CN-122001256-A - Permanent magnet synchronous motor parameter-free current prediction control method and device based on ANPC three-level inverter drive

CN122001256ACN 122001256 ACN122001256 ACN 122001256ACN-122001256-A

Abstract

The application provides a parameter-free current prediction control method and device for a permanent magnet synchronous motor driven by an ANPC three-level inverter. The method comprises the steps of obtaining a voltage vector of an ANPC three-level inverter at the last moment, selecting a corresponding alternative voltage vector set according to the voltage vector at the last moment, wherein the number of basic voltage vectors in the alternative voltage vector set is smaller than 27, selecting a basic voltage vector with the minimum value of a cost function from the alternative voltage vector set based on the cost function as an optimal basic voltage vector, and transmitting a switching state corresponding to the optimal basic voltage vector to the ANPC three-level inverter so as to realize operation control of the permanent magnet synchronous motor. According to the technical scheme, under the condition that the motor rotating speed control precision and the midpoint voltage control precision are guaranteed, the calculation load of the system is reduced.

Inventors

PAN JIACHEN
LIN WEIJIE
LV QIANG

Assignees

杭州电子科技大学

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. A permanent magnet synchronous motor parameter-free current prediction control method based on ANPC three-level inverter driving is characterized by comprising the following steps: Step S1, obtaining a voltage vector of an ANPC three-level inverter at the last moment; Step S2, selecting a corresponding alternative voltage vector set according to the voltage vector at the previous moment, wherein the number of basic voltage vectors in the alternative voltage vector set is smaller than 27; Step S3, selecting a basic voltage vector with the minimum value of the cost function from the alternative voltage vector set based on the cost function as an optimal basic voltage vector; And S4, transmitting the switching state corresponding to the optimal basic voltage vector to the ANPC three-level inverter so as to realize the operation control of the permanent magnet synchronous motor.
2. The method according to claim 1, wherein the method further comprises: based on a switching rule of the ANPC three-level inverter, pre-establishing a corresponding relation between a voltage vector at the moment on the ANPC three-level inverter and an alternative voltage vector set at the next moment; Determining an alternative voltage vector set corresponding to the voltage vector at the last moment based on the corresponding relation; the switching rule is that, compared with the voltage vector at the previous moment, only one phase of the voltage vector at the next moment can change the switching state or three phases are kept unchanged, and the following state change constraint conditions are satisfied: the switching state P of the ANPC three-level inverter maintains the current switching state P or changes to the switching state O at the next moment; The switching state N of the ANPC three-level inverter maintains the current switching state N or changes to the switching state O at the next moment; The switching state O of the ANPC three-level inverter maintains the current switching state O or changes to the switching state P or N at the next moment.
3. The method of claim 2, wherein the correspondence of the voltage vector at the previous time to the set of alternative voltage vectors at the next time comprises: if the voltage vector at the previous moment is PPP, the corresponding alternative voltage vector set is PPP, OPP, POP, PPO; if the voltage vector at the previous moment is PPO, the corresponding alternative voltage vector set is PPO, OPO, POO, PPP, PPN; if the voltage vector at the previous moment is PPN, the corresponding alternative voltage vector set is PPN, OPN, PON, PPO; If the voltage vector at the previous moment is POP, the corresponding alternative voltage vector set is POP, OOP, PPP, PNP, POO; If the voltage vector at the previous moment is POO, the corresponding alternative voltage vector set is POO, OOO, PPO, PNO, POP, PON; if the voltage vector at the previous moment is PON, the corresponding alternative voltage vector set is PON, OON, PPN, PNN, POO; if the voltage vector at the previous moment is PNP, the corresponding alternative voltage vector set is PNP, ONP, POP, PNO; if the voltage vector at the previous moment is PNO, the corresponding alternative voltage vector set is PNO, ONO, POO, PNP, PNN; if the voltage vector at the previous moment is PNN, the corresponding alternative voltage vector set is PNN, ONN, PON, PNO; if the voltage vector at the previous moment is OPP, the corresponding alternative voltage vector set is OPP, PPP, NPP, OOP, OPO; If the voltage vector at the previous moment is OPO, the corresponding alternative voltage vector set is OPO, PPO, NPO, OOO, OPP, OPN; If the voltage vector at the previous moment is OPN, the corresponding alternative voltage vector set is OPN, PPN, NPN, OON, OPO; if the voltage vector at the previous moment is OOP, the corresponding alternative voltage vector set is OOP, POP, NOP, OPP, ONP, OOO; If the voltage vector at the previous moment is OOO, the corresponding alternative voltage vector set is OOO, POO, NOO, OPO, ONO, OOP, OON; if the voltage vector at the previous moment is OON, the corresponding alternative voltage vector set is OON, PON, NON, OPN, ONN, OOO; if the voltage vector at the previous moment is ONP, the corresponding alternative voltage vector set is ONP, PNP, NNP, OOP, ONO; If the voltage vector at the previous moment is ONO, the corresponding alternative voltage vector set is ONO, PNO, NNO, OOO, ONP, ONN; If the voltage vector at the previous moment is ONN, the corresponding alternative voltage vector set is ONN, PNN, NNN, OON, ONO; If the voltage vector at the previous moment is NPP, the corresponding alternative voltage vector set is NPP, OPP, NOP, NPO; If the voltage vector at the previous moment is NPO, the corresponding alternative voltage vector set is NPO, OPO, NOO, NPP, NPN; If the voltage vector at the previous moment is NPN, the corresponding alternative voltage vector set is NPN, OPN, NON, NPO; If the voltage vector at the previous moment is NOP, the corresponding alternative voltage vector set is NOP, OOP, NPP, NNP, NOO; If the voltage vector at the previous moment is NOO, the corresponding alternative voltage vector set is NOO, OOO, NPO, NNO, NOP, NON; if the voltage vector at the previous moment is NON, the corresponding alternative voltage vector set is NON, OON, NPN, NNN, NOO; If the voltage vector at the previous moment is NNP, the corresponding alternative voltage vector set is NNP, ONP, NOP, NNO; if the voltage vector at the previous moment is NNO, the corresponding alternative voltage vector set is NNO, ONO, NOO, NNP, NNN; If the voltage vector at the previous time is NNN, the corresponding candidate voltage vector set is NNN, ONN, NON, NNO.
4. The method according to claim 1, wherein the step S3 comprises: Acquiring d-axis voltage and q-axis voltage generated by different voltage vectors in the alternative voltage vector set, and d-axis current and q-axis current obtained by sampling at the current moment, so as to obtain a d-axis current predicted value and a q-axis current predicted value at the next moment based on a pre-constructed permanent magnet synchronous motor model; acquiring the output switch state of a three-phase bridge arm corresponding to each basic voltage vector in the alternative voltage vector set, three-phase current obtained by sampling at the current moment and midpoint voltage deviation obtained by sampling at the current moment, so as to obtain a midpoint voltage deviation predicted value at the next moment based on a pre-established midpoint voltage deviation predicted model; Calculating the value of a cost function corresponding to all basic voltage vectors in the candidate voltage vector set based on a d-axis current predicted value and a q-axis current predicted value at the next moment, a midpoint voltage deviation predicted value at the next moment and a preset d-axis current reference value and q-axis current reference value; and taking the basic voltage vector with the minimum cost function value as the optimal basic voltage vector.
5. The method of claim 4, wherein the permanent magnet synchronous motor model is: Wherein, the , , , , Is the first The d-axis current obtained by the time sampling is sampled, Is the first The resulting q-axis current is sampled at the moment, Is the first The d-axis current predicted value at the moment, Is the first The predicted value of the q-axis current at the moment, Is the first The electrical angular velocity of the rotor at the moment, Is the first The d-axis stator voltage selected at the moment, Is the first The q-axis stator voltage selected at the moment, For the resistance of the stator, Is a magnetic linkage of a permanent magnet, In order to control the period of time, Is the d-axis inductance of the inductor, Is q-axis inductance.
6. The method of claim 5, wherein the midpoint voltage deviation prediction model is: Wherein, the Is the first The midpoint voltage deviation corresponding to the moment in time, Is the first The voltage deviation at the middle point of time, 、、 Respectively the first The ABC three-phase current obtained by time sampling, 、、 Is the output switch state of the three-phase bridge arm, The capacitor is a capacitor capacity on the direct current side or a capacitor capacity under the direct current side, and the capacitor capacity on the direct current side is equal to the capacitor capacity under the direct current side.
7. The method of claim 6, wherein the cost function The method comprises the following steps: Wherein, the Is the first The d-axis current reference value at the moment, Is the first The q-axis current reference value at the moment, 、、 Is a preset weight coefficient.
8. A permanent magnet synchronous motor parameter-free current prediction control device based on ANPC three-level inverter drive, characterized in that the device comprises: the voltage vector acquisition unit is used for acquiring a voltage vector of the ANPC three-level inverter at the last moment; A voltage vector set selecting unit, configured to select a corresponding candidate voltage vector set according to a voltage vector at a previous time, where the number of basic voltage vectors in the candidate voltage vector set is less than 27; An optimal voltage vector selection unit, configured to select, based on a cost function, a basic voltage vector that minimizes a value of the cost function from the candidate voltage vector set as an optimal basic voltage vector; and the motor control unit is used for transmitting the switching state corresponding to the optimal basic voltage vector to the ANPC three-level inverter so as to realize the operation control of the permanent magnet synchronous motor.
9. An electronic device, comprising: processor, and A computer readable storage medium having stored therein computer program instructions which, when executed by the processor, cause the processor to perform the method of any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which is executed by a processor by the method according to any of claims 1 to 7.

Description

Permanent magnet synchronous motor parameter-free current prediction control method and device based on ANPC three-level inverter drive Technical Field The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor parameter-free current prediction control method and device based on ANPC three-level inverter driving. Background The permanent magnet synchronous motor (PERMANENT MAGNET Synchronous Motor, PMSM) is widely applied to the fields of industrial transmission, aerospace, electric automobiles and the like due to the advantages of simple structure, high efficiency, high power density and the like. The active neutral point clamped (Active Neutral Point Clamped, ANPC) three-level inverter topology structure is developed and mature, and has the advantages of high power density, applicability to a high-DC bus voltage system, higher output waveform quality and the like. The ANPC three-level inverter is applied to the field of permanent magnet synchronous motor control, and has important significance in the field of high-voltage alternating current motor control and speed regulation. As the level becomes higher, the number of voltage vectors in the space vector pulse width modulation (Space Vector Pulse Width Modulation, SVPWM) algorithm increases exponentially with the rise of the level, and the three-level inverter has 27 basic voltage vectors, so that the space vector is partitioned and the action time is calculated more and more fussy. The ANPC three-level inverter has the problem of unbalanced neutral point voltage at the direct current side, and is subjected to additional algorithm control. The model predictive control (Model Predictive Control, MPC) has the advantages of simple control, good dynamic performance and the like, and a plurality of control targets in the inverter can be controlled simultaneously by using the cost function. Because 27 basic voltage vectors exist in the ANPC three-level inverter, calculation load can be greatly increased by traversing all the basic voltage vectors, and dynamic performance of a control system is affected. And the traditional MPC relies on an accurate motor mathematical model, and the nonlinear and multivariable properties of the permanent magnet synchronous motor determine that the system parameters can change during operation, so that the control performance is reduced. Disclosure of Invention In view of the above, the application provides a permanent magnet synchronous motor parameter-free current prediction control method and device based on ANPC three-level inverter driving. Specifically, the application is realized by the following technical scheme: according to a first aspect of embodiments of the present specification, there is provided a permanent magnet synchronous motor parameter-free current prediction control method based on ANPC three-level inverter driving, including the steps of: Step S1, obtaining a voltage vector of an ANPC three-level inverter at the last moment; Step S2, selecting a corresponding alternative voltage vector set according to the voltage vector at the previous moment, wherein the number of basic voltage vectors in the alternative voltage vector set is smaller than 27; Step S3, selecting a basic voltage vector with the minimum value of the cost function from the alternative voltage vector set based on the cost function as an optimal basic voltage vector; And S4, transmitting the switching state corresponding to the optimal basic voltage vector to the ANPC three-level inverter so as to realize the operation control of the permanent magnet synchronous motor. According to a second aspect of embodiments of the present specification, there is provided a permanent magnet synchronous motor parameter-free current prediction control device based on ANPC three-level inverter driving, the device comprising: the voltage vector acquisition unit is used for acquiring a voltage vector of the ANPC three-level inverter at the last moment; A voltage vector set selecting unit, configured to select a corresponding candidate voltage vector set according to a voltage vector at a previous time, where the number of basic voltage vectors in the candidate voltage vector set is less than 27; An optimal voltage vector selection unit, configured to select, based on a cost function, a basic voltage vector that minimizes a value of the cost function from the candidate voltage vector set as an optimal basic voltage vector; and the motor control unit is used for transmitting the switching state corresponding to the optimal basic voltage vector to the ANPC three-level inverter so as to realize the operation control of the permanent magnet synchronous motor. According to a third aspect of embodiments of the present specification, there is provided an electronic device comprising a processor, and a computer readable storage medium having stored therein computer program instructions which, when executed by the