CN111064417A - Direct torque control method based on switch meter - Google Patents

Direct torque control method based on switch meter Download PDF

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CN111064417A
CN111064417A CN202010000352.2A CN202010000352A CN111064417A CN 111064417 A CN111064417 A CN 111064417A CN 202010000352 A CN202010000352 A CN 202010000352A CN 111064417 A CN111064417 A CN 111064417A
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torque
reactive
flux linkage
stator
sector
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CN111064417B (en
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卢子广
刘朦
林靖宇
杨帅帅
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Guangxi University
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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention provides a direct torque control method based on a switch meter, which comprises signal acquisition, flux linkage observation, standard torque and reactive torque observation, a rotating speed and stator flux linkage PI controller, a standard torque and reactive torque regulator, sector division and switch meter selection. The invention provides a new state variable reactive torque, which corresponds to a reactive component of an electromagnetic torque along a magnetic flux direction, corresponds to reactive power, and is a dual component of the torque, and is a standardized torque, namely, a quantity obtained after the electromagnetic torque coefficient is normalized and the reactive torque have the same time scale and dimension, and the dynamic characteristics of the torque and a flux linkage can be completely described through the standardized torque and the reactive torque; the torque regulation signal and the stator flux linkage regulation signal in the traditional switch meter are replaced by the standardized torque regulation signal and the reactive torque regulation signal, and the corresponding voltage vector is applied in the stator flux linkage sector, so that the direct control of the torque and the reactive torque can be realized, and the decoupling control of the flux linkage and the torque can be realized.

Description

Direct torque control method based on switch meter
Technical Field
The invention relates to the technical field of motor control, in particular to a direct torque control method based on a switch meter.
Background
Direct Torque Control (DTC) variable frequency speed regulation is a novel high-efficiency variable frequency speed regulation technology after a vector Control technology. The Direct Torque Control (DTC) technology is a control mode with simple structure, less parameter dependence and quick torque response.
In the middle of the 80's of the 20 th century, the professor m.depenbrock at the german luer university and the professor i.takahashi in japan proposed a hexagonal direct torque control scheme and a circular direct torque control scheme, respectively.
The traditional direct torque control adopts a switch table to select a voltage vector applied to a motor, and because the stator flux linkage rotary motion is directly controlled by the stator voltage vector, the direct torque control can be realized in a static coordinate, the torque response is fast, the robustness to the motor parameter change is high, but when the motor runs at a low speed, the direct torque control performance is obviously reduced, the torque ripple is large, the total harmonic distortion of the stator flux linkage ripple and the stator current is caused, and the switching frequency is not fixed. Meanwhile, the DTC implements decoupled control of torque and flux linkage using a single space, a single parameter (stator resistance) and a single time scale, subject to the assumption that flux linkage is approximately constant. In addition, in the traditional direct torque control in the switching table mode, the sector judgment cannot effectively avoid trigonometric function operation and division operation, the execution process consumes more time, and the real-time performance of the whole algorithm is not facilitated.
Disclosure of Invention
The concept of reactive torque η is provided, and by taking the thought of amplitude-phase dynamics of a power electronic power system as reference, the torque and flux linkage dynamics characteristics are completely described through standardized torque tau and reactive torque η, the standardized torque tau corresponds to active power, the reactive torque η corresponds to reactive power, and the standardized torque tau and the reactive power have the same time scale and dimension.
The technical scheme of the invention is as follows: a direct torque control method based on a switch table, comprising the steps of:
s1), signal acquisition, and real-time acquisition of converter direct current side voltage UdcThree-phase stator current i of asynchronous motorsa(k)、isb(k)、isc(k) And a rotational speed ω (k);
s2) according to the converter drive signal Sa、Sb、ScAnd the DC side voltage U of the converterdcCalculating the three-phase stator voltage u of the asynchronous machinesa(k)、usb(k)、usc(k) The calculation formula is as follows:
Figure BDA0002352909170000021
s3), obtaining the voltage and the current under a αβ coordinate system through Clark change, and calculating the formula as follows:
Figure BDA0002352909170000022
Figure BDA0002352909170000023
s4), observing stator flux linkage under αβ coordinate system through voltage model according to stator current, voltage and stator resistance under αβ coordinate system, and estimating machine end virtual flux linkage through machine end voltage;
s5), observing a standardized torque and a reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and normalizing the coefficient;
reactive torque η is defined as the ratio of reactive power to angular frequency, calculated by the dot product of stator current and terminal virtual flux;
s6), rotating speed and stator flux PI control, and the rotating speed omega is controlled to be equal to the given rotating speed omega*After making differenceObtaining a normalized torque reference τ from the PI regulator output*Obtaining a reactive torque reference value η through a PI regulator after the difference is made between the stator flux and the stator flux observed value*；
S7), regulating the normalized torque and the reactive torque, and adjusting the normalized torque reference value tau output by the PI controller*And reactive torque reference η*Respectively subtracting the observed values of the normalized torque tau and the reactive torque η to obtain error information △ tau and △η, and respectively obtaining a normalized torque regulation signal tau according to the error information △ tau and △ηQAnd reactive torque regulation signal ηQ；
S8), sector division, dividing the sector into 6 areas according to αβ component psi of stator flux linkagesα、ψsβDetermining the sector where the vector is positioned according to the space vector angle of the vector;
s9), selecting a switch table, and adjusting the signal tau according to the normalized torqueQReactive torque regulation signal ηQAnd sector information, there are a total of 36 different switch states that can be selected;
s10), driving the selected switch with signal Sa、Sb、ScAnd driving a switching tube of the inverter to realize the control of the inverter on the motor.
Preferably, in the above method, in step S1), the voltage sensor is used to obtain the dc-side voltage U of the converterdcCollecting three-phase abc current measured values i at end points of induction motor in real time by using current sensorssa(k)、isb(k)、isc(k) (ii) a And an encoder is used to obtain the asynchronous motor speed omega (k).
Preferably, in the above method, in step S4), the stator flux linkage observation is specifically as follows:
Figure BDA0002352909170000031
in the formula, RsIs stator resistance, #sα、ψsβRespectively the components of stator flux linkage in αβ coordinate system
Figure BDA0002352909170000032
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
Figure BDA0002352909170000033
Figure BDA0002352909170000034
the computer-end virtual flux linkage calculation formula is as follows:
Figure BDA0002352909170000035
wherein psivα、ψvβAs a virtual flux linkage vector
Figure BDA0002352909170000036
At αβ the components of the coordinate system, j is the imaginary sign.
Preferably, in the above method, in step S5), the normalized torque τ and the reactive torque η are calculated by the following formula:
Figure BDA0002352909170000037
Figure BDA0002352909170000038
in the formula (I), the compound is shown in the specification,
Figure BDA0002352909170000039
ψsα、ψsβthe stator flux linkage vector and the component of the stator flux linkage in αβ coordinate system,
Figure BDA00023529091700000310
ψvα、ψvβthe virtual flux linkage vector and the component of the virtual flux linkage in αβ coordinate system,
Figure BDA00023529091700000311
isβ、isαthe stator current vector and the component of the stator current in αβ coordinate system are respectively;
preferably, in the method, in step S7), the normalized torque adjustment signal τ isQAnd reactive torque regulation signal ηQIs calculated as follows:
△τ＝τ*-τ；
△η＝η*-η；
Figure BDA0002352909170000041
Figure BDA0002352909170000042
in the formula, τ*For normalizing the torque reference value, η*For the reactive torque reference, τ is the normalized torque, η is the reactive torque, △ τ and △η are the errors of the normalized torque and reactive torque reference, respectively, from the observed values, ετTo standardize the torque tolerance limits,. epsilonηIs the reactive torque tolerance limit.
Preferably, in the above method, in step S8), the 6 sector areas are divided as follows:
if psisα≥0，
Figure BDA0002352909170000043
Arbitrary psisβThen sector 1;
Figure BDA0002352909170000044
sector 2;
Figure BDA0002352909170000045
sector 6;
if psisα<0，
Figure BDA0002352909170000046
Arbitrary psisβSector 4;
Figure BDA0002352909170000047
sector 3;
Figure BDA0002352909170000048
then sector 5.
Preferably, in the above method, in step S9), the switch table is as follows:
Figure BDA0002352909170000051
the invention has the beneficial effects that:
1. the invention provides a new state variable, namely reactive torque, which corresponds to a reactive component of electromagnetic torque along a magnetic flux direction (radial direction), corresponds to reactive power, and is a dual quantity of the torque, standardized torque (namely a quantity obtained after electromagnetic torque coefficient normalization) and reactive torque have the same time scale and dimension, and the dynamic characteristics of the torque and flux linkage can be completely described through the standardized torque and the reactive torque;
2. according to the invention, a slowly-changing rotating speed and flux linkage regulator is arranged in an outer ring PI (proportional integral) control mode, a torque regulation signal and a stator flux linkage regulation signal in a traditional DTC (digital control time series) switch meter are replaced by a standard torque regulation signal and a reactive torque regulation signal with the same time scale, and corresponding voltage vectors are applied to six subareas of a stator flux linkage, so that the direct control of the torque and the reactive torque can be realized, and the decoupling control of the flux linkage and the torque can be realized.
Drawings
FIG. 1 is a flow chart of a control method of the present invention.
FIG. 2 is a structural block diagram of the control method of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
as shown in figures 1 and 2, the invention provides a concept of reactive torque η, and by taking the thought of the amplitude-phase dynamics of a power electronic power system as reference, the torque and flux linkage dynamics characteristics are completely described through a standardized torque tau and a reactive torque η, wherein the standardized torque tau corresponds to active power, the reactive torque η corresponds to reactive power, and the standardized torque tau and the reactive power have the same time scale and dimension.
The method specifically comprises the following steps:
s1), signal acquisition, and real-time acquisition of converter direct current side voltage UdcThree-phase stator current i of asynchronous motorsa(k)、isb(k)、isc(k) And a rotational speed ω (k).
Wherein, a voltage sensor is used for acquiring a DC side voltage value U of the converterdcCollecting three-phase abc current measured values i at end points of induction motor in real time by using current sensorssa(k)、isb(k)、isc(k) (ii) a And an encoder is used to obtain the asynchronous motor speed omega (k).
S2) according to the converter drive signal Sa、Sb、ScAnd the DC side voltage U of the converterdcCalculating the three-phase stator voltage u of the asynchronous machinesa(k)、usb(k)、usc(k) The calculation formula is as follows:
Figure BDA0002352909170000061
s3), obtaining the voltage and the current under a αβ coordinate system through Clark change, and calculating the formula as follows:
Figure BDA0002352909170000062
Figure BDA0002352909170000063
s4), observing stator flux linkage under αβ coordinate system through voltage model according to stator current, voltage and stator resistance under αβ coordinate system, and estimating machine end virtual flux linkage through machine end voltage;
the stator flux linkage observation is specifically as follows:
Figure BDA0002352909170000071
in the formula, RsIs stator resistance, #sα、ψsβThe components of the stator flux linkage in αβ coordinate system respectively;
according to stator flux linkage vector
Figure BDA0002352909170000072
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
Figure BDA0002352909170000073
Figure BDA0002352909170000074
the computer-end virtual flux linkage calculation formula is as follows:
Figure BDA0002352909170000075
wherein psivα、ψvβAs a virtual flux linkage vector
Figure BDA0002352909170000076
At αβ the components of the coordinate system, j is the imaginary sign.
S5), observing a standardized torque and a reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and normalizing the coefficient;
reactive torque η is defined as the ratio of reactive power to angular frequency, calculated by the dot product of stator current and terminal virtual flux;
the normalized torque τ and reactive torque η are calculated as:
Figure BDA0002352909170000077
Figure BDA0002352909170000078
in the formula (I), the compound is shown in the specification,
Figure BDA0002352909170000079
ψsα、ψsβthe stator flux linkage vector and the component of the stator flux linkage in αβ coordinate system,
Figure BDA00023529091700000710
ψvα、ψvβthe virtual flux linkage vector and the component of the virtual flux linkage in αβ coordinate system,
Figure BDA00023529091700000711
isβ、isαthe stator current vector and the component of the stator current in αβ coordinate system are respectively.
S6), rotating speed and stator flux PI control, and the rotating speed omega is controlled to be equal to the given rotating speed omega*Obtaining a standard torque reference value tau through the output of a PI regulator after difference making*Obtaining a reactive torque reference value η through a PI regulator after the difference is made between the stator flux and the stator flux observed value*；
S7), regulating the normalized torque and the reactive torque, and adjusting the normalized torque reference value tau output by the PI controller*And reactive torque reference η*Respectively, from the observations of the normalized torque tau and the reactive torque ηTo the error information △ τ and △η, normalized torque adjustment signals τ are derived from error information △ τ and △η, respectivelyQAnd reactive torque regulation signal ηQ；
Wherein the normalized torque adjustment signal τQAnd reactive torque regulation signal ηQIs calculated as follows:
△τ＝τ*-τ；
△η＝η*-η；
Figure BDA0002352909170000081
Figure BDA0002352909170000082
in the formula, τ*For normalizing the torque reference value, η*For the reactive torque reference, τ is the normalized torque, η is the reactive torque, △ τ and △η are the errors of the normalized torque and reactive torque reference, respectively, from the observed values, ετTo standardize the torque tolerance limits,. epsilonηIs the reactive torque tolerance limit.
S8), sector division, dividing the sector into 6 areas according to αβ component psi of stator flux linkagesα、ψsβDetermining the sector where the vector is positioned according to the space vector angle of the vector; the 6 sector areas are divided as follows:
if psisα≥0，
Figure BDA0002352909170000083
Arbitrary psisβThen sector 1;
Figure BDA0002352909170000084
sector 2;
Figure BDA0002352909170000085
sector 6;
if psisα<0，
Figure BDA0002352909170000086
Arbitrary psisβSector 4;
Figure BDA0002352909170000087
sector 3;
Figure BDA0002352909170000091
then sector 5.
S9), selecting a switch table, and adjusting the signal tau according to the normalized torqueQReactive torque regulation signal ηQFast switching corresponding to sector information selection, wherein 36 different switch states can be selected in total; specifically, as shown in table 1:
TABLE 1 switching watch
Figure BDA0002352909170000092
S10), driving the selected switch with signal Sa、Sb、ScAnd driving a switching tube of the inverter to realize the control of the inverter on the motor.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.

Claims (9)

1. A direct torque control method based on a switch table is characterized by specifically comprising the following steps of:
s1), signal acquisition, and real-time acquisition of converter direct current side voltage UdcThree-phase stator current i of asynchronous motorsa(k)、isb(k)、isc(k) And a rotational speed ω (k);
s2) according to the converter drive signal Sa、Sb、ScAnd the DC side voltage U of the converterdcCalculating the three-phase stator voltage u of the asynchronous machinesa(k)、usb(k)、usc(k)；
S3), obtaining the voltage u under αβ coordinate system through Clark changesα(k)、usβ(k) And current isα(k)、isβ(k)；
S4), observing stator flux linkage under αβ coordinate system through voltage model according to stator current, voltage and stator resistance under αβ coordinate system, and estimating machine end virtual flux linkage through machine end voltage;
s5), observing a standardized torque and a reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and normalizing the coefficient;
reactive torque η is defined as the ratio of reactive power to angular frequency, calculated by the dot product of stator current and terminal virtual flux;
s6), rotating speed and stator flux PI control, and the rotating speed omega is controlled to be equal to the given rotating speed omega*Obtaining a standard torque reference value tau through the output of a PI regulator after difference making*Obtaining a reactive torque reference value η through a PI regulator after the difference is made between the stator flux and the stator flux observed value*；
S7), regulating the normalized torque and the reactive torque, and adjusting the normalized torque reference value tau output by the PI controller*And reactive torque reference η*Respectively subtracting the observed values of the normalized torque tau and the reactive torque η to obtain error information △ tau and △η, and respectively obtaining a normalized torque regulation signal tau according to the error information △ tau and △ηQAnd reactive torque regulation signal ηQ；
S8), sector division, dividing the sector into six regions, and dividing the six regions according to αβ component psi of stator flux linkagesα、ψsβDetermining the sector where the vector is positioned according to the space vector angle of the vector;
s9), selecting a switch table, and adjusting the signal tau according to the normalized torqueQReactive torque regulation signal ηQSelecting a corresponding switch signal according to the sector information;
s10), will be instituteSelected switch drive signal Sa、Sb、ScAnd driving a switching tube of the inverter to realize the control of the inverter on the motor.
2. A direct torque control method based on a switch table according to claim 1, characterized in that: step S1), the voltage sensor is used for obtaining the direct current side voltage value U of the converterdcCollecting three-phase abc current measured values i at end points of induction motor in real time by using current sensorssa(k)、isb(k)、isc(k) (ii) a And an encoder is used to obtain the asynchronous motor speed omega (k).
3. A direct torque control method based on a switch table according to claim 1, characterized in that: in step S2), the three-phase stator voltage u of the asynchronous machinesa(k)、usb(k)、usc(k) The calculation formula of (a) is as follows:
Figure FDA0002352909160000021
。
4. a direct torque control method based on a switch table according to claim 1, characterized in that: in step S3), the voltage u issα(k)、usβ(k) And current isα(k)、isβ(k) The calculation formula is as follows:
Figure FDA0002352909160000022
Figure FDA0002352909160000023
5. a direct torque control method based on a switch table according to claim 1, characterized in that: in step S4), the stator flux linkage observation is specifically as follows:
Figure FDA0002352909160000024
in the formula, RsIs stator resistance, #sα、ψsβThe components of the stator flux linkage in αβ coordinate system respectively;
according to stator flux linkage vector
Figure FDA0002352909160000025
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
Figure FDA0002352909160000026
Figure FDA0002352909160000027
the computer-end virtual flux linkage calculation formula is as follows:
Figure FDA0002352909160000031
wherein psivα、ψvβAs a virtual flux linkage vector
Figure FDA0002352909160000032
At αβ the components of the coordinate system, j is the imaginary sign.
6. The direct torque control method based on the switch table as claimed in claim 1, wherein in step S5), the normalized torque τ and the reactive torque η are calculated by the following formula:
Figure FDA0002352909160000033
Figure FDA0002352909160000034
in the formula (I), the compound is shown in the specification,
Figure FDA0002352909160000035
ψsα、ψsβthe stator flux linkage vector and the component of the stator flux linkage in αβ coordinate system,
Figure FDA0002352909160000036
ψvα、ψvβthe virtual flux linkage vector and the component of the virtual flux linkage in αβ coordinate system,
Figure FDA0002352909160000037
isβ、isαthe stator current vector and the component of the stator current in αβ coordinate system are respectively.
7. A direct torque control method based on a switch table according to claim 1, characterized in that: in step S7), the normalized torque adjustment signal τ is obtainedQAnd reactive torque regulation signal ηQIs calculated as follows:
△τ＝τ*-τ；
△η＝η*-η；
Figure FDA0002352909160000038
Figure FDA0002352909160000039
in the formula, τ*For normalizing the torque reference value, η*For the reactive torque reference, τ is the normalized torque, η is the reactive torque, △ τ and △η are the errors of the normalized torque and reactive torque reference, respectively, from the observed values, ετTo standardize the torque tolerance limits,. epsilonηIs the reactive torque tolerance limit.
8. A direct torque control method based on a switch table according to claim 1, characterized in that: step S8), the sector is divided into 6 areas, and the 6 sector areas are divided as follows:
if psisα≥0，
Figure FDA0002352909160000041
Arbitrary psisβThen sector 1;
Figure FDA0002352909160000042
sector 2;
Figure FDA0002352909160000043
sector 6;
if psisα<0，
Figure FDA0002352909160000044
Arbitrary psisβSector 4;
Figure FDA0002352909160000045
sector 3;
Figure FDA0002352909160000046
then sector 5.
9. A direct torque control method based on a switch table according to claim 1, characterized in that: in step S9), the switching table is as follows:
Figure FDA0002352909160000047
there are a total of 36 different switch states that can be selected.
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