CN104579091A - Direct torque control device and method - Google Patents
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Abstract
The invention relates to a direct torque control device and method. The direct torque control device comprises a main control unit, an inductor motor, an input filter, a matrix converter, an output filter, an input voltage detection unit, a motor voltage detection unit, a motor current detection unit, a driving isolation circuit and a rotation speed measuring unit. The direct torque control method comprises the first step of obtaining estimated values of torque and flux linkage, the second step of determining a torque reference value, the third step of conducting hysteresis comparison on the estimated values of the torque and the flux linkage and the reference value, the fourth step of obtaining on-off state selection signals according to the sector where the flux linkage is located and state values of the torque and the flux linkage, the fifth step of calculating the amplitude and phase of voltages through input three-phase voltages and conducting power-factor adjustment, the sixth step of obtaining combined control signals through input voltage sector signals, a power factor state value and the on-off state selection signals to control the matrix converter. Compared with the prior art, the direct torque control device and method have the advantages that the operating complexity is reduced, the voltage transmission ratio is guaranteed, and pollution to a power grid is avoided.
Description
Technical field
The present invention relates to motor torque control field, especially relate to a kind of direct torque control apparatus and method.
Background technology
Direct torque control overcome with in the vector control of classical magnetic field orientation to the defect of parameter sensitivity, do not need induction machine Driving Torque to convert to the current reference value of equivalence, do not need complicated controller yet.It is centered by torque, Comprehensive Control is realized in the mode of stator flux orientation, avoid the complicated coordinate transform of vector control and the Mathematical treatment of motor model, on motor stator coordinate, directly calculate the size of magnetic linkage and torque, realize the double-closed-loop control of stator magnetic linkage and electromagnetic torque, control effects real-time can be obtained.But the direct torque control of routine (DTC) system adopts PI controller to realize the control of rotating speed, although have the advantage that structure is simple, control method easily realizes, but the contradiction that can not solve between stability and rapidity, need the parameter carrying out conditioning controller according to different control objects, this adds difficulty to debug process.So improve controller performance, for the engineer applied of motor Direct Torque, there is very important practical significance.
Series of improving measures is taken to this both at home and abroad: the people such as Satish and Mohapatra proposed the dynamic property that adaptive speed observer effectively improves system in 2009 in paper " Dynamic performance of a matrix converter fed speed sensorless DTC inductionmotor drive using adaptive speed observer.IEEE Applied Power Electronics Conferenceand Exposition. ", but its parameter update law selects difficulty, identification cannot be carried out accurately to motor speed, combined with PLL phase-locked loop by the low pass filter method of carrying out flux linkage estimation of document " a kind of novelty without transducer Direct Torque Control System of Induction Motors Using " improves the estimated accuracy of stator magnetic linkage, make stator resistance have good robustness, but its stability affect larger by the input phase difference of phase-locked loop, the automatic disturbance rejection controller (ADRC) that the people such as Pan Yuedou and Xu Jie introduced in paper " application of ESO in direct torque control matrix converter and stability analysis " in 2013, it does not rely on the Mathematical Modeling of control object, process has non-linear and probabilistic control system good effect, but it is many to have parameter, to adjust complexity, need repeatedly to try to gather, be difficult to the defect reaching desirable control effects.
In addition, in DTC system, general also need adopts voltage source inverter, by comparison, emerging " green " frequency converter-matrix converter that developed recently gets up has energy capable of bidirectional flowing, input current and output voltage sine, without the need to realizing the remarkable advantage that unity power factor runs under energy storage original paper, any load, it has the trend progressively replacing conventional transducers.But the voltage transmission of conventional matrix converter (MC) is lower, is difficult to the voltage request meeting induction machine.
Summary of the invention
Object of the present invention is exactly provide a kind of direct torque control apparatus and method simplifying controls, raising voltage transmission ratio to overcome defect that above-mentioned prior art exists.
Object of the present invention can be achieved through the following technical solutions:
A kind of direct torque control device, it is characterized in that, comprise main control unit, induction machine, input filter, matrix converter, output filter, input voltage measurement unit, stator voltage detecting unit, stator current detecting unit, driving isolation circuit and rotation speed measurement unit;
Described input filter is series at the input of matrix converter;
The output of described output filter parallel connection and matrix converter;
Described main control unit is connected respectively with input voltage measurement unit, stator voltage detecting unit, stator current detecting unit, rotation speed measurement unit respectively, and calculates the control signal of output matrix converter according to its data gathered;
Described input voltage measurement unit is used for amplitude and the phase angle of monitoring matrix converter input voltage;
Described stator voltage detecting unit and stator current detecting unit detect the voltage of motor stator, the amplitude of electric current and phase angle respectively;
Described rotation speed measurement unit is used for the real-time monitored to motor speed;
Described driving isolation circuit is connected between main control unit and matrix converter, for realizing light-coupled isolation between control signal and drive singal.
Described main control unit comprises coordinate conversion circuit, automatic disturbance rejection controller, the estimation circuit of magnetic linkage and torque and block ring regulation circuit, Stator flux linkage sectors decision circuitry, input voltage sector decision circuitry, power factor block ring regulation circuit and switch combination control circuit.
Described automatic disturbance rejection controller adopts the automatic disturbance rejection controller of reduced parameter form.
In described main control unit, magnetic linkage block ring regulation circuit is specially second order flux linkage hysteresis comparator device and three rank torque hysteresis comparators;
Flux estimate algorithm value compares with magnetic linkage reference value by described second order flux linkage hysteresis comparator device, and described flux estimate algorithm value is drawn according to stator voltage and electric current estimation by flux estimate algorithm circuit, and described magnetic linkage reference value is preset value;
Torque estimating value compares with torque reference value by described three rank torque hysteresis comparators, and described torque estimating value is drawn according to stator voltage and electric current estimation by torque estimating circuit, and described torque reference value is the output of described automatic disturbance rejection controller.
Described matrix converter is the matrix converter based on three-phase boost type AC chopper, substitutes by 3 × 3 matrix converters of three power tubes in three-phase boost type chopper.
A kind of Direct Torque Control, is characterized in that, comprise the following steps:
(1) gather and utilize induction machine stator electric current and voltage to be worth the estimated value of torque and magnetic linkage value;
(2) reference value determining torque is regulated;
(3) estimated value of torque and magnetic linkage and reference value are made stagnant chain rate comparatively and obtain the state value of torque and magnetic linkage respectively;
(4) state value of sector, stator magnetic linkage place and torque and magnetic linkage is utilized to obtain stator voltage vector;
(5) by the amplitude calculating voltage and the phase place of the input three-phase voltage of matrix converter, and the state value that power factor regulation obtains power factor is carried out accordingly;
(6) utilize input voltage sector signals, stator voltage vector that the state value of power factor that step (5) obtains and step (4) obtain obtains combining control signal, carry out gating matrix converter with this.
A kind of Direct Torque Control according to claim 6, is characterized in that, gathers and utilizes induction machine stator electric current and voltage to be worth the estimated value of torque and magnetic linkage value to be specially in described step (1),
At the input side of induction machine, detect stator voltage and stator current, and 3/2 conversion carried out to it, after obtaining the amplitude of output voltage, phase place accordingly, estimate stator magnetic linkage and torque:
In formula: R
sfor stator resistance; Ψ
s α, Ψ
s βbe respectively stator α axle, β axle magnetic linkage; i
s α, i
s βbe respectively the current component of stator α axle, β axle; P
nfor motor number of pole-pairs; L
mfor stator mutual inductance; T
efor electromagnetic torque.
Regulate in described step (2) and determine that torque reference value is specially detection motor speed and compares with set point, comparative result is as the input of automatic disturbance rejection controller, and the output obtained thus is the reference value of torque;
In described step (6), matrix converter is the matrix converter based on three-phase boost type AC chopper, substitutes by 3 × 3 matrix converters of three power tubes in three-phase boost type chopper.
Combination control signal in described step (6) comprises switch state signal and switching sequence signal.
Compared with prior art, the present invention has the following advantages:
1. adopt reduced parameter type automatic disturbance rejection controller, while guarantee has good control effects to the non-linear of motor and uncertain parameters, simplify controller parameter, greatly reduce the complexity of operation.
2. adopt the matrix converter based on three-phase boost type AC chopper, effectively raise voltage transmission ratio, improve the transmission performance of matrix converter, while guarantee has high voltage transfer ratio, electrical network do not polluted and guarantee that between motor and electrical network, energy can two-way flow
Accompanying drawing explanation
Fig. 1 is the motor direct Torque Control block diagram based on automatic disturbance rejection controller and matrix converter of the present invention.
Fig. 2 is the main circuit structure figure of the matrix converter based on three-phase boost type AC chopper of the present invention;
Fig. 3 is part A enlarged drawing in Fig. 2;
Fig. 4 is the matrix converter control strategy schematic diagram based on three-phase boost type AC chopper of the present invention,
Wherein t
sfor ON time, t
lfor the turn-off time, T
seqfor switch periods, u
djA, u
djB, u
djCbe respectively three-phase modulations ripple signal, u
rfor carrier signal, s
jA, s
jB, s
jCand s
lfor switching signal;
Fig. 5 is the matrix converter output current waveform figure based on three-phase boost type AC chopper of the present invention;
Fig. 6 is the motor direct torque control stator magnetic linkage oscillogram based on automatic disturbance rejection controller and matrix converter of the present invention;
Fig. 7, Fig. 8 are respectively the motor direct Torque Control based on automatic disturbance rejection controller and matrix converter of the present invention: drop to 200rad/s when 0.35s by initial value 500rad/s; Torque settings is: initial value is 0, rises to 15Nm when 0.5s, speed waveform figure when getting back to again 0 value when 0.9s and torque profile figure.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The invention provides a kind of Direct Torque Control, comprise the steps:
(1) at the input side of induction machine, detect stator voltage and stator current, and 3/2 conversion carried out to it, obtain the amplitude of output voltage, phase place estimate stator magnetic linkage and torque accordingly, specifically can be calculated by following formula:
In formula: R
sfor stator resistance; Ψ
s α, Ψ
s βbe respectively stator α axle, β axle magnetic linkage; i
s α, i
s βbe respectively the current component of stator α axle, β axle; P
nfor motor number of pole-pairs; L
mfor stator mutual inductance; T
efor electromagnetic torque.
(2) detect motor speed and compare with set-point, comparative result is as the input of automatic disturbance rejection controller, and the output obtained thus is as the set-point of torque;
(3) magnetic linkage is made comparisons with corresponding set-point respectively to the actual value of torque, and the comparative result of magnetic linkage is inputted 2 rank flux linkage hysteresis comparator devices, the comparative result of torque inputs 3 rank torque hysteresis comparators, can obtain the state value of magnetic linkage and torque thus;
Wherein the range of tolerable variance of magnetic linkage is ± ξ
Ψ, as Δ ξ > ξ
Ψtime export be 1, Δ ξ <-ξ
Ψin time, export as-1, as-ξ
Ψ≤ Δ ξ≤+ ξ
Ψtime, output remains unchanged.；
For 3 rank torque hysteresis comparators, ξ
tfor critical threshold values, as Δ T≤-ξ
ttime export be 1, Δ T>=+ξ
ttime export be 0 ,-ξ
t≤ Δ T≤+ ξ
ttime export remain unchanged;
(4) sector, stator magnetic linkage place is obtained by voltage magnitude phase angle in step (1), and with step (3) in magnetic linkage together with the state value of torque through DTC on off state option table output stator voltage vector, make torque and stator flux regulation in two stagnant rings, realize the uneoupled control of stator magnetic linkage and electromagnetic torque, on off state option table is as follows:
Table 1 DTC switch option table
Wherein ψ
qfor magnetic linkage state value, T
qfor torque conditions value, S
1~ S
6stator flux linkage sectors, U
0~ U
7for stator voltage vector;
(5) detection of grid side electric current and voltage, obtains sector, input voltage place and phase angle
the state value of power factor is obtained through power factor observer and second order hysteresis comparator controller action;
(6) stator voltage vector, input voltage place sector auxiliary information and power factor state value are outputted on off state option table, its change of current according to matrix converter limits, namely any two inputs can not short circuit, the principle that any one output can not be opened a way, can produce 3 × 3 × 3=27 kind on off state, then the output voltage vector of synthetical matrix converter divides and input information summary obtains.The switching signal obtained thus is used for the on off state of gating matrix inverter power pipe and switching sequence.
In step (2), automatic disturbance rejection controller adopts the form of reduced parameter, and its nonlinear Feedback Control rule NLSEF is:
In formula: v
1(t), v
2t () is respectively Nonlinear Tracking Differentiator to the tracking signal of input signal v (t) and differential signal; z
1(t), z
2t () is respectively extended state observer ESO to the tracking signal of output signal and differential signal, z
3t () is the estimation to unknown portions in total interference volume; f
han(.) is the comprehensive nonlinear function of time optimal control; R is the velocity factor following the tracks of transitional processes; H is sampling step length; B is control coefrficient.
In step (6), matrix converter adopts the structure based on three-phase boost type AC chopper, as shown in Figure 1.
In addition, as shown in Figure 2, the present invention also provides a kind of motor Direct Torque control device based on automatic disturbance rejection controller and matrix converter, comprise main control unit 1, induction machine 2, input filter 3, matrix converter 4, output filter 5, input voltage measurement unit 6, motor stator voltage detecting unit 7, motor stator current detecting unit 8, driving isolation circuit 9 and rotation speed measurement unit 10, wherein electrical network is connected with matrix converter input through input filter 3; Induction machine 2 is directly connected through the output of output filter 5 with matrix converter 4; Input filter 3 adopts three inductance, and its three outputs are series at three inputs of matrix converter respectively, and the power tube of the close matrix converter of trying one's best; Input voltage measurement unit 6 is for the amplitude of monitoring matrix converter input voltage and phase angle; Stator voltage detecting unit 7 and stator current detecting unit 8 are responsible for detecting the voltage of motor stator, the amplitude of electric current and phase angle respectively, and its wiring should as far as possible away from output filter; Rotation speed measurement unit 10 is for the real-time monitored to motor speed.
Output filter 3 adopts three electric capacity in Y-connection, three outputs of its three outputs difference parallel connection and matrix converter, and as far as possible near stator current voltage detection unit.
The data that main control unit 1 receives input voltage measurement unit, stator current detecting unit, stator voltage detecting unit, rotation speed measurement unit gather, and realizing following functions: the estimation of the Active Disturbance Rejection Control of coordinate transform, rotating speed, magnetic linkage and torque and block ring regulation, Stator flux linkage sectors judge, input voltage sector judges, power factor block ring regulation, switch combination control, the Active Disturbance Rejection Control of its medium speed is realized by the automatic disturbance rejection controller 11 of reduced parameter.
Driving isolation circuit 9 is connected between main control unit and matrix converter, between control signal and drive singal, realize light-coupled isolation.
Above example is only and technological thought of the present invention is described; protection scope of the present invention can not be limited with this; every technological thought proposed according to the present invention; any change that technical scheme basis is done; as rotational speed governor adopts other forms of automatic disturbance rejection controller or matrix converter to adopt other structure, all fall into protection scope of the present invention.
Claims (10)
1. a direct torque control device, it is characterized in that, comprise main control unit, induction machine, input filter, matrix converter, output filter, input voltage measurement unit, stator voltage detecting unit, stator current detecting unit, driving isolation circuit and rotation speed measurement unit;
Described input filter is series at the input of matrix converter;
The output of described output filter parallel connection and matrix converter;
Described main control unit is connected respectively with input voltage measurement unit, stator voltage detecting unit, stator current detecting unit, rotation speed measurement unit respectively, and calculates the control signal of output matrix converter according to its data gathered;
Described input voltage measurement unit is used for amplitude and the phase angle of monitoring matrix converter input voltage;
Described stator voltage detecting unit and stator current detecting unit detect the voltage of motor stator, the amplitude of electric current and phase angle respectively;
Described rotation speed measurement unit is used for the real-time monitored to motor speed;
Described driving isolation circuit is connected between main control unit and matrix converter, for realizing light-coupled isolation between control signal and drive singal.
2. a kind of direct torque control device according to claim 1, it is characterized in that, described main control unit comprises coordinate conversion circuit, automatic disturbance rejection controller, the estimation circuit of magnetic linkage and torque and block ring regulation circuit, Stator flux linkage sectors decision circuitry, input voltage sector decision circuitry, power factor block ring regulation circuit and switch combination control circuit.
3. a kind of direct torque control device according to claim 2, is characterized in that, described automatic disturbance rejection controller adopts the automatic disturbance rejection controller of reduced parameter form.
4. a kind of direct torque control device according to claim 3, is characterized in that, in described main control unit, magnetic linkage block ring regulation circuit is specially second order flux linkage hysteresis comparator device and three rank torque hysteresis comparators;
Flux estimate algorithm value compares with magnetic linkage reference value by described second order flux linkage hysteresis comparator device, and described flux estimate algorithm value is drawn according to stator voltage and electric current estimation by flux estimate algorithm circuit, and described magnetic linkage reference value is preset value;
Torque estimating value compares with torque reference value by described three rank torque hysteresis comparators, and described torque estimating value is drawn according to stator voltage and electric current estimation by torque estimating circuit, and described torque reference value is the output of described automatic disturbance rejection controller.
5. according to a kind of direct torque control device described arbitrarily in claim 1-4, it is characterized in that, described matrix converter is the matrix converter based on three-phase boost type AC chopper, substitutes by 3 × 3 matrix converters of three power tubes in three-phase boost type chopper.
6. a Direct Torque Control, is characterized in that, comprises the following steps:
(1) gather and utilize induction machine stator electric current and voltage to be worth the estimated value of torque and magnetic linkage value;
(2) reference value determining torque is regulated;
(3) estimated value of torque and magnetic linkage and reference value are made stagnant chain rate comparatively and obtain the state value of torque and magnetic linkage respectively;
(4) state value of sector, stator magnetic linkage place and torque and magnetic linkage is utilized to obtain stator voltage vector;
(5) by the amplitude calculating voltage and the phase place of the input three-phase voltage of matrix converter, and the state value that power factor regulation obtains power factor is carried out accordingly;
(6) utilize input voltage sector signals, stator voltage vector that the state value of power factor that step (5) obtains and step (4) obtain obtains combining control signal, carry out gating matrix converter with this.
7. a kind of Direct Torque Control according to claim 6, is characterized in that, gathers and utilizes induction machine stator electric current and voltage to be worth the estimated value of torque and magnetic linkage value to be specially in described step (1),
At the input side of induction machine, detect stator voltage and stator current, and 3/2 conversion carried out to it, after obtaining the amplitude of output voltage, phase place accordingly, estimate stator magnetic linkage and torque:
In formula: R
sfor stator resistance;
be respectively stator α axle, β axle magnetic linkage;
be respectively the current component of stator α axle, β axle; P
nfor motor number of pole-pairs; L
mfor stator mutual inductance; T
efor electromagnetic torque.
8. a kind of Direct Torque Control according to claim 7, it is characterized in that, regulate in described step (2) and determine that torque reference value is specially detection motor speed and compares with set point, comparative result is as the input of automatic disturbance rejection controller, and the output obtained thus is the reference value of torque.
9. according to a kind of Direct Torque Control described arbitrarily in claim 6-8, it is characterized in that, in described step (6), matrix converter is the matrix converter based on three-phase boost type AC chopper, substitutes by 3 × 3 matrix converters of three power tubes in three-phase boost type chopper.
10., according to a kind of Direct Torque Control described arbitrarily in claim 6, it is characterized in that, the combination control signal in described step (6) comprises switch state signal and switching sequence signal.
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| CN105827160A (en) * | 2016-03-18 | 2016-08-03 | 浙江工业大学 | Permanent magnet synchronous motor system sensorless speed control method based on active disturbance rejection and phase-locked loop technology |
| CN106208880A (en) * | 2016-07-06 | 2016-12-07 | 浙江大学 | Direct Torque Control for the monolateral matrix converter of DC brushless motor |
| CN106788042A (en) * | 2017-01-18 | 2017-05-31 | 南京理工大学 | A kind of direct Torque Control and method for reducing motor torque ripple |
| CN107834933A (en) * | 2017-11-18 | 2018-03-23 | 武汉科技大学 | One kind is based on torque ring auto-disturbance rejection technology direct torque control method for permanent magnetic synchronous electric machine |
| CN108540027A (en) * | 2018-04-25 | 2018-09-14 | 山东科技大学 | A kind of control system for permanent-magnet synchronous motor and its working method based on supertwist synovial membrane variable-structure algorithms |
| CN108832860A (en) * | 2018-07-27 | 2018-11-16 | 江苏省特种设备安全监督检验研究院 | Portable electronic magnetic linkage torque tester |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105827160A (en) * | 2016-03-18 | 2016-08-03 | 浙江工业大学 | Permanent magnet synchronous motor system sensorless speed control method based on active disturbance rejection and phase-locked loop technology |
| CN105827160B (en) * | 2016-03-18 | 2018-09-07 | 浙江工业大学 | A kind of permanent magnet synchronous motor system based on active disturbance rejection and PHASE-LOCKED LOOP PLL TECHNIQUE is without sensor method for control speed |
| CN106208880A (en) * | 2016-07-06 | 2016-12-07 | 浙江大学 | Direct Torque Control for the monolateral matrix converter of DC brushless motor |
| CN106788042A (en) * | 2017-01-18 | 2017-05-31 | 南京理工大学 | A kind of direct Torque Control and method for reducing motor torque ripple |
| CN107834933A (en) * | 2017-11-18 | 2018-03-23 | 武汉科技大学 | One kind is based on torque ring auto-disturbance rejection technology direct torque control method for permanent magnetic synchronous electric machine |
| CN107834933B (en) * | 2017-11-18 | 2019-12-06 | 武汉科技大学 | permanent magnet synchronous motor direct torque control method based on torque ring active disturbance rejection technology |
| CN108540027A (en) * | 2018-04-25 | 2018-09-14 | 山东科技大学 | A kind of control system for permanent-magnet synchronous motor and its working method based on supertwist synovial membrane variable-structure algorithms |
| CN108832860A (en) * | 2018-07-27 | 2018-11-16 | 江苏省特种设备安全监督检验研究院 | Portable electronic magnetic linkage torque tester |
| CN108832860B (en) * | 2018-07-27 | 2023-05-19 | 江苏省特种设备安全监督检验研究院 | Portable electronic flux linkage torque tester |
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| CN104579091B (en) | 2017-03-22 |
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