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| Model-Free Predictive Current Control of Segmented Dual Three-Phase Permanent Magnet Linear Synchronous Motor |
| Zhou Shijiong1,2, Li Yaohua1,2, Shi Liming1,2, Zhang Mingyuan1,2, Liu Jinhai1,2 |
1. Key Laboratory of Power Electronics and Electric Drive Institute of Electrical Engineering Chinese Academy of Sciences Beijing 100190 China;
2. University of Chinese Academy of Sciences Beijing 100049 China |
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Abstract During the segmented dual three-phase permanent magnet linear synchronous motor (PMLSM), the deadbeat predictive current control (DPCC) is vulnerable to the back electromotive force (EMF) fluctuation, which cannot achieve exact current tracking and thrust control when the mover enters and exits the stator segments. At the same time, DPCC depends on motor models, but the model of segmented dual three-phase (PMLSM) is complex. Besides, there are additional harmonic subspace inductors in its harmonic subspace, which is easy to aggravate the degradation of current control when parameters are mismatched. Therefore, this paper proposes a model-free predictive current control (MFPCC) method.
Firstly, the influence of parameter mismatch and back EMF fluctuation in the conventional DPCC is analyzed. It is deduced that parameter mismatch causes errors in the control voltage, and the additional inductance in the harmonic subspace aggravates the parameter variation. Secondly, this paper takes the parameter mismatch and back EMF fluctuation as the lumped disturbance. Then, a model-free predictive current controller is designed based on an ultra-local model, divided into a known linear term related to the current and an unknown part related to the parameter mismatch and back EMF. Finally, a disturbance observer is designed to observe the unknown part in this ultra-local model, and its stability is demonstrated.
Hardware-in-the-loop experiments prove that the proposed method is independent of motor parameters and has strong robustness. (1) When the speed control is open-loop and the flux linkage ψf changes in the DPCC control, the q-axis current cannot effectively track the given value, and the thrust fluctuation is about 5.25%. When the Ld, Lq, and Lxy of the controller increase to 200% of the original value, the q-axis current of the DPCC has apparent fluctuations, and the thrust fluctuation range is about 2%. The proposed q-axis current of the MFPCC can strictly track the given value, and the thrust fluctuation range is only 1.25%, which proves that the MFPCC has good parameter robustness. (2) When the speed control is closed-loop, and the speed reference suddenly increases to 12 m/s within 0.75 s, the q-axis current tracking performance of DPCC has overshoot. It cannot effectively track the reference value iqref because the inductance and flux linkage parameters become 200% and 50% of the original. However, the q-axis current tracking performance of MFPCC is smooth, and the tracking speed is fast. After parameter mismatch, the time of MFPCC following the slope is 0.36 s, similar to 0.35 s that of DPCC. The time of MFPCC following step signal is 0.53 s, smaller than 0.6 s of DPCC speed tracking time. (3) The total harmonic distortion of DPCC is twice that of MFPCC.
The conclusions are as follows. (1) The parameter mismatch of the segmented dual three-phase PMLSM and the dynamic disturbance of back EMF will introduce disturbance to the current control, deteriorate the current tracking performance, and lead to thrust fluctuation. In addition, the mismatched harmonic subspace inductance parameter Lxy after vector space decomposition (VSD) further affects the current performance. (2) The MFPCC proposed in this paper uses an ultra-local model to simplify the system model, divided into a known linear part and an unknown part with back EMF and parameter mismatch. The disturbance observer accurately estimates the unknown part. (3) MFPCC has strong robustness to parameter mismatch. It can effectively suppress the influence of back EMF dynamic disturbance caused by mover motions. The proposed method has good tracking performance of q-axis current in the whole movement, small thrust and velocity fluctuation, and fast dynamic response.
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Received: 11 November 2022
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2024, Vol. 39 
