MPC-based servo control strategy for liquid rocket engine electromechanical actuation system
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摘要:
液体火箭发动机作为航天器重要推进装置，其电作动系统（EMAS）对推力调节控制至关重要。永磁同步电机（PMSM）在EMAS中应用广泛，然而，传统PI电流控制在面对电机参数变化时存在局限。为此，开展了PMSM模型预测控制（MPC）研究。建立不同坐标系下PMSM数学模型，基于MPC基本原理设计预测速度和电流控制策略，包括相应预测模型和代价函数。利用MATLAB/Simulink搭建仿真模型，对比MPC和矢量控制（FOC）。仿真结果表明：相较FOC，MPC在位置阶跃响应中稳态误差降低约99%，超调量消除，响应时间缩短约80%；在扫频输入下，具有更优的动态跟踪能力；在负载变化下，转速波动幅度减少约80%。通过电机对拖平台实验验证，MPC在输入信号变化时响应更平滑、振荡小，其对更大负载扰动具有更强的适应能力。MPC在液体火箭发动机EMAS中，对PMSM的控制性能更优，能提升系统控制效果，为相关应用提供更好选择。
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关键词:
- 液体火箭发动机电作动系统 /
- 永磁同步电机 /
- 模型预测控制 /
- 矢量控制 /
- 控制性能
Abstract:As a core propulsion device for spacecraft, the liquid rocket engine relies heavily on its electro-mechanical actuation system (EMAS) for precise thrust regulation and control. Permanent magnet synchronous motors (PMSM) are widely applied in EMAS. However, traditional proportional-integral (PI) current control exhibits inherent limitations when confronted with variations in motor electrical parameters. Accordingly, research on model predictive control (MPC) for PMSM is conducted in this paper.The mathematical models of PMSM in different coordinate systems are established, and predictive speed and current control strategies are designed based on the fundamental principles of MPC, including the corresponding prediction models and cost functions. A simulation model is built on the MATLAB/Simulink platform to compare the performance of MPC with field-oriented control (FOC). Simulation results show that compared with FOC, MPC reduces the steady-state error by approximately 99%, eliminates overshoot, and shortens the response time by about 80% in position step response. It delivers superior dynamic tracking capability under swept-frequency input and cuts the speed fluctuation amplitude by around 80% under variable load conditions. Experimental verification is carried out on a motor back-to-back test platform. The test results prove that MPC achieves smoother response and smaller oscillation when the input signal changes, and possesses stronger adaptability to large load disturbances. Applied to PMSM control in the EMAS of liquid rocket engines, MPC delivers better control performance, effectively improves the overall control effect of the EMAS, and provides an optimized solution for relevant engineering applications.
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图 3 J60TY440电机FOC给定位置和实际位置波形
Figure 3. Specified position and actual position waveforms under FOC of J60TY440 motor
图 4 J60TY440电机MPC给定位置和实际位置波形
Figure 4. Specified position and actual position waveforms under MPC of J60TY440 motor
图 5 J60TY1100电机FOC给定位置和实际位置波形
Figure 5. Specified position and actual position waveforms under FOC of J60TY1100 motor
图 6 J60TY1100电机MPC给定位置和实际位置波形
Figure 6. Specified position and actual position waveforms under MPC of J60TY1100 motor
图 7 J60TY440电机FOC下扫频位置跟踪响应波形
Figure 7. Sweep-frequency position tracking response waveforms of J60TY440 motor under FOC
图 8 J60TY440电机MPC下扫频位置跟踪响应波形
Figure 8. Sweep-frequency position tracking response waveforms of J60TY440 motor under MPC
图 9 J60TY1100电机FOC下扫频位置跟踪响应波形
Figure 9. Sweep-frequency position tracking response waveforms of J60TY1100 motor under FOC
图 10 J60TY1100电机MPC下扫频位置跟踪响应波形
Figure 10. Sweep-frequency position tracking response waveforms of J60TY1100 motor under MPC
图 11 J60TY440电机FOC和MPC转矩波形
Figure 11. Torque waveforms of FOC and MPC of J60TY440 motor
图 12 J60TY440电机FOC和MPC转速波形
Figure 12. Speed waveforms of FOC and MPC of J60TY440 motor
图 13 J60TY440电机FOC和MPC电流波形
Figure 13. Current waveforms of FOC and MPC of J60TY440 motor
图 14 J60TY1100电机FOC和MPC转矩波形
Figure 14. Torque waveforms of FOC and MPC of J60TY1100 motor
图 15 J60TY1100电机FOC和MPC转速波形
Figure 15. Speed waveforms of FOC and MPC of J60TY1100 motor
图 16 J60TY1100电机FOC和MPC电流波形
Figure 16. Current waveforms of FOC and MPC of J60TY1100 motor
图 18 负载模拟用的FOC和MPC位置波形
Figure 18. Position waveforms load simulation using FOC and MPC
表 1 J60TY440 PMSM的参数
Table 1. Parameters of J60TY440 PMSM
转动惯量/
(kg·m−2)极对数 黏滞摩擦系数/
(N·m·s·rad−1)定子
电阻/Ω定子
电感/H永磁体
磁链/Wb0.00000543 4 0.0000246 3.84 0.00272 0.018 
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表 2 J60TY1100 PMSM的参数
Table 2. Parameters of J60TY1100 PMSM
转动惯量/
(kg·m−2)极对数 黏滞摩擦系数/
(N·m·s·rad−1)定子
电阻/Ω定子
电感/H永磁体
磁链/Wb0.0000009 2 0.0000279 1.94 0.00014 0.03
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表 3 J60TY440电机FOC位置输出工况
Table 3. Position output of FOC of J60TY440 motor
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 0.20 0.159 24.4 4 rad→8 rad 0.04 0.121 24.5 8 rad→−8 rad 0.04 0.227 170.6
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表 4 J60TY440电机MPC位置输出工况
Table 4. Position output of MPC of J60TY440 motor
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 0.002 0.019 0 4 rad→8 rad 0.004 0.016 0 8 rad→−8 rad 0.006 0.025 0
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表 5 J60TY1100电机FOC位置输出工况
Table 5. Position output of FOC of J60TY1100 motor
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 2.0 0.405 18.4 4 rad→8 rad 0.4 0.279 19.6 8 rad→−8 rad 16.6 >0.5 120.6
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表 6 J60TY1100电机MPC位置输出工况
Table 6. Position output of MPC of J60TY1100 motor
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 0.005 0.019 0 4 rad→8 rad 0.080 0.015 0 8 rad→−8 rad 0.040 0.022 0
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表 7 对拖平台永磁同步电机参数
Table 7. Parameters of PMSM of back-to-back test platform
转动惯量/
(kg·m−2)极对数 额定功率/
W定子
电阻/Ω定子
电感/H永磁体
磁链/(N·mA−1)0.000028 4 64 0.89 0.00062 0.059
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表 8 对拖电机平台FOC位置输出工况
Table 8. Position output of FOC of motor back-to-back test platform
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 4.2 3.6 20.5 4 rad→8 rad 4.9 2.6 30.9 8 rad→−8 rad >200
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表 9 对拖电机平台MPC位置输出工况
Table 9. Position output of MPC of motor back-to-back test platform
工况 稳态误差/(°) 稳定时间/s 超调量/(°) 启动 1.4 3.4 6.7 4 rad→8 rad 4.0 2.3 14.4 8 rad→−8 rad 7.8 4.7 18.6
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