基于线性变参数模型预测控制的内置式永磁同步电机转速控制器设计  

Design of Interior Permanent Magnet Synchronous Motor Speed Controller Based on Linear Parameter-Varying Model Predictive Control

作　　者：贾成禹[1] 王旭东[1] 周凯[1] Jia Chengyu;Wang Xudong;Zhou Kai(School of Electrical&Electronic Engineering Harbin University of Science&Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学电气与电子工程学院,哈尔滨150080

出　　处：《电工技术学报》2020年第22期4666-4677,共12页Transactions of China Electrotechnical Society

基　　金：黑龙江省普通本科高等学校青年创新人才培养计划资助项目(UNPYSCT-2017099)。

摘　　要：为了提高内置式永磁同步电机(IPMSM)的转速控制性能,该文提出一种线性变参数模型预测控制(LVP-MPC)算法,利用扩展卡尔曼滤波器(EKF)对负载转矩等未知参数进行估计来提高鲁棒性,通过将IPMSM的动态模型在稳态运行点处线性化,把得到的线性状态方程等效为增量形式,并设计增量形式的预测模型以及代价函数实现了转速与电流的最优调节,从而克服了因模型参数不匹配以及外部扰动引起的稳态误差。同时,用多面体约束来近似驱动系统的电压、电流的二次型约束条件,最终将所提出的模型预测控制(MPC)最优化问题转化为标准形式的二次规划(QP)而求解。仿真及实验结果表明,所提算法具有良好的转速动态性能和无偏差的转速指令跟踪能力。In order to improve the speed control performance of interior permanent magnet synchronous motor(IPMSM),a linear variable parameter model predictive control(LVP-MPC)algorithm is proposed.Herein,the extended Kalman filter(EKF)is used for estimating unknown parameters such as load torque to enhance the robustness.By linearizing the dynamic model of IPMSM at the steady-state operating point,the obtained linear state equation is equivalent to an incremental form,and the predictive model and cost function of the incremental form are designed to achieve the optimal adjustment of the speed and current.Hence,the steady-state error caused by model parameter mismatch and external disturbance is overcome.In addition,polyhedron constraints are used to approximate the quadratic constraints of the drive system.Finally,the MPC optimization problem of the speed control proposed is transformed into a standard form of quadratic programming(QP).The simulation and experimental results show that the proposed architecture has high dynamic performance and zero-offset reference tracking ability.

关 键 词：转速控制 内置式永磁同步电机 模型预测控制 观测器 

分 类 号：TM351[电气工程—电机]