基于扰动补偿的电机模拟器电流控制策略

doi:10.19595/j.cnki.1000-6753.tces.230012

Abstract
Figure/Table
References
Related Citation (15)

Download: PDF (2824 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract Mechanical load dynamometer systems are commonly used to test and develop motor drive systems. However, traditional mechanical load testbeds for electric motors have several drawbacks, such as large volume, high cost, and difficulties-to-implementing fault testing, which fail to meet the requirements of efficient electric drive system testing. An electric motor emulator (EME) based on power hardware-in-the-loop (PHIL) can simulate the current and voltage characteristics of real motor ports using power electronic devices and control algorithms, making it a novel solution for testing the performance of motor controllers.
The current control strategies are key to affecting the accuracy of EME. However, the low-pass filtering nature of conventional PI control limits the dynamic control effect of EME, and traditional open-loop control strategies are susceptible to parameter perturbations. Therefore, an open-loop current control strategy based on sliding mode perturbing observers is proposed. First, the PI control defect and low-pass filtering properties are analyzed by deriving the transfer function and using the Bode diagram. The theoretical analysis shows that PI control cannot simulate the amplitude-frequency properties of the target motor in the full bandwidth. Second, the open loop control voltage equation without differential calculation is derived based on the mathematical model of the target motor and the interface circuit model. Moreover, the perturbation effects of the resistance and inductance parameters on the control policy are analyzed. The inductance perturbation mainly affects the high-frequency features, which are more distorted as the degree of perturbation increases, leading to a decrease in the accuracy of the simulation of the dynamic response. Resistance perturbations mainly affect the low-frequency features. As the degree of mismatch increases, the distortion of the low-frequency features and the steady-state error become larger. Finally, robust sliding-mode perturbation observers are designed for perturbation observation and feed-forward compensation.
Simulation results show that under 35% resistance disturbance and 25% resistance disturbance, the traditional open-loop control exhibits phase current simulation error as high as 3 A in the dynamic response, and the steady-state error is about 2 A. The PI control has the largest phase current simulation error during the acceleration stage, about 2 A, and the steady-state error is about 0.8 A. The error of the proposed control strategy is within 0.7 A in both dynamic and steady-state responses. Experimental results show that traditional open-loop control experiences amplitude errors and phase perturbations after parameter perturbations. The proposed control strategy has higher precision and accuracy than the motor simulator system based on the traditional PI control and open-loop control strategy, regardless of the transient or steady-state condition when there is parameter disturbance. Under 25% inductance disturbance and 35% resistance disturbance, the maximum phase current simulation error is reduced by 60% compared to the traditional open-loop control and 10% compared to the PI control. Meanwhile, the harmonic content of phase current is reduced by 2.48% compared to PI control.

Key words： Electric motor emulator open-loop control PI control disturbance observer

Received: 04 January 2023

PACS:

TM341

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors

Cite this article:

URL:

https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.230012 OR https://dgjsxb.ces-transaction.com/EN/Y2023/V38/I22/5987

[1] 曹阳, 刘旭. 计及损耗的混合励磁电机建模与硬件在环实时仿真系统[J]. 电工技术学报, 2020, 35(22): 4657-4665.
Cao Yang, Liu Xu.Modeling method for hybrid- excited machine and hardware-in-loop real-time simulation system with accounting for loss calcu- lation[J]. Transactions of China Electrotechnical Society, 2020, 35(22): 4657-4665.
[2] 高瑾, 黄洋, 宋石阳, 等. 车用电机硬件在环实时仿真与测试平台[J]. 电工技术学报, 2014, 29(11): 99-106.
Gao Jin, Huang Yang, Song Shiyang, et al.Hardware- in-loop real-time simulation and test bench for electrical vehicle[J]. Transactions of China Elec- trotechnical Society, 2014, 29(11): 99-106.
[3] Amitkumar K S, Kaarthik R S, Pillay P.A versatile power-hardware-in-the-loop-based emulator for rapid testing of transportation electric drives[J]. IEEE Transactions on Transportation Electrification, 2018, 4(4): 901-911.
[4] 王志福, 孙庆乐, 李昊龙, 等. 基于有限元分析的永磁同步电机实时模拟器研究[J]. 北京理工大学学报, 2021, 41(9): 918-926.
Wang Zhifu, Sun Qingle, Li Haolong, et al.Research on real-time emulator based on finite element analysis for permanent magnet synchronous motor[J]. Transa- ctions of Beijing Institute of Technology, 2021, 41(9): 918-926.
[5] Sun Qingle, Wang Zhifu, Wang Zeshang, et al.Design and implementation of LCL filter-based electric machine emulator with disturbance com- pensation[J]. IEEE Access, 2022, 10: 82580-82595.
[6] Srinivasa R Y, Chandorkar M C.Real-time electrical load emulator using optimal feedback control tech- nique[J]. IEEE Transactions on Industrial Electronics, 2010, 57(4): 1217-1225.
[7] Zou Xiaomin, Xiao Xi, He Peng, et al.Permanent magnet synchronous machine emulation based on power hardware-in-the-loop simulation[C]//2019 IEEE International Electric Machines & Drives Conference (IEMDC), San Diego, CA, USA, 2019: 248-253.
[8] Ma Ke, Song Yubo.Power-electronic-based electric machine emulator using direct impedance regu- lation[J]. IEEE Transactions on Power Electronics, 2020, 35(10): 10673-10680.
[9] Qi Yuhao, Ma Ke, Tang Weiyu.Full-bandwidth mission profile emulation of the electric machine system with voltage reference signal transmission[J]. IEEE Transactions on Power Electronics, 2022, 37(3): 3473-3483.
[10] Vodyakho O, Steurer M, Edrington C S, et al.An induction machine emulator for high-power appli- cations utilizing advanced simulation tools with graphical user interfaces[J]. IEEE Transactions on Energy Conversion, 2012, 27(1): 160-172.
[11] Masadeh M A, Amitkumar K S, Pillay P.Power electronic converter-based induction motor emulator including main and leakage flux saturation[J]. IEEE Transactions on Transportation Electrification, 2018, 4(2): 483-493.
[12] Fleming F E, Edrington C S.Real-time emulation of switched reluctance machines via magnetic equivalent circuits[J]. IEEE Transactions on Industrial Elec- tronics, 2016, 63(6): 3366-3376.
[13] 黄科元, 周佳新, 刘思美, 等. 考虑逆变器非线性永磁同步电机高频注入电感辨识方法[J]. 电工技术学报, 2021, 36(8): 1607-1616.
Huang Keyuan, Zhou Jiaxin, Liu Simei, et al.Inductance identification method of permanent magnet synchronous motor considering inverter nonlinearity based on high-frequency injection[J]. Transactions of China Electrotechnical Society, 2021, 36(8): 1607-1616.
[14] 尹忠刚, 白聪, 杜超, 等. 基于内模干扰观测器的永磁同步直线电机无差拍电流预测控制方法[J]. 电工技术学报, 2018, 33(24): 5741-5750.
Yin Zhonggang, Bai Cong, Du Chao, et al.Deadbeat predictive current control for permanent magnet linear synchronous motor based on internal model dis- turbance observer[J]. Transactions of China Electro- technical Society, 2018, 33(24): 5741-5750.
[15] 郭昕, 黄守道, 彭昱, 等. 基于改进型双幂次趋近律与全局快速终端滑模观测器的IPMSM调速系统滑模控制[J]. 电工技术学报, 2023, 38(1): 190-203.
Guo Xin, Huang Shoudao, Peng Yu, et al.Sliding mode control of IPMSM speed regulation system based on an improved double power reaching law and global fast terminal sliding mode observer[J]. Transa- ctions of China Electrotechnical Society, 2023, 38(1): 190-203.
[16] 章回炫, 范涛, 边元均, 等. 永磁同步电机高性能电流预测控制[J]. 电工技术学报, 2022, 37(17): 4335-4345.
Zhang Huixuan, Fan Tao, Bian Yuanjun, et al.Predictive current control strategy of permanent magnet synchronous motors with high performance[J]. Transactions of China Electrotechnical Society, 2022, 37(17): 4335-4345.
[17] 周奇勋, 刘帆, 吴紫辉, 等. 永磁同步电机转矩与定子磁链模型预测控制预测误差补偿方法[J]. 电工技术学报, 2022, 37(22): 5728-5739.
Zhou Qixun, Liu Fan, Wu Zihui, et al.Model predictive torque and stator flux control method for PMSMs with prediction error compensation[J]. Transactions of China Electrotechnical Society, 2022, 37(22): 5728-5739.
[18] 吴云亚, 阚加荣, 谢少军. 基于双d-q坐标系的并网逆变器控制策略[J]. 电工技术学报, 2011, 26(8): 106-112.
Wu Yunya, Kan Jiarong, Xie Shaojun.Control strategy for grid-connected inverter based on double d-q coordinates[J]. Transactions of China Electro- technical Society, 2011, 26(8): 106-112.
[19] 武志涛, 李帅, 程万胜. 基于扩展滑模扰动观测器的永磁直线同步电机定结构滑模位置跟踪控制[J]. 电工技术学报, 2022, 37(10): 2503-2512.
Wu Zhitao, Li Shuai, Cheng Wansheng.Fixed structure sliding mode position tracking control for permanent magnet linear synchronous motor based on extended sliding mode disturbance observer[J]. Transactions of China Electrotechnical Society, 2022, 37(10): 2503-2512.