CN109495049B - Unit power factor direct torque control method for permanent magnet vernier motor - Google Patents

Unit power factor direct torque control method for permanent magnet vernier motor Download PDF

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CN109495049B
CN109495049B CN201811439838.5A CN201811439838A CN109495049B CN 109495049 B CN109495049 B CN 109495049B CN 201811439838 A CN201811439838 A CN 201811439838A CN 109495049 B CN109495049 B CN 109495049B
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torque
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CN109495049A (en
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赵文祥
成瑀
赵鹏
杜育轩
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Jiangsu University
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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]
    • 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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Abstract

The invention discloses a unit power factor direct torque control method of a permanent magnet vernier motor based on a flying capacitor. Acquiring information to obtain a motor flux linkage and a motor torque; the reference value of the flux linkage amplitude is obtained by the maximum torque per ampere theory; after sampling, the voltage of the capacitor bank is fed back to the proportional-integral controller of the capacitor for calculating a charging voltage reference value; obtaining a reference voltage vector by adopting a vector modulation type direct torque control method; and decoupling the obtained reference voltage vector by using an instantaneous power theory, distributing active voltage to a power inverter, and combining the active voltage with a capacitor inverter to synthesize the required reference voltage vector. The invention can enable the power inverter to only provide active power required by the motor operation, the rest reactive power is provided by the capacitor inverter, the motor system operates in a unit power factor state, the torque and flux linkage pulsation can be reduced, the switching frequency is fixed, the electromagnetic noise is reduced, and the high-performance control of the permanent magnet vernier motor is realized.

Description

Unit power factor direct torque control method for permanent magnet vernier motor
Technical Field
The invention relates to the field of permanent magnet vernier motors, in particular to the field of open winding direct torque control of flying capacitors, and specifically relates to open winding unit power factor direct torque control, which is beneficial to improving the power factor of a permanent magnet vernier motor and improving the control performance of the motor.
Background
With the rapid development of high and new technologies such as electric vehicles, wind power generation, wave power generation and the like, how to improve the reliability of a motor system and the efficiency of energy conversion in the motor system becomes a hot problem in the fields. Under the technical background, the permanent magnet vernier motor has the characteristics of high torque density and simple structure, and is widely considered to have wide application prospect in a direct drive system. However, the conventional pm vernier motor has a large magnetic leakage and a low power factor, and usually needs to be equipped with an inverter with a large capacity, which undoubtedly increases the cost of the system. Therefore, an increase in power factor is critical to reduce the reactive power of the system and to increase the efficiency of the drive system.
On the other hand, because the voltage capacity and the current carrying capacity of the power device are limited, a single two-level inverter is difficult to meet the application requirements of high voltage and high power. Compared with the traditional two-level inverter, the multi-level inverter has the advantages of low electromagnetic noise, low harmonic voltage and the like, and is successfully applied to the fields of high voltage, high power and high reliability. As one of the multilevel inverters, an open-winding driving system opens the neutral point of the Y-shaped stator winding, and six winding terminals are connected to two standard two-level inverters, respectively. If one inverter in the open winding driving system is powered by a flying capacitor, the structure is simplified, the cost is reduced, and the constant-power speed regulation range can exceed the maximum speed regulation range of a single inverter.
Direct torque control is widely used because of its simple control structure and rapid response. The traditional direct torque control adopts a hysteresis comparator and a switching table to obtain quick dynamic response and good robustness, but brings torque and flux ripple, unfixed switching frequency and electromagnetic noise. Space vector pulse width modulated direct torque control has many advantages, such as better dc voltage utilization, lower torque ripple, and is easier to implement in digital drivers, and thus more suitable for high reliability demanding applications.
Disclosure of Invention
Aiming at the problem of low power factor of the permanent magnet vernier motor, the invention utilizes the instantaneous power theory to decouple the power flow required by the motor, and all reactive power is provided by the capacitor bank, so that the motor system runs under the state of unit power factor, thereby obtaining higher voltage utilization rate. And through a space vector modulation type direct torque control strategy, the torque and flux linkage pulsation are reduced, a fixed switching frequency is obtained, and the electromagnetic noise is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
a unit power factor direct torque control method of a permanent magnet vernier motor based on a flying capacitor comprises the following steps:
constructing a controlled system: the controlled system consists of a permanent magnet vernier motor and two sets of inverters;
collecting position sensor information to obtain the speed and position of the motor; collecting current sensor information, obtaining each phase current of the motor, and calculating to obtain a motor flux linkage and a motor torque after coordinate transformation;
comparing the actual speed of the motor with a given speed, sending a comparison difference value to a speed PI controller to obtain a reference torque required by the operation of the motor, and calculating to obtain a reference flux linkage amplitude value by utilizing a maximum torque-current ratio theory; comparing the estimated motor torque with a reference torque, and sending the difference value to a PI controller to obtain a reference torque angle change value;
amplitude psi of reference stator flux linkage obtained by controllers *Carrying out vector modulation type direct torque control on the reference torque angle change value delta and the information such as the motor position and flux linkage obtained by sampling, and calculating to obtain a voltage vector required by the motor during operation;
collecting the voltage of the capacitor bank, comparing the voltage with the given value of the capacitor voltage, and sending the difference value to a capacitor PI controller to obtain a capacitor charging reference voltage ucpi；
Decoupling the power required by the motor operation by using the instantaneous power theory, redistributing the active power and the reactive power, and combining the capacitor charging reference voltage ucpiRespectively calculating and obtaining reference voltage vectors of the two inverters;
and obtaining the duty ratio of each power device of the two sets of inverters by using the SVPWM technology according to the reference voltage vectors of the two sets of inverters obtained by calculation, and applying correct voltage on the motor.
Further, the two sets of inverters are respectively powered by a direct current power supply and a capacitor bank and are called a main inverter and a capacitor inverter.
Further, the specific process of calculating and obtaining the stator flux linkage and the motor torque of the motor comprises the following steps:
three-phase current i of the motora,ib,icThrough Clark coordinate transformation, the coordinate is transformed to a two-phase static coordinate system to obtain the alpha and beta axis current i of the motor in the coordinate systemα,iβ；
Amplitude psi of the stator flux linkagesObtained by the following expression calculation:
Figure GDA0003165991210000021
wherein psiα,ψβRespectively an alpha and beta axis flux linkage of the motor;
after the alpha and beta axis currents and the flux linkage of the motor are obtained, the torque T of the motor can be measured under the coordinate systemeThe estimation is carried out by the following specific calculation method:
Te＝(3p/2)·(ψαiβ-ψβiα)
wherein p is the number of pole pairs of the motor.
Further, the amplitude ψ of the reference stator flux linkage required for the motor operations *Calculated according to the maximum torque current ratio theory of open winding, and specifically comprises reference torque Te *The expression of (a) is as follows:
Figure GDA0003165991210000031
wherein psifIs the amplitude of the permanent magnet flux linkage of the motor, LqAnd the q-axis inductance parameter of the motor is obtained.
Further, vector modulation type direct torque control is performed, and a calculation formula for calculating and obtaining a voltage vector required by the motor during operation is as follows:
Figure GDA0003165991210000032
Figure GDA0003165991210000033
wherein delta psiα,ΔψβFor flux linkage transformation amount, thetasAs motor position, TsTo control the system sampling period, RsThe motor resistance parameter is obtained; psisIs the magnitude of the stator flux linkage.
Further, by utilizing the instantaneous power theory, the concrete process of decoupling the power required by the operation of the motor is as follows:
the power required by the motor is correctly decoupled, the main inverter is controlled to provide all active power required by the motor to operate, the capacitor inverter is controlled to compensate the reactive power of the motor, and the instantaneous power distribution principle is as follows:
because two inverter buses are isolated, the zero sequence current problem does not exist, so according to the instantaneous power theory, the instantaneous real power p and the instantaneous virtual power q can be solved:
Figure GDA0003165991210000034
multiplying the two sides of the above formula by the inverse matrix of the current matrix to obtain the alpha beta axis voltage uα,uβAs a function of current and power as follows:
Figure GDA0003165991210000035
thus defining the instantaneous active voltage u on the alpha axisαpAnd the instantaneous active voltage u on the beta axisβp：
Figure GDA0003165991210000036
By the principle, alpha and beta axis voltage is referenced to a vector uα *，uβ *Is divided into an active part and a reactive part, so that the reference voltage vector u of the main inverter* MIα,u* MIβThe calculation method is as follows:
Figure GDA0003165991210000041
further, the specific process of calculating and obtaining the reference voltage vectors of the two inverters is as follows:
the capacitor voltage control uses lower direct current bus voltage to charge the capacitor voltage to a higher voltage level, and introduces a PI controller to carry out voltage control on the capacitor voltage;
after the capacitor voltage feedback passes through the proportional-integral controller, a capacitor charging reference voltage value u is obtainedcpiAccording to the instantaneous power theory, the capacitor charging reference voltage is charged into the capacitor bank through the main inverter, and the reference voltage vector calculation method of the main inverter after considering capacitor voltage control is obtained:
Figure GDA0003165991210000042
wherein u is* MIα’，u* MIβ' is the reference voltage of the final main inverter after considering the capacitor voltage control;
calculating reference voltage vector u of capacitor inverter by combining open winding voltage vector calculation formula* CIα,u* CIβ：
Figure GDA0003165991210000043
The invention has the beneficial effects that:
1. according to the invention, the power flow required by the motor is decoupled by utilizing an instantaneous power theory, so that the unit power factor control of a motor system is realized, the reactive pressure of a main inverter and a direct-current power supply is reduced, and the power factor and the efficiency of a driving system are improved;
2. the vector control improved direct torque control method is adopted, the switching frequency is fixed, and the torque and flux linkage pulsation are reduced.
3. The control method provided by the invention can meet the requirement of high-precision operation in high and new technical fields such as electric automobiles, wind power generation, wave power generation and the like, and improves the position of the permanent magnet vernier motor in the fields.
Drawings
FIG. 1 is a block diagram of a unit power factor direct torque control of a permanent magnet vernier motor based on a flying capacitor;
FIG. 2 is a voltage vector distribution diagram under an open winding topology;
FIG. 3 is a block diagram of stator flux linkage estimation based on a current model;
FIG. 4 is a schematic diagram of system power flow;
FIG. 5 is a waveform of a stator flux linkage trace;
fig. 6 is a voltage-current phase relationship diagram of the motor.
Detailed description of the invention
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in the structural block diagram of fig. 1, the invention relates to a flying capacitor-based unit power factor direct torque control of a permanent magnet vernier motor, which mainly comprises an instantaneous power decoupling distribution strategy and a vector modulation type direct torque control method, and the specific measures are as follows:
1. constructing a controlled system: the controlled system consists of a permanent magnet vernier motor and two sets of inverters.
The control object of the invention is an open-winding permanent magnet vernier motor, namely, the original star-connected neutral point of the motor is opened, two ends of a winding are respectively connected to two sets of standard two-level inverters, and the two sets of inverters are respectively supplied with power by a direct current power supply and a capacitor bank and are called as a Main Inverter (MI) and a Capacitor Inverter (CI).
2. Collecting position sensor information to obtain the speed and position of the motor; and acquiring current sensor information, acquiring current of each phase of the motor, and calculating to obtain a motor flux linkage and a motor torque after coordinate transformation.
Three-phase current i of the motora,ib,icThrough Clark coordinate transformation, the current is converted to a two-phase static coordinate system to obtain the motor current i in the coordinate systemα,iβ. The specific coordinate transformation matrix is as follows:
Figure GDA0003165991210000051
since the model parameter setting error may be caused when the motor resistance changes under the low-speed working condition, the current model shown in fig. 3 is adoptedThe stator flux linkage is estimated to reduce estimation errors. Amplitude psi of the stator flux linkagesAnd angle thetasCan be calculated by the following expression:
Figure GDA0003165991210000052
θs＝tan-1(ψβ/ψα)
wherein psiα,ψβRespectively, the motor alpha beta axis flux linkage.
After the alpha and beta axis currents and the flux linkage of the motor are obtained, the torque T of the motor can be measured under the coordinate systemeThe estimation is carried out by the following specific calculation method:
Te＝(3p/2)·(ψαiβ-ψβiα)
wherein p is the number of pole pairs of the motor.
3. Comparing the actual speed of the motor with a given speed, sending a comparison difference value to a speed PI controller to obtain a reference torque required by the operation of the motor, and calculating to obtain a reference flux linkage amplitude value by utilizing a maximum torque-current ratio theory; the estimated motor torque is compared with a reference torque, and the difference is fed to a PI controller to obtain a reference torque angle change value.
Amplitude psi of reference stator flux linkage required for motor operations *Can be obtained by theoretical calculation according to the maximum torque current ratio of open windings, and specifically comprises a reference torque Te *The expression of (a) is as follows:
Figure GDA0003165991210000061
wherein psifIs the amplitude of the permanent magnet flux linkage of the motor, LqAnd the q-axis inductance parameter of the motor is obtained.
4. Amplitude psi of reference stator flux linkage obtained by controllers *The vector modulation type direct torque control is carried out with the reference torque angle change value delta and the information of the motor position, flux linkage and the like obtained by sampling,and calculating to obtain a voltage vector required by the motor during operation.
The vector modulation type direct torque control is as follows:
first, in this topology, since the two inverter buses are electrically isolated from each other, the common mode voltage does not have a closed loop, and therefore, zero sequence current that may damage the power device and the motor is not generated. The voltage vector obtained by the motor under the open winding topology is as follows:
us＝uINV1-uINV2
the vector distribution generated by the two inverters is shown in fig. 2, and 64 voltage vectors are shared, so that the vector selection degree of freedom is higher compared with the single inverter topology.
Since the model parameter setting error can be caused when the resistance of the motor is changed under the low-speed working condition, the stator flux linkage is estimated by adopting the current model shown in FIG. 3 so as to reduce the estimation error. Amplitude psi of the stator flux linkagesAnd angle thetasCan be calculated by the following expression:
Figure GDA0003165991210000062
θs＝tan-1(ψβ/ψα)
amplitude psi of reference stator flux linkage required by motors *Can be obtained by theoretical calculation according to the maximum torque per ampere of the open winding, and specifically comprises a reference torque Te *The expression of (a) is as follows:
Figure GDA0003165991210000063
therefore, the stator flux linkage variation and the α β axis reference voltage can be calculated:
Figure GDA0003165991210000064
Figure GDA0003165991210000065
wherein delta psiα,ΔψβFor flux linkage transformation amount, thetasAs motor position, TsTo control the system sampling period, RsIs a motor resistance parameter.
5. Collecting the voltage of the capacitor bank, comparing the voltage with the given value of the capacitor voltage, and sending the difference value to a capacitor PI controller to obtain a capacitor charging reference voltage ucpi。
6. And decoupling the power required by the motor operation by using an instantaneous power theory, redistributing active power and reactive power, and respectively calculating by combining a capacitor to obtain reference voltage vectors of the two inverters.
The power required by the motor is correctly decoupled, in the power distribution strategy provided by the invention, the main inverter is controlled to provide all active power required by the motor to operate, and the capacitor inverter is controlled to compensate the reactive power of the motor at the same time, wherein the specific power flow is shown in fig. 4. The instantaneous power distribution principle is as follows:
because two inverter buses are isolated, the zero sequence current problem does not exist, so according to the instantaneous power theory, the instantaneous real power p and the instantaneous virtual power q can be solved:
Figure GDA0003165991210000071
multiplying the two sides of the above formula by the inverse matrix of the current matrix to obtain the alpha beta axis voltage uα,uβAs a function of current and power as follows:
Figure GDA0003165991210000072
thus defining the instantaneous active voltage u on the alpha axisαpAnd the instantaneous active voltage u on the beta axisβp：
Figure GDA0003165991210000073
By the principle, alpha and beta axis voltage is referenced to a vector uα *，uβ *Is divided into an active part and a reactive part, so that the reference voltage vector u of the main inverter* MIα,u* MIβThe calculation method is as follows:
Figure GDA0003165991210000074
the capacitor voltage control uses lower direct current bus voltage to charge the capacitor voltage to a higher voltage level, and introduces a PI controller to control the voltage of the capacitor, and the principle is as follows:
after the capacitor voltage feedback passes through the proportional-integral controller, a capacitor charging reference voltage value u is obtainedcpiAccording to the instantaneous power theory, the capacitor charging reference voltage should be charged into the capacitor bank through the main inverter, so that a reference voltage vector calculation method of the main inverter considering capacitor voltage control can be obtained:
Figure GDA0003165991210000081
wherein u is* MIα’，u* MIβ' is the reference voltage of the final master inverter after considering the capacitor voltage control.
The reference voltage vector u of the capacitor inverter can be obtained by combining an open winding voltage vector calculation formula* CIα,u* CIβ：
Figure GDA0003165991210000082
7. Obtaining the duty ratio of each power device of the two sets of inverters by using the SVPWM technology according to the reference voltage vectors of the two sets of inverters obtained by calculation, and applying correct voltage on the motor;
fig. 5 shows a flux linkage track waveform when the motor operates, the amplitude of the stator flux linkage is about 0.18Wb, and the right side is a synthesized flux linkage circle, so that it can be seen that the control strategy provided by the present invention can effectively control the stator flux linkage of the motor to be a circle.
FIG. 6 shows the relationship between voltage and current phase of motor and the motor A-phase current (i)a) A phase voltage (u) to the main inverter sidea1) The same phase is always maintained, and the A phase voltage (u) of the capacitor inverter terminala2) A 90 deg. phase difference is maintained with the current, which is consistent with the simulation, completely decoupling the power flow required by the motor. The same phase of the main inverter voltage and the motor current indicates that the inverter only generates active power, the pressure of the main inverter and a direct current power supply is relieved, and the reactive power required by the motor during operation is completely provided by a capacitor bank at the capacitor inverter end, so that the inverter voltage and the motor current are in a quadrature relationship.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (5)

1. A unit power factor direct torque control method of a permanent magnet vernier motor based on a flying capacitor is characterized by comprising the following steps:
constructing a controlled system: the controlled system consists of a permanent magnet vernier motor and two sets of inverters;
collecting position sensor information to obtain the speed and position of the motor; collecting current sensor information, obtaining each phase current of the motor, and calculating to obtain a motor flux linkage and a motor torque after coordinate transformation;
comparing the actual speed of the motor with a given speed, sending a comparison difference value to a speed PI controller to obtain a reference torque required by the operation of the motor, and calculating to obtain a reference flux linkage amplitude value by utilizing a maximum torque-current ratio theory; comparing the estimated motor torque with a reference torque, and sending the difference value to a PI controller to obtain a reference torque angle change value;
amplitude psi of reference stator flux linkage obtained by controllers *Carrying out vector modulation type direct torque control on the reference torque angle change value delta and the information such as the motor position and flux linkage obtained by sampling, and calculating to obtain a voltage vector required by the motor during operation;
collecting the voltage of the capacitor bank, comparing the voltage with the given value of the capacitor voltage, and sending the difference value to a capacitor PI controller to obtain a capacitor charging reference voltage ucpi；
Decoupling the power required by the motor operation by using the instantaneous power theory, redistributing the active power and the reactive power, and combining the capacitor charging reference voltage ucpiRespectively calculating and obtaining reference voltage vectors of the two inverters;
obtaining the duty ratio of each power device of the two sets of inverters by using the SVPWM technology according to the reference voltage vectors of the two sets of inverters obtained by calculation, and applying correct voltage on the motor;
the specific process of decoupling the power required by the motor operation by using the instantaneous power theory is as follows:
the power required by the motor is correctly decoupled, the main inverter is controlled to provide all active power required by the motor to operate, the capacitor inverter is controlled to compensate the reactive power of the motor, and the instantaneous power distribution principle is as follows:
because two inverter buses are isolated, the zero sequence current problem does not exist, so according to the instantaneous power theory, the instantaneous real power p and the instantaneous virtual power q can be solved:
Figure FDA0003165991200000011
multiplying the two sides of the above formula by the inverse matrix of the current matrix to obtain the alpha beta axis voltage uα,uβAs a function of current and power as follows:
Figure FDA0003165991200000012
thus defining the instantaneous active voltage u on the alpha axisαpAnd the instantaneous active voltage u on the beta axisβp：
Figure FDA0003165991200000021
By the principle, alpha and beta axis voltage is referenced to a vector uα *，uβ *Is divided into an active part and a reactive part, so that the reference voltage vector u of the main inverter* MIα,u* MIβThe calculation method is as follows:
Figure FDA0003165991200000022
the specific process of calculating and obtaining the reference voltage vectors of the two inverters comprises the following steps:
the capacitor voltage control uses lower direct current bus voltage to charge the capacitor voltage to a higher voltage level, and introduces a PI controller to carry out voltage control on the capacitor voltage;
after the capacitor voltage feedback passes through the proportional-integral controller, a capacitor charging reference voltage value u is obtainedcpiAccording to the instantaneous power theory, the capacitor charging reference voltage is charged into the capacitor bank through the main inverter, and the reference voltage vector calculation method of the main inverter after considering capacitor voltage control is obtained:
Figure FDA0003165991200000023
wherein u is* MIα’，u* MIβ' is the reference voltage of the final main inverter after considering the capacitor voltage control;
calculating reference voltage vector u of capacitor inverter by combining open winding voltage vector calculation formula* CIα,u* CIβ：
Figure FDA0003165991200000024
2. The flying capacitor-based unit power factor direct torque control method of the permanent magnet vernier motor according to claim 1, wherein two sets of inverters are respectively powered by a direct current power supply and a capacitor bank, and are called a main inverter and a capacitor inverter.
3. The flying capacitor-based unit power factor direct torque control method for the permanent magnet vernier motor according to claim 1, wherein the specific process of calculating and obtaining the stator flux linkage and the motor torque of the motor comprises the following steps:
three-phase current i of the motora,ib,icThrough Clark coordinate transformation, the coordinate is transformed to a two-phase static coordinate system to obtain the alpha and beta axis current i of the motor in the coordinate systemα,iβ；
Amplitude psi of the stator flux linkagesObtained by the following expression calculation:
Figure FDA0003165991200000031
wherein psiα,ψβRespectively an alpha and beta axis flux linkage of the motor;
obtaining the alpha-beta axis current of the motorAfter linkage with the magnetic flux, the torque T of the motor can be adjusted under the coordinate systemeThe estimation is carried out by the following specific calculation method:
Te＝(3p/2)·(ψαiβ-ψβiα)
wherein p is the number of pole pairs of the motor.
4. The flying capacitor-based unit power factor direct torque control method for the permanent magnet vernier motor according to claim 1, wherein the amplitude ψ of the reference stator flux linkage required for motor operations *Calculated according to the maximum torque current ratio theory of open winding, and specifically comprises reference torque Te *The expression of (a) is as follows:
Figure FDA0003165991200000032
wherein psifIs the amplitude of the permanent magnet flux linkage of the motor, LqAnd the q-axis inductance parameter of the motor is obtained.
5. The flying capacitor-based unit power factor direct torque control method of the permanent magnet vernier motor according to claim 1, wherein vector modulation type direct torque control is performed, and a calculation formula for calculating and obtaining a voltage vector required by the motor during operation is as follows:
Figure FDA0003165991200000033
Figure FDA0003165991200000034
wherein delta psiα,ΔψβFor flux linkage transformation amount, thetasAs motor position, TsTo control the system sampling period, RsThe motor resistance parameter is obtained; psisIs the magnitude of the stator flux linkage.
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