Design of Cost Function without Weighting Factor for Predictive Torque Control of Surface-Mounted Permanent Magnet Synchronous Motor
Miao Yiru1, Song Pengyun2, Lü Mingcheng1, Liu Xiao1, Huang Shoudao1
1. College of Electrical and Information Engineering Hunan University Changsha 410082 China; 2. College of Electrical Engineering Southwest Minzu University Chengdu 610041 China
Abstract：With high efficiency, high power density, and reliable operation, permanent magnet synchronous motors are widely used in electric vehicles, wind power generation, and high-performance servos. The research of PMSM high-performance control technology is the necessary way to improve the performance of PMSM systems. Compared with the two traditional control strategies of field-oriented control (FOC) and direct torque control (DTC), model predictive control (MPC) has the advantages of fast dynamic response, flexible objective function configuration, and easy-to-handle nonlinear constraints. MPC can be divided into model predictive current control (MPCC) and model predictive torque control (MPTC), which can directly control torque and magnetic chain by introducing torque and magnetic chain into the objective function. However, MPTC adds a weighting factor to the magnetic chain term in the cost function to regulate the degree of influence of the flux linkage term on the value of the cost function. Different weighting factors significantly impact the control performance of the motor. The currently proposed methods based on fuzzy, particle swarm, and cascade sorting all need to be revised to handle the problems of high computational power and complex implementation process. Therefore, a conversion method based on the cost function of the torque chain is proposed, which unifies the magnitudes of the two. Firstly, the discrete current, torque, and flux linkage equations of PMSM are derived. After the torque equation is substituted into the current equation and the inverse Park transformation is performed on it, the torque cost function is converted into a distance expression from the endpoint of the voltage vector to a moving line. Similarly, the cost function of the flux linkage is converted into the expression of the distance from the endpoint of the voltage vector to a moving circle. Thus, the cost function composed of torque and flux linkage is replaced by the distance cost function, avoiding the weighting coefficient design due to the non-uniformity of dimensions. Finally, the design method of the outer speed loop PI controller is presented. Simulation and experiment are carried out to compare the steady and dynamic performances of the three methods, namely NWF-PTC proposed in this paper, traditional predictive torque control (TPTC), and model predictive flux control (MPFC) proposed in Ref.[17]. NWF-PTC can consider the steady state performance of the torque and flux linkage and achieve the minimum current harmonic distortion without setting the weight coefficient. Under the two dynamic conditions of a sudden change of torque or the command value of the speed, the time of overshoot and adjustment of NWF-PTC is also slightly lower than those of the other two methods. Simulation and experimental results verify the feasibility and correctness of the proposed method. The following two conclusions are as follows: (1) The cost function of the torque and flux can be equivalent to the expression of the distance from the endpoint of the voltage vector to a moving line and a moving circle, respectively. Thus the unification of the dimensions is realized. (2) On the premise of not deteriorating the dynamic performance, the proposed method can consider the steady-state performance of torque and flux, and improve the waveform quality of the stator current.
苗轶如, 宋鹏云, 吕铭晟, 刘晓, 黄守道. 表贴式永磁同步电机预测转矩控制的无权重代价函数设计方法[J]. 电工技术学报, 2023, 38(12): 3141-3150.
Miao Yiru, Song Pengyun, Lü Mingcheng, Liu Xiao, Huang Shoudao. Design of Cost Function without Weighting Factor for Predictive Torque Control of Surface-Mounted Permanent Magnet Synchronous Motor. Transactions of China Electrotechnical Society, 2023, 38(12): 3141-3150.
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2023, Vol. 38 
