阅读说明：本技术 基于主从调节的双绕组电机预测控制方法 (Double-winding motor prediction control method based on master-slave regulation ) 是由 唐德佳 王厚浩 何洋 潘卫东 徐志伟 苏伟杰 张强 刘若愚 于 2020-11-18 设计创作，主要内容包括：本发明提供了一种基于主从调节的双绕组电机预测控制方法,本发明基于主从控制方法,采用单编码器对双绕组电机进行高精度速度环控制,位置反馈精度达到20″；引入电流预测控制方法,并设计龙贝格状态观测器对电机主、从绕组内部摄动参数进行实时观测,实现高性能电流环的设计；在上述基础上,在线预估主、从绕组电磁转矩,并采用转矩前馈补偿方法,克服现有双绕组电机各绕组间电磁转矩不均问题。(The invention provides a dual-winding motor prediction control method based on master-slave regulation, which is based on a master-slave control method, adopts a single encoder to carry out high-precision speed loop control on a dual-winding motor, and has the position feedback precision of 20'; a current prediction control method is introduced, and a Longbeige state observer is designed to observe perturbation parameters in a main winding and a slave winding of the motor in real time, so that the design of a high-performance current loop is realized; on the basis, the electromagnetic torque of the main winding and the auxiliary winding is estimated on line, and a torque feedforward compensation method is adopted, so that the problem of uneven electromagnetic torque among the windings of the conventional double-winding motor is solved.)

1. A double-winding motor prediction control method based on master-slave regulation is characterized by comprising the following steps:

(1) the double-winding motor is equivalent to a main winding and a secondary winding, and position and speed acquisition is realized by using a single set of encoder so as to simplify the control system architecture;

(2) a current prediction control method of a double-winding motor is introduced to replace the traditional PI control, so that the high-performance current loop design of a main winding and a slave winding in the motor is realized;

(3) adopting a Longbeige state observer to carry out online observation on perturbation parameters inside a main winding and a slave winding of the motor, and realizing high-precision predictive control on the current of the existing double-winding motor;

(4) the electromagnetic torque of the main winding and the auxiliary winding of the double-winding motor is estimated in real time, and torque feedforward compensation is added, so that the torque balance of the main winding and the auxiliary winding is realized.

2. The predictive control method for the dual-winding motor based on the master-slave regulation as claimed in claim 1, wherein the dual-winding motor is equivalent to a master winding and a slave winding, and comprises the following steps:

the main winding is controlled by the speed loop and the current loop, and the secondary winding synchronously receives and responds to the current command output by the speed loop of the main winding.

3. The master-slave regulation-based double-winding motor predictive control method as claimed in claim 1, wherein the current predictive control method for introducing the double-winding motor replaces the traditional PI control, and the high-performance current loop design of the master winding and the slave winding in the motor is realized, and comprises the following steps:

and under a d-q coordinate system, sequentially substituting the corresponding voltages of the eight switching states of the switching tube into an electrical characteristic state space equation of the discretization permanent magnet synchronous motor containing the parameters to be observed to obtain eight current predicted values at the next moment, and extracting a corresponding switching tube signal when the cost function g is minimum as the control state at the next moment based on the eight current predicted values at the next moment.

4. The master-slave regulation-based double-winding motor predictive control method of claim 1, wherein a Longbeige state observer is adopted to carry out online observation on perturbation parameters in a master winding and a slave winding of a motor, so as to realize high-precision predictive control of the current of the existing double-winding motor, and the method comprises the following steps:

according to an ideal voltage equation of the double-winding motor, the perturbation parameters in the main winding and the auxiliary winding of the motor are identified in real time by adopting the Longbeige state observer, so that the current prediction control precision is effectively improved.

5. The master-slave regulation-based double-winding motor predictive control method of claim 1, wherein the master and slave winding electromagnetic torques of the double-winding motor are predicted in real time, and torque feedforward compensation is added to realize the balance of the master and slave winding torques, and the method comprises the following steps:

and by combining with current prediction control, the electromagnetic torques of the main winding and the auxiliary winding of the motor are predicted in real time, and torque feedforward compensation is added to realize the torque balance of the main winding and the auxiliary winding.

Technical Field

The invention relates to a dual-winding motor prediction control method based on master-slave regulation.

Background

The electric servo mechanism is an important executive component of a large-scale aerospace craft system, and the servo performance, high overload capacity and stability of the electric servo mechanism are the guarantee of safe operation of the craft. In order to ensure the safety of the aerospace craft, the redundancy motor driving technology is continuously developed, and the double-winding motor serving as one type of redundancy motor has the advantages of high power density, large output torque, strong reliability and the like. The servo mechanism based on the double-winding motor not only has higher power density ratio, but also has a certain redundancy backup function, and has become an important development direction of a high-performance redundant servo mechanism.

The double-winding motor comprises two independent stator windings which are 60 degrees relative to each other and share one rotor output shaft, the output speeds of the two motors in the double-winding motor are forced to be synchronous in normal operation, however, because of the influence of the manufacturing assembly error of the motor and external environmental factors, the parameters of all windings in the motor are difficult to be completely consistent, when the motor operates at constant speed, the phenomenon of nonuniform electromagnetic torque among all windings in the motor can be generated, and a certain armature winding can be burnt out due to overcurrent in severe cases; in addition, the double-winding motor has inherent non-linear problems of magnetic thermal coupling, parameter time variation and the like, and the traditional PI control is difficult to meet the requirements of a double-winding motor system on quick response, high reliability, robustness and the like.

Disclosure of Invention

The invention aims to provide a double-winding motor prediction control method based on master-slave regulation.

In order to solve the above problems, the present invention provides a dual-winding motor prediction control method based on master-slave regulation, comprising:

(1) the double-winding motor is equivalent to a main winding and a secondary winding, and position and speed acquisition is realized by using a single set of encoder so as to simplify the control system architecture;

(2) a current prediction control method of a double-winding motor is introduced to replace the traditional PI control, so that the high-performance current loop design of a main winding and a slave winding in the motor is realized;

(3) adopting a Longbeige state observer to carry out online observation on perturbation parameters inside a main winding and a slave winding of the motor, and realizing high-precision prediction control of the double-winding motor current;

(4) the electromagnetic torque of the main winding and the auxiliary winding of the double-winding motor is estimated in real time, and torque feedforward compensation is added, so that the torque balance of the main winding and the auxiliary winding is realized.

Further, in the above method, the two-winding motor is equivalent to a master winding and a slave winding, and the method includes:

the main winding is controlled by the speed loop and the current loop, and the secondary winding synchronously receives and responds to the current command output by the speed loop of the main winding.

Furthermore, in the above method, a current prediction control method for a double-winding motor is introduced to replace the traditional PI control, so as to realize the high-performance current loop design of the main winding and the slave winding in the motor, including:

and under a d-q coordinate system, sequentially substituting the corresponding voltages of the eight switching states of the switching tube into an electrical characteristic state space equation of the discretization permanent magnet synchronous motor containing the parameters to be observed to obtain eight current predicted values at the next moment, and extracting a corresponding switching tube signal when the cost function g is minimum as the control state at the next moment based on the eight current predicted values at the next moment.

Further, in the above method, the on-line observation of perturbation parameters inside the main winding and the slave winding of the motor is performed by using a lobelike state observer, so as to realize the high-precision predictive control of the current of the double-winding motor, and the method includes:

according to an ideal voltage equation of the double-winding motor, the perturbation parameters in the main winding and the auxiliary winding of the motor are identified in real time by adopting a Longbeige state observer, and the current prediction control precision is effectively improved.

Further, in the above method, the real-time estimation of the electromagnetic torque of the main winding and the secondary winding of the double-winding motor and the increase of the torque feedforward compensation are performed to achieve the torque balance of the main winding and the secondary winding, including:

and by combining with current prediction control, the electromagnetic torques of the main winding and the auxiliary winding of the motor are predicted in real time, and torque feedforward compensation is added to realize the torque balance of the main winding and the auxiliary winding.

Compared with the prior art, the double-winding motor is equivalent to a main winding and a slave winding, the speed synchronization is ensured through the single encoder, the position and speed tracking of the main winding is realized, and the current instruction signals calculated and output by the speed loop are respectively introduced into the main winding and the slave winding to realize the current response; a current prediction control method is introduced, and a Longbeige state observer is adopted to update perturbation parameters inside a main winding and a slave winding in prediction control in real time, so that the design of a high-performance current loop is realized; and the electromagnetic torque of the main winding and the auxiliary winding is estimated on line, and torque feedforward compensation is added to realize the torque balance of the main winding and the auxiliary winding. On the basis of improving the servo response performance of the double-winding motor, the balance of the output electromagnetic torque of each winding in the double-winding motor is ensured.

Drawings

FIG. 1 is a schematic diagram of a predictive control system in accordance with one embodiment of the invention;

FIG. 2 is a master-slave control schematic of an embodiment of the present invention;

FIG. 3 is a predictive control schematic of an embodiment of the invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1, the present invention provides a dual-winding motor prediction control method based on master-slave regulation, including:

(1) the double-winding motor is equivalent to a main winding and a secondary winding, and position and speed acquisition is realized by using a single set of encoder so as to simplify the control system architecture;

(2) a current prediction control method of a double-winding motor is introduced to replace the traditional PI control, so that the high-performance current loop design of a main winding and a slave winding in the motor is realized;

(3) adopting a Longbeige state observer to carry out online observation on perturbation parameters inside a main winding and a slave winding of the motor, and realizing high-precision predictive control on the current of the existing double-winding motor;

(4) the electromagnetic torque of the main winding and the auxiliary winding of the double-winding motor is estimated in real time, and torque feedforward compensation is added, so that the torque balance of the main winding and the auxiliary winding is realized.

In the invention, the current prediction control is adopted to replace the traditional current loop PI control, so that the high-performance current loop design of the main winding and the auxiliary winding in the motor is realized.

Based on a master-slave control method, the invention adopts a single encoder to carry out high-precision speed loop control on a double-winding motor, and the position feedback precision reaches 20'; designing a Longbei lattice state observer to observe perturbation parameters in a main winding and a slave winding of the motor in real time, so as to realize the design of a high-performance current loop; on the basis, a torque feedforward compensation method is adopted, and the problem of uneven electromagnetic torque among windings of the existing double-winding motor is solved.

In an embodiment of the master-slave regulation-based dual-winding motor prediction control method, the dual-winding motor is equivalent to a master winding and a slave winding, and the method comprises the following steps:

the main winding is controlled by the speed loop and the current loop, and the secondary winding synchronously receives and responds to the current command output by the speed loop of the main winding.

In an embodiment of the master-slave regulation-based dual-winding motor predictive control method, a current predictive control method of a dual-winding motor is introduced to replace the traditional PI control, so that the high-performance current loop design of a master winding and a slave winding in the motor is realized, and the method comprises the following steps:

and under a d-q coordinate system, sequentially substituting the corresponding voltages of the eight switching states of the switching tube into an electrical characteristic state space equation of the discretization permanent magnet synchronous motor containing the parameters to be observed to obtain eight current predicted values at the next moment, and extracting a corresponding switching tube signal when the cost function g is minimum as the control state at the next moment based on the eight current predicted values at the next moment.

In an embodiment of a master-slave regulation-based dual-winding motor prediction control method, a Longbeige state observer is adopted to carry out online observation on perturbation parameters in a master winding and a slave winding of a motor, so that high-precision prediction control of the current of the conventional dual-winding motor is realized, and the method comprises the following steps:

according to an ideal voltage equation of the double-winding motor, the perturbation parameters in the main winding and the auxiliary winding of the motor are identified in real time by adopting the Longbeige state observer, and the error term is converged in real time by constructing a feedback gain matrix G, so that the current prediction control precision is effectively improved.

Specifically, in an embodiment of the dual-winding motor predictive control method based on master-slave regulation, the electromagnetic torques of the master winding and the slave winding of the dual-winding motor are estimated in real time, and the torque feedforward compensation is added to realize the torque balance of the master winding and the slave winding, and the method comprises the following steps:

and by combining with current prediction control, the electromagnetic torques of the main winding and the auxiliary winding of the motor are predicted in real time, and torque feedforward compensation is added to realize the torque balance of the main winding and the auxiliary winding.

Specifically, the invention enables the interior of the double-winding motor to be equivalent to a main winding and a slave winding by introducing a main-slave control algorithm, and ensures speed synchronization by a single set of encoder system. And secondly, the predictive control algorithm is adopted to replace the traditional PI control to realize the high-precision control of the current of the main winding and the auxiliary winding. Under a d-q coordinate system, a state space equation of the electrical characteristics of the discretization permanent magnet synchronous motor containing the parameters to be observed is given as follows.

I(k+1)＝A(k)I(k)+BU(k)+C(k)

Wherein:

in the formula: i.e. i_d(k) And i_q(k) Current values of d-axis and q-axis at the present time, u_d(k) And u_q(k) Voltage values of d-axis and q-axis at the present moment, L_dIs d-axis inductance, omega_mIs the motor speed, P_nIs the number of pole pairs, T_sIn order to be the sampling period of time,respectively, a stator resistance to be observed, a q-axis inductance and a rotor flux linkage. Calculating current predicted values i corresponding to all switch tube states_d(k +1) and i_q(k +1), selecting the corresponding switch tube signal when the cost function g is minimum in all the calculations as the control state of the next moment.

Aiming at the problem of control precision reduction caused by model parameter mismatch in prediction control, the double-winding motor prediction control system adopts a Longbeige state observer to identify perturbation parameters inside a motor in the double-winding motor prediction control in real time in order to obtain an accurate current prediction value.

In order to ensure the balance of the electromagnetic torques of the main winding and the auxiliary winding, the traditional prediction control needs to be improved, and a torque feedforward compensation strategy is introduced. The method of the invention comprises the following steps: according to the ideal space state equation of the double-winding motor, the electromagnetic torque of the main winding and the auxiliary winding is estimated in real timeFeed-forward compensation is formed by constructing a torque forward path.

The invention provides a double-winding motor prediction control method based on master-slave regulation, which takes a double-winding three-phase permanent magnet synchronous motor as an example in specific implementation, two sets of three-phase stator windings are distributed around a rotor shaft, the phase difference between the two windings is 60 degrees, and the two windings are equivalent to a master winding and a slave winding during analysis.

FIG. 1 is a principal diagram of a master-slave regulation based predictive control system of an embodiment of the present invention. Specific embodiments of each portion are as follows.

FIG. 2 is a principal and subordinate control schematic diagram, in which a dual-winding motor is equivalent to a master motor and a slave motor, and the master motor winding realizes position, speed and phase current acquisition through a set of encoder and a set of current detection device, so as to realize speed loop and current loop control; and synchronously receiving a current signal calculated by a rotating speed loop of the main motor winding from the motor winding as an instruction to participate in the control of an internal current loop of the motor winding. The strategy only adopts a single encoder to complete the system rotation speed control, keeps the unification of the output rotation speeds of the main winding and the auxiliary winding, simplifies the algorithm flow and improves the system reliability.

Fig. 3 is a schematic diagram of the predictive control proposed by the present invention. The predictive control is used for realizing high-performance current control and electromagnetic torque balance of the main winding and the auxiliary winding of the double-winding motor. As shown in fig. 3, the prediction control section includes a lobberg state observer, a torque feedforward compensation, and a model prediction.

The double-winding motor predictive control system comprises the following discretization permanent magnet synchronous motor electrical characteristic state space equations containing parameters to be observed under a d-q coordinate system:

I(k+1)＝A(k)I(k)+BU(k)+C(k)(1)

wherein:

in the formula: i.e. i_d(k) And i_q(k) Current values of d-axis and q-axis at the present time, u_d(k) And u_q(k) Voltage values of d-axis and q-axis at the present moment, L_dIs d-axis inductance, omega_mIs the motor speed, P_nIs the number of pole pairs, T_sIn order to be the sampling period of time,respectively, a stator resistance to be observed, a q-axis inductance and a rotor flux linkage.

Voltage u corresponding to switching state of inverter switching tube_d(k)、u_q(k) The relationship with the inverter switching tube state is shown below

In the formula: u shape_dcIs the bus voltage, θ_rAt the present moment, electrical angle, S_a、S_b、S_cCorresponding to three groups of switching tubesOn/off state, outputting voltage u corresponding to eight switch tube states_di(k)、u_qi(k) Substituting the model into a prediction formula to obtain eight predicted values i of current_d(k +1) and i_q(k+1)。

The double-winding motor predictive control system aims at obtaining a more accurate current predicted value i_d(k +1) and i_q(k +1) respectively using the q-axis inductance and the phase winding resistance R of the master motor and the slave motor by using a Longbeige state observer_mAnd rotor flux linkage psi_fAnd performing online prediction, and introducing the identification parameters into prediction control for calculation. Firstly, identifying the q-axis inductance of the motor according to a d-axis voltage balance equation, and then identifying the phase resistance and the rotor flux linkage according to the d-axis and q-axis voltage balance equations. Get i_dFor output, the q-axis inductance observer expression is as follows.

In the formula:observed values of d-axis current and q-axis inductance, respectively, |₁、l₂Is a feedback gain factor.

Observe thatThen, willAs known quantities are introduced into the motor phase resistance and rotor flux observer expressions shown below. While the d-axis injects a small current, i is taken_qIs the output.

In the formula:in order to be an estimate of the phase resistance,in order to be an estimated value of the stator flux linkage,as an estimate of the q-axis current, k₁、k₂、k₃、k₄Is a feedback gain factor.

Eight current predicted values i are obtained_d(k +1) and i_qAfter (k +1), the cost function g is given the expression as follows.

Eight current prediction values i_d(k+1)、i_q(k +1) and input current commandAnd respectively substituting the signals into a cost function for calculation, and taking the corresponding switch tube signal when g is the minimum in eight times of calculation as a control signal at the next moment.

The double-winding motor predictive control system further improves predictive control and introduces a torque feedforward compensation scheme aiming at the problem of uneven electromagnetic torque output of the double-winding motor. The method comprises the following steps: the simplified predicted electromagnetic torque formula is taken as follows.

In the formula:the current is predicted for optimum. Respectively to be provided withAndby introducing an electromagnetic torque calculation formula, the predicted electromagnetic torque of the master motor and the slave motor can be obtainedAnd electromagnetic torque signals generated through calculation are introduced into a current loop in real time to carry out feedforward compensation, so that the balance of the output torque of the double-winding motor is ensured.

Under the condition of giving 15Nm step load, when the algorithm is not adopted, the electromagnetic torque of each winding of the motor is uneven, and after the algorithm is adopted, the electromagnetic torque error of the main winding and the auxiliary winding is within 0.2Nm, the electromagnetic torque error is improved by 90 percent, and the stability of the double-winding motor is improved.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.