CN105763135A - Voltage vector PWM method based on duty ratio DTC - Google Patents

Voltage vector PWM method based on duty ratio DTC Download PDF

Info

Publication number
CN105763135A
CN105763135A CN201610149094.8A CN201610149094A CN105763135A CN 105763135 A CN105763135 A CN 105763135A CN 201610149094 A CN201610149094 A CN 201610149094A CN 105763135 A CN105763135 A CN 105763135A
Authority
CN
China
Prior art keywords
pwm
voltage vector
phase
switch
vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610149094.8A
Other languages
Chinese (zh)
Inventor
杨影
孙承波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XINYUAN INDUSTRIAL CONTROL TECHNOLOGY Co Ltd SHANGHAI
University of Shanghai for Science and Technology
Original Assignee
XINYUAN INDUSTRIAL CONTROL TECHNOLOGY Co Ltd SHANGHAI
University of Shanghai for Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by XINYUAN INDUSTRIAL CONTROL TECHNOLOGY Co Ltd SHANGHAI, University of Shanghai for Science and Technology filed Critical XINYUAN INDUSTRIAL CONTROL TECHNOLOGY Co Ltd SHANGHAI
Priority to CN201610149094.8A priority Critical patent/CN105763135A/en
Publication of CN105763135A publication Critical patent/CN105763135A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors

Abstract

The invention relates to the voltage vector modulation technical field of controlling a PMSM, concretely a voltage vector PWM method based on duty ratio DTC (Direct Torque Control). An input signal line of a speed regulating system FMSM is in series connection with an inverter switch signal terminal, a phase modulator PWM signal terminal, and a voltage vector switch state table signal terminal; a voltage vector switch state table is provided with a first switch and a second switch; an output signal line of the speed regulating system FMSM is in connection with a position sensor (PS); the PS is respectively in connection with a voltage vector switch state table and a PWM signal output terminal through multipath sensor signal terminals. The method performs PWM on an upper bridge arm conduction phase, but not on a lower bridge arm conduction phase, allowing twice dead zone action in each period; dead zone compensation in each control period is mutually independent, does not influence each other, and is easy to realize.

Description

A kind of based on dutycycle DTC voltage Vector PWM modulator approach
[technical field]
The present invention relates to the voltage vector modulation technique field controlling permagnetic synchronous motor, a kind of voltage Vector PWM modulator approach based on dutycycle DTC specifically.
[background technology]
The ultimate principle that vector controlled realizes is by measuring and controlling asynchronous motor stator current phasor, according to field orientation principle, exciting current and torque current to asynchronous motor is controlled respectively, thus reaching to control the purpose of induction motors torque, the current component (torque current) that the stator current vector of asynchronous motor is specifically decomposed into the current component (exciting current) producing magnetic field and generation torque is controlled by respectively, and control the amplitude between two components and phase place simultaneously, namely stator current vector is controlled, so claiming this control mode to be called vector control mode.
Direct Torque Control (DirectTorqueControl), it is utilize space vector, the analysis method of stator flux orientation, under stator coordinate, directly analyze the mathematical model of asynchronous motor, magnetic linkage and the torque calculated and control asynchronous motor, adopt discrete two point form actuator, torque detection value is made comparisons with torque set-point, torque ripple is made to be limited in certain range of tolerable variance, hold extent to be controlled by frequency regulator, and produce PWM pulse-width signal, directly the on off state of inverter is controlled, torque to obtain high dynamic performance exports.In DTC system, the accuracy of stator flux of motor observation is the guarantee of motor electromagnetic direct torque performance, and stator magnetic linkage is calculated by motor terminal voltage, and therefore the accurate acquisition of motor terminal voltage just seems critically important.When inverter is powered to motor, the output voltage of inverter is exactly the terminal voltage of motor.Direct Torque Control calculates generally according to the on off state of power device and obtains inverter output voltage.In converter main circuit, in order to prevent the straight-through of inverter upper and lower bridge arm, must be inserted into certain Dead Time between the PWM drive signal of inverter upper and lower bridge arm, namely upper and lower bridge arm simultaneously closes off driving signal.Existence due to dead band so that in the control cycle, deviation occur in actual output voltage and reference voltage vector, and then have influence on the observation of stator magnetic linkage, cause control systematic function to decline and even vibrate.In dutycycle DTC system, adopt the minimum principle of general on-off times to carry out voltage vector modulation and dead area compensation can be made complicated, be unfavorable for realizing.
[summary of the invention]
For the defect that above-mentioned prior art exists, the present invention provides a kind of voltage Vector PWM modulator approach based on dutycycle DTC, thus optimizing voltage modulated mode, reducing dead band number of times, and dead area compensation is easily realized.
nullTo achieve these goals，Design is a kind of based on dutycycle DTC voltage Vector PWM modulator approach，The input signal cable of described governing system FMSM is connected in series inverter switching device signal end、Phase-modulator pwm signal end、Voltage vector on off state table signal end，Voltage vector on off state table is respectively equipped with the first switch and second switch，The output signal line of described governing system PMSM is connected to position sensor PS，Position sensor PS connects voltage switching state table and the signal output part of phase-modulator PWM respectively by multiple sensor signal end，The output signal ia of inverter and ib end，Grasp torque、Magnetic linkage、Angular values，Described dutycycle calculates entry signal point position to the phase-modulator PWM point position by the first switch and second switch，It is calculated，The concrete operation step of described modulator approach is as follows:
(1). after selecting nonzero voltage space vector according to voltage vector switch list, obtain dutycycle according to torque and magnetic linkage Error estimation, so that it is determined that selected voltage vector action time；
(2). after PWM, output is to inverter, and the conducting of upper brachium pontis carries out PWM mutually, and the phase of lower brachium pontis conducting does not carry out PWM；
(3). the voltage vector order as selected is u1-u5-u6, selecting u1During vector, A phase and B phase low level output, C phase carries out PWM, there are 2 dead band moment when PWM；
(4). it is switched to u5And u6During vector, still simply there are 2 dead band moment when PWM；
(5). in each cycle, head and the tail zero vector effect, interlude non-zero effect.
The present invention carries out PWM mutually in the conducting of upper brachium pontis, and the phase of lower brachium pontis conducting does not carry out PWM so that in each cycle, and dead band effect number of times remains 2 times, and the dead area compensation during each control week is separate, is independent of each other so that dead area compensation is easily achieved；From the number of times of Dead Time, in each control cycle, program dead band effect number of times remains 2 times, and in on-off times one control cycle of minimum scheme, dead band effect number of times is 2 times or 3 times, therefore from a period of time, during the employing program, dead band effect number of times reduces to some extent compared with the minimum scheme of on-off times, thus relatively reducing the impact of dead time effect.
[accompanying drawing explanation]
Fig. 1 is prior art breaker in middle least number of times modulator approach effect schematic diagram；
Fig. 2 is the modulator approach effect schematic diagram of the invention；
Fig. 3 is dutycycle DTC system block diagram in the invention；
Specifying Fig. 3 is the Figure of abstract of the present invention.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the invention will be further described, the structure of this device and principle for the people of this specialty it is quite clear that.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
In existing dutycycle DTC system, adopt the minimum principle of general on-off times to carry out voltage vector modulation and dead area compensation can be made complicated, be unfavorable for realizing, as shown in Figure 1.Voltage vector u1Within a cycle, A phase keeps low level with B phase, and C phase carries out PWM, now controls cycle head and the tail zero vector effect, interlude non-zero effect at one；Voltage vector u5, B phase carries out PWM, A phase and C phase and then keeps high level, now, controls cycle head and the tail non-zero effect, interlude zero vector effect at one.When considering dead area compensation, the voltage vector order as selected is u1-u5-u6.Then from u1It is switched to u5Time exist a Dead Time td1, there are 2 Dead Time t when B phase PWMd2And td3, therefore during (n+1)th claps, altogether have 3 Dead Times.By voltage vector u5It is switched to u6Time, equally exist 3 Dead Times during the (n+1)th bat, but during this 2 bat, dead band operative condition also differs, so at least 2 Dead Times in the cycle, or 3.
nullIn the present invention, dutycycle DTC voltage Vector PWM modulating system block diagram is referring to Fig. 2，The input signal cable of governing system FMSM is connected in series inverter switching device signal end、Phase-modulator pwm signal end、Voltage vector on off state table signal end，Voltage vector on off state table is respectively equipped with the first switch and second switch，The output signal line of described governing system PMSM is connected to position sensor PS，Position sensor PS connects voltage switching state table and the signal output part of phase-modulator PWM respectively by multiple sensor signal end，The output signal ia of inverter and ib end，Grasp torque、Magnetic linkage、Angular values，Described dutycycle calculates entry signal point position to the phase-modulator PWM point position by the first switch and second switch，It is calculated，The concrete operation step of described modulator approach is as follows:
(1). after selecting nonzero voltage space vector according to voltage vector switch list, obtain dutycycle according to torque and magnetic linkage Error estimation, so that it is determined that selected voltage vector action time；
(2). after PWM, output is to inverter, and the conducting of upper brachium pontis carries out PWM mutually, and the phase of lower brachium pontis conducting does not carry out PWM；
(3). the voltage vector order as selected is u1-u5-u6, selecting u1During vector, A phase and B phase low level output, C phase carries out PWM, there are 2 dead band moment when PWM；
(4). it is switched to u5And u6During vector, still simply there are 2 dead band moment when PWM；
(5). in each cycle, head and the tail zero vector effect, interlude non-zero effect.
Adopting above-mentioned voltage Vector PWM modulator approach to form voltage vector modulation figure as shown in Figure 2, namely go up brachium pontis conducting and carry out PWM mutually, the phase of lower brachium pontis conducting does not carry out PWM.Voltage vector order as selected remains as u1-u5-u6, selecting u1During vector, A phase and B phase low level output, C phase carries out PWM, there are 2 dead band moment when PWM, is switched to u5And u6During vector, still simply there are 2 dead band moment when PWM.When therefore adopting the method, the dead area compensation during each control week is separate, is independent of each other so that dead area compensation is easily achieved；From the number of times of Dead Time, in each control cycle, program dead band effect number of times remains 2 times, and during the employing program, dead band effect number of times reduces to some extent compared with the minimum scheme of on-off times, thus relatively reducing the impact of dead time effect.

Claims (1)

  1. null1. one kind based on dutycycle DTC voltage Vector PWM modulator approach，The input signal cable of described governing system FMSM is connected in series inverter switching device signal end、Phase-modulator pwm signal end、Voltage vector on off state table signal end，Voltage vector on off state table is respectively equipped with the first switch and second switch，It is characterized in that the output signal line of described governing system PMSM is connected to position sensor PS，Position sensor PS connects voltage switching state table and the signal output part of phase-modulator PWM respectively by multiple sensor signal end，The output signal ia of inverter and ib end，Grasp torque、Magnetic linkage、Angular values，Described dutycycle calculates entry signal point position to the phase-modulator PWM point position by the first switch and second switch，It is calculated，The concrete operation step of described modulator approach is as follows:
    (1). after selecting nonzero voltage space vector according to voltage vector switch list, obtain dutycycle according to torque and magnetic linkage Error estimation, so that it is determined that selected voltage vector action time；
    (2). after PWM, output is to inverter, and the conducting of upper brachium pontis carries out PWM mutually, and the phase of lower brachium pontis conducting does not carry out PWM；
    (3). the voltage vector order as selected is u1-u5-u6, selecting u1During vector, A phase and B phase low level output, C phase carries out PWM, there are 2 dead band moment when PWM；
    (4). it is switched to u5And u6During vector, still simply there are 2 dead band moment when PWM；
    (5). in each cycle, head and the tail zero vector effect, interlude non-zero effect.
CN201610149094.8A 2016-03-16 2016-03-16 Voltage vector PWM method based on duty ratio DTC Pending CN105763135A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610149094.8A CN105763135A (en) 2016-03-16 2016-03-16 Voltage vector PWM method based on duty ratio DTC

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610149094.8A CN105763135A (en) 2016-03-16 2016-03-16 Voltage vector PWM method based on duty ratio DTC

Publications (1)

Publication Number Publication Date
CN105763135A true CN105763135A (en) 2016-07-13

Family

ID=56333310

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610149094.8A Pending CN105763135A (en) 2016-03-16 2016-03-16 Voltage vector PWM method based on duty ratio DTC

Country Status (1)

Country Link
CN (1) CN105763135A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106487303A (en) * 2016-08-26 2017-03-08 杭州都凌汽车研发有限公司 A kind of simple vector control method of permagnetic synchronous motor
CN106787985A (en) * 2017-01-23 2017-05-31 长安大学 A kind of switch list optimization method based on permagnetic synchronous motor Direct Torque Control
CN108092584A (en) * 2017-11-30 2018-05-29 东南大学 The direct torque control method for permanent magnetic synchronous electric machine of constant switching frequency
CN108649854A (en) * 2018-05-09 2018-10-12 上海电机学院 PMSM Direct Torque Controls based on novel duty ratio modulation

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1929288A (en) * 2006-09-15 2007-03-14 合肥工业大学 DC motor controller based on FPGA
KR100729300B1 (en) * 2001-07-31 2007-06-15 현대중공업 주식회사 Torque control method for direct torque control driving induction motor having largeness capacity
CN101383582A (en) * 2008-10-15 2009-03-11 南京航空航天大学 Electric excitation synchronous motor control method based on torque angle sine value linear control
CN101442289A (en) * 2008-12-17 2009-05-27 南京航空航天大学 Control method for direct torsion of staircase waveform backemf brushless dc motor
EP2190113A1 (en) * 2008-11-19 2010-05-26 Abb Research Ltd. Method and apparatus for controlling an electrical Machine with direct torque control
CN102005843A (en) * 2010-11-21 2011-04-06 沈阳工业大学 Brushless double-fed wind driven generator and method for controlling brushless double-fed wind driven generating system
CN103986377A (en) * 2014-06-04 2014-08-13 国家电网公司 Direct-current brushless motor control method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100729300B1 (en) * 2001-07-31 2007-06-15 현대중공업 주식회사 Torque control method for direct torque control driving induction motor having largeness capacity
CN1929288A (en) * 2006-09-15 2007-03-14 合肥工业大学 DC motor controller based on FPGA
CN101383582A (en) * 2008-10-15 2009-03-11 南京航空航天大学 Electric excitation synchronous motor control method based on torque angle sine value linear control
EP2190113A1 (en) * 2008-11-19 2010-05-26 Abb Research Ltd. Method and apparatus for controlling an electrical Machine with direct torque control
CN101442289A (en) * 2008-12-17 2009-05-27 南京航空航天大学 Control method for direct torsion of staircase waveform backemf brushless dc motor
CN102005843A (en) * 2010-11-21 2011-04-06 沈阳工业大学 Brushless double-fed wind driven generator and method for controlling brushless double-fed wind driven generating system
CN103986377A (en) * 2014-06-04 2014-08-13 国家电网公司 Direct-current brushless motor control method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
堵杰 等: "无刷直流电动机换相过程中续流对电压和电流的影响", 《电工技术杂志》 *
杨影 等: "占空比调制的永磁同步电机直接转矩控制", 《电机与控制学报》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106487303A (en) * 2016-08-26 2017-03-08 杭州都凌汽车研发有限公司 A kind of simple vector control method of permagnetic synchronous motor
CN106787985A (en) * 2017-01-23 2017-05-31 长安大学 A kind of switch list optimization method based on permagnetic synchronous motor Direct Torque Control
CN108092584A (en) * 2017-11-30 2018-05-29 东南大学 The direct torque control method for permanent magnetic synchronous electric machine of constant switching frequency
CN108092584B (en) * 2017-11-30 2020-08-11 东南大学 Permanent magnet synchronous motor direct torque control method with constant switching frequency
CN108649854A (en) * 2018-05-09 2018-10-12 上海电机学院 PMSM Direct Torque Controls based on novel duty ratio modulation

Similar Documents

Publication Publication Date Title
US11876197B2 (en) Vehicle and power battery heating apparatus and method thereof
US20220080858A1 (en) Vehicle and power battery heating apparatus and method therefor
US8054030B2 (en) Permanent magnet AC motor systems and control algorithm restart methods
KR100531455B1 (en) Speed controller of synchronous motor
US9654043B2 (en) Apparatus and method for controlling temperature change in motor
US6979967B2 (en) Efficiency optimization control for permanent magnet motor drive
US9577560B2 (en) Synchronous machine control device
JP5343119B2 (en) Torque control system and method for induction motor of electric vehicle
US9503009B2 (en) Method and apparatus for controlling of 3-phase AC motor
JP5281339B2 (en) Synchronous motor drive system and control device used therefor
CN105763135A (en) Voltage vector PWM method based on duty ratio DTC
US9444384B2 (en) Direct torque control motor controller with transient current limiter
US9407189B2 (en) Direct torque control motor controller with torque ripple reduction
US20160020719A1 (en) Direct Torque Control Motor Controller with Transient Current Limiter
US9724997B2 (en) Electric motor temperature compensation
CN103762924A (en) Torque output control system of permanent magnet synchronous motor
CN103595310A (en) Optimization and modulation method of duty ratios of five-bridge-arm voltage source inverter
US9211806B2 (en) Methods, systems and apparatus for generating voltage commands used to control operation of a permanent magnet machine
EP2712075B1 (en) Method to control a switched reluctance machine
CN106458040A (en) Method for switching an inverter of an electric drive of a motor vehicle and a correspondingly switchable inverter
WO2013035382A1 (en) Control system for synchronous motor
Trounce et al. Comparison by simulation of three-level induction motor torque control schemes for electric vehicle applications
CN103281029A (en) Method for controlling double-stage matrix converter-synchronous generator system
US9000701B2 (en) Methods, systems and apparatus for generating voltage commands used to control operation of a permanent magnet machine
CN102751921B (en) Method for controlling winding current waveforms of switched reluctance motor

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20160713