CN108667381A - TLDMC-PMSM system control methods based on the stagnant ring of dynamic torque - Google Patents
TLDMC-PMSM system control methods based on the stagnant ring of dynamic torque Download PDFInfo
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- CN108667381A CN108667381A CN201810374959.XA CN201810374959A CN108667381A CN 108667381 A CN108667381 A CN 108667381A CN 201810374959 A CN201810374959 A CN 201810374959A CN 108667381 A CN108667381 A CN 108667381A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/30—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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Control Of Ac Motors In General (AREA)
Abstract
The present invention relates to a kind of TLDMC PMSM system control methods based on the stagnant ring of dynamic torque, including：1, the three-phase input voltage of three level direct matrix transform devices, the rotor speed of three-phase output current and permanent magnet synchronous motor are acquired；2, the input current space vector and output voltage space vector of three level direct matrix transform devices is calculated；3, the electromagnetic torque of permanent magnet synchronous motor, stator magnetic linkage and input power factor average value are observed；4, the observation obtained according to step 3 obtains the switching signal of three level direct matrix transform devices using Direct Torque Control mode, realizes system control.Compared with prior art, the present invention can reduce the stator magnetic linkage imbalance under the operation of permanent magnet synchronous motor low speed, used three level direct matrix transform device reduces the common-mode voltage of system output while the system of raising is to electromagnetic torque and stator flux regulation performance.
Description
Technical field
The present invention relates to method for controlling permanent magnet synchronous motor, more particularly, to a kind of TLDMC- based on the stagnant ring of dynamic torque
PMSM system control methods.
Background technology
Matrix converter (Matrix Converter, MC) is a kind of novel AC power converter, is had many excellent
Point：Energy in bidirectional flow, can four quadrant running；Sinusoidal input/output, percent harmonic distortion are small；Power factor is adjustable etc..Permanent magnetism is same
It walks motor (Permanent Magnet Synchronous Motor, PMSM) and motor excitation, operation is realized using permanent-magnet material
Power factor is high, efficient, power density is big.Therefore Matrix Converter-Permanent Magnetic Synchronous Machine (MC-PMSM) system has extensive
Application prospect.Direct Torque Control (Direct Torque Control, DTC) is a kind of simple and powerful novel advanced
Control technology：1) simple in structure, do not need complicated coordinate transform；2) current controller is not needed, hardware cost is reduced；3)
It can realize quickly, accurate direct torque response；4) can also be run under no mode sensor etc..
The advantages of in summary three, has scholar that DTC is applied to MC-PMSM systems.However, DTC high dynamics
It can be so that MC-PMSM systems electromagnetic torque and stator magnetic linkage pulsation be still very big.In order to solve this problem, related scholar does
A large amount of research work：1) improvement of tradition DTC, including the extension and optimization of switch list are based on using Duty ratio control method
The DTC etc. of space vector modulation；2) it is combined with DTC using New Control Theory, such as fuzzy control, neural network, prediction turns
Square control method etc.；3) propose that there are more control vectors, for example, by using Discrete Space Vector method, using new converter
Deng.The low-speed performance of above-mentioned solution is unsatisfactory.When rotor is in low speed and zero-speed, due to selecting for reducing electromagnetism
The zero vector action time of torque is longer so that stator magnetic linkage is susceptible to distortion, causes stator magnetic linkage that cannot accurately be adjusted
Section, stator winding current can deteriorate, and be reduced so as to cause the coupling between stator and rotor, unfavorable to motor running.
Occur in recent years three level direct matrix transform devices (Three Level Direct Matrix Converter,
TLDMC), it combines the characteristics of matrix converter and three-level inverter, can further decrease the total harmonic distortion of output, subtract
Few switching device voltage stress, reduces common-mode voltage and high power density, therefore by three level direct matrix transform device applications
In Direct Torque Control System for Permanent Magnet Synchronous Motor, the control performance to electromagnetic torque and stator magnetic linkage can be improved.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind being based on dynamic torque
The TLDMC-PMSM system control methods of stagnant ring.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of TLDMC-PMSM system control methods based on the stagnant ring of dynamic torque, it is direct by three level in the system
Matrix converter controls permanent magnet synchronous motor, which includes：
S1, three-phase input voltage, three-phase output current and the permanent magnet synchronous electric for acquiring three level direct matrix transform devices
The rotor speed of machine；
S2, by three-phase input voltage, three-phase output current and the switching function matrix of three level direct matrix transform devices,
The input current space vector and output voltage space vector of three level direct matrix transform devices is calculated；
S3, by the input current space vector and output voltage space vector of three level direct matrix transform devices to permanent magnetism
Electromagnetic torque, stator magnetic linkage and the input power factor average value of synchronous motor are observed, and obtain observation；
S4, the observation obtained according to step S3 obtain three level direct matrix transforms using Direct Torque Control mode
The switching signal of device realizes system control.
Preferably, the calculation formula of output voltage space vector is in the step S2：
Wherein, uoA、uoB、uoCIndicate that the three-phase output voltage of three level direct matrix transform devices, calculation formula are：
Wherein, S (t) indicates the triggering for 12 two-way switch that the circuit topology of three level direct matrix transform devices is included
Signal SijCorresponding switching function matrix, i ∈ { A, B, C }, j ∈ { a, b, c, n }, uiIndicate three level direct matrix transform devices
Three-phase input voltage uia、uib、uicThe three-phase input voltage space vector obtained by vector；
The input current space vector is：
Wherein, iia、iib、iicIndicate that the three-phase input current of three level direct matrix transform devices, calculation formula are：
Wherein, the transposition of T representing matrixes, ioIndicate the three-phase output current i of three level direct matrix transform devicesoA、ioB、
ioCThe three-phase output current space vector obtained by vector, inFor neutral point current.
Preferably, in the step S3, to the stator magnetic linkage of permanent magnet synchronous motor be observed including：Calculate separately stator
Magnetic linkage α axis components ψsα, stator magnetic linkage beta -axis component ψsβWith stator magnetic linkage amplitude | ψs|：
ψsα=∫ (usα-Rsisα)dt
ψsβ=∫ (usβ-Rsisβ)dt
Wherein, RsIndicate stator winding resistance, usα、usβAnd isα、isβStator terminal voltage u is indicated respectivelysWith stator winding electricity
Flow isα, β component under rest frame, usEqual to the output voltage space vector of three level direct matrix transform devices, isDeng
In the three-phase output current space vector that the three-phase output current of three level direct matrix transform devices is obtained by vector；
The electromagnetic torque to permanent magnet synchronous motor be observed including：Calculate electromagnetic torque Te：
Te=1.5p (ψsαisβ-ψsβisα)
Wherein, p is number of pole-pairs；
It is described to input power factor average value be observed including：Calculate input voltage space vector uiAnd input current
The phase difference of space vectorObtain input power factor average valueWherein uiPass through three level direct matrix transform devices
Three-phase input voltage obtained by vector.
Preferably, the step S4 includes：
S41, by stator magnetic linkage setting value and the error for the stator magnetic linkage amplitude observed by compared with the stagnant ring of the first two-stage
Device obtains output Cψ, the reference rotation velocity of setting and permanent magnet synchronous motor actual rotor rotating speed are obtained into torque reference through pi regulator
Value, then the error of torque reference value and the electromagnetic torque observed is obtained into output C by dynamic hysteresis comparatorT, by power
Factor setting value 0 and the input power factor average value observed pass through the second two-stage hysteresis comparator, are exported
S42, according to Cψ、CT、Suitable voltage vector is selected in the Direct Torque Control switch list inquiry of formulation, is obtained
The switching signal of three level direct matrix transform devices realizes system control.
Preferably, the dynamic hysteresis comparator includes multiple and different hysteresis comparators in parallel, according to comparison stator
The error of magnetic linkage amplitude and the size of the lower limit of the magnetic linkage imbalance of setting select suitable hysteresis comparator.
Preferably, the dynamic hysteresis comparator includes Pyatyi hysteresis comparator and level Four hysteresis comparator in parallel.
Compared with prior art, the present invention has the following advantages：
1, using three level direct matrix transform devices, there are more control vectors than classical matrix converter, in middle height
In fast range of operation, electromagnetic torque and stator magnetic linkage pulsation when can more effectively reduce systematic steady state, meanwhile, three level are direct
Matrix converter can also reduce the common-mode voltage of converter output.
2, the stagnant ring method of dynamic torque is used in Direct Torque Control, when stator magnetic linkage imbalance occurs in the operation of system low speed
When, it can improve stator magnetic linkage imbalance by way of selecting backward voltage vector to replace zero vector, effectively improve system to magnetic
The regulation performance of chain.
Description of the drawings
Fig. 1 is three level direct matrix transform devices-permanent magnet synchronous motor (TLDMC-PMSM) system schematic in the present invention；
Fig. 2 is the control method process schematic of the present invention；
Fig. 3 is three level direct matrix transform device output voltage space vector schematic diagrames in the present invention；
Fig. 4 is three level direct matrix transform device input current space vector schematic diagrames in the present invention；
Magnetic linkage reduces schematic diagram when Fig. 5 is classical matrix converter-permanent magnet synchronous motor system low speed operation；
Fig. 6 is voltage vector u3In the radial component of sector 2 and the change schematic diagram of tangential component；
Fig. 7 is the simulation result diagram of the radially and tangentially component influences flux regulating of voltage vector；
Fig. 8 is the discrete waveform schematic diagram of magnetic linkage, torque and torque conditions in hysteresis comparator dynamic process；
Fig. 9 is the principle schematic of dynamic hysteresis comparator in the present invention；
Figure 10 is that tradition MC-DTC is lightly loaded the simulation waveform under low speed in embodiment；
Figure 11 is the simulation waveform improved MC-DTC in embodiment and be lightly loaded under low speed；
Figure 12 is that TLDMC-DTC is lightly loaded the simulation waveform under low speed in embodiment；
Figure 13 is the simulation waveform under rotating speed 5rad/s and 2Nm underloadings in embodiment；
Figure 14 is that tradition MC-DTC nominal loads start simulation waveform in embodiment；
Figure 15 is to improve MC-DTC nominal loads in embodiment to start simulation waveform；
Figure 16 is that TLDMC-DTC nominal loads start simulation waveform in embodiment.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
The application proposes a kind of TLDMC-PMSM system control methods based on the stagnant ring of dynamic torque, TLDMC-PMSM systems
In by three level direct matrix transform devices control permanent magnet synchronous motor, as shown in Figure 1.Three level direct matrix transform devices
(TLDMC) structure 3 two-way switch more than classical matrix converter, and the neutral conductor n that three-phase R-L-C low-pass filters will be inputted
It is connected on every phase output switch, constitutes 4 × 3 matrix circuits.It is electric per mutually exporting when the topology switches between different on off states
The amplitude of pressure can be in three-phase input voltage and neutral line voltage unBetween switch.In figure, uia、uib、uicFor three-phase input electricity
Pressure；iia、iib、iicFor three-phase input current；Lf、CfAnd RfThe respectively filter inductance of input R-L-C low-pass filters, filtered electrical
Appearance and damping resistance；uoA、uoB、uoCThree-phase for permanent-magnetic synchronous motor stator terminal voltage, i.e. three level direct matrix transform devices is defeated
Go out voltage；ioA、ioB、ioCFor permanent-magnetic synchronous motor stator winding current, i.e. the three-phase output electricity of three level direct matrix transform devices
Stream；SijIndicate the two-way switch with two-way shutdown and bidirectional conduction ability.
Define two-way switch turn-on and turn-off state be：
According to the security doctrine that matrix converter operational process must comply with, the restrictive condition of switch function can be obtained
For：
Sia+Sib+Sic+Sin=1 i ∈ { A, B, C }
Three level direct matrix transform devices are also to use full-control type two-way switch, therefore control mode is to cut prosecutor formula,
It can be indicated with switch function between output quantity and input quantity.The topology of three level direct matrix transform devices according to Fig. 1, can
It is respectively with the relationship for obtaining output phase voltage and inputting between phase voltage, input phase current and output current phase：
In formula：The triggering for 12 two-way switch that S (t) includes by the circuit topology of three level direct matrix transform devices is believed
Number SijCorresponding switching function matrix, the transposition of T representing matrixes, uiIndicate the three-phase input of three level direct matrix transform devices
The three-phase input voltage space vector that voltage is obtained by vector, ioIndicate that the three-phase of three level direct matrix transform devices is defeated
Go out the three-phase output current space vector that electric current is obtained by vector, inFor midpoint electric current.
Control vector possessed by circuit topology is 64 total, wherein effective vector 36, zero vector 4, and temporarily not
24 rotating vectors for DTC controls.It is converted as can be seen that three level direct matrix transform utensils have far more than classical matrix
Effective vector can be used in device, therefore can further decrease the pulsation of electromagnetic torque and stator magnetic linkage.Moreover, newly-increased zero vector 0n
Possessed common-mode voltage is zero, can further decrease common-mode voltage.
In 36 effective vectors, preceding 18 vector definitions are identical as MC (± 1~± 9), as shown in table 1.It is 18 small afterwards
Vector (± 10 '~± 18 ') exists and makes neutral point current inThe phenomenon that being not zero, it is therefore desirable to vector composite analysis is used, it will
This 18 kinds different switches are combined so that it is zero (± 10~± 18) that satisfaction, which flows through neutral point current average value, such as 2 institute of table
Show.In table, uab、ubc、ucaFor input line three-phase voltage, iA、iB、iCFor three-phase output current.
1 classical matrix converter switches state of table
The TLDMC on off states of 2 zero midpoint electric current of table
The three dimensional vector diagram of three level direct matrix transform devices, as shown in Figure 3, Figure 4, it can be seen that the choosing of effective vector
Selecting property is more.Therefore using the DTC methods for dividing big small vector, i.e., torque hysteresis comparator be Pyatyi form (2,1,0, -1, -
2), specific implementation is as shown in Table 3 and Table 4.In table, L indicates that big vector, S indicate small vector.
The DTC switch lists of the 3 stagnant ring of torque Pyatyi of table
Table 4 uses the DTC switch lists of TLDMC
Do not include the selection mode to zero vector in table, the present invention is using newly-increased 0nAs the selection of zero vector, that is, open
Close SAn、SBnAnd SCnConducting, generated common-mode voltage amplitude is minimum at this time, is equal to zero.
However, three level direct matrix transform devices-permanent magnet synchronous motor system Direct Torque Control under low speed operation exists
When using zero vector, stator magnetic linkage is easy to still have the problem of imbalance, in this regard, needing the mathematical model to permanent magnet synchronous motor
It is analyzed, to draw the principle of dynamic torque hysteresis comparator method of the present invention.
The saturation for ignoring motor iron-core, disregards in motor vortex and magnetic hystersis loss, rotor undamped winding, then permanent magnetism
Mathematical model of the synchronous motor under stationary reference coordinate system be：
ψs=Lsis+ψr
Te=1.5p ψs×is=1.5p (ψαiβ-ψβiα)
In formula：Rs、LsRespectively stator winding resistance, electronic inductance；us、is、ψsAnd ψrRespectively stator terminal voltage, stator
Winding current, stator magnetic linkage and rotor flux linkage vector；P is number of pole-pairs；TeFor electromagnetic torque；θeFor rotor electrical angle.
Therefore, can obtain electromagnetic torque change rate is：
Then in the interval of time Δ t of each space vector of voltage effect, the variation amplitude of electromagnetic torque is：
ΔTe(≈dTe)=Δ T1+ΔT2+ΔT3
Wherein：
As can be seen that Δ T from formula above1With stator winding resistance R in the parameter of electric machines, stator inductance LsIt is related, width
Value is smaller, and is always negative value；ΔT2With rotor speed ωrThere is very big association, in motor low speed, high-speed cruising, difference is larger,
And it is always negative value；ΔT3Depending on effective vector usSelection, value change by rotor flux ψrWith effective vector usAngle has
It closes.Under low speed operation, ωrCaused Δ T2Very little, thus the participation of zero vector so that electromagnetic torque variation delta TeIt is smaller,
Electromagnetic torque can be slowly reduced, electromagnetic torque pulsation is efficiently reduced.
On the other hand, the mathematical expression of stator magnetic linkage is as follows：
In the interval of time Δ t of each space vector of voltage effect, the variation of stator magnetic linkage vector can describe
Following relationship：
Δψs1=(us-Rsis)·Δt
When input voltage vector is effective voltage vector, ignore the influence of Stator resistance voltage dropping, above-mentioned formula can abbreviation
For：
Δψs1=us·Δt
It can analyze and obtain, when needing to reduce electromagnetic torque TeWhen, according to aforementioned switches table, selected zero vector can be protected
Hold stator magnetic linkage ψsIt is basically unchanged.However in practical applications, especially under the operation of PMSM low speed, due to Stator resistance voltage dropping
Larger, the effect of zero vector really reduces stator magnetic linkage.Therefore, when Stator resistance voltage dropping cannot be ignored, zero vector draws
The stator magnetic linkage variation risen is as follows：
Δψs2=-Rsis·Δt
In formula：St +、St -The change rate of electromagnetic torque is respectively increased or decreased, value is mainly by following factor
Influence：
1) electromagnetic torque Te；
2) motor rotor rotating speed (i.e. rotor angular rate) ωr；
3) stator terminal voltage vector us。
Wherein TeAnd ωrS can largely be influencedt -, as shown in figure 5, for tradition MC-DTC in low-speed range (5rad/
Simulation result when s).The waveform of the figure from top to bottom is respectively rotor speed ωr, stator magnetic linkage amplitude | ψs|, electromagnetic torque Te
With the output C of torque hysteresis comparatorT.It can be seen from the figure that selecting (C in zero vectorT=0) during, magnetic linkage amplitude reduces
|Δψs2|.Occur in this example | Δ ψs1|<|Δψs2| so that magnetic linkage amplitude is integrally reduced, and stator magnetic linkage can be influenced when serious
Amplitude is adjusted.The main reason for this situation occurs is because increasing the change rate (S of electromagnetic torquet +) much larger than reduction electromagnetic torque
Change rate (St -) so that the action time of zero vector is longer than the action time of effective voltage vector, and such case is light
It carries more common under low speed operation.
For third factor us, it helps to increase St +.The radial component u of stator voltage vectorsαWith tangential component usβ
Respectively with stator magnetic linkage ψsWith electromagnetic torque TeDynamic characteristic it is related.With ψsRotation, usαAnd usβSize also with ψsPosition
The variation set and change.Fig. 6 illustrates stator magnetic linkage in sector 2, voltage vector u3Radial component and tangential component variation.
In Figure 5, work as ψsInto the starting stage of sector 2, effective vector u3Radial component u3αIt is very small, tangential component
u3βBut very big.In this case, since the duration of effective voltage vector is shorter, as selection u3When, the increasing of stator magnetic linkage
Amount is smaller, to occur | Δ ψs1|<|Δψs2|.When stator magnetic linkage is moved to the centre of sector 2, voltage vector u3αRadial direction
Component becomes larger, tangential component u3βReduce, stator magnetic linkage increased.However, if motor speed is very low, in each sector
Starting stage, stator magnetic linkage still will appear | Δ ψs1|<|Δψs2|, flux regulating will be caused to fail when serious, and make stator current
It is distorted, generates additional current harmonics.
In order to illustrate this point, as shown in fig. 7, illustrating when PMSM spinner velocities are controlled in 5rad/s, traditional MC-
The simulation waveform of DTC.In Fig. 7, it is followed successively by stator magnetic linkage amplitude from top to bottom | ψs|, stator magnetic linkage sector number hθIt is stagnant with torque
Ring comparator exports CT.It can be seen from the figure that stator magnetic linkage amplitude is caused to decline, or even there is a phenomenon where lacking of proper care, there are several sides
The reason of face：1) the radial component u of voltage vector3αIt is weak；2) due to the strong tangential component u of voltage vector3β, lead to effective voltage
The duration of vector is shorter；3) due to the change rate S of reduction torquet -It is smaller, cause the action time of Zero voltage vector longer.
In order to solve the problems, such as that the stator magnetic linkage amplitude occurred in sector switch adjusts failure, a kind of effective method is
When needing to reduce electromagnetic torque, by selecting suitable voltage vector, that is, backward voltage vector is selected to control the big of magnetic linkage
It is small.As shown in figure 8, working as magnetic linkage error | ψerr| when larger, effective voltage vector is selected to replace traditional zero vector.
The application proposition uses dynamic torque hysteresis comparator method in the Direct Torque Control of TLDMC-PMSM systems,
It is mainly reflected in, when magnetic linkage error | ψerr| when being less than or equal to the lower limit of magnetic linkage imbalance of setting, Pyatyi hysteresis comparator is selected,
When magnetic linkage error | ψerr| be greater than the set value cause to occur stator magnetic linkage adjust failure when, dynamically change torque hysteresis comparator,
I.e. on the basis of Pyatyi hysteresis comparator, level Four hysteresis comparator (2,1, -1, -2), principle are dynamically changed to by selector
As shown in Figure 9.
Based on above-mentioned analysing content, the process schematic of TLDMC-PMSM system control methods is as shown in Fig. 2, specific packet
It includes：
S1, the three-phase input voltage u for acquiring three level direct matrix transform devicesia、uib、uic, three-phase output current ioA、
ioB、ioCAnd the rotor speed ω of permanent magnet synchronous motorr；
S2, by three-phase input voltage, three-phase output current and the switching function matrix of three level direct matrix transform devices,
The input current space vector and output voltage space vector of three level direct matrix transform devices is calculated；
S3, by the input current space vector and output voltage space vector of three level direct matrix transform devices to permanent magnetism
Electromagnetic torque, stator magnetic linkage and the input power factor average value of synchronous motor are observed, and obtain observation；
S4, the observation obtained according to step S3 obtain three level direct matrix transforms using Direct Torque Control mode
The switching signal of device realizes system control.
The calculation formula of output voltage space vector is in step S2：
Wherein, uoA、uoB、uoCCalculation formula see formula (1).
Input current space vector is：
Wherein, iia、iib、iicCalculation formula see formula (2).
In step S3, according to the output voltage space vector u of obtained three level direct matrix transform deviceo(i.e. stator
Terminal voltage us) and output current space vector io(i.e. stator winding current is), under static α β coordinate systems, to stator magnetic linkage ψs
Observation, that is, calculate separately stator magnetic linkage α axis components ψsα, stator magnetic linkage beta -axis component ψsβWith stator magnetic linkage amplitude | ψs|。
By formula：
Obtain ψsIntegrated form is expressed：
ψs=∫ (us-Rsis)dt+ψs|T=0
It can thus be concluded that：
Wherein, RsIndicate stator winding resistance, usα、usβAnd isα、isβStator terminal voltage u is indicated respectivelysWith stator winding electricity
Flow isα, β component under rest frame.
To the electromagnetic torque of permanent magnet synchronous motor be observed including：According to acquired stator magnetic linkage α, beta -axis component, calculate
Electromagnetic torque Te：
Te=1.5p (ψsαisβ-ψsβisα)；
To input power factor average value be observed including：Calculate input voltage space vector uiWith input current space
The phase difference of vectorObtain input power factor average value
Step S4 includes：
S41, by stator magnetic linkage setting value | ψsref| with the stator magnetic linkage amplitude observed | ψs| error | ψerr| by the
One two-stage hysteresis comparator obtains output Cψ, by the reference rotation velocity ω of settingrefWith permanent magnet synchronous motor actual rotor rotational speed omegarThrough
Pi regulator obtains torque reference value Teref, then by torque reference value TerefWith the electromagnetic torque T observedeError by dynamic
State hysteresis comparator obtains output CT, by power factor setting value 0 and the input power factor average value observedThrough
The second two-stage hysteresis comparator is crossed, is exported
S42, according to Cψ、CT、Suitable voltage vector is selected in the Direct Torque Control switch list inquiry of formulation, is obtained
The switching signal of three level direct matrix transform devices realizes system control.
Wherein, the voltage vector in step S42 in Direct Torque Control switch list and three level direct matrix transform devices
The voltage vector that 12 two-way switch combinations generate corresponds.
Dynamic hysteresis comparator includes the Pyatyi hysteresis comparator and level Four hysteresis comparator of parallel connection, according to comparison stator magnetic
The error of chain amplitude | ψerr| the lower limit E to lack of proper care with the magnetic linkage of settingψSize select suitable hysteresis comparator.
Embodiment
In the present embodiment, the correctness and superiority of the method for the present invention are verified, in Matlab/Simulink softwares
On platform respectively to Matrix Converter-Permanent Magnetic Synchronous Machine (traditional MC-DTC) Direct Torque Control, use the stagnant ring of dynamic
Matrix Converter-Permanent Magnetic Synchronous Machine (improve MC-DTC) Direct Torque Control and of the present invention based on dynamic
Three level direct matrix transform devices-permanent magnet synchronous motor (TLDMC-DTC) Direct Torque Control of stagnant ring carries out emulation pair
Than the sampling period is 50 μ s.Specific simulation parameter is as follows：
Permanent magnet synchronous motor parameter：Rated power 1.5kW, number of pole-pairs p are 2, permanent magnet flux linkage ψfFor 0.42Wb, stator electricity
Hinder RsFor 1 Ω, d axle inductances LdFor 12mH, q axle inductances LqFor 12mH, rated speed nNFor 1500r/min, rated voltage UNFor
110V, nominal torque TNFor 10Nm；
Control parameter：Hysteresis band is respectively 1Nm and 0.5Nm, and stator magnetic linkage hysteresis band is 0.002Wb, power
Factor hysteresis band is 0, and stator magnetic linkage reference value is 0.513Wb, magnetic linkage error EψFor 0.006Wb；
Input filter parameter：Filter capacitor CfFor 50 μ F, filter inductance LfFor 2mH, damping resistance RfFor 8 Ω.
Simulation comparison 1：It is lightly loaded low speed operation.Motor initial velocity is set and gives 5rad/s, initial load torque reference
0N·m；The shock load 2Nm in 1s；Then, given speed is adjusted to 10rad/s in 2s.Simulation waveform such as Figure 10~
Shown in 13.
Figure 10 is the simulation waveform of tradition MC-DTC, it can be seen that under unloaded or underloading low speed operation, zero vector
Duration is longer, and stator magnetic linkage is caused to be lacked of proper care, and motor stator winding current is made to be distorted, and generates additional harmonic wave；Separately
On the one hand, the pulsation of electromagnetic torque is larger so that the fluctuation of speed of motor is larger, embodies conventional method in low speed operating condition
Under performance it is undesirable.Figure 11 is the simulation waveform for improving MC-DTC, it can be seen from the figure that there is no magnetic linkage imbalances for this method
The phenomenon that, motor stator current sinusoidal degree is preferable, and the fluctuation of speed is smaller.However, the arteries and veins of electromagnetic torque and stator magnetic linkage amplitude
It is dynamic still very big.Figure 12 be TLDMC-DTC simulation waveform, this it appears that current waveform is more smooth from figure, torque and
Stator magnetic linkage pulsation is greatly reduced, rapid dynamic response speed, and tracking is steady.
Figure 13 is in simulation time 1.56s to 1.60s, and three kinds of control methods are in motor speed 5rad/s and load 2Nm
Lower simulation waveform amplification.
Simulation comparison 2：Start under nominal load.Nominal load of the permasyn morot in 10Nm is fixed from zero-speed
Rated speed is risen to, simulation waveform is as shown in Figure 14~16.
From, as can be seen that under the method for the present invention, permasyn morot can be more stablely from zero-speed in Figure 14~16
Rated speed is risen to, startup stage motor is accelerated with torque capacity 26Nm, until stable operation is in 10N when normal speed
m；Stator magnetic linkage amplitude is controlled well in 0.513Wb, and current sinusoidal degree is preferable, and harmonic wave is less.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (6)
1. a kind of TLDMC-PMSM system control methods based on the stagnant ring of dynamic torque, which is characterized in that pass through in the system
Three level direct matrix transform devices control permanent magnet synchronous motor, which includes：
S1, the three-phase input voltages of three level direct matrix transform devices, three-phase output current and permanent magnet synchronous motor are acquired
Rotor speed；
S2, pass through three-phase input voltage, three-phase output current and the switching function matrix of three level direct matrix transform devices, calculating
Obtain the input current space vector and output voltage space vector of three level direct matrix transform devices；
S3, by the input current space vector and output voltage space vector of three level direct matrix transform devices to permanent-magnet synchronous
Electromagnetic torque, stator magnetic linkage and the input power factor average value of motor are observed, and obtain observation；
S4, the observation obtained according to step S3 obtain three level direct matrix transform devices using Direct Torque Control mode
Switching signal realizes system control.
2. the TLDMC-PMSM system control methods according to claim 1 based on the stagnant ring of dynamic torque, which is characterized in that
The calculation formula of output voltage space vector is in the step S2：
Wherein, uoA、uoB、uoCIndicate that the three-phase output voltage of three level direct matrix transform devices, calculation formula are：
Wherein, S (t) indicates the trigger signal for 12 two-way switch that the circuit topology of three level direct matrix transform devices is included
SijCorresponding switching function matrix, i ∈ { A, B, C }, j ∈ { a, b, c, n }, uiIndicate the three of three level direct matrix transform devices
Phase input voltage uia、uib、uicThe three-phase input voltage space vector obtained by vector；
The input current space vector is：
Wherein, iia、iib、iicIndicate that the three-phase input current of three level direct matrix transform devices, calculation formula are：
Wherein, the transposition of T representing matrixes, ioIndicate the three-phase output current i of three level direct matrix transform devicesoA、ioB、ioCPass through
The three-phase output current space vector that vector obtains, inFor neutral point current.
3. the TLDMC-PMSM system control methods according to claim 1 based on the stagnant ring of dynamic torque, which is characterized in that
In the step S3, to the stator magnetic linkage of permanent magnet synchronous motor be observed including：Calculate separately stator magnetic linkage α axis components ψsα、
Stator magnetic linkage beta -axis component ψsβWith stator magnetic linkage amplitude | ψs|：
ψsα=∫ (usα-Rsisα)dt
ψsβ=∫ (usβ-Rsisβ)dt
Wherein, RsIndicate stator winding resistance, usα、usβAnd isα、isβStator terminal voltage u is indicated respectivelysWith stator winding current is
α, β component under rest frame, usEqual to the output voltage space vector of three level direct matrix transform devices, isEqual to three
The three-phase output current space vector that the three-phase output current of level direct matrix transform device is obtained by vector；
The electromagnetic torque to permanent magnet synchronous motor be observed including：Calculate electromagnetic torque Te：
Te=1.5p (ψsαisβ-ψsβisα)
Wherein, p is number of pole-pairs；
It is described to input power factor average value be observed including：Calculate input voltage space vector uiWith input current space
The phase difference of vectorObtain input power factor average valueWherein uiPass through the three of three level direct matrix transform devices
Phase input voltage is obtained by vector.
4. the TLDMC-PMSM system control methods according to claim 1 based on the stagnant ring of dynamic torque, which is characterized in that
The step S4 includes：
S41, stator magnetic linkage setting value and the error for the stator magnetic linkage amplitude observed are obtained by the first two-stage hysteresis comparator
To output Cψ, the reference rotation velocity of setting and permanent magnet synchronous motor actual rotor rotating speed are obtained into torque reference value through pi regulator,
The error of torque reference value and the electromagnetic torque observed is obtained into output C by dynamic hysteresis comparatorT, power factor is set
Definite value 0 and the input power factor average value observed pass through the second two-stage hysteresis comparator, are exported
S42, according to Cψ、CT、Suitable voltage vector is selected in the Direct Torque Control switch list inquiry of formulation, obtains three electricity
The straight switching signal for connecing matrix converter realizes system control.
5. the TLDMC-PMSM system control methods according to claim 4 based on the stagnant ring of dynamic torque, which is characterized in that
The dynamic hysteresis comparator includes in parallel multiple and different hysteresis comparators, according to the error of comparison stator magnetic linkage amplitude with
The size of the lower limit of the magnetic linkage imbalance of setting selects suitable hysteresis comparator.
6. the TLDMC-PMSM system control methods according to claim 5 based on the stagnant ring of dynamic torque, which is characterized in that
The dynamic hysteresis comparator includes the Pyatyi hysteresis comparator and level Four hysteresis comparator of parallel connection.
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