CN107222146A - The Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability - Google Patents
The Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability Download PDFInfo
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- CN107222146A CN107222146A CN201710635749.7A CN201710635749A CN107222146A CN 107222146 A CN107222146 A CN 107222146A CN 201710635749 A CN201710635749 A CN 201710635749A CN 107222146 A CN107222146 A CN 107222146A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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Abstract
The present invention proposes a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability, the double winding central point of double three-phase permanent-magnetic synchronous motor is linked together, and three times containing higher proportion and quintuple harmonics in winding counter electromotive force, build the direct control method of double electromagnetic torques, stator magnetic linkage in fundamental wave plane and quintuple harmonics plane simultaneously using six phase inverter output voltage vectors, strengthen the load capacity of motor using the electromagnetic torque in quintuple harmonics plane.Present invention decreases stator winding current peak value, two sets of three-phase windings central points are linked together, and load capacity during intensifying current machine winding failure is flowed through using remaining healthy phase winding.
Description
Technical field
The invention belongs to motor control technology field, and in particular to double three-phase permanent-magnetic synchronous motor high load capability it is direct
Method for controlling torque.
Background technology
Multiphase permanent magnet synchronous motor drive system has multifreedom controlling advantage, so its drive system operational reliability
Height, even if because of machine winding phase shortage or inverter bridge leg failure, the appearance of motor still can be realized by remaining control freedom degree
Wrong Shipment row.Due to using permanent magnet excitation, flowing into can be with all active component, so as to realize motor in the electric current of stator winding
Stator side High Power Factor is run.So, it is only that multiphase permanent magnet synchronous motor requires that occasion has in high reliability, High Power Factor
Special application advantage.
Wherein double three-phase permanent-magnetic synchronous motor (double three-phase PMSM) is typical polyphase machine.The motor have two sets of three-phases around
120 degree of electrical angles of three-phase mutual deviation in group, each three-phase windings, two sets of three-phase windings offset 30 degree of electrical angles, two sets of three-phases around
Group respectively has a central point.In Traditional control strategy, the central point of two sets of three-phase windings is not attached to together, using two completely
Identical frequency converter is independently-powered to two sets of three-phase windings.When wherein a set of winding or correspondence frequency converter failure, correspondence three
Phase winding is stopped completely, and remaining trouble-free three-phase windings independently undertake the function of driving load.But this double winding
The unconnected driving method of central point is the disadvantage is that, faulty three-phase system may wherein have one mutually or two-phase still can be with work
Make, if flowing through electric current still can export electromagnetic torque, driving load；If but do not work, it is clear that whole drive system output turns
Square ability is reduced.
Moreover, traditional double three-phase permanent-magnetic synchronous motor does not have magnetic circuit salient pole phenomenon, motor electromagnetic torque is only by stator
Electric current is produced with permanent magnet magnetic field interactions, and motor load ability decreases.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of double three-phase permanent-magnetic synchronous motor high load capability
Direct Torque Control, it is therefore an objective to improve the direct torque ability of double three-phase permanent-magnetic Synchromous machine drive system.The present invention
In double three-phase double winding central points link together, and three times and five times in winding counter electromotive force containing higher proportion are humorous
Ripple, builds double electromagnetic torques using six phase inverter output voltage vectors in fundamental wave plane and quintuple harmonics plane, determines simultaneously
The direct control method of sub- magnetic linkage, strengthens the load capacity of motor using the electromagnetic torque in five secondary flats.
To achieve the above object, the technical scheme is that：A kind of double three-phase permanent-magnetic synchronous motor high load capability
Direct Torque Control, comprises the following steps：
Step S1：If motor has three in two three-phase windings, respectively ACE windings and BDF windings, each three-phase windings
120 degree of electrical angles of phase mutual deviation, two sets of three-phase windings offset 30 degree electrical angles, two sets of three-phase windings respectively have a central point O point with
O ' points, by the central point O-O ' connections of two windings, using orthogonal transform matrix T6 by six phase input current i of motorsA~isF
It is converted into α1β1-α5β5-α3β3In rest frame, fundamental current i is obtainedα1And iβ1, quintuple harmonics electric current iα5And iβ5, three times it is humorous
Ripple electric current iα3And iβ3, α1β1、α5β5And α3β3Respectively fundamental wave, quintuple harmonics and triple-frequency harmonics rest frame；
Step S2：Triple harmonic current i is solved according to step S1α3, it is compared with given zero current, after feeding comparator
Output variable i；
Step S3：Calculate fundamental wave flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5；
Step S4：According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1, calculate vector ψs1Argument ∠ θ ψs1, judge vector institute
Locate α1β1Plane sector number θsi；According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5, calculate vector ψs5Argument ∠ θ ψs2,
Judge α residing for vector5β5Plane sector number θxi；
Step S5：According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1And stator magnetic linkage amplitude set-pointThrough the first magnetic linkage
Hysteresis comparator, the variable of output control fundamental wave flat stator magnetic linkage amplitude
According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5And stator magnetic linkage amplitude set-pointThrough the stagnant ring of the second magnetic linkage
Comparator, the variable of output control quintuple harmonics flat stator magnetic linkage amplitude
Step S6：Calculate fundamental wave plane electromagnetic torque Te1With quintuple harmonics plane electromagnetic torque Te5；
Step S7：By fundamental wave plane electromagnetic torque Te1And its set-pointThe first torque hysteresis comparator is inputted, is exported
Control fundamental wave plane electromagnetic torque variable τ1,
By quintuple harmonics plane electromagnetic torque Te5And its set-pointInput the second torque hysteresis comparator, output control
Quintuple harmonics plane electromagnetic torque variable τ2；
Step S8：Optimized switching vector table is built, by variable i, τ1、τ2、θsi、θxiInput optimized switching vector
Table, obtains one group of six phase inverter bridge optimized switching combination, double three-phase permanent-magnetic synchronous machine drives is acted on by six phase inverters
System, realizes the control targe for suppressing that triple harmonic current, stator flux of motor amplitude error and electromagnetic torque error are 0.
Further, the step S3 fundamental waves flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5
Computational methods are as follows：
Wherein, Lsm1=0.5 (Ldm1+Lqm1), Lrs1=0.5 (Ldm1-Lqm1), Ldm1And Lqm1The respectively d-axis inductance and quadrature axis of double three-phase permanent-magnetic synchronous motor phase winding main magnetic circuit
Inductance, Lsσ1For double three-phase permanent-magnetic synchronous motor phase winding leakage inductance, θrFor double three-phase permanent-magnetic synchronous motor rotor position angle, ψf1、
ψf5The respectively rotor flux fundamental wave and quintuple harmonics peak value of double three-phase permanent-magnetic synchronous motor.
Further, the step S3 fundamental waves flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5
Another computational methods are as follows：
Using orthogonal transform matrix by six phase input voltage u of motorSA~uSFIt is converted into α1β1-α5β5-α3β3Static coordinate
In system,
According to α1β1、α5β5Voltage balance equation in coordinate system,
Obtain
Wherein, usα1And usβ1For fundamental wave stator voltage, usα5And usβ5For quintuple harmonics stator voltage, RsFor motor phase windings
Resistance.
Further, the specific steps of the step S4 include：
If Sa~Sf is the corresponding on off state of the every phase bridge arm of six phase inverters, its value is the upper bridge arm conducting of 1 representative, lower bridge
Arm is turned off, and its value is the lower bridge arm conducting of 0 representative, upper bridge arm shut-off；Then
usA~usFFor double three-phase windings inversion bridge voltages, UDCFor six phase inverter DC bus-bar voltages, uNoFor machine winding
Voltage between neutral point and ground,
Double three-phase windings are met：
usA+usB+usC+usD+usE+usF=0 (10)
Obtain:
Fundamental wave stator voltage u is obtained using orthogonal transform matrix T6 premultiplications formula (9), then by formula (11) calculatingsα1And usβ1, five
Subharmonic stator voltage usα5And usβ5, triple-frequency harmonics stator voltage usα3And usβ3,
According to formula (12), different switch combination Sa~Sf are taken to obtain α1β1Plane, α5β5Plane, α3β3The switch of plane
Vector；By α1β1Plane and α5β5The neighboring voltage vector of plane is border, is respectively divided into 24 sectors, θ is used respectivelysi、θxiTable
Show, i=1,2 ..., 24, the angle that each sector is included is 15 °；
According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1, calculate vector ψs1Argument ∠ θ ψs1, judge α residing for vector1β1It is flat
Face sector number θsi；According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5, calculate vector ψs5Argument ∠ θ ψs2, judge vector
Residing α5β5Plane sector number θxi。
Further, the first and second flux linkage hysteresis comparator device output variables are as follows in the step S5：
Further, fundamental wave plane electromagnetic torque Te1 and quintuple harmonics plane electromagnetic torque T in the step S6e5Meter
Calculation method is as follows：
Te1=p (ψsα1iβ1-ψsβ1iα1) (15)
Te5=p (ψsα5iβ5-ψsβ5iα5) (16)
Wherein, p is double three-phase permanent-magnetic synchronous motor magnetic pole logarithm.
Further, the first and second torque hysteresis comparator output variables are as follows in the step S7：
Wherein, ε1For the stagnant ring ring width of motor fundamental wave torque, ε2For the stagnant ring ring width of motor quintuple harmonics torque, ε1And ε2Value
Needed to set according to real electrical machinery direct torque error.
Further, in the step S8, electromagnetic torque set-pointWithIt is by double three-phase permanent-magnetic synchronous motor electromagnetism
Torque referenceBy harmonic injection pro rate.
Further, the construction method of optimized switching vector table is as follows in the step S8：
Step S81：Different switch combinations according to six phase inverters per phase bridge arm obtain α1β1Plane, α5β5Plane, α3β3
The switching vector selector of plane, α3β3The voltage vector of plane is in straight line, according to harmonic current in α3The size of axial projection is selected
Take α3β3The voltage vector of plane, chooses opposite polarity voltage vector；
Step S82：Chosen according to step S81 after voltage vector, in α1β1Corresponding voltage vector is found out in plane, according to
Sector where fundamental wave magnetic linkage, analyzes α1β1Various switch combination effects cause stator magnetic linkage and electricity in corresponding voltage vector in plane
The control effect of magnetic torque, that is, increase or reduce, and voltage vector is divided into four groups according to action effect；
Step S83：Assuming that quintuple harmonics flat stator magnetic linkage takes one group of electricity of gained in step S82 in the first sector successively
Vector is pressed, then analyzes effect of each voltage vector to quintuple harmonics flat stator magnetic linkage and quintuple harmonics plane electromagnetic torque and is imitated
Really, that is, increase or reduce, and four optimal switching vector selector tables are chosen according to action effect in every group of voltage vector；
Step S84：Assuming that quintuple harmonics flat stator magnetic linkage second, third, the 4th the 24th
Sector, repeat step S83 chooses；
Step S85：Assuming that fundamental wave flat stator magnetic linkage second, third, the 4th the 24th sector,
Repeat step S83 chooses；
Step S86：The switching vector selector chosen more than, lists optimized switching vector table.
Compared with prior art, the invention has the advantages that：
(1) using six phase inverters is built in fundamental wave and quintuple harmonics plane pair electromagnetic torques, stator magnetic linkage it is direct
Control, so as to strengthen motor load ability by quintuple harmonics planar torque, reduces stator winding current peak value；
(2) two sets of three-phase windings central points link together, using remaining healthy phase winding flow through intensifying current motor around
Load capacity during group failure；
(3) because motor has salient pole phenomenon, reluctance torque can be produced, so as to further enhance motor load ability.
Brief description of the drawings
Fig. 1 is double three-phase permanent-magnetic synchronous motor Direct Torque Control structure chart of the present invention；
Fig. 2 is drive system hardware configuration of the embodiment of the present invention；
Fig. 3 is double three-phase permanent-magnetic synchronous motor winding connection of the embodiment of the present invention；
Fig. 4 is α of the embodiment of the present invention1β1The switching vector selector figure of plane；
Fig. 5 is α of the embodiment of the present invention5β5The switching vector selector figure of plane；
Fig. 6 is α of the embodiment of the present invention3β3The switching vector selector figure of plane.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability, including it is as follows
Step：Step S1：If motor has the three-phase in two three-phase windings, respectively ACE windings and BDF windings, each three-phase windings
120 degree of electrical angles of mutual deviation, two sets of three-phase windings offset 30 degree of electrical angles, and two sets of three-phase windings respectively have a central point O point and O '
Point, by the central point O-O ' connections of two windings, using orthogonal transform matrix T6 by six phase input current i of motorsA~isFBecome
Shift to α1β1-α5β5-α3β3In rest frame, fundamental current i is obtainedα1And iβ1, quintuple harmonics electric current iα5And iβ5, triple-frequency harmonics
Electric current iα3And iβ3, α1β1、α5β5And α3β3Respectively fundamental wave, quintuple harmonics and triple-frequency harmonics rest frame；
Two sets of three-phase windings central points link together, and having five frees degree can control, in fundamental wave and quintuple harmonics
Plane is to electromagnetic torque, stator magnetic linkage double-closed-loop control, occupies four frees degree, and α3β3Plane can not produce rotary magnetic and move
Gesture, is not involved in energy converting between mechanical, so being zero by three secondary flat current controls.
Step S2：Triple harmonic current i is solved according to step S1α3, it is compared with given zero current, after feeding comparator
Output variable i.
Step S3：Calculate fundamental wave flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5；
In the present embodiment, i is utilizedα1iβ1、iα5iβ5Double three-phase machine rotor flux ψ f1、ψf5And motor rotor position angle θr
Calculate stator magnetic linkage ψsα1ψsβ1、ψsα5ψsβ5：
Wherein, Lsm1=0.5 (Ldm1+Lqm1), Lrs1=0.5 (Ldm1-Lqm1), Ldm1And Lqm1The respectively d-axis inductance of double three-phase permanent-magnetic synchronous motor phase winding main magnetic circuit and friendship
Axle inductance, Lsσ1For double three-phase permanent-magnetic synchronous motor phase winding leakage inductance, these inductance values can be obtained from six-phase motor nameplate
Arrive；θrFor double three-phase permanent-magnetic synchronous motor rotor position angle, ψf1、ψf5The respectively rotor flux base of double three-phase permanent-magnetic synchronous motor
Ripple and quintuple harmonics peak value.
Fundamental wave flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5Another computational methods
It is to be calculated using the voltage model of stator magnetic linkage, method is as follows：
Using orthogonal transform matrix by six phase input voltage u of motorSA~uSFIt is converted into α1β1-α5β5-α3β3Static coordinate
In system,
According to α1β1、α5β5Voltage balance equation in coordinate system,
Obtain
Wherein, usα1And usβ1For fundamental wave stator voltage, usα5And usβ5For quintuple harmonics stator voltage, RsFor motor phase windings
Resistance.
Step S4：If Sa~Sf is the corresponding on off state of the every phase bridge arm of six phase inverters, its value is that the upper bridge arm of 1 representative is led
Logical, lower bridge arm shut-off, its value is the lower bridge arm conducting of 0 representative, upper bridge arm shut-off；Then
usA~usFFor double three-phase windings inversion bridge voltages, UDCFor six phase inverter DC bus-bar voltages, uNoFor machine winding
Voltage between neutral point and ground,
Double three-phase windings are met：
usA+usB+usC+usD+usE+usF=0 (10)
Obtain:
Fundamental wave stator voltage u is obtained using orthogonal transform matrix T6 premultiplications formula (9), then by formula (11) calculatingsα1And usβ1, five
Subharmonic stator voltage usα5And usβ5, triple-frequency harmonics stator voltage usα3And usβ3,
According to formula (12), different switch combination Sa~Sf are taken to obtain α1β1Plane, α5β5Plane, α3β3The switch of plane
Vector；By α1β1Plane and α5β5The neighboring voltage vector of plane is border, is respectively divided into 24 sectors, θ is used respectivelysi、θxiTable
Show, i=1,2 ..., 24, the angle that each sector is included is 15 °；
According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1, calculate vector ψs1Argument ∠ θψs1, judge α residing for vector1β1It is flat
Face sector number θsi；According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5, calculate vector ψs5Argument ∠ θψs2, judge vector
Residing α5β5Plane sector number θxi。
Step S5：According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1And stator magnetic linkage amplitude set-pointThrough the first magnetic linkage
Hysteresis comparator, the variable of output control fundamental wave flat stator magnetic linkage amplitude
According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5And stator magnetic linkage amplitude set-pointThrough the stagnant ring of the second magnetic linkage
Comparator, the variable of output control quintuple harmonics flat stator magnetic linkage amplitude
Step S6：Calculate fundamental wave plane electromagnetic torque Te1With quintuple harmonics plane electromagnetic torque Te5；
Te1=p (ψsα1iβ1-ψsβ1iα1) (15)
Te5=p (ψsα5iβ5-ψsβ5iα5) (16) wherein, p be double three-phase permanent-magnetic synchronous motor magnetic pole logarithm, can be from electricity
Obtained on machine nameplate.
Step S7：By fundamental wave plane electromagnetic torque Te1And its set-pointThe first torque hysteresis comparator is inputted, is exported
Control fundamental wave plane electromagnetic torque variable τ1；
By quintuple harmonics plane electromagnetic torque Te5And its set-pointInput the second torque hysteresis comparator, output control
Quintuple harmonics plane electromagnetic torque variable τ2；
Wherein, ε1For the stagnant ring ring width of motor fundamental wave torque, ε2For the stagnant ring ring width of motor quintuple harmonics torque, ε1And ε2Value
Needed to set according to real electrical machinery direct torque error.
Electromagnetic torque set-pointWithIt is to be given by double three-phase permanent-magnetic synchronous motor electromagnetic torqueBy harmonic injection ratio
Example distribution, depending on specific motor control variable, if control is electromagnetic torqueThen system directly gives the value；If control
System is motor speed, then by spinner velocity sensor picking rate signal, through electric motor speed controller (such as PI controllers)
Output torque gives respectivelyIf control is rotor position angle, motor position controller output is torque reference
Step S8：Optimized switching vector table is built, by variable i, τ1、τ2、θsi、θxiInput optimized switching vector
Table, obtains one group of six phase inverter bridge optimized switching combination, double three-phase permanent-magnetic synchronous machine drives is acted on by six phase inverters
System, realizes the control targe for suppressing that triple harmonic current, stator flux of motor amplitude error and electromagnetic torque error are 0.
As shown in Fig. 2 drive system hardware configuration of the embodiment of the present invention includes：Rectification circuit, filter capacitor, six phase inversions
Device, double Three-phase asymmetrical winding permagnetic synchronous motors, six phase winding current collection circuits, motor rotor position angle Acquisition Circuit,
Isolation drive, central controller, man-machine interface etc., it would however also be possible to employ suitable dc source provides six phase inverter dc bus
Voltage.Power tube uses IGBT or MOFET in inverter, and central controller uses DSP or single-chip microcomputer.Winding current Acquisition Circuit
Mode is combined using Hall current sensor with operational amplifier to constitute, it would however also be possible to employ winding string power resistor is followed by difference
Operational amplifier is combined mode and constituted.Control loop and the electrical isolation of major loop can effectively be realized using Hall scheme,
Drive system cost can be reduced using winding string power resistor scheme.Rotor position angle Acquisition Circuit can use rotary coding
Device is followed by level shifting circuit composition, it would however also be possible to employ rotary transformer is followed by decoding circuit composition, and wherein the former cost is relatively low,
But position angle sampling precision is limited by encoder line number, and the latter's cost is higher, but position angle sampling precision is higher.Winding current
Acquisition Circuit and the weak voltage signal of rotor position angle Acquisition Circuit are sent to central controller A/D modular converters.According to the letter of acquirement
Number and the Strategy of Direct Torque Control of high load capability of the present invention calculate the control signal that should be sent, gone via isolation drive
Control the switch motion of the power switch pipe in inverter.
Double three-phase permanent-magnetic synchronous motor winding connection of the embodiment of the present invention as shown in figure 3, ABCDEF be double three-phases forever
Six phase windings of magnetic-synchro motor, the motor has ACE windings and BDF windings in two sets of three-phase windings, as Fig. 3；Each
120 degree of electrical angles of three-phase mutual deviation in three-phase windings, two sets of three-phase windings offset 30 degree of electrical angles, and two sets of three-phase windings respectively have one
Individual central point O points and O ' points, by the central point O-O ' connections of two windings.
According to formula (12), different switch combination S are takena~SfObtain α1β1Plane, α5β5Plane, α3β3The switch of plane
Polar plot is as shown in Fig. 4, Fig. 5, Fig. 6.
In the present embodiment, it is necessary in α1β1Plane, α5β5Plane chooses vector and controls electromagnetic torque and stator magnet simultaneously
Chain.Voltage vector space choose optimized switching vector table, realize fundamental wave torque, magnetic linkage and quintuple harmonics torque, magnetic linkage it is same
When control.Turn because triple-frequency harmonics plane is not involved in electromechanical energy, and α3β3The voltage vector of plane be in straight line, it is necessary to
Triple harmonic current is suppressed to zero, realizes that triple harmonic current control is zero, while controlling the control method of three dimensions
Realize that fundamental wave torque, magnetic linkage and quintuple harmonics torque, the control of magnetic linkage and triple harmonic current are suppressed to zero control method.α3
β3The voltage vector of plane is in straight line, can be according to harmonic current in α3The size of axial projection chooses α3β3Plane
Voltage vector.α is chosen again1β1Plane (or α5β5Plane) vector control fundamental wave torque, magnetic linkage.In α1β1Plane (or α5β5It is flat
Face) control fundamental wave torque, on the basis of the vector of magnetic linkage, then in α5β5Plane (or α1β1Plane) vector is chosen while controlling electricity
Magnetic torque and stator magnetic linkage.
The optimized switching vector table method of the present embodiment is as follows：
(1) by α in Fig. 41β1α in plane, Fig. 55β5The voltage vector of plane is respectively divided into 24 sectors, and θ is used respectivelysi、
θxiRepresent, i=1,2,3 ... 24, the angle that each sector is included is 15 °；
(2) α in Fig. 63β3The voltage vector of plane is in straight line, can be according to harmonic current in α3Axial projection it is big
It is small to choose α3β3The voltage vector of plane.iα3During more than or equal to zero, opposite polarity voltage vector, such as Fig. 6 dotted lines circle are chosen
The vector risen.Conversely, the vector for selecting solid line to enclose；
(3) i is assumedα3More than or equal to zero (iα3Less than zero), have chosen the vector (arrow for selecting solid line to enclose that Fig. 6 dotted lines are enclosed
Amount), and in α1β1Corresponding voltage vector is found out in plane as shown in figure 4, again assuming that fundamental wave magnetic linkage in the first sector θs1, analysis
Various switch combination effects cause the control effect of stator magnetic linkage and electromagnetic torque in Fig. 4, that is, increase or reduce, and according to work
Voltage vector is divided into four groups with effect；
(4) assume five magnetic linkages in the first sector θs1Take successively one group of voltage vector of gained in (3), i.e. torque increase with
The increased one group of voltage vector of magnetic linkage as shown in figure 5, analyze each voltage vector to five magnetic linkages and the effect of five torques again
Effect, that is, increase or reduce, and four optimal switching vector selector tables are chosen according to action effect in every group of voltage vector；
(5) again assume five magnetic linkages second, third, the 4th the 24th sector, repeat step
(4) choose；
(6) assume again fundamental wave magnetic linkage second, the three, the 4th the 24th sectors, repeat step
(3) choose；
(7) switching vector selector chosen more than, lists optimized switching vector table as shown in table 1.
Table 1
Table 1 is the vector table that fundamental wave plane magnetic linkage is respectively at the first sector with quintuple harmonics plane magnetic linkage, τ1=1 represents
Fundamental wave torque increases, τ1=-1 represents fundamental wave torque reduction；τ2=1 represents quintuple harmonics torque increase, τ2=-1 represent five times it is humorous
Ripple torque reduces.Ф1=1 represents the magnetic linkage increase of fundamental wave plane, Ф1=0 magnetic linkage for representing fundamental wave plane reduces；Ф2=1 generation
Table quintuple harmonics plane magnetic linkage increases, Ф2=0 represents the reduction of quintuple harmonics plane magnetic linkage.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and techniques content of the disclosure above to this hair
Bright technical scheme makes possible variation and modification, therefore, every content without departing from technical solution of the present invention, according to the present invention
Technical spirit to any simple modifications, equivalents, and modifications made for any of the above embodiments, belong to technical solution of the present invention
Protection domain.It the foregoing is only presently preferred embodiments of the present invention, all impartial changes done according to scope of the present invention patent
Change and modify, should all belong to the covering scope of the present invention.
Claims (9)
1. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability, it is characterised in that including as follows
Step：Step S1：If motor has the three-phase in two three-phase windings, respectively ACE windings and BDF windings, each three-phase windings
120 degree of electrical angles of mutual deviation, two sets of three-phase windings offset 30 degree of electrical angles, and two sets of three-phase windings respectively have a central point O point and O '
Point, by the central point O-O ' connections of two windings, using orthogonal transform matrix T6 by six phase input current i of motorsA~isFBecome
Shift to α1β1-α5β5-α3β3In rest frame, fundamental current i is obtainedα1And iβ1, quintuple harmonics electric current iα5And iβ5, triple-frequency harmonics
Electric current iα3And iβ3, α1β1、α5β5And α3β3Respectively fundamental wave, quintuple harmonics and triple-frequency harmonics rest frame；
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<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&beta;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>3</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&beta;</mi>
<mn>3</mn>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfrac>
<mn>1</mn>
<msqrt>
<mn>3</mn>
</msqrt>
</mfrac>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
<mtd>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mfrac>
<msqrt>
<mn>3</mn>
</msqrt>
<mn>2</mn>
</mfrac>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>A</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>B</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>C</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>D</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>E</mi>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>s</mi>
<mi>F</mi>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Step S2：Triple harmonic current i is solved according to step S1α3, it is compared, is exported after feeding comparator with given zero current
Variable i；
Step S3：Calculate fundamental wave flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5；
Step S4：According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1, calculate vector ψs1ArgumentJudge α residing for vector1β1
Plane sector number θsi；According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5, calculate vector ψs5ArgumentJudge arrow
The residing α of amount5β5Plane sector number θxi；
Step S5：According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1And stator magnetic linkage amplitude set-pointThrough the stagnant ring ratio of the first magnetic linkage
Compared with device, the variable of output control fundamental wave flat stator magnetic linkage amplitude
According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5And stator magnetic linkage amplitude set-pointThrough the second flux linkage hysteresis comparator
Device, the variable of output control quintuple harmonics flat stator magnetic linkage amplitude
Step S6：Calculate fundamental wave plane electromagnetic torque Te1With quintuple harmonics plane electromagnetic torque Te5；
Step S7：By fundamental wave plane electromagnetic torque Te1And its set-pointInput the first torque hysteresis comparator, output control base
Popin face electromagnetic torque variable τ1,
By quintuple harmonics plane electromagnetic torque Te5And its set-pointInput the second torque hysteresis comparator, output control five times
Harmonic wave plane electromagnetic torque variable τ2；
Step S8：Optimized switching vector table is built, by variable i, τ1、τ2、θsi、θxiOptimized switching vector table is inputted, is obtained
To one group of six phase inverter bridge optimized switching combination, double three-phase permanent-magnetic Synchromous machine drive system is acted on by six phase inverters,
Realize the control targe for suppressing that triple harmonic current, stator flux of motor amplitude error and electromagnetic torque error are 0.
2. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the step S3 fundamental waves flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5Calculating side
Method is as follows：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>s</mi>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>s</mi>
<mi>&beta;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>&sigma;</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>m</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mn>2</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mn>2</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mn>2</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>&sigma;</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>m</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mn>2</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>&sigma;</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>m</mi>
<mn>5</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mn>10</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mn>10</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mn>10</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
<mtd>
<mrow>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>&sigma;</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>+</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>s</mi>
<mi>m</mi>
<mn>5</mn>
</mrow>
</msub>
<mo>-</mo>
<mn>3</mn>
<msub>
<mi>L</mi>
<mrow>
<mi>r</mi>
<mi>s</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mn>10</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>i</mi>
<mrow>
<mi>&beta;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<msqrt>
<mn>3</mn>
</msqrt>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>f</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>f</mi>
<mn>1</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>f</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mn>5</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>f</mi>
<mn>5</mn>
</mrow>
</msub>
<mi>sin</mi>
<mrow>
<mo>(</mo>
<mn>5</mn>
<msub>
<mi>&theta;</mi>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, Lsm1=0.5 (Ldm1+Lqm1), Lrs1=0.5 (Ldm1-Lqm1), Ldm1And Lqm1The respectively d-axis inductance and quadrature axis of double three-phase permanent-magnetic synchronous motor phase winding main magnetic circuit
Inductance, Lsσ1For double three-phase permanent-magnetic synchronous motor phase winding leakage inductance, θrFor double three-phase permanent-magnetic synchronous motor rotor position angle, ψf1、
ψf5The respectively rotor flux fundamental wave and quintuple harmonics peak value of double three-phase permanent-magnetic synchronous motor.
3. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the step S3 fundamental waves flat stator magnetic linkage ψsα1ψsβ1With quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5It is another
Computational methods are as follows：
Using orthogonal transform matrix by six phase input voltage u of motorSA~uSFIt is converted into α1β1-α5β5-α3β3In rest frame,
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<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&beta;</mi>
<mn>5</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>3</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&beta;</mi>
<mn>3</mn>
</mrow>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
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<mtd>
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<mn>2</mn>
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</mtd>
<mtd>
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<mn>1</mn>
<mn>2</mn>
</mfrac>
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<mtd>
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<mn>1</mn>
<mn>2</mn>
</mfrac>
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</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
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<mtd>
<mn>0</mn>
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<mn>2</mn>
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<mn>1</mn>
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</mtd>
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<mn>2</mn>
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<mn>2</mn>
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</mtd>
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<mn>1</mn>
<mn>2</mn>
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</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
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<mn>1</mn>
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<mn>2</mn>
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<mn>1</mn>
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<mn>2</mn>
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</mtd>
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<mtd>
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</mtd>
<mtd>
<mn>0</mn>
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<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
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<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
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<mi>A</mi>
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<mi>i</mi>
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<mi>s</mi>
<mi>B</mi>
</mrow>
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</mtd>
</mtr>
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<mtd>
<msub>
<mi>i</mi>
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<mi>s</mi>
<mi>C</mi>
</mrow>
</msub>
</mtd>
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<mi>i</mi>
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<mi>s</mi>
<mi>D</mi>
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<mi>i</mi>
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<mi>E</mi>
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<mi>i</mi>
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<mi>s</mi>
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</mfenced>
<mo>-</mo>
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<mo>(</mo>
<mn>4</mn>
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</mrow>
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According to α1β1、α5β5Voltage balance equation in coordinate system,
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<mi>u</mi>
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<mn>1</mn>
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<mtd>
<msub>
<mi>u</mi>
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<mi>s</mi>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
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</mtr>
</mtable>
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<mfenced open = "[" close = "]">
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<mtr>
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<mi>R</mi>
<mi>s</mi>
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<mi>i</mi>
<mrow>
<mi>&alpha;</mi>
<mn>1</mn>
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<mi>R</mi>
<mi>s</mi>
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<mi>&beta;</mi>
<mn>1</mn>
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</mtd>
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</mtable>
</mfenced>
<mo>+</mo>
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<mi>d</mi>
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<mi>t</mi>
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<msub>
<mi>&psi;</mi>
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<mi>s</mi>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
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</mtr>
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<mtd>
<msub>
<mi>&psi;</mi>
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<mi>s</mi>
<mi>&beta;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
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</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
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<mi>u</mi>
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<mi>s</mi>
<mi>&alpha;</mi>
<mn>5</mn>
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</msub>
</mtd>
</mtr>
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<mtd>
<msub>
<mi>u</mi>
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<mi>s</mi>
<mi>&beta;</mi>
<mn>5</mn>
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</msub>
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<mi>R</mi>
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<mn>5</mn>
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<mi>R</mi>
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<mi>&beta;</mi>
<mn>5</mn>
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</mfenced>
<mo>+</mo>
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<mi>d</mi>
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<mi>d</mi>
<mi>t</mi>
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<mn>5</mn>
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<mi>s</mi>
<mi>&beta;</mi>
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</mtd>
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</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
Obtain
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<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&psi;</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mo>&Integral;</mo>
<mrow>
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<msub>
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<mi>s</mi>
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<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
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<mi>R</mi>
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<mi>s</mi>
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<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mo>&Integral;</mo>
<mrow>
<mo>(</mo>
<msub>
<mi>u</mi>
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<mi>s</mi>
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<mn>1</mn>
</mrow>
</msub>
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<mi>R</mi>
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</mrow>
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</mfenced>
<mo>-</mo>
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</mrow>
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<mi>s</mi>
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<mn>5</mn>
</mrow>
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<mo>&Integral;</mo>
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<mi>s</mi>
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</mrow>
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</mrow>
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<mrow>
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<msub>
<mi>u</mi>
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</mrow>
</msub>
<mo>-</mo>
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</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, usα1And usβ1For fundamental wave stator voltage, usα5And usβ5For quintuple harmonics stator voltage, RsFor motor phase windings resistance.
4. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the specific steps of the step S4 include：
If Sa~Sf is the corresponding on off state of the every phase bridge arm of six phase inverters, its value is the upper bridge arm conducting of 1 representative, lower bridge arm pass
Disconnected, its value is the lower bridge arm conducting of 0 representative, upper bridge arm shut-off；Then
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<mi>u</mi>
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<mi>u</mi>
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</mtable>
</mfenced>
<mo>=</mo>
<msub>
<mi>U</mi>
<mrow>
<mi>D</mi>
<mi>C</mi>
</mrow>
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<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>S</mi>
<mi>a</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>S</mi>
<mi>b</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>S</mi>
<mi>c</mi>
</msub>
</mtd>
</mtr>
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<mi>S</mi>
<mi>d</mi>
</msub>
</mtd>
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<mtr>
<mtd>
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<mi>S</mi>
<mi>e</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>S</mi>
<mi>f</mi>
</msub>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>+</mo>
<msub>
<mi>u</mi>
<mrow>
<mi>N</mi>
<mi>o</mi>
</mrow>
</msub>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>9</mn>
<mo>)</mo>
</mrow>
</mrow>
usA~usFFor double three-phase windings inversion bridge voltages, UDCFor six phase inverter DC bus-bar voltages, uNoIt is neutral for machine winding
Voltage between point and ground,
Double three-phase windings are met：
usA+usB+usC+usD+usE+usF=0 (10)
Obtain:
<mrow>
<msub>
<mi>u</mi>
<mrow>
<mi>N</mi>
<mi>o</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mn>6</mn>
</mfrac>
<msub>
<mi>U</mi>
<mrow>
<mi>D</mi>
<mi>C</mi>
</mrow>
</msub>
<mo>&lsqb;</mo>
<msub>
<mi>S</mi>
<mi>a</mi>
</msub>
<mo>+</mo>
<msub>
<mi>S</mi>
<mi>b</mi>
</msub>
<mo>+</mo>
<msub>
<mi>S</mi>
<mi>c</mi>
</msub>
<mo>+</mo>
<msub>
<mi>S</mi>
<mi>d</mi>
</msub>
<mo>+</mo>
<msub>
<mi>S</mi>
<mi>e</mi>
</msub>
<mo>+</mo>
<msub>
<mi>S</mi>
<mi>f</mi>
</msub>
<mo>&rsqb;</mo>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>11</mn>
<mo>)</mo>
</mrow>
</mrow>
Fundamental wave stator voltage u is obtained using orthogonal transform matrix T6 premultiplications formula (9), then by formula (11) calculatingsα1And usβ1, five times it is humorous
Ripple stator voltage usα5And usβ5, triple-frequency harmonics stator voltage usα3And usβ3,
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
<mi>&alpha;</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>u</mi>
<mrow>
<mi>s</mi>
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According to formula (12), different switch combination Sa~Sf are taken to obtain α1β1Plane, α5β5Plane, α3β3The switch arrow of plane
Amount；By α1β1Plane and α5β5The neighboring voltage vector of plane is border, is respectively divided into 24 sectors, θ is used respectivelysi、θxiTable
Show, i=1,2 ..., 24, the angle that each sector is included is 15 °；
According to fundamental wave flat stator magnetic linkage ψsα1ψsβ1, calculate vector ψs1ArgumentJudge α residing for vector1β1Plane is fanned
Area numbering θsi；According to quintuple harmonics flat stator magnetic linkage ψsα5ψsβ5, calculate vector ψs5ArgumentJudge residing for vector
α5β5Plane sector number θxi。
5. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the first and second flux linkage hysteresis comparator device output variables difference is as follows in the step S5：
6. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, fundamental wave plane electromagnetic torque T in the step S6e1With quintuple harmonics plane electromagnetic torque Te5Computational methods
It is as follows：
Te1=p (ψsα1iβ1-ψsβ1iα1) (15)
Te5=p (ψsα5iβ5-ψsβ5iα5) (16)
Wherein, p is double three-phase permanent-magnetic synchronous motor magnetic pole logarithm.
7. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the first and second torque hysteresis comparator output variables difference is as follows in the step S7：
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Wherein, ε1For the stagnant ring ring width of motor fundamental wave torque, ε2For the stagnant ring ring width of motor quintuple harmonics torque, ε1And ε2Value according to reality
Border motor torque control error needs to set.
8. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, in the step S7, electromagnetic torque set-pointWithBe by double three-phase permanent-magnetic synchronous motor electromagnetic torque to
It is fixedBy harmonic injection pro rate.
9. a kind of Direct Torque Control of double three-phase permanent-magnetic synchronous motor high load capability according to claim 1,
Characterized in that, the construction method of optimized switching vector table is as follows in the step S8：
Step S81：Different switch combinations according to six phase inverters per phase bridge arm obtain α1β1Plane, α5β5Plane, α3β3Plane
Switching vector selector, α3β3The voltage vector of plane is in straight line, according to harmonic current in α3The size of axial projection chooses α3
β3The voltage vector of plane, chooses opposite polarity voltage vector；
Step S82：Chosen according to step S81 after voltage vector, in α1β1Corresponding voltage vector is found out in plane, according to fundamental wave
Sector where magnetic linkage, analyzes α1β1Various switch combination effects cause stator magnetic linkage and electromagnetism to turn in corresponding voltage vector in plane
The control effect of square, that is, increase or reduce, and voltage vector is divided into four groups according to action effect；
Step S83：Assuming that quintuple harmonics flat stator magnetic linkage takes one group of voltage arrow of gained in step S82 in the first sector successively
Amount, then each voltage vector is analyzed to quintuple harmonics flat stator magnetic linkage and the action effect of quintuple harmonics plane electromagnetic torque,
Increase or reduce, and four optimal switching vector selector tables are chosen according to action effect in every group of voltage vector；
Step S84：Assuming that quintuple harmonics flat stator magnetic linkage second, third, the 4th the 24th sector, repeat walk
Rapid S83 chooses；
Step S85：Assuming that fundamental wave flat stator magnetic linkage second, third, the 4th the 24th sector, repeat step
S83 chooses；
Step S86：The switching vector selector chosen more than, lists optimized switching vector table.
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| CN108377119A (en) * | 2018-03-23 | 2018-08-07 | 哈尔滨工业大学 | A kind of maximum four-vector SVPWM methods inhibiting double three-phase permanent-magnetic synchronous motor high-frequency harmonic |
| CN108574442A (en) * | 2018-05-08 | 2018-09-25 | 长安大学 | A kind of six-phase motor direct Torque Control and its control method |
| CN110350836A (en) * | 2019-06-28 | 2019-10-18 | 浙江大学 | Common DC bus type opens the improvement Direct Torque Control of winding permanent magnet synchronous motor system |
| CN110429887A (en) * | 2019-08-09 | 2019-11-08 | 大连海事大学 | A kind of the Position Tracking Control device and control method of permasyn morot |
| CN110912468A (en) * | 2019-12-06 | 2020-03-24 | 沈阳工业大学 | Fault-tolerant control method for one-phase open circuit of six-phase permanent magnet synchronous motor |
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| CN108233783A (en) * | 2018-01-19 | 2018-06-29 | 长安大学 | A kind of bi-motor three-leg inverter and its control method |
| CN108233783B (en) * | 2018-01-19 | 2021-08-13 | 长安大学 | Double-motor three-bridge-arm inverter and control method thereof |
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| CN108574442A (en) * | 2018-05-08 | 2018-09-25 | 长安大学 | A kind of six-phase motor direct Torque Control and its control method |
| CN111669091A (en) * | 2019-03-08 | 2020-09-15 | 株洲中车时代电气股份有限公司 | Direct torque control method for motor |
| CN111669091B (en) * | 2019-03-08 | 2022-04-29 | 株洲中车时代半导体有限公司 | Direct torque control method for motor |
| CN113785486B (en) * | 2019-03-27 | 2024-03-15 | 博格华纳卢森堡汽车***公司 | Method for measuring torque in a six-phase motor, controller for a six-phase motor |
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| CN110350836B (en) * | 2019-06-28 | 2020-11-17 | 浙江大学 | Direct torque control method of common direct current bus type open winding permanent magnet synchronous motor system |
| CN110350836A (en) * | 2019-06-28 | 2019-10-18 | 浙江大学 | Common DC bus type opens the improvement Direct Torque Control of winding permanent magnet synchronous motor system |
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| CN110912468B (en) * | 2019-12-06 | 2020-12-29 | 沈阳工业大学 | Fault-tolerant control method for one-phase open circuit of six-phase permanent magnet synchronous motor |
| CN110912468A (en) * | 2019-12-06 | 2020-03-24 | 沈阳工业大学 | Fault-tolerant control method for one-phase open circuit of six-phase permanent magnet synchronous motor |
| CN110995089B (en) * | 2019-12-30 | 2022-05-06 | 南京煜茂兮电子科技有限公司 | Intelligent control method of multiphase permanent magnet fault-tolerant motor driving system |
| CN110995089A (en) * | 2019-12-30 | 2020-04-10 | 江苏航迅飞信息科技有限公司 | Intelligent control method of multiphase permanent magnet fault-tolerant motor driving system |
| CN113255281A (en) * | 2021-05-19 | 2021-08-13 | 江苏大学 | Fault-tolerant low-short-circuit-current double-three-phase permanent magnet motor winding design method |
| CN113255281B (en) * | 2021-05-19 | 2024-04-09 | 江苏大学 | Fault-tolerant type low short-circuit current double-three-phase permanent magnet motor winding design method |
| CN114257134A (en) * | 2021-12-07 | 2022-03-29 | 江苏大学 | Direct torque control method for harmonic suppression of double three-phase synchronous reluctance motor |
| CN114257134B (en) * | 2021-12-07 | 2023-08-22 | 江苏大学 | Direct torque control method for harmonic suppression of double three-phase synchronous reluctance motor |
| CN114400932A (en) * | 2021-12-24 | 2022-04-26 | 江苏大学 | Fault-tolerant direct torque control system and method for double three-phase motor |
| CN114400932B (en) * | 2021-12-24 | 2023-08-22 | 江苏大学 | Double three-phase motor fault-tolerant direct torque control system and method thereof |
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