张彪，潘红光，赵应华，王东亮,等.基于灰色预测模型和降阶Luenberger观测器的永磁同步电机双闭环预测控制方案设计与实现[J].河南理工大学学报(自然科学版)，doi:10.16186/j.cnki.1673-9787.2023020062.

ZHANG B,PAN H, ZHAO Y, WANG D,et al．Design and implementation of double closed loop predictive control system of PMSM based on grey prediction model and reduced order Luenberger observer［J］.Journal of Henan Polytechnic University( Natural Science) ，doi:10.16186/j.cnki.1673-9787.2023020062.

基于灰色预测模型和降阶Luenberger观测器的永磁同步电机双闭环预测控制方案设计与实现(网络首发)

张彪¹ ，潘红光²，赵应华¹，王东亮¹

（1.国能榆林能源有限责任公司 青龙寺煤矿分公司，陕西 榆林 719408；2.西安科技大学 电气与控制工程学院，陕西 西安 710054）

摘要: 目的 为进一步提高永磁同步电机(Permanent Magnet Synchronous Motor, PMSM)控制系统的动态响应和抗干扰性能，方法 本文提出基于灰色预测模型和降阶Luenberger观测器的双闭环预测控制方案。首先，在双闭环预测控制的基础上，为了利用历史电流数据更精确地预测PMSM的d、q轴参考电流，将灰色预测模型引入电流内环，提高了电流的动态响应性能。其次，在速度外环中设计降阶Luenberger观测器对负载转矩进行观测并作出补偿控制，减少系统动态响应时间和受到干扰后的恢复时间。最后，分别通过仿真与实验对所提方案进行验证。结果 电机采用传统的双闭环预测控制方案时，永磁同步电机空载启动的转速上升时间为0.3 s左右，对电机突加6 N·m  的负载转矩时，电机转速下降，最大转速波动为100r，转速恢复时间为0.4 s，之后平稳运行，A相电流THD值为27.59%；电机采用本文提出的方案时，永磁同步电机空载启动的转速上升时间为0.18s左右，对电机突加6 N·m的负载时，电机转速下降，最大转速波动为65r，转速恢复时间为0.2 s，之后平稳运行，A相电流THD值为19.35%。结论 结果表明，永磁同步电机采用本文所提的改进双闭环预测控制方案时，空载启动时间更短；突加负载时，受到的转速波动更小，转速恢复速度更快；电流扰动更小，具有更快的动态响应性能、更强的抗扰动能力和更好的电流控制性能。

关键词:永磁同步电机；双闭环预测控制；灰色预测模型；降阶Luenberger观测器

doi:10.16186/j.cnki.1673-9787.2023020062

基金项目: 国家自然科学基金(61603295)

收稿日期：2023-12-22

修回日期：2024-01-20

网络首发日期：2024-03-06

Design and implementation of double closed loop predictive control system of PMSM based on grey prediction model and reduced order Luenberger observer

ZHANG Biao¹, PAN Hongguang², ZHAO Yinghua¹, WANG Dongliang¹

(1. Branch of Qinglongsi Coal Mine, CHN Energy Yulin Energy Co., Ltd.，Yulin 719408， Shaanxi， China; 2. College of Electrical and Control Engineering, Xi 'an University of Science and Technology, Xi 'an 710054, Shaanxi, China)

Abstract: Objectives To further enhance the dynamic response and anti-interference performance of the permanent magnet synchronous motor (PMSM) control system, Methods a double closed-loop predictive control scheme based on grey prediction model and reduced-order Luenberger observer was proposed. Firstly, in order to predict the d、q axis reference current of PMSM more accurately through the historical current data, the grey prediction model was introduced into the current inner loop to improve the dynamic current response performance based on double closed-loop MPC system. Secondly, a reduced-order Luenberger observer was designed in the speed outer loop to observe the load torque and make compensation control, which reduced the dynamic response time and the recovery time after interference. Finally, the proposed strategy was verified by simulation and experiment respectively. Results When the motor adopted the MPC+DPC scheme, the speed rise time of the PMSM was about 0.3s when it started no-load; when the load torque of      was abruptly added to the motor, the motor speed dropped, the maximum speed fluctuation was 100r, the speed recovery time was 0.4s, and then the A-phase current THD value was 27.59%. When the motor adopted the scheme proposed in this paper, the no-load start of the PMSM speed rise time was about 0.18s, when the load of      was suddenly added to the motor, the motor speed dropped, the maximum speed fluctuation was 65r, the speed recovery time was 0.2s, after stable operation, the A-phase current THD value was 19.35%. Conclusions The results showed that the no-load start time of PMSM was shorter when the improved double closed-loop predictive control scheme was adopted in this paper. When the load was suddenly applied, the speed fluctuation was smaller and the speed recovery speed was faster. With less current disturbance, it had faster dynamic response performance, stronger anti-disturbance ability and better current control performance.

Key words: permanent magnet synchronous motor; double closed-loop predictive control； grey prediction model; reduced-order Luenberger observer