基于几何约束优化的重复控制器及PMSM电流谐波抑制应用

doi:10.19595/j.cnki.1000-6753.tces.222202

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Abstract

Due to the structural defects of permanent magnet synchronous motor and various nonlinear factors in the driving circuit, the three-phase current in motor will contain current harmonics of various orders, which are mainly (6k±1) (k is a positive integer) orders. These current harmonics of (6k±1) orders in the natural coordinate system will be displayed as 6k orders after the coordinate is changed to the two-phase rotating coordinate system. At the same time, the transfer function of repetitive controller has multiple resonance peaks, and its resonance frequency is a multiple relationship, so repetitive controller is widely used in the field of current harmonic suppression of permanent magnet synchronous motor.
However, the sampling period of the motor controller is fixed in the actual control system, and the current harmonic frequency changes with the motor speed, which will lead to the fractional delay link in the repetitive controller, which cannot be realized in the actual controller. The most commonly used method to solve this problem is to use Lagrange interpolation to approximate the fractional delay link. This paper first analyzes the shortcomings of this method, and then discusses the method of Lagrange interpolation to approximate fractional order with numerical analysis. It is concluded that there are unnecessary specific constraints between Lagrange interpolation coefficients, and better harmonic suppression effect can be achieved by reasonably configuring the interpolation coefficients.
Then, the interpolation coefficient in the interpolation approximation method is mapped to compound circular motion, and combined with the amplitude-frequency characteristic surface of the proposed repetitive controller, how the interpolation coefficient affects the resonant frequency and harmonic peak value of the repetitive controller is analyzed, and then a fractional-order repetitive controller based on geometric constraint optimization is proposed. Through this method, the resonance frequency and current harmonic frequency of the motor can be guaranteed to coincide in a wider range of speed, moreover, the resonance peak value is more consistent with the harmonic composition of the motor, thus achieving better harmonic suppression effect. At the same time, in order to avoid the system instability caused by the repetitive controller having too large resonance peak in the high frequency part, this paper also introduces the combined filter, and discusses the influence of the feedback loop position of the filter on the resonance frequency and resonance peak, which is used as the design basis of the combined filter.
In order to ensure the stability of the system, this paper introduces the sensitivity function and combines the Nyquist curve to analyze the stability of the current control system including PI, repetitive controller and discrete motor model. First, the influence of PI controller gain K on the stability of the system without repetitive controller is analyzed. After determining the value of K, the influence of repetitive controller gain K_rc and internal model coefficient Q on the stability of the system is discussed respectively, and then the values of K_rc and Q are determined. After all parameters are determined, the stability of the current control system at different motor speeds is also discussed.
Finally, the experiments of without repetitive controller, rounding, Lagrange interpolation and the improved repetitive controller proposed in this paper are carried out on the motor bench at different motor speeds. The current waveform and FFT analysis verify that the harmonic suppression performance of the proposed method is better.

Key words： fractional order delay repetitive controller control stability harmonic suppression permanent magnet synchronous motor

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TM351

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	Zhu Yuan
	Zhu Liting
	Xiao Mingkang
	Meng Ling

Cite this article:

Zhu Yuan,Zhu Liting,Xiao Mingkang等. Repetitive Controller Based on Geometric Constraint Optimization and Its Application to Current Harmonic Suppression of PMSM[J]. Transactions of China Electrotechnical Society, 0, (): 128-128.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.222202 OR https://dgjsxb.ces-transaction.com/EN/Y0/V/I/128

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