CN111064417B - Direct torque control method based on switch table - Google Patents
Direct torque control method based on switch table Download PDFInfo
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- CN111064417B CN111064417B CN202010000352.2A CN202010000352A CN111064417B CN 111064417 B CN111064417 B CN 111064417B CN 202010000352 A CN202010000352 A CN 202010000352A CN 111064417 B CN111064417 B CN 111064417B
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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
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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 invention provides a direct torque control method based on a switching table, which comprises signal acquisition, flux linkage observation, standardized torque and reactive torque observation, a rotating speed and stator flux linkage PI controller, a standardized torque and reactive torque regulator, sector division and switching table selection. The invention provides a new state variable reactive torque, which corresponds to reactive action components of electromagnetic torque along the magnetic flux direction, corresponds to reactive power, is dual quantity of torque, and is standardized torque, namely the quantity obtained after the normalization of electromagnetic torque coefficient and reactive torque have the same time scale and dimension, and the dynamic characteristics of torque and magnetic linkage can be completely described through the standardized torque and reactive torque; the torque adjusting signal and the stator flux adjusting signal in the traditional switch meter are replaced by the standardized torque adjusting signal and the reactive torque adjusting signal, corresponding voltage vectors are applied in the stator flux sector, direct control of the torque and the reactive torque can be achieved, and decoupling control of the flux and the torque is achieved.
Description
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 (Direct Torque Control, DTC) variable frequency speed regulation is a novel efficient variable frequency speed regulation technology subsequent to vector control technology. The Direct Torque Control (DTC) technology is a control mode with simple structure, less parameter dependence and quick torque response.
The professor m.depenblock, germany Lu Erda, and the professor i.takahashi, japan, in the middle of the 80 s of the 20 th century, propose a hexagonal direct torque control scheme and a circular direct torque control scheme, respectively.
The traditional direct torque control adopts a switching meter to select a voltage vector applied to the motor, and as 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 the direct torque control performance is obviously reduced when the motor runs at a low speed, the torque ripple is larger, the stator flux linkage ripple and the stator current total harmonic distortion are caused, and the switching frequency is not fixed. Meanwhile, DTCs achieve decoupling control of torque and flux linkage with a single space, a single parameter (stator resistance) and a single time scale, limited by the assumption that flux linkage is approximately constant. In addition, the traditional switch table mode direct torque control can not effectively avoid trigonometric function operation and division operation due to sector judgment, so that the execution process is more time-consuming and is unfavorable for the instantaneity of the whole algorithm.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a direct torque control method based on a switching table. The concept of reactive torque eta is provided, the concept of amplitude-phase dynamics of a power electronic power system is used for reference, the torque and flux linkage dynamics characteristics are completely described through normalized torque tau and reactive torque eta, the normalized torque tau corresponds to active power, the reactive torque eta corresponds to reactive power, and the normalized torque tau and the reactive torque eta have the same time scale and dimension. The rotating speed and flux linkage regulator with slow time scale is arranged in the outer ring PI control, the torque regulating signal and the stator flux linkage regulating signal in the traditional DTC switch meter are replaced by the standardized torque regulating signal and the reactive torque regulating signal with fast time scale, corresponding voltage vectors are applied in six sections of the stator flux linkage, direct control of torque and reactive torque can be realized, and multi-time scale layered control and decoupling control of flux linkage and torque are realized.
The technical scheme of the invention is as follows: a direct torque control method based on a switching table comprises the following steps:
s1), signal acquisition, and real-time acquisition of direct-current side voltage U of converter dc Three-phase stator current i of asynchronous motor sa (k)、i sb (k)、i sc (k) And rotational speed ω (k);
s2), according to the converterDrive signal S a 、S b 、S c And the DC side voltage U of the converter dc Calculating three-phase stator voltage u of asynchronous motor sa (k)、u sb (k)、u sc (k) The calculation formula is as follows:
s3), obtaining voltage and current under an alpha beta coordinate system through Clark change, wherein a calculation formula is as follows:
s4) observing the stator flux linkage, namely observing the stator flux linkage in the alpha beta coordinate system through a voltage model according to the stator current, the voltage and the stator resistance in the alpha beta coordinate system, and estimating a machine-side virtual flux linkage through the machine-side voltage;
s5), observing the standardized torque and the reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and carrying out coefficient normalization processing;
the reactive torque eta is defined as the ratio of reactive power to angular frequency and is calculated by the dot product of stator current and the virtual flux linkage at the machine end;
s6), controlling the rotating speed and the stator flux linkage PI, and enabling the rotating speed omega to be equal to the given rotating speed omega * After the difference is made, a standardized torque reference value tau is obtained through the output of a PI regulator * The reactive torque reference value eta is obtained through the PI regulator after the given stator flux linkage and the stator flux linkage observed value are differenced * ；
S7), regulating the standardized torque and reactive torque, and outputting a standardized torque reference value tau by the PI controller * And reactive torque reference value eta * Difference with the observed values of the standardized torque tau and the reactive torque eta to obtain error information delta tauAnd Deltaeta, and obtaining normalized torque regulating signals tau according to error information Deltatau and Deltaeta respectively Q And reactive torque adjustment signal eta Q ；
S8), sector division, namely dividing the sectors into 6 areas according to alpha beta component psi of stator flux linkage sα 、ψ sβ And determining the sector where the space vector angle is located;
s9), selecting a switch table, and adjusting the signal tau according to the standardized torque Q Reactive torque control signal eta Q And sector information, a total of 36 different switch states being selectable;
s10), driving the selected switch to S a 、S b 、S c And driving an inverter switching tube to realize the control of the inverter on the motor.
Preferably, in the above method, in step S1), the dc side voltage value U of the converter is obtained using a voltage sensor dc Acquiring abc three-phase current measurement i at induction motor end point in real time using current sensor sa (k)、i sb (k)、i sc (k) The method comprises the steps of carrying out a first treatment on the surface of the And the rotation speed omega (k) of the asynchronous motor is obtained by using an encoder.
Preferably, in the above method, in step S4), the stator flux linkage observation is specifically as follows:
wherein R is s Is stator resistance, ψ sα 、ψ sβ The components of the stator flux linkage in an alpha beta coordinate system are respectively; according to stator flux linkage vectors
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
the calculation formula of the virtual flux linkage at the machine end is as follows:
wherein, psi is vα 、ψ vβ Is a virtual flux linkage vector
In the αβ coordinate system, j is an imaginary symbol.
Preferably, in the above method, in step S5), the normalized torque τ and reactive torque η are calculated as follows:
in the method, in the process of the invention,
ψ sα 、ψ sβ the components of the stator flux linkage vector and the stator flux linkage in an alpha beta coordinate system are respectively +.>
ψ vα 、ψ vβ The virtual flux linkage vector and the component of the virtual flux linkage in the alpha beta coordinate system are respectively +.>
i sβ 、i sα The components of the stator current vector and the stator current in an alpha beta coordinate system are respectively;
preferably, in the above method, in step S7), the normalized torque adjustment signal τ Q And reactive torqueAdjusting signal eta Q The formula of (2) is as follows:
△τ＝τ * -τ；
△η＝η * -η；
wherein τ * For standardizing the torque reference value eta * For the reactive torque reference value, τ is the standardized torque, η is the reactive torque, and Δτ and Δη are the standardized torque and the error between the reactive torque reference value and the observed value, ε, respectively τ To normalize torque tolerance limits ε η Is a reactive torque tolerance limit.
Preferably, in the above method, in step S8), 6 sector areas are divided as follows:
if psi is sα ≥0，
if psi is sα <0，
Preferably, in the above method, in step S9), the switching table is as follows:
the beneficial effects of the invention are as follows:
1. the invention provides a new state variable, namely reactive torque, which corresponds to reactive action components of electromagnetic torque along the magnetic flux direction (radial direction), corresponds to reactive power, is the dual quantity of the torque, has the same time scale and dimension as standardized torque (namely the quantity obtained by normalizing electromagnetic torque coefficients), and can completely describe the dynamics characteristics of the torque and the flux linkage through the standardized torque and the reactive torque;
2. according to the invention, the slowly-changed rotating speed and flux linkage regulator is arranged in the outer ring PI control, the torque regulating signal and the stator flux linkage regulating signal in the traditional DTC switch meter are replaced by the standardized torque regulating signal and the reactive torque regulating signal with the same time scale, and corresponding voltage vectors are applied in six sections of the 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 is realized.
Drawings
FIG. 1 is a flow chart of a control method of the present invention.
Fig. 2 is a structural frame diagram of the control method of the present invention.
Detailed Description
The following is a further description of embodiments of the invention, taken in conjunction with the accompanying drawings:
as shown in fig. 1 and fig. 2, the invention provides a direct torque control method based on a switching table, which provides a concept of reactive torque eta, and fully describes torque and flux linkage dynamics through standardized torque tau and reactive torque eta by referring to the thought of amplitude-phase dynamics of a power electronic power system, wherein the standardized torque tau corresponds to active power, the reactive torque eta corresponds to reactive power, and the standardized torque tau and the reactive torque eta have the same time scale and dimension. The rotating speed and flux linkage regulator with slow time scale is arranged in the outer ring PI control, the torque regulating signal and the stator flux linkage regulating signal in the traditional DTC switch meter are replaced by the standardized torque regulating signal and the reactive torque regulating signal with fast time scale, corresponding voltage vectors are applied in six sections of the stator flux linkage, direct control of torque and reactive torque can be realized, and multi-time scale layered control and decoupling control of flux linkage and torque are realized.
The method specifically comprises the following steps:
s1), signal acquisition, and real-time acquisition of direct-current side voltage U of converter dc Three-phase stator current i of asynchronous motor sa (k)、i sb (k)、i sc (k) And a rotational speed ω (k).
Wherein, a voltage sensor is used for obtaining a voltage value U at the direct current side of the converter dc Acquiring abc three-phase current measurement i at induction motor end point in real time using current sensor sa (k)、i sb (k)、i sc (k) The method comprises the steps of carrying out a first treatment on the surface of the And the rotation speed omega (k) of the asynchronous motor is obtained by using an encoder.
S2) according to the driving signal S of the converter a 、S b 、S c And the DC side voltage U of the converter dc Calculating three-phase stator voltage u of asynchronous motor sa (k)、u sb (k)、u sc (k) The calculation formula is as follows:
s3), obtaining voltage and current under an alpha beta coordinate system through Clark change, wherein a calculation formula is as follows:
s4) observing the stator flux linkage, namely observing the stator flux linkage in the alpha beta coordinate system through a voltage model according to the stator current, the voltage and the stator resistance in the alpha beta coordinate system, and estimating a machine-side virtual flux linkage through the machine-side voltage;
the stator flux linkage observation is specifically as follows:
wherein R is s Is stator resistance, ψ sα 、ψ sβ The components of the stator flux linkage in an alpha beta coordinate system are respectively;
according to stator flux linkage vectors
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
the calculation formula of the virtual flux linkage at the machine end is as follows:
wherein, psi is vα 、ψ vβ Is a virtual flux linkage vector
In the αβ coordinate system, j is an imaginary symbol.
S5), observing the standardized torque and the reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and carrying out coefficient normalization processing;
the reactive torque eta is defined as the ratio of reactive power to angular frequency and is calculated by the dot product of stator current and the virtual flux linkage at the machine end;
the calculation formulas of the standardized torque tau and the reactive torque eta are as follows:
in the method, in the process of the invention,
ψ sα 、ψ sβ the components of the stator flux linkage vector and the stator flux linkage in an alpha beta coordinate system are respectively +.>
ψ vα 、ψ vβ The virtual flux linkage vector and the component of the virtual flux linkage in the alpha beta coordinate system are respectively +.>
i sβ 、i sα The components of the stator current vector and the stator current in an alpha beta coordinate system are respectively shown.
S6), controlling the rotating speed and the stator flux linkage PI, and enabling the rotating speed omega to be equal to the given rotating speed omega * After the difference is made, a standardized torque reference value tau is obtained through the output of a PI regulator * The reactive torque reference value eta is obtained through the PI regulator after the given stator flux linkage and the stator flux linkage observed value are differenced * ；
S7), regulating the standardized torque and reactive torque, and outputting a standardized torque reference value tau by the PI controller * And reactive torque reference value eta * Respectively with normalized torque tau and reactive powerThe observed value of the torque eta is differenced to obtain error information delta tau and delta eta, and a standardized torque regulating signal tau is respectively obtained according to the error information delta tau and delta eta Q And reactive torque adjustment signal eta Q ；
Wherein the normalized torque adjustment signal τ Q And reactive torque adjustment signal eta Q The formula of (2) is as follows:
△τ＝τ * -τ；
△η＝η * -η；
wherein τ * For standardizing the torque reference value eta * For the reactive torque reference value, τ is the standardized torque, η is the reactive torque, and Δτ and Δη are the standardized torque and the error between the reactive torque reference value and the observed value, ε, respectively τ To normalize torque tolerance limits ε η Is a reactive torque tolerance limit.
S8), sector division, namely dividing the sectors into 6 areas according to alpha beta component psi of stator flux linkage sα 、ψ sβ And determining the sector where the space vector angle is located; the 6 sector areas are divided as follows:
if psi is sα ≥0，
if psi is sα <0，
S9), selecting a switch table, and adjusting the signal tau according to the standardized torque Q Reactive torque control signal eta Q Corresponding quick-closing with sector information selection, wherein 36 different switch states can be selected in total; specifically as shown in table 1:
table 1 switch table
S10), driving the selected switch to S a 、S b 、S c And driving an inverter switching tube to realize the control of the inverter on the motor.
The foregoing embodiments and description have been provided merely to illustrate the principles and best modes of carrying out the invention, and various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The direct torque control method based on the switching table is characterized by comprising the following steps of:
s1), signal acquisition, and real-time acquisition of direct-current side voltage U of converter dc Three-phase stator current i of asynchronous motor sa (k)、i sb (k)、i sc (k) And rotational speed ω (k);
s2) according to the driving signal S of the converter a 、S b 、S c And the DC side voltage U of the converter dc Calculating three-phase stator voltage u of asynchronous motor sa (k)、u sb (k)、u sc (k)；
S3) obtaining the voltage u under the alpha beta coordinate system through Clark change sα (k)、u sβ (k) And current i sα (k)、i sβ (k)；
S4) observing the stator flux linkage, namely observing the stator flux linkage in the alpha beta coordinate system through a voltage model according to the stator current, the voltage and the stator resistance in the alpha beta coordinate system, and estimating a machine-side virtual flux linkage through the machine-side voltage;
s5), observing the standardized torque and the reactive torque, calculating the standardized torque tau through the cross product of the stator current and the stator flux linkage, and carrying out coefficient normalization processing;
the reactive torque eta is defined as the ratio of reactive power to angular frequency and is calculated by the dot product of stator current and the virtual flux linkage at the machine end;
s6), controlling the rotating speed and the stator flux linkage PI, and enabling the rotating speed omega to be equal to the given rotating speed omega * After the difference is made, a standardized torque reference value tau is obtained through the output of a PI regulator * The reactive torque reference value eta is obtained through the PI regulator after the given stator flux linkage and the stator flux linkage observed value are differenced * ；
S7), regulating the standardized torque and reactive torque, and outputting a standardized torque reference value tau by the PI controller * And reactive torque reference value eta * The error information Deltaτ and Deltaη are obtained by making a difference with observed values of the normalized torque Deltaτ and the reactive torque Deltaη, and the normalized torque adjustment signal Deltaτ is obtained according to the error information Deltaτ and Deltaη, respectively Q And reactive torque adjustment signal eta Q ；
S8), dividing the sectors into six areas according to the alpha beta component psi of the stator flux linkage sα 、ψ sβ And determining the sector where the space vector angle is located;
s9), selecting a switch table according to the standardized torqueAdjusting signal τ Q Reactive torque control signal eta Q Selecting a corresponding switching signal with the sector information;
s10), driving the selected switch to S a 、S b 、S c And driving an inverter switching tube to realize the control of the inverter on the motor.
2. The direct torque control method based on a switching table according to claim 1, characterized in that: in step S1), a voltage sensor is used for obtaining a voltage value U at the direct current side of the converter dc Acquiring abc three-phase current measurement i at induction motor end point in real time using current sensor sa (k)、i sb (k)、i sc (k) The method comprises the steps of carrying out a first treatment on the surface of the And the rotation speed omega (k) of the asynchronous motor is obtained by using an encoder.
3. The direct torque control method based on a switching table according to claim 1, characterized in that: in step S2), the three-phase stator voltage u of the asynchronous motor sa (k)、u sb (k)、u sc (k) The calculation formula of (2) is as follows:
4. the direct torque control method based on a switching table according to claim 1, characterized in that: in step S3), the voltage u sα (k)、u sβ (k) And current i sα (k)、i sβ (k) The calculation formula is as follows:
5. the direct torque control method based on a switching table according to claim 1, characterized in that: in step S4), the stator flux linkage observation is specifically as follows:
wherein R is s Is stator resistance, ψ sα 、ψ sβ The components of the stator flux linkage in an alpha beta coordinate system are respectively;
according to stator flux linkage vectors
The amplitude and the orientation angle are calculated, and the calculation formula is as follows:
the calculation formula of the virtual flux linkage at the machine end is as follows:
wherein, psi is vα 、ψ vβ Is a virtual flux linkage vector
In the αβ coordinate system, j is an imaginary symbol.
6. The direct torque control method based on a switching table according to claim 1, characterized in that: in step S5), the normalized torque τ and reactive torque η are calculated as:
in the method, in the process of the invention,
ψ sα 、ψ sβ the components of the stator flux linkage vector and the stator flux linkage in an alpha beta coordinate system are respectively +.>
ψ vα 、ψ vβ The virtual flux linkage vector and the component of the virtual flux linkage in the alpha beta coordinate system are respectively +.>
i sβ 、i sα The components of the stator current vector and the stator current in an alpha beta coordinate system are respectively;
7. the direct torque control method based on a switching table according to claim 1, characterized in that: in step S7), the normalized torque adjustment signal τ Q And reactive torque adjustment signal eta Q The formula of (2) is as follows:
△τ＝τ * -τ；
△η＝η * -η；
wherein τ * For standardizing the torque reference value eta * For the reactive torque reference value, τ is the standardized torque, η is the reactive torque, and Δτ and Δη are the standardized torque and the error between the reactive torque reference value and the observed value, ε, respectively τ To normalize torque tolerance limits ε η Is a reactive torque tolerance limit.
8. The direct torque control method based on a switching table according to claim 1, characterized in that: in step S8), the sector is divided into 6 areas, and 6 of the sector areas are divided as follows:
if psi is sα ≥0，
if psi is sα <0，
9. The direct torque control method based on a switching table according to claim 1, characterized in that: in step S9), the switching table is as follows:
a total of 36 different switch states may be selected.
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