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引入ESO的永磁超环面电机无模型预测电流控制

刘欣 王正阳 王晓远

刘欣,王正阳,王晓远. 引入ESO的永磁超环面电机无模型预测电流控制[J]. 北京航空航天大学学报,2024,50(4):1085-1096 doi: 10.13700/j.bh.1001-5965.2022.0495
引用本文: 刘欣,王正阳,王晓远. 引入ESO的永磁超环面电机无模型预测电流控制[J]. 北京航空航天大学学报,2024,50(4):1085-1096 doi: 10.13700/j.bh.1001-5965.2022.0495
LIU X,WANG Z Y,WANG X Y. Model-free predictive current control for permanent magnet toroidal motor with extended state observer[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(4):1085-1096 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0495
Citation: LIU X,WANG Z Y,WANG X Y. Model-free predictive current control for permanent magnet toroidal motor with extended state observer[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(4):1085-1096 (in Chinese) doi: 10.13700/j.bh.1001-5965.2022.0495

引入ESO的永磁超环面电机无模型预测电流控制

doi: 10.13700/j.bh.1001-5965.2022.0495
基金项目: 国家自然科学基金(51875408);天津市研究生科研创新项目(2021YJSB229)
详细信息
    通讯作者:

    E-mail:liuxin@tiangong.edu.cn

  • 中图分类号: TM351

Model-free predictive current control for permanent magnet toroidal motor with extended state observer

Funds: National Natural Science Foundation of China (51875408); Tianjin Research Innovation Project for Postgraduate Students (2021YJSB229)
More Information
  • 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。

     

  • 图 1  永磁超环面电机的结构简图

    Figure 1.  Structural diagram of permanent magnet toroidal motor

    图 2  行星轮磁齿的运动轨迹

    Figure 2.  Motion track of magnetic teeth on planet

    图 3  等效电流示意图

    Figure 3.  Schematic diagram of equivalent current

    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 6  稳态条件下的输出波形

    Figure 6.  Output waveforms at steady-state conditions

    图 7  转速阶跃响应

    Figure 7.  Speed step responses

    图 8  负载阶跃响应

    Figure 8.  Load step responses

    图 9  ESO的估计结果

    Figure 9.  Estimation results of ESO

    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

    图 13  参数失配下的转速阶跃响应

    Figure 13.  Speed step responses under parameters mismatch

    图 14  参数失配下的负载阶跃响应

    Figure 14.  Load step responses under parameters mismatch

    图 15  参数失配下ESO的估计结果

    Figure 15.  Estimation results of ESO under parameters mismatch

    表  1  永磁超环面电机参数

    Table  1.   Permanent magnet toroidal motor parameters

    参数 数值
    R 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
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-06-16
  • 录用日期:  2022-07-25
  • 网络出版日期:  2022-08-11
  • 整期出版日期:  2024-04-29

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