随着计算机技术以及数字信号处理器的发展，现代控制算法得以应用到PMSM控制系统中，来解决复杂的推算问题。其中，模型预测转矩控制(Model Predictive Torque Control，简称MPTC)因其控制灵活、动态性能好、易于考虑非线性约束等优点，在永磁同步电机控制领域逐渐受到越来越多的关注。The permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, PMSM) has the advantages of small size, light weight, high power density, strong torque output capability, and high reliability. It has been widely used in ships, aerospace, railway transportation, electric vehicles and field of robot control. The permanent magnet synchronous motor is a nonlinear system with multiple variables and complex internal electromagnetic relations, and its performance is closely related to the control strategy of the motor. With the development of computer technology and digital signal processors, modern control algorithms can be applied to PMSM control systems to solve complex calculation problems. Among them, Model Predictive Torque Control (MPTC for short) has gradually received more and more attention in the field of permanent magnet synchronous motor control due to its advantages of flexible control, good dynamic performance, and easy consideration of nonlinear constraints.

当电机运行在高速区时，受逆变器开关频率的限制，控制频率与电机的运行频率的比值较小，在控制延时内，转子位置变化较大，对原电机离散模型下控制系统性能的影响较大，会出现电流环失稳、转矩跟随存在静差等现象，导致电机因控制器性能失稳而停止工作、降低工作效率、动态性能变差等后果。When the motor is running in the high-speed area, limited by the switching frequency of the inverter, the ratio of the control frequency to the operating frequency of the motor is small, and the rotor position changes greatly during the control delay, which affects the performance of the control system under the discrete model of the original motor. The impact of the motor is relatively large, and there will be phenomena such as current loop instability and static error in torque following, which will cause the motor to stop working due to controller performance instability, reduce work efficiency, and deteriorate dynamic performance.

发明内容Contents of the invention

针对上述现有技术，本发明提出一种可以大幅提高高速区低控制频率下永磁同步电机控制系统动稳态性能的永磁同步电机系统预测转矩控制方法。Aiming at the above prior art, the present invention proposes a predictive torque control method for a permanent magnet synchronous motor system that can greatly improve the dynamic steady-state performance of the permanent magnet synchronous motor control system at low control frequencies in high-speed areas.

为了解决上述技术问题，本发明提出的一种永磁同步电机系统预测转矩控制方法，主要包括：In order to solve the above-mentioned technical problems, a method for predicting torque control of a permanent magnet synchronous motor system proposed by the present invention mainly includes:

步骤一、在k时刻，对电机的基本数据进行采样；Step 1. At time k, sample the basic data of the motor;

步骤二、根据电机的基本数据采用公式计算法计算得到电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值；Step 2, according to the basic data of the motor, the predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage are calculated by using a formula calculation method;

步骤三、根据电机的基本数据采用功率守恒法计算得到电机转矩预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值；Step 3, according to the basic data of the motor, the power conservation method is used to calculate the predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage;

步骤四、经过对上述所得数据的补偿和修正，获得k+1时刻控制量电压的α轴分量和控制量电压的β轴分量；Step 4, after compensating and correcting the data obtained above, obtain the α-axis component of the control variable voltage and the β-axis component of the control variable voltage at time k+1;

步骤五、SVPWM调制并输出参考电压，从而实现在高速区低控制频率下永磁同步电机系统预测转矩控制。Step five, the SVPWM modulates and outputs a reference voltage, so as to realize the predictive torque control of the permanent magnet synchronous motor system under the low control frequency in the high speed area.

进一步讲，本发明所述的永磁同步电机系统预测转矩控制方法，其中：Further speaking, the method for predicting torque control of a permanent magnet synchronous motor system according to the present invention, wherein:

步骤一在k时刻，对电机的基本数据进行采样的内容是：在k时刻，对电机转子角速度、转子位置角、直流母线电压、电机ABC三相电流、逆变器三相上桥臂的占空比信息进行采样。Step 1 At time k, the content of sampling the basic data of the motor is: at time k, the motor rotor angular velocity, rotor position angle, DC bus voltage, motor ABC three-phase current, inverter three-phase upper bridge arm occupation The empty ratio information is sampled.

步骤二根据电机的基本数据采用公式计算法计算得到电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值的内容包括：根据电机ABC三相电流和转子位置角采样值，求解k时刻电机实际电流d轴分量和q轴分量；根据已知的电机参数和k时刻电机实际电流d轴分量和q轴分量，计算得到k时刻定子磁链的d轴分量和q轴分量和负载角；根据k时刻定子磁链的d轴分量和q轴分量和负载角，得到k时刻定子磁链的M0轴分量和T0轴分量；根据k时刻采样所得逆变器三相上桥臂的占空比、转子位置角和计算得到k时刻定子磁链的d轴分量和q轴分量及负载角，得到k时刻电机侧电压的M0轴分量和T0轴分量；根据k时刻定子磁链的M0轴分量和T0轴分量、电机侧电压的M0轴分量和T0轴分量和电机转子角速度，得到k+1时刻时，采用公式计算法所得的电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值。Step 2 Calculate the predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage by using the formula calculation method according to the basic data of the motor. The contents include: According to the sampling value of the three-phase current of the motor ABC and the rotor position angle, solve the d-axis component and q-axis component of the actual motor current at k time; according to the known motor parameters and the d-axis component and q-axis component of the actual motor current at k time, calculate k The d-axis component, q-axis component and load angle of the stator flux linkage at time k; according to the d-axis component, q-axis component and load angle of the stator flux linkage at k time, the M 0- axis component and T 0- axis component of the stator flux linkage at k time are obtained ; According to the duty cycle of the three-phase upper bridge arm of the inverter obtained by sampling at time k, the rotor position angle and the calculated d-axis component, q-axis component and load angle of the stator flux linkage at time k, the M of the motor side voltage at time k is obtained 0 -axis component and T 0- axis component; according to the M 0- axis component and T 0- axis component of the stator flux linkage at k time, the M 0- axis component and T 0- axis component of the motor side voltage and the motor rotor angular velocity, the time k+1 is obtained , the predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage obtained by the formula calculation method.

步骤三根据电机的基本数据采用功率守恒法计算得到电机转矩预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值的内容包括：将k时刻定子电流的d轴分量和q轴分量和定子电压的d轴分量和q轴分量通过一阶低通滤波器，得到滤波后的k时刻定子电流的d轴分量和q轴分量和定子电压的d轴分量和q轴分量；根据滤波后的k时刻定子电流的d轴分量和q轴分量、晶体管的管压降和转子位置角，得到k时刻补偿后的定子电压d轴分量和q轴分量；根据滤波后的k时刻定子电流的d轴分量和q轴分量、补偿后的定子电压d轴分量和q轴分量，得到k+1时刻时，采用功率守恒法所得的电机转矩预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值。Step 3 Calculate the predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage by using the power conservation method according to the basic data of the motor. The d-axis component and q-axis component of the stator current at time k and the d-axis component and q-axis component of the stator voltage pass through a first-order low-pass filter to obtain the filtered d-axis component and q-axis component of the stator current at time k and the stator voltage The d-axis component and q-axis component of ; according to the d-axis component and q-axis component of the stator current at time k after filtering, the tube voltage drop of the transistor and the rotor position angle, the stator voltage d-axis component and q-axis component after compensation at time k are obtained component; according to the filtered d-axis component and q-axis component of the stator current at time k, and the compensated stator voltage d-axis component and q-axis component, the motor torque prediction value obtained by using the power conservation method at time k+1 is obtained , the predicted value of the stator flux linkage amplitude, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage.

步骤四经过对上述所得数据的补偿和修正，获得k+1时刻控制量电压的α轴分量和β轴分量的内容包括：根据k+1时刻分别采用公式计算和功率守恒法计算所得的均包括电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值的两套数据，得到k+1时刻补偿后的电机转矩的预测值、补偿后的定子磁链d轴分量预测值、补偿后的定子磁链q轴分量预测值、补偿后的定子磁链幅值和补偿后的负载角；根据k时刻定子磁链的d轴分量和q轴分量及直流母线电压，得到k时刻调制度；在k时刻，根据电机转子角速度、电机转矩给定值和所用电机的表格，查表得到定子磁链给定值；同时，根据k时刻转矩给定值、磁链给定值、调制度，以及补偿后k+1时刻的电机转矩的预测值、补偿后的定子磁链幅值，得到k+1时刻时修正后的转矩给定值和修正后的磁链给定值；根据修正后的转矩给定值、修正后的定子磁链给定值、k时刻电机转子角速度、转子位置角、直流母线电压、补偿后的k+1时刻补偿后的电机转矩的预测值、补偿后的负载角，计算得到k+1时刻控制量电压的α轴分量和β轴分量。Step 4 After compensating and correcting the above-mentioned obtained data, the contents of the α-axis component and β-axis component of the control voltage at time k+1 are obtained include: according to the calculation of the formula and the power conservation method at time k+1, both include The predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage are used to obtain the motor torque after compensation at time k+1 The predicted value, the predicted value of the d-axis component of the stator flux linkage after compensation, the predicted value of the q-axis component of the stator flux linkage after compensation, the amplitude of the stator flux linkage after compensation, and the load angle after compensation; axis component, q-axis component and DC bus voltage to obtain the modulation degree at time k; at time k, according to the motor rotor angular velocity, motor torque given value and the table of the motor used, look up the table to obtain the stator flux linkage given value; at the same time, According to the given value of torque at time k, the given value of flux linkage, the degree of modulation, the predicted value of motor torque at time k+1 after compensation, and the amplitude of stator flux linkage after compensation, the corrected value at time k+1 is obtained Torque given value and revised flux linkage given value; according to the revised torque given value, revised stator flux linkage given value, motor rotor angular velocity at time k, rotor position angle, DC bus voltage, The predicted value of the compensated motor torque at time k+1 after compensation and the load angle after compensation are calculated to obtain the α-axis component and β-axis component of the control variable voltage at time k+1.

步骤五SVPWM调制并输出参考电压的内容是：采用传统七段式两电平SVPWM调制策略，根据计算出的控制量电压的α轴分量和β轴分量，计算驱动六桥臂逆变器的六路PWM脉冲的占空比，在k+1时刻输出六路PWM脉冲作用于六桥臂逆变器，进而实际输出对应参考电压作用于电机；同时，在k+1时刻，开始下一个循环，重复以上步骤一到步骤四，以此循环。The content of step five SVPWM modulation and output reference voltage is: adopt the traditional seven-segment two-level SVPWM modulation strategy, and calculate the six-way driving six-leg inverter according to the calculated α-axis component and β-axis component of the control voltage. The duty cycle of the PWM pulse, output six PWM pulses to act on the six-arm inverter at time k+1, and then actually output the corresponding reference voltage to act on the motor; at the same time, at time k+1, start the next cycle and repeat the above Step 1 to step 4, in this cycle.

与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:

(1)本发明构建一种适用于永磁同步电机高速状态运行的新型预测转矩控制模型，并在此基础上建立微分方程，更能准确描述电机在高速运行时的状态。(1) The present invention constructs a novel predictive torque control model suitable for high-speed operation of permanent magnet synchronous motors, and establishes a differential equation on this basis, which can more accurately describe the state of the motor at high-speed operation.

(2)本发明通过对新模型下微分方程求解、坐标变换等过程，得到电机高速运行时的逆变器各桥臂的开关信号，使更加准确的控制量作用于电机，从而提高了控制系统的控制性能。(2) The present invention obtains the switching signals of each bridge arm of the inverter when the motor is running at high speed through processes such as solving the differential equation and transforming coordinates under the new model, so that more accurate control quantities act on the motor, thereby improving the control system. control performance.

(3)本发明在获取反馈值时，先通过两种计算方式分别计算，进而根据误差大小切换计算方式，有效地减小了转矩跟随误差，提升了低开关频率下系统的动态性能，并提高了控制系统的鲁棒性。(3) When the present invention obtains the feedback value, it first calculates separately through two calculation methods, and then switches the calculation method according to the size of the error, which effectively reduces the torque following error, improves the dynamic performance of the system at low switching frequency, and The robustness of the control system is improved.

(4)本发明将反馈值与给定值之间的差值经过PI控制器处理后来修正给定值，使控制系统的给定值更加精确，误差更小，有效地提高了系统的暂态性能。(4) In the present invention, the difference between the feedback value and the given value is processed by the PI controller to correct the given value, so that the given value of the control system is more accurate, the error is smaller, and the transient state of the system is effectively improved. performance.

附图说明Description of drawings

图1是本发明的控制框图；Fig. 1 is a control block diagram of the present invention;

图2-1是图1中左部分的放大图；Figure 2-1 is an enlarged view of the left part of Figure 1;

图2-2是图1中右部分的放大图；Figure 2-2 is an enlarged view of the right part in Figure 1;

图3是高速4500r/min下，给定转矩为30Nm，稳态运行时，负载转矩和反馈转矩与给定转矩的跟踪情况仿真图，其中，(a)传统方法下的跟踪情况仿真图，(b)本发明方法下的跟踪情况仿真图；Figure 3 is a simulation diagram of the tracking situation of the load torque, feedback torque and given torque at a high speed of 4500r/min, with a given torque of 30Nm and steady-state operation. Among them, (a) the tracking situation under the traditional method Simulation diagram, (b) tracking situation simulation diagram under the inventive method;

图4是反馈定子磁链与给定定子磁链的跟踪情况仿真图，其中，(a)传统方法下的跟踪情况仿真图，(b)本发明方法下的跟踪情况仿真图。Fig. 4 is a simulation diagram of the tracking situation of the feedback stator flux linkage and the given stator flux linkage, wherein, (a) the simulation diagram of the tracking situation under the traditional method, and (b) the simulation diagram of the tracking situation under the method of the present invention.

具体实施方式Detailed ways

下面结合实施例和附图对本发明的一种永磁同步电机系统高速区低控制频率下预测转矩控制方法，做出详细说明。A method for predictive torque control of a permanent magnet synchronous motor system at a low control frequency in a high-speed region according to the present invention will be described in detail below with reference to the embodiments and drawings.

永磁同步电机系统高速区低控制频率下预测转矩控制系统框图如图1、图2-1和图2-2所示；图中，LPF表示低通滤波器，电机转速和位置信息由增量式编码器获得。Figure 1, Figure 2-1 and Figure 2-2 show the block diagram of the predictive torque control system under the low control frequency in the high-speed area of the permanent magnet synchronous motor system; Quantitative encoder obtains.

如图1、图2-1和图2-2所示，本发明的一种永磁同步电机系统高速区低控制频率下预测转矩控制方法，具体过程如下：As shown in Fig. 1, Fig. 2-1 and Fig. 2-2, a method for predicting torque control at a low control frequency in a high-speed area of a permanent magnet synchronous motor system according to the present invention, the specific process is as follows:

1)在k时刻，对电机转子电角速度ωe(k)、转子位置角θe(k)、电机ABC三相电流iA(k)、iB(k)和iC(k)、直流母线电压Udc(k)、逆变器ABC三相上桥臂的占空比dA(k)、dB(k)和dC(k)进行采样；其中，括号内k表示第k时刻，k＝1，2，3……。1) At time k, for the motor rotor electrical angular velocity ω e (k), rotor position angle θ e (k), motor ABC three-phase current i A (k), i B (k) and i C (k), DC The bus voltage U dc (k), the duty ratio d A (k), d B (k) and d C (k) of the three-phase upper bridge arm of the inverter ABC are sampled; where, k in brackets represents the kth moment , k=1, 2, 3....

2)根据电机ABC三相电流和转子位置角采样值，求解k时刻电机实际电流d、q轴分量，其求解方式为：2) According to the ABC three-phase current of the motor and the sampling value of the rotor position angle, the d and q axis components of the actual current of the motor at time k are solved, and the solution method is as follows:

Figure BDA0002789850000000041
Figure BDA0002789850000000041

其中，id(k)和iq(k)分别为k时刻电机定子电流的d、q轴分量，CABC/αβ为ABC三相静止坐标系到αβ两相静止坐标系的变换矩阵，Cαβ/dq为αβ两相静止坐标系到dq两相旋转坐标系的变换矩阵，具体表达式如下：Among them, i d (k) and i q (k) are the d and q axis components of the stator current of the motor at time k respectively, C ABC/αβ is the transformation matrix from the ABC three-phase stationary coordinate system to the αβ two-phase stationary coordinate system, and C αβ/dq is the transformation matrix from the αβ two-phase stationary coordinate system to the dq two-phase rotating coordinate system, the specific expression is as follows:

Figure BDA0002789850000000042
Figure BDA0002789850000000042

Figure BDA0002789850000000043
Figure BDA0002789850000000043

式中，p为电机的极对数。In the formula, p is the number of pole pairs of the motor.

3)根据已知的电机参数和k时刻电机实际电流d、q轴分量，计算得到k时刻定子磁链的d、q轴分量和负载角，其表达式为：3) According to the known motor parameters and the d and q axis components of the actual motor current at time k, the d, q axis components and load angle of the stator flux linkage at time k are calculated, and the expression is:

Figure BDA0002789850000000044
Figure BDA0002789850000000044

在此基础上，计算可得k时刻的负载角的公式如下：On this basis, the formula for calculating the load angle at time k is as follows:

Figure BDA0002789850000000045
Figure BDA0002789850000000045

式中，δ(k)为k时刻的负载角，ψf为电机永磁体磁链，Ld和Lq分别为电机d、q轴电感。In the formula, δ(k) is the load angle at time k, ψ f is the flux linkage of the permanent magnet of the motor, L d and L q are the d and q axis inductances of the motor, respectively.

4)根据k时刻定子磁链的d、q轴分量和负载角，得到k时刻定子磁链的M0、T0轴分量，计算公式如下：4) According to the d, q axis components of the stator flux linkage at time k and the load angle, the M 0 and T 0 axis components of the stator flux linkage at time k are obtained, and the calculation formula is as follows:

Figure BDA0002789850000000051
Figure BDA0002789850000000051

式中，

Figure BDA0002789850000000052
为两相旋转坐标系到M0-T0坐标系的变换矩阵，可写为以下形式：In the formula,
Figure BDA0002789850000000052
is the transformation matrix from the two-phase rotating coordinate system to the M 0 -T 0 coordinate system, which can be written in the following form:

Figure BDA0002789850000000053
Figure BDA0002789850000000053

式中，

Figure BDA0002789850000000054
为k时刻定子磁链M0、T0轴分量。；In the formula,
Figure BDA0002789850000000054
are the axial components of stator flux linkage M 0 and T 0 at time k. ;

5)根据k时刻采样所得逆变器三相上桥臂的占空比、转子位置角和负载角，得到k时刻电机侧电压的M0、T0轴分量求解公式如下：5) According to the duty ratio, rotor position angle and load angle of the three-phase upper bridge arm of the inverter sampled at time k, the solution formula for the M 0 and T 0 axis components of the motor side voltage at time k is as follows:

Figure BDA0002789850000000055
Figure BDA0002789850000000055

式中，

Figure BDA0002789850000000056
为k时刻电机侧电压的M0、T0轴分量。In the formula,
Figure BDA0002789850000000056
are the M 0 and T 0 axis components of the voltage on the motor side at time k.

6)根据k时刻定子磁链的M0、T0轴分量、电机侧电压的M0、T0轴分量和电机转子角速度，得到k+1时刻时，采用公式计算法所得的电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值，计算过程如下：6) According to the M 0 and T 0 axis components of the stator flux linkage at time k, the M 0 and T 0 axis components of the motor side voltage and the motor rotor angular velocity, the motor torque obtained by using the formula calculation method at time k+1 is obtained Predicted value, predicted value of stator flux amplitude, predicted value of d-axis component of stator flux, predicted value of q-axis component of stator flux, the calculation process is as follows:

Figure BDA0002789850000000057
Figure BDA0002789850000000057

式中，Te1(k+1)为公式计算法所得的电机转矩的预测值，δ(k+1)为k+1时刻的负载角，可通过以下公式得到：In the formula, T e1 (k+1) is the predicted value of the motor torque obtained by the formula calculation method, and δ(k+1) is the load angle at time k+1, which can be obtained by the following formula:

δ(k+1)＝δ(k)+Δδ(k) (10)δ(k+1)=δ(k)+Δδ(k) (10)

式中，Δδ(k)为k时刻负载角的变化量，并由以下公式求得：In the formula, Δδ(k) is the variation of the load angle at time k, and is obtained by the following formula:

Figure BDA0002789850000000058
Figure BDA0002789850000000058

式中，

Figure BDA0002789850000000059
为k+1时刻电机定子磁链M0、T0轴分量的预测值，并可通过以下公式获得：In the formula,
Figure BDA0002789850000000059
is the predicted value of the motor stator flux M 0 and T 0 axis components at time k+1, and can be obtained by the following formula:

Figure BDA00027898500000000510
Figure BDA00027898500000000510

在此基础上，定子磁链幅值的预测值

Figure BDA00027898500000000511
定子磁链d轴分量预测值
Figure BDA00027898500000000512
定子磁链q轴分量预测值
Figure BDA00027898500000000513
的求解公式如下；On this basis, the predicted value of the stator flux amplitude
Figure BDA00027898500000000511
Predicted value of d-axis component of stator flux linkage
Figure BDA00027898500000000512
Predicted value of q-axis component of stator flux linkage
Figure BDA00027898500000000513
The solution formula of is as follows;

Figure BDA0002789850000000061
Figure BDA0002789850000000061

7)将k时刻定子电流的d、q轴分量和定子电压的d、q轴分量通过一阶低通滤波器，滤波后的k时刻定子电流的d、q轴分量和定子电压的d、q轴分量通过以下公式求解：7) Pass the d, q axis components of the stator current at time k and the d, q axis components of the stator voltage through a first-order low-pass filter, and the filtered d, q axis components of the stator current at time k and the d, q axis components of the stator voltage The axial components are solved for by the following formula:

Figure BDA0002789850000000062
Figure BDA0002789850000000062

式中，ud(k)、uq(k)分别为k时刻定子电压d、q轴分量。In the formula, u d (k) and u q (k) are the d and q axis components of the stator voltage at time k, respectively.

8)根据k时刻滤波后的定子电压d、q轴分量、晶体管的管压降和转子位置角，得到k时刻补偿后的定子电压d、q轴分量由以下公式计算得到：8) According to the filtered stator voltage d and q-axis components at time k, the tube voltage drop of the transistor and the rotor position angle, the compensated stator voltage d and q-axis components at time k are calculated by the following formula:

udq_av(k)＝udqm_av(k)-udq_deadtime(k) (15)u dq_av (k) = u dqm_av (k) - u dq_deadtime (k) (15)

式中，udq_deadtime(k)为k时刻死区压降的d、q轴分量，udqm_av(k)为中间变量，表示滤波后的定子电压d、q轴分量在第k个控制周期内的平均值，求解方式如下：In the formula, u dq_deadtime (k) is the d and q axis components of the dead zone voltage drop at time k, and u dqm_av (k) is an intermediate variable, which represents the d and q axis components of the stator voltage after filtering in the k control cycle The average value is solved as follows:

Figure BDA0002789850000000063
Figure BDA0002789850000000063

9)根据滤波后的k时刻定子电流的d、q轴分量、补偿后的定子电压d、q轴分量，得到k+1时刻时，采用功率守恒法所得的电机转矩预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值求解公式如下：9) According to the d, q-axis components of the stator current after filtering at time k, and the compensated stator voltage d, q-axis components, at time k+1, the predicted value of motor torque and stator flux linkage obtained by using the power conservation method The solution formulas for the predicted value of the amplitude, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage are as follows:

Figure BDA0002789850000000064
Figure BDA0002789850000000064

其中，in,

Figure BDA0002789850000000065
Figure BDA0002789850000000065

式中，Te2(k+1)为k+1时刻功率守恒法所得的电机转矩的预测值，ωm为k时刻电机的机械角速度。In the formula, T e2 (k+1) is the predicted value of the motor torque obtained by the power conservation method at time k+1, and ω m is the mechanical angular velocity of the motor at time k.

定子磁链幅值的预测值

Figure BDA0002789850000000066
定子磁链d轴分量预测值
Figure BDA0002789850000000067
定子磁链q轴分量预测值
Figure BDA0002789850000000068
的求解公式如下：Prediction of stator flux amplitude
Figure BDA0002789850000000066
Predicted value of d-axis component of stator flux linkage
Figure BDA0002789850000000067
Predicted value of q-axis component of stator flux linkage
Figure BDA0002789850000000068
The solution formula is as follows:

Figure BDA0002789850000000071
Figure BDA0002789850000000071

10)根据k+1时刻分别采用公式计算和功率守恒法计算所得的电机转矩的预测值、定子磁链幅值的预测值、定子磁链d轴分量预测值、定子磁链q轴分量预测值，得到k+1时刻补偿后的电机转矩的预测值、补偿后的定子磁链d轴分量预测值、补偿后的定子磁链q轴分量预测值、补偿后的定子磁链幅值和补偿后的负载角按以下公式计算：10) The predicted value of the motor torque, the predicted value of the amplitude of the stator flux linkage, the predicted value of the d-axis component of the stator flux linkage, and the predicted value of the q-axis component of the stator flux linkage are calculated according to the formula calculation and the power conservation method at time k+1. value, the predicted value of the motor torque after compensation at time k+1, the predicted value of the d-axis component of the stator flux after compensation, the predicted value of the q-axis component of the stator flux after compensation, the amplitude of the stator flux after compensation and The load angle after compensation is calculated according to the following formula:

Figure BDA0002789850000000072
Figure BDA0002789850000000072

其中，in,

Figure BDA0002789850000000073
Figure BDA0002789850000000073

Figure BDA0002789850000000074
Figure BDA0002789850000000074

Figure BDA0002789850000000075
Figure BDA0002789850000000075

式中，

Figure BDA0002789850000000076
和
Figure BDA0002789850000000077
分别为k+1时刻补偿后的电机转矩的预测值、补偿后的定子磁链d轴分量预测值、补偿后的定子磁链q轴分量预测值、补偿后的定子磁链幅值和补偿后的负载角，
Figure BDA0002789850000000081
Figure BDA0002789850000000082
为中间变量，其分别表示k+1时刻转矩、定子d轴磁链和定子q轴磁链的补偿值，上标pre代表预测值，下标com代表补偿值，α为滤波器参数，Tthreshold为转矩阈值。In the formula,
Figure BDA0002789850000000076
and
Figure BDA0002789850000000077
They are the predicted value of the motor torque after compensation at time k+1, the predicted value of the d-axis component of the stator flux after compensation, the predicted value of the q-axis component of the stator flux after compensation, the amplitude of the stator flux after compensation and the compensation After the load angle,
Figure BDA0002789850000000081
Figure BDA0002789850000000082
is an intermediate variable, which respectively represent the compensation value of torque, stator d-axis flux linkage and stator q-axis flux linkage at k+1 time, the superscript pre represents the predicted value, the subscript com represents the compensation value, α is the filter parameter, T threshold is the torque threshold.

11)根据k时刻定子磁链的d、q轴分量和直流母线电压，k时刻调制度通过以下公式得到：11) According to the d and q-axis components of the stator flux linkage at time k and the DC bus voltage, the modulation degree at time k can be obtained by the following formula:

Figure BDA0002789850000000083
Figure BDA0002789850000000083

12)根据电机转矩给定值、转子角速度和所用电机的表格，查表得到定子磁链的给定值Te_ref、ψs_ref；12) According to the given value of motor torque, the angular velocity of the rotor and the table of the motor used, look up the table to obtain the given values T e_ref and ψ s_ref of the stator flux linkage;

13)根据转矩给定值、磁链给定值、补偿后的电机转矩的预测值、补偿后的定子磁链幅值和调制度，得到修正后的转矩给定值和修正后的磁链给定值按以下公式计算：13) According to the torque given value, the flux linkage given value, the predicted value of the motor torque after compensation, the stator flux linkage amplitude after compensation and the degree of modulation, the corrected torque given value and the corrected The given value of flux linkage is calculated according to the following formula:

Figure BDA0002789850000000084
Figure BDA0002789850000000084

其中，in,

Figure BDA0002789850000000085
Figure BDA0002789850000000085

Figure BDA0002789850000000086
Figure BDA0002789850000000086

其中，Te_mref和ψs_mref分别为修正后的转矩给定值和修正后的磁链给定值，Te_mod(k+1)和ψs_mod(k+1)为中间变量，其分别表示k+1时刻转矩给定值的修正量、磁链给定值的修正量，下标mod代表修正量，β为控制器参数，Mthreshold为调制度阈值。Among them, T e_mref and ψ s_mref are the corrected torque reference value and the corrected flux linkage reference value respectively, T e_mod (k+1) and ψ s_mod (k+1) are intermediate variables, which represent k The correction amount of torque given value at +1 moment, the correction amount of flux linkage given value, the subscript mod represents the correction amount, β is the controller parameter, and M threshold is the threshold value of the modulation degree.

14)根据修正后的转矩给定值、修正后的磁链给定值、k时刻电机转子角速度、转子位置角、直流母线电压、补偿后的k+1时刻补偿后的电机转矩的预测值、补偿后的负载角，计算得到k+1时刻控制量电压的α、β轴分量可通过以下公式得到：14) According to the corrected torque given value, the corrected flux linkage given value, the angular velocity of the motor rotor at time k, the rotor position angle, the DC bus voltage, and the prediction of the compensated motor torque at time k+1 after compensation value, the load angle after compensation, and the α and β axis components of the control voltage at time k+1 can be obtained by the following formula:

Figure BDA0002789850000000087
Figure BDA0002789850000000087

式中，

Figure BDA0002789850000000091
为定子电压控制量的α、β轴分量，
Figure BDA0002789850000000092
为中间变量，可通过以下公式得到。In the formula,
Figure BDA0002789850000000091
are the α and β axis components of the stator voltage control quantity,
Figure BDA0002789850000000092
As an intermediate variable, it can be obtained by the following formula.

Figure BDA0002789850000000093
Figure BDA0002789850000000093

式中，uMz、uTz为中间变量，通过以下公式得到：In the formula, u Mz and u Tz are intermediate variables, obtained by the following formula:

Figure BDA0002789850000000094
Figure BDA0002789850000000094

15)采用传统七段式两电平SVPWM调制策略，根据计算出的控制量电压的α、β轴分量，计算驱动六桥臂逆变器的六路PWM脉冲的占空比，在k+1时刻输出六路PWM脉冲作用于六桥臂逆变器，进而实际输出对应参考电压作用于电机；同时在k+1时刻重复以上步骤1)到步骤14)，以此循环。15) Using the traditional seven-segment two-level SVPWM modulation strategy, according to the calculated α and β axis components of the control voltage, calculate the duty cycle of the six PWM pulses driving the six-arm inverter. At time k+1 Output six PWM pulses to act on the six-leg inverter, and then actually output the corresponding reference voltage to act on the motor; at the same time, repeat the above steps 1) to 14) at time k+1, and thus cycle.

下面采用MATLAB/Simulink仿真软件对传统无差拍模型预测转矩控制方法以及本发明提出的永磁同步电机系统预测转矩控制方法进行仿真，采用的电机参数和控制器参数如表1所示，对比和分析不同转速、转矩工况下控制目标的稳态运行特性，从而验证本发明的有益效果。Below, the MATLAB/Simulink simulation software is used to simulate the traditional deadbeat model predictive torque control method and the permanent magnet synchronous motor system predictive torque control method proposed by the present invention. The motor parameters and controller parameters used are as shown in Table 1. The beneficial effect of the present invention is verified by comparing and analyzing the steady-state operation characteristics of the control target under different rotational speeds and torque operating conditions.

表1仿真参数Table 1 Simulation parameters

Figure BDA0002789850000000095
Figure BDA0002789850000000095

图3为高速4500r/min下，给定转矩为30Nm，稳态运行时，负载转矩和反馈转矩与给定转矩的跟踪情况仿真图，其中，(a)传统方法下的跟踪情况仿真图，(b)本发明方法下的跟踪情况仿真图；图3中，Te_ref为给定转矩，Te_fb为反馈转矩，Te为负载转矩。Figure 3 is a simulation diagram of the tracking situation of the load torque, feedback torque and given torque at a high speed of 4500r/min, with a given torque of 30Nm and steady-state operation. Among them, (a) the tracking situation under the traditional method Simulation diagram, (b) simulation diagram of tracking situation under the method of the present invention; in Fig. 3, T e_ref is given torque, T e_fb is feedback torque, T e is load torque.

图4为反馈定子磁链与给定定子磁链的跟踪情况仿真图，其中，(a)传统方法下的跟踪情况仿真图，(b)本发明方法下的跟踪情况仿真图；图4中，

Figure BDA0002789850000000101
为给定定子磁链，
Figure BDA0002789850000000102
为反馈定子磁链。Fig. 4 is the tracking situation emulation diagram of feedback stator flux linkage and given stator flux linkage, wherein, (a) the tracking situation emulation diagram under the traditional method, (b) the tracking situation emulation diagram under the inventive method; Among Fig. 4,
Figure BDA0002789850000000101
For a given stator flux linkage,
Figure BDA0002789850000000102
is the feedback stator flux linkage.

在图3、图4中，由其中(a)、(b)的对比可以看出，当电机处于高速区、控制频率相对较低的工况下时，采用本方明方法负载转矩和反馈转矩与给定转矩的跟踪误差、反馈定子磁链与给定定子磁链的跟踪误差都有明显的减小。In Figure 3 and Figure 4, it can be seen from the comparison of (a) and (b) that when the motor is in the high-speed area and the control frequency is relatively low, the load torque and feedback The tracking error between the torque and the given torque, and the tracking error between the feedback stator flux linkage and the given stator flux linkage are all significantly reduced.

尽管上面结合附图对本发明进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨的情况下，还可以做出很多变形，这些均属于本发明的保护之内。Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.

Claims (7)

1. A method for controlling a predicted torque of a permanent magnet synchronous motor system is characterized by comprising the following steps:
step one, sampling basic data of a motor at a moment k;
calculating a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component by adopting a formula calculation method according to basic data of the motor;
calculating to obtain a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method according to basic data of the motor;
and step four, obtaining an alpha axis component of the controlled variable voltage and a beta axis component of the controlled variable voltage at the moment of k +1 through compensation and correction of the obtained data, wherein the content comprises the following steps:
the two sets of data obtained by calculating at the moment k +1 by adopting a formula and a power conservation method respectively comprise a predicted value of motor torque, a predicted value of stator flux linkage amplitude, a predicted value of stator flux linkage d-axis component and a predicted value of stator flux linkage q-axis component, and according to the two sets of data, a predicted value of motor torque compensated at the moment k +1, a predicted value of compensated stator flux linkage d-axis component, a predicted value of compensated stator flux linkage q-axis component, a compensated stator flux linkage amplitude and a compensated load angle are obtained, wherein the calculation formula is as follows:
calculating by the formula:
Figure FDA0003808211490000011
in the formula (20), the reaction mixture is,
Figure FDA0003808211490000012
respectively predicting a stator flux linkage d-axis component value and a stator flux linkage q-axis component value;
Figure FDA0003808211490000013
Figure FDA0003808211490000014
Figure FDA0003808211490000021
in formula (21), formula (22), and formula (23):
Figure FDA0003808211490000022
and delta pre (k + 1) respectively representing a predicted value of the motor torque compensated at the moment of k +1, a predicted value of a d-axis component of the compensated stator flux linkage, a predicted value of a q-axis component of the compensated stator flux linkage, a compensated stator flux linkage amplitude and a compensated load angle;
Figure FDA0003808211490000023
respectively predicting a stator flux linkage d-axis component value and a stator flux linkage q-axis component value;
Figure FDA0003808211490000024
the intermediate variables are respectively used for representing the compensation values of the torque at the moment k +1, the stator d-axis flux linkage and the stator q-axis flux linkage;
Figure FDA0003808211490000025
the predicted value of the motor torque at the moment k +1 is obtained by adopting a formula calculation method,
Figure FDA0003808211490000026
calculating the predicted value of the motor torque at the k +1 moment by adopting a power conservation method;
the superscript pre represents the predicted value, the subscript com represents the compensation value, α is the filter parameter, T threshold Is a torque threshold;
the modulation degree at the k moment is obtained by the following formula:
Figure FDA0003808211490000027
u α (k)、u β (k) And U dc (k) The voltage of the direct current bus at the k moment is respectively an alpha axis component of the stator voltage at the k moment, a beta axis component of the stator voltage at the k moment and the direct current bus voltage at the k moment;
the corrected torque set value and the corrected flux linkage set value are calculated according to the following formulas:
Figure FDA0003808211490000028
in the formula (25), the reaction mixture,
Figure FDA0003808211490000029
Figure FDA00038082114900000210
in formulae (26) and (27), T e_mref And psi s_mref Respectively setting a corrected torque set value and a corrected flux linkage set value;
T e_mod (k + 1) and ψ s_mod (k + 1) is an intermediate variable which represents a correction amount of the torque set value at the time of k +1 and a correction amount of the flux linkage set value, respectively;
the subscript mod represents the correction, β is the controller parameter, M threshold Is a modulation threshold;
the α -axis component and the β -axis component of the stator voltage control amount at the time k +1 can be obtained by:
Figure FDA0003808211490000031
in the formula (28), the reaction mixture is,
Figure FDA0003808211490000032
an alpha axis component and a beta axis component of the stator voltage control amount,
Figure FDA0003808211490000033
as an intermediate variable, obtained by the following formula,
Figure FDA0003808211490000034
in the formula (25), u Mz 、u Tz Is an intermediate variable, obtained by the following formula:
Figure FDA0003808211490000035
obtaining a modulation degree at the moment k according to a d-axis component and a q-axis component of the stator flux linkage at the moment k and the direct-current bus voltage;
at the moment k, looking up a table to obtain a stator flux linkage set value according to the motor rotor angular speed, the motor torque set value and the used motor table;
meanwhile, according to the torque set value, the flux linkage set value and the modulation degree at the moment k, the predicted value of the motor torque at the moment k +1 after compensation and the amplitude of the stator flux linkage after compensation, the corrected torque set value and the corrected flux linkage set value at the moment k +1 are obtained;
calculating to obtain an alpha axis component and a beta axis component of the control quantity voltage at the k +1 moment according to the corrected torque set value, the corrected stator flux linkage set value, the motor rotor angular speed at the k moment, the rotor position angle, the direct current bus voltage, the predicted value of the motor torque compensated at the k +1 moment after compensation and the compensated load angle;
and step five, SVPWM modulates and outputs reference voltage, thereby realizing the predicted torque control of the permanent magnet synchronous motor system in the high-speed area and low control frequency.
2. The method for predicting torque control of a permanent magnet synchronous motor system according to claim 1, wherein the step one is to sample basic data of the motor at the time k as follows: and at the moment k, sampling the angular speed of the motor rotor, the position angle of the rotor, the voltage of a direct-current bus, the three-phase current of the motor ABC and the duty ratio information of the three-phase upper bridge arm of the inverter.
3. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 1, wherein the contents of the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component which are obtained by calculating according to the basic data of the motor by using a formula calculation method in the second step comprise:
according to the ABC three-phase current of the motor and the rotor position angle sampling value, solving d-axis components and q-axis components of the actual current of the motor at the moment k;
calculating to obtain a d-axis component, a q-axis component and a load angle of a stator flux linkage at the moment k according to known motor parameters and the d-axis component and the q-axis component of the actual current of the motor at the moment k;
obtaining M of the stator flux linkage at the moment k according to the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k 0 Axial component sum T 0 An axial component;
according to the duty ratio of the three-phase upper bridge arm of the inverter sampled at the moment k, the rotor position angle, the d-axis component, the q-axis component and the load angle of the stator flux linkage at the moment k, and the M of the motor side voltage at the moment k 0 Axial component sum T 0 An axial component;
m of stator flux linkage according to time k 0 Axial component sum T 0 M of shaft component and motor side voltage 0 Axial component sum T 0 And when the shaft component and the angular speed of the motor rotor are obtained at the moment k +1, a formula calculation method is adopted to obtain a predicted value of the motor torque, a predicted value of the stator flux linkage amplitude, a predicted value of the stator flux linkage d-axis component and a predicted value of the stator flux linkage q-axis component.
4. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 1, wherein the third step of calculating the predicted value of the motor torque, the predicted value of the stator flux linkage amplitude, the predicted value of the stator flux linkage d-axis component and the predicted value of the stator flux linkage q-axis component according to the basic data of the motor by using a power conservation method comprises the following steps:
enabling a d-axis component and a q-axis component of the stator current and a d-axis component and a q-axis component of the stator voltage at the moment k to pass through a first-order low-pass filter to obtain the d-axis component and the q-axis component of the stator current and the d-axis component and the q-axis component of the stator voltage at the moment k after filtering;
according to the d-axis component and the q-axis component of the filtered stator current at the k moment, the tube voltage drop of the transistor and the rotor position angle, obtaining a d-axis component and a q-axis component of the compensated stator voltage at the k moment;
and obtaining a motor torque predicted value, a stator flux linkage amplitude predicted value, a stator flux linkage d-axis component predicted value and a stator flux linkage q-axis component predicted value by adopting a power conservation method at the time of k +1 according to the d-axis component and the q-axis component of the filtered stator current at the time of k and the compensated stator voltage d-axis component and the q-axis component.
5. The predicted torque control method of the permanent magnet synchronous motor system according to claim 1, wherein the content of the five-step SVPWM modulation and output reference voltage is: the method comprises the steps that a traditional seven-segment two-level SVPWM modulation strategy is adopted, duty ratios of six paths of PWM pulses for driving a six-bridge arm inverter are calculated according to an alpha axis component and a beta axis component of a calculated control quantity voltage, the six paths of PWM pulses are output at a k +1 moment and act on the six-bridge arm inverter, and then corresponding reference voltages are actually output and act on a motor; and meanwhile, starting the next cycle at the moment of k +1, and repeating the steps from the first step to the fourth step to circulate.
6. The method for controlling the predicted torque of the permanent magnet synchronous motor system according to claim 3, wherein in the second step:
the solving mode of the d-axis component and the q-axis component of the actual current of the motor at the moment k is as follows:
Figure FDA0003808211490000051
in the formula (1), i d (k) And i q (k) Are each kT s D-and q-axis components of the stator current of the time of day motor, i A (k)、i B (k) And i C (k) ABC three-phase current of motor at k moment ABC/αβ Is a transformation matrix from ABC three-phase stationary coordinate system to alpha beta two-phase stationary coordinate system, C αβ/dq The specific expression of a transformation matrix from an alpha beta two-phase stationary coordinate system to a dq two-phase rotating coordinate system is as follows:
Figure FDA0003808211490000052
Figure FDA0003808211490000053
in the formula (3), θ e (k) The rotor position angle at the moment k is shown, and p is the pole pair number of the motor;
the expression of the d-axis component and the q-axis component of the stator flux linkage at the moment k is as follows:
Figure FDA0003808211490000054
on the basis, the formula for calculating the load angle at the available k time is as follows:
Figure FDA0003808211490000055
in equations (3) and (4), δ (k) is the load angle at time k, ψ f Is a permanent magnet flux linkage of the motor, L d And L q The inductors of d and q axes of the motor are respectively;
stator flux linkage M at time k 0 、T 0 The calculation formula of the axis component is as follows:
Figure FDA0003808211490000056
in the formula (6), the reaction mixture is,
Figure FDA0003808211490000057
and
Figure FDA0003808211490000058
respectively stator flux linkage M 0 、T 0 An axial component;
Figure FDA0003808211490000059
rotating the coordinate system to M for two phases 0 -T 0 The transformation matrix of the coordinate system can be written in the form of:
Figure FDA00038082114900000510
in the formulae (6) and (7),
Figure FDA00038082114900000511
for the moment k stator flux linkage M 0 Axial component sum T 0 An axial component;
m of motor side voltage at time k 0 Axial component sum T 0 The solution formula for the axial components is as follows:
Figure FDA0003808211490000061
in the formula (d) A (k)、d B (k) And d C (k) Duty ratios and U of three-phase upper bridge arms of the inverters A, B and C, which are respectively obtained by sampling at the moment k dc (k) The resulting dc bus voltage is sampled for time k,
Figure FDA0003808211490000062
m being motor side voltage at time k 0 、T 0 An axial component;
at the moment k +1, the predicted value of the motor torque is obtained by adopting a formula calculation method, wherein the calculation formula is as follows:
Figure FDA0003808211490000063
in the formula (9), the reaction mixture is,
Figure FDA0003808211490000064
representing the stator flux linkage vector, T e1 (k + 1) is a predicted value of the motor torque obtained by the formula calculation method, and δ (k + 1) is a load angle at the time of k +1, and can be obtained by the following formula:
δ(k+1)＝δ(k)+Δδ(k) (10)
in equation (10), Δ δ (k) is a change amount of the load angle at the time k, and is obtained by the following equation:
Figure FDA0003808211490000065
in the formula (11), the reaction mixture is,
Figure FDA0003808211490000066
motor stator flux linkage M at the time of k +1 0 Axial component sum T 0 A predicted value of the axis component, and can be obtained by the following formula:
Figure FDA0003808211490000067
wherein, T s For the sampling period, on the basis of which the stator flux linkage amplitude is predicted
Figure FDA0003808211490000068
Stator flux linkage d-axis component prediction value
Figure FDA0003808211490000069
Stator flux linkage q-axis component prediction value
Figure FDA00038082114900000610
The solving formula of (2) is as follows;
Figure FDA00038082114900000611
in formula (13), ω e (k) The resulting rotor angular velocity is sampled for time k.
7. The predicted torque control method of the permanent magnet synchronous motor system according to claim 4, characterized in that in step three:
the d-axis component and the q-axis component of the stator voltage at time k can be solved by the following equations:
Figure FDA0003808211490000071
in the formula (14), u d (k)、u q (k) The d-axis component and the q-axis component of the stator voltage at the moment k are respectively; d A (k)、d B (k) And d C (k) The duty ratios of the three-phase upper bridge arms of the inverters A, B and C are respectively;
the d-axis component and the q-axis component of the stator voltage compensation value at the moment k can be calculated by the following formulas:
u dq_av (k)＝u dqm_av (k)-u dq_deadtime (k) (15)
in formula (15), u dq_deadtime (k) D-and q-components of the dead-zone pressure drop at time k, u dqm_av (k) And the intermediate variable represents the average value of the d-axis component and the q-axis component of the filtered stator voltage in the kth control period, and the solving mode is as follows:
Figure FDA0003808211490000072
wherein, T s Is a sampling period;
at the moment k +1, the solving formula of the predicted value of the motor torque calculated by the power conservation method is as follows:
Figure FDA0003808211490000073
wherein,
Figure FDA0003808211490000074
in formulae (17) and (18), T e2 (k + 1) is a predicted value of motor torque, ω, obtained by the power conservation method at the time of k +1 m Mechanical angular velocity of the motor at time k, P m Is the mechanical power, and p is the number of pole pairs of the motor;
prediction value of stator flux linkage amplitude
Figure FDA0003808211490000075
Stator flux d-axis component prediction value
Figure FDA0003808211490000076
Stator flux linkage q-axis component prediction value
Figure FDA0003808211490000077
The solution formula of (c) is as follows:
Figure FDA0003808211490000078
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