永磁同步电机单采样双更新电流控制方法研究  

Single sampling and double current update method for current control of PMSM

作　　者：霍士翔 张驰[2,3] 舒鑫东 姚建华[1] HUO Shixiang;ZHANG Chi;SHU Xindong;YAO Jianhua(School of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310000,China;Ningbo Institute of Materials Technology and Engineering,Ningbo 315201,China;Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province,Ningbo 315201,China)

机构地区：[1]浙江工业大学机械工程学院,浙江杭州310000 [2]中国科学院宁波材料技术与工程研究所,浙江宁波315201 [3]浙江省机器人与智能制造装备技术重点实验室,浙江宁波315201

出　　处：《电机与控制学报》2024年第9期162-169,共8页Electric Machines and Control

基　　金：国家自然科学基金区域联合基金(U21A20121);宁波市重大科技任务攻关项目(2022Z038);宁波市科技创新2025重大专项(2019B10070);宁波市企业创新联合体项目(2021H002);浙江省重点研发计划(2021C01070)。

摘　　要：目前高性能电流环大多是在FPGA中实现,但FPGA的硬件成本较高,因此本文研究目的是如何在传统MCU方案中,以最小代价提高电流环带宽。为了降低数字系统中存在的电流采样和计算等延时,以永磁同步电机全数字控制系统为研究对象,提出一种单采样双更新电流环设计方法。首先,改进传统电流采样和占空比更新时序,在一个载波周期内,利用电流采样值和电流误差值对电流进行重构并进行两次占空比更新。其次,引入电流增量因子,并设计相应的参数选取规则。最后,针对功率开关器件在一个控制周期内发生多次开关的问题,设计PWM输出规则,保证开关器件的开关频率在一个控制周期内不变。仿真和实验结果表明,在不提高电流采样频率的情况下,通过在一个控制周期内进行电流采样和电流重构可有效改善电流环的动态性能,达到提高电流环带宽和系统动态响应的目的。At present,a high-performance current-loop is implemented in FPGA.Due to the high hard-ware cost of FPGA,the bandwidth of the current loop was improved with the minimum cost in the tradi-tional MCU scheme.In order to reduce the current sampling and calculation delay in the digital system,a design method of single sample double update current-loop was proposed for permanent magnet synchro-nous motor control system.Firstly,the timing sequence of traditional current sampling and duty cycle up-date was improved.In one carrier cycle,the current sampling values and the current reference values were used to reconstruct the current and update the duty cycle twice.Secondly,the current increment fac-tor was introduced and the corresponding parameter selection rules were designed.Finally,Aiming at the problem that power switching devices can be switched on and off several times in a control cycle,PWM output rules were designed to ensure the switching frequency of switching devices unchanged.The simula-tion and experimental results show that the dynamic performance of the current loop are improved effec-tively,and the system’s dynamic response is increased by current sampling and current reconstruction within one control cycle without raising the current sampling frequency.

关 键 词：永磁同步电机 电流环 单采样双更新 电流重构 PWM 高带宽 

分 类 号：TM315[电气工程—电机]