CN101702607B - Stator flux linkage set method of brushless DC motor direct torque control - Google Patents
Stator flux linkage set method of brushless DC motor direct torque control Download PDFInfo
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- CN101702607B CN101702607B CN2009102345072A CN200910234507A CN101702607B CN 101702607 B CN101702607 B CN 101702607B CN 2009102345072 A CN2009102345072 A CN 2009102345072A CN 200910234507 A CN200910234507 A CN 200910234507A CN 101702607 B CN101702607 B CN 101702607B
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Abstract
The invention discloses a stator flux linkage set method of brushless DC motor direct torque control, a given rotor flux linkage psif* and a given stator armature reaction flux linkage psia* are respectively set, and a given stator flux linkage psiS* is obtained by performing resultant vector on the above two parts. In the invention, the stator flux linkage set coincides with the running track of the stator flux linkage with an ideal control system, and the brushless DC motor direct torque control system has stable running and good control performance; the flux linkage set value can be dynamically and automatically adjusted along with the change of the working condition of the control system, thus inhibiting motor torque pulsation and improving running efficiency of the system.
Description
Technical field
The present invention relates to a kind of brshless DC motor, relate in particular to the stator flux linkage set method of its direct torque control.
Background technology
Brshless DC motor had both possessed the advantage such as simple in structure, reliable, easy to maintenance of alternating current machine, possessed the advantage such as operational efficiency height, good speed adjustment features of direct current machine again.In recent years, the cost of brshless DC motor progressively reduces, and is applied to more and more widely in high-performance governing system and the servo-control system.
Direct torque control adopts the analytical method of space vector, directly under the stator coordinate system, calculate and the control motor torque, adopt stator flux orientation, produce pwm signal by discrete two point form hysteresis regulator, directly switching states is carried out Optimal Control, to obtain the high dynamic performance of torque.This control strategy has saved complicated transform vector, the Mathematical Modeling of motor is simplified processing, and control structure is simple, control device is direct, and the physical concept of signal processing is clear and definite, the torque response of control system is rapid, is a kind of motor control method with high dynamic performance.
The stator magnetic linkage movement locus of brshless DC motor is very complicated, and the correct given of stator magnetic linkage plays crucial effects to the moving control of brushless DC electromotor start, the inhibition of torque pulsation and the improvement of motor operational efficiency, is the basis of direct torque control.Brushless direct-current has the square wave air gap flux density, and whole apart from concentrating winding and trapezoidal back-emf, ideal current waveform is a rectangle.Whole apart from concentrating winding to pass to the square wave electric current, its armature reacting field is the flat-topped wave of the rotation of jumping; Rotor permanent magnet then produces the excitation field of continuous rotation.The air-gap field that the armature reacting field of jump rotation and continuous rotor rotated excitation field synthesize is complexity very, and the air-gap field of this complexity has caused special stator magnetic linkage movement locus.
The Yong Liu of Univ Sheffield UK etc. has proposed the basic principle of brshless DC motor direct torque control, but does not relate to the given of stator magnetic linkage.American scholar Ozturk Salih Baris etc. omit the flux linkage set problem and realize a kind of approximate brshless DC motor direct torque control by saving the magnetic linkage control link.The Wang Xiaoyuan of University Of Tianjin, the Gao Jin of Nanjing Aero-Space University etc. only point out that given magnetic linkage should be relevant with rotor-position, but do not relate to concrete given method.
Summary of the invention
The purpose of this invention is to provide a kind of stator flux linkage set method that is applicable to the brshless DC motor direct torque control, effectively improve the runnability of brshless DC motor direct Torque Control.
The technical solution used in the present invention is: rotor is responded to flux linkage set ψ
f *With stator armature reaction flux linkage set ψ
a *Two parts are set respectively, these two parts are synthesized by vector to obtain stator flux linkage set ψ again
S *, rotor induction flux linkage set ψ
f *Produce by the rotor permanent magnet excitation, obtain three-phase rotor induction magnetic linkage ψ by back-emf e integration
f, three-phase rotor induction magnetic linkage ψ
fObtain rotor induction flux linkage set ψ by the CLARK conversion at alpha-beta coordinate system resultant vector
f *Stator armature reaction flux linkage set ψ
a *Produce by stator current, adopt the design of current reference method, by ψ
a=L * i obtains threephase armature reaction magnetic linkage, and L is the motor phase inductance, and i is an electric machine phase current, by the CLARK conversion threephase armature is reacted magnetic linkage ψ
aObtain stator armature reaction magnetic linkage ψ at alpha-beta coordinate system resultant vector
a *Given.
The invention has the beneficial effects as follows:
1, the desirable stator magnetic linkage running orbit of given stator magnetic linkage and control system is consistent, and the brshless DC motor direct Torque Control is reliable, and control performance is good.
2, the present invention can dynamically adjust the flux linkage set value automatically along with the variation (as load variations, reference velocity variation etc.) of control system operating mode, overcome the too shortcoming of hour startup difficulty of Direct Torque flux linkage set, suppressed motor torque ripple, improved running efficiency of system, and directly actuated stator flux linkage set method design also there is the certain experiences meaning to other motor.
Description of drawings
Below in conjunction with the drawings and specific embodiments the present invention is further described:
Fig. 1 is the structured flowchart of stator flux linkage set method;
Fig. 2 is brushless DC motor stator three opposite potential figure.
Embodiment
As Fig. 1, on the basis of the present invention's desirable stator magnetic linkage movement locus when brshless DC motor moves, with the stator flux linkage set ψ of brshless DC motor direct torque control
S *1 is divided into rotor induction flux linkage set ψ
f *2 and stator armature reaction flux linkage set ψ
a *3 two parts are distinguished establishing method again.Wherein, rotor induction flux linkage set ψ
f *2 by the generation of rotor permanent magnet excitation, obtains three-phase rotor induction magnetic linkage ψ by back-emf 4 integrations
f5, three-phase rotor induction magnetic linkage ψ
f5 obtain rotor through the CLARK conversion responds to flux linkage set ψ
f *2; Armature reaction flux linkage set ψ
a *3 by the stator current generation, adopts the given i of current reference method 6 design stator three-phase currents
Ref7, and by formula ψ
a=L * i obtains threephase armature reaction magnetic linkage ψ
a8, in this formula, L is the motor phase inductance, and i is an electric machine phase current.Threephase armature reaction magnetic linkage ψ
a8 obtain armature reaction flux linkage set ψ through the CLARK conversion
a *3.Rotor is responded to flux linkage set ψ
f *2 and stator armature reaction flux linkage set ψ
a *3 by the vector synthetic method, obtains being applicable to the stator flux linkage set method of brshless DC motor direct torque control.
The concrete enforcement of said stator flux linkage set method is divided into following 4 steps:
Step 1: brushless DC motor stator magnetic linkage component analysis
Ignore the leakage flux influence, stator flux linkage set ψ
S *1 by rotor induction flux linkage set ψ
f *2 with armature reaction flux linkage set ψ
a *3 constitute, that is:
ψ
S *＝ψ
f *+ψ
a *
Step 2: rotor induction flux linkage set ψ
f *2 set
Rotor induction magnetic linkage ψ with each phase winding linkage
f *2 by the generation of rotor permanent magnet excitation, can be by CLARK conversion behind the back-emf e4 integration is obtained.Because motor has a, b, c three-phase, so back-emf e4 is by back-emf e
a, back-emf e
bWith back-emf e
cConstitute.When Fig. 2 moves for brshless DC motor, whole 360 ° of electrical degrees, three phase winding back-emf e
a, e
b, e
cWaveform.As can be seen from Figure 2, back-emf e4 is in trapezoidal wave flat-top section, and corresponding rotor flux is one section straight line; When back-emf e4 was in trapezoidal slope, rotor flux was a conic section.With the three-phase rotor induction magnetic linkage ψ that obtains
f5 pass through the CLARK conversion at alpha-beta coordinate system resultant vector, obtain rotor induction flux linkage set ψ
f *2.
Step 3: armature reaction flux linkage set ψ
a *3 set
Armature reaction flux linkage set ψ
a *3 by the stator current generation, and the present invention adopts the given i of current reference method 6 design stator three-phase currents
Ref7, be divided into following steps:
1) in the brshless DC motor direct torque control, the output of speed regulator is electromagnetic torque set-point T
Ref, the given numerical value I of electric current then
Ref9 by electromagnetic torque set-point T
RefWith the motor torque coefficient k
eCalculate:
I
ref＝T
ref/k
e
2), obtain the given i of stator three-phase current as shown in table 1 below according to rotor-position 10
Ref7, because motor has a, b, c three-phase, so the given i of stator three-phase current
Ref7 by i
Aref, i
Bref, i
CrefConstitute.When rotor is in different angles, the given i of stator three-phase current
Ref7 numerical value difference, rule is as follows: back-emf e4 be positioned at trapezoidal slope section the phase current of corresponding phase be given as 0; The positive-negative polarity inequality that all the other biphase currents are given, and each phase polarity is consistent with opposite potential e4 polarity, and numerical value is by I
Ref=T
Ref/ k
eDetermine.For example, be in 30 °～90 ° when interval at rotor angle, the given i of C phase current
Cref=0, the given i of A phase current
ArefThe I of-=-
Ref, the given i of B phase current
Bref=I
Ref
Table 1
3) current reference method 6 can dynamically be adjusted the given i of stator three-phase current automatically along with motor operating mode such as load variations, reference velocity variation etc.
Ref7 numerical value helps electric motor starting, torque pulsation inhibited and improve running efficiency of system.By ψ
a=L * i obtains threephase armature reaction magnetic linkage ψ
a8, and threephase armature is reacted magnetic linkage ψ by the CLARK conversion
a8 at alpha-beta coordinate system resultant vector, i.e. armature reaction flux linkage set ψ
a *3.
Step 4: brshless DC motor direct torque control stator flux linkage set ψ
S *1 sets
Rotor is responded to flux linkage set ψ
f *2 with armature reaction flux linkage set ψ
a *3 carry out vector at the alpha-beta coordinate system synthesizes, and obtains being applicable to the stator flux linkage set ψ of brshless DC motor direct torque control
S *1 sets function:
ψ
S *＝ψ
f *+ψ
a *
Rotor induction flux linkage set ψ
f *2 and armature reaction flux linkage set ψ
a *3 all is the function of rotor-position 10, so stator flux linkage set ψ
S *1 is also relevant with rotor-position 10.
Claims (3)
1. the stator flux linkage set method of a brshless DC motor direct torque control is characterized in that: rotor is responded to flux linkage set ψ
f *(2) and stator armature reaction flux linkage set ψ
a *(3) two parts are set respectively, these two parts are synthesized by vector to obtain stator flux linkage set ψ again
S *(1), wherein:
Rotor induction flux linkage set ψ
f *(2) produce by the rotor permanent magnet excitation, obtain three-phase rotor induction magnetic linkage ψ by back-emf e (4) integration
f(5), three-phase rotor induction magnetic linkage ψ
f(5) obtain rotor induction flux linkage set ψ by the CLARK conversion at alpha-beta coordinate system resultant vector
f *(2);
Stator armature reaction flux linkage set ψ
a *(3) produced by stator current, stator current adopts current reference method (6) design, by ψ
a=L * i obtains threephase armature reaction magnetic linkage (8), and L is the motor phase inductance, and i is an electric machine phase current, by the CLARK conversion threephase armature is reacted magnetic linkage ψ
a(8) obtain stator armature reaction magnetic linkage ψ at alpha-beta coordinate system resultant vector
a *Given (3);
Described current reference method (6) design procedure is:
1) by electromagnetic torque set-point T
RefWith the motor torque coefficient k
eCalculate the given numerical value I of electric current
Ref(9):
I
ref＝T
ref/k
e；
2) obtain the given i of stator three-phase current according to rotor-position (10)
Ref(7), when rotor is in different angles, the given i of stator three-phase current
Ref(7) numerical value difference;
3) along with the motor working conditions change is dynamically adjusted the given i of stator three-phase current automatically
Ref(7).
2. the stator flux linkage set method of brshless DC motor direct torque control according to claim 1 is characterized in that: step 2) in, back-emf e (4) be positioned at trapezoidal slope section the phase current of corresponding phase be given as 0; The positive-negative polarity inequality that all the other biphase currents are given, and each phase polarity is consistent with this opposite potential e (4) polarity, and numerical value is by I
Ref=T
Ref/ k
eDetermine.
3. the stator flux linkage set method of brshless DC motor direct torque control according to claim 1 is characterized in that: rotor induction flux linkage set ψ
f *(2) with armature reaction flux linkage set ψ
a *(3) carry out the synthetic stator flux linkage set ψ that obtains of vector at the alpha-beta coordinate system
S *(1), setting function is:
ψ
S *＝ψ
f *+ψ
a *。
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| CN2009102345072A CN101702607B (en) | 2009-11-20 | 2009-11-20 | Stator flux linkage set method of brushless DC motor direct torque control |
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|---|---|---|---|
| CN2009102345072A CN101702607B (en) | 2009-11-20 | 2009-11-20 | Stator flux linkage set method of brushless DC motor direct torque control |
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| CN101702607B true CN101702607B (en) | 2011-08-31 |
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Families Citing this family (21)
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| CN101938245A (en) * | 2010-09-01 | 2011-01-05 | 南京航空航天大学 | Adaptive direct torque control method for flux linkage of non-salient pole type permanent magnet synchronous motor |
| CN102780433B (en) * | 2012-07-10 | 2014-10-15 | 燕山大学 | Instantaneous torque control method of brushless direct-current motor based on direct-current control |
| CN102882466B (en) * | 2012-10-09 | 2015-03-25 | 南京工业大学 | Energy-saving frequency converter of induction motor direct torque control speed regulating system and construction method |
| CN105245149A (en) * | 2015-10-08 | 2016-01-13 | 江苏科技大学 | Amplitude given method for stator flux linkage of permanent-magnet synchronous motor |
| CN105245148A (en) * | 2015-10-08 | 2016-01-13 | 江苏科技大学 | Stator flux linkage setting method for shortening starting time of permanent magnet synchronous motor |
| CN105245153A (en) * | 2015-10-08 | 2016-01-13 | 江苏科技大学 | Stator flux linkage setting method for quickening starting process of permanent magnet synchronous motor |
| CN105245147B (en) * | 2015-10-08 | 2018-11-06 | 江苏科技大学 | A kind of stator flux linkage set method reducing the permanent magnet synchronous motor starting time |
| CN105429546A (en) * | 2015-12-02 | 2016-03-23 | 江苏科技大学 | Identification method for rotating speeds of brushless direct current motors |
| CN105406777B (en) * | 2015-12-02 | 2018-09-11 | 天津林元机械设备有限公司 | A kind of detection device and detection method of permanent-magnetic synchronous motor stator magnetic linkage |
| CN105406778A (en) * | 2015-12-02 | 2016-03-16 | 江苏科技大学 | Brushless direct current motor electromagnetic torque identification method |
| CN105406787A (en) * | 2015-12-02 | 2016-03-16 | 江苏科技大学 | Power angle identification method of permanent-magnet synchronous motor |
| CN105429541A (en) * | 2015-12-02 | 2016-03-23 | 江苏科技大学 | Method for identifying permanent magnetic flux linkage of brushless direct current motor |
| CN105429542B (en) * | 2015-12-02 | 2018-05-25 | 青岛艾普智能仪器有限公司 | A kind of discrimination method of permanent-magnetism synchronous motor permanent magnetic magnetic linkage |
| CN105429519B (en) * | 2015-12-02 | 2018-10-19 | 南通联源机电科技股份有限公司 | A kind of detection device and detection method of permanent-magnetism synchronous motor permanent magnetic magnetic linkage |
| CN105490593B (en) * | 2015-12-02 | 2018-07-03 | 珠海远皓能源科技有限公司 | A kind of discrimination method of brshless DC motor generator rotor angle |
| CN105471336A (en) * | 2015-12-02 | 2016-04-06 | 江苏科技大学 | Method for recognizing opposite electric potentials of brushless direct current motor |
| CN105406774B (en) * | 2015-12-02 | 2018-09-07 | 天津林元机械设备有限公司 | A kind of detection device and detection method of permanent magnet synchronous motor generator rotor angle |
| CN105471335B (en) * | 2015-12-02 | 2018-07-27 | 胜利油田顺天节能技术有限公司 | A kind of discrimination method of permanent-magnetic synchronous motor stator magnetic linkage |
| CN105846745A (en) * | 2016-05-20 | 2016-08-10 | 南京信息工程大学 | Brushless DC motor direct torque control system and control method |
| CN110545059B (en) * | 2019-08-14 | 2021-03-09 | 北京交通大学 | Flux linkage harmonic wave minimum pulse width modulation method |
| CN112671278A (en) * | 2021-01-08 | 2021-04-16 | 中国船舶重工集团公司第七0七研究所 | Permanent magnet synchronous motor rotor magnetic field detection circuit and detection positioning method |
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