CN107994832A - A kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control - Google Patents
A kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control Download PDFInfo
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- CN107994832A CN107994832A CN201711187290.5A CN201711187290A CN107994832A CN 107994832 A CN107994832 A CN 107994832A CN 201711187290 A CN201711187290 A CN 201711187290A CN 107994832 A CN107994832 A CN 107994832A
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- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control, including speed regulator, torque controller, the maximized computing module of torque, flux regulating device, stator magnetic linkage and electromagnetic torque observer, operational mode handover module, reference voltage vector angle calculation module, space vector modulation module, coordinate transformation module, dc bus, electrolytic capacitor, two-level inverter, multichannel permanent magnet synchronous motor, encoder, position sensor.This control method utilizes torque and stator magnetic linkage decoupling technology, it can not only obtain and tradition is based on quick dynamic property identical under look-up table Direct Torque Control, but also have the advantages that with traditional based on the identical good steady-state behaviour of space vector modulation Direct Torque Control.
Description
Technical field
The present invention relates in electrician, motor, field of power electronics, mixed more particularly to a kind of multichannel permanent magnet synchronous motor
Close Direct Torque Control.
Background technology
In recent years, people increasingly pay close attention to the research of polyphase machine, should particularly need high power and high reliability
With fields such as occasion, such as electrical lift (elevator), aviation, electric automobile, Ship Propelings, it is huge latent that polyphase machine shows its
Power.Compared with three phase electric machine, polyphase machine has the rated power of higher, and lower torque pulsation and more preferable fault-tolerance etc. are all
More features.In various polyphase machines, there is the motor driving of multigroup threephase stator winding because it is convenient for design and city
Three phase power module is commonly used on face, and very attractive.The driving of multichannel motor is exactly wherein by the one of extensive discussions
System is united, it has the function that fifth overtone torque pulsation can be eliminated.Meanwhile the introducing of rotor permanent magnet can be improved and led to more
The operational efficiency of road motor and increase its power density.
Control for motor, Direct Torque Control are to be widely used in therein, are based particularly on the straight of switch list
Connect direct torque and the Direct Torque Control based on space vector modulation.Although traditional can based on Direct Torque Control of tabling look-up
To obtain quick dynamic response, but larger torque and magnetic linkage pulsation occur in steady-state operation.On the other hand, pass
Although system has lower pulsation, this method meeting based on space vector modulation Direct Torque Control in torque and magnetic linkage
Reduce the dynamic response of Direct Torque.
The content of the invention
Above-mentioned in order to solve the problems, such as, the present invention provides a kind of multichannel permanent magnet synchronous motor mixing Direct torque
Method processed, for it is above-mentioned cannot be same using traditional Direct Torque Control based on look-up table and based on space vector modulation
When the shortcomings that taking into account fast dynamic response and accurate control, propose a kind of new mixing Strategy of Direct Torque Control, can be more
Fill state two methods there are the shortcomings that, for this purpose, to provide a kind of mixing of multichannel permanent magnet synchronous motor direct by the present invention
Method for controlling torque, comprises the following steps that, it is characterised in that：
（1）Every electric current is gathered out from multichannel permanent magnet synchronous motor, and motor is obtained by coordinate transformation module and is sat in α β
Voltage and electric current under mark system；
（2）Voltage under α β coordinate systems and current value are obtained into actual electromagnetic torque through over torque and flux observerT e And
Stator magnetic linkageѱ s ；
（3）The actual speed collected from multichannel motor obtains reference electromagnetic torque with reference rotation velocity by pi regulator
Te*；
（4）Stator magnetic linkage reference value can obtain the mistake of reference voltage vector angle with stator magnetic linkage actual value by pi regulator
Difference, so that actual stator magnetic linkage amplitude s can track its reference value s*, can then be obtained by angle calculation
The angle, θ * of reference voltage vector；
（5）Actual electromagnetic torqueT e And reference electromagnetic torqueT e *Error deltaT e It can be obtained by condition adjudgement and handover module
To the reference value V of voltage vector*；
（6）The reference value of the voltage vector obtained by torque and magnetic linkage decoupling technology and voltage vector angle are passed through into SVM moulds
Block obtains the control signal of inverter, control motor operating.
Further improvement of the present invention, the multichannel permanent magnet synchronous motor mixing direct Torque Control include speed
Adjuster, torque controller, torque maximize module, flux regulating device, stator magnetic linkage and electromagnetic torque observer, operation mould
Formula handover module, reference voltage vector angle calculation module, space vector modulation module, coordinate transformation module, dc bus, electricity
Solve capacitance, two-level inverter, multichannel permanent magnet synchronous motor, encoder and position sensor.
Further improvement of the present invention, the torque controller and torque are maximized in module when stator magnetic linkage amplitude is kept
Constant, electromagnetic torque will be with the angle of torsion positive correlation of stator magnetic linkage and rotor flux, and wherein reference voltage vector is perpendicular to fixed
The part of sub- magnetic linkage, the related torque component exactly with increasing or decreasing electromagnetic torque, and parallel to the part of stator magnetic linkage, just
It is the excitation components related with increasing or decreasing stator magnetic linkage amplitude.
Further improvement of the present invention, control of the reference voltage vector angle calculation module for stator magnetic linkage come
Say, differential seat angle is positively related with magnetic flux excitation density between voltage vector reference value and torque portions component, utilizes magnetic
Chain adjuster next life is at an angle of difference, and enables actual stator magnetic linkage amplitude to track it and refer to stator magnetic linkage, Voltage Reference arrow
The angle of amount is obtained by calculation by stator magnetic linkage position angle and differential seat angle.
Further improvement of the present invention, the two-level inverter generate 64 for six phases, two power level voltage source type inverter
Contravarianter voltage vector, this 64 voltage vectors are mapped toα-βSpace forms four layers of voltage vector L from outside to inside1, L2, L3,
L4, similarly, it is mapped tox-ySpace is correspondingly formed L from outside to inside4, L2, L3, L1。
Further improvement of the present invention, voltage vector synthesizes between the space vector modulation module hollow, usesα-βIt is empty
Between middle L1On vector and L2On vector synthesize no harmonic wave space voltage vector.
Further improvement of the present invention, the generation of reference voltage vector in the reference voltage vector angle calculation module,
Utilizeα-βIn plane without harmonic vector, by the synthesis of variant proportion in different modes, generate conjunction in mode 1
Into reference voltage vector or the synthesis in pattern 0 reference voltage vector.
Further improvement of the present invention, the operational mode handover module, middle sample phase judge pattern 1, this
The judgement of sample starts to perform once in each sampling period, if true, then illustrates that system works in pattern 1, i.e. dynamic fortune
Row mode, followed by condition judgment, if NO, illustrates system operation in pattern 0, i.e. steady state mode of operation, followed by
Condition judgment, finally according to condition, the true and false operational mode needed of judgement.
The present invention provides a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control, has compared with prior art
Have the advantage that：
（1）This method can obtain the quick dynamic property under traditional Direct Torque Control based on look-up table, and
Good steady-state behaviour under traditional Direct Torque Control based on space vector modulation.
（2）This method employs torque and stator magnetic linkage decoupling technology, so as to ensure that stator magnetic linkage under dynamic and stable state
It can obtain stability contorting.
（3）This method employs more advanced handover scheme to ensure the smooth conversion of two kinds of operational modes, Er Qie
Can be to avoid overshoot excessive in torque under the handover scheme.
（4）This method can effectively suppress multichannel permanent magnet synchronous motor by way of by no harmonic voltage Vector modulation
The current component of the harmonic wave plane of driving.
Brief description of the drawings
Fig. 1 is the structure diagram of the mixing Direct Torque Control for multichannel permanent magnet synchronous motor；
Wherein, 11 be speed regulator, and 12 be torque controller, and 13 maximumlly calculate for torque, and 14 be flux regulating device, 15
It is operational mode handover module for stator magnetic linkage and electromagnetic torque observer, 16,17 be reference voltage vector angle calculation mould
Block, 18 be space vector modulation module, and 19 be coordinate transformation module, and 110 be dc bus, and 111 be electrolytic capacitor, and 112 be two
Electrical level inverter, 113 be multichannel permanent magnet synchronous motor, and 114 be encoder, and 115 be position sensor；
Fig. 2 is stator flux regulation principle schematic diagram；
Wherein, 21 be reference voltage vector, and 22 be with reference to stator magnetic linkage, the 23 voltage reference vectors component related with torque 24
It is stator magnetic linkage for the voltage reference vector component related with magnetic linkage, 25,26 be angle of torsion, and 27 be rotor flux, and 28 be reference
The angle of voltage vector, 29 be stator magnetic linkage position angle, 210 between voltage vector reference value and torque portions component angle
Difference；
Fig. 3 is 64 space vector of voltage distribution maps；
Wherein, 31,32,33,34 is are mapped to four layers of the voltage vector L1, L2, L3, L4,35 of alpha-beta spatially, and 36,37,38 are
It is mapped to four layers of the voltage vector L4, L2, L3, L1 of x-y spatially；
Fig. 4 be alpha-beta spatially without harmonic wave space combination voltage vector；
Wherein, 41 be synthesis without harmonic wave space voltage vector, a total of 12；
Fig. 5 is the Vector modulation in alpha-beta plane first quartile；
Wherein, 51 in alpha-beta plane without harmonic vector, 52 for synthesis in mode 1 reference voltage vector, 53 be pattern
1,34 is the reference voltage vector proportion under no harmonic vector V2 synthesis models 1, and 55 be the reference of the synthesis in pattern 0
Voltage vector, 56 be pattern 0,57 for the reference voltage vector proportion under no harmonic vector V2 synthesis models 0,58 be without humorous
Reference voltage vector proportion under wave vector V1 synthesis models 1,59 be the reference electricity under no harmonic vector V1 synthesis models 0
Press vector proportion；
Fig. 6 is the flow chart for judging operational mode switching；
Wherein, 61 be sample phase, and 62 be the judgement to pattern 1, and 63 be condition judgment, and 64 be condition judgment, and 65 be final fortune
The judgement of row mode；
Fig. 7 is the dynamic schematic diagram of operational mode switching；
Wherein, 71 be reference electromagnetic torque, and 72 be actual electromagnetic torque, and 73 be switch mode, and 74 is fixed in advance for torque controller
The threshold value of justice；
Fig. 8 is T-shaped three-level structure circuit diagram；
Wherein, 81 be DC bus-bar voltage, and 82 dc bus midpoints, 83 be electrolytic capacitor, and 84 be switching tube, and 85,86 be two
Three-phase symmetric winding is covered, winding is often covered and all employs the connection of Y types, and double winding spatially 30 degree of electrical angles of mutual deviation, 87 are
The mutually isolated neutral point of double winding.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
The present invention provides a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control, for above-mentioned using traditional base
Fast dynamic response and accurate cannot be taken into account at the same time in look-up table and Direct Torque Control based on space vector modulation
The shortcomings that control, propose a kind of new mixing Strategy of Direct Torque Control, can make up above two method there are the shortcomings that.
Multichannel permanent magnet synchronous motor mixing direct Torque Control of the present invention includes speed regulator 11, torque is adjusted
Device 12, torque maximize module 13, flux regulating device 14, stator magnetic linkage and electromagnetic torque observer 15, operational mode switching
Module 16, reference voltage vector angle calculation module 17, space vector modulation module 18, coordinate transformation module 19, dc bus
110th, electrolytic capacitor 111, two-level inverter 112, multichannel permanent magnet synchronous motor 113, encoder 114 and position sensor
115。
Torque controller of the present invention, torque maximize module, according to the fundamental theorem of Direct Torque Control, when fixed
Sub- magnetic linkage amplitude remaining constant, electromagnetic torque will be with 26 positive correlations of angle of torsion of stator magnetic linkage 25 and rotor flux 27.Wherein,
Reference voltage vector is perpendicular to the part of stator magnetic linkage 25, the related torque component 23 exactly with increasing or decreasing electromagnetic torque,
And parallel to the part of stator magnetic linkage 25, the related excitation components 24 exactly with increasing or decreasing stator magnetic linkage amplitude.Pass through this
Kind method can carry out decoupling control to stator magnetic linkage and torque.
Reference voltage vector angle calculation module of the present invention, for the control of stator magnetic linkage, refers in voltage vector
Differential seat angle 210 between value 21 and torque portions component 23, it is positively related with magnetic flux excitation density.Therefore, magnetic linkage is utilized
14 next life of adjuster is at an angle of poor 210, and enables actual stator magnetic linkage amplitude 25 to track it and refer to 22 voltage of stator magnetic linkage
The angle 28 of reference vector can be obtained by calculation by stator magnetic linkage position angle 29 and differential seat angle 210.
Six phases, two power level voltage source type inverter of the invention can generate 64 contravarianter voltage vectors, this 64 voltage arrows
Amount is mapped toα-βSpace forms four layers of voltage vector L from outside to inside1, L2, L3, L4, i.e., 31,32,33,34.Similarly, it is mapped tox-ySpace is correspondingly formed L from outside to inside4, L2, L3, L1, i.e., 35,36,37,38.
Space voltage vector synthesis of the present invention, usesα-βL in space1On vector 31 and L2On vector 32 close
Into no harmonic wave space voltage vector 41, so choosing can both suppressx-yHarmonic current spatially, and nothing can be increased
The amplitude of harmonic voltage vector.
The generation of reference voltage vector of the present invention, utilizesα-βIn plane without harmonic vector 51, by different modes
The synthesis of each 51 different specific weight, can generate the reference voltage vector 52 of synthesis in mode 1 or the synthesis in pattern 0
Reference voltage vector 55.
Operational mode handover module of the present invention, sample phase is to the judgement 62 to pattern 1, and such judgement is in each sampling
Cycle starts to perform once, if true, then illustrates that system works in pattern 1, i.e. dynamic operational, followed by condition
63 judge, if NO, illustrate system operation in pattern 0, i.e. steady state mode of operation, followed by condition judgment 64, last root
According to condition 63, the true and false operational mode 65 needed of condition judgment 64.
Fig. 1 shows the controller chassis of the mixing Direct Torque Control proposed in this paper being used in multichannel permanent magnet synchronous motor
Figure.This new control strategy is designed for the torque in this programme and stator magnetic linkage.It is same from multichannel permanent magnetism first
A, B, C are produced in step motor, D, E, six phase currents of F, the voltage in α β coordinate systems can be obtained by coordinate transferring 19
Current value.It can be obtained after coordinate transform, then by the flux observer based on voltage model, and torque estimation module 15
To actual stator magnetic linkage and electromagnetic torque.For speed closed loop, the actual speed and ginseng that can be collected from multichannel motor
Examine rotating speed and obtain reference electromagnetic torque T by pi regulator 11e *。
According to the fundamental theorem of Direct Torque Control, when stator magnetic linkage amplitude remaining constant, electromagnetic torque will be with stator
Magnetic linkagesAnd rotor fluxrAngle positive correlation, that is, δ as shown in Figure 2.Wherein, reference voltage vector is perpendicular to fixed
Sub- magnetic linkagesPart, the torque component V related exactly with increasing or decreasing electromagnetic torqueT *, and parallel to stator magnetic linkages
Part, the excitation components V related exactly with increasing or decreasing stator magnetic linkage amplitudeψ *.By this method can be to stator
Magnetic linkage and torque carry out decoupling control.
For the control of stator magnetic linkage, in voltage vector reference value V*With torque portions component VT *Between differential seat angle,
Namely Δθ *, it is positively related with magnetic flux excitation density.Therefore, in Fig. 1 difference is at an angle of using 14 next life of PI controllers
Δθ *, and cause actual stator magnetic linkage amplitudeѱ s Its reference value can be trackedѱ s *.Then as shown in Fig. 2, voltage reference vector
Angle beθ *, it can be by angle γ s And Δθ *It is obtained by calculation, its expression formula is , can be obtained under closed loop conditions for fixed for the PI controllers and angle calculation of stator magnetic linkage
The good tracking of sub- magnetic linkage.
For direct torque, as shown in Fig. 2, working as differential seat angle Δ θ*It is fixed, then the amplitude V of reference voltage vectorT *
Just almost with torque component VT *And differential seat angle Δ δ positive correlations.Therefore torque PI controllers are to generate voltage reference vector
Amplitude, thus, it is possible to realize the accurate tracking for electromagnetic torque.Fig. 3 shows that six phases, two level voltage source inventer generates
64 space voltage vectors, they are respectively mapped toα-βSpace andx-ySpace, wherein it is understood thatx-ySpace
It is related with stator winding current harmonic wave,α-βSpace is related with electromagnetic torque, it is noted that L1And L2Layer voltage vector existsα-βSpace
Upper direction is consistent, andx-yDirection in space is just the opposite, so choosing L1And L2Layer voltage vector is synthesized, synthesis knot
Fruit is as shown in figure 4, share 12 vectors, and space has been divided into 12 parts.Fig. 5 is shown to be existed using adjacent no harmonic vector
The synthesis principle of reference voltage vector under different operational modes.System is pattern 0 in steady-state operation, and reference voltage is sweared
Measure and beV s *；It is pattern 1 when system is in dynamic operation, reference voltage vector isV d *.Fig. 5 has distinguished mould with blueness and red
Formula 0 and pattern 1,T 1 WithT 2No harmonic vector is represented respectivelyV 1WithV 2Time proportion in each switch periods.In stable state
During operation, module 12 is torque controller, the good tracking for electromagnetic torque can be obtained using pi regulator, in dynamic analog
Under formula, module 13 maximizes module for torque, does not use pi regulator at this time, because pi regulator will reduce dynamic response,
It is the maximum of reference voltage vector, to obtain torque capacity, so as to obtain most fast response effect.
For the strategy that takes over seamlessly of different mode, Fig. 6 illustrates the flow chart of conversion method.kThe secondary sampling period opens
Beginning timing definition ist k And the sampled value of corresponding actual torque is defined asT e_k .Torque difference is ΔT e_k , by formula " ΔT e_k
= T e_k ‒ T e_k-1" calculate.When operational mode is 0, system is operated in stable state.So condition judgment " |T e *‒ T e_k |>H T " start to perform one time in each sampling period, whereinH T It is the threshold value that torque controller pre-defines.In order to make full use of
Dynamic translation and unnecessary translative mode is avoided, based on actual operating conditions, threshold value that torque controller pre-definesH T
About 3/2 ΔT e_k .Change-over period is set consistent with the sampling period.If " |T e *‒ T e_k |>H T " condition is true, then run mould
Formula can be switched to pattern 1, that is, mean that system is in an interim state.Opposite, when system is still in stable state, fortune
Row mode remains pattern 0.When operational mode is 1, Rule of judgment " |T e *‒ T e_k ‒ΔT e_k |<1/2ΔT e_k " in each sampling
Cycle starts to perform once.If condition is true, operational mode is switched to pattern 0, otherwise keeps pattern 1.It is noticeable
It is that switching command is there are time-delay, because new switching command can only start to be performed in the next sampling period.Institute
With if the initial moment in next sampling period can be predicted in current period and utilized upper, then switch order when
Between postpone to be compensated for.Fig. 7 shows the dynamic schematic diagram of corresponding operational mode switching.
Of the invention new three level driver systems as shown in figure 8, by two 83 partial pressures of electrolytic capacitor on dc bus,
Inverter can pass through per the voltage that three kinds of level can be mutually exported relative to dc bus midpoint 82, dc bus mid-point voltage
Different voltages vector is set to be controlled, two switching tubes that dc bus is connected on T-shaped three-level inverter bridge arm are subjected to
Whole DC bus-bar voltage, two switching tubes being connected with dc bus midpoint are subjected to the DC bus-bar voltage of half, and T-shaped three
Electrical level inverter is more suitable for low-pressure field, in terms of loss, since T-shaped three-level inverter is using only single switching transistor blocking
Whole DC bus-bar voltage, its conduction loss is smaller, simultaneously as the switching tube at T-shaped three-level inverter connection busbar midpoint
The DC bus-bar voltage of half is subjected only to, its switching loss and switching noise can decrease, in addition T-shaped three-level inverter
Possesses the advantages of multi-electrical level inverter is common：1）Voltage change ratio is small, can reduce the electromagnetic interference of inverter generation；2）It is defeated
It is low to go out voltage harmonic content, can correspondingly reduce filter inductance or reduce switching frequency；3）Common-mode voltage is small, reduces pair
The abrasion of motor bearings.Meanwhile T-shaped three-level inverter is also required to solve the problems, such as that multi-electrical level inverter is common, i.e., in busbar
The balance control of point voltage is two sets of three-phase symmetric windings, often covers winding and all employs the connection of Y types, and double winding is spatially
30 degree of electrical angles of mutual deviation, 87 be the mutually isolated neutral point of double winding, can be by the dimension of voltage and current variable from 6 DOF
The four-dimension is reduced to, effectively reduces motor model exponent number and control difficulty, using the method for the present invention, can cause system can
It is further strengthened by property and fault-tolerance.
The above described is only a preferred embodiment of the present invention, it is not the limit for making any other form to the present invention
System, and any modification made according to technical spirit of the invention or equivalent variations, still fall within present invention model claimed
Enclose.
Claims (8)
1. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control, specific steps feature are as follows：
（1）Every electric current is gathered out from multichannel permanent magnet synchronous motor, and motor is obtained by coordinate transformation module and is sat in α β
Voltage and electric current under mark system；
（2）Voltage under α β coordinate systems and current value are obtained into actual electromagnetic torque through over torque and flux observerT e And
Stator magnetic linkageѱ s ；
（3）The actual speed collected from multichannel motor obtains reference electromagnetic torque with reference rotation velocity by pi regulator
Te*；
（4）Stator magnetic linkage reference value can obtain the mistake of reference voltage vector angle with stator magnetic linkage actual value by pi regulator
Difference, so that actual stator magnetic linkage amplitude s can track its reference value s*, can then be obtained by angle calculation
The angle, θ * of reference voltage vector；
（5）Actual electromagnetic torqueT e And reference electromagnetic torqueT e *Error deltaT e It can be obtained by condition adjudgement and handover module
To the reference value V of voltage vector*；
（6）The reference value of the voltage vector obtained by torque and magnetic linkage decoupling technology and voltage vector angle are passed through into SVM moulds
Block obtains the control signal of inverter, control motor operating.
2. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 1, its feature exist
In：The multichannel permanent magnet synchronous motor mixing Direct Torque system includes speed regulator（11）, torque controller（12）, turn
Square maximizes module（13）, flux regulating device（14）, stator magnetic linkage and electromagnetic torque observer（15）, operational mode switching mould
Block（16）, reference voltage vector angle calculation module（17）, space vector modulation module（18）, coordinate transformation module（19）, it is straight
Flow busbar（110）, electrolytic capacitor（111）, two-level inverter（112）, multichannel permanent magnet synchronous motor（113）, encoder
（114）And position sensor（115）.
3. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The torque controller（12）And torque maximizes module（13）In when stator magnetic linkage amplitude remaining constant, electromagnetic torque is just
Meeting and stator magnetic linkage（25）And rotor flux（27）Angle of torsion（26）Positive correlation, wherein reference voltage vector is perpendicular to stator magnet
Chain（25）Part, the related torque component exactly with increasing or decreasing electromagnetic torque（23）, and parallel to stator magnetic linkage（25）
Part, the related excitation components exactly with increasing or decreasing stator magnetic linkage amplitude（24）.
4. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The reference voltage vector angle calculation module（17）For the control of stator magnetic linkage, in voltage vector reference value
（21）With torque portions component（23）Between differential seat angle（210）It is positively related with magnetic flux excitation density, utilizes flux regulating
Device（14）Next life is at an angle of difference（210）, and cause actual stator magnetic linkage amplitude（25）It can be tracked and refer to stator magnetic linkage（22）,
The angle of voltage reference vector（28）By stator magnetic linkage position angle（29）And differential seat angle（210）It is obtained by calculation.
5. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The two-level inverter（112）64 contravarianter voltage vectors are generated for six phases, two power level voltage source type inverter, this 64
A voltage vector is mapped toα-βSpace forms four layers of voltage vector L from outside to inside1, L2, L3, L4, similarly, it is mapped tox-yIt is empty
Between be correspondingly formed L from outside to inside4, L2, L3, L1。
6. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The space vector modulation module（18）Middle space voltage vector synthesis, usesα-βL in space1On vector（31）With
And L2On vector（32）To synthesize no harmonic wave space voltage vector（41）.
7. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The torque controller of the generation in relation to reference voltage vector（12）Or torque maximizes module（13）, utilizeα-βPlane
On without harmonic vector（51）, by the synthesis of variant proportion in different modes, generate the reference of synthesis in mode 1
Voltage vector（52）Or the reference voltage vector of the synthesis in pattern 0（55）.
8. a kind of multichannel permanent magnet synchronous motor mixing Direct Torque Control according to claim 2, its feature exist
In：The operational mode handover module, sample phase judge pattern 1, such to judge opening in each sampling period
Begin to perform once, if true, then illustrate that system works in pattern 1, i.e. dynamic operational, followed by condition judgment, such as
Fruit is no, illustrates that system operation in pattern 0, i.e. steady state mode of operation, followed by condition judgment, finally according to condition, judges
The true and false operational mode needed.
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| CN109217764A (en) * | 2018-09-29 | 2019-01-15 | 株洲中车时代电气股份有限公司 | A kind of the Air-gap-flux orientated control method and system of electric excitation synchronous motor |
| CN109217765A (en) * | 2018-09-17 | 2019-01-15 | 沈阳工业大学 | A kind of double three-phase permanent-magnetic synchronous motor Direct Torque Control |
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| CN110350836A (en) * | 2019-06-28 | 2019-10-18 | 浙江大学 | Common DC bus type opens the improvement Direct Torque Control of winding permanent magnet synchronous motor system |
| CN110504881A (en) * | 2019-08-29 | 2019-11-26 | 哈尔滨理工大学 | A kind of permanent magnet synchronous motor sensorless strategy method based on TNPC inverter |
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| CN109217765B (en) * | 2018-09-17 | 2021-06-15 | 沈阳工业大学 | Direct torque control method for double three-phase permanent magnet synchronous motor |
| CN110957951B (en) * | 2018-09-26 | 2021-10-12 | 中车株洲电力机车研究所有限公司 | Instantaneous torque direct control method and system |
| CN110957951A (en) * | 2018-09-26 | 2020-04-03 | 中车株洲电力机车研究所有限公司 | Instantaneous torque direct control method and system |
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| CN110350836A (en) * | 2019-06-28 | 2019-10-18 | 浙江大学 | Common DC bus type opens the improvement Direct Torque Control of winding permanent magnet synchronous motor system |
| CN110350836B (en) * | 2019-06-28 | 2020-11-17 | 浙江大学 | Direct torque control method of common direct current bus type open winding permanent magnet synchronous motor system |
| CN110336511A (en) * | 2019-07-11 | 2019-10-15 | 台州学院 | A kind of six-phase motor method for inhibiting harmonic current based on model prediction Direct Torque Control |
| CN110336511B (en) * | 2019-07-11 | 2021-10-22 | 台州学院 | Six-phase motor harmonic current suppression method based on model prediction direct torque control |
| CN110504881A (en) * | 2019-08-29 | 2019-11-26 | 哈尔滨理工大学 | A kind of permanent magnet synchronous motor sensorless strategy method based on TNPC inverter |
| CN111245319A (en) * | 2020-02-25 | 2020-06-05 | 东南大学 | Permanent magnet synchronous motor hybrid dual-mode control method |
| CN111245319B (en) * | 2020-02-25 | 2021-10-08 | 东南大学 | Permanent magnet synchronous motor hybrid dual-mode control method |
| CN113890445A (en) * | 2021-10-15 | 2022-01-04 | 东南大学 | Optimized modulation method for three-level converter system of two-phase group alternating current permanent magnet motor |
| CN113890445B (en) * | 2021-10-15 | 2023-08-15 | 东南大学 | Optimized modulation method for three-level converter system of two-phase alternating-current permanent magnet motor |
| CN114257134A (en) * | 2021-12-07 | 2022-03-29 | 江苏大学 | Direct torque control method for harmonic suppression of double three-phase synchronous reluctance motor |
| CN114257134B (en) * | 2021-12-07 | 2023-08-22 | 江苏大学 | Direct torque control method for harmonic suppression of double three-phase synchronous reluctance motor |
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