Минимизация тока синхронных двигателей с постоянными магнитами и векторной системой управления
Ключевые слова:
СДПМ, векторное управление, минимальное значение тока, поисковая система, момент, система координат dq, эквивалентная схема замещения, магнитная несимметрия
Аннотация
Синхронные двигатели с возбуждением от постоянных магнитов (СДПМ) перспективны для использования на транспорте и в различных отраслях промышленности. Установлено, что СДПМ с магнитной несимметрией обладают рядом преимуществ по сравнению с двигателями с магнитной симметрией. Статья посвящена минимизации тока обмотки статора СДПМ в векторной системе управления. На основе методов теории электропривода составлена эквивалентная схема замещения СДПМ с магнитной несимметрией в системе координат dq, на базе которой разработана математическая модель двигателя. Модель учитывает нелинейные эффекты, связанные с насыщением магнитопровода статора, потерями мощности в магнитопроводе статора, и влияние температуры на параметры схемы замещения. Для векторной системы управления с ориентацией по потокосцеплению статора СДПМ получена экстремальная зависимость тока обмотки статора от его проекции на ось d. Аналитически получена формула задания на проекцию тока обмотки статора на ось d, обеспечивающая минимальное значение тока обмотки статора в зоне постоянства момента. На основе методов теории автоматического управления разработаны алгоритм и система поиска минимального значения тока обмотки статора в зоне постоянства момента, нечувствительная к изменениям параметров эквивалентной схемы замещения. Управляющим воздействием в системе поиска является проекция тока обмотки статора на ось d. Работоспособность разработанной системы управления подтверждена с помощью компьютерного моделирования электропривода с СДПМ мощностью 132 кВт. Сделаны выводы о применении данных систем в различных электроприводах.
Литература
1. Sharma R.K. et al. Vector Control of a Permanent Magnet Synchronous Motor. – Annual IEEE India Conference, 2008, vol. 1, pp. 81–86, DOI: 10.1109/INDCON.2008.4768805.
2. Lashkevich M. et al. Control Strategy for Synchronous Homopolar Motor in Traction Applications. – 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, pp. 6607–6611, DOI: 10.1109/IECON.2017.8217153.
3. Анучин А.С. Системы управления электроприводов. М.: Изд-во МЭИ, 2015, 373 с.
4. Козярук А.Е., Рудаков В.В. Современное и перспективное алгоритмическое обеспечение частотнорегулируемых электроприводов. СПб.: Санкт-Петербургская электротехническая компания, 2004, 128 с.
5. Anuchin A., Bychkov M. The Modern Electric Drives – Using of Information Technologies and the Problems of Education. – 2017 IEEE 58th International Scientific Conference on Power and Electrical Engineering of Riga 397 Technical University (RTUCON), 2017, DOI: 10.1109/RTUCON.2017.8124802.
6. Matsuoka K. Development Trend of the Permanent Magnet Synchronous Motor for Railway Traction. – IEEJ Transactions on Electrical and Electronic Engineering, 2007, vol. 2, pp. 154–161, DOI: 10.1002/tee.20121.
7. Yang Y. et al. Comparison of Interior Permanent Magnet Motor Topologies for Traction Applications. – IEEE Transactions on Transportation Electrification, 2017, vol. 3 (1), pp. 86–97, DOI: 10.1109/TTE.2016.2614972.
8. Андриянов А.И. Расчет оптимальных параметров систем управления нелинейными динамическими процессами импульсных преобразователей напряжения. – Автоматизация и моделирование в проектировании и управлении, 2022, № 4, с. 87–96.
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10. Li X. et al. Vector Control of PMSM Based on Improved Sliding Mode Observer and Controller. – Journal of Physics: Conference Series, 2023, DOI 10.1088/1742-6596/2479/1/012016.
11. Kamel H.M., Hasanien H.M., Ibrahim H.E.A. Speed Control of Permanent Magnet Synchronous Motor Using Fuzzy Logic Controller. – IEEE International Electric Machines and Drives Conference, 2009, pp. 1587–1591, DOI: 10.1109/IEMDC.2009.5075415.
12. Alzayed M., Chaoui H., Farajpour Y. Dynamic Direct Voltage MTPA Current Sensorless Drives for Interior PMSM-Based Electric Vehicles. – IEEE Transactions on Vehicular Technology, 2023, vol. 72, No. 3, pp. 3175–3185, DOI: 10.1109/TVT.2022.3219763.
13. Liu T. et al. A MTPA Control Strategy for Mono-Inverter Multi-PMSM System. – IEEE Transactions on Power Electronics, 2021, vol. 36, No. 6, pp. 7165–7177, DOI: 10.1109/TPEL.2020.3038797.
14. Inoue T. et al. Mathematical Model for MTPA Control of Permanent-Magnet Synchronous Motor in Stator Flux Linkage Synchronous Frame. – IEEE Transactions on Industry Applications, 2015, vol. 51, No. 5, pp. 3620–3628, DOI: 10.1109/TIA.2015.2417128.
15. Boldea I., Paicu M.C., Andreescu G.-D. Active Flux Concept for Motion-Sensorless Unified AC Drives. – IEEE Transactions on Power Electronics, 2008, vol. 23. No. 5, pp. 2612–2618. DOI: 10.1109/TPEL.2008.2002394.
16. Inkov Y.M. et al. Formation of a Task of the Stator Flux Linkage of a Synchronous Motor with Permanent Magnets in a Direct Torque-Control System. – Russian Electrical Engineering, 2023, vol. 94, No. 9, pp. 645–649, DOI: 10.3103/S1068371223090080.
17. Pugachev A. Efficiency Increasing of Induction Motor Scalar Control Systems. – International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 2017, DOI: 10.1109/ICIEAM.2017.8076317.
18. Shinohara A. et al. Correction of Reference Flux for MTPA Control in Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drives. – International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA), 2014, pp. 324–329, DOI: 10.1109/IPEC.2014.6869601.
19. Пугачев А.А., Чуприна Н.В. Система прямого управления моментом синхронного двигателя с постоянными магнитами с поиском минимума тока статора. – Известия высших учебных заведений. Электромеханика, 2024, № 1 (67), с. 46–55.
20. Chen X., Wang J., Griffo A. A High-Fidelity and Computationally Efficient Electrothermally Coupled Model for Interior Permanent-Magnet Machines in Electric Vehicle Traction Applica-tions. – IEEE Transactions on Transportation Electrification, 2015. vol. 1 (4), pp. 336–347, DOI: 10.1109/TTE.2015.2478257.
#
1. Sharma R.K. et al. Vector Control of a Permanent Magnet Synchronous Motor. – Annual IEEE India Conference, 2008, vol. 1, pp. 81–86, DOI: 10.1109/INDCON.2008.4768805.
2. Lashkevich M. et al. Control Strategy for Synchronous Homopolar Motor in Traction Applications. – 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, pp. 6607–6611, DOI: 10.1109/IECON.2017.8217153.
3. Anuchin A.S. Sistemy upravleniya elektroprivodov (Electric Drive Control Systems). M.: Izd-vo MEI, 2015, 373 p.
4. Kozyaruk A.E., Rudakov V.V. Sovremennoe i perspektivnoe algoritmicheskoe obespechenie chastotnoreguliruemyh elektroprivodov (Modern and Perspective Algorithmic Support of Frequency Controlled Electric Drives). SPb.: Sankt-Peterburgskaya elektrotehnicheskaya kompaniya, 2004, 128 p.
5. Anuchin A., Bychkov M. The Modern Electric Drives – Using of Information Technologies and the Problems of Education. – 2017 IEEE 58th International Scientific Conference on Power and Electrical Engineering of Riga 397 Technical University (RTUCON), 2017, DOI: 10.1109/RTUCON.2017.8124802.
6. Matsuoka K. Development Trend of the Permanent Magnet Synchronous Motor for Railway Traction. – IEEJ Transactions on Electrical and Electronic Engineering, 2007, vol. 2, pp. 154–161, DOI: 10.1002/tee.20121.
7. Yang Y. et al. Comparison of Interior Permanent Magnet Motor Topologies for Traction Applications. – IEEE Transactions on Transportation Electrification, 2017, vol. 3 (1), pp. 86–97, DOI: 10.1109/TTE.2016.2614972.
8. Andriyanov A.I. Avtomatizatsiya i modelirovanie v proektiro-vanii i upravlenii – in Russ. (Automation and Modeling in Design and Management), 2022, No. 4, pp. 87–96.
9. Omara A.M., Sleptsov M.A. Elektrichestvo – in Russ. (Electricity), 2019, No. 5, pp. 47–57.
10. Li X. et al. Vector Control of PMSM Based on Improved Sliding Mode Observer and Controller. – Journal of Physics: Conference Series, 2023, DOI 10.1088/1742-6596/2479/1/012016.
11. Kamel H.M., Hasanien H.M., Ibrahim H.E.A. Speed Control of Permanent Magnet Synchronous Motor Using Fuzzy Logic Control-ler. – IEEE International Electric Machines and Drives Conference, 2009, pp. 1587–1591, DOI: 10.1109/IEMDC.2009.5075415.
12. Alzayed M., Chaoui H., Farajpour Y. Dynamic Direct Vol-tage MTPA Current Sensorless Drives for Interior PMSM-Based Electric Vehicles. – IEEE Transactions on Vehicular Technology, 2023, vol. 72, No. 3, pp. 3175–3185, DOI: 10.1109/TVT.2022.3219763.
13. Liu T. et al. A MTPA Control Strategy for Mono-Inverter Multi-PMSM System. – IEEE Transactions on Power Electronics, 2021, vol. 36, No. 6, pp. 7165–7177, DOI: 10.1109/TPEL.2020.3038797.
14. Inoue T. et al. Mathematical Model for MTPA Control of Permanent-Magnet Synchronous Motor in Stator Flux Linkage Synchronous Frame. – IEEE Transactions on Industry Applications, 2015, vol. 51, No. 5, pp. 3620–3628, DOI: 10.1109/TIA.2015.2417128.
15. Boldea I., Paicu M.C., Andreescu G.-D. Active Flux Concept for Motion-Sensorless Unified AC Drives. – IEEE Transactions on Power Electronics, 2008, vol. 23. No. 5, pp. 2612–2618. DOI: 10.1109/TPEL.2008.2002394.
16. Inkov Y.M. et al. Formation of a Task of the Stator Flux Linkage of a Synchronous Motor with Permanent Magnets in a Direct Torque-Control System. – Russian Electrical Engineering, 2023, vol. 94, No. 9, pp. 645–649, DOI: 10.3103/S1068371223090080.
17. Pugachev A. Efficiency Increasing of Induction Motor Scalar Control Systems. – International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 2017, DOI: 10.1109/ICIEAM.2017.8076317.
18. Shinohara A. et al. Correction of Reference Flux for MTPA Control in Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drives. – International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA), 2014, pp. 324–329, DOI: 10.1109/IPEC.2014.6869601.
19. Pugachev A.A., Chuprina N.V. Izvestiya vysshih uchebnyh zavedeniy. Elektromehanika – in Russ. (News of Higher Educational Institutions. Electromechanics), 2024, No. 1 (67), pp. 46–55.
20. Chen X., Wang J., Griffo A. A High-Fidelity and Computationally Efficient Electrothermally Coupled Model for Interior Permanent-Magnet Machines in Electric Vehicle Traction Applicati-ons. – IEEE Transactions on Transportation Electrification, 2015. vol. 1 (4), pp. 336–347, DOI: 10.1109/TTE.2015.2478257
2. Lashkevich M. et al. Control Strategy for Synchronous Homopolar Motor in Traction Applications. – 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, pp. 6607–6611, DOI: 10.1109/IECON.2017.8217153.
3. Анучин А.С. Системы управления электроприводов. М.: Изд-во МЭИ, 2015, 373 с.
4. Козярук А.Е., Рудаков В.В. Современное и перспективное алгоритмическое обеспечение частотнорегулируемых электроприводов. СПб.: Санкт-Петербургская электротехническая компания, 2004, 128 с.
5. Anuchin A., Bychkov M. The Modern Electric Drives – Using of Information Technologies and the Problems of Education. – 2017 IEEE 58th International Scientific Conference on Power and Electrical Engineering of Riga 397 Technical University (RTUCON), 2017, DOI: 10.1109/RTUCON.2017.8124802.
6. Matsuoka K. Development Trend of the Permanent Magnet Synchronous Motor for Railway Traction. – IEEJ Transactions on Electrical and Electronic Engineering, 2007, vol. 2, pp. 154–161, DOI: 10.1002/tee.20121.
7. Yang Y. et al. Comparison of Interior Permanent Magnet Motor Topologies for Traction Applications. – IEEE Transactions on Transportation Electrification, 2017, vol. 3 (1), pp. 86–97, DOI: 10.1109/TTE.2016.2614972.
8. Андриянов А.И. Расчет оптимальных параметров систем управления нелинейными динамическими процессами импульсных преобразователей напряжения. – Автоматизация и моделирование в проектировании и управлении, 2022, № 4, с. 87–96.
9. Омара А.М., Слепцов М.А. Прямое управление моментом в тяговом электроприводе с магнитоэлектрическим двигателем на основе пространственно-векторной модуляции. – Электричество, 2019, № 5, с. 47–57.
10. Li X. et al. Vector Control of PMSM Based on Improved Sliding Mode Observer and Controller. – Journal of Physics: Conference Series, 2023, DOI 10.1088/1742-6596/2479/1/012016.
11. Kamel H.M., Hasanien H.M., Ibrahim H.E.A. Speed Control of Permanent Magnet Synchronous Motor Using Fuzzy Logic Controller. – IEEE International Electric Machines and Drives Conference, 2009, pp. 1587–1591, DOI: 10.1109/IEMDC.2009.5075415.
12. Alzayed M., Chaoui H., Farajpour Y. Dynamic Direct Voltage MTPA Current Sensorless Drives for Interior PMSM-Based Electric Vehicles. – IEEE Transactions on Vehicular Technology, 2023, vol. 72, No. 3, pp. 3175–3185, DOI: 10.1109/TVT.2022.3219763.
13. Liu T. et al. A MTPA Control Strategy for Mono-Inverter Multi-PMSM System. – IEEE Transactions on Power Electronics, 2021, vol. 36, No. 6, pp. 7165–7177, DOI: 10.1109/TPEL.2020.3038797.
14. Inoue T. et al. Mathematical Model for MTPA Control of Permanent-Magnet Synchronous Motor in Stator Flux Linkage Synchronous Frame. – IEEE Transactions on Industry Applications, 2015, vol. 51, No. 5, pp. 3620–3628, DOI: 10.1109/TIA.2015.2417128.
15. Boldea I., Paicu M.C., Andreescu G.-D. Active Flux Concept for Motion-Sensorless Unified AC Drives. – IEEE Transactions on Power Electronics, 2008, vol. 23. No. 5, pp. 2612–2618. DOI: 10.1109/TPEL.2008.2002394.
16. Inkov Y.M. et al. Formation of a Task of the Stator Flux Linkage of a Synchronous Motor with Permanent Magnets in a Direct Torque-Control System. – Russian Electrical Engineering, 2023, vol. 94, No. 9, pp. 645–649, DOI: 10.3103/S1068371223090080.
17. Pugachev A. Efficiency Increasing of Induction Motor Scalar Control Systems. – International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 2017, DOI: 10.1109/ICIEAM.2017.8076317.
18. Shinohara A. et al. Correction of Reference Flux for MTPA Control in Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drives. – International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA), 2014, pp. 324–329, DOI: 10.1109/IPEC.2014.6869601.
19. Пугачев А.А., Чуприна Н.В. Система прямого управления моментом синхронного двигателя с постоянными магнитами с поиском минимума тока статора. – Известия высших учебных заведений. Электромеханика, 2024, № 1 (67), с. 46–55.
20. Chen X., Wang J., Griffo A. A High-Fidelity and Computationally Efficient Electrothermally Coupled Model for Interior Permanent-Magnet Machines in Electric Vehicle Traction Applica-tions. – IEEE Transactions on Transportation Electrification, 2015. vol. 1 (4), pp. 336–347, DOI: 10.1109/TTE.2015.2478257.
#
1. Sharma R.K. et al. Vector Control of a Permanent Magnet Synchronous Motor. – Annual IEEE India Conference, 2008, vol. 1, pp. 81–86, DOI: 10.1109/INDCON.2008.4768805.
2. Lashkevich M. et al. Control Strategy for Synchronous Homopolar Motor in Traction Applications. – 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017, pp. 6607–6611, DOI: 10.1109/IECON.2017.8217153.
3. Anuchin A.S. Sistemy upravleniya elektroprivodov (Electric Drive Control Systems). M.: Izd-vo MEI, 2015, 373 p.
4. Kozyaruk A.E., Rudakov V.V. Sovremennoe i perspektivnoe algoritmicheskoe obespechenie chastotnoreguliruemyh elektroprivodov (Modern and Perspective Algorithmic Support of Frequency Controlled Electric Drives). SPb.: Sankt-Peterburgskaya elektrotehnicheskaya kompaniya, 2004, 128 p.
5. Anuchin A., Bychkov M. The Modern Electric Drives – Using of Information Technologies and the Problems of Education. – 2017 IEEE 58th International Scientific Conference on Power and Electrical Engineering of Riga 397 Technical University (RTUCON), 2017, DOI: 10.1109/RTUCON.2017.8124802.
6. Matsuoka K. Development Trend of the Permanent Magnet Synchronous Motor for Railway Traction. – IEEJ Transactions on Electrical and Electronic Engineering, 2007, vol. 2, pp. 154–161, DOI: 10.1002/tee.20121.
7. Yang Y. et al. Comparison of Interior Permanent Magnet Motor Topologies for Traction Applications. – IEEE Transactions on Transportation Electrification, 2017, vol. 3 (1), pp. 86–97, DOI: 10.1109/TTE.2016.2614972.
8. Andriyanov A.I. Avtomatizatsiya i modelirovanie v proektiro-vanii i upravlenii – in Russ. (Automation and Modeling in Design and Management), 2022, No. 4, pp. 87–96.
9. Omara A.M., Sleptsov M.A. Elektrichestvo – in Russ. (Electricity), 2019, No. 5, pp. 47–57.
10. Li X. et al. Vector Control of PMSM Based on Improved Sliding Mode Observer and Controller. – Journal of Physics: Conference Series, 2023, DOI 10.1088/1742-6596/2479/1/012016.
11. Kamel H.M., Hasanien H.M., Ibrahim H.E.A. Speed Control of Permanent Magnet Synchronous Motor Using Fuzzy Logic Control-ler. – IEEE International Electric Machines and Drives Conference, 2009, pp. 1587–1591, DOI: 10.1109/IEMDC.2009.5075415.
12. Alzayed M., Chaoui H., Farajpour Y. Dynamic Direct Vol-tage MTPA Current Sensorless Drives for Interior PMSM-Based Electric Vehicles. – IEEE Transactions on Vehicular Technology, 2023, vol. 72, No. 3, pp. 3175–3185, DOI: 10.1109/TVT.2022.3219763.
13. Liu T. et al. A MTPA Control Strategy for Mono-Inverter Multi-PMSM System. – IEEE Transactions on Power Electronics, 2021, vol. 36, No. 6, pp. 7165–7177, DOI: 10.1109/TPEL.2020.3038797.
14. Inoue T. et al. Mathematical Model for MTPA Control of Permanent-Magnet Synchronous Motor in Stator Flux Linkage Synchronous Frame. – IEEE Transactions on Industry Applications, 2015, vol. 51, No. 5, pp. 3620–3628, DOI: 10.1109/TIA.2015.2417128.
15. Boldea I., Paicu M.C., Andreescu G.-D. Active Flux Concept for Motion-Sensorless Unified AC Drives. – IEEE Transactions on Power Electronics, 2008, vol. 23. No. 5, pp. 2612–2618. DOI: 10.1109/TPEL.2008.2002394.
16. Inkov Y.M. et al. Formation of a Task of the Stator Flux Linkage of a Synchronous Motor with Permanent Magnets in a Direct Torque-Control System. – Russian Electrical Engineering, 2023, vol. 94, No. 9, pp. 645–649, DOI: 10.3103/S1068371223090080.
17. Pugachev A. Efficiency Increasing of Induction Motor Scalar Control Systems. – International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), 2017, DOI: 10.1109/ICIEAM.2017.8076317.
18. Shinohara A. et al. Correction of Reference Flux for MTPA Control in Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drives. – International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA), 2014, pp. 324–329, DOI: 10.1109/IPEC.2014.6869601.
19. Pugachev A.A., Chuprina N.V. Izvestiya vysshih uchebnyh zavedeniy. Elektromehanika – in Russ. (News of Higher Educational Institutions. Electromechanics), 2024, No. 1 (67), pp. 46–55.
20. Chen X., Wang J., Griffo A. A High-Fidelity and Computationally Efficient Electrothermally Coupled Model for Interior Permanent-Magnet Machines in Electric Vehicle Traction Applicati-ons. – IEEE Transactions on Transportation Electrification, 2015. vol. 1 (4), pp. 336–347, DOI: 10.1109/TTE.2015.2478257
