本文關(guān)鍵詞：基于有源前端變流器的多電機(jī)系統(tǒng)有限狀態(tài)模型預(yù)測(cè)控制　出處：《天津大學(xué)》2014年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 模型預(yù)測(cè)控制 有源前端變流器 多電機(jī)系統(tǒng) 簡(jiǎn)化算法 時(shí)間延遲 觀測(cè)器

【摘要】：采用有源前端（Active Front End，AFE）變流器和共直流母線技術(shù)的多電機(jī)系統(tǒng)在最近十幾年得到的飛速的發(fā)展，并將成為未來市場(chǎng)上的主流產(chǎn)品。在多電機(jī)系統(tǒng)中，網(wǎng)側(cè)與電機(jī)側(cè)的變流器具有不同的控制目標(biāo)和控制算法，這將增加系統(tǒng)設(shè)計(jì)的復(fù)雜度。而目前，有限狀態(tài)模型預(yù)測(cè)控制（Finite Control Set ModelPredictive Control，F(xiàn)CS-MPC）在AFE變流器以及電機(jī)驅(qū)動(dòng)器中均得到了廣泛的研究，此算法利用對(duì)象數(shù)學(xué)模型預(yù)測(cè)未來狀態(tài)，通過價(jià)值函數(shù)實(shí)現(xiàn)多變量優(yōu)化控制，在未來多電機(jī)控制領(lǐng)域有著廣闊的應(yīng)用前景。本文以基于AFE變流器的多電機(jī)系統(tǒng)為對(duì)象，，針對(duì)FCS-MPC算法進(jìn)行分析與研究，并提出相應(yīng)的控制策略。 針對(duì)多電機(jī)系統(tǒng)中FCS-MPC算法控制周期短而計(jì)算量大的問題，提出了一種算法的簡(jiǎn)化方法。采用等效變換的方法，將多次預(yù)測(cè)過程轉(zhuǎn)變?yōu)閱未翁摂M參考電壓矢量預(yù)測(cè)，進(jìn)而實(shí)現(xiàn)了預(yù)測(cè)過程的簡(jiǎn)化；同時(shí)，在價(jià)值函數(shù)尋優(yōu)過程中引入矢量分區(qū)法，通過對(duì)候選矢量的篩選，排除不合適的電壓矢量，減少尋優(yōu)過程的計(jì)算次數(shù)。該方法在保持原有控制性能的基礎(chǔ)上，可大幅減少算法的執(zhí)行時(shí)間，降低多電機(jī)系統(tǒng)對(duì)控制器計(jì)算性能的要求。 在AFE變流器中，算法延遲和信號(hào)濾波延遲對(duì)FCS-MPC電流控制性能有著負(fù)面影響，針對(duì)單周期算法延遲和非整數(shù)周期算法延遲，設(shè)計(jì)了對(duì)應(yīng)的延遲補(bǔ)償算法，提出了基于價(jià)值函數(shù)的非整數(shù)周期延遲補(bǔ)償策略；針對(duì)信號(hào)濾波所造成的時(shí)間延遲，引入狀態(tài)觀測(cè)器理論，結(jié)合AFE變流器以及信號(hào)濾波器的數(shù)學(xué)模型，提出了一種濾波延遲觀測(cè)器，實(shí)現(xiàn)信號(hào)濾波延遲的觀測(cè)與補(bǔ)償。該方法能夠在不改變硬件結(jié)構(gòu)的基礎(chǔ)上，提高多電機(jī)系統(tǒng)中FCS-MPC算法在AFE變流器上的控制效果。 針對(duì)FCS-MPC控制策略對(duì)多電機(jī)系統(tǒng)數(shù)學(xué)模型的依賴度較高的問題，結(jié)合擴(kuò)張狀態(tài)觀測(cè)器理論和自適應(yīng)濾波理論，提出了一種能夠?qū)Χ鄠�(gè)變量進(jìn)行實(shí)時(shí)觀測(cè)的混合并行觀測(cè)策略。將混合并行觀測(cè)器與FCS-MPC相結(jié)合，并對(duì)電流預(yù)測(cè)模型進(jìn)行重新構(gòu)造。在網(wǎng)側(cè)AFE變流器中，實(shí)現(xiàn)了電阻、電感參數(shù)不確定情況下的AFE變流器無電網(wǎng)電壓傳感器控制；在多電機(jī)側(cè)變流器中，實(shí)現(xiàn)了反電動(dòng)勢(shì)、定子電阻、定子電感的同步觀測(cè)下的多電機(jī)協(xié)同控制。所提的FCS-MPC改進(jìn)算法大幅降低了對(duì)多電機(jī)系統(tǒng)模型的依賴度，提高了FCS-MPC控制策略在參數(shù)不確定情況下的控制性能。
[Abstract]:The multi-motor system with active Front end converter and common DC bus technology has been developed rapidly in the last ten years. In the multi-motor system, the converters on the grid side and the motor side have different control objectives and control algorithms, which will increase the complexity of the system design. Finite Control Set ModelPredictive Control. FCS-MPC) has been widely studied in AFE converter and motor driver. This algorithm uses object mathematical model to predict future state and realizes multivariable optimal control by value function. This paper takes the multi-motor system based on AFE converter as the object, and analyzes and studies the FCS-MPC algorithm. The corresponding control strategy is put forward. In order to solve the problem of short control period and large computational cost of FCS-MPC algorithm in multi-motor system, a simplified algorithm is proposed. The method of equivalent transformation is adopted. The multiple prediction process is transformed into a single virtual reference voltage vector prediction, and the prediction process is simplified. At the same time, the vector partition method is introduced in the process of value function optimization, and the inappropriate voltage vector is excluded by the screening of candidate vectors. On the basis of maintaining the original control performance, this method can greatly reduce the execution time of the algorithm and reduce the requirement of the controller calculation performance for the multi-motor system. In AFE converter, algorithm delay and signal filter delay have a negative impact on FCS-MPC current control performance, for single-period algorithm delay and non-integer period algorithm delay. The corresponding delay compensation algorithm is designed and a non-integer period delay compensation strategy based on value function is proposed. According to the time delay caused by signal filtering, a filter delay observer is proposed by introducing the theory of state observer, combining with the mathematical model of AFE converter and signal filter. This method can improve the control effect of FCS-MPC algorithm on AFE converter without changing the hardware structure. Aiming at the problem that FCS-MPC control strategy is highly dependent on the mathematical model of multi-motor system, the extended state observer theory and adaptive filtering theory are combined. In this paper, a hybrid parallel observation strategy is proposed, which can observe multiple variables in real time. The hybrid parallel observer is combined with FCS-MPC. The current prediction model is reconstructed. In the grid-side AFE converter, the AFE converter with uncertain resistor and inductance parameters is realized without grid voltage sensor control. In the multi-motor side converter, the back EMF and stator resistance are realized. The proposed improved FCS-MPC algorithm greatly reduces the dependence on the multi-motor system model under synchronous observation of stator inductance. The control performance of FCS-MPC control strategy under uncertain parameters is improved.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM46

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