基于数据驱动观测器的永磁同步电机显式模型预测直接速度控制  

Explicit Model Predictive Direct Speed Control Strategy for Permanent Magnet Synchronous Motors Based on Data Driven Observer

作　　者：史婷娜 赵梦圆 夏长亮 SHI Tingna;ZHAO Mengyuan;XIA Changliang(College of Electrical Engineering,Zhejiang University,Hangzhou 310027,Zhejiang Province,China;Advanced Electrical Equipment Innovation Center,Zhejiang University,Hangzhou 311107,Zhejiang Province,China)

机构地区：[1]浙江大学电气工程学院,浙江省杭州市310027 [2]浙江大学先进电气装备创新中心,浙江省杭州市311107

出　　处：《中国电机工程学报》2025年第4期1248-1259,I0003,共13页PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING

基　　金：国家自然科学基金(重点项目)(52237003);国家自然科学基金(重大项目)(51991384)。

摘　　要：当参数失配时,永磁同步电机的显式模型预测(explicit model predictive,EMP)直接速度控制将出现明显的稳态静差。为此,现有方法通过配置扩张状态观测器(extended state observer,ESO)来实时观测和前馈补偿模型偏差,以实现无静差、高精度的转速跟随控制。但实验和理论分析表明,由于ESO的带宽有限,对于变化扰动的补偿能力较弱,参数失配时系统的动态性能恶化。为同时改善参数失配时系统的稳态控制精度和动态性能,并提高鲁棒性,该文将无模型控制与EMP控制进行融合,通过构造超局部预测模型和数据驱动观测器,提出新的EMP直接速度控制策略。实验结果表明:所提方法凭借数据驱动观测器的高观测带宽,可以同时在动态和稳态阶段实现参数失配的优良补偿,兼顾动态与稳态性能。When parameter mismatches,the explicit model predictive(EMP)direct speed control of permanent magnet synchronous motor will have obvious steady-state deviations.To this end,the existing method configures an extended state observer(ESO)to observe and feed-forward compensate for model deviations in real-time,thereby achieving offset-free and high-precision speed tracking control.However,experimental and theoretical analyses have found that the system’s dynamic response deteriorates when parameter mismatches due to the ESO’s limited bandwidth,which leads to a weak ability to compensate for changing disturbances.To simultaneously improve the system’s steady-state control accuracy and dynamic performance with parameter mismatches,as well as enhance robustness,this paper integrates model-free control with EMP control and proposes a new EMP direct speed control strategy by constructing an ultra-local predictive model and a data-driven observer.Experimental results show that the proposed method can achieve excellent compensation for parameter mismatches in both dynamic and steady-state stages by virtue of the data-driven observer’s high observation bandwidth,thereby ensuring both dynamic and steady-state performance.

关 键 词：永磁同步电机 显式模型预测控制 直接速度控制 数据驱动 无模型控制 

分 类 号：TM352[电气工程—电机]