基于扰动观测的永磁同步电机单环预测控制

针对模型预测控制算法应用于永磁同步电机的控制过程中,存在电磁、机械参数变化导致电机模型设定值可能与实际值不匹配或负载扰动等所引起的非线性扰动现象,造成算法存在预测误差进而影响控制系统动态稳定性的问题。提出了一种基于同步旋转坐标系下具有扰动观测器的转速-电流单环模型预测控制方法。首先,根据永磁同步电机的数学模型,设计单环模型预测控制器,进而降低控制器参数整定难度。其次,设计基于卡尔曼滤波算法与无偏模型预测控制方法相结合的扰动观测器,用于反馈补偿控制,通过估计预测量和输出量中的扰动项和状态量,来消除模型不匹配和负载扰动等影响。最后,仿真结果和实验验证均表明,所提出的具有扰动观测的单环模型预测控制方法,改善了电机参数的不确定性和外部扰动所带来的鲁棒性问题。

Single Loop Predictive Control of Permanent Magnet Synchronous Motor Based on Disturbance Observation

In the model predictive control algorithm applied to the control process of permanent magnet synchronous motor(PMSM),there are nonlinear disturbance phenomena caused by the change of electromagnetic and mechanical parameters,which may cause the motor model set value to be mismatched with the actual value or load disturbance,resulting in prediction error of the algorithm.Aiming at the problem that the error further affects the dynamic stability of the control system,a speed-current single-loop model predictive control method based on the disturbance observer in the synchronous rotating coordinate system was proposed.Firstly,according to the mathematical model of PMSM,the model with predict the single-loop controller was designed so as to reduce the difficulty of setting the controller parameters.Secondly,a disturbance observer based on Kalman filter algorithm and unbiased model predictive control method was designed for feedback compensation control.By estimating the disturbance quantity and state quantity in the prediction quantity and output quantity,the model mismatch and load disturbance were eliminated.Finally,the simulation results and experimental verifications show that the proposed model predictive single-loop control method with disturbance observation can improve the robustness issue of external disturbances and the uncertainty of motor parameters.