CN108712129A - A kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL - Google Patents
A kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL Download PDFInfo
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- CN108712129A CN108712129A CN201810638838.1A CN201810638838A CN108712129A CN 108712129 A CN108712129 A CN 108712129A CN 201810638838 A CN201810638838 A CN 201810638838A CN 108712129 A CN108712129 A CN 108712129A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of torque calculation optimization methods based on Direct Torque Control PREDICTIVE CONTROL, voltage vector selection region is determined by stator magnetic linkage comparator and torque comparator, by the region quartering, minimum value will be selected in stator magnetic linkage amplitude and torque value input object function, select section and the angle of voltage vector, voltage vector is selected in the section that interval table gives and exports the voltage vector after synthesis, stator magnetic linkage amplitude is obtained according to stator magnetic linkage variation diagram, torque formula is determined by stator magnetic linkage amplitude, processing is optimized to torque formula, its feasibility is verified by the relative error of traditional torque formula and optimization torque formula.Torque formula after present invention optimization can replace traditional torque formula, to improve the performance of Direct Torque Control System for Permanent Magnet Synchronous Motor, reduce torque pulsation, and switching frequency is stablized.
Description
Technical field
The invention belongs to voltage vector modulation technique field, and in particular to one kind be based on Direct Torque Control PREDICTIVE CONTROL
Torque calculation optimization method.
Background technology
Study on direct torque control technology is based on stator magnetic linkage coordinate system and directly using torque as control object, avoids rotation
A large amount of calculating when coordinate transform and the dependence to the parameter of electric machine, dynamic property is good, and the torque response time is short.
In the Direct Torque Control System for Permanent Magnet Synchronous Motor that traditional switch table is realized, voltage vector is a sampling period
It is inside continuously applied, it may appear that actual torque increase and decrease is required beyond expected, to cause overshoot to pulse.
In order to solve problems, PREDICTIVE CONTROL is introduced, evaluation function is introduced, from torque error and stator magnetic linkage error two
A aspect considers, and is controlled, using space vector modulation technique, to realize more ideal control effect.
But along with variable and operation function, the time for calculating operation and complexity are increased, so, it proposes a kind of
For the torque calculation optimization method of DTC PREDICTIVE CONTROLs, and then optimal control performance.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of based on direct
The torque calculation optimization method of direct torque PREDICTIVE CONTROL, to improve the performance of Direct Torque Control System for Permanent Magnet Synchronous Motor,
Reduce torque pulsation, and switching frequency is constant.
The present invention uses following technical scheme：
A kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL by stator magnetic linkage comparator and turns
Square comparator determines voltage vector selection region, by the region quartering, by stator magnetic linkage amplitude and torque value input object function g
In select min (g), select section and the angle of voltage vector, the selection voltage vector and defeated in the section that interval table gives
Go out the voltage vector after synthesisStator magnetic linkage amplitude is obtained according to stator magnetic linkage variation diagram, it is true by stator magnetic linkage amplitude
Determine torque formula and carry out optimization processing, it is feasible to verify its by the relative error of traditional torque formula and optimization torque formula
Property.
Specifically, the thought of magnetic linkage effect and PREDICTIVE CONTROL is ignored Stator resistance voltage dropping, is applied according to voltage vector
After making alive vector, conventional model subsequent time k+1 torque values and subsequent time angle of torsion and subsequent time stator magnetic linkage are determined
The relationship of amplitude obtains the value δ (k+1) and subsequent time stator magnetic linkage amplitude of subsequent time angle of torsionAccording to next
The value δ (k+1) and subsequent time stator magnetic linkage amplitude of moment angle of torsionDetermine the torque of the subsequent time k+1 of optimization
Te′(k+1)。
Further, it definesThe torque formula T of the subsequent time k+1 of optimizatione' (k+1) is as follows：
Wherein, p is number of pole-pairs, LdFor d axle inductances, ψfFor rotor flux amplitude,For subsequent time stator magnetic linkage amplitude, α
For the angle of voltage vector and stator magnetic linkage, δ (k) is the angle of torsion at current time,For the stator magnetic linkage width at current time
Value,For the voltage vector of synthesis, Δ t is the time of voltage vector effect.
Further, the value δ (k+1) of subsequent time angle of torsion is as follows：
Further, subsequent time stator magnetic linkage amplitudeIt is as follows：
Further, the relative error of optimization torque formula and traditional torque formula is obtained according to torque absolute error formula
Rate η passes through the feasibility of the relative error rate verification optimization torque formula between traditional torque formula and optimization torque formula.
Further, relative error rate η is as follows：
Compared with prior art, the present invention at least has the advantages that：
A kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL of the present invention first provides traditional calculations and turns
Then the formula of square carries out series of optimum on traditional torque theoretical formula, by the expression formula of optimization and traditional calculating
Formula calculates the relative error for taking the two, analysis static and dynamic performance variation, and proof scheme feasibility keeps calculating process easier,
Reduce operation times.
Further, the formula of subsequent time angle of torsion is used to write out the formula of subsequent time tradition torque, then carries out
Comparison after optimization, the formula of subsequent time stator magnetic linkage amplitude, the formula for writing out subsequent time tradition torque carry out
Comparison, according to angle of torsion and stator magnetic linkage amplitude formula, writes out subsequent time tradition torque formula, can turn with after optimization
Square formula is compared.
Further, according to subsequent time tradition torque formula, write out the torque formula of subsequent time after optimization, for than
Compared with the relative error of the two, to verify its feasibility.
In conclusion the torque formula after being optimized using the method for the present invention can replace traditional torque formula, feasibility
Reliably.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is the functional block diagram of the permanent magnet synchronous motor Direct Torque Control based on the present invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is stator magnetic linkage variation diagram in the present invention；
Fig. 4 is the overview of torque relative error；
Fig. 5 is the X-Z views of torque relative error；
Fig. 6 is the Y-Z views of torque relative error；
Fig. 7 is PREDICTIVE CONTROL torque response figure when torque calculation method is not optimised；
Fig. 8 is the PREDICTIVE CONTROL torque response figure after the optimization of torque calculation method.
Specific implementation mode
The invention discloses a kind of torque calculation optimization methods based on Direct Torque Control PREDICTIVE CONTROL, by selecting electricity
Section and the angle for pressing vector select voltage vector in the section that interval table gives and export the voltage vector after synthesisAccording to stator magnetic linkage variation diagram, the formula of stator magnetic linkage amplitude can be write out, finally obtains traditional torque formula.The present invention
The optimization torque formula based on DTC PREDICTIVE CONTROLs is proposed, by comparing the relative error of the two, carrys out the feasible of proof scheme
Property.The present invention can optimize torque calculation method, and have certain feasibility.
Referring to Fig. 1, voltage vector selection region is determined by stator magnetic linkage comparator and torque comparator first, then
By stator magnetic linkage amplitude and torque value calculating target function g values, optimal g values are selected, then select optimal voltage vectorFrom
And write out torque formula.
Referring to Fig. 2, a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL of the present invention, first has to
Find out voltage vectorThe value exported by flux linkage hysteresis comparator deviceThe value τ of torque hysteresis comparator output selects voltage arrow
Section is divided into four by amount in which section, the present invention, then will be in stator magnetic linkage amplitude and torque value input object function g
Min (g) is selected, the voltage vector of corresponding angle is found out, is as follows：
S1, DTC PREDICTIVE CONTROLs are based on, determine tradition torque calculation torque formula；
The minimum value min (g) that g is selected by Fig. 1 and Fig. 2 finds out corresponding voltage vector angle, synthesizes required
Voltage vectorVoltage vectorThe amplitude of stator magnetic linkage can be found out, stator magnetic linkage amplitude can find out torque value.Voltage is sweared
AmountDirection and size change with the variation of time, so optimization torque calculation method, voltage vectorIt is to have to
It finds out.
According to voltage vector to the thought of magnetic linkage effect and PREDICTIVE CONTROL, corresponding subsequent time (k+1) is listed first and is turned
The calculation expression of square.
Ignore Stator resistance voltage dropping, after applying voltage vector, torque value is as follows.
The relationship of conventional model subsequent time torque value and subsequent time angle of torsion and subsequent time stator magnetic linkage amplitude is such as
Shown in formula (1)：
Shown in the stator magnetic linkage amplitude such as formula (2) of subsequent time：
DefinitionqAs shown in formula (3)：
The value of the angle of torsion of subsequent time such as formula (4) is as follows：
Fig. 3 is stator magnetic linkage variation diagram after the voltage vector effect Δ t times, and subsequent time stator magnetic linkage is calculated by Fig. 3
Amplitude, so as to write out prediction subsequent time torque value, it is as follows that subsequent time stator magnetic linkage amplitude obtains formula (10)：
The torque value of conventional model subsequent time can be write as again as formula (5) is as follows：
S2, traditional torque theoretical formula is optimized；
After the torque for listing subsequent time (k+1), expression formula is optimized, defines the torque expression formula such as formula of optimization
(6) shown in：
S3, the expression formula of optimization and traditional calculation formula calculation are taken into relative error, analysis static and dynamic performance variation, verification
Concept feasible.
Expression formula after optimization is calculated into relative error rate with traditional expression formula, its quiet dynamic is analyzed and moves performance change.
Shown in the relative error rate η such as formulas (7) of definition (6) and formula (5), (8):
From the absolute error comparison diagram of torque：
Relative error rate between the two is up to ± 1%, and torque calculation method simplifies front and back torque pulsation value difference
Therefore approximate in PREDICTIVE CONTROL T can be used for 0.3107Ngm and 0.3098Ngme' (k+1) replaces Te(k+1)。
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real
Applying the component of example can be arranged and be designed by a variety of different configurations.Therefore, the present invention to providing in the accompanying drawings below
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of the selected of the present invention
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to Fig. 4, being the overview of torque relative error in figure, sees that relative error is not very big from whole, say
Bright scheme has feasibility.
Referring to Fig. 5, be the X-Z views of torque relative error in figure, seen from figure its relative error be up to ±
1%, illustrate that traditional torque formula can replace the torque formula of optimization.
Referring to Fig. 6, being the Y-Z views of torque relative error in figure, as angle of torsion increases, relative error is increasingly
It is small, there is certain feasibility.
Referring to Fig. 7, being PREDICTIVE CONTROL torque response figure when torque calculation method is not optimised in figure, it is used for and optimization
Turning moment diagram is compared.
Referring to Fig. 8, being the PREDICTIVE CONTROL torque response figure after the optimization of torque calculation method in figure, compared with Fig. 7, find
The not big fluctuation of torque, from the point of view of driven static state, this scheme has feasibility.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (7)
1. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL, which is characterized in that pass through stator magnetic linkage
Comparator and torque comparator determine voltage vector selection region, by the region quartering, stator magnetic linkage amplitude and torque value is defeated
Enter in object function g and select min (g), select section and the angle of voltage vector, electricity is selected in the section that interval table gives
Pressure vector simultaneously exports the voltage vector after synthesisStator magnetic linkage amplitude is obtained according to stator magnetic linkage variation diagram, passes through stator
Magnetic linkage amplitude determines torque formula and carries out optimization processing, is tested by the relative error of traditional torque formula and optimization torque formula
Demonstrate,prove its feasibility.
2. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 1, special
Sign is, according to voltage vector to the thought of magnetic linkage effect and PREDICTIVE CONTROL, ignores Stator resistance voltage dropping, applies voltage arrow
After amount, the pass of conventional model subsequent time k+1 torque values and subsequent time angle of torsion and subsequent time stator magnetic linkage amplitude is determined
System, obtains the value δ (k+1) and subsequent time stator magnetic linkage amplitude of subsequent time angle of torsionAccording to subsequent time torque
The value δ (k+1) and subsequent time stator magnetic linkage amplitude at angleDetermine the torque T of the subsequent time k+1 of optimizatione′(k+1)。
3. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 2, special
Sign is, definesThe torque formula T of the subsequent time k+1 of optimizatione' (k+1) is as follows：
Wherein, p is number of pole-pairs, LdFor d axle inductances, ψfFor rotor flux amplitude,For subsequent time stator magnetic linkage amplitude, α is electricity
It is the angle of torsion at current time to press the angle of vector and stator magnetic linkage, δ (k),For the stator magnetic linkage amplitude at current time,
For the voltage vector of synthesis, Δ t is the time of voltage vector effect.
4. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 3, special
Sign is that the value δ (k+1) of subsequent time angle of torsion is as follows：
5. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 3, special
Sign is, subsequent time stator magnetic linkage amplitudeIt is as follows：
6. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 3, special
Sign is, obtains the relative error rate η of optimization torque formula and traditional torque formula according to torque absolute error formula, passes through biography
The feasibility for the relative error rate verification optimization torque formula united between torque formula and optimization torque formula.
7. a kind of torque calculation optimization method based on Direct Torque Control PREDICTIVE CONTROL according to claim 6, special
Sign is that relative error rate η is as follows：
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| CN201810638838.1A CN108712129B (en) | 2018-06-20 | 2018-06-20 | Torque calculation optimization method based on direct torque control prediction control |
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| CN201810638838.1A CN108712129B (en) | 2018-06-20 | 2018-06-20 | Torque calculation optimization method based on direct torque control prediction control |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100237813A1 (en) * | 2009-03-19 | 2010-09-23 | Kunio Seki | Brushless motor driving apparatus |
| CN103259486A (en) * | 2013-05-07 | 2013-08-21 | 上海大学 | Model prediction three-level direct torque control method based on state trajectory extrapolation |
| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
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2018
- 2018-06-20 CN CN201810638838.1A patent/CN108712129B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100237813A1 (en) * | 2009-03-19 | 2010-09-23 | Kunio Seki | Brushless motor driving apparatus |
| CN103259486A (en) * | 2013-05-07 | 2013-08-21 | 上海大学 | Model prediction three-level direct torque control method based on state trajectory extrapolation |
| CN103684169A (en) * | 2013-11-19 | 2014-03-26 | 西安交通大学 | Dead-beat based direct torque control method for permanent magnet synchronous motor |
Non-Patent Citations (1)
| Title |
|---|
| 焦森: "新能源汽车永磁同步电机直接转矩控制电压矢量选择策略研究", 《CNKI》 * |
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