【目的】针对有限集模型预测电流控制下电机的控制集数量较少和存在系统集总扰动的问题，提出一种基于抗扰预测模型的占空比控制集模型预测控制(ADCS-MPC)策略。【方法】首先，建立参数时变扰动和未建模扰动下的表贴式永磁同步电机(SPMSM)数学模型，通过设计电流扩张状态观测器观测未建模扰动和参数时变扰动来避免预测模型不准确引起的电流谐波，提高控制器鲁棒性。其次，在有限集模型预测控制的基础上，基于基本电压矢量设计离散占空比控制集优化方案，通过将6个有效基本电压矢量扩展为60个有效虚拟电压矢量，降低每个控制周期的预测偏差，利用最优电压矢量和次优电压矢量确定目标矢量所在扇区，通过设计扇区判断机制以及电压矢量定位策略来节省控制周期，并通过迭代方式输出低预测偏差的最优矢量，降低方法的计算量。【结果】最后，设计并搭建了基于TI公司32位浮点DSP TMSF28379D微处理器的SPMSM的驱动系统试验平台，借助该平台对本文所提算法进行试验验证。结果表明所提ADCS-MPC策略在降低电流谐波和抑制参数时变扰动等方面具有消除预测误差、实现电流无差控制的优势。【结论】本文所提ADCS-MPC策略降低了未建模扰动和参数时变扰动对系统的不利影响，以较小的计算成本提高了单个控制周期中的控制精度，显著降低了预测偏差，使得系统具有快速的响应能力和较高的控制精度。

[Objective] To address the issues of limited number of control sets and the presence of the system-wide disturbances in motors under finite set model predictive current control, a duty cycle control set model predictive control (ADCS-MPC) strategy based on an anti-disturbance prediction model is proposed. [Methods] Firstly, a mathematical model of the surface-mounted permanent magnet synchronous motor (SPMSM) under time-varying parameters and unmodeled disturbances was established. By designing a current extended state observer to observe unmodeled and time-varying parameter disturbances, the current harmonics caused by inaccurate prediction models were avoided and the robustness of the controller was improved. Secondly, based on finite set model predictive control, a discrete duty cycle control set optimization scheme was designed using the basic voltage vector. By expanding the 6 effective basic voltage vectors into 60 effective virtual voltage vectors, the prediction deviation in each control cycle was reduced. The optimal and suboptimal voltage vectors were used to determine the sector where the target vector was located. A sector judgment mechanism and voltage vector positioning strategy were designed to save control cycles, and the optimal vector with low prediction deviation was iteratively produced to reduce the computational complexity of the method. [Results] Finally, a driving system experimental platform for SPMSM based on TI’s 32-bit floating point DSP TMSF28379D microprocessor was designed and built, the algorithm proposed in this paper was experimentally verified using this platform. And it was verified that the proposed ADCS-MPC strategy is capable of eliminating prediction errors and enabling disturbance-free current control, particularly in suppressing time-varying parameter disturbances and reducing current harmonic. [Conclusion] The proposed ADCS-MPC strategy mitigates the adverse effects of unmodeled and time-varying parameter disturbances on the system, improves the control accuracy within a single control cycle with minimal computational cost, significantly reduces prediction error, and enables the system to achieve fast response and high control accuracy.

舟山市公益类科技计划项目支持(2023C31057)