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A Decoupling Control Strategy of IPM Machine Accounting for.pdf

A Decoupling Control Strategy o…

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简介:本文档为《A Decoupling Control Strategy of IPM Machine Accounting forpdf》,可适用于电子通讯领域,主题内容包含ADecouplingControlStrategyofIPMMachineAccountingforCompensationofCrosssatu符等。

ADecouplingControlStrategyofIPMMachineAccountingforCompensationofCrosssaturationBasedonSVPWMTechniqueWANGAimeng,SHIWenjuanSchoolofElectricalandElectronicEngineering,NorthChinaElectricPowerUniversity,Baoding,Hebei,PRChinaEmail:aimengyahoocomEmail:ishiwenjuancomAbstract:Inthispaper,theevaluationofmagneticsaturationeffectsinaninteriorpermanentmagnetsynchronousmotor(IPMSM)overtheentireoperationrangeincludingconstanttorqueregionandinfluxweakeningrangeispresentedThedecouplingcontrolmodelforIPMPMwithmagneticsaturationcompensationbasedonSVPWMmethodisestablishedUponthecomparisonthemodelwithsaturationcompensationandoneswithoutsaturationcompensation,thesimulationresultsshowthatperformanceofthedecouplingcontrolsystemwithsaturationcompensationismorestableandmoreaccuratethanthatofwithoutcompensationinconstantpowerregionespeciallyoperatingatahigherspeedAndthedecouplingcontrolsystemwithsaturationcompensationimproveseffectivelythesystemfollowingupperformance,robustnessandthecontrolaccuracyKeywords:DecouplingControl,CompensationofMagneticSaturation,SVPWM,IPMSMINTRODUCTIONInteriorpermanentmagnet(IPM)machineismostlyusedinelectrictractionapplicationbecauseitcanexhibitahightorquedensityandhasawideconstantpowerregionSincetheeffectiveairgapintheIPMmotorissmall,andtheeffectsofmagneticsaturationandcrosssaturationaredominant,whichinfluenceitscontrolperformancesMostlypreviousworkreportedintheliteraturehasfocusedoncrosssaturationmodelandsaturationimpactsonIPMmachinedrivesPaperreportsamethodoffullydecouplingtheproblematiccrosscouplingwithestimatedparametersfromonlineselftuningtoimprovetheperformanceofthecurrentregulatorInthispaper,thepurposeistopresentanimprovedcurrentcontrolmethodforIPMmachineaccountingformagneticsaturationandcrosscouplingbasedondecouplingcontrolmethodbyusingSVPWMtechnologySincetheinductancesarefunctionofdandqaxescurrentsthatvarywithoperatingconditionsduetomagneticsaturation,thecompensatedvalueofinductanceisusedinthecontrolalgorithmSeveralmodelsofIPMmachinedrivesaresetupbyusingdifferentparametersincludinglinerandnonlinermagneticcrosssaturationinductanceparametersinthemachineinfluxweakeningcontrolThroughthecomparisonofdifferentmodelsverifytheexcellentperformanceofthecontrolsystemwithdecouplingcontrolandcompensationofmagneticsaturationTHEMATHEMATICMODELANDCONTROLSTRATEGIESOFIPMSMTheMathematicModelofIPMSMThemachinemodelintherotorreferenceframeisrepresentedby()()()dddqqqqqddfuRpLiLiuRpLiLiωωψ==()()enfqdqdqTpiLLiiψ=()Whereid,iqarethedandqaxescomponentsofarmaturecurrent,ud,uqarethedandqaxescomponentsofterminalvoltage,Ψfarethepermanentmagnetfluxlinkage,Ld,Lqarethedandqaxesstatorinductances,pnisthenumberofpolepairsandp=ddtControlStrategiesofIPMSMIntheconstanttorqueregion,thereluctancetorquethesecondtermin()developedbysaliencyisexploitedthroughthemaximumtorqueperamperecontrolstrategyTherelationshipbetweenIdandIqforthemaximumtorqueperamperecontrolasfollowed:()()ffdqqdqdqadiiLLLLiIiψψ==()Duetocurrentconstraint,whenIa=Iam,themaximumtorqueisproducedThemaximumtorqueperamperecontrolstrategyissuperiortotheId=controlmethod,andconvertssmoothlyfluxweakeningcontrolIntheconstantpowerregion,thecurrentandvoltagearelimitedbytheinvertercapacity,andthecurrentandthevoltageconstraintarefollowed:adqamadqamIIiIVuuV==()Inthefluxweakeningconstantpowerregion,forthecurrentvectorisonthevoltagelimitellipseinalloperatingregion,thecurrentvectortrackcanbederivedfromVa=Vam:()famdqqddViLiLLψω=()WhenVa=Vam,thecurrentvectoriscontrolledaccordingfor()inthesteadystateProceedingsofthethChineseControlConferenceJuly,,Beijing,ChinaTHEEFFECTANDCOMPENSATIONOFMAGNETICSATURATIONForIPMmachine,duetothelargereffectiveairgaplengthonthedaxis,thevariationofmagnetizingreactanceLddependingonIdcurrentisminimalSincesaturationinthedaxisresultsinareduceddaxisinductance,thetorquecapabilityofthesaturatedmotorintheconstanttorquerangemaybeslightlyincreasedduetotheincreaseofthesaliencyratioLqLdButthefieldweakeningperformanceisreducedduetoareductionofthedaxisinductanceTheeffectiveairgaplengthontheqaxisissmallandthemagneticsaturationisdominantTheqaxisinductancevariesdependingontheqaxiscurrentandasaresult,thecontrolperformanceisaffectedbymagneticsaturationThevariationofthemeasuredqanddaxesinductancevaluesversustheqanddaxescurrentofIPMmotorusedforourexperimentalresultsareshowninFigInthelowspeedrange,theobviousvariationofLqiscausedbythelargerIqcurrentduetothebigtorqueInthehighspeedrange,thetorqueissmall,ietheIqisrelativelysmall,sothevariationofLqisminimalThereforetheeffectsofmagneticsaturationexistmainlyinthelowspeedrangeTheqanddaxesinductancevaluesarerespectivelyHmandHminratedoperationThecrosscouplingispresentedmainlyastheeffectofaqaxiscurrentonthebackemformagnetflux,thebackemfreducingslightlywithanincreaseofqaxiscurrentduetothemagneticsaturationonthedaxisThetorqueandtheterminalvoltagereducewhenthecontrolsystemoperatewithmaximumtorqueperampcontrol,asshowninfigIq(A)Lq(Hm)(a)Id(A)Ld(Hm)(b)FigVariationofqanddaxesinductanceversusqanddaxescurrent(a)qaxisinductance(b)daxisinductanceInfluxweakeningrange,thedemagnetizingcurrentIdisincreasewhileIqmustbereduced,asaresultLqincreaseasshowninfigureIftheLqisassumedtobeaconstantparameter,iethemagneticsaturationisignored,sothecontrolperformancebecomeworseandthecontrolsystemmaybeunstableThefigureshowstherelationshipbetweenLqandIq,LdandId,thisinformationcanbeusedtobuildalookuptabletocompensatetheeffectsofmagneticsaturationThecompensationofmagneticsaturationextendthespeedrangeinfluxweakeningregionasshowninthefigIs(A)Te(Nm)withconsiderationofsaturationwithoutconsiderationofsaturation(a)Is(A)Terminalvoltage(V)withconsiderationofsaturationwithoutconsiderationofsaturation(b)FigComparisonoftorqueandterminalvoltagevsIscurrentwithconsiderationandwithoutonesattheconditionofMTPAregion(a)Torque(b)Terminalvoltagewe(rpm)Te(Nm)withoutcompensationofsaturationwithcompensationofsaturationFigTorqueversusspeedwithandwithoutcompensationofsaturationTHEDECOUPLINGALGORITHMWITHCOMPENSATIONOFMAGNETICSATURATIONIntheIPMSMvectorcontrolsystem,Id,IqandUd,UqexistcrosscouplingwhichisignoredtosimplifythecontrolstrategyButinthehighperformancecontrolsystem,thissimplificationwillaffecttheintegrationofcontrolperformanceThedandqaxescurrentscannotbecontrolledindependentlybyUdandUq,duetocrosscouplingeffectsbetweendandqaxesbackemfInlowspeedregion,theinfluenceofcrosscouplingissmallonthecontrolsystemHowever,theeffectincreasesasthespeedincreases,especiallyinhighspeedfluxweakeningregion,thecurrentresponsesisaffectedbycrosscouplingeffectTheterminalvoltageexceedsthelimitedvalueinthisregion,thesametime,thecurrentcontrollerissaturatedandtheactualcurrentcannotfollowthecommandedcurrentSothefeedforwarddecouplingmethodisusedtocompensatetheterminalvoltageDecouplingmodelisestablishedthroughtheoreticalanalysis()decdeqqqecqefdduuLiuuLiωωψ==()Insomecases,thedecouplingcontroldoesnotworkperfectlywhenthemotorcurrentisincreasedInordertofindthecausesoftheseproblems,variousparametersduetomagneticsaturationareexaminedThedecouplingblockwithcompensationofmagneticsaturationisaddedtothespeedcontrolsystemIteliminatesinteractionsbetweendandqaxescurrentcontrolThedecouplingblockisshowninfigdiqiqidieωeωqidiFigDecouplingcontrolmodelwithparameterscompensationCONTROLSYSTEMOFIPMMOTORWITHPROPOSEDSTRATEGYANDSIMULATIONRESULTSFigdescribesthevariablespeedIPMSMDrivesystemonwhichthedecouplingschemeisinvestigatedTheparametersofIPMmotorarelistedintheTable,dq,αβqidieTdecuqecuuαuβdqieθeθeωdiFigControlblockdiagramoftheproposeddecouplingcontrolforIPMSMwithcompensationofmagneticsaturationTabAkWIPMmotorparametersParameterValueNumberofpolepairsArmatureresistanceMagnetfluxlinkageDaxisinductanceQaxisinductanceMaximumtorqueOutputpowerMaximumspeedΩWbmHmHNmkWrpmThedecouplingcontrolisequaltothecompensationofterminalvoltageandthiseffectisapparent,especiallyinhighspeedrangeTheeffectsofproposedvoltagecommandcompensationinthefluxweakeningrangeareshowninfigureDuetothecurrentregulatorsaturation,thedandqaxescurrentscontrolledbyconventionalcurrentregulatorcannotfollowthecurrentcommandsTheresponsestimeofcurrentandthespeedisreducedbytheproposedvoltagecommandcompensationThemotorstartquicklytothecommandedspeedbyhigherstarttorque,andthefollowedperformanceisideal,noovershootWhenaddedtheNmloadats,thespeedreduceslightlyandisrecoveredimmediatelyThenthecontrolsystemstepupfromrmptorpmatsanditwithdecouplingcontrolreachesthecommandedspeedfasterthanoneswithoutdecouplingcontrolThedandqaxescurrentsareunstableandrecoverfasterthanwithoutdecouplingcontrolTheqaxesinductancevariesdependingonqaxiscurrent,accordingtodifferentoperationmode(startmotor,noloadoperation,loadedoperation,addspeedwithload),asshowninfigureThestarttorqueisimprovedandthemotorreachesquicklythecommandedspeed,iethedynamicperformanceisoptimalCONCLUSIONSThesimulationresultsindicatethatthedecouplingcontrolmethodcaneffectivelyimprovethesystemfollowingupperformance,robustnessandcontrolaccuracyThedecouplingcontroleliminatesunstabletransientresponsesduetosaturationofcurrentcontrollercausedbytheterminalvoltageexceedingthelimitedvoltageinhighspeedfluxweakeningrangeThecompensationofmagneticsaturationextendsthespeedrangeinfluxweakeningregionTherefore,itshouldfindawideapplicationinthedesignofhighperformancedrivesystemforinteriorpermanentmagnetmotortakingaccountformagneticsaturationThesystemwillberealizedandthealgorithmwillbeverifiedbyDSPcontrolsysteminthefuturework,andthedecouplingcontrolcaneliminatecrosscouplingeffects,especiallyinhighspeedfluxweakeningregiont(s)Te(Nm)withoutdecouplingcompensationwithdecouplingcompensation(a)t(s)we(rpm)withdecouplingcompensationwithoutdecouplingcompensation(b)t(s)Iq(A)withoutdecouplingcompensationwithdecouplingcompensation(c)t(s)Id(A)withoutdecouplingcompensationwithdecouplingcompensation(d)FigStepresponsesofspeedandtorquewithandwithoutdecouplingcompensationinfluxweakeningrange(w*rpm,TeNm)(a)Torque,(b)Speed,(c)Qaxiscurrent,(d)Daxiscurrentxt(s)Ld,Lq(mH)LqLdFigVariationofLqandLdindifferentoperationmodesACKNOWLEDGEMENTSTheacknowledgementisforfundingofstudyabroadscientificresearchfoundationofNorthChinaElectricPowerUniversityREFERENCESBSneyers,DWNovotny,TALipo,“FieldWeakeninginBuriedPermanentMagnetACMotorsDrives”,IEEETransonIndAppl,,:TMJahns,GBKliman,TWNeumann,“InteriorPermanentMagnetSynchronousMotorsforAdjustableSpeedDrives”,IEEETransonIndAppl,,:JWPark,KHKoo,JMKim,“ImprovementofControlCharacteristicsofInteriorPermanentMagnetSynchronousMotorforElectricVehicle”,RecofIndApplSocAnnMtg,Rome,:ShigeoMorimoto,MasayukiSanada,andYojiTakeda,“EffectsandCompensationofMagneticSaturationinFluxWeakeningControlledPermanentMagnetSynchronousMotorDrives”,IEEETRANSACTIONSONINDUSTRYAPPLICATIONS,,():GHKang,JPHong,GTKim,andJWPark,“Improvedparametermodelingofinteriorpermanentmagnetsynchronousmotorbasedonfiniteelementanalysis,”IEEETransMa,,():EdwardCLovelace,ThomasMJahns,Fellow,IEEE,andJeffreyHLang“ImpactofSaturationandInverterCostonInteriorPMSynchronousMachineDriveOptimization”,IEEETRANSACTIONSONINDUSTRYAPPLICATIONS,,,():EmilLevi,Member,IEEE,andViktorALevi“ImpactofDynamicCrossSaturationonAccuracyofSaturatedSynchronousMachineModels”IEEETRANSACTIONSONENERGYCONVERSION,,():BojanStumberger,GorazdStumberger,DragoDolinar,AntonHamler,andMladenTrlep,“EvaluationofSaturationandCrossMagnetizationEffectsinInteriorPermanentMagnetSynchronousMotor”,IEEETRANSACTIONSONINDUSTRYAPPLICATIONS,,():HyunbaeKimandRDLorenz,“ImprovedCurrentRegulatorsforIPMMachineDrivesUsingOnLineParameterEstimation”IEEETransIndAppl,,:AimengWangandTMJahns,“AccuracyInvestigationofClosedFormPredictionfortheOperatingEnvelopePerformanceCharacteristicsofInteriorPMSynchronousMachines”ProceedingofInternationalConferenceonElectricalMachinesandSystem,:

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