【作者】 王凯；

【导师】 孙旭霞； 吴玉新；

【作者基本信息】 西安理工大学 ， 控制工程（专业学位）， 2021， 硕士

【摘要】 近年来,永磁同步电机由于其结构、效率等方面的优势,在伺服控制及交流调速系统领域得到了越来越广泛的应用。为了进一步提高系统的控制性能,各种智能控制策略也逐渐被应用于调速控制系统当中,其中模型预测转矩控制以其可处理多变量控制系统、动态响应迅速等优点成为传统控制与智能控制相结合的研究热点之一。本文针对现有模型预测转矩控制算法在永磁同步电机调速系统上的应用进行了深入研究,并对其在实际应用中存在的问题做了进一步改进,论文的主要研究内容为:1.针对模型预测转矩控制权重因子选取困难的问题,采用一种适用于永磁同步电机调速系统的顺序模型预测转矩控制方案,使用分层思想实现无权重因子的模型预测转矩控制,最后通过仿真和实验分别验证了该方法的有效性和可行性。2.针对原模型预测转矩控制方案在调速系统稳态运行时存在磁链与转矩脉动较大的问题,本文在顺序模型预测转矩控制基础上,结合空间电压矢量细分,增加预测可用电压矢量数目,从而可得到更适用于调速系统的电压矢量。最后通过仿真和实验验证了该优化方案可在省略权重因子的基础上,有效减少调速控制系统稳态运行时的转矩与磁链脉动。3.针对结合矢量细分优化后的顺序模型预测转矩控制策略计算量较大的问题,引入基于时间最优轨迹来计算最优电压矢量的控制思想,采用逆模型推导,可在矢量预测评估之前计算出下一控制周期的期望电压矢量,简化原有控制算法的计算过程。实验结果表明:该方法不仅降低了控制算法的复杂度,同时也提高了调速系统的动态响应性能。4.搭建以STM32F103为主控芯片的永磁同步电机交流调速控制系统实验平台,分别对传统模型预测转矩控制策略、顺序模型预测转矩控制策略以及优化后的顺序模型预测转矩控制策略进行实验验证,最后将三种控制策略在不同工况下的稳态相电流实验波形及程序运行时间进行对比分析。实验结果证明了所提顺序模型预测转矩控制优化方案及算法简化策略具有可行性和实用性。更多还原

【Abstract】 Permanent magnet synchronous motor(PMSM)has been widely used in the field of servo control and AC speed control system because of its advantages in structure and efficiency.With the increasing requirements of various industrial environments for the performance of its speed control system,various intelligent control strategies are gradually applied to the control of the speed control system.Among them,model predictive torque control(MPTC)has become one of the research hotspots of the combination of traditional control and intelligent control because of its advantages of dealing with multivariable system and rapid dynamic response.In this paper,the existing algorithm of MPTC is deeply studied,and its problems in practical application are further improved.The main work is as follows:1.Aiming at the problem of the difficulty in selecting the weight factor of model predictive torque control,a sequential model predictive torque control method suitable for permanent magnet synchronous motor speed control system is adopted,and the hierarchical idea is used to realize the model predictive torque control without weight factor.Finally,the effectiveness and feasibility of the method are verified by simulation and experiment.2.Aiming at the problem of large torque and flux ripple in the steady-state operation of the original control scheme,based on the sequential model predictive torque control,combined with the subdivision of space voltage vector,this paper increases the number of predicted available voltage vectors,so as to obtain the voltage vector which is more suitable for the speed regulation system.The simulation and experimental results show that the method can effectively reduce the torque and flux ripple of the speed control system in steady-state operation without weight factor.3.Aiming at the problem that the sequential model predictive torque control method combined with vector subdivision optimization has a large amount of calculation,the control idea of calculating the optimal voltage vector based on time optimal trajectory is introduced.By using inverse model derivation,the expected voltage vector of the next control cycle can be calculated before vector prediction evaluation,which simplifies the calculation process of the original control algorithm.The experimental results show that this method not only reduces the complexity of the control algorithm,but also improves the dynamic response performance of the speed control system.4.The experimental platform of PMSM AC speed control system based on STM32F103 is built to verify the traditional model predictive torque control strategy,sequential model predictive torque control strategy and optimized sequential model predictive torque control strategy,Finally,the steady-state phase current experimental waveforms and program running time of the three control strategies under different conditions are compared and analyzed.The experimental results show that the proposed sequential model predictive torque control optimization scheme and algorithm simplification strategy are feasible and practical.更多还原