基于反推控制的永磁同步电机稳定性单矢量控制策略

doi:10.19595/j.cnki.1000-6753.tces.230802

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摘要

针对永磁同步电机传统单矢量控制需遍历所有基本矢量且忽略控制稳定性的问题,本文提出基于反推控制的永磁同步电机稳定性单矢量控制策略。首先,在建立dq0坐标系下永磁同步电机数学模型的基础上,推导设计常规反推控制器;其次,根据反推控制器获取的控制电压确定最优电压矢量所在扇区,并通过数学推导证明每个扇区内必有一个稳定的基本电压矢量可供选择,提出通过基本电压矢量对应Lyapunov函数导数值两两比较的最优基本电压矢量选取方法;接着,对选取包括最优基本电压矢量在内的不同基本电压矢量时的控制性能进行了对比分析;最后,对提出的控制策略进行了仿真和实验验证,结果表明,在驱动恒转矩、恒惯量负载和变转矩、变惯量涡簧负载的多个场景下,本文提出的控制策略均能有效追踪参考转速,并且与传统模型预测电流控制相比,本文控制策略的稳定性更强,输出量波动更小。

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	余洋
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关键词 ：永磁同步电机, 反推控制, 单矢量控制, 基本电压矢量, 功率分配

Abstract：

Aiming at the problem that the traditional single-vector control of permanent magnet synchronous motor needs to traverse all basic vectors and ignores the control stability, a stable single-vector control strategy of permanent magnet synchronous motor is proposed based on backstepping control. Firstly, on the basis of establishing the mathematical model of permanent magnet synchronous motor under the dq0 coordinate system, the conventional backstepping controller is derived. Secondly, the expression of the switch vector under the dq0 coordinate system is obtained by mathematical derivation, and it is proved that for the six sectors, there must be a basic voltage vector in each control cycle to keep the control system stable. Then, according to the control voltage obtained by the conventional backstepping controller, the sector where the optimal voltage vector is located is determined, the selection method of the optimal basic voltage vector is proposed, that is, the derivatives corresponding to the Lyapunov function in the three basic voltage vectors in the sectors are compared in pairs, the basic voltage vector corresponding to the minimum value of the derivative of the Lyapunov function is selected as the optimal basic voltage vector, and the basic voltage vector derivative difference strategy table of the six sectors is given, and then the switching state can be determined according to the selected optimal control vector. Finally, by comparing the error of traditional backstepping control, the control performance of different basic voltage vectors, including the optimal basic voltage vector, is comparatively analyzed.
In order to verify the effectiveness of the stable single-vector control strategy proposed in this paper, the simulation verification is carried out firstly, and the results show that compared with the traditional model predictive current control, the longer the simulation time is set, the more obvious the advantages of the control strategy in this paper in computing power consumption. When driving constant torque or variable torque load, the control strategy in this paper can effectively track the reference speed, and compared with the traditional model predicted current control, the control strategy in this paper has stronger stability and smaller output fluctuations. The simulation results also show that if the optimal voltage vector is not used, but a voltage vector is arbitrarily selected for switching control, the speed and current errors will become larger and the control effect will be significantly worse, which further proves the effectiveness of the control strategy in this paper. In addition, when the motor resistance and inductance parameters deviate from the rated value, the control strategy in this paper can maintain a small speed tracking error, indicating that the control strategy in this paper has good robustness.
In order to further verify the superiority of the algorithm in this paper, an experimental platform for permanent magnet synchronous motor to drive spiral spring load is constructed, and the experimental results show that when driving variable torque and variable inertia spiral spring load, the proposed control strategy can still effectively track the reference speed, and compared with the traditional model predictive current control, it has stronger stability and smaller output fluctuations.

Key words： PMSM backstepping control single-vector control basic voltage vector power distribution

PACS:

TM73

基金资助:

国家自然科学基金（52077078）、河北省自然科学基金(E2019502163)

通讯作者: 余洋男,1982年生,博士,教授,博士生导师,主要研究方向：电力储能技术、柔性负荷建模与调度。E-mail：ncepu_yy@163.com

作者简介: 张千慧女,2000年生,硕士研究生,主要研究方向：电力储能技术。E-mail: 1249384229@qq.com;余宗哲男,1999年生,硕士研究生,主要研究方向：电力储能技术。E-mail：1654514259@qq.com

引用本文:

余洋, 张千慧, 余宗哲, 米增强. 基于反推控制的永磁同步电机稳定性单矢量控制策略[J]. 电工技术学报, 0, (): 239635-239635. Yu-Yang, Zhang-Qianhui, Yu-Zongzhe, Mi-Zengqiang. Stable Single Vector Control Strategy of Permanent Magnet Synchronous Motor Based on Backstepping Control. Transactions of China Electrotechnical Society, 0, (): 239635-239635.

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