{"title":"内环模型预测控制和外环 PI 参考调速器,用于具有输入和状态饱和的 PMSM 扭矩控制","authors":"Tanja Zwerger , Paolo Mercorelli","doi":"10.1016/j.matcom.2024.08.006","DOIUrl":null,"url":null,"abstract":"<div><p>This contribution considers a torque control scheme consisting of model predictive control (MPC) in the inner control loop together with PI reference governor in the outer control loop and a decoupling feedforward control for an isotropic permanent magnet synchronous machine (PMSM). This innovative approach is known in literature as PI-MPC dual loop control. A particular emphasis is given to the control governor strategy which is the outer loop PI reference governor and allows to regulate the machine in the flux weakening region and is therefore only active for field weakening. In this context the analysis of the stability based on Lyapunov’ approach of the control loop in flux weakening region is shown. The desired currents represent the reference currents for the MPC, which forms the inner control loop. The MPC is adapted using an extended Kalman filter (EKF), which estimates inductance of the electrical system in <span><math><mrow><mi>d</mi><mi>q</mi></mrow></math></span> coordinates by using a bivariate polynomial. Compared measurements with a hardware-in-the-loop (HIL) system show the effectiveness of the proposed control scheme with respect to a standard PI controller in inner loop (PI-PI scheme) in the presence of saturated inputs and state of a PMSM. The proposed MPC uses just an optimal, proportional control and thus avoids windup effects. Measurement results in the presence of input and state saturations show that MPC is working without overshoot in the currents which leads to less needed power in input.</p></div>","PeriodicalId":49856,"journal":{"name":"Mathematics and Computers in Simulation","volume":"228 ","pages":"Pages 178-201"},"PeriodicalIF":4.4000,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0378475424003082/pdfft?md5=22b1f02acafad37d2142c8fc049c7498&pid=1-s2.0-S0378475424003082-main.pdf","citationCount":"0","resultStr":"{\"title\":\"Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control\",\"authors\":\"Tanja Zwerger , Paolo Mercorelli\",\"doi\":\"10.1016/j.matcom.2024.08.006\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>This contribution considers a torque control scheme consisting of model predictive control (MPC) in the inner control loop together with PI reference governor in the outer control loop and a decoupling feedforward control for an isotropic permanent magnet synchronous machine (PMSM). 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引用次数: 0
摘要
本文研究了一种扭矩控制方案,包括内控制环中的模型预测控制 (MPC)、外控制环中的 PI 参考调速器以及各向同性永磁同步机 (PMSM) 的解耦前馈控制。这种创新方法在文献中被称为 PI-MPC 双环控制。其中特别强调了控制调节器策略,即外环 PI 参考调节器,允许在磁通减弱区域调节机器,因此仅在磁场减弱时有效。在这种情况下,基于 "Lyapunov "方法的控制回路在磁通减弱区域的稳定性分析得到了体现。所需的电流代表构成内控制环的 MPC 的参考电流。MPC 采用扩展卡尔曼滤波器 (EKF),通过二元多项式估计 dq 坐标下的电气系统电感。与硬件在环 (HIL) 系统的测量结果对比显示,在 PMSM 的输入和状态饱和的情况下,与内环中的标准 PI 控制器(PI-PI 方案)相比,所提出的控制方案非常有效。建议的 MPC 仅使用最优比例控制,从而避免了风起效应。输入和状态饱和时的测量结果表明,MPC 在工作时不会出现电流过冲,从而减少了输入所需的功率。
Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control
This contribution considers a torque control scheme consisting of model predictive control (MPC) in the inner control loop together with PI reference governor in the outer control loop and a decoupling feedforward control for an isotropic permanent magnet synchronous machine (PMSM). This innovative approach is known in literature as PI-MPC dual loop control. A particular emphasis is given to the control governor strategy which is the outer loop PI reference governor and allows to regulate the machine in the flux weakening region and is therefore only active for field weakening. In this context the analysis of the stability based on Lyapunov’ approach of the control loop in flux weakening region is shown. The desired currents represent the reference currents for the MPC, which forms the inner control loop. The MPC is adapted using an extended Kalman filter (EKF), which estimates inductance of the electrical system in coordinates by using a bivariate polynomial. Compared measurements with a hardware-in-the-loop (HIL) system show the effectiveness of the proposed control scheme with respect to a standard PI controller in inner loop (PI-PI scheme) in the presence of saturated inputs and state of a PMSM. The proposed MPC uses just an optimal, proportional control and thus avoids windup effects. Measurement results in the presence of input and state saturations show that MPC is working without overshoot in the currents which leads to less needed power in input.
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