CN101630939A - Simple direct torque controller for motor - Google Patents
Simple direct torque controller for motor Download PDFInfo
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- CN101630939A CN101630939A CN200910070293A CN200910070293A CN101630939A CN 101630939 A CN101630939 A CN 101630939A CN 200910070293 A CN200910070293 A CN 200910070293A CN 200910070293 A CN200910070293 A CN 200910070293A CN 101630939 A CN101630939 A CN 101630939A
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Abstract
The invention discloses a simple direct torque controller for a motor, comprising a three-phase voltage source inverter, a current and voltage sensor, an abc/dq axis coordinate convertor, a universal arithmetic integral analog circuit, a torque input driver, a reference flux linkage generator, a q axis flux linkage error hysteresis comparator, a d axis flux linkage error hysteresis comparator, a voltage vector selector and a gate driver. The simple direct torque controller for the motor has the advantages of simple structure, fast response, flexible control and low cost, especially for change of the design idea in the traditional direct torque control method with software as a basis and a digital signal processor (DSP) as a core, so the controller is not a software-based control plan and is not provided with inherent time delay required in analog digital conversion, thus effectively improving the response speed of a control system, realizing fast torque control of an induction motor and further providing a new design idea for research and utilization of characteristics of the direct torque controller.
Description
Technical field
The present invention relates to a kind of direct torque controller for motor.Particularly relate to a kind of simple in structure, response rapidly, control flexibly, low-cost, not adopting popular is the control core structure with DSP, and use numeral, the analog circuit of simplifying to realize the core controlled function, eliminate the direct torque controller for motor of the intrinsic analog-to-digital conversion time delay of original system.
Background technology
For contemporary industry, high performance variable speed drives equipment has become necessary part.In early days, generally satisfy high performance requirement, because they can provide torque fast and rotating speed control performance with DC motor.But because some shortcomings of DC motor, people begin one's study AC speed regulating, particularly induction motor speed regulation system.Through countries in the world researcher's unremitting effort, the transient torque output performance of Alternating Current Governor System is greatly improved, basically near the torque response characteristic of Direct Current Governor System.One of them milestone is the direct torque control method that is proposed by Takahashi.
In the direct torque control method, all data processing related works are all finished by the digital signal processor (DSP) with fast functional unit such as A/D conversions.Though it has function and friendly user interface flexibly, the cost of its controller also obviously increases, and this has just limited the popularization of direct torque control device.This class is that all analog current and voltage signals all will carry out analog-to-digital conversion by DSP based on another shortcoming of DSP control core device, so just inevitably produce a time delay, be 100us this quasi-representative time of delay based on DSP equipment, and it is the inherent delay that DSP handles the analog quantity of input that this class postpones; Be exactly in addition because the DSP multiplexing of channel has been taken part-time.The existence of time of delay has limited the pulse width modulation frequency that can obtain, and then has influenced inverter operating frequency, therefore, the work magnetic linkage of corresponding motor, the pulsation of electric current and torque is difficult to be reduced within the desirable scope.Thereby in order further to improve the service behaviour that the pwm switch frequency improves system, a kind of method is the raising performance of processors of regardless of expense, makes its operating rate faster, has more, A/D and D/A ALT-CH alternate channel faster simultaneously.This is unacceptable undoubtedly concerning medium-sized and small enterprises, and the popularization in market also is disadvantageous for such direct torque control device.Therefore design a kind of simple in structure, response rapidly, control flexibly, direct torque controller for motor is imperative cheaply.
Summary of the invention
Technical problem to be solved by this invention is, proposed a kind of simple in structurely, and response rapidly, control flexibly, low cost does not adopt popular DSP core control structure, and uses numeral, the analog circuit of simplifying to finish the direct torque controller for motor of main controlled function.
The technical solution adopted in the present invention is: a kind of simple direct torque controller for motor, include three-phase voltage source inverter (1), it is characterized in that, also be provided with: current sensor (2), voltage sensor (3), abc/dq axial coordinate converter (4), the general integration analog circuit (5) that counts, the given input of torque (6), with reference to magnetic linkage maker (7), q axle magnetic linkage error hysteresis comparator (8), d axle magnetic linkage error hysteresis comparator (9), voltage vector selector (10), gate driver (11).
Described with reference to magnetic linkage maker (7), include proportional integral device (71), voltage-to-frequency converter (72), pulse counter (73), with reference to magnetic linkage sinusoidal data memory (74), with reference to magnetic linkage cosine data storage (75), with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference to magnetic linkage cosine data digital-to-analog converters (77).
Described proportional integral device (71) is to be made of general proportional integral circuit, is used for the set reference target torque value of the given input of torque (6) T
REFWith Practical Calculation torque T
eError carry out the proportional integral computing, integral result is sent into voltage-to-frequency converter (72).Voltage-to-frequency converter (72) receives the voltage output signal of proportional integral device (71), and is the correspondent frequency signal with the voltage signal linear transformation, for pulse counter (73) provides the counting clock pulse.Pulse counter (73) adopts the binary counter chip of 11 standards, be used to write down the pulse number of voltage-to-frequency converter (72) output, the counted number of pulses of pulse counter (73) output is used for addressing with reference to magnetic linkage sinusoidal data memory (74) with reference to magnetic linkage cosine data storage (75).
Described with reference to magnetic linkage sinusoidal data memory (74) with all adopt the FLASH storage chip of 2K capacity with reference to magnetic linkage cosine data storage (75), in order to produce the reference magnetic linkage signal in the dq axis coordinate system, can be the equivalence of the reference magnetic linkage signal in the dq axis coordinate system sine wave and cosine wave signal, and discretization sine wave and cosine wave signal, centrifugal pump is stored in two independent F LASH memories.Receive when reference magnetic linkage sinusoidal data memory (74) with reference to magnetic linkage cosine data storage (75) after 11 digit pulse count values by pulse counter (73) output are address signal, memory is just exported the data in the appropriate address, and delivers to respectively with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference in the magnetic linkage cosine data digital-to-analog converters (77).
The described reception respectively with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference to magnetic linkage cosine data digital-to-analog converters (77) come self-reference magnetic linkage sinusoidal data memory (74) and with reference to the reference magnetic linkage digital quantity of magnetic linkage cosine data storage (75), and being translated into corresponding analog quantity, its output is the dq axis coordinate system with reference to magnetic linkage value ψ
Q_refAnd ψ
D_ref
Described current sensor (2) and voltage sensor (3) are used to detect the line current i of motor
As, i
Bs, i
CsWith line voltage u
Ab, u
BcAnd will detect data and offer abc/dq axial coordinate converter (4), as the parameter of its coordinate transform.Abc/dq axial coordinate converter (4) is with abc three-phase system of axis neutral voltage u
Ab, u
BcWith stator current i
As, i
Bs, i
CsUtilize not conversion of amplitude principle to convert the static dq axis coordinate system of two-phase voltage u to
Qs, u
DsAnd current i
Qs, i
Ds
The described general integration analog circuit (5) that counts is made up of general addition, subtraction, multiplication and integral operation circuit module, is used for the voltage u according to abc/dq axial coordinate converter (4) output
Qs, u
DsAnd current i
Qs, i
DsAnd stator resistance, calculate the magnetic linkage value ψ in the stable state dq axis coordinate system
Qs, ψ
Ds
Described q axle magnetic linkage error hysteresis comparator (8) and d axle magnetic linkage error hysteresis comparator (9), be used for receiving the error that the actual magnetic linkage composition of dq axis coordinate system and the magnetic linkage composition of reference compare generation, two independently hysteresis comparator (8) and (9) inside have the stagnant ring boundary strip Δ ψ that pre-sets respectively
q, Δ ψ
d, when the upper limit of the error amount of importing above boundary strip, comparator is output as high level, and the meaning is that actual magnetic linkage needs to improve vertically.When the lower limit of the error amount of importing above boundary strip, comparator is output as low level, illustrates that actual magnetic linkage need be lowered.Two independently hysteresis comparator (8) and (9) output valve are sent into voltage vector selector (10).
Described voltage vector selector (10) selects appropriate voltage vector to send into gate driver (11) according to the output of q axle magnetic linkage error hysteresis comparator (8) and d axle magnetic linkage error hysteresis comparator (9).Gate driver (11) drives three-phase voltage source inverter (1) according to the voltage vector of input, makes it be operated in appropriate working method, realizes the quick direct torque control of three phase induction motor (12).
The present invention proposes a kind of simple direct torque controller for motor design, can obtain higher pwm switch frequency when reducing system cost.Whole controlling schemes is by low cost, and general discrete electrons components and parts constitute, and digital signal processing appts that need not be complicated such as DSP etc.The simple direct torque controller for motor of being developed provides a kind of new thinking to the design of novel direct torque control device, and is expected to be widely used in low middle-grade induction motor speed regulation system.
Description of drawings
The simple direct torque controller for motor systematic schematic diagram of Fig. 1;
Fig. 2 is with reference to magnetic linkage maker cut-away view;
Fig. 3 space voltage vector schematic diagram
Fig. 4 d axle hysteresis comparator boundary strip schematic diagram
Fig. 5 q axle hysteresis comparator boundary strip schematic diagram
Wherein:
1: three-phase voltage source inverter 2: current sensor
3: voltage sensor 4:abc/dq axial coordinate converter
5: the general integration analog circuit 6 that counts: the given input of torque
7: with reference to magnetic linkage maker 8:q axle magnetic linkage error hysteresis comparator
9:d axle magnetic linkage error hysteresis comparator 10: voltage vector selector
11: gate driver 12: three phase induction motor
71: proportional integral device 72: voltage-to-frequency converter
73: pulse counter 74: with reference to magnetic linkage sinusoidal data memory
75: with reference to magnetic linkage cosine data storage 76: with reference to magnetic linkage sinusoidal data digital-to-analog converter
77: with reference to magnetic linkage cosine data digital-to-analog converter
Embodiment
Below in conjunction with embodiment and accompanying drawing a kind of simple direct torque controller for motor of the present invention is made a detailed description.
As shown in Figure 1, a kind of simple direct torque controller for motor of the present invention includes three-phase voltage source inverter (1), it is characterized in that, also be provided with: current sensor (2), voltage sensor (3), abc/dq axial coordinate converter (4), the general integration analog circuit (5) that counts, the given input of torque (6), with reference to magnetic linkage maker (7), two independently hysteresis comparator (8) and (9), voltage vector selector (10), gate driver (11).
As shown in Figure 2, described with reference to magnetic linkage maker (7), include proportional integral device (71), voltage-to-frequency converter (72), pulse counter (73), with reference to magnetic linkage sinusoidal data memory (74), with reference to magnetic linkage cosine data storage (75), two independently digital-to-analogue (D/A) converter (76) and (77).
Overall work thinking of the present invention as shown in Figure 1, described current sensor (2) and voltage sensor (3) are used to detect the line current i of motor
As, i
Bs, i
CsWith line voltage u
Ab, u
BcAnd will detect data and offer the parameter of abc/dq axial coordinate converter (4) as its coordinate transform.Utilize the amplitude invariance principle, abc/dq axial coordinate converter (4) is the line voltage u in the abc three-phase system of axis
Ab, u
BcWith stator current i
As, i
Bs, i
CsConvert the voltage u in the static dq axis coordinate system of two-phase to
Qs, u
DsAnd current i
Qs, i
DsWherein not conversion of amplitude principle suc as formula 1 and formula 2 shown in:
The general voltage u of integration analog circuit (5) that count according to abc/dq axial coordinate converter (4) output
Qs, u
DsAnd current i
Qs, i
DsAnd the stator resistance of three phase induction motor (12), calculate the magnetic linkage value ψ in the stable state dq axis coordinate system
Qs, ψ
Ds, its principle suc as formula 3 and formula 4 shown in:
ψ
qs＝∫(u
qs-R
si
qs)dt (3)
ψ
ds＝∫(u
ds-R
si
ds)dt (4)
Utilize the calculated value ψ of dq axis coordinate system magnetic linkage
Qs, ψ
DsAnd current value i
Qs, i
DsCan calculate the torque value of motor.Its method is as shown in Equation 5:
This calculating torque T
eTorque reference T with the given input of torque (6)
REFCompare, its error amount at first passes through with reference to the proportional integral device (71) in the magnetic linkage maker (7) and calculates, and voltage-to-frequency converter (72) circuit is given in its output, to obtain clock signal.Clock frequency will be along with the output linear change of proportional integral device (71).Magnetic linkage composition in the dq axis coordinate system can be used as sine and cosine wave signal, and peak value sinusoidal and cosine wave signal will equal the rated peak of motor magnetic linkage.The output frequency of these signals is output into ratio with the clock frequency of being controlled by voltage-to-frequency converter (72).In order to produce the dq axis coordinate system with reference to the magnetic linkage signal, want corresponding sinusoidal data of discretization and cosine data, and centrifugal pump is stored in two independently in the FLASH memory (74) and (75) of 2k byte capacity, by pulse counter (73) addressing, can export the content in the appropriate address in these two storage chips, and with two independently D/A converter (76) and (77) be converted to analog signal, thereby generate with reference to magnetic linkage ψ
D_refAnd ψ
Q_refActual dq axle magnetic linkage is the time integral of dq shaft voltage, shown in 3 and 4 formulas.With Practical Calculation value ψ
Qs, ψ
DsWith reference value ψ
D_refAnd ψ
Q_refCompare, based on the error that they relatively produce, designed voltage vector selector (10), produce appropriate voltage vector, make three-phase voltage source inverter (1) work by gate drive circuit (11), final output can be satisfied the needs of the quick direct torque control of system.
About the design of reference magnetic linkage generator (7) as shown in Figure 2.The centrifugal pump of the sine of magnetic flux, cosine cycle of operation data is stored in two independently in the FLASH memory (74) and (75) of 2k byte capacity in complete dq axis coordinate system.It can be 2 with mould
11Pulse counter carry out addressing.Along with each clock is input to pulse counter (73), the count value of pulse counter (73) output is that address word will add 1 automatically, after the addressing address of pulse counter (73) output is received in the memory (74) of storage sine and cosine value and (75), can export the data in the appropriate address.The sine and the cosine value of memory output all are digital quantities, become analog quantity to it through DA converter (76) and (77).The dq axle of final output equals voltage-to-frequency converter (72) output with reference to the magnetic linkage operating frequency clock frequency is divided by the mould of pulse counter (73) promptly 2
11, in the scheme that Fig. 2 shows, the clock of pulse counter (73) comes from voltage-to-frequency converter (72) chip, and this chip can be along with the variation of input voltage, linear change frequency.The input voltage of voltage-to-frequency converter (72) comes from above-mentioned proportional integral device (71).In order to satisfy the needs of torque magnification, the also corresponding lifting of the output of proportional integral device (71) finally makes the addressing speed of FLASH memory also improve, and finally improves the rotary speed of reference stator flux linkage vector.If the output of proportional integral device (71) reduces, then the flux linkage vector rotary speed also can reduce.The DA converter is used appropriate reference voltage, also can Be Controlled with reference to the amplitude of magnetic linkage, make its amplitude keep constant.
Working strategies such as Fig. 3 about voltage vector selector (10) show that 6 space voltage vectors are spent Space Angle along the dq axis coordinate system interval 60 of hypothesis and distributed.Switching states can illustrate with 3 binary digits.Three binary digits from left to right can be defined as the state of the switching device in the abc three-phase successively.1 expression is connected to the anodal switching device closure of direct current input.0 expression is connected to the switching device closure of direct current input negative pole accordingly.For example: when the switching states code was binary data " 100 ", the space vector direction of voltage was along the q axle shown in Fig. 3, will move with counterclockwise direction if the phase sequence of space vector of voltage output is abc then space vector of voltage.In 6 discrete space voltage vectors any one all equals the voltage of DC link.
The selection of switching strategy is to be standard with magnetic linkage error minimum.In each sub-sector, select before the corresponding switching strategy, compare with reference to magnetic linkage and actual dq axle magnetic linkage composition, as described above, actual magnetic linkage derives from the integration of actual dq shaft voltage, and through the stator impedance voltage-drop compensation.The selection algorithm of switch vector designs according to dq axle magnetic linkage error, and the details of switching algorithm is provided by following.
Reference dq axle magnetic linkage that generates and actual dq axle magnetic linkage compare, and error is sent into hysteresis comparator, and the boundary strip of hysteresis comparator is respectively Δ ψ
d, Δ ψ
q, as shown in Figure 4 and Figure 5, when comparator is output as when high, the meaning is that actual magnetic linkage needs to improve vertically.When comparator is output as when low, illustrate that the magnetic linkage of reality need be lowered.Make Q
d, Q
qDq axle digitlization output as hysteresis comparator.Improve d axle magnetic linkage, then make Q accordingly
d=1, can applied voltage vector II III, their on off state is respectively (101) and (001), corresponding Q
d=0 will reduce d axle magnetic linkage, then can use V and VI voltage vector, and its on off state is respectively: (010) and (110).Improve q axle magnetic linkage, then make Q accordingly
q=1, can applied voltage vector II, VI, their on off state are respectively (101) and (110), corresponding Q
d=0 will reduce d axle magnetic linkage, then can use III and V, its on off state is respectively: (001) and (010), 6 non-vanishing vectors of inverter discussed above and also comprise two zero-voltage vectors in addition, they can fully satisfy the requirement of magnetic linkage, realize the quick direct torque control of motor.
Claims (9)
1. a simple direct torque controller for motor includes three-phase voltage source inverter (1), it is characterized in that, also be provided with: current sensor (2), voltage sensor (3), abc/dq axial coordinate converter (4), the general integration analog circuit (5) that counts, the given input of torque (6), with reference to magnetic linkage maker (7), q axle magnetic linkage error hysteresis comparator (8), d axle magnetic linkage error hysteresis comparator (9), voltage vector selector (10), gate driver (11).
2. a kind of simple direct torque controller for motor according to claim 1, it is characterized in that, described with reference to magnetic linkage maker (7), include proportional integral device (71), voltage-to-frequency converter (72), pulse counter (73) is with reference to magnetic linkage sinusoidal data memory (74), with reference to magnetic linkage cosine data storage (75), with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference to magnetic linkage cosine data digital-to-analog converters (77).
3. according to claim 1 and the quick direct torque control device of the described motor of claim 2, it is characterized in that described proportional integral device (71) is to be made of general proportional integral circuit, be used for the set reference target torque value of the given input of torque (6) T
REFWith Practical Calculation torque T
eError carry out the proportional integral computing, integral result is sent into voltage-to-frequency converter (72).Voltage-to-frequency converter (72) receives the voltage output signal of proportional integral device (71), and is the correspondent frequency signal with the voltage signal linear transformation, for pulse counter (73) provides the counting clock pulse.Pulse counter (73) adopts the binary counter chip of 11 standards, be used to write down the pulse number of voltage-to-frequency converter (72) output, the counted number of pulses of pulse counter (73) output is used for addressing with reference to magnetic linkage sinusoidal data memory (74) with reference to magnetic linkage cosine data storage (75).
4. according to claim 1 and the quick direct torque control device of the described motor of claim 2, it is characterized in that, described with reference to magnetic linkage sinusoidal data memory (74) with all adopt the FLASH storage chip of 2K capacity with reference to magnetic linkage cosine data storage (75), in order to produce the reference magnetic linkage signal in the dq axis coordinate system, can be the equivalence of the reference magnetic linkage signal in the dq axis coordinate system sine wave and cosine wave signal, and discretization sine wave and cosine wave signal, centrifugal pump is stored in two independent F LASH memories.Receive when reference magnetic linkage sinusoidal data memory (74) with reference to magnetic linkage cosine data storage (75) after 11 digit pulse count values by pulse counter (73) output are address signal, memory is just exported the data in the appropriate address, and delivers to respectively with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference in the magnetic linkage cosine data digital-to-analog converters (77).
5. according to claim 1 and the quick direct torque control device of the described motor of claim 2, it is characterized in that, the described reception respectively with reference to magnetic linkage sinusoidal data digital-to-analog converter (76) with reference to magnetic linkage cosine data digital-to-analog converters (77) come self-reference magnetic linkage sinusoidal data memory (74) and with reference to the reference magnetic linkage digital quantity of magnetic linkage cosine data storage (75), and being translated into corresponding analog quantity, its output is the dq axis coordinate system with reference to magnetic linkage value ψ
Q_refAnd ψ
D_ref
6. the quick direct torque control device of motor according to claim 1 is characterized in that, described current sensor (2) and voltage sensor (3) are used to detect the line current i of motor
As, i
Bs, i
CsWith line voltage u
Ab, ux.And will detect data and offer abc/dq axial coordinate converter (4), as the parameter of its coordinate transform.Abc/dq axial coordinate converter (4) is with abc three-phase system of axis neutral voltage u
Ab, u
BcWith stator current i
As, i
Bs, i
CsUtilize not conversion of amplitude principle to convert the static dq axis coordinate system of two-phase voltage u to
Qs, u
DsAnd current i
Qs, i
Ds
7. the quick direct torque control device of motor according to claim 1, it is characterized in that, the described general integration analog circuit (5) that counts is made up of general addition, subtraction, multiplication and integral operation circuit module, is used for the voltage u according to abc/dq axial coordinate converter (4) output
Qs, u
DsAnd current i
Qs, i
DsAnd stator resistance, calculate the magnetic linkage value ψ in the stable state dq axis coordinate system
Qs, ψ
Ds
8. the quick direct torque control device of motor according to claim 1, it is characterized in that, described q axle magnetic linkage error hysteresis comparator (8) and d axle magnetic linkage error hysteresis comparator (9), be used for receiving the error that the actual magnetic linkage composition of dq axis coordinate system and the magnetic linkage composition of reference compare generation, two independently hysteresis comparator (8) and (9) inside have the stagnant ring boundary strip Δ ψ that pre-sets respectively
q, Δ ψ
d, when the upper limit of the error amount of importing above boundary strip, comparator is output as high level, and the meaning is that actual magnetic linkage needs to improve vertically.When the lower limit of the error amount of importing above boundary strip, comparator is output as low level, illustrates that actual magnetic linkage need be lowered.Two independently hysteresis comparator (8) and (9) output valve are sent into voltage vector selector (10).
9. the quick direct torque control device of motor according to claim 1, it is characterized in that described voltage vector selector (10) selects appropriate voltage vector to send into gate driver (11) according to the output of q axle magnetic linkage error hysteresis comparator (8) and d axle magnetic linkage error hysteresis comparator (9).Gate driver (11) drives three-phase voltage source inverter (1) according to the voltage vector of input, makes it be operated in appropriate working method, realizes the quick direct torque control of three phase induction motor (12).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910070293A CN101630939A (en) | 2009-08-31 | 2009-08-31 | Simple direct torque controller for motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223139A (en) * | 2011-06-16 | 2011-10-19 | 东南大学 | Method for realizing direct torque control by single current sensor |
| CN101795109B (en) * | 2010-02-11 | 2012-05-30 | 中国船舶重工集团公司第七一二研究所 | Asynchronous motor vector controller |
| CN102611340A (en) * | 2011-01-03 | 2012-07-25 | 通用电气公司 | Method and system for power conversion |
| CN106788045A (en) * | 2017-02-17 | 2017-05-31 | 天津工业大学 | A kind of permagnetic synchronous motor model prediction PI changeable weight concurrency control methods |
| CN104378046B (en) * | 2013-08-16 | 2017-09-19 | 台达电子工业股份有限公司 | motor control system and method |
| CN116995984A (en) * | 2023-08-03 | 2023-11-03 | 淮阴工学院 | Magnetic flux adjustable motor direct torque control system based on magnetic regulation pulse counting |
-
2009
- 2009-08-31 CN CN200910070293A patent/CN101630939A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101795109B (en) * | 2010-02-11 | 2012-05-30 | 中国船舶重工集团公司第七一二研究所 | Asynchronous motor vector controller |
| CN102611340A (en) * | 2011-01-03 | 2012-07-25 | 通用电气公司 | Method and system for power conversion |
| CN102611340B (en) * | 2011-01-03 | 2016-08-24 | 通用电气公司 | method and system for power conversion |
| US9520808B2 (en) | 2011-01-03 | 2016-12-13 | General Electric Company | Method and system for power conversion |
| CN102223139A (en) * | 2011-06-16 | 2011-10-19 | 东南大学 | Method for realizing direct torque control by single current sensor |
| CN104378046B (en) * | 2013-08-16 | 2017-09-19 | 台达电子工业股份有限公司 | motor control system and method |
| CN106788045A (en) * | 2017-02-17 | 2017-05-31 | 天津工业大学 | A kind of permagnetic synchronous motor model prediction PI changeable weight concurrency control methods |
| CN106788045B (en) * | 2017-02-17 | 2019-03-12 | 天津工业大学 | A kind of permanent magnet synchronous motor model prediction PI changeable weight concurrency control method |
| CN116995984A (en) * | 2023-08-03 | 2023-11-03 | 淮阴工学院 | Magnetic flux adjustable motor direct torque control system based on magnetic regulation pulse counting |
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Application publication date: 20100120 |