CN107846168A - A kind of permagnetic synchronous motor Direct Torque Control optimization method - Google Patents
A kind of permagnetic synchronous motor Direct Torque Control optimization method Download PDFInfo
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- CN107846168A CN107846168A CN201711217363.0A CN201711217363A CN107846168A CN 107846168 A CN107846168 A CN 107846168A CN 201711217363 A CN201711217363 A CN 201711217363A CN 107846168 A CN107846168 A CN 107846168A
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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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- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of permagnetic synchronous motor Direct Torque Control optimization method, first determines whether given magnetic linkage, torque and actual magnetic linkage, the difference DELTA ψ of torque, Δ T；If | Δ ψ | more than magnetic linkage error limit value | Δ ψe|, then magnetic linkage is increasedd or decreased, if | Δ ψ | not less than magnetic linkage error limit value | Δ ψe|, then keep magnetic linkage；If Δ T exceedes torque error limit value, using nonzero voltage space vector, if Δ T uses Zero voltage vector not less than torque error limit value；Using a kind of new θ angles decision method, sector where magnetic linkage is judged, then select the current voltage vector to be applied according to set voltage vector switch list.The present invention can reduce torque and the pulsation of magnetic linkage, while can simplify programming difficulty, be more easy to Project Realization.
Description
Technical field
The invention belongs to the Study on direct torque control technology field of permagnetic synchronous motor, and in particular to a kind of permagnetic synchronous motor
Direct Torque Control optimization method.
Background technology
Permasyn morot (PMSM) is because self structure is simple, with rotating speed is steady, dynamic response is fast, overload capacity
By force, reliability height, structure diversification, the advantages that having a wide range of application, it has also become study hotspot, and be widely used.
Direct Torque Control (DTC) has abandoned the decoupling thought in conventional vector control, but by rotor flux orientation more
Stator magnetic flux orientation is changed to, rotating coordinate transformation is eliminated, dependence of the system to the parameter of electric machine is reduced, by detecting in real time
The amplitude of motor stator voltage and electric current, calculating torque and magnetic linkage, and utilize institute compared with the set-point of torque and magnetic linkage respectively
Difference is obtained to control the amplitude of stator magnetic linkage and the vector directly to be exported by torque and flux regulating device relative to the angle of magnetic linkage
Required space voltage vector, so as to reach the purpose of magnetic linkage and torque direct control.But direct Torque Control, which exists, to be turned
Square is pulsed, and switching frequency change, programs the defects of complicated.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of optimization side of permagnetic synchronous motor Direct Torque Control
Method, to improve the control performance of permagnetic synchronous motor, reduce torque pulsation, while reduce the switch motion number of inverter, subtract
Small programming complexity.
The technical solution adopted in the present invention is：A kind of permagnetic synchronous motor Direct Torque Control optimization method, its feature
It is, comprises the following steps：
Step 1：Judge given magnetic linkage, torque and actual magnetic linkage, the difference DELTA ψ of torque, Δ T；
Step 2：Judge Δ ψ size, selection increase, smaller or holding magnetic linkage；
Step 3：Judge whether Δ T exceedes error torque limiting value；
If Δ T exceedes torque error limit value, nonzero voltage space vector is selected；
If Δ T selects Zero voltage vector not less than torque error limit value；
Step 4：Sector where judging magnetic linkage；
Step 5：According to the sector determined whether using nonzero voltage space vector and judgement, switched according to set voltage vector
Table selects voltage vector.
The present invention has the advantages of following main compared with prior art：
1. compared with prior art, the present invention adds zero vector in voltage vector switch list, make system in selection voltage
During vector, torque pulsation can be reduced with Zero voltage vector of the selection index system compared with " gentle ".
2. new θ decision methods need only to the positive and negative judgement of variate-value, relevant sectors position is drawn by result of determination can
Put, it is not necessary to pass through a series of calculation formula, reduce programming difficulty.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the flow chart of the embodiment of the present invention；
Fig. 3 is 8 space voltage vector schematic diagrames of the three-phase voltage inverter of the embodiment of the present invention；
Fig. 4 is the Zero voltage vector sphere of action and torque reference schematic diagram of the embodiment of the present invention；
Fig. 5 is the sector distribution map of the embodiment of the present invention；
Fig. 6 is the stator magnetic linkage simulation waveform of traditional Direct Torque Control；
Fig. 7 is the electromagnetic torque simulation model figure of traditional Direct Torque Control；
Fig. 8 is the Direct Torque Control stator magnetic linkage simulation waveform of the embodiment of the present invention；
Fig. 9 is the Direct Torque Control electromagnetic torque simulation waveform of the embodiment of the present invention.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this hair
It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Referring to Fig. 1 and Fig. 2, the present invention comprises the following steps：
Step 1：Judge given magnetic linkage, torque and actual magnetic linkage, the difference DELTA ψ of torque, Δ T；
Step 2：Judge Δ ψ size, selection increase, smaller or holding magnetic linkage；
Step 3：Judge whether Δ T exceedes error torque limiting value；
If Δ T exceedes torque error limit value, nonzero voltage space vector is selected；
If Δ T selects Zero voltage vector not less than torque error limit value；
Wherein suitable Zero voltage vector is：After obtaining the voltage vector of Last status application, its switch shape is judged
State, selection and the most similar Zero voltage vector of last voltage vector on off state.
Step 4：Sector where judging magnetic linkage using new θ decision methods；
The positive and negative values that new θ decision methods need only to variable judge, relevant sectors position can be drawn by result of determination.
Step 5：According to the sector determined whether using nonzero voltage space vector and judgement, switched according to set voltage vector
Table selects voltage vector.
Wherein set voltage vector switch list is the switch list containing Zero voltage vector.
As shown in figure 3,8 space vector of voltage, including wherein 6 nonzero voltage space vectors are obtained by three-phase voltage inverter
(V1, V2, V3, V4, V5, V6) and two Zero voltage vectors (V0, V7).V0, V1, V2, V3, V4, V5, V6, V7 on off state
Respectively 000,001,010,011,100,101,110,111.
Traditional Direct Torque Control voltage vector switch list does not take into account zero vector, and switch list is as shown in appendix 1.
The traditional Direct Torque Control switch list of table 1
| φ | τ | θ1 | θ2 | θ3 | θ4 | θ5 | θ6 |
| 1 | 1 | V6 | V2 | V3 | V1 | V5 | V4 |
| 1 | -1 | V5 | V4 | V6 | V2 | V3 | V1 |
| 0 | 1 | V2 | V3 | V1 | V5 | V4 | V6 |
| 0 | -1 | V1 | V5 | V4 | V6 | V2 | V3 |
Wherein φ=1 represents that given magnetic linkage is more than actual magnetic linkage and both differences are more than magnetic linkage error limit value, now
Need to increase magnetic linkage；φ=0 represents that given magnetic linkage is less than actual magnetic linkage and both differences are more than magnetic linkage error limit value, now
Need to reduce magnetic linkage；τ=1 represents that given torque is more than actual torque and both differences are more than torque error limit value, now
Need to increase torque；τ=- 1 represents that given torque is less than actual torque and both differences are more than torque error limit value, now
Need to reduce torque；θ1~θ6For the affiliated sector of magnetic linkage.
Research shows that Zero voltage vector can slowly reduce electromagnetic torque and stator magnetic linkage amplitude, because the present invention is in order to subtract
Small electromagnetic torque pulsation, Zero voltage vector is added in voltage vector switch list, for reducing electromagnetic torque pulsation.
As shown in figure 4,To give torque, Δ TeFor torque error limit value, when actual torque two dotted lines in Fig. 4
Between position when, show that given difference between torque and actual torque is less than torque error limit value, now can determine that electricity
Machine is in steady-state operating condition, it is necessary to electromagnetic torque be adjusted with Zero voltage vector come " gentle ", to reduce pulsation；Work as actual torque
In Fig. 4 during position beyond two dotted lines, show that given difference between torque and actual torque is less than torque error restriction
Value, it now can determine that motor is in dynamic state of run, it is necessary to adjust electromagnetic torque with nonzero voltage space vector come " strength ", to protect
Demonstrate,prove the actual torque quickly given torque of tracking.The present invention setting two variables φ and τ, and make
The voltage vector switch list of the present invention can obtain as shown in subordinate list 2 according to τ span.
The Direct Torque Control switch list of the present invention of table 2
| φ | τ | θ1 | θ2 | θ3 | θ4 | θ5 | θ6 |
| 1 | 1 | V6 | V2 | V3 | V1 | V5 | V4 |
| 1 | 0 | V7 | V0 | V7 | V0 | V7 | V0 |
| 1 | -1 | V5 | V4 | V6 | V2 | V3 | V1 |
| 0 | 1 | V2 | V3 | V1 | V5 | V4 | V6 |
| 0 | 0 | V0 | V7 | V0 | V7 | V0 | V7 |
| 0 | -1 | V1 | V5 | V4 | V6 | V2 | V3 |
Using new θ decision methods come sector where magnetic linkage, it is thus only necessary to which variate-value obtains positive and negative judgement, it is possible to draws magnetic linkage
Affiliated sector position.Sector judges to be obtained according to following formula in traditional Direct Torque Control：
In simulations, it is necessary to certain amount of calculation, the complexity of programming is added, and in practice, this mathematical operations
It is too complicated for DSP, because present invention uses another way to determine θ, i.e., sentenced according to the positive and negative values of variate-value
It is fixed, if variate-value is respectively ψsα、ψsβAndSpecific result of determination is as shown in subordinate list 3.
The stator magnetic linkage space vector sector decision table of table 3
The derivation of new sector decision method is as follows：The sector of stator magnetic linkage is distributed as shown in figure 5, ψsαAnd ψsβFor ψs
Component on alpha-beta axle, θ1~θ6Angular range and corresponding tangent scope as shown in subordinate list 4.Take
The sector value corresponding table of table 4
| Sector | Angular range | Tangent value scope |
| θ1 | - π/6~π/6 | - 0.577~0.577 |
| θ2 | π/6~pi/2 | 0.577~+∞ |
| θ3 | π/6 of pi/2~5 | - ∞~-0.577 |
| θ4 | π/6 of 5 π/6~7 | - 0.577~0.577 |
| θ5 | The pi/2 of 7 π/6~3 | 0.577~+∞ |
| θ6 | π/6 of 3 pi/2s~11 | - ∞~-0.577 |
Provide herein and ψsβQuadrant condition determined by positive and negative values.Decision condition one：Work as ψsαFor+, ψsβFor+, then ψsIt is located at
First quartile；Decision condition two：Work as ψsαFor+, ψsβFor-, then ψsPositioned at fourth quadrant；Decision condition three：ψsαFor-, ψsβFor+, then
ψsPositioned at the second quadrant；Decision condition four：ψsαFor-, ψsβFor-, then ψsPositioned at third quadrant.
On the basis of above-mentioned decision condition,For+when, it can be obtained by aforementioned four decision condition
Following result.Decision condition is once：In first quartile, meet requirement only has
θ1；Under decision condition two：Meet to require there was only θ in fourth quadrant1；Judge
Under condition three：Meet desired only θ in the second quadrant4；Decision condition four
Under： Meet desired only θ in third quadrant4。
On the basis of above-mentioned decision condition,For-when, it can be obtained by aforementioned four decision condition
Following result.Decision condition is once：In first quartile, meet requirement only has
θ2；Under decision condition two：Meet desired only θ in fourth quadrant6；Sentence
Under fixed condition three：Meet desired only θ in the second quadrant3；Decision condition
Under four： Meet desired only θ in third quadrant5.In summary, obtain attached
Table 4.
According to the output τ and θ of the output φ of two-part flux linkage hysteresis comparator device, three-stage torque hysteresis comparator in Fig. 1
Voltage vector in the output θ common choices subordinate list 2 of new decision method, by inverter so as to controlling the fortune of permagnetic synchronous motor
Row state.
The asynchronous machine grading variable-frequency soft starting device that above-described embodiment provides, its course of work are as follows：
Stator voltage, stator current are obtained first；According to stator voltage and stator current, actual torque T is calculatedeAnd reality
Magnetic linkage ψs；Then respectively with given torque Te *With given magnetic linkage ψs *It is poor to make, and the difference DELTA T and Δ ψ drawn passes through three-stage respectively
Torque hysteresis comparator and two-part flux linkage hysteresis comparator device obtain τ and φ；Draw stator magnetic linkage now using the new decision methods of θ
The sector θ belonged ton(n=1~6)；According to obtaining τ, φ and θn, selected from subordinate list 2 in Direct Torque Control switch list of the present invention
Suitable voltage vector；Voltage vector is acted on permagnetic synchronous motor by inverter, so as to control permagnetic synchronous motor
Torque and magnetic linkage；Subsequent time is obtaining stator voltage, stator current formation loop control.
It is the stator magnetic linkage simulation waveform of traditional Direct Torque Control see Fig. 6, Fig. 7 is traditional Direct Torque Control
Electromagnetic torque simulation model figure, Fig. 8 are the Direct Torque Control stator magnetic linkage simulation waveforms of the embodiment of the present invention, and Fig. 9 is this
The Direct Torque Control electromagnetic torque simulation waveform of inventive embodiments；Emulation and experimental verification show that the invention can improve
The dynamic property of system, effectively reduces electromagnetic torque pulsation.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore can not be considered to this
The limitation of invention patent protection scope, one of ordinary skill in the art are not departing from power of the present invention under the enlightenment of the present invention
Profit is required under protected ambit, can also be made replacement or deformation, be each fallen within protection scope of the present invention, this hair
It is bright scope is claimed to be determined by the appended claims.
Claims (4)
1. a kind of permagnetic synchronous motor Direct Torque Control optimization method, it is characterised in that comprise the following steps：
Step 1：Judge given magnetic linkage, torque and actual magnetic linkage, the difference DELTA ψ of torque, Δ T；
Step 2：Judge Δ ψ size, selection increase, smaller or holding magnetic linkage；
Step 3：Judge whether Δ T exceedes error torque limiting value；
If Δ T exceedes torque error limit value, nonzero voltage space vector is selected；
If Δ T selects Zero voltage vector not less than torque error limit value；
Step 4：Sector where judging magnetic linkage；
Step 5：According to the sector determined whether using nonzero voltage space vector and judgement, selected according to set voltage vector switch list
Select voltage vector.
2. permagnetic synchronous motor Direct Torque Control optimization method according to claim 1, it is characterised in that in step 3
Suitable Zero voltage vector is：After obtaining the voltage vector of Last status application, judge its on off state, selection with it is last
The most similar Zero voltage vector of voltage vector on off state.
3. permagnetic synchronous motor Direct Torque Control optimization method according to claim 1, it is characterised in that in step 4,
Sector where judging magnetic linkage using new θ decision methods；The new θ decision methods are to judge relevant sectors according to the positive and negative values of variable
Position, specific implementation flow are：According to ψsα、ψsβ、Positive and negative values judge the sector residing for θ jointly, have
Body is as shown in table 1 below,
The stator magnetic linkage space vector sector decision table of table 1
Wherein, ψsαAnd ψsβFor stator magnetic linkage ψsComponent on alpha-beta axle.
4. the permagnetic synchronous motor Direct Torque Control optimization method according to claim 1-3 any one, its feature exist
In：Set voltage vector switch list is the switch list containing Zero voltage vector in step 5.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176893A (en) * | 2019-05-28 | 2019-08-27 | 东南大学 | A kind of permanent magnet synchronous motor model prediction current control method of Single-step Prediction |
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| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN101931362A (en) * | 2010-05-19 | 2010-12-29 | 西安理工大学 | Direct torque control device and method for permanent magnet synchronous motor |
| CN105846745A (en) * | 2016-05-20 | 2016-08-10 | 南京信息工程大学 | Brushless DC motor direct torque control system and control method |
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2017
- 2017-11-28 CN CN201711217363.0A patent/CN107846168A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101739013A (en) * | 2009-12-22 | 2010-06-16 | 北京航空航天大学 | Digital control system for satellite aerial directing mechanism |
| CN101783637A (en) * | 2010-03-19 | 2010-07-21 | 哈尔滨工业大学 | Magnetic linkage self-control direct torque control method of brushless DC motor |
| CN101931362A (en) * | 2010-05-19 | 2010-12-29 | 西安理工大学 | Direct torque control device and method for permanent magnet synchronous motor |
| CN105846745A (en) * | 2016-05-20 | 2016-08-10 | 南京信息工程大学 | Brushless DC motor direct torque control system and control method |
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| CN110176893A (en) * | 2019-05-28 | 2019-08-27 | 东南大学 | A kind of permanent magnet synchronous motor model prediction current control method of Single-step Prediction |
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