Research On Dual PMSM Speed Sensorless Model Predictive Synchronous Control

With the progress of science and technology and the improvement of production automation level,dual-motor cooperative control is widely used in the field of industrial production.However,the external disturbance and change of motor parameters will reduce the synchronization performance of dual-motor,affecting production efficiency and safety.Therefore,it is very meaningful to study the dual-motor synchronization system and improve its synchronization performance.The cross coupling synchronous control structure establishes the relationship between two motors,which has good synchronization performance and has been widely used.Finite control set model prediction current control(FCS-MPCC)can realize multi-objective control easily,the current and torque ripple is reduced,and the dynamic and steady-state performance of the system is improved.Therefore,the cross coupling control structure is adopted in this paper.Firstly,a unified prediction model of dual permanent magnet synchronous motor(PMSM)is established;Secondly,In order to further improve the synchronization performance and robustness of dual motor control system,the composite synchronous controller of PI+fractional order integral sliding mode controller(FOISMC)is designed;Finally,a sliding mode observer(SMO)based on phase locked loop(PLL)is designed to replace the speed sensor to accurately obtain the information of speed and rotor position angle,which improves the tracking accuracy of motor and the synchronization accuracy of double motors.The research contents of this thesis include:(1)Research on model predictive control algorithm.Taking the motor and inverter as a whole and the change rate of speed synchronization error as a state variable of the system,a dual PMSM unified prediction model is established,and the piecewise value function is constructed to more accurately adjust the speed tracking error and synchronization error.(2)The fractional order sliding mode control method is studied,and the PI + FOISMC composite synchronization controller is established.Among them,PI control makes the system maintain high steady-state accuracy and rapidity,and the strong robust performance of foismc enhances the anti disturbance ability of the system.(3)The speed sensorless control theory is studied,and a sliding mode observer based on PLL is designed.The sliding mode observer is improved by combining the switching function f(x)and the new exponential reaching law,and the compensation value is obtained through the terminal value theorem to compensate the PLL,reduce the estimation errors of rotor position and speed,and improve the performance of the dual motor control system.After simulation analysis,the synchronization performance and robustness of the dual PMSM Speed Sensorless model predictive synchronous control system designed in this thesis are improved.The observer is used instead of the sensor to improve the estimation accuracy of rotor position and speed,which makes the dual motor synchronous control system more reliable and obtain better control performance.