基于GPI观测器的永磁同步电机鲁棒谐振预测电流控制

doi:10.19595/j.cnki.1000-6753.tces.230331

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摘要

针对永磁同步电机(PMSM)采用无差拍预测电流控制(DPCC)时,性能易受电机参数失配及死区效应的影响。本文提出一种基于广义比例积分(GPI)观测器的鲁棒谐振预测电流控制(RRPCC)方法。首先分析了PMSM参数失配将产生非周期扰动及逆变器死区效应会导致周期扰动,进而建立带有非周期和周期性扰动的PMSM精确数学模型;然后,基于内模原理,将包含扰动频率的谐振多项式嵌入到电流预测模型,可有效的抑制周期性扰动;随后,采用GPI观测器估计由参数失配引起的集总扰动,并通过前馈补偿消除非周期扰动。实验结果表明,该方法能提高系统面对非周期及周期性扰动时的鲁棒性。

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	杨帆
	赵希梅
	金鸿雁
	王晓东
	刘晓源

关键词 ：参数失配, GPI观测器, 周期扰动, 鲁棒谐振预测电流控制

Abstract：

In order to improve the control performance of permanent magnet synchronous motor (PMSM), deadbeat predictive current control (DPCC) has been adopted to the control of inner current loop due to its small current ripple and fast dynamic response. However, DPCC is highly depended on the accuracy PMSM parameters. The parameter mismatch will lead to the steady-state current error, even make the system unstable. In the actual PMSM operation, parameter mismatch is inevitable due to temperature drift, magnetic saturation, etc. In addition, the inverter dead-time effect will generate periodic voltage disturbance, resulting in current distortion and torque ripple, which deteriorates the performance of the PMSM system. Therefore, this paper proposes a robust resonant predictive current control (RRPCC) strategy based on the generalized proportional integral (GPI) observer to remove the adverse impacts of parameter mismatch and inverter dead-time effect.
Firstly, the non-periodic disturbance generated by parameter mismatch and the periodic disturbance induced by dead-time effect are respectively analyzed. Then the PMSM accurate mathematical model is established with this two disturbances. Secondly, based on the internal mode principle, a resonant polynomial is embedded into the current prediction model with the same frequency as the periodic disturbance, thus the resonant predictive current controller is designed, which can reject the periodic sinusoidal disturbance and achieve more smooth current output. Finally, to eliminate the non-periodic disturbance, the GPI observer has been added to the current controller to estimate and compensate the lumped disturbance induced by the parameter mismatch. And the stability analysis of GPI observer in the discrete-time domain is given.
The effectiveness of the proposed method is verified by experiments. The speed reference is set to 800r/min (ω_e=335rad/s) in the periodic disturbance test. Apparent d-q axis current pulsations occur with 2010rad/s in the conventional DPCC. The pulsation amplitude of i_q is 0.9A, and that of i_d is 0.7A. The FFT analysis shows that 6th current harmonics are significant in the d-q axis. Meanwhile, the current waveform is dramatically improved with the 6th harmonics being effectively suppressed in RRPCC. The pulsation amplitude of i_q is reduced to 0.3A, and that of i_d is 0.2A. In the flux-linkage mismatch test, firstly, the flux-linkage is changed in step from 50% to 200% of the nominal value. The flux-linkage variation in the conventional DPCC causes an obvious steady-state current error with 0.9A in the q-axis. Next, the flux-linkage is maintained at 2ψ_f, then the speed is increased from 400r/min to 1600r/min. When the conventional DPCC is adopted, the q-axis current oscillates during the current dynamic process. The current tracking error increases to 1.5A at 1600rpm in the steady-state. When using the proposed RRPCC, the d-q axis currents is definitely stable and smooth during the entire operation. Therefore, the RRPCC exhibits good current tracking performance under the flux-linkage mismatch. In the inductance mismatch test, the comparison of the current tracking are carried out under the step variation of the inductance from 50% to 200% of the nominal value. In the conventional DPCC, the current ripple are severely increased with the amplitudes of 1.1A and 1.6A in the d-q axis. While the current quality of the proposed RRPCC is not affected by the disturbance owing to the GPI observer. The ripple amplitudes is maintained at 0.5A and 0.4A respectively. Therefore, RRPCC shows good robustness to inductance mismatch.
The following conclusions can be drawn from the experimental analysis: (1) The dead-time effect will generate periodic sinusoidal disturbance. Compared with the conventional DPCC, the resonant predictive current controller is established in RRPCC, which can reject the periodic disturbance. (2) The PMSM parameter mismatch will result in steady-state current errors. With the help of the GPI observer, the lumped disturbance caused by the mismatched parameter is well compensated in RRPCC, the steady-state error is eliminated. So the robustness of the system is improved. (3) The proposed RRPCC exhibits good disturbance rejection ability and current tracking performance in the presence of non-periodic and periodic disturbances.

Key words： Parameter mismatch GPI observer periodic disturbance robust resonant predictive current control (RRPCC)

PACS:

TM351

基金资助:

辽宁省博士科研启动基金计划项目(2022-BS-177)

通讯作者: 赵希梅, 女,1979年生,教授,博士生导师,研究方向为直线伺服、智能控制、鲁棒控制等。E-mail：zhaoxm_sut@163.com

作者简介: 杨帆, 男,1985年生,博士研究生,副研究员,研究方向为电机控制,电力电子、预测控制等。E-mail：sailing_0402@163.com

引用本文:

杨帆, 赵希梅, 金鸿雁, 王晓东, 刘晓源. 基于GPI观测器的永磁同步电机鲁棒谐振预测电流控制[J]. 电工技术学报, 0, (): 8926-. Yang Fan, Zhao Ximei, Jin Hongyan, Wang Xiaodong, Liu Xiaoyuan. Robust Resonant Predictive Current Control Based on GPI Observer for Permanent Magnet Synchronous Motor. Transactions of China Electrotechnical Society, 0, (): 8926-.

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