CN108988727A - A kind of simplified method of flux linkage calculation for DTC PREDICTIVE CONTROL - Google Patents
A kind of simplified method of flux linkage calculation for DTC PREDICTIVE CONTROL Download PDFInfo
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- CN108988727A CN108988727A CN201810814587.8A CN201810814587A CN108988727A CN 108988727 A CN108988727 A CN 108988727A CN 201810814587 A CN201810814587 A CN 201810814587A CN 108988727 A CN108988727 A CN 108988727A
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- 238000004364 calculation method Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004907 flux Effects 0.000 title claims abstract description 14
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 6
- 238000011156 evaluation Methods 0.000 claims abstract description 6
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 6
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 2
- 230000010349 pulsation Effects 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/30—Direct torque control [DTC] or field acceleration method [FAM]
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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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 flux linkage calculations for DTC PREDICTIVE CONTROL to simplify method, the present invention passes through DTC PREDICTIVE CONTROL first makes evaluation function minimum select the voltage vector angle in section, required voltage vector is synthesized by space vector modulation later, stator magnetic linkage formula is write out using the voltage vector of synthesis, magnetic linkage is acted on further according to voltage vector, stator magnetic linkage formula is simplified, finally remove error, the last obtained calculation method of the present invention can simplify existing calculation method, when being input to hardware operation, operation times significantly reduce, to which runing time reduces.
Description
Technical field
The invention belongs to direct torque fields, and in particular to a kind of simplified method of flux linkage calculation for DTC PREDICTIVE CONTROL.
Background technique
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 the increase and decrease of actual torque or magnetic linkage is required beyond expected, so that overshoot be caused to pulse.
In order to solve problems, PREDICTIVE CONTROL is introduced, to realize more accurate control effect.But PREDICTIVE CONTROL
It introduces, compared to control of tabling look-up in traditional DTC, has increased the real-time calculating to stator magnetic linkage, power angle and electromagnetic torque newly, increased
The processing load of control system weakens quick dynamic response.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of flux linkage calculation simplification sides for DTC PREDICTIVE CONTROL
Method reduces torque pulsation to improve the performance of Direct Torque Control System for Permanent Magnet Synchronous Motor.
In order to achieve the above object, the present invention the following steps are included:
Step 1, the Direct Torque Control System for Permanent Magnet Synchronous Motor based on DTC PREDICTIVE CONTROL are selecting corresponding section
Afterwards, so that evaluation function minimum is selected the voltage vector angle in section by DTC PREDICTIVE CONTROL, pass through space vector modulation later
Required voltage vector is synthesized, using the voltage vector of synthesis writes out stator magnetic linkage formula；
Step 2 acts on magnetic linkage according to voltage vector, and combines DTC PREDICTIVE CONTROL, obtains a certain moment k and correspondence
The expression formula of subsequent time k+1, according to the expression formula of a certain moment k and corresponding subsequent time k+1 to stator magnetic linkage formula into
Row simplifies；
Step 3 compares the stator magnetic linkage formula obtained in simplified stator magnetic linkage formula and step 1, and
Error is acquired, to get the simplification method for arriving flux linkage calculation after analysis static and dynamic performance variation.
In step 2, ignore Stator resistance voltage dropping, after applying voltage vector, stator magnetic linkageWith it at any angle
The voltage vector of αAfter acting on a period of time Δ t, stator magnetic linkageAmplitude and relationship such as formula (1) institute for being respectively worth of current time
Show, is obtained by the cosine law, after applying voltage vector,It is the function about α variation；
It is as shown in formula 2 to define q:
Formula formula 2 is substituting to formula 1 to obtain
It is obtained in k+1 moment and k moment by formula 3WithRelationship, whereinFor the current k moment
Value,For the value at the k+1 moment of prediction,
In step 2, stator magnetic linkage formula is simplified as shown in:
In step 3, the stator magnetic linkage formula obtained in simplified stator magnetic linkage formula and step 1 is compared,
The relative error for acquiring magnetic linkage is as follows
The absolute error of magnetic linkage is as follows:
In step 3, after analysis static and dynamic performance variation, proof scheme feasibility；
The specific method is as follows for proof scheme feasibility:
Pass through formulaAnd formula
And surface permanent magnetic synchronous electric machine torque side
Journey obtains the predicted value of k+1 moment torque are as follows:
Pass through formulaAnd formulaAnd surface permanent magnetic synchronous electric machine torque equation obtains the predicted value of k+1 moment torque
Are as follows:
As 0 < q < 0.01 and 0 ° of 360 ° of < α <, relative error and absolute error whether can meet in proof scheme
It is required that.
Compared with prior art, the present invention passes through DTC PREDICTIVE CONTROL first makes evaluation function minimum select the electricity in section
Vector angle is pressed, synthesizes required voltage vector by space vector modulation later, it is fixed to be write out using the voltage vector of synthesis
Sub- magnetic linkage formula acts on magnetic linkage further according to voltage vector, simplifies to stator magnetic linkage formula, finally remove error, this hair
Bright last obtained calculation method can simplify existing calculation method, and when being input to hardware operation, operation times have obviously
It reduces, so that runing time reduces.
Detailed description of the invention
Fig. 1 is the functional block diagram based on permanent magnet synchronous motor Direct Torque Control of the invention；
Fig. 2 is the principle of the present invention block diagram；
Fig. 3 is stator magnetic linkage variation diagram after free voltage vector action time Δ t in the present invention；
Fig. 4 be in the present invention relative error with q variation diagram；
Fig. 5 be in the present invention relative error with α variation diagram；
Fig. 6 be in the present invention relative error with the variation diagram of q and α；
Fig. 7 be in the present invention absolute error with the variation diagram of α；
Fig. 8 be in the present invention absolute error with the variation diagram of q；
Fig. 9 is PREDICTIVE CONTROL turning moment diagram when magnetic linkage is not simplified；
Figure 10 is PREDICTIVE CONTROL turning moment diagram after magnetic linkage simplifies.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
Referring to Fig. 1, based on the Direct Torque Control System for Permanent Magnet Synchronous Motor of PREDICTIVE CONTROL after selecting corresponding section,
So that evaluation function minimum is selected the voltage vector angle in section by PREDICTIVE CONTROL, is synthesized later by space vector modulation
Required voltage vector.
Referring to fig. 2, corresponding section is selected according to interval table first；Secondly, can be changed in section based on PREDICTIVE CONTROL
Selection makes the smallest voltage vector angle of evaluation function in voltage vector angle；Finally, being synthesized by space vector modulation technique
Required voltage vector.
Thinking with reference to the accompanying drawings is the voltage vector of synthesis to be found first, and the voltage vector of synthesis is then recycled to write out
Traditional stator magnetic linkage formula.Steps are as follows:
In step 1, voltage vector at any angleStator magnetic linkageWith it at any angle αOne section of effect
Variation after the time Δ t of very little, after obtaining the Δ t time in conjunction with the cosine law, stator magnetic linkageAmplitude and current time
Shown in the relationship being respectively worth such as formula (1), obtainIt is the function about β variation.
Here it is as shown in Equation 2 to define q:
Formula (2) is substituting to formula (1), and to obtain formula 3 as follows:
Ignore the variation of rotor flux angle, the angle of stator magnetic linkage and rotor flux is angle of torsion δ, the change of angle of torsion δ
Change the variation of as stator magnetic linkage angle, apply voltage vector after the Δ t time, the variation of angle of torsion δ such as formula (4):
It is shown in Figure 3, then k+1 moment and k moment are obtained by formula (4) and formula (5),WithRelationship
And the relationship of δ ' (k+1) and δ (k), whereinIt is the value at current k moment with δ (k),It is prediction with δ (k+1)
The k+1 moment value.
It is as follows to define simplified stator magnetic linkage amplitude expression for step 2.
In step 3, definition (9) and formula (10) are the absolute and relative error of magnetic linkage.
Stator magnetic linkage absolute error expression formula is as follows.
The predicted value of k+1 moment torque is then obtained by formula (6) and formula (7) and surface permanent magnetic synchronous electric machine torque equation
Are as follows:,
The predicted value of k+1 moment torque is then obtained by formula (7) and formula (8) and surface permanent magnetic synchronous electric machine torque equation
Are as follows:
As 0 < q < 0.01 and 0 ° of 360 ° of < α <, absolute error changes as shown in Figure 7,8 with q and α.Relative error with q and
α variation is as shown in Figure 4,5, 6.
From the absolute error comparison diagram and relative error comparison diagram of magnetic linkage:
1、It sets up.
2, error rate between the two is up to 0.05%.
3, q is bigger, and error rate is bigger.
4, error rate and α are in non-linear relation.
Fig. 9 and Figure 10 is under given the same terms respectively, and magnetic linkage is unreduced and the simplified PREDICTIVE CONTROL torque of magnetic linkage is rung
The torque pulsation value of Ying Tu, the two are respectively 0.3107Nm and 0.3120Nm.
Therefore, it approximate in PREDICTIVE CONTROL can useReplace
Claims (5)
1. a kind of flux linkage calculation for DTC PREDICTIVE CONTROL simplifies method, which comprises the following steps:
Step 1, the Direct Torque Control System for Permanent Magnet Synchronous Motor based on DTC PREDICTIVE CONTROL lead to after selecting corresponding section
Crossing DTC PREDICTIVE CONTROL makes evaluation function minimum select the voltage vector angle in section, is closed later by space vector modulation
At required voltage vector, stator magnetic linkage formula is write out using the voltage vector of synthesis；
Step 2 acts on magnetic linkage according to voltage vector, and combines DTC PREDICTIVE CONTROL, obtains a certain moment k and correspondence is next
The expression formula of moment k+1 carries out letter to stator magnetic linkage formula according to the expression formula of a certain moment k and corresponding subsequent time k+1
Change；
The stator magnetic linkage formula obtained in simplified stator magnetic linkage formula and step 1 is compared, and acquired by step 3
Error, to get the simplification method for arriving flux linkage calculation after analysis static and dynamic performance variation.
2. a kind of flux linkage calculation for DTC PREDICTIVE CONTROL according to claim 1 simplifies method, which is characterized in that step
In rapid two, ignore Stator resistance voltage dropping, after applying voltage vector, stator magnetic linkageIt is being sweared with it at the voltage of any angle α
AmountAfter acting on a period of time Δ t, stator magnetic linkageThe relationship that is respectively worth of amplitude and current time it is as shown in formula 1, by cosine
Theorem obtains, after applying voltage vector,It is the function about α variation；
It is as shown in formula 2 to define q:
Formula formula 2 is substituting to formula 1 to obtain
It is obtained in k+1 moment and k moment by formula 3WithRelationship, whereinFor the value at current k moment,For the value at the k+1 moment of prediction,
3. a kind of flux linkage calculation for DTC PREDICTIVE CONTROL according to claim 1 simplifies method, which is characterized in that step
In rapid two, stator magnetic linkage formula is simplified as shown in:
4. a kind of flux linkage calculation for DTC PREDICTIVE CONTROL according to claim 1 simplifies method, which is characterized in that step
In rapid three, the stator magnetic linkage formula obtained in simplified stator magnetic linkage formula and step 1 is compared, magnetic linkage is acquired
Relative error is as follows
The absolute error of magnetic linkage is as follows:
5. a kind of flux linkage calculation for DTC PREDICTIVE CONTROL according to claim 1 simplifies method, which is characterized in that step
In rapid three, after analysis static and dynamic performance variation, proof scheme feasibility；
The specific method is as follows for proof scheme feasibility:
Pass through formulaAnd formulaAnd surface permanent magnetic synchronous electric machine torque equation obtains k+
The predicted value of 1 moment torque are as follows:
Pass through formulaAnd formulaAnd surface permanent magnetic synchronous electric machine torque equation obtains the predicted value of k+1 moment torque
Are as follows:
As 0 < q < 0.01 and 0 ° of 360 ° of < α <, relative error and absolute error whether can meet the requirements in proof scheme.
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| CN201810814587.8A CN108988727B (en) | 2018-07-23 | 2018-07-23 | Magnetic linkage calculation simplification method for DTC prediction control |
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| CN201810814587.8A CN108988727B (en) | 2018-07-23 | 2018-07-23 | Magnetic linkage calculation simplification method for DTC prediction control |
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| CN108988727B CN108988727B (en) | 2022-08-02 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016205101A1 (en) * | 2015-06-16 | 2016-12-22 | Schlumberger Technology Corporation | Electric submersible pump monitoring |
| CN106849809A (en) * | 2017-03-23 | 2017-06-13 | 西安交通大学 | A kind of SVM DTC motor control algorithms based on magnetic linkage error vector method |
| CN107846167A (en) * | 2017-09-30 | 2018-03-27 | 长安大学 | A kind of varied angle voltage vector system of selection based on PREDICTIVE CONTROL |
| CN108054974A (en) * | 2018-01-04 | 2018-05-18 | 湖南大学 | The magnetic linkage optimal control method and system of track traffic induction machine |
-
2018
- 2018-07-23 CN CN201810814587.8A patent/CN108988727B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016205101A1 (en) * | 2015-06-16 | 2016-12-22 | Schlumberger Technology Corporation | Electric submersible pump monitoring |
| CN106849809A (en) * | 2017-03-23 | 2017-06-13 | 西安交通大学 | A kind of SVM DTC motor control algorithms based on magnetic linkage error vector method |
| CN107846167A (en) * | 2017-09-30 | 2018-03-27 | 长安大学 | A kind of varied angle voltage vector system of selection based on PREDICTIVE CONTROL |
| CN108054974A (en) * | 2018-01-04 | 2018-05-18 | 湖南大学 | The magnetic linkage optimal control method and system of track traffic induction machine |
Non-Patent Citations (2)
| Title |
|---|
| BARBARA BOAZZO ET AL.: "Predictive direct flux vector control of Permanent Magnet Synchronous Motor drives", 《2013 IEEE ENERGY CONVERSION CONGRESS AND EXPOSITION》 * |
| 李耀华 等: "电动汽车用永磁同步电机直接转矩控制电压矢量选择策略", 《电机与控制学报》 * |
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Application publication date: 20181211 Assignee: Shaanxi Zhen'an Technology Transfer Information Technology Co.,Ltd. Assignor: CHANG'AN University Contract record no.: X2023980048492 Denomination of invention: A Simplified Method for Magnetic Linkage Calculation for DTC Predictive Control Granted publication date: 20220802 License type: Common License Record date: 20231129 |
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