CN102088265A - Method for restraining torque ripple of permanent magnet motor based on direct torque control - Google Patents
Method for restraining torque ripple of permanent magnet motor based on direct torque control Download PDFInfo
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Abstract
The invention discloses a method for restraining torque ripple of a permanent magnet motor based on direct torque control. The direct torque control strategy is adopted in the permanent magnet motor, an additional harmonic torque is directly added based on a given electromagnetic torque so that amplitudes of fundamental components and higher harmonic components in the additional harmonic torque and a position torque are equal and the opposite phases of the fundamental components and the higher harmonic components are opposite and are counterbalanced so as to restrain the torque ripple. The invention is suitable for manufactured motors or purchased finished motors, and particularly permanent magnet motors with larger position torque. The invention has the advantages of low cost by only modifying the control software instead of increasing a drive control cost of the motor, and simplicity, validity and good universality.
Description
Technical field
The present invention is the control technology that suppresses torque ripple of permanent-magnet motor by the additional harmonic torque of direct injection, belongs to motor-driven and control technology field, is a kind of method for suppressing torque ripple of permanent-magnet motor based on direct torque control.
Background technology
Growing along with science and technology, particularly microprocessor technology, power electronic technology, high performance permanent magnetic materials manufacturing technology, the huge advance made that automatic control technology is obtained makes with magneto to be that the various high-performance drive units and the servo-control system of main actuator obtained fast development.Yet, in magneto, even when the motor windings open circuit, motor also presents a kind of periodically pulsing torque, this torque is caused by formed variation magnetic resistance of rotor teeth groove and the formed permanent magnetic field reciprocation of permanent magnet, and always attempt rotor is positioned at a certain position, this moment is exactly usually said location torque.The mean value of location torque in one-period is zero, to the not influence of average moment of motor output.But the existence of location torque can cause the fluctuation of motor output torque, causes periodically torque pulsation, produces vibration and noise, will directly influence the motor traveling comfort, reduces motor properties.Especially when the location torque frequency is identical with the stator resonance frequency, vibration and noise that this moment produces will be exaggerated.Therefore, in speed control system and in the position control system of hi-Fix, location torque will become the main interference source of system.
Location torque is as a phenomenon that certainly exists in the magneto, along with The Development of Permanent Magnet Machine has caused the interest of numerous Chinese scholars and existing lot of research.About reducing and suppress the method for magneto location torque, relevant both at home and abroad scholar also furthers investigate.Generally speaking, can reduce two big classes:
The first kind is to reduce the method for torque ripple of permanent-magnet motor from motor body design research, as comprises fixed/rotor chute or tiltedly the utmost point, pole form optimization, fractional-slot structure, pole embrace Combinatorial Optimization, rotor segmentation, the asymmetric placement of permanent magnet, fixed/rotor are opened auxiliary tank, stator rabbet width optimal design, different slot opening cooperates and iron core shape optimal design or the like.But owing to be subjected to the restriction of dissimilar electric machine structures, motor torque ripple to reduce degree limited.In addition, such at the Optimization Design of motor body when reducing motor torque ripple, can exert an influence to performances such as the unloaded back electromotive force of motor, torque fan-out capability, power densities, increase manufacturing cost simultaneously, certain limitation is arranged in actual industrialization process.
Second class methods then be motor made finish after, can't suppress motor torque ripple by control strategy under the improved condition of body, thereby improve its output performance.This method need not to increase motor-driven and controls cost, and only needs to revise Control Software, and is simple.Present existing control strategy can be subdivided into again at unloaded back electromotive force with at location torque two classes.
The former is that the unloaded back electromotive force to motor carries out harmonic analysis, obtain the frequency and the phase place of main high order electromotive force harmonic component, by injecting corresponding higher harmonic current component, make that electromagnetic torque fundametal compoment and main higher harmonic components sum that coupling produces are steady torque, thereby reach the purpose of eliminating pulsation.
The latter is applicable to the magneto drive system that adopts current hysteresis ring vector control.At the bigger shortcoming of motor location torque, at first location torque is carried out harmonic analysis, obtain the fundametal compoment of location torque and the frequency and the phase place of main higher harmonic components.By injecting corresponding higher harmonic current component, make itself and the coupling of first-harmonic permanent magnetism magnetic linkage produce main high order electromagnetic torque harmonic component, and with the fundametal compoment of location torque and main higher harmonic components equal and opposite in direction, phase place is opposite, thereby reaches the purpose of eliminating pulsation.But these class methods are based under the stator coordinate system, on each phase armature supply fundametal compoment basis, produce the high order harmonic component electromagnetic torque by injecting corresponding higher harmonic current component, and these class methods are suitable for the magneto back-emf and are sinusoidal situation; For i based on the space vector of voltage modulation
d=0 vector control strategy (therefore being particularly suitable for the surface-adhered type magneto that the ac-dc axis inductance equates), linear according to motor electromagnetic torque and q shaft current, calculate additional q axle harmonic current
The harmonic current that makes injection
Intercouple with d-axis permanent magnetism magnetic linkage, produce additional q axle high order electromagnetic torque harmonic component, equate with the higher harmonic components amplitude with the first-harmonic in the location torque, phase place is opposite, can cancel out each other, thereby reach torque pulsation inhibited purpose, these class methods also need to calculate the harmonic current size of injection.And adopt at present extensively do not need to calculate the harmonic current of injection based on the motor driven systems of direct torque control.
Summary of the invention
At the deficiency that exists on the prior art, the present invention seeks to be to provide a kind of simple, cost is low, versatility is good method for suppressing torque ripple of permanent-magnet motor based on direct torque control.
To achieve these goals, the present invention realizes by the following technical solutions:
The present invention adopts Strategy of Direct Torque Control to magneto: directly inject additional harmonic torque on given electromagnetic torque basis, make in additional harmonic torque and the location torque fundametal compoment and the higher harmonic components amplitude is equal, phase place is opposite, cancel out each other, realize torque pulsation inhibited.
The present invention specifically may further comprise the steps:
(1) by finite element simulation result or torque tester measured data, location torque waveform to magneto carries out theory analysis, with Fourier series (function is unlikely to too complicated and approximate as much as possible magneto location torque) close approximation magneto location torque, carry out harmonic analysis, find out fundametal compoment and main higher harmonic components in the location torque, higher harmonic components is meant that the harmonic component amplitude compares the higher harmonic components that can not ignore with fundamental voltage amplitude;
(2) adopt Strategy of Direct Torque Control that magneto is controlled, find the solution additional harmonic torque, the fundametal compoment in additional harmonic torque and the location torque and the higher harmonic components amplitude is equal, phase place is opposite;
(3) on given electromagnetic torque basis, directly inject additional harmonic torque.
Above-mentioned magneto adopts two closed-loop controls of der Geschwindigkeitkreis and torque ring independent regulation.
The present invention is based on the magneto drive system of direct torque control, a kind of control method of simple and effective inhibition torque ripple of permanent-magnet motor is proposed, especially made the finished product motor that finishes or buy at motor, can't on motor body, take measures again.This method is particularly useful for the bigger magneto of location torque, need not to increase motor-driven and controls cost, and only needs to revise Control Software, and is effectively simple.
Objective for implementation of the present invention is a magneto, and the type motor can adopt advanced control strategy such as vector control, direct torque control.Therefore, this inhibition method only need be revised Control Software, need not to increase the hardware control system cost, and is simple.Specifically have following advantage:
(a) adopt the additional harmonic torque that proposed to inject the control method that suppresses torque ripple of permanent-magnet motor, can directly on the given electromagnetic torque of pi regulator output, directly inject additional harmonic torque, make that the additional harmonic torque of injecting equates with the fundametal compoment and the main higher harmonic components amplitude of location torque, phase place is opposite, thereby cancel out each other, need not to calculate under stator or rotor coordinate system increases the higher harmonic current component, is easy to realize;
(b) the existing method that reduces torque pulsation from the motor body design, because the condition restriction of each side, be subjected to the restriction of dissimilar electric machine structures, torque pulsation to reduce degree limited, in addition,, when reducing torque pulsation, can unloaded back electromotive force, power density and the torque fan-out capability etc. of motor be exerted an influence at the method for motor body, increase manufacturing cost simultaneously, certain limitation is arranged in actual industrialization process; And the present invention only need revise the Control Software of magneto, need not motor is redesigned, and also need not to increase the hardware control system cost;
(c) by after implementing the technology of the present invention, both can obviously suppress the torque pulsation of motor, and reduce the operating vibration and noise of motor, and expand the range of application of motor, it is constant to have kept characteristics such as empty load of motor magnetic potential, torque fan-out capability again simultaneously.And need not to increase system cost, only need to revise control corresponding software, simple.
Description of drawings
Describe the present invention in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is the magneto location torque waveform of embodiment;
Fig. 2 is the magneto location torque harmonic analysis of Fig. 1;
Fig. 3 is that the control system block diagram that suppresses torque ripple of permanent-magnet motor is injected in the torque based on direct torque control of the embodiment of the invention;
Fig. 4 is the speed waveform before and after the Torque Ripple Reduction;
Fig. 5 is a torque waveform before and after the Torque Ripple Reduction;
Fig. 6 is the current waveform figure before the Torque Ripple Reduction;
Fig. 7 is the current waveform figure after the Torque Ripple Reduction.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with embodiment, further set forth the present invention.
The present invention adopts Strategy of Direct Torque Control to magneto: by the given electromagnetic torque of pi regulator 1 output, on given electromagnetic torque basis, directly inject additional harmonic torque, make in additional harmonic torque and the location torque fundametal compoment and the higher harmonic components amplitude is equal, phase place is opposite, cancel out each other, realize torque pulsation inhibited.Wherein, Strategy of Direct Torque Control is the known technology of this area, no longer describes in detail.
The present invention need not the adjusting of any electric current and the conversion between the rotor coordinate system, and is based on the sum of errors stator magnetic linkage position signalling between torque and stator flux linkage set value and actual value, and realizes by choosing suitable space vector of voltage.
Control method of the present invention specifically may further comprise the steps:
(1) by finite element simulation result or torque tester measured data, location torque waveform to magneto carries out theory analysis, with Fourier series (function is unlikely to too complicated and approximate as much as possible magneto location torque) close approximation magneto location torque, carry out harmonic analysis, find out fundametal compoment and main higher harmonic components in the location torque, higher harmonic components is meant that the harmonic component amplitude compares the higher harmonic components that can not ignore with fundamental voltage amplitude; At different magnetoes, main higher harmonic components difference;
(2) adopt Strategy of Direct Torque Control that magneto is controlled, find the solution additional harmonic torque, the fundametal compoment in additional harmonic torque and the location torque and the higher harmonic components amplitude is equal, phase place is opposite;
(3) on given electromagnetic torque basis, directly inject additional harmonic torque.
Magneto of the present invention be any phase structure include the motor of permanent magnet as excitation source, comprise pure magneto and mixed excitation electric machine.
Objective for implementation of the present invention is for adopting the magneto of Strategy of Direct Torque Control, principle is according to directly inject additional harmonic torque on given electromagnetic torque, make this additional harmonic torque equate with fundametal compoment and higher harmonic components amplitude in the magneto location torque, phase place is opposite, thereby cancel out each other, realize torque pulsation inhibited.
Be example with flux switch permanent magnet motor (flux-switching permanent magnet motor is hereinafter to be referred as the FSPM motor) below, the concrete implementation step and the Simulation Application effect of this method is described.
The location torque waveform of Fig. 1 for adopting the method for virtual work FEM (finite element) calculation to obtain, as seen from the figure: the location torque waveform includes higher harmonic components, for it being set up mathematic(al) representation, need carry out harmonic analysis to it, and analysis result is as shown in Figure 2.Table 1 provided main harmonic component amplitude, with the ratio and the phase angle of fundametal compoment.
The harmonic analysis of table 1 location torque
As seen, the total harmonic distortion THD of location torque has reached 53.62%, and harmonic component is very big, and wherein topmost high order harmonic component is 2 subharmonic, has reached 52.95% with the fundamental voltage amplitude ratio, and all the other remaining high order harmonic components can be ignored.Therefore, the location torque of FSPM motor can approximate expression be:
T
cog＝T
cog1+T
cog2 (1)
Wherein, fundametal compoment is:
Second harmonic component is:
In the formula, T
Cm1For location torque fundametal compoment amplitude, equal 1.11Nm here; T
Cm2For location torque 2 order harmonic components amplitudes, equal 0.59Nm here;
Be location torque fundametal compoment phase angle;
Be location torque 2 order harmonic components phase angles; P
rBe motor electromagnetic number of pole-pairs, θ
rBe rotor position angle.
Adopt Strategy of Direct Torque Control, find the solution the additional harmonic torque of injection
The additional harmonic torque that makes this injection
With the fundametal compoment T in the location torque
Cog1And second harmonic component T
Cog2Amplitude equates that phase place is opposite, can cancel out each other, thereby reach torque pulsation inhibited purpose.
Therefore, need the additional harmonic torque of injection
For:
In the formula:
With
Be respectively the additional harmonic torque of waiting to offset once with the secondary location torque.
On FSPM motor direct Torque Control basis,, can obtain comprising that control system that the torque injection method suppresses torque ripple of permanent-magnet motor as shown in Figure 3 in conjunction with above-mentioned torque injection method.
Given rotating speed according to motor
With real-time feedback rotational speed omega
r, obtain speed discrepancy e (n); Speed discrepancy e (n) obtains given electromagnetic torque by pi regulator 1; Given electromagnetic torque and the additional harmonic torque process summation module 2 that adopts the present invention to calculate obtain torque reference
Torque reference
Compare with the torque actual value, error signal obtains 0,1 control signal τ by the stagnant ring controller 3 of torque; The flux linkage set value
With the magnetic linkage value of feedback ψ that obtains by magnetic linkage amplitude and angle position computation module 11
sCompare, error signal obtains 0,1 control signal φ by the stagnant ring controller 4 of magnetic linkage, comprehensive then current magnetic linkage region θ, press on off state option table 5 and select suitable space vector of voltage, power electronic device is opened and is turn-offed in the driving inverter 6, and the terminal voltage U in magneto 8 windings is regulated in output
a, U
b, U
c, then, record motor three-phase current i by current sensor
a, i
b, i
c, three-phase current is tried to achieve the current i under the two-phase rest frame through the static two-phase 3s/2s conversion 9 of the static three-phase/stator of stator
αAnd i
β, calculate voltage u under the two-phase rest frame by on off state and DC bus-bar voltage computing module 7
αAnd u
βCalculate stator magnetic linkage by voltage and electric current under the two-phase rest frame through flux observer 10, and then compare through the given electromagnetic torque that torque observer 12 obtains 1 output of torque observe value and pi regulator, its error signal obtains 0 or 1 control signal behind torque controller 3, press on off state option table 5 and select suitable space vector of voltage, the rotary speed and the direction of control stator magnetic linkage; Record the pulse signal of magneto 8 by photoelectric encoder 13, calculate the real-time feedback rotational speed omega of motor through speed detection module 14
r
Magneto adopts two closed-loop controls of der Geschwindigkeitkreis and torque ring independent regulation.Der Geschwindigkeitkreis is in order to control rotating speed, and the torque ring is for controlling torque.
Set up the Matlab/Simulink simulation model according to torque pulsation inhibited method under the Strategy of Direct Torque Control shown in Figure 3.
Fig. 4 is the speed waveform before and after the Torque Ripple Reduction, and as can be seen, after the Torque Ripple Reduction, speed ripple has obtained very big improvement.
Fig. 5 has provided torque simulation waveform before and after the Torque Ripple Reduction, and as seen from the figure, the torque pulsation peak-to-peak value reaches 3Nm before suppressing, suppress back torque pulsation peak-to-peak value and have only 1.8Nm, torque pulsation obviously reduced and the torque flatness relatively good.
Fig. 6 is the current waveform figure before the Torque Ripple Reduction, and Fig. 7 is the current waveform figure after the Torque Ripple Reduction.Electric current is near sine before suppressing, and suppressing after-current has the harmonic wave composition, and the sine variation, and this harmonic wave composition is produced by added additional harmonic torque.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (3)
1. method for suppressing torque ripple of permanent-magnet motor based on direct torque control, it is characterized in that, magneto is adopted Strategy of Direct Torque Control: on given electromagnetic torque basis, directly inject additional harmonic torque, make in additional harmonic torque and the location torque fundametal compoment and the higher harmonic components amplitude is equal, phase place is opposite, cancel out each other, realize torque pulsation inhibited.
2. the method for suppressing torque ripple of permanent-magnet motor based on direct torque control according to claim 1 is characterized in that, specifically may further comprise the steps:
(1) by finite element simulation result or torque tester measured data, location torque waveform to magneto carries out theory analysis, with Fourier series close approximation magneto location torque, carry out harmonic analysis, find out fundametal compoment and main higher harmonic components in the location torque, described higher harmonic components is meant that the harmonic component amplitude compares the higher harmonic components that can not ignore with fundamental voltage amplitude;
(2) adopt Strategy of Direct Torque Control that magneto is controlled, find the solution additional harmonic torque, the fundametal compoment in described additional harmonic torque and the location torque and the higher harmonic components amplitude is equal, phase place is opposite;
(3) on given electromagnetic torque basis, directly inject additional harmonic torque.
3. the method for suppressing torque ripple of permanent-magnet motor based on direct torque control according to claim 1 and 2 is characterized in that, described magneto adopts two closed-loop controls of der Geschwindigkeitkreis and torque ring independent regulation.
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| CN103248305A (en) * | 2012-02-10 | 2013-08-14 | 武汉大禹电气有限公司 | Bisynchronous coordinate system vector control method for motor control |
| CN104022708A (en) * | 2014-05-21 | 2014-09-03 | 上海电机学院 | Electric variable-pitch driving system by speed sensorless technology and method thereof |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104767455A (en) * | 2015-04-10 | 2015-07-08 | 东南大学 | Hybrid excitation synchronous motor sensorless direct torque control method |
| CN105324929A (en) * | 2013-06-14 | 2016-02-10 | 罗伯特·博世有限公司 | Electronically commutated electric motor with harmonic compensation |
| CN106787988A (en) * | 2016-12-22 | 2017-05-31 | 东南大学 | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor |
| CN107453661A (en) * | 2017-08-04 | 2017-12-08 | 南京理工大学 | A kind of system and method that motor torque ripple is reduced based on duty-cycle |
| CN112910336A (en) * | 2021-01-15 | 2021-06-04 | 西安交通大学 | Method, system and device for suppressing torque ripple of permanent magnet synchronous motor through harmonic injection and storage medium |
| CN112994538A (en) * | 2021-02-01 | 2021-06-18 | 桂林电子科技大学 | Fourier neural network based SRM torque ripple suppression control system and method |
| CN113346811A (en) * | 2021-04-12 | 2021-09-03 | 江苏大学 | Motor vibration noise suppression method based on torque ripple control of harmonic back electromotive force observer |
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| CN103248305A (en) * | 2012-02-10 | 2013-08-14 | 武汉大禹电气有限公司 | Bisynchronous coordinate system vector control method for motor control |
| CN103248305B (en) * | 2012-02-10 | 2016-01-20 | 武汉大禹电气有限公司 | For the method for two synchronous coordinate system vector control of Electric Machine Control |
| CN105324929A (en) * | 2013-06-14 | 2016-02-10 | 罗伯特·博世有限公司 | Electronically commutated electric motor with harmonic compensation |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
| CN104022708B (en) * | 2014-05-21 | 2017-02-15 | 上海电机学院 | Electric variable-pitch driving system by speed sensorless technology and method thereof |
| CN104022708A (en) * | 2014-05-21 | 2014-09-03 | 上海电机学院 | Electric variable-pitch driving system by speed sensorless technology and method thereof |
| CN104767455A (en) * | 2015-04-10 | 2015-07-08 | 东南大学 | Hybrid excitation synchronous motor sensorless direct torque control method |
| CN104767455B (en) * | 2015-04-10 | 2018-02-06 | 东南大学 | A kind of hybrid exciting synchronous motor position-sensor-free direct torque control method |
| CN106787988A (en) * | 2016-12-22 | 2017-05-31 | 东南大学 | A kind of full speed adjustable range internal torque pulsation suppressing method of brshless DC motor |
| CN107453661A (en) * | 2017-08-04 | 2017-12-08 | 南京理工大学 | A kind of system and method that motor torque ripple is reduced based on duty-cycle |
| CN112910336A (en) * | 2021-01-15 | 2021-06-04 | 西安交通大学 | Method, system and device for suppressing torque ripple of permanent magnet synchronous motor through harmonic injection and storage medium |
| CN112994538A (en) * | 2021-02-01 | 2021-06-18 | 桂林电子科技大学 | Fourier neural network based SRM torque ripple suppression control system and method |
| CN112994538B (en) * | 2021-02-01 | 2022-09-13 | 桂林电子科技大学 | Fourier neural network based SRM torque ripple suppression control system and method |
| CN113346811A (en) * | 2021-04-12 | 2021-09-03 | 江苏大学 | Motor vibration noise suppression method based on torque ripple control of harmonic back electromotive force observer |
| CN113346811B (en) * | 2021-04-12 | 2022-09-16 | 江苏大学 | Method for inhibiting motor torque pulsation and vibration based on back electromotive force observer |
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