CN110224653B - Novel direct torque control method for three-phase asynchronous motor - Google Patents

Novel direct torque control method for three-phase asynchronous motor Download PDF

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CN110224653B
CN110224653B CN201910573135.XA CN201910573135A CN110224653B CN 110224653 B CN110224653 B CN 110224653B CN 201910573135 A CN201910573135 A CN 201910573135A CN 110224653 B CN110224653 B CN 110224653B
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motor
vector
stator
flux linkage
sampling moment
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CN110224653A (en
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吴旭
黄文新
林晓刚
李�根
朱山峰
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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]
    • 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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Abstract

The invention discloses a novel direct torque control method for a three-phase asynchronous motor, which comprises the steps of firstly predicting the state of the motor according to a motor mathematical model so as to make up for the problem of one-beat delay generated by a digital controller; then outputting the rotation angle of the stator flux linkage vector in a control period by a PI regulator according to the difference between the given torque and the actual torque of the motor, generating a reference stator flux linkage vector by combining the given stator flux linkage amplitude, and solving the reference voltage vector by using a motor stator voltage equation; and finally, determining candidate voltage vectors according to the phase angle of the reference voltage vector, and calculating the optimal duty ratio of the candidate voltage vectors, thereby determining the equivalent voltage vectors applied to the two ends of the motor winding. The control method has the advantages of simple operation, small calculated amount, low switching frequency and good robustness, and can effectively inhibit the torque ripple of the motor.

Description

Novel direct torque control method for three-phase asynchronous motor
Technical Field
The invention relates to a novel direct torque control method for a three-phase asynchronous motor, and belongs to the technical field of direct torque control of motors.
Background
The traditional direct torque control technology based on the table look-up method is widely applied to the field of alternating current speed regulation due to fast dynamic response, simple operation and low switching frequency, but the defect of large torque ripple limits further popularization of the technology to a certain extent, so that a great deal of research is done by many scientific researchers on how to reduce the torque ripple in the traditional direct torque control scheme based on the table look-up method, the typical method is to solve the duty ratio of a voltage vector by taking the minimum torque ripple in a single control period as a target, and the method is complex in calculation. In addition, the torque pulsation of the motor can be effectively reduced by adopting schemes such as model prediction direct torque control, dead beat direct torque control and the like, but a weight coefficient and a rolling optimization process exist in the model prediction direct torque control, system parameters are debugged fussy, and the calculated amount is large; the accuracy dependence of the dead beat direct torque control on a motor mathematical model is strong, the calculated amount is large, and the system robustness is poor. Therefore, the method for directly controlling the torque has the advantages of simple realization, small calculated amount, low switching frequency, good robustness and capability of effectively inhibiting the torque pulsation of the motor, and has very important engineering significance.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the novel direct torque control method for the three-phase asynchronous motor is capable of effectively inhibiting torque pulsation, and is simple to implement, small in calculated amount, low in switching frequency and good in robustness.
The invention adopts the following technical scheme for solving the technical problems:
a novel direct torque control method for a three-phase asynchronous motor comprises the following steps:
step 1, let k represent the current sampling moment, k +1 represent the next sampling moment, k +2 represent the next sampling moment, and so on; the interval from k to k +1 represents the current control period, the interval from k +1 to k +2 represents the next control period, and so on;
step 2, setting the rotation speed of the motor to be omega*Measuring the actual rotation speed omega of the motor by using an encoder to convert omega into*The difference with omega is output to a given torque through a proportional-integral regulator
Figure BDA00021113896100000228
Amplitude | psi of flux linkage taking rated flux linkage of motor stator as reference stators|*；
Step 3, estimating the stator flux linkage vector at the current sampling moment by adopting a full-order flux linkage observer
Figure BDA0002111389610000021
By using
Figure BDA0002111389610000022
Predicting motor stator current vector at next sampling moment
Figure BDA0002111389610000023
And stator flux linkage vector
Figure BDA0002111389610000024
Step 4, according to the current vector of the motor stator at the next sampling moment
Figure BDA0002111389610000025
And stator flux linkage vector
Figure BDA0002111389610000026
Predicting the output torque of the motor at the next sampling moment
Figure BDA00021113896100000230
Step 5, setting the given torque
Figure BDA00021113896100000229
And the next sampling moment of the output torque of the motor
Figure BDA00021113896100000231
The difference is output by a proportional-integral regulator to an angle delta theta that the stator flux linkage vector needs to rotate in the next control period, and a reference stator flux linkage vector is calculated
Figure BDA0002111389610000027
And reference voltage vector
Figure BDA0002111389610000028
Step 6, according to the reference voltage vector
Figure BDA0002111389610000029
Phase angle of
Figure BDA00021113896100000210
Determining candidate voltage vectors
Figure BDA00021113896100000211
The method comprises the following specific steps:
when in use
Figure BDA00021113896100000212
Or
Figure BDA00021113896100000213
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000214
when in use
Figure BDA00021113896100000215
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000216
when in use
Figure BDA00021113896100000217
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000218
when in use
Figure BDA00021113896100000219
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000220
when in use
Figure BDA00021113896100000221
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000222
when in use
Figure BDA00021113896100000223
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000224
wherein, UdcRepresenting the voltage across the inverter dc bus.
Step 7, calculating candidate voltage vector
Figure BDA00021113896100000225
Optimum duty cycle D to determine the equivalent voltage vector applied across the motor winding for the next control cycle
Figure BDA00021113896100000226
Figure BDA00021113896100000227
As a preferred embodiment of the present invention, the utilization in step 3
Figure BDA0002111389610000031
Predicting motor stator current vector at next sampling moment
Figure BDA0002111389610000032
And stator flux linkage vector
Figure BDA0002111389610000033
The concrete formula is as follows:
Figure BDA0002111389610000034
Figure BDA0002111389610000035
wherein the content of the first and second substances,
Figure BDA0002111389610000036
for the stator flux linkage vector at the current sampling instant,
Figure BDA0002111389610000037
Lmfor stator-rotor mutual inductance, LsFor stator self-inductance, LrFor rotor self-inductance, RsIs stator resistance, RrIs rotor resistance, TsFor the system control period, j is the complex operator.
As a preferable aspect of the present invention, in step 4, the motor output torque at the next sampling time is
Figure BDA00021113896100000320
The prediction formula is:
Figure BDA0002111389610000038
wherein the content of the first and second substances,
Figure BDA0002111389610000039
respectively represents the motor stator current vector and the stator flux linkage vector at the next sampling moment,
Figure BDA00021113896100000310
representing the cross product between the two vectors and p the number of pole pairs of the motor.
In a preferred embodiment of the present invention, the reference stator flux linkage vector in step 5
Figure BDA00021113896100000311
And reference voltage vector
Figure BDA00021113896100000312
The calculation formula is as follows:
Figure BDA00021113896100000313
Figure BDA00021113896100000314
wherein, | ψs|*To reference the stator flux linkage amplitude, delta theta is the angle that the stator flux linkage vector needs to rotate in the next control cycle,
Figure BDA00021113896100000315
respectively represent belowA motor stator current vector and a stator flux linkage vector at a sampling moment,
Figure BDA00021113896100000316
to represent
Figure BDA00021113896100000317
Phase angle of (D), RsIs stator resistance, TsFor the system control period, j is the complex operator.
As a preferred embodiment of the present invention, the candidate voltage vector of step 7
Figure BDA00021113896100000318
The optimal duty ratio D is calculated by the following formula:
Figure BDA00021113896100000319
wherein the content of the first and second substances,
Figure BDA0002111389610000041
indicates a reference voltage vector, <' > indicates a dot product, U, between two vectorsdcRepresenting the voltage across the inverter dc bus.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the PI regulator is adopted to control the rotation angle of the stator flux linkage vector in a single control period, the calculated amount is small, the dependence on the accuracy of a motor mathematical model is low, and the system robustness is good; the method has the advantages that the candidate voltage vectors are determined according to the reference voltage vector phase angle, the optimal duty ratio is calculated, and the equivalent voltage vectors applied to two ends of the motor winding in the next control period are determined.
Drawings
Fig. 1 is a sequential logic diagram employed in a digital implementation of a novel direct torque control method for a three-phase asynchronous machine of the present invention.
Fig. 2 is a control block diagram of a novel direct torque control method for a three-phase asynchronous motor according to the present invention.
FIG. 3 is a schematic diagram of a novel direct torque control method for a three-phase asynchronous machine according to the present invention
Figure BDA0002111389610000042
Determining candidate voltage vectors
Figure BDA0002111389610000043
Is illustrated in the drawings.
FIG. 4 is an optimization in a novel direct torque control method for a three-phase asynchronous machine according to the present invention
Figure BDA0002111389610000044
Schematic diagram of duty cycle D.
Fig. 5 is a waveform of output torque of the motor when the conventional lookup table method is used for direct torque control.
Fig. 6 is a waveform of output torque of a motor when a novel direct torque control method for a three-phase asynchronous motor according to the present invention is applied.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1, it is a sequential logic diagram adopted in the digital implementation of the novel direct torque control method for a three-phase asynchronous motor of the present invention, where k-1 represents the previous sampling time, k represents the current sampling time, k +1 represents the next sampling time, and so on; the interval from k-1 to k represents the previous control period, the interval from k to k +1 represents the current control period, and so on; at k, the control system adopts a full-order flux linkage observer to estimate the motor stator flux linkage vector at the current sampling moment
Figure BDA0002111389610000051
According to whenStator current vector at pre-sampling time
Figure BDA0002111389610000052
And the equivalent voltage vector applied across the motor winding for the current control cycle
Figure BDA0002111389610000053
Predicting the flux linkage vector of the motor stator at the next sampling moment, namely k +1
Figure BDA0002111389610000054
And output torque Te k+1。
As shown in fig. 2, a control block diagram of a novel direct torque control method for a three-phase asynchronous motor according to the present invention is illustrated, and the specific implementation process thereof is explained as follows:
process 1: estimating stator flux linkage vector at current sampling moment by adopting full-order flux linkage observer
Figure BDA0002111389610000055
And (2) a process: given motor speed omega*Measuring the actual rotation speed omega of the motor by using an encoder to convert omega into*The difference with omega is used to output a given torque through a proportional-integral (PI) regulator
Figure BDA00021113896100000526
Amplitude | psi of flux linkage taking rated flux linkage of motor stator as reference stators|*。
And 3, process: recording the stator flux linkage vector at the current sampling moment as
Figure BDA0002111389610000056
Predicting the current vector of the motor stator at the next sampling moment according to the formulas (1) and (2)
Figure BDA0002111389610000057
And a stator flux linkage vector.
Figure BDA0002111389610000058
Figure BDA0002111389610000059
And 4, process: predicting and predicting the output torque of the motor at the next sampling moment according to the formula (3)
Figure BDA00021113896100000525
Figure BDA00021113896100000510
And (5) a process: will be provided with
Figure BDA00021113896100000523
And
Figure BDA00021113896100000524
the difference is output by a proportional-integral (PI) regulator to obtain the angle delta theta of the stator flux linkage vector required to rotate in the next control period, and then the reference stator flux linkage vector is calculated according to a formula (4)
Figure BDA00021113896100000511
Calculating the reference stator voltage vector by the formula (5)
Figure BDA00021113896100000512
Figure BDA00021113896100000513
Figure BDA00021113896100000514
And 6, a process: identifying candidate voltage vectors
Figure BDA00021113896100000515
Note the book
Figure BDA00021113896100000516
Phase angle of
Figure BDA00021113896100000517
When in use
Figure BDA00021113896100000518
Or
Figure BDA00021113896100000519
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000520
when in use
Figure BDA00021113896100000521
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000522
when in use
Figure BDA0002111389610000061
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000062
when in use
Figure BDA0002111389610000063
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000064
when in use
Figure BDA0002111389610000065
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000066
when in use
Figure BDA0002111389610000067
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000068
Udcrepresenting the voltage across the inverter dc bus.
And (7) a process: according to the formula (6)
Figure BDA0002111389610000069
Optimum duty cycle D to determine the equivalent voltage vector applied across the motor winding for the next control cycle
Figure BDA00021113896100000610
At this time
Figure BDA00021113896100000611
An indicator indicates a dot product between two vectors.
Figure BDA00021113896100000612
As shown in fig. 3, is the basis of the novel direct torque control method for a three-phase asynchronous machine according to the invention
Figure BDA00021113896100000613
Determining candidate voltage vectors
Figure BDA00021113896100000614
Is illustrated in the drawings. To be provided with
Figure BDA00021113896100000615
Satisfies the conditions
Figure BDA00021113896100000616
Or
Figure BDA00021113896100000617
For example; current vector of voltage
Figure BDA00021113896100000618
Figure BDA00021113896100000619
Are respectively marked as u1、u2、u3、u4、u5、u6Then, then
Figure BDA00021113896100000620
Minimum value of
Figure BDA00021113896100000621
Minimum value of
Figure BDA00021113896100000622
Minimum value of
Figure BDA00021113896100000623
Minimum value of
Figure BDA00021113896100000624
Minimum value of
Figure BDA00021113896100000625
Minimum value of
Figure BDA00021113896100000626
Due to the fact that
Figure BDA00021113896100000627
At the same time less than
Figure BDA00021113896100000628
Thus when
Figure BDA00021113896100000629
Or
Figure BDA00021113896100000630
When it is taken
Figure BDA00021113896100000631
Can be paired in the same way
Figure BDA00021113896100000632
Similar deduction is carried out on other value ranges, and the following conclusion is finally obtained: when in use
Figure BDA00021113896100000633
Or
Figure BDA00021113896100000634
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000635
when in use
Figure BDA00021113896100000636
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000637
when in use
Figure BDA00021113896100000638
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000639
when in use
Figure BDA00021113896100000640
When the temperature of the water is higher than the set temperature,
Figure BDA00021113896100000641
when in use
Figure BDA0002111389610000071
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000072
when in use
Figure BDA0002111389610000073
When the temperature of the water is higher than the set temperature,
Figure BDA0002111389610000074
Udcrepresenting the voltage across the inverter dc bus.
As shown in fig. 4, is the calculation of the novel direct torque control method for a three-phase asynchronous motor of the present invention
Figure BDA0002111389610000075
Schematic diagram of the optimal duty cycle D. Note the book
Figure BDA0002111389610000076
The starting point is O, and the end point is A; note the book
Figure BDA0002111389610000077
The starting point is O, and the end point is B; note the book
Figure BDA0002111389610000078
The starting point is O, and the end point is C; when the value of D varies between 0 and 1, C will move on line OB, and if and only if AC is perpendicular to OB, AC will be shortest, at which time
Figure BDA0002111389610000079
A minimum value is also reached; according to the knowledge of the geometry, it is known that,
Figure BDA00021113896100000710
simple and available
Figure BDA00021113896100000711
Fig. 5 shows the output torque waveform of the motor when the conventional lookup table method is used for direct torque control, and it can be found that the torque ripple is large under no-load or loaded working conditions.
Fig. 6 shows the output torque waveform of the motor when the novel direct torque control method for the three-phase asynchronous motor is adopted, and the torque can be relatively stable under no-load or load working conditions.
As is apparent from the above description, according to a novel direct torque control method and embodied steps for a three-phase asynchronous motor, torque ripple can be effectively suppressed with a reduced amount of calculation and with a low switching frequency maintained. The invention provides a novel direct torque control method for a three-phase asynchronous motor, which is a simple and effective method for controlling the motion trail of a stator flux linkage vector through a PI regulator and calculating equivalent voltage vectors applied to two ends of a motor winding by adopting a duty ratio optimization algorithm.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention.

Claims (5)

1. A novel direct torque control method for a three-phase asynchronous motor is characterized by comprising the following steps:
step 1, let k represent the current sampling moment, k +1 represent the next sampling moment, k +2 represent the next sampling moment, and so on; the interval from k to k +1 represents the current control period, the interval from k +1 to k +2 represents the next control period, and so on;
step 2, setting the rotation speed of the motor to be omega*Measuring the actual rotation speed omega of the motor by using an encoder to convert omega into*The difference with omega is output to a given torque through a proportional-integral regulator
Figure FDA0002111389600000011
Amplitude | psi of flux linkage taking rated flux linkage of motor stator as reference stators|*；
Step 3, estimating the stator flux linkage vector at the current sampling moment by adopting a full-order flux linkage observer
Figure FDA0002111389600000012
By using
Figure FDA0002111389600000013
Predicting motor stator current vector at next sampling moment
Figure FDA0002111389600000014
And stator flux linkage vector
Figure FDA0002111389600000015
Step 4, according to the current vector of the motor stator at the next sampling moment
Figure FDA0002111389600000016
And stator flux linkage vector
Figure FDA0002111389600000017
Predicting the output torque of the motor at the next sampling moment
Figure FDA0002111389600000018
Step 5, setting the given torque
Figure FDA0002111389600000019
And the next sampling moment of the output torque of the motor
Figure FDA00021113896000000110
The difference is output by a proportional-integral regulator to an angle delta theta that the stator flux linkage vector needs to rotate in the next control period, and a reference stator flux linkage vector is calculated
Figure FDA00021113896000000111
And reference voltage vector
Figure FDA00021113896000000112
Step 6, according to the reference voltage vector
Figure FDA00021113896000000113
Phase angle of
Figure FDA00021113896000000114
Determining candidate voltage vectors
Figure FDA00021113896000000115
The method comprises the following specific steps:
when in use
Figure FDA00021113896000000116
Or
Figure FDA00021113896000000117
When the temperature of the water is higher than the set temperature,
Figure FDA00021113896000000118
when in use
Figure FDA00021113896000000119
When the temperature of the water is higher than the set temperature,
Figure FDA00021113896000000120
when in use
Figure FDA00021113896000000121
When the temperature of the water is higher than the set temperature,
Figure FDA00021113896000000122
when in use
Figure FDA00021113896000000123
When the temperature of the water is higher than the set temperature,
Figure FDA00021113896000000124
when in use
Figure FDA00021113896000000125
When the temperature of the water is higher than the set temperature,
Figure FDA00021113896000000126
when in use
Figure FDA0002111389600000021
When the temperature of the water is higher than the set temperature,
Figure FDA0002111389600000022
wherein, UdcRepresenting the voltage at two ends of the direct current bus of the inverter;
step 7, calculating candidate voltage vector
Figure FDA0002111389600000023
Optimum duty cycle D to determine the equivalent voltage vector applied across the motor winding for the next control cycle
Figure FDA0002111389600000024
Figure FDA0002111389600000025
2. The new direct torque control method for three-phase asynchronous machines according to claim 1, characterized in that said step 3 uses
Figure FDA0002111389600000026
Predicting motor stator current vector at next sampling moment
Figure FDA0002111389600000027
And stator flux linkage vector
Figure FDA0002111389600000028
The concrete formula is as follows:
Figure FDA0002111389600000029
Figure FDA00021113896000000210
wherein the content of the first and second substances,
Figure FDA00021113896000000211
for the stator flux linkage vector at the current sampling instant,
Figure FDA00021113896000000212
Lmfor stator-rotor mutual inductance, LsFor stator self-inductance, LrFor rotor self-inductance, RsIs stator resistance, RrIs rotor resistance, TsFor the system control period, j is the complex operator.
3. The new direct torque control method for three-phase asynchronous motor according to claim 1, characterized by step 4 that the motor output torque at the next sampling moment
Figure FDA00021113896000000213
The prediction formula is:
Figure FDA00021113896000000214
wherein the content of the first and second substances,
Figure FDA00021113896000000215
respectively represents the motor stator current vector and the stator flux linkage vector at the next sampling moment,
Figure FDA00021113896000000216
representing the cross product between the two vectors and p the number of pole pairs of the motor.
4. The new direct torque control method for three-phase asynchronous machines according to claim 1, characterized in that step 5 said reference stator flux linkage vector
Figure FDA00021113896000000217
And reference voltage vector
Figure FDA00021113896000000218
The calculation formula is as follows:
Figure FDA00021113896000000219
Figure FDA00021113896000000220
wherein, | ψs|*To reference the stator flux linkage amplitude, delta theta is the angle that the stator flux linkage vector needs to rotate in the next control cycle,
Figure FDA00021113896000000221
respectively represents the motor stator current vector and the stator flux linkage vector at the next sampling moment,
Figure FDA0002111389600000031
to represent
Figure FDA0002111389600000032
Phase angle of (D), RsIs stator resistance, TsFor the system control period, j is the complex operator.
5. The new direct torque control method for three-phase asynchronous machines according to claim 1, characterized in that step 7 said candidate voltage vector
Figure FDA0002111389600000033
The optimal duty ratio D is calculated by the following formula:
Figure FDA0002111389600000034
wherein the content of the first and second substances,
Figure FDA0002111389600000035
indicates a reference voltage vector, <' > indicates a dot product, U, between two vectorsdcRepresenting the voltage across the inverter dc bus.
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