CN105007009B - Salient Motor Direct Torque Control device and method based on terminal sliding mode - Google Patents
Salient Motor Direct Torque Control device and method based on terminal sliding mode Download PDFInfo
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Abstract
The invention discloses a kind of Salient Motor Direct Torque Control device based on terminal sliding mode, including motor driving power converter, Salient Motor, three-phase voltage and current sample modulate circuit, motor rotor position signal deteching circuit and DSP microprocessors.The control method of the device is also disclosed that simultaneously.The present invention to Salient Motor torque due to that can carry out Direct Torque Control, thus it can effectively suppress the torque pulsation of Salient Motor, TSM control is employed additionally, due to der Geschwindigkeitkreis, improve the dynamic and stability of motor, so as to solve the big defect of double-salient-pole torque pulsation, the application field of double salient-pole electric machine has effectively been widened.
Description
Technical field
The present invention relates to a kind of Salient Motor Direct Torque Control device and method based on terminal sliding mode, belong to electricity
Machine governing system field.
Background technology
Since professor Lipo of Wisconsin universities of the U.S. proposes double salient-pole electric machine, the motor is in starting/generating system
System, motorized motions, field of wind power generation are widely used.DSM motors are in spite of many advantages, such as rotor structure letter
Single, without winding on rotor, no copper loss is adapted to high-speed cruising, fault tolerant etc..But its intrinsic double-salient-pole stator, rotor structures causes
It has larger torque pulsation, seriously hinders double salient-pole electric machine and further promotes and application.Understood by concrete analysis：
The reason for double salient-pole electric machine torque pulsation is big is caused mainly there are two aspects：One is the tooth as caused by motor self structure slot effect
Groove torque pulsation；Two be the electromagnetic torque pulsation caused by it there is dead time such as traditional doublebeat, standard angle control.Tooth
Groove torque pulsation can only be improved by improving the electromagnetic structure of motor, and electromagnetic torque pulsation can be controlled by improving
System is tactful and is eliminated.
In addition, traditional double salient-pole electric machine governing system uses rotating speed/current double closed-loop control, in traditional speed governing system
In system, in order to keep motor speed constant, the double circle controling mode being generally combined using speed ring with electric current loop.From closing
Seen on ring structure, electric current loop is referred to as inner ring；Der Geschwindigkeitkreis are outer shroud.Although this rotating speed/current double loop speed-regulating system is compared to single
Speed closed loop governing system has more preferable dynamic property and Immunity Performance, but the system is applied to double salient-pole electric machine control system
When, the torque pulsation of motor can not well be controlled.
The content of the invention
In order to solve the above-mentioned technical problem, directly turn the invention provides a kind of Salient Motor based on terminal sliding mode
Square control device and method.
In order to achieve the above object, the technical solution adopted in the present invention is：
Salient Motor Direct Torque Control device based on terminal sliding mode, including it is motor driving power converter, double
Salient-pole motor, three-phase voltage and current sample modulate circuit, motor rotor position signal deteching circuit and DSP microprocessors
Device；
The output end three-phase windings input connection corresponding with Salient Motor of the motor driving power converter,
The three-phase voltage is of coupled connections with the input of current sample modulate circuit and the three-phase windings of Salient Motor, described double
The output end of the hall position sensor of installing and the input of motor rotor position signal deteching circuit inside salient-pole motor
Connection, the output end of the motor rotor position signal deteching circuit and three-phase voltage and current sample modulate circuit is and DSP
Microprocessor is connected, and the PWM output ends of the DSP microprocessors are connected with the input of motor driving power converter.
The motor driving power converter includes main power inverter and drive circuit；
The main power inverter be three-phase bridge circuit, and each bridge arm midpoint and double salient-pole electric machine A, B, C three-phase around
Group is connected to power to Salient Motor；
The input of the drive circuit is connected with the PWM output ends of DSP microprocessors, pwm signal through drive circuit every
After enhancing, the grid for being transported to each power switch pipe of main power inverter is controlled as the grid source of each power switch pipe
Signal, the turn-on and turn-off to drive corresponding power switching tube.
The three-phase bridge circuit is mainly made up of six power switch pipes, and the drive circuit mainly drives core by optocoupler
Piece and its peripheral circuit are constituted.
The three-phase voltage includes signal conditioning circuit and three-phase voltage and current detecting with current sample modulate circuit
Circuit；
The instantaneous input three-phase current and three of the three-phase voltage and current detection circuit to gather Salient Motor
Phase voltage；The signal conditioning circuit is to nurse one's health three-phase current and three-phase voltage, and by the three-phase current and three-phase after conditioning
Voltage is sent to DSP microprocessors；
The input of the three-phase voltage and current detection circuit and the three-phase windings of Salient Motor are of coupled connections, institute
State three-phase voltage and the output end of current detection circuit and the input of signal conditioning circuit is connected, the signal conditioning circuit
Output end is connected with DSP microprocessors.
The input of the three-phase voltage and current detection circuit passes through electric current and voltage sensor and Salient Motor
Three-phase windings be of coupled connections.
The motor rotor position signal deteching circuit is to gather and send Salient Motor three-phase position signal.
The control method of Salient Motor Direct Torque Control device based on terminal sliding mode, comprises the following steps,
Step one, DSP microprocessors are initialized, CAP is enabled and interrupts and timer T3 interruptions；
Define analog-to-digital conversion interface ADCIN0~ADCIN2 and receive the three-phase voltage after conditioning, analog-to-digital conversion interface ADCIN3
~ADCIN5 receives the three-phase current after conditioning；
It is I/O mouthfuls to define CAP1~CAP3, and Salient Motor three-phase position signal is received respectively, sends double-salient-pole electronic
The port of machine three-phase position signal is respectively PA, PB and PC；
It is capture mouth to define CAP4, and captures effective for rising edge, and the CAP4 is connected with PA；
It is I/O mouthfuls to define PWM1~PWM3；
Step 2, switch controlled is realized using the phase position of Salient Motor three, and to switching tube sign of flag assignment；
Process is as follows：
A1 PA, PB and PC port status) are read；
A2 PA=1, PB=0) are judged whether, if it is, Flag=0, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM1=1；Otherwise step A3 is gone to；Wherein L μ s are determined according to the maximum speed of Salient Motor；
A3 PB=1, PC=0) are judged whether, if it is, Flag=1, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM2=1；Otherwise step A4 is gone to；
A4 PC=1, PA=0) are judged whether, if it is, Flag=2, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM3=1；Otherwise step A5 is gone to；
A5) assignment terminates；
Step 3, when CAP4 detects PA rising edges, CAP interrupt responses, double bis- grades of heaps of reading CAP4FIFO
The value of stack buffer, then calculates the current rotating speed n [k] of Salient Motor, and k represents current time of sampling；
Step 4, timer T3 interrupt responses determine the switching signal of main power inverter switching tube；
Detailed process is,
B1 three-phase voltage and three-phase current that ADCIN0~ADCIN5 is received) are read,；
B2 Salient Motor current torque T) is calculatede；
Te=(ua[k]ia[k]+ub[k]ib[k]+uc[k]ic[k])/n[k]
Wherein, ua[k]、ub[k] and uc[k] is respectively the three-phase voltage at k moment, ia[k]、ib[k] and ic[k] is respectively k
The three-phase current at moment；
B3 the speed error x of current rotating speed) is calculated1With the derivative x of current speed error2；
x1=n [k]-n [r]
x2=[n [k]-n [r]]/T3PR
Wherein, n [r] is that governing system gives reference rotation velocity；T3PR is timer T3 timed interrupt cycle.
B4 sliding formwork function S and control law u) is calculated；
S=x2+α1[βx1+(βx1)2/2]
Wherein, α1It is given sliding formwork coefficient with β；
As S ＞ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2+K]/b
As S=0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2]/b
As S ＜ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2-K]/b
Wherein, α, m, K, b are control law u expression formula relevant parameters, and meet 0 ＜ m ＜ K；
B5) according to u and TeDetermine the switching signal of main power inverter switching tube.
According to u and TeThe detailed process for determining the switching signal of main power inverter switching tube is,
C1 u-T) is calculatedeValue；
C2 u-T) is judgedeWhether it is more than the given upper limit uplim of the stagnant ring of torque, if it is, going to step C3, otherwise turns
To step C4；
C3) read switch pipe sign of flag, if Flag=0, PWM1=0；If Flag=1, PWM2=0；Flag=
2, then PWM3=0, goes to step C7；
C4 u-T) is judgedeWhether the given lower limit lowlim of torque stagnant ring is less than, if it is, going to step C5, otherwise
Go to step C6；
C5) read switch pipe sign of flag, if Flag=0, PWM1=1；If Flag=1, PWM2=1；Flag=
2, then PWM3=1, goes to step C7；
C6) PWM1, PWM2, PWM3 port status keep constant, go to step C7；
C7) interrupt and return.
The beneficial effect that the present invention is reached：The present invention to Salient Motor torque due to that can carry out Direct torque
System, thus can effectively suppress the torque pulsation of Salient Motor, TSM control is employed additionally, due to der Geschwindigkeitkreis, is improved
The dynamic and stability of motor, so as to solve the big defect of double-salient-pole torque pulsation, have effectively widened double-salient-pole electricity
The application field of machine.
Brief description of the drawings
Fig. 1 connects block diagram for the circuit of apparatus of the present invention.
Fig. 2 is the flow chart of the inventive method.
Fig. 3 is the flow chart of switching tube sign of flag assignment.
Fig. 4 is the flow chart for the switching signal for determining main power inverter switching tube.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As shown in figure 1, the Salient Motor Direct Torque Control device based on terminal sliding mode, including motor driving power
Converter 1, Salient Motor 2, three-phase voltage and current sample modulate circuit 3, motor rotor position signal deteching circuit 4 with
And DSP microprocessors 5.
Attachment structure is as follows：
The output end three-phase windings input connection corresponding with Salient Motor 2 of motor driving power converter 1, three
Phase voltage and the three-phase windings of the input and Salient Motor 2 of current sample modulate circuit 3 are of coupled connections, and double-salient-pole is electronic
The output end of the hall position sensor of the inside of machine 2 installing is connected with the input of motor rotor position signal deteching circuit 4, electricity
Machine rotor position signalling detect the output end of circuit 4 and three-phase voltage and current sample modulate circuit 3 with DSP microprocessors 5
Connection, the PWM output ends of DSP microprocessors 5 are connected with the input of motor driving power converter.
Above-mentioned motor driving power converter 1 includes main power inverter 1-1 and drive circuit 1-2.Main power inverter
1-1 is three-phase bridge circuit, and each bridge arm midpoint is connected with to Salient Motor with A, B, C three-phase windings of double salient-pole electric machine
Power supply, three-phase bridge circuit here is mainly made up of six power switch pipes；Drive circuit 1-2 is main by optocoupler driving chip
And its peripheral circuit is constituted, drive circuit 1-2 input is connected with the PWM output ends of DSP microprocessors 5, and pwm signal is through driving
After dynamic circuit 1-2 isolation enhancings, the grid for being transported to main power inverter 1-1 each power switch pipe is opened as each power
Close the grid source control signal of pipe, the turn-on and turn-off to drive corresponding power switching tube.
Above-mentioned three-phase voltage includes signal conditioning circuit 3-2 and three-phase voltage and electric current with current sample modulate circuit 3
Detect circuit 3-1.The instantaneous input three-phase current of three-phase voltage and current detection circuit 3-1 to gather Salient Motor 2
And three-phase voltage；Signal conditioning circuit 3-2 is to nurse one's health three-phase current and three-phase voltage, and by the three-phase current after conditioning and three
Phase voltage is sent to DSP microprocessors 5.Three-phase voltage and current detection circuit 3-1 input and the three of Salient Motor 2
Phase winding is of coupled connections, and is of coupled connections here by the three-phase windings of electric current and voltage sensor and Salient Motor 2, three-phase
Voltage and current detection circuit 3-1 output end is connected with signal conditioning circuit 3-2 input, signal conditioning circuit 3-2's
Output end is connected with DSP microprocessors 5.
Above-mentioned motor rotor position signal deteching circuit 4 is to gather and send the three-phase position signal of Salient Motor 2.
As shown in Fig. 2 the control method of the above-mentioned Salient Motor Direct Torque Control device based on terminal sliding mode, bag
Include following steps：
Step one, initialization DSP microprocessors 5, enable CAP and interrupt and timer T3 interruptions.
Define analog-to-digital conversion interface ADCIN0~ADCIN2 and receive the three-phase voltage after conditioning, analog-to-digital conversion interface ADCIN3
~ADCIN5 receives the three-phase current after conditioning；It is I/O mouthfuls to define CAP1~CAP3, and the three-phase of Salient Motor 2 is received respectively
Position signalling, the port for sending the three-phase position signal of Salient Motor 2 is respectively PA, PB and PC；It is capture mouth to define CAP4,
And it is effective for rising edge capture, the CAP4 is connected with PA；It is I/O mouthfuls to define PWM1~PWM3.
Step 2, realizes switch controlled, and assign to switching tube sign of flag using the phase position of Salient Motor 2 three
Value.
Process is as shown in Figure 3：
A1 PA, PB and PC port status) are read；
A2 PA=1, PB=0) are judged whether, if it is, Flag=0, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM1=1；Otherwise step A3 is gone to；Wherein L μ s are determined according to the maximum speed of Salient Motor；
A3 PB=1, PC=0) are judged whether, if it is, Flag=1, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM2=1；Otherwise step A4 is gone to；
A4 PC=1, PA=0) are judged whether, if it is, Flag=2, PWM1=0, PWM2=0, PWM3=0, be delayed L
After μ s, PWM3=1；Otherwise step A5 is gone to；
A5) assignment terminates.
Step 3, when CAP4 detects PA rising edges, CAP interrupt responses, double bis- grades of heaps of reading CAP4FIFO
The value of stack buffer, then calculates the current rotating speed n [k] of Salient Motor 2, and k represents current time of sampling.
Step 4, timer T3 interrupt responses determine the switching signal of main power inverter 1-1 switching tubes.
Detailed process is as shown in Figure 4：
B1 three-phase voltage and three-phase current that ADCIN0~ADCIN5 is received) are read,；
B2 the current torque T of Salient Motor 2) is calculatede；
Te=(ua[k]ia[k]+ub[k]ib[k]+uc[k]ic[k])/n[k]
Wherein, ua[k]、ub[k] and uc[k] is respectively the three-phase voltage at k moment, ia[k]、ib[k] and ic[k] is respectively k
The three-phase current at moment；
B3 the speed error x of current rotating speed) is calculated1With the derivative x of current speed error2；
x1=n [k]-n [r]
x2=[n [k]-n [r]]/T3PR
Wherein, n [r] is that governing system gives reference rotation velocity；T3PR is timer T3 timed interrupt cycle.
B4 sliding formwork function S and control law u) is calculated；
S=x2+α1[βx1+(βx1)2/2]
Wherein, α1It is given sliding formwork coefficient with β；
As S ＞ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2+K]/b
As S=0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2]/b
As S ＜ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2-K]/b
Wherein, α, m, K, b are control law u expression formula relevant parameters, and meet 0 ＜ m ＜ K；
B5) according to u and TeDetermine the switching signal of main power inverter 1-1 switching tubes；
Detailed process is,
C1 u-T) is calculatedeValue；
C2 u-T) is judgedeWhether it is more than the given upper limit uplim of the stagnant ring of torque, if it is, going to step C3, otherwise turns
To step C4；
C3) read switch pipe sign of flag, if Flag=0, PWM1=0；If Flag=1, PWM2=0；Flag=
2, then PWM3=0, goes to step C7；
C4 u-T) is judgedeWhether the given lower limit lowlim of torque stagnant ring is less than, if it is, going to step C5, otherwise
Go to step C6；
C5) read switch pipe sign of flag, if Flag=0, PWM1=1；If Flag=1, PWM2=1；Flag=
2, then PWM3=1, goes to step C7；
C6) PWM1, PWM2, PWM3 port status keep constant, go to step C7；
C7) interrupt and return.
In summary, the present invention uses double -loop control, and outer shroud is the der Geschwindigkeitkreis based on TSM control, and inner ring is employed
The Direct Torque Control of Hysteresis control, der Geschwindigkeitkreis are as obtained by given rotating speed and current rotating speed after TSM control is adjusted
Export as the given of torque ring；And direct torque ring is by detecting that obtained voltage, electric current and tach signal are calculated in real time
Current torque；After current torque and control law u are subtracted each other, the upper and lower bound of the stagnant ring of gained and torque is compared, from
And the restrictive condition of converter power switch is obtained, by the condition with standard angle control logic phase and with regard to specific work(can be obtained
Rate switching tube logic control signal, so as to realize the Salient Motor Direct Torque Control based on terminal sliding mode.
The present invention can effectively suppress double-salient-pole electricity due to that can carry out Direct Torque Control to Salient Motor torque
The torque pulsation of motivation, TSM control is employed additionally, due to der Geschwindigkeitkreis, thus improves the dynamic and stably of motor
Performance, so as to solve the big defect of double-salient-pole torque pulsation, has effectively widened the application field of double salient-pole electric machine.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these improve and deformed
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. the control method of the Salient Motor Direct Torque Control device based on terminal sliding mode, it is characterised in that：Based on end
Hold the Salient Motor Direct Torque Control device of sliding formwork, including motor driving power converter, Salient Motor, three-phase
Voltage and current sample modulate circuit, motor rotor position signal deteching circuit and DSP microprocessors；
The output end three-phase windings input connection corresponding with Salient Motor of the motor driving power converter, it is described
Three-phase voltage is of coupled connections with the input of current sample modulate circuit and the three-phase windings of Salient Motor, the double-salient-pole
The output end of the hall position sensor of motor interior installing is connected with the input of motor rotor position signal deteching circuit,
The output end of the motor rotor position signal deteching circuit and three-phase voltage and current sample modulate circuit with DSP microprocessors
Device is connected, and the PWM output ends of the DSP microprocessors are connected with the input of motor driving power converter,
Comprise the following steps,
Step one, DSP microprocessors are initialized, CAP is enabled and interrupts and timer T3 interruptions；
Three-phase voltage after definition analog-to-digital conversion interface ADCIN0~ADCIN2 reception conditionings, analog-to-digital conversion interface ADCIN3~
ADCIN5 receives the three-phase current after conditioning；
It is I/O mouthfuls to define CAP1~CAP3, and Salient Motor three-phase position signal is received respectively, sends Salient Motor three
The port of phase position signal is respectively PA, PB and PC；
It is capture mouth to define CAP4, and captures effective for rising edge, and the CAP4 is connected with PA；
It is I/O mouthfuls to define PWM1~PWM3；
Step 2, switch controlled is realized using the phase position of Salient Motor three, and to switching tube sign of flag assignment；
Process is as follows：
A1 PA, PB and PC port status) are read；
A2 PA=1, PB=0) are judged whether, if it is, Flag=0, PWM1=0, PWM2=0, PWM3=0, delay L μ s
Afterwards, PWM1=1；Otherwise step A3 is gone to；Wherein L μ s are determined according to the maximum speed of Salient Motor；
A3 PB=1, PC=0) are judged whether, if it is, Flag=1, PWM1=0, PWM2=0, PWM3=0, delay L μ s
Afterwards, PWM2=1；Otherwise step A4 is gone to；
A4 PC=1, PA=0) are judged whether, if it is, Flag=2, PWM1=0, PWM2=0, PWM3=0, delay L μ s
Afterwards, PWM3=1；Otherwise step A5 is gone to；
A5) assignment terminates；
Step 3, when CAP4 detects PA rising edges, CAP interrupt responses, double reading CAP4FIFO second-level stacks delay
The value of device is rushed, the current rotating speed n [k] of Salient Motor is then calculated, k represents current time of sampling；
Step 4, timer T3 interrupt responses determine the switching signal of main power inverter switching tube；
Detailed process is：
B1 three-phase voltage and three-phase current that ADCIN0~ADCIN5 is received) are read；
B2 Salient Motor current torque T) is calculatede；
Te=(ua[k]ia[k]+ub[k]ib[k]+uc[k]ic[k])/n[k]
Wherein, ua[k]、ub[k] and uc[k] is respectively the three-phase voltage at k moment, ia[k]、ib[k] and ic[k] is respectively the k moment
Three-phase current；
B3 the speed error x of current rotating speed) is calculated1With the derivative x of current speed error2；
x1=n [k]-n [r]
x2=[n [k]-n [r]]/T3PR
Wherein, n [r] is the reference rotation velocity that governing system gives；T3PR is timer T3 timed interrupt cycle；
B4 sliding formwork function S and control law u) is calculated；
S=x2+α1[βx1+(βx1)2/2]
Wherein, α1It is given sliding formwork coefficient with β；
As S ＞ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2+K]/b
As S=0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2]/b
As S ＜ 0,
U=[mx1-αx2+α1β[1+βx1+(βx1)2/2]x2-K]/b
Wherein, α, m, K, b are control law u expression formula relevant parameters, and meet 0 ＜ m ＜ K；
B5) according to u and TeDetermine the switching signal of main power inverter switching tube.
2. the controlling party of the Salient Motor Direct Torque Control device according to claim 1 based on terminal sliding mode
Method, it is characterised in that：According to u and TeThe detailed process for determining the switching signal of main power inverter switching tube is,
C1 u-T) is calculatedeValue；
C2 u-T) is judgedeWhether it is more than the given upper limit uplim of the stagnant ring of torque, if it is, going to step C3, otherwise goes to step
Rapid C4；
C3) read switch pipe sign of flag, if Flag=0, PWM1=0；If Flag=1, PWM2=0；Flag=2, then
PWM3=0, goes to step C7；
C4 u-T) is judgedeWhether it is less than the given lower limit lowlim of the stagnant ring of torque, if it is, going to step C5, otherwise goes to
Step C6；
C5) read switch pipe sign of flag, if Flag=0, PWM1=1；If Flag=1, PWM2=1；Flag=2, then
PWM3=1, goes to step C7；
C6) PWM1, PWM2, PWM3 port status keep constant, go to step C7；
C7) interrupt and return.
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| CN110096077B (en) * | 2019-05-31 | 2022-01-25 | 西南石油大学 | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor |
| CN113411014B (en) * | 2021-07-28 | 2021-12-17 | 南京航空航天大学 | Electro-magnetic doubly salient motor control method for inhibiting torque pulsation based on torque closed loop |
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Effective date of registration: 20200902 Address after: C15, second floor, R & D building, No. 97, Haihu Road, Wujin national high tech Industrial Development Zone, Changzhou City, Jiangsu Province Patentee after: Zhiqu Electromechanical Technology (Changzhou) Co.,Ltd. Address before: 213022 Changzhou Jin Ling North Road, Jiangsu, No. 200 Patentee before: CHANGZHOU CAMPUS OF HOHAI University |