基于广义比例积分观测器的永磁同步电机鲁棒谐振预测电流控制  

Robust Resonant Predictive Current Control Based on Generalized Proportional Integral Observer for Permanent Magnet Synchronous Motor

作　　者：杨帆[1,2,3] 赵希梅[1] 金鸿雁[1] 王晓东[1] 刘晓源 Yang Fan;Zhao Ximei;Jin Hongyan;Wang Xiaodong;Liu Xiaoyuan(School of Electrical Engineering Shenyang University of Technology,Shenyang 110870 China;State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110016 China;Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences,Shenyang 110169 China)

机构地区：[1]沈阳工业大学电气工程学院,沈阳110870 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《电工技术学报》2024年第10期2995-3006,共12页Transactions of China Electrotechnical Society

基　　金：辽宁省博士科研启动基金计划资助项目(2022-BS-177)。

摘　　要：针对永磁同步电机(PMSM)采用无差拍预测电流控制(DPCC)时,性能易受电机参数失配及死区效应的影响,该文提出一种基于广义比例积分(GPI)观测器的鲁棒谐振预测电流控制(RRPCC)方法。首先,分析PMSM参数失配将产生非周期扰动及逆变器死区效应会导致周期扰动,进而建立带有非周期和周期性扰动的PMSM精确数学模型;其次,基于内模原理,将包含扰动频率的谐振多项式嵌入电流预测模型,可有效地抑制周期性扰动;最后,采用GPI观测器估计由参数失配引起的集总扰动,并通过前馈补偿消除非周期扰动。实验结果表明,该方法能提高系统面对非周期及周期性扰动时的鲁棒性。To improve the control performance of a permanent magnet synchronous motor(PMSM),deadbeat predictive current control(DPCC)is adopted for the inner current loop due to its small current ripple and fast dynamic response.However,DPCC is highly dependent on accurate PMSM parameters,and any mismatch may lead to steady-state current errors and system instability.In practical PMSM operation,parameter mismatch is inevitable due to factors such as temperature drift and magnetic saturation.In addition,inverter dead time introduces periodic voltage disturbance,resulting in current distortion and torque ripple,which deteriorates the performance of the PMSM system.Therefore,this paper proposes a robust resonant predictive current control(RRPCC)strategy based on the generalized proportional integral(GPI)observer to mitigate the adverse impacts of parameter mismatch and inverter dead-time effect.Firstly,the non-periodic disturbance generated by parameter mismatch and the periodic disturbance induced by the dead-time effect are analyzed.A precise mathematical model of the PMSM is established considering both disturbances.Secondly,based on the internal mode principle,a resonant polynomial is incorporated into the current prediction model at the same frequency as the periodic disturbance.The resonant predictive current controller is designed to reject periodic sinusoidal disturbance and achieve smooth current output.Finally,to eliminate non-periodic disturbance,a GPI observer is added to the current controller to estimate and compensate for lumped disturbances induced by parameter mismatch.The stability analysis of the GPI observer in the discrete-time domain is given.The effectiveness of the proposed method is verified by experiments.The speed reference is set to 800 r/min(ωe=335 rad/s)in the periodic disturbance test.Apparent d-q axis current pulsations occur with 2010 rad/s in the conventional DPCC.The pulsation amplitude of iq and id is 0.9 A and 0.7 A,respectively.The FFT analysis shows that 6th current harmonics are signifi

关 键 词：参数失配 GPI观测器 周期扰动 鲁棒谐振预测电流控制 

分 类 号：TM351[电气工程—电机]