Model-free predictive current control for permanent magnet toroidal motor with extended state observer
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摘要:
为改善无差拍预测电流控制(DPCC)对永磁超环面电机系统参数的依赖性，研究了引入扩张状态观测器(ESO)的永磁超环面电机无模型预测电流控制(MFPCC-ESO)策略。根据永磁超环面电机的复合转子结构，引入自转运动影响系数与磁势系数，在旋转坐标系下建立该电机的时变数学模型；利用永磁超环面电机系统的输入与输出，建立该电机具有时变比例因子的超局部模型，同时引入ESO对超局部模型的干扰部分进行实时估计，并利用朱利稳定判据证明了ESO的稳定性；结合延时补偿的DPCC预测得到参考电压矢量，从而实现永磁超环面电机的MFPCC-ESO策略。对参数匹配和失配下永磁超环面电机MFPCC-ESO策略与DPCC策略进行对比分析，仿真结果表明：MFPCC-ESO策略下的永磁超环面电机具有优越的动态和稳态性能及强鲁棒性，同时该控制策略还能有效降低永磁超环面电机的输出波动。
Abstract:The model-free predictive current control method for the toroidal motor with extended state observer (MFPCC-ESO) was investigated in order to reduce the dependence of deadbeat predictive current control (DPCC) on the parameters of a permanent magnet toroidal motor system. According to the composite rotor structure of a toroidal motor, the rotation motion influence coefficient and magnetomotive force coefficient were introduced. The rotating coordinate system was used to build the time-varying mathematical model of the toroidal motor. Then the ultra-local model with a time-varying scaling factor was established by using the input and output of the toroidal motor system. Meanwhile, ESO was introduced to estimate the interference part of the ultra-local model in real time, and the stability of ESO was proved by using the Jury criterion. Combining with the delay compensation DPCC, the reference voltage vector was obtained. The MFPCC-ESO for the toroidal motor was further realized. The MFPCC-ESO strategy and DPCC strategy were compared and analyzed for toroidal motor under parameter matching and mismatch. The simulation results show that the toroidal motor with the MFPCC-ESO strategy has superior dynamic performance, steady-state performance, and strong robustness. Meanwhile, the proposed control strategy can also reduce the output fluctuation of the toroidal motor effectively.
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Key words:
- toroidal motor /
- ultra-local model /
- model-free /
- predictive current control /
- extended state observer
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图 4 永磁超环面电机MFPCC-ESO系统结构框图
Figure 4. Block diagram of MFPCC-ESO system for permanent magnet toroidal motor
图 5 三相蜗杆内定子电流波形与频谱
Figure 5. Three-phase worm inner stator current waveforms and harmonic spectra
图 10 电感失配前后的稳态波形($ {L_{{{d}}({\theta _1})}} \to 1.5{L_{{{d}}({\theta _1})}} $)
Figure 10. Steady state waveforms before and after inductance mismatch ($ {L_{{{d}}({\theta _1})}} \to 1.5{L_{{{d}}({\theta _1})}} $)
图 11 电感失配前后的稳态波形($ {L_{{{d}}({\theta _1})}} \to 0.5{L_{{{d}}({\theta _1})}} $)
Figure 11. Steady state waveforms before and after inductance mismatch ($ {L_{{{d}}({\theta _1})}} \to 0.5{L_{{{d}}({\theta _1})}} $)
图 12 不同参数失配下的交轴电流脉动
Figure 12. Quadrature axis current pulsations under different parameter mismatches
表 1 永磁超环面电机参数
Table 1. Permanent magnet toroidal motor parameters
参数 数值 R/Ω 3.8 np1 4 z3 28 z2 12 k1 0.3 k2 5 pn/kW 1.5 Udc/V 311 B/（N·m·s） 0.001 J（kg·m2） 0.0015 $L_{{\mathrm{s}}0}' $/H 0.0012 $L_{{\mathrm{s}}2}' $/H 0.0004 $L_{{\mathrm{s}}2}'' $/H 0.003 ψf/Wb 0.26 UN/V 250 fN/Hz 100 
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