Model-free prediction control method and device for double-fed motor and electronic equipment
阅读说明：本技术 一种双馈电机无模型预测控制方法、装置及电子设备 (Model-free prediction control method and device for double-fed motor and electronic equipment ) 是由 张永昌 张晟铵 焦健 蒋涛 于 2020-06-10 设计创作，主要内容包括：本申请一个或多个实施例提供一种双馈电机无模型预测控制方法、装置及电子设备,包括：基于双馈电机的数学模型确定定子电流i<Sub>s</Sub>；基于双馈电机控制系统的超局部模型和定子电流i<Sub>s</Sub>建立定子电流超局部模型；基于定子电流超局部模型确定k时刻的系统变量F的估计值<Image he="81" wi="107" file="DDA0002533262960000011.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>离散定子电流超局部模型和补偿后定子电流；基于电流无差拍控制方法结合离散定子电流超局部模型、补偿后定子电流和估计值<Image he="71" wi="66" file="DDA0002533262960000012.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>确定k+1时刻的转子电压<Image he="82" wi="139" file="DDA0002533262960000014.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>基于转子电压<Image he="86" wi="129" file="DDA0002533262960000013.GIF" imgContent="drawing" imgFormat="GIF" orientation="portrait" inline="no"></Image>确定最终转子电压,并将最终转子电压输入转子侧变换器以控制定子侧功率。本申请通过改变转子电压以控制定子电流的变化,从而实现对定子侧功率的控制,不受到参数变化的影响,确保了稳定的动态性能。(One or more embodiments of the present application provide a method, an apparatus, and an electronic device for model-free predictive control of a doubly-fed motor, including: stator current i is determined based on mathematical model of doubly-fed motor s (ii) a Super-local model and stator current i based on dual-feeder control system s Establishing a stator current super-local model; estimation value of system variable F at moment k based on stator current super-local model Dispersing a stator current super-local model and compensating the stator current; current dead beat control method based on combination of discrete stator current super-local model, compensated stator current and estimated value Determining rotor voltage at time k +1 Based on rotor voltage A final rotor voltage is determined and input to the rotor side converter to control the stator side power. The stator side power control method and the stator side power control device have the advantages that the rotor voltage is changed to control the change of the stator current, so that the control of the stator side power is realized, the influence of parameter change is avoided, and the stable dynamic performance is ensured.)
1. A model-free predictive control method for a doubly-fed motor is characterized by comprising the following steps:
stator current i is determined based on mathematical model of doubly-fed motors；
Super-local model based on dual-feeder control system and stator current isEstablishing a stator current super-local model;
determining an estimated value of a system variable F at time k based on the stator current hyper-local modelDispersing a stator current super-local model and compensating the stator current;
based on the current dead beat control method, the discrete stator current super-local model, the compensated stator current and the estimated value are combinedDetermining rotor voltage at time k +1
Based on the rotor voltageA final rotor voltage is determined and input to the rotor-side converter to control the stator-side power.
2. The method of claim 1, whichCharacterized in that the stator current i is determined based on a mathematical model of the doubly-fed machinesThe method comprises the following steps:
determining the stator current i based on a mathematical model of the doubly-fed machinesAnd rotor current usExpressed stator flux differential equation
Wherein psisDenotes the stator flux linkage, RsRepresenting stator resistance, j representing imaginary unit, ωrRepresenting the electrical angular velocity, L, of the rotorsRepresenting stator inductance, LmRepresenting mutual inductance, irRepresenting the rotor current;
determining the stator current i based on a mathematical model of the doubly-fed machinesAnd rotor current usExpressed rotor flux differential equation
Wherein psirRepresenting the rotor flux linkage, urRepresenting the rotor voltage, RrRepresenting the rotor resistance;
based on the stator flux linkage psisAnd rotor flux linkage psirDetermining the stator current isThe stator current isIs shown as
is＝λ(Lrψs-Lmψr)
Wherein λ represents a first influencing parameter,Lrrepresenting the rotor inductance;
based on stator current isStator flux linkage psisAnd rotor flux linkage psirDetermining a stator current differential equation of
Where σ denotes a second influencing parameter,
3. the method of claim 1, wherein the dual-feeder control system based super-local model and the stator current isEstablishing a stator current super-local model, comprising:
determining a hyper-local model of the dual feeder control system, denoted as
y(n)＝αu+F
Wherein y represents the system output quantity, u represents the system input quantity, alpha represents the coefficient of the system input quantity, and n represents the system order;
super-local model and stator current i based on dual-feeder control systemsEstablishing a stator current super-local model represented as
4. Method according to claim 1, characterized in that the estimated value of the system variable F at the time kIs shown as
Wherein n isFRepresenting the number of control cycles, T, in the integration step LscRepresenting the time of one control cycle, F1Representing a first component, F, of said system variable F2Representing a second component of the system variable F.
5. The method of claim 1, wherein the determining an estimate of the system variable F at time k based on the stator current hyper-local modelThe discrete stator current super-local model and the compensated stator current comprise:
determining the discrete stator current super-local model by performing a first order Euler discrete operation on the stator current super-local model, the discrete stator current super-local model being represented as
Wherein the content of the first and second substances,
the compensated stator current includes: determining stator current at time k based on one-step delay compensationObtaining the stator current at the k +1 moment after compensation
WhereinThe current difference value between the time k and the time k-1 is shown.
6. Method according to claim 1, characterized in that the rotor voltage at the moment k +1Is shown as
Wherein the content of the first and second substances,expressed as a reference value for the stator current,is expressed according to the estimated valueAn estimate of the system variable F at the determined time k + 1.
7. The method of claim 1, further comprising:
according to the rotor voltage at the k +1 moment
da＝0.5(ua+uz+1)
Wherein u isaRepresenting the original a-phase modulated wave, uzRepresenting the injected zero sequence component;
the duty cycle of the b-phase is expressed as
db＝0.5(ub+uz+1)
Wherein u isbRepresenting the original b-phase modulationWave making;
the c-phase duty cycle is expressed as
dc＝0.5(uc+uz+1)
Wherein u iscRepresenting the original b-phase modulated wave.
8. The method of claim 7, wherein the basing is based on the rotor voltage
determining a drive signal of the rotor-side converter based on the three-phase duty cycle;
according to the rotor voltage
9. A model-free predictive control device for a doubly-fed motor is characterized by comprising the following components:
a first determination module configured to determine a stator current i based on a mathematical model of a doubly-fed machines；
A building module configured to generate a super-local model based on a dual feeder control system and the stator current isEstablishing a stator current super-local model;
a second determination module configured to determine an estimated value of a system variable F at time k based on the stator current hyper-local modelDispersing a stator current super-local model and compensating the stator current;
a third determination module configured to combine the discrete stator current hyper-local model, the compensated stator current, and the estimated value based on a current dead beat control method
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the program.
Technical Field
One or more embodiments in the application relate to the technical field of new energy grid-connected power generation, and in particular, to a model-free predictive control method and device for a double-fed motor and electronic equipment.
Background
The model-free control is an adaptive control method without establishing a process model, and has the advantages of real-time high-performance control of a nonlinear system, improvement of robustness of the system to motor parameter change and the like, so that the model-free control is widely applied to the field of new energy grid-connected power generation in recent years. During operation, the doubly-fed motor may cause a change of a motor parameter due to a temperature change, which causes system performance degradation for a conventional vector control or a model predictive control in the prior art. In addition, if the parameters are changed, the accuracy of the rotating speed and the angle is influenced, and the complex calculation and sampling are excessively depended on, so that the real-time computing capability of the control system is high in requirement.
Disclosure of Invention
In view of this, one or more embodiments of the present application provide a method, an apparatus, and an electronic device for model-free predictive control of a doubly-fed machine, so as to solve the problems in the prior art that the performance of a system is poor, the model prediction is too dependent on complex calculation and sampling, and the requirement on the real-time computing capability of a control system is too high.
In view of the above, one or more embodiments of the present application provide a model-free predictive control method for a doubly-fed machine, including:
stator current i is determined based on mathematical model of doubly-fed motors；
Based on dual feed machine accuseSuper-local model of system and stator current isEstablishing a stator current super-local model;
determining an estimated value of a system variable F at time k based on the stator current hyper-local modelDispersing a stator current super-local model and compensating the stator current;
based on the current dead beat control method, the discrete stator current super-local model, the compensated stator current and the estimated value are combined
Based on the rotor voltage
Optionally, the stator current i is determined based on a mathematical model of the doubly-fed machinesThe method comprises the following steps:
determining the stator current i based on a mathematical model of the doubly-fed machinesAnd rotor current usExpressed stator flux differential equation
Wherein psisDenotes the stator flux linkage, RsRepresenting stator resistance, j representing imaginary unit, ωrRepresenting the electrical angular velocity, L, of the rotorsRepresenting stator inductance, LmRepresenting mutual inductance, irRepresenting the rotor current;
determining the stator current i based on a mathematical model of the doubly-fed machinesAnd rotor current usRotor of the representationDifferential equation of flux linkage
Wherein psirRepresenting the rotor flux linkage, urRepresenting the rotor voltage, RrRepresenting the rotor resistance;
based on the stator flux linkage psisAnd rotor flux linkage psirDetermining the stator current isThe stator current isIs shown as
is＝λ(Lrψs-Lmψr)
Wherein λ represents a first influencing parameter,Lrrepresenting the rotor inductance;
based on stator current isStator flux linkage psisAnd rotor flux linkage psirDetermining a stator current differential equation of
Where σ denotes a second influencing parameter,
optionally, the super-local model based on the dual-feeder control system and the stator current isEstablishing a stator current super-local model, comprising:
determining a hyper-local model of the dual feeder control system, denoted as y(n)＝αu+F
Wherein y represents the system output quantity, u represents the system input quantity, alpha represents the coefficient of the system input quantity, and n represents the system order;
super-local model and stator current i based on dual-feeder control systemsEstablishing a stator current super-local model representingIs composed of
Optionally, the estimated value of the system variable F at the time kIs shown as
Wherein n isFRepresenting the number of control cycles, T, in the integration step LscRepresenting the time of one control cycle, F1Representing a first component, F, of said system variable F2Representing a second component of the system variable F.
Optionally, the estimation value of the system variable F at the time k is determined based on the stator current super-local model
determining the discrete stator current super-local model by performing a first order Euler discrete operation on the stator current super-local model, the discrete stator current super-local model being represented as
Wherein the content of the first and second substances,representing the stator current at time k +1,
determining the compensated stator current, comprising: based onOne-step time delay compensation for determining stator current at time k
Wherein
Optionally, the rotor voltage at the time k +1Is shown as
Wherein the content of the first and second substances,expressed as a reference value for the stator current,is expressed according to the estimated valueAn estimate of the system variable F at the determined time k + 1.
Optionally, the method further includes:
according to the rotor voltage at the k +1 moment
da＝0.5(ua+uz+1)
Wherein u isaRepresenting the original a-phase modulated wave, uzRepresenting the injected zero sequence component;
the duty cycle of the b-phase is expressed as
db＝0.5(ub+uz+1)
Wherein u isbRepresenting an original b-phase modulation wave;
the c-phase duty cycle is expressed as
dc＝0.5(uc+uz+1)
Wherein u iscRepresenting the original b-phase modulated wave.
Optionally, the base is based on the rotor voltageDetermining a final rotor voltage, comprising:
determining a drive signal of the rotor-side converter based on the three-phase duty cycle;
according to the rotor voltageAnd the drive signal determines the final rotor voltage.
Based on the same inventive concept, one or more embodiments of the present application further provide a model-free predictive control apparatus for a doubly-fed motor, including:
a first determination module configured to determine a stator current i based on a mathematical model of a doubly-fed machines；
A building module configured to generate a super-local model based on a dual feeder control system and the stator current isEstablishing a stator current super-local model;
a second determination module configured to determine an estimated value of a system variable F at time k based on the stator current hyper-local modelDiscrete stator electricityA super local model and a compensated stator current;
a third determination module configured to combine the discrete stator current hyper-local model, the compensated stator current, and the estimated value based on a current dead beat control method
A control module configured to based on the rotor voltage
One or more embodiments of the present application further provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described above when executing the program.
As can be seen from the above description, in the method, the apparatus and the electronic device for model-free predictive control of a doubly-fed machine provided by one or more embodiments of the present application, the stator current i is determined by a mathematical model of the doubly-fed machinesTo obtain stator current isBy means of which the influencing stator current i can be determinedsThereby influencing the stator current i by controllingsTo control stator current isThe object of (a); super-local model and stator current i based on dual-feeder control systemsEstablishing a stator current super-local model, without establishing a process model, and further determining a stator current i through the stator current super-local modelsAs the output quantity of the system, the rotor voltage is taken as the parametric relation of the input quantity of the system; determining an estimated value of a system variable F at time k based on the stator current hyper-local modelDispersing the stator current super-local model and the compensated stator current to ensure that the estimated value is not influenced by parameter change, avoiding relying on an excessively complex calculation process by transforming and dispersing the stator current super-local model and reducing the requirement on the real-time calculation capability of a control system; based on the current dead beat control method, the discrete stator current super-local model, the compensated stator current and the estimated value are combined
Drawings
In order to more clearly illustrate one or more embodiments or prior art solutions in the present application, the drawings that are needed in the description of the embodiments or prior art will be briefly described below, and it is obvious that the drawings in the description below are only one or more embodiments in the present application, and that other drawings can be obtained by those skilled in the art without inventive effort from these drawings.
Fig. 1 is a schematic flow chart of a model-free predictive control method for a doubly-fed machine according to one or more embodiments of the present application;
fig. 2 is a block diagram illustrating a structure of a model-free predictive control method for a doubly-fed motor according to one or more embodiments of the present application;
FIG. 3 is a schematic diagram of a model-free predictive control device for a doubly-fed motor according to one or more embodiments of the present application;
FIG. 4 is a schematic view of an electronic device in one or more embodiments of the present application;
FIG. 5 is a graph of a steady state operation at a sampling rate of 10kHz, stator side power references of-1000W and 0Var, a motor speed of 700r/min, and α -40 using the method of the present application in one or more embodiments of the present application;
fig. 6 is an experimental graph of the active power reference value of the stator side changed from 0W to-1000W when the sampling rate of 10kHz is adopted by the method of the present application, the power reference value of the stator side is 0Var, the rotation speed of the motor is 700r/min, and α is-40 in one or more embodiments of the present application;
FIG. 7 is a graph of an experiment in which the motor speed was changed from 900r/min to 1100r/min at a power reference value of-750W and 0Var, α being-40, using the method of the present application at a sampling rate of 10kHz, according to one or more embodiments of the present application;
FIG. 8 is a graph of an experiment showing the variation of a mutual inductance parameter at a 10kHz sampling rate, a stator side power reference value of-1000W and 0Var, a motor speed of 700r/min, and an α of-40 using the method of the present application in one or more embodiments of the present application;
FIG. 9 is an experimental plot of the change in the mutual inductance parameter at 700r/min motor speed and α -40 using a prior art method with a 10kHz sampling rate, stator side power references of-1000W and 0Var, and a motor speed of 700r/min, in one or more embodiments of the present application;
FIG. 10 is a graph of a steady state operation at a sampling rate of 10kHz, stator side power references of-1000W and 0Var, motor speed of 700r/min, and α -30 using the method of the present application in one or more embodiments of the present application;
fig. 11 is a graph of a steady state operation experiment using the method of the present application at a sampling rate of 10kHz, with reference values for stator side power of-1000W and 0Var, at a motor speed of 700r/min, and α -55 in one or more embodiments of the present application.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in one or more embodiments of the present application does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
One or more embodiments in the application provide a model-free predictive control method and device for a doubly-fed motor, and an electronic device.
The inventor finds that in the prior art, motor parameters may change due to temperature changes in the operation process of the doubly-fed motor, and for the doubly-fed motor in the prior art, the system performance is deteriorated by using vector control or model prediction control, and for the doubly-fed motor in the prior art, if the parameters change, the accuracy of the rotating speed and the angle is affected; in order to improve fluctuation caused by parameter variation in the prior art, some methods introduce the concept of a disturbance observer, but these methods too rely on complicated calculation and sampling, and have high requirements on the real-time computing capability of a control system, and in order to solve the problems that the adoption of model prediction in the prior art causes system performance degradation, too relies on complicated calculation and sampling, and has high requirements on the real-time computing capability of the control system, a model-free prediction control method for a doubly-fed motor provided by one or more embodiments in the present application is provided, with reference to fig. 1, and includes the following steps:
s101, determining stator current i based on mathematical model of doubly-fed motors。
In this embodiment, the mathematical model of the doubly-fed machine under the rotor coordinate system includes:
ψs＝Lsis+Lmir
ψr＝Lrir+Lmis
wherein u issRepresenting the stator voltage urRepresenting the rotor voltage, irRepresenting rotor current, #sIndicating stator flux linkage, #rRepresenting the rotor flux linkage, RsDenotes the stator resistance, RrDenotes the rotor resistance, LsRepresenting stator inductance, LrRepresenting the rotor inductance, LmRepresenting mutual inductance.
Referring to fig. 2, the DFIG is a doubly-fed machine, which is solved by a stator current i according to a mathematical model of the doubly-fed machinesAnd rotor current usExpressed stator flux linkage differential equation expressed as
Wherein j represents an imaginary unit, ωrIndicating rotorElectrical angular velocity; the stator current i can be solved according to a mathematical model of the doubly-fed motorsAnd rotor current usExpressed rotor flux linkage differential equation expressed as
According to the mathematical model of the doubly-fed machine, the stator current can be expressed by the stator flux linkage and the rotor flux linkage, and the stator current is expressed as
is＝λ(Lrψs-Lmψr)
Wherein λ represents a first influencing parameter,
then, the stator current equation is expressed in differential form as
The differential equations of the stator flux linkage and the rotor flux linkage are substituted into the stator current equation expressed in differential form to obtain a stator current differential equation expressed as
Where σ denotes a second influencing parameter,
s102, based on super-local model of double-feeder control system and stator current isAnd establishing a stator current super-local model.
In this embodiment, for a control system, the input/output variation of the control system can be approximately described as a finite dimension differential equation expressed as
E(t,y,y(1),…,y(n),u,u(1),…,u(m))＝0
Where y represents the system output, u is the system input, and E represents a function that is derivable over most points. Based on the differential equations of the control system, the entire control system can be described by a super-local model, which is expressed as
y(n)＝αu+F
Wherein α represents the coefficient of the system input quantity, n represents the system order, F represents a variable including the known structure, unknown quantity and interference of the system part, namely the system variable, α has the function of adjusting the order of the system input quantity u to be consistent with the order of F, the value of n is 1 or 2, and F can be determined according to α, u and the pair y(n)Is calculated.
From the stator current differential equation obtained in step S101, the stator current differential equation can be obtained
S103, determining an estimated value of a system variable F at the k moment based on the stator current super-local model
In this embodiment, y ═ α u + F is pull-type converted
Wherein, y0Is y in the time interval [ t-L, t]Under the initial condition of (1), L isFixed integration step size.
By deriving s from the formula after Ralstonia transformation
Degenerating the derived formula and converting the degenerated formula into a time domain formula to obtain an estimated value of a system variable F
Taking L as nF*Tsc,nFThe number of control periods in the integration step length L is represented, and the estimated value of the variable F at the moment k can be obtained by utilizing a trapezoidal integration methodIs composed of
Wherein, TscRepresenting the time of one control cycle, F1Representing a first component of a system variable F, F2Representing a second component of the system variable F.
Wherein F1 is represented by
F1＝(nF-2(k-1))is(k-1)+(nF-2k)is(k)
F2 is expressed as
F2＝α(k-1)Tsc(nF-(k-1))ur(k-1)+αkTsc(nF-k)ur(k)。
In this embodiment, it can be known from the first-order euler discretization method that one ordinary differential equation is used
y(xn+1)-y(xn)＝(xn+1-xn)*f(xn,y(xn))
three-phase stator voltage u in a doubly-fed machinesabcThe stator voltage at the time k is obtained through 3/2 transformationThree-phase electronic current isabcThe stator current at the time k is obtained through 3/2 transformation
Wherein, Fk+1Representing the system variable at
In a digital control system, since a voltage vector calculated in a current control period acts in a next period, which causes a one-step delay, it is considered to use a current differential value between a current time, i.e., a time k, and a previous time, i.e., a time k-1To pair
The compensated stator current represents the predicted stator current value at the next moment after the stator current value at the current moment is subjected to one-step delay compensation, such as the stator current value at the k momentPredicting the stator current value at the k +1 moment after one-step delay compensationAnd stator current value at time k +1
S104, combining the discrete stator current super-local model, the compensated stator current and the estimated value based on the current dead beat control method
In this embodiment, according to the principle of one-step delay compensation, the stator current at the time k is compensated to obtain the compensated stator current at the time k +1Similarly, the compensated stator current value at the k +2 moment can be predicted by utilizing the principle of one-step delay compensation, and according to the instantaneous power theory, the stator current reference value at the k +2 moment can pass through the stator side voltage usAnd a stator-side complex power reference value SrefIs calculated to obtain
Wherein the reference symbol indicates taking a conjugate. Wherein
Wherein, ω issIs the stator electrical angular velocity.
The rotor voltage at the moment k +1 is obtained by solving a discrete stator current super-local model and is expressed as
Wherein the content of the first and second substances,
According to the current dead-beat control method, the stator current can track the value meeting the reference power requirement as soon as possible
S105 based on the rotor voltageA final rotor voltage is determined and input to the rotor-side converter to control the stator-side power.
In this embodiment, the rotor voltage at the time k +1 is used
da＝0.5(ua+uz+1)
Wherein u isaRepresenting the original a-phase modulated wave, uzRepresenting the zero-sequence component of the injection, uz＝-0.5*(max(ua,ub,uc)+min(ua,ub,uc))，max(ua,ub,uc) Represents ua,ub,ucThe largest of the three, min (u)a,ub,uc) Represents ua,ub,ucThe smallest of the three;
the duty cycle of the b-phase is expressed as
db＝0.5(ub+uz+1)
Wherein u isbRepresenting an original b-phase modulation wave;
the c-phase duty cycle is expressed as
dc＝0.5(uc+uz+1)
Wherein u iscRepresenting the original b-phase modulated wave.
ua,ub,ucThe final rotor voltage can be obtained from the desired final rotor voltage by the following formula
Wherein u isdcIn order to be able to convert the dc bus voltage of the converter,
And then a driving signal, namely a switching signal, for driving a switching tube of the converter is obtained through three-phase duty ratio construction, and a final rotor voltage in a vector form is obtained
Wherein the content of the first and second substances,is the conjugate of the stator current. Since the stator side is connected to the grid, the stator voltage is the same as the grid voltage, and the stator voltage can be seen as a known invariant, so that the stator side power only varies with the variation of the stator current, as can be seen from the instantaneous power formula. According to the differential equation of the stator current, when the rotor voltage is obtainedWhen the change occurs, the stator current can be changed, so that the control of the stator current can be realized through the rotor voltage, and the control of the stator side power can be further realized.
As can be seen from the above description, in the method, the apparatus and the electronic device for model-free predictive control of a doubly-fed machine provided by one or more embodiments of the present application, the stator current i is determined by a mathematical model of the doubly-fed machinesTo obtain stator current isBy means of which the influencing stator current i can be determinedsThereby influencing the stator current i by controllingsTo control stator current isThe object of (a); super-local model and stator current i based on dual-feeder control systemsEstablishing a stator current super-local model, without establishing a process model, and further determining a stator current i through the stator current super-local modelsAs the output quantity of the system, the rotor voltage is taken as the parametric relation of the input quantity of the system; determining an estimated value of a system variable F at time k based on the stator current hyper-local modelDiscrete stator current super-local model and compensated stator current, so that the estimated value is not influenced by parameter changeThe stator current super-local model is transformed and dispersed, so that the dependence on an excessively complex calculation process is avoided, and the requirement on the real-time computing capacity of a control system is reduced; based on the current dead beat control method, the discrete stator current super-local model, the compensated stator current and the estimated value are combined
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same inventive concept, one or more embodiments of the present application further provide a low-latency cooperative task processing apparatus for internet of vehicles in a mobile environment, including: the device comprises a first determination module, an establishment module, a second determination module, a third determination module and a control module.
Referring to fig. 3, the present application provides an apparatus comprising:
a first determination module configured to determine a stator current i based on a mathematical model of a doubly-fed machines；
A building module configured to generate a super-local model based on a dual feeder control system and the stator current isEstablishing a stator current super-local model;
a second determination module configured to determine an estimated value of a system variable F at time k based on the stator current hyper-local modelDispersing a stator current super-local model and compensating the stator current;
a third determination module configured to combine the discrete stator current hyper-local model, the compensated stator current, and the estimated value based on a current dead beat control methodDetermining rotor voltage at
A control module configured to based on the rotor voltage
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations in implementing one or more embodiments of the present application.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 401, a memory 402, an input/output interface 403, a communication interface 404, and a bus 405. Wherein the processor 401, the memory 402, the input/output interface 403 and the communication interface 404 are communicatively connected to each other within the device by a bus 405.
The processor 401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present specification.
The Memory 402 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random access Memory), a static storage device, a dynamic storage device, or the like. The memory 402 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 402 and called to be executed by the processor 401.
The input/output interface 403 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 404 is used to connect a communication module (not shown in the figure) to implement communication interaction between the present device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
The bus 405 includes a path that transfers information between the various components of the device, such as the processor 401, memory 402, input/output interface 403, and communication interface 404.
It should be noted that although the above-mentioned device only shows the processor 401, the memory 402, the input/output interface 403, the communication interface 404 and the bus 405, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.
The inventor verifies the accuracy of the method provided by the application through design experiments. Referring to fig. 5, 6 and 7, the simulation results show that the active power P on the stator side is sequentially provided for each channel from top to bottomsStator side reactive power QsThree-phase stator current isabcThree-phase rotor current irabc. It can be seen that, under a general operation state, the model-free current control method can also achieve a good power control effect, and the actual value of the stator side power closely tracks the upper reference value; when the power is stepped, the control method has high response speed and can realize good dynamic control effect; when the rotating speed changes, the stator current is hardly influenced, and the dynamic response is stable.
Reference is made to fig. 8 and 9 for verifying the validity of the method proposed by the present application. When the mutual inductance parameter changes in a large range, fig. 8 shows the DPC-SVM control result in the prior art, which shows that the active power may generate a certain steady-state error, the amplitude of the stator current is also affected, and the parameter robustness is relatively poor. Fig. 9 shows the result of the method proposed in the present application, which shows that the control effect is stable, and the parameter robustness is strong without being affected by the variation of the mutual inductance parameter.
Referring to FIG. 5, FIG. 10, FIG. 11 and Table 1, it can be seen that when α is varied over a wide range, the steady state performance of the system is affected, but the system remains generally stable and good steady state performance is still achieved in Table 1saRepresenting a phase stator current, iraThe method is characterized in that a phase rotor current is represented, THD represents total harmonic distortion, the smaller the THD value is, the more stable and more robust system is proved, and compared with α which takes the smaller absolute value, α which takes the larger absolute value has more remarkable influence on the system, which is beneficial to obtaining a more effective α value in practical application.
TABLE 1
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the spirit of the present disclosure, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments in this application as described above, which are not provided in detail for the sake of brevity.
In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the figures provided for simplicity of illustration and discussion, and so as not to obscure one or more embodiments of the present application. Furthermore, apparatus may be shown in block diagram form in order to avoid obscuring the understanding of one or more embodiments of the present application, and this also takes into account the fact that specifics with respect to implementation of such block diagram apparatus are highly dependent upon the platform within which one or more embodiments of the present application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
It is intended that the one or more embodiments of the present application embrace all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of one or more embodiments of the present disclosure are intended to be included within the scope of the present disclosure.
- 上一篇：一种医用注射器针头装配设备
- 下一篇：风力发电机及其功率转换电路的控制方法和装置